CN111874207A

CN111874207A - Telescoping device and use this telescoping device's unmanned aerial vehicle

Info

Publication number: CN111874207A
Application number: CN202010827633.5A
Authority: CN
Inventors: 杨陶; 李鹏; 刘云辉
Original assignee: Shenzhen Graduate School Harbin Institute of Technology
Current assignee: Shenzhen Graduate School Harbin Institute of Technology
Priority date: 2020-08-17
Filing date: 2020-08-17
Publication date: 2020-11-03
Also published as: WO2022036732A1

Abstract

The invention discloses a telescopic device and an unmanned aerial vehicle applying the same. Because the linkage mechanism has linkage, the linkage mechanism is driven to rotate by the driving mechanism, so that the linkage mechanism can drive the plurality of telescopic arms to synchronously extend and retract, and the linkage of the telescopic device is improved. Because a linkage mechanism can simultaneously drive a plurality of telescopic arms to synchronously extend and retract, only one driving mechanism is needed to drive the linkage mechanism to rotate, thereby reducing the number of driving mechanisms and reducing the cost of the telescopic device.

Description

Telescoping device and use this telescoping device's unmanned aerial vehicle

Technical Field

The invention relates to the technical field of industrial machinery, in particular to a telescopic device and an unmanned aerial vehicle applying the telescopic device.

Background

In the prior art, a scissor type telescopic device comprises a telescopic mechanism and a driving mechanism, wherein the driving mechanism is used for driving the telescopic mechanism to stretch and retract. The scissor type telescopic device is widely applied to supporting or connecting occasions with load position changing, and is highly favored by users due to the characteristics of flexible telescopic capacity, huge difference between occupied space extreme values and the like. However, on the occasion with higher linkage, the existing scissor-type telescopic device cannot meet the requirements of users.

Disclosure of Invention

The invention mainly aims to provide a telescopic device and an unmanned aerial vehicle applying the telescopic device, and aims to solve the technical problem that a scissor type telescopic device in the prior art is poor in linkage.

In order to solve the technical problems, the technical scheme provided by the invention is as follows:

the utility model provides a telescoping device, includes actuating mechanism, link gear and a plurality of flexible arm, and is a plurality of flexible arm respectively with link gear's one end is articulated, actuating mechanism with link gear keeps away from the one end of flexible arm is articulated, the actuating mechanism drive link gear rotates, so that link gear drives a plurality of flexible arm is synchronous flexible.

Optionally, the telescopic boom comprises a plurality of scissor units, one end of each of the two adjacent scissor units is hinged to each other, one end of each of the two adjacent scissor units is hinged to one end of the linkage mechanism, and the linkage mechanism synchronously drives the two adjacent scissor units to rotate relative to each other, so that the telescopic boom is telescopic.

Optionally, the scissor units comprise a plurality of straight bars, the middle parts of the straight bars of each scissor unit are hinged to each other, and one ends of the straight bars of two adjacent scissor units are hinged to each other.

Optionally, the telescopic arm further comprises a half-scissor type unit, the linkage mechanism is hinged to one end of the scissor type unit, and the half-scissor type unit is hinged to one end, far away from the linkage mechanism, of the scissor type unit.

Optionally, the half-scissor type unit comprises a plurality of half straight rods, one end of each of the half straight rods of each half-scissor type unit is hinged to each other, and the other end of each half straight rod of each half-scissor type unit is hinged to the scissor type unit.

Optionally, the linkage mechanism includes a plurality of linkage units, and one end of each of two adjacent linkage units is hinged to each other to jointly form a linked endless chain.

Optionally, each linkage unit comprises a plurality of obtuse angle connecting rods and a plurality of acute angle connecting rods, the obtuse angle connecting rods and the acute angle connecting rods are hinged to each other, and the obtuse angle connecting rods and the acute angle connecting rods of two adjacent linkage units are hinged to each other to jointly form a linked ring chain; the telescopic arms are hinged with the obtuse angle connecting rods respectively, and the driving mechanisms are connected with the acute angle connecting rods respectively; the actuating mechanism drive is a plurality of the acute angle connecting rod rotates, and is a plurality of the acute angle connecting rod drives a plurality of the obtuse angle connecting rod rotates, and is a plurality of the obtuse angle connecting rod drives a plurality of the telescopic boom is synchronous flexible.

Optionally, the obtuse connecting rods include a first straight rod and a second straight rod connected with the first straight rod, an angle formed by the first straight rod and the second straight rod is an obtuse angle θ, the first straight rod is provided with a first hinge hole and a second hinge hole, a third hinge hole is formed at a joint of the first straight rod and the second straight rod, the second straight rod is provided with a fourth hinge hole, a distance between any two adjacent second hinge holes, a distance between any two adjacent third hinge holes and a distance between any two adjacent fourth hinge holes are l, and a plurality of obtuse connecting rods pass through the respective second hinge holes through rotating shafts to realize hinge;

the acute angle connecting rod comprises a third straight rod, a fourth straight rod, a fifth straight rod and a sixth straight rod which are connected end to end, the angle formed by the third straight rod and the fourth straight rod is an acute angle phi, the angle formed by the fifth straight rod and the sixth straight rod is an acute angle beta, a fifth hinge hole is formed in the joint of the third straight rod and the fourth straight rod, a sixth hinge hole is formed in the joint of the third straight rod and the sixth straight rod, a seventh hinge hole is formed in the joint of the fourth straight rod and the fifth straight rod, an eighth hinge hole is formed in the joint of the fifth straight rod and the sixth straight rod, the distance from the fifth hinge hole to the sixth hinge hole is equal to the distance from the fifth hinge hole to the seventh hinge hole, the distance from the fifth hinge hole to the sixth hinge hole is l, and the distance from the eighth hinge hole to the seventh hinge hole is equal to the distance from the eighth hinge hole and the sixth hinge hole is equal to the sixth hinge hole The distance between the connecting holes is m; the m satisfies a first formula, and the beta satisfies a second formula:

β ═ 2 α ═ (θ - Φ) ═ 2 pi/n (two);

wherein n is the number of the telescopic arms, and pi is 180 degrees.

Optionally, the telescopic device further includes a connection assembly, the plurality of telescopic arms are respectively hinged to one end of the linkage mechanism, the connection assembly is hinged to one end of the linkage mechanism, which is far away from the telescopic arms, and the driving mechanism is connected to the connection assembly; the actuating mechanism drive coupling assembling rotates, coupling assembling drives link gear rotates, link gear drives a plurality ofly flexible arm is synchronous flexible.

Optionally, the linkage mechanism is at least two layers, the connecting assembly includes a first connecting piece and a second connecting piece, the first connecting piece is hinged to one of the layers of the linkage mechanism, the second connecting piece is hinged to the other layer of the linkage mechanism, the driving mechanism is in transmission connection with the first connecting piece, and the second connecting piece is fixedly connected with the driving mechanism; the driving mechanism drives the first connecting piece to rotate, the first connecting piece drives the linkage mechanism to rotate, and the linkage mechanism drives the second connecting piece to rotate.

The other technical scheme provided by the invention is as follows:

the utility model provides an unmanned aerial vehicle, its characterized in that, includes rotor mechanism and telescoping device, rotor mechanism sets up flexible arm is kept away from actuating mechanism is served, rotor mechanism is used for producing flight power.

Optionally, the rotor mechanism includes a motor and a propeller connected to the motor, the motor is disposed on the telescopic arm, and the motor is configured to drive the propeller to rotate.

Optionally, the rotor mechanism still includes the rotor base, the rotor base sets up on the telescopic boom, the motor sets up on the rotor base.

Optionally, be equipped with the first cavity and the second cavity that run through on the rotor base, rotor mechanism still includes the propeller shaft, the motor sets up in the first cavity, the propeller shaft sets up in the second cavity, the motor with the one end transmission of propeller shaft is connected, the screw with the propeller shaft is kept away from the one end fixed connection of motor, wherein, the screw is located the top of rotor base, motor drive the propeller shaft rotates, the propeller shaft drives the screw rotates.

Optionally, the rotor mechanism further includes a limiting member for limiting the rotation of the rotor base relative to the telescopic arm.

Optionally, be equipped with the spacing groove on the locating part, the telescoping device still includes the articulated shaft, the articulated shaft sets up on the flexible arm, and be located the spacing inslot, in order to restrict the rotor base is relative the flexible arm rotates.

Optionally, the rotor mechanism further comprises a support rod for supporting the rotor base.

Optionally, unmanned aerial vehicle still includes supporting mechanism, supporting mechanism includes that frame bottom plate and lid are established frame apron on the frame bottom plate, the link gear is located the frame bottom plate with between the frame apron.

Optionally, a limiting part is arranged on the frame cover plate and used for limiting the central position of the linkage mechanism to move relative to the frame cover plate.

Optionally, at least three limiting grooves are formed in the limiting portion, the telescopic device further comprises at least three hinged shafts, the hinged shafts are arranged on the linkage mechanisms and are located in the corresponding limiting grooves to limit the central positions of the linkage mechanisms to move relative to the frame cover plate, and the hinged shafts can slide along the corresponding limiting grooves.

Compared with the prior art, the invention has the following beneficial effects:

because the linkage mechanism has linkage, the linkage mechanism is driven to rotate by the driving mechanism, so that the linkage mechanism can drive the plurality of telescopic arms to synchronously extend and retract, and the linkage of the telescopic device is improved. Because a linkage mechanism can simultaneously drive a plurality of telescopic arms to synchronously extend and retract, only one driving mechanism is needed to drive the linkage mechanism to rotate, thereby reducing the number of driving mechanisms and reducing the cost of the telescopic device.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.

FIG. 1 is a schematic view of a telescoping device of an embodiment of the present application;

FIG. 2 is a schematic view of a telescoping arm of an embodiment of the present application;

FIG. 3 is a schematic view of a scissor unit of an embodiment of the present application;

FIG. 4 is a schematic view of a half scissor unit of an embodiment of the present application;

FIG. 5 is a schematic view of a linkage mechanism of one embodiment of the present application;

FIG. 6 is a schematic view of a linkage unit of one embodiment of the present application;

FIG. 7 is a schematic view of a telescoping arm and linkage combination of one embodiment of the present application;

FIG. 8 is a schematic view of an obtuse angle link of an embodiment of the present application;

FIG. 9 is a schematic view of an acute angle link of an embodiment of the present application;

FIG. 10 is a schematic view of a combination of different angles of obtuse and acute links of an embodiment of the present application;

FIG. 11 is a schematic view of an acute angle link of another embodiment of the present application;

FIG. 12 is a schematic view of a connection assembly of an embodiment of the present application;

FIG. 13 is a schematic view of a first connector of an embodiment of the present application;

FIG. 14 is a schematic view of a combination of a first link and an acute link of an embodiment of the present application;

FIG. 15 is a schematic view of a second connector of an embodiment of the present application;

FIG. 16 is a schematic view of a combination of a second link and an acute link of an embodiment of the present application;

fig. 17 is a schematic view of a drone of an embodiment of the present application;

figure 18 is a cross-sectional view of a rotor mechanism of an embodiment of the present application;

figure 19 is a perspective view of a rotor mechanism of an embodiment of the present application;

FIG. 20 is a schematic view of a support mechanism of an embodiment of the present application;

FIG. 21 is a combined schematic view of a support mechanism and a telescoping device of an embodiment of the present application;

figure 22 is a schematic view of a maximum deployment state of a drone of one embodiment of the present application;

figure 23 is a schematic illustration of a semi-deployed state of a drone of one embodiment of the present application;

fig. 24 is a schematic view of a drone minimum retraction state of one embodiment of the present application;

10. a telescoping device; 1. a drive mechanism; 2. a linkage mechanism; 21. a linkage unit; 211. an obtuse angle link; 2111. a first straight rod; 2112. a second straight rod; 2113. a first hinge hole; 2114. a second hinge hole; 2115. a third hinge hole; 2116. a fourth hinge hole; 212. an acute angle connecting rod; 2121. a third straight rod; 2122. a fourth straight rod; 2123. a fifth straight rod; 2124. a sixth straight rod; 2125. a fifth hinge hole; 2126. a sixth hinge hole; 2127. a seventh hinge hole; 2128. an eighth hinge hole; 213. an upper obtuse angle connecting rod; 214. a middle obtuse angle connecting rod; 215. a lower obtuse angle connecting rod; 216. an upper acute angle connecting rod; 217. a middle acute angle connecting rod; 218. a lower acute angle connecting rod; 219. an upper obtuse angle connecting rod; 220. a middle acute angle connecting rod; 221. a lower obtuse angle connecting rod; 3. a telescopic arm; 31. a scissor-fork unit; 311. an upper straight rod; 312. a middle layer straight rod; 313. a lower straight rod; 314. an upper straight rod; 315. a middle layer straight rod; 316. a lower straight rod; 32. a half scissor unit; 321. an upper half straight rod; 322. a middle half straight rod; 323. a lower half straight rod; 4. a connecting assembly; 41. a first connecting member; 411. a first connecting rod; 412. a second connecting rod; 413. a ninth hinge hole; 414. a tenth hinge hole; 415. an eleventh hinge hole; 416. a twelfth hinge hole; 42. a second connecting member; 421. a third connecting rod; 422. a fourth connecting rod; 423. a fifth connecting rod; 424. a sixth connecting rod; 425. a thirteenth hinge hole; 426. a fourteenth hinge hole; 427. a fifteenth hinge hole; 428. a sixteenth hinge hole; 43. a third connecting member; 100. an unmanned aerial vehicle; 50. a rotor mechanism; 51. a propeller; 511. a hub; 512. a paddle; 52. a motor; 521. a first gear; 53. a rotor base; 531. a first cavity; 532. a second cavity; 54. a propeller shaft; 541. a second gear; 55. a first bearing; 56. a second bearing; 57. a propeller adapter; 58. a limiting member; 581. a limiting groove; 582. hinging a shaft; 59. a support bar; 60. a support mechanism; 61. a chassis base plate; 62. a frame cover plate; 621. a limiting part; 6211. a limiting groove; 6212. hinging a shaft; 70. flight control; 80. an inertial measurement unit; 90. a lithium battery; 110. a sensor.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

It should be noted that all the directional indicators (such as up, down, left, right, front, and rear … …) in the embodiment of the present invention are only used to explain the relative position relationship between the components, the movement situation, etc. in a specific posture (as shown in the drawing), and if the specific posture is changed, the directional indicator is changed accordingly.

In addition, the descriptions related to "first", "second", etc. in the present invention are for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, "and/or" in the whole text includes three schemes, taking a and/or B as an example, including a technical scheme, and a technical scheme that a and B meet simultaneously; in addition, technical solutions between various embodiments may be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present invention.

As shown in fig. 1, in the present embodiment, a telescopic device 10 is provided, the telescopic device 10 may have a driving mechanism 1, a linkage mechanism 2 and a plurality of telescopic arms 3, the plurality of telescopic arms 3 are respectively hinged to one end of the linkage mechanism 2, the driving mechanism 1 is hinged to one end of the linkage mechanism 2 far away from the telescopic arms 3, and the driving mechanism 1 drives the linkage mechanism 2 to rotate, so that the linkage mechanism 2 drives the plurality of telescopic arms 3 to synchronously extend and retract.

In this embodiment, since the linkage mechanism 2 has linkage property, the linkage mechanism 2 is driven by the driving mechanism 1 to rotate, so that the linkage mechanism 2 drives the plurality of telescopic arms 3 to synchronously extend and retract, thereby improving the linkage property of the telescopic device 10. Because one linkage mechanism 2 can simultaneously drive a plurality of telescopic arms 3 to synchronously extend and retract, only one driving mechanism 1 is needed to drive the linkage mechanism 2 to rotate, thereby reducing the number of the driving mechanisms 1 and reducing the cost of the telescopic device 10.

In the present embodiment, the drive mechanism 1 is a steering engine.

In the present embodiment, the number of the telescopic arms 3 is four, and four telescopic arms 3 can improve the reliability of the telescopic device 10. It will be appreciated that in alternative embodiments, the number of telescopic arms 3 is not limited to four, and may be determined according to actual requirements.

As shown in fig. 2, the telescopic boom 3 includes a plurality of scissor units 31, one end of each of two adjacent scissor units 31 is hinged to each other, one scissor unit 31 of the telescopic boom 3 is hinged to one end of the linkage mechanism 2, and the linkage mechanism 2 synchronously drives two adjacent scissor units 31 to rotate with each other, so that the telescopic boom 3 is telescopic. The telescopic capacity of the telescopic arm 3 is improved by the mutual rotation between the two adjacent scissor units 31.

As shown in fig. 3, each scissor unit 31 includes a plurality of straight rods (311, 312, 313), the middle portions of the plurality of straight rods (311, 312, 313) of each scissor unit 31 are hinged to each other, and one ends of the plurality of straight rods (311, 312, 313) of two adjacent scissor units 31 are hinged to each other.

In the present embodiment, each scissor unit 31 includes three straight rods (311, 312, 313), the three straight rods (311, 312, 313) are hinged from top to bottom, and the stability of the scissor unit 31 during extension and retraction can be improved by the three straight rods (311, 312, 313). It will be appreciated that in alternative embodiments, the number of straight rods of each scissor unit 31 is not limited to three, and may be determined according to actual requirements.

The scissor type unit 31 comprises an upper layer straight rod 311, a middle layer straight rod 312 and a lower layer straight rod 313, wherein the middle parts of the upper layer straight rod 311, the middle layer straight rod 312 and the lower layer straight rod 313 are hinged with each other through a hinge shaft.

As shown in fig. 2, the telescopic arm 3 further includes a half scissor unit 32, the linkage 2 is hinged to one end of the scissor unit 31, and the half scissor unit 32 is hinged to one end of the scissor unit 31 far away from the linkage 2. The telescopic capacity of the telescopic arm 3 is improved by the mutual rotation between the half scissor unit 32 and the scissor unit 31.

As shown in fig. 4, the half-scissor unit 32 includes a plurality of half straight bars (321, 322, 323), and the plurality of half straight bars (321, 322, 323) of each half-scissor unit 32 are hinged to each other at one end and to the scissor unit 31 at the other end.

In the present embodiment, each half-scissor unit 32 comprises three half straight rods (321, 322, 323), the three half straight rods (321, 322, 323) are hinged from top to bottom, and the stability of the half-scissor unit 32 during telescoping can be improved by the three half straight rods (321, 322, 323). It will be appreciated that in alternative embodiments, the number of the half straight rods of each half scissor unit 32 is not limited to three, and may be determined according to actual requirements.

As shown in fig. 4, the half scissor unit 32 includes an upper half straight bar 321, a middle half straight bar 322, and a lower half straight bar 323, which are sequentially disposed from top to bottom, and one ends of the upper half straight bar 321, the lower half straight bar 323, and the lower half straight bar 323 are hinged to each other by a hinge shaft.

As shown in fig. 2, one ends of the upper layer straight rod 311, the middle layer straight rod 315, and the lower layer straight rod 313 are hinged to each other by a hinge shaft, and one ends of the upper layer straight rod 314, the middle layer straight rod 312, and the lower layer straight rod 316 are hinged to each other by a hinge shaft, so that the adjacent two scissor units 31 are hinged to each other. The corresponding ends of the upper half straight rod 321, the middle half straight rod 312 and the lower half straight rod 323 are hinged to each other through a hinge shaft, and the corresponding ends of the upper half straight rod 311, the middle half straight rod 322 and the lower half straight rod 313 are hinged to each other through a hinge shaft, so that the half scissor unit 32 and the scissor unit 31 are hinged to each other.

As shown in fig. 5, the linkage mechanism 2 includes a plurality of linkage units 21, and one end of each of two adjacent linkage units 21 is hinged to each other to form a linked loop chain. The plurality of link units 21 together form a linked link chain, thereby improving the reliability of the link mechanism 2.

Each linkage unit 21 comprises a plurality of obtuse angle connecting rods 211 and a plurality of acute angle connecting rods 212, the obtuse angle connecting rods 211 and the acute angle connecting rods 212 are hinged with each other, and the obtuse angle connecting rods 211 and the acute angle connecting rods 212 of two adjacent linkage units 21 are hinged with each other to jointly form a linkage loop chain; the plurality of telescopic arms 3 are respectively hinged with the plurality of obtuse angle connecting rods 211, and the driving mechanism 1 is respectively connected with the plurality of acute angle connecting rods 212; the driving mechanism 1 drives the plurality of acute angle links 212 to rotate, the plurality of acute angle links 212 drive the plurality of obtuse angle links 211 to rotate, and the plurality of obtuse angle links 211 drive the plurality of telescopic arms 3 to synchronously extend and retract. The plurality of obtuse angle links 211 and the plurality of acute angle links 212, which are hinged to each other, together form a linked chain, thereby improving the reliability of the link mechanism 2.

As shown in fig. 6, the upper, middle and lower

obtuse links

213, 214 and 215 are hinged to each other by hinge shafts, the upper, middle and lower

obtuse links

213, 217 and 215 are hinged to each other by hinge shafts, and the upper, middle and lower

acute links

216, 214 and 218 are hinged to each other by hinge shafts, thereby forming one link unit 21. As shown in fig. 7, the upper obtuse link 219, the middle obtuse link 214, and the lower obtuse link 221 are hinged to each other by hinge shafts, and the upper acute link 216, the middle acute link 220, and the lower acute link 218 are hinged to each other by hinge shafts, so that two adjacent link units 21 are hinged to each other. The upper obtuse link 213, the middle obtuse link 315, and the lower obtuse link 215 are hinged to each other by a hinge shaft, and the upper straight link 314, the middle obtuse link 214, and the lower straight link 316 are hinged to each other by a hinge shaft, so that the plurality of obtuse links (213, 214, 215) and the second scissor unit 31 are hinged to each other.

As shown in fig. 8, the obtuse connecting rods 211 include a first straight rod 2111 and a second straight rod 2112 connected to the first straight rod 2111, an angle formed by the first straight rod 2111 and the second straight rod 2112 is an obtuse angle θ, the first straight rod 2111 is provided with a first hinge hole 2113 and a second hinge hole 2114, a third hinge hole 2115 is provided at a connection position of the first straight rod 2111 and the second straight rod 2112, and the second straight rod 2112 is provided with a fourth hinge hole 2116, wherein a distance between any two adjacent ones of the second hinge hole 2114, the third hinge hole 2115 and the fourth hinge hole 2116 is l, and the plurality of obtuse connecting rods 211 are hinged by a rotating shaft passing through the respective second hinge hole 2114.

As shown in fig. 9, the acute angle link 212 includes a third straight rod 2121, a fourth straight rod 2122, a fifth straight rod 2123 and a sixth straight rod 2124 connected end to end, an angle formed by the third straight rod 2121 and the fourth straight rod 2122 is an acute angle Φ, an angle formed by the fifth straight rod 2123 and the sixth straight rod 2124 is an acute angle β, a fifth hinge hole 2125 is provided at a joint of the third straight rod 2121 and the fourth straight rod 2122, a sixth hinge hole 2126 is provided at a joint of the third straight rod 2121 and the sixth straight rod 2124, a seventh hinge hole 2127 is provided at a joint of the fourth straight rod 2122 and the fifth straight rod 2123, an eighth hinge hole 2128 is provided at a joint of the fifth straight rod 2123 and the sixth straight rod 2124, wherein a distance from the fifth hinge hole 2125 to the sixth hinge hole 2126 is equal to a distance from the fifth hinge hole 2125 to the seventh hinge hole 2127 and a distance from the fifth hinge hole 2125 to the sixth hinge hole 2126 is equal to a distance from the eighth hinge hole 2128 and a distance from the eighth hinge hole 2128 is equal to a distance from the sixth hinge hole 2128 and a distance from the eighth hinge hole 2128 is equal to a distance from the seventh hinge hole 2127 to the sixth hole 2128 Is m;

m satisfies formula one, and β satisfies formula two:

β ═ 2 α ═ (θ - Φ) ═ 2 pi/n (two);

wherein n is the number of the telescopic arms 3, and pi is 180 degrees.

As shown in fig. 10, fifth hinge hole 2125 is B, sixth hinge hole 2126 is a, seventh hinge hole 2127 is C, and eighth hinge hole 2128 is G. When the formula is established, a circle is drawn through A by taking G as the center of the circle and m as the radius, and the circle must pass through C. Because the central angle corresponding to the string AC is beta or beta, the circumferential angle of the beta AGC can be known to be beta/2 according to the circumferential angle theorem. When both the first and second equations are true, α is β/2, where α is the circumferential angle corresponding to the chord AC, that is, the center O is on the circle, and the above conclusion is always true regardless of how the obtuse angle link 211 and the acute angle link 212 rotate. Under the condition that the first formula and the second formula are simultaneously established, when the driving mechanism 1 drives the linkage mechanism 2 to rotate, the linkage mechanism 2 can drive the plurality of telescopic arms 3 to be telescopic along the preset direction all the time, so that the controllability of the telescopic device 10 is improved. As shown in fig. 7, the preset direction is a linear direction formed by the mutual hinge positions of the middle portions of the plurality of straight bars of each scissor unit 31.

As shown in fig. 11, in this embodiment, the upper acute angle connecting rod may also include a third straight rod 2121 and a fourth straight rod 2122, and a fifth hinge hole 2125 is provided at a connection position of the third straight rod 2121 and the fourth straight rod 2122, a sixth hinge hole 2126 is provided at an end of the third straight rod 2121 away from the fifth hinge hole 2125, and a seventh hinge hole 2127 is provided at an end of the fourth straight rod 2122 away from the fifth hinge hole 2125. By the upper acute-angle connecting rod 216 without the fifth straight rod 2123 and the sixth straight rod 2124, the upper acute-angle connecting rod can be prevented from interfering with other components, so that the normal operation of the linkage mechanism 2 is ensured. It is understood that in an alternative embodiment, the upper acute-angle connecting rod may also include a fifth straight rod 2123 and a sixth straight rod 2124, which only needs to ensure that the upper acute-angle connecting rod does not interfere with other components during the rotation process.

As shown in fig. 12, the telescopic device 10 further includes a connecting assembly 4, the plurality of telescopic arms 3 are respectively hinged to one end of the linkage mechanism 2, the connecting assembly 4 is hinged to one end of the linkage mechanism 2 far away from the telescopic arms 3, and the driving mechanism 1 is connected to the connecting assembly 4; the driving mechanism 1 drives the connecting assembly 4 to rotate, the connecting assembly 4 drives the linkage mechanism 2 to rotate, and the linkage mechanism 2 drives the telescopic arms 3 to synchronously extend and retract. When the connecting assembly 4 is damaged, only the damaged connecting assembly 4 is needed, and the whole driving mechanism 1 does not need to be replaced, so that the replacement cost of the telescopic device 10 is reduced.

The linkage mechanisms 2 are at least two layers, the connecting assembly 4 comprises a first connecting piece 41 and a second connecting piece 42, the first connecting piece 41 is hinged with one linkage mechanism 2 layer, the second connecting piece 42 is hinged with the other linkage mechanism 2 layer, the driving mechanism 1 is in transmission connection with the first connecting piece 41, and the second connecting piece 42 is fixedly connected with the driving mechanism 1; the driving mechanism 1 drives the first connecting piece 41 to rotate, the first connecting piece 41 drives the linkage mechanism 2 to rotate, and the linkage mechanism 2 drives the second connecting piece 42 to rotate. The first connecting piece 41 is in transmission connection with the driving mechanism 1, and the second connecting piece 42 is fixedly connected with the driving mechanism 1, so that the driving mechanism 1 can reliably drive the linkage mechanism 2 to rotate, and the reliability of the telescopic device 10 is improved. In the present embodiment, the link mechanism 2 has three layers. It will be appreciated that in alternative embodiments, the linkage 2 is not limited to three layers, and may be determined according to actual requirements.

As shown in fig. 13 and 14, the first connecting member 41 is provided with a ninth hinge hole 413, a tenth hinge hole 414, an eleventh hinge hole 415 and a twelfth hinge hole 416, and the ninth hinge hole 413, the tenth hinge hole 414, the eleventh hinge hole 415 and the twelfth hinge hole 416 are respectively hinged to the eighth hinge hole 2128 corresponding to the middle acute angle link. In this embodiment, since the distance from the center O to the eighth hinge hole 2128 is always m, the distance from the ninth hinge hole 413 to the center O is equal to the distance from the tenth hinge hole 414 to the center O is equal to the distance from the eleventh hinge hole 415 to the center O is equal to the distance from the twelfth hinge hole 416 to the center O, and the distance from the ninth hinge hole 413 to the center O is equal to m, so that the hinge holes of the first connecting member 41 are respectively hinged to the eighth hinge hole 2128 corresponding to the middle linkage 2.

In this embodiment, the first connecting member 41 includes a first connecting rod 411 and a second connecting rod 412 vertically connected to the first connecting rod 411, wherein a joint between the first connecting rod 411 and the second connecting rod 412 is set as a center O, a ninth hinge hole 413 and a tenth hinge hole 414 are disposed at two ends of the first connecting rod 411, and an eleventh hinge hole 415 and a twelfth hinge hole 416 are disposed at two ends of the second connecting rod 412.

As shown in fig. 15 and 16, the second connecting member 42 is provided with a thirteenth hinge hole 425, a fourteenth hinge hole 426, a fifteenth hinge hole 427 and a sixteenth hinge hole 428, and the thirteenth hinge hole 425, the fourteenth hinge hole 426, the fifteenth hinge hole 427 and the sixteenth hinge hole 428 are respectively hinged to an eighth hinge hole 2128 corresponding to the lower acute angle link. In this embodiment, since the distance from the center O to the eighth hinge hole 2128 is always m, the distance from the thirteenth hinge hole 425 to the center O is equal to the distance from the fourteenth hinge hole 426 to the center O is equal to the distance from the fifteenth hinge hole to the center O is equal to the distance from the sixteenth hinge hole 428 to the center O, and the distance from the thirteenth hinge hole 425 to the center O is m, so that the hinge holes of the second connecting member 42 are respectively hinged to the eighth hinge holes 2128 corresponding to the lower link chains.

In this embodiment, the second connection member 42 includes a third connection rod 421, a fourth connection rod 422, a fifth connection rod 423, and a sixth connection rod 424 connected end to end, where the third connection rod 421 and the fifth connection rod 423 are arranged in parallel, the fourth connection rod 422 and the sixth connection rod 424 are arranged in parallel, a thirteenth hinge hole 425 and a fourteenth hinge hole 426 are provided on the fourth connection rod 422, a fifteenth hinge hole 427 and a sixteenth hinge hole 428 are provided on the sixth connection rod 424, and a center point of the thirteenth hinge hole 425, the fourteenth hinge hole 426, the fifteenth hinge hole 427, and the sixteenth hinge hole 428 is set as a center O.

As shown in fig. 1, the connecting assembly 4 further includes a third connecting member, and the output shaft of the driving mechanism 1 is fixedly connected to the third connecting member, which is fixedly connected to the first connecting member 41. The driving mechanism 1 drives the third connecting piece to rotate, the third connecting piece drives the first connecting piece 41 to rotate, the first connecting piece 41 drives the linkage mechanism 2 to rotate, the linkage mechanism 2 drives the telescopic arm 3 to stretch and simultaneously drives the second connecting piece 42 to rotate, and the second connecting piece 42 rotates to drive the driving mechanism 1 to rotate. In this embodiment, the third link is a swing arm.

At present, the research of multi-rotor unmanned aerial vehicles mostly focuses on a rack platform with a fixed wheel base, and the perception technology is combined and a control algorithm is optimized to enhance the environment adaptability. When the large multi-rotor unmanned aerial vehicle is disturbed by unstable airflow in the flying process, the large multi-rotor unmanned aerial vehicle still can keep better stability due to large self rotational inertia; but when small-size many rotor unmanned aerial vehicle receives unstable air current interference in flight process, because self inertia is little, easily receive the air current interference and become very unstable, lead to small-size many rotor unmanned aerial vehicle's use limited. When the small multi-rotor unmanned aerial vehicle encounters a narrow channel in the flying process, the small multi-rotor unmanned aerial vehicle can easily pass through the channel due to the small wheelbase; but large-scale many rotor unmanned aerial vehicle wheel base is great, can't pass the passageway easily, leads to large-scale many rotor unmanned aerial vehicle's use to be restricted.

As shown in fig. 17, the present embodiment provides a drone 100, and the drone 100 may have a rotor mechanism 50 and the telescopic device 10 in any of the above embodiments, wherein the rotor mechanism 50 is disposed at an end of the telescopic arm 3 away from the driving mechanism 1, and the rotor mechanism 50 is used for generating flight power.

In this embodiment, drive 2 rotations of link gear through actuating mechanism 1, link gear 2 drives a plurality of flexible arms 3 and stretches out and draws back in step to make unmanned aerial vehicle 100 make its self volume change through the wheel base that changes rotor mechanism 50 under the scene of difference, make unmanned aerial vehicle 100 can fly under the scene of difference, thereby improve unmanned aerial vehicle 100's suitability.

As shown in fig. 18, the rotor mechanism 50 includes a propeller 51 and a motor 52, the motor 52 being provided on the telescopic arm 3, the motor 52 being for driving the propeller 51 to rotate.

The propeller 51 comprises a hub 511 and a plurality of blades 512, the plurality of blades 512 are uniformly arranged along the circumferential direction of the hub, the motor 52 is fixedly connected with the hub 511, the motor 52 drives the hub 511 to rotate, and the hub 511 drives the blades 512 to rotate.

Rotor mechanism 50 further includes a rotor base 53, motor 52 being disposed on rotor base 53, and rotor base 53 being disposed on telescopic boom 3.

The rotor base 53 is provided with a first cavity 531 and a second cavity 532 which penetrate through the rotor base, the rotor mechanism 50 further comprises a propeller shaft 54, the motor 52 is arranged in the first cavity 531, the propeller shaft 54 is arranged in the second cavity 532, the motor 52 is in transmission connection with one end of the propeller shaft 54, the propeller 51 is fixedly connected with one end of the propeller shaft 54 far away from the motor 52, wherein the propeller 51 is positioned above the rotor base 53, the motor 52 drives the propeller shaft 54 to rotate, and the propeller shaft 54 drives the propeller 51 to rotate.

The rotor mechanism 50 further includes a first bearing 55, a second bearing 56, and a propeller adapter 57, the propeller shaft 54 is disposed in the second cavity 532 through the first bearing 55 and the second bearing 56, the motor 52 is provided with a first gear 521, the propeller shaft 54 is provided with a second gear 541 adapted to the first gear 521, the motor 52 is in transmission connection with one end of the propeller shaft 54 through the first gear 521 and the second gear 541, and the hub 511 is fixedly connected with one end of the propeller shaft 54 through the propeller adapter 57. The first gear 521 and the second gear 541 are located below the rotor base 53, the hub 511 and the blades 512 are located above the rotor base 53, the motor 52 drives the first gear 521 to rotate, the first gear 521 drives the second gear 541 to rotate, the second gear 541 drives the propeller shaft 54 to rotate, the propeller shaft 54 drives the propeller adapter 57 to rotate, the propeller adapter 57 drives the hub 511 to rotate, and the hub 511 drives the blades 512 to rotate.

As shown in fig. 19, the rotor mechanism 50 further includes a limiting member 58, and the limiting member 58 is used to limit the rotation of the rotor base 53 relative to the telescopic arm 3, so as to ensure that the position of the rotor base 53 remains unchanged relative to the telescopic arm 3 all the time during the flight of the unmanned aerial vehicle 100, thereby improving the reliability of the unmanned aerial vehicle 100 during the flight. In the present embodiment, the stopper 58 is provided on the rotor base 53.

As shown in fig. 7, 19 and 21, the limiting member 58 is provided with a limiting groove 581, and the telescopic device 10 further includes a hinge shaft 582, wherein the hinge shaft 582 is disposed on the telescopic arm 3 and is located in the limiting groove 581 to limit the rotation of the rotor base 53 relative to the telescopic arm 3. By the cooperation of the stopper groove 581 and the hinge shaft 582, the reliability of the stopper 58 can be improved.

As shown in fig. 19, rotor mechanism 50 further includes a support bar 59, and support bar 59 is used to support rotor base 53. Support rotor base 53 through bracing piece 59, can prevent that unmanned aerial vehicle 100 from taking place to empty at the in-process that falls to the ground for keep certain distance all the time between screw 51 and the ground, thereby guarantee rotor mechanism 50's life. In this embodiment, support bar 59 is disposed at the bottom of rotor base 53.

As shown in fig. 20, the drone 100 further includes a support mechanism 60, the support mechanism 60 includes a frame bottom plate 61 and a frame cover plate 62 covering the frame bottom plate 61, and the linkage mechanism 2 is located between the frame bottom plate 61 and the frame cover plate 62.

Be equipped with spacing portion 621 on the frame apron 62, spacing portion 621 is used for the central point that limits link gear 2 to put (that is center O) and takes place to remove relative frame apron 62 to make telescoping device 10 at flexible in-process, the central point of link gear 2 puts and remains unchanged relative frame apron 62 throughout, thereby improves the reliability of unmanned aerial vehicle 100 at the flight in-process.

As shown in fig. 7 and 21, the limiting portion 621 is provided with at least three limiting grooves 6211, and the telescopic device 10 further includes at least three hinge shafts 6212, the hinge shafts 6212 are disposed on the linkage mechanism 2 and located in the corresponding limiting grooves 6211 to limit the central position of the linkage mechanism 2 from moving relative to the frame cover plate 62, wherein the hinge shafts can slide along the corresponding limiting grooves 6211. The reliability of the stopper 621 can be improved by the cooperation of the three stopper grooves 6211 and the three hinge shafts 6212. The hinge shaft 6212 can slide along the corresponding limit groove 6211, and can prevent the interference between the linkage mechanism 2 and the frame cover plate 62 in the process of extension and retraction, thereby ensuring the normal operation of the extension and retraction device 10.

As shown in fig. 20, the number of the limiting grooves 581 is four, and an included angle between two adjacent limiting grooves 581 is 2 pi/n, where n is the number of the telescopic arms 3. In this embodiment, the number of the telescopic arms 3 is 4, and the included angle between two adjacent guide grooves is 90 degrees.

As shown in fig. 17, the unmanned aerial vehicle 100 further includes a flight controller 70, an inertial measurement unit 80, a lithium battery 90, and a sensor 110, which are provided on the support mechanism 60, and the flight controller 70 is connected to the inertial measurement unit 80, the lithium battery 90, and the sensor 110, respectively.

In the present embodiment, the flight controller 70 is disposed on the rack cover 62, the inertial measurement unit 80 is disposed on the flight controller 70, the lithium battery 90 is disposed on the inertial measurement unit 80, and the sensor 110 is disposed on the bottom of the rack base plate 61.

In the present embodiment, the inertial measurement unit 80 is an IMU inertial measurement unit 80. The sensor 110 is an optical flow sensor 110.

As in fig. 22, the drone 100 reaches the maximum deployment state; fig. 23 shows the drone 100 reaching a semi-deployed state; fig. 24 shows the drone 100 reaching a minimum collapsed state.

The above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention, and all modifications and equivalents of the present invention, which are made by the contents of the present specification and the accompanying drawings, or directly/indirectly applied to other related technical fields, are included in the scope of the present invention.

Claims

1. The utility model provides a telescoping device, its characterized in that includes actuating mechanism, link gear and a plurality of flexible arm, and is a plurality of flexible arm respectively with link gear's one end is articulated, actuating mechanism with link gear keeps away from the one end of flexible arm is articulated, the actuating mechanism drive link gear rotates, so that link gear drives a plurality of flexible arm is synchronous flexible.

2. The telescopic device according to claim 1, wherein the telescopic arm comprises a plurality of scissor units, one end of each of two adjacent scissor units is hinged to each other, one end of each of the scissor units in the telescopic arm is hinged to one end of the linkage mechanism, and the linkage mechanism synchronously drives the two adjacent scissor units to rotate relative to each other, so that the telescopic arm is telescopic.

3. The telescopic device according to claim 2, wherein the scissor units comprise a plurality of straight rods, the middle parts of the straight rods of each scissor unit are hinged with each other, and one ends of the straight rods of two adjacent scissor units are hinged with each other.

4. The telescopic device according to claim 2, wherein the telescopic arm further comprises a half scissor unit, the linkage mechanism is hinged to one end of the scissor unit, and the half scissor unit is hinged to one end of the scissor unit, which is far away from the linkage mechanism.

5. The telescopic device according to claim 4, wherein the half-scissor unit comprises a plurality of half straight bars, and one end of each of the plurality of half straight bars of the half-scissor unit is hinged to each other, and the other end of each of the plurality of half straight bars of the half-scissor unit is hinged to each other.

6. The telescopic device according to claim 1, wherein the linkage mechanism comprises a plurality of linkage units, and one end of each two adjacent linkage units are hinged to each other to form a linked endless chain.

7. The telescopic device according to claim 6, wherein each linkage unit comprises a plurality of obtuse angle links and a plurality of acute angle links, the obtuse angle links and the acute angle links are hinged with each other, and the obtuse angle links and the acute angle links of two adjacent linkage units are hinged with each other to form a linkage endless chain; the telescopic arms are hinged with the obtuse angle connecting rods respectively, and the driving mechanisms are connected with the acute angle connecting rods respectively; the actuating mechanism drive is a plurality of the acute angle connecting rod rotates, and is a plurality of the acute angle connecting rod drives a plurality of the obtuse angle connecting rod rotates, and is a plurality of the obtuse angle connecting rod drives a plurality of the telescopic boom is synchronous flexible.

8. Telescopic device according to claim 7,

the obtuse connecting rods comprise first straight rods and second straight rods connected with the first straight rods, the angle formed by the first straight rods and the second straight rods is an obtuse angle theta, first hinge holes and second hinge holes are formed in the first straight rods, third hinge holes are formed in the joints of the first straight rods and the second straight rods, fourth hinge holes are formed in the second straight rods, the distance between any two adjacent second hinge holes, the distance between any two adjacent third hinge holes and the distance between any two adjacent fourth hinge holes are l, and the obtuse connecting rods penetrate through the respective second hinge holes through rotating shafts to realize hinge;

β ═ 2 α ═ (θ - Φ) ═ 2 pi/n (two);

wherein n is the number of the telescopic arms, and pi is 180 degrees.

9. The telescopic device according to claim 1, further comprising a connecting assembly, wherein a plurality of telescopic arms are respectively hinged to one end of the linkage mechanism, the connecting assembly is hinged to one end of the linkage mechanism far away from the telescopic arms, and the driving mechanism is connected with the connecting assembly; the actuating mechanism drive coupling assembling rotates, coupling assembling drives link gear rotates, link gear drives a plurality ofly flexible arm is synchronous flexible.

10. The telescopic device according to claim 9, wherein the linkage mechanism is at least two layers, the connecting assembly comprises a first connecting piece and a second connecting piece, the first connecting piece is hinged with one layer of the linkage mechanism, the second connecting piece is hinged with the other layer of the linkage mechanism, the driving mechanism is in transmission connection with the first connecting piece, and the second connecting piece is fixedly connected with the driving mechanism; the driving mechanism drives the first connecting piece to rotate, the first connecting piece drives the linkage mechanism to rotate, and the linkage mechanism drives the second connecting piece to rotate.

11. An unmanned aerial vehicle comprising a rotor mechanism and the telescopic device of any one of claims 1-10, the rotor mechanism being disposed on an end of the telescopic arm remote from the drive mechanism, the rotor mechanism being configured to generate flight power.

12. The drone of claim 11, wherein the rotor mechanism includes a motor and a propeller connected to the motor, the motor being disposed on the telescoping arm, the motor being configured to drive the propeller to rotate.

13. The drone of claim 12, wherein the rotor mechanism further includes a rotor base disposed on the telescoping arm, the motor being disposed on the rotor base.

14. The unmanned aerial vehicle of claim 13, wherein the rotor base has a first cavity and a second cavity extending therethrough, the rotor mechanism further includes a propeller shaft, the motor is disposed in the first cavity, the propeller shaft is disposed in the second cavity, the motor is in transmission connection with one end of the propeller shaft, and the propeller is fixedly connected with an end of the propeller shaft remote from the motor, wherein the propeller is located above the rotor base, the motor drives the propeller shaft to rotate, and the propeller shaft drives the propeller shaft to rotate.

15. The drone of claim 13, wherein the rotor mechanism further includes a stop for limiting rotation of the rotor base relative to the telescoping arm.

16. An unmanned aerial vehicle according to claim 15, wherein the limiting member is provided with a limiting groove, and the telescopic device further comprises a hinge shaft, and the hinge shaft is provided on the telescopic arm and located in the limiting groove to limit the rotation of the rotor base relative to the telescopic arm.

17. The drone of claim 13, wherein the rotor mechanism further includes a support rod for supporting the rotor base.

18. The drone of claim 11, further comprising a support mechanism including a frame base plate and a frame cover plate covering the frame base plate, the linkage mechanism being located between the frame base plate and the frame cover plate.

19. An unmanned aerial vehicle according to claim 18, wherein a limiting portion is provided on the frame cover plate, and the limiting portion is used for limiting the central position of the linkage mechanism to move relative to the frame cover plate.

20. An unmanned aerial vehicle according to claim 19, wherein the limiting portion is provided with at least three limiting grooves, and the telescopic device further comprises at least three hinge shafts, the hinge shafts are provided on the linkage mechanism and located in the corresponding limiting grooves to limit the central position of the linkage mechanism to move relative to the frame cover plate, wherein the hinge shafts can slide along the corresponding limiting grooves.