CN212890892U

CN212890892U - Cut fork telescoping device and applied this unmanned aerial vehicle who cuts fork telescoping device

Info

Publication number: CN212890892U
Application number: CN202021730734.2U
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: 2021-04-06
Anticipated expiration: 2030-08-17

Abstract

The utility model discloses a cut fork telescoping device and applied this unmanned aerial vehicle who cuts fork telescoping device and includes first flexible arm, the flexible arm of second and drive assembly, drive assembly with first flexible arm is connected, first flexible arm with the flexible arm of second is articulated each other, drive assembly is used for the drive first flexible arm is flexible, so that first flexible arm drives the flexible arm of second is synchronous flexible. Through increasing the flexible arm of second, can improve the flexible scope of first flexible arm for cut fork telescoping device and can be applied to under the special environment, thereby improve the suitability of cutting fork telescoping device.

Description

Cut fork telescoping device and applied this unmanned aerial vehicle who cuts fork telescoping device

Technical Field

The utility model relates to an industrial machine technical field, in particular to cut fork telescoping device and use this unmanned aerial vehicle who cuts fork telescoping device.

Background

In the prior art, a scissor type telescopic device comprises a scissor type telescopic arm and a driving assembly which are connected with each other, and the driving assembly is used for driving the scissor type telescopic arm to stretch. 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. In the prior art, the scissor type telescopic device is limited by the influence of a single scissor type telescopic arm, so that the telescopic range of the scissor type telescopic device is limited, and the scissor type telescopic device cannot be applied to special environments.

SUMMERY OF THE UTILITY MODEL

A primary object of the utility model is to provide a cut fork telescoping device and use this unmanned aerial vehicle who cuts fork telescoping device, aim at solving and cut the fork and cut fork telescoping device among the prior art and be subject to the influence of the flexible arm of single fork of cutting, lead to cutting the limited technical problem of application range of fork telescoping device.

In order to solve the technical problem, the utility model provides a technical scheme does:

the utility model provides a cut fork telescoping device, includes first flexible arm, the flexible arm of second and drive assembly, drive assembly with first flexible arm is connected, first flexible arm with the flexible arm of second is articulated each other, drive assembly is used for the drive first flexible arm is flexible, so that first flexible arm drives the flexible arm of second is flexible in step.

Optionally, the first telescopic arm includes a plurality of scissor units, one end of each of two adjacent scissor units is hinged to each other, one scissor unit of the first telescopic arm is hinged to the second telescopic arm, the driving assembly is connected to one of the scissor units, and the driving assembly drives one of the scissor units to rotate, so that one of the scissor units drives the adjacent scissor unit to rotate synchronously, and the scissor unit hinged to the second telescopic arm drives the second telescopic arm to extend and retract synchronously.

Optionally, the first telescopic arm further comprises a half scissor unit, the second telescopic arm is hinged to one end of the scissor unit, and the half scissor unit is hinged to one end of the scissor unit far away from the second telescopic arm.

Optionally, the second telescoping arm comprises a first obtuse angle link, a second obtuse angle link, a first acute angle link, and a second acute angle link, the first obtuse angle connecting rod and the second obtuse angle connecting rod are hinged with each other, the first acute angle connecting rod and the second acute angle connecting rod are hinged with each other, the first obtuse angle connecting rod and the first acute angle connecting rod are hinged with each other, the second obtuse angle connecting rod and the second acute angle connecting rod are hinged with each other, the first telescopic arm is respectively hinged with one end of the first obtuse angle connecting rod and one end of the second obtuse angle connecting rod, the driving component drives the first telescopic arm to stretch, the first telescopic arm synchronously drives the first obtuse angle connecting rod and the second obtuse angle connecting rod to rotate, so that the first obtuse angle connecting rod synchronously drives the first acute angle connecting rod to rotate, and the second obtuse angle connecting rod synchronously drives the second acute angle connecting rod to rotate.

Optionally, the first obtuse angle connecting rod comprises a first straight rod and a second straight rod which are connected with each other, and an angle formed between the first straight rod and the second straight rod is an obtuse angle θ₁The first straight rod is provided with a first hinge hole and a second hinge hole, the joint of the first straight rod and the second straight rod is provided with a third hinge hole, the second straight rod is provided with a fourth hinge hole, the distance between the second hinge hole and the third hinge hole is equal to the distance between the third hinge hole and the fourth hinge hole, and the distance between the second hinge hole and the third hinge hole is l;

the second obtuse angle connecting rod comprises a third straight rod and a fourth straight rod which are connected with each other, and an angle formed between the third straight rod and the fourth straight rod is an obtuse angle theta₂The third straight rod is provided with a fifth hinge hole and a sixth hinge hole, the joint of the third straight rod and the fourth straight rod is provided with a seventh hinge hole, the fourth straight rod is provided with an eighth hinge hole, and the sixth hinge hole and the seventh hinge hole are arranged in sequenceThe distance between the sixth hinge hole and the seventh hinge hole is equal to the distance between the seventh hinge hole and the eighth hinge hole, and the distance between the sixth hinge hole and the seventh hinge hole is l;

the first acute angle connecting rod comprises a fifth straight rod and a sixth straight rod which are connected with each other, and an angle formed between the fifth straight rod and the sixth straight rod is an acute angle phi₁A ninth hinge hole is formed at the joint of the fifth straight rod and the sixth straight rod, a tenth hinge hole is formed in the fifth straight rod, and an eleventh hinge hole is formed in the sixth straight rod, wherein the distance between the ninth hinge hole and the tenth hinge hole is equal to the distance between the ninth hinge hole and the eleventh hinge hole, and the distance between the ninth hinge hole and the tenth hinge hole is l;

the second acute angle connecting rod comprises a seventh straight rod and an eighth straight rod which are connected with each other, and an angle formed between the seventh straight rod and the eighth straight rod is an acute angle phi₂A twelfth hinge hole is formed in the joint of the seventh straight rod and the eighth straight rod, a thirteenth hinge hole is formed in the seventh straight rod, a fourteenth hinge hole is formed in the eighth straight rod, wherein the distance between the twelfth hinge hole and the thirteenth hinge hole is equal to the distance between the twelfth hinge hole and the fourteenth hinge hole, and the distance between the twelfth hinge hole and the thirteenth hinge hole is l;

a first straight line is formed by passing through the fourth hinge hole and the tenth hinge hole, a second straight line is formed by passing through the eighth hinge hole and the thirteenth hinge hole, the included angle between the first straight line and the second straight line is alpha, and the alpha satisfies the following formula:

α＝(θ₁+θ₂+φ₁+φ₂)/2。

the utility model provides another technical scheme does:

an unmanned aerial vehicle, includes above-mentioned fork telescoping device of cutting, it is a plurality of to cut fork telescoping device's quantity.

Optionally, unmanned aerial vehicle still includes a plurality of rotor mechanisms, and is a plurality of rotor mechanism one-to-one sets up a plurality of first flexible arm is kept away from on one end of the flexible arm of second, rotor mechanism is used for producing flight power.

Optionally, the unmanned aerial vehicle still includes supporting mechanism, the flexible arm of second deviates from the one end setting of first flexible arm is in on the supporting mechanism and can follow the supporting mechanism slides.

Optionally, the support mechanism includes a frame bottom plate and a frame cover plate covering the frame bottom plate, and the end of the second telescopic arm departing from the first telescopic arm is arranged between the frame bottom plate and the frame cover plate and can slide between the frame bottom plate and the frame cover plate.

Optionally, a first chute is arranged on the frame bottom plate, a second chute is arranged on the frame cover plate at a position corresponding to the first chute, and one end of the second telescopic arm departing from the first telescopic arm is arranged between the first chute and the second chute and can slide between the first chute and the second chute.

Compared with the prior art, the utility model discloses following beneficial effect has:

through increasing the flexible arm of second, can improve the flexible scope of first flexible arm for cut fork telescoping device and can be applied to under the special environment, thereby improve the suitability of cutting fork telescoping device.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be 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 scissor jack of an embodiment of the present application;

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

FIG. 6 is a schematic view of a second telescoping arm of another embodiment of the present application;

FIG. 7 is a schematic view of a second telescoping arm of yet another embodiment of the present application;

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

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

FIG. 10 is a schematic view of a first acute angle link of an embodiment of the present application;

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

FIG. 12 is a schematic view of a combination of a first obtuse angle link, a second obtuse angle link, a first acute angle link, and a second acute angle link of an embodiment of the present application;

FIG. 13 is a schematic view of the first and second telescoping arms of the present application in combination;

FIG. 14 is a schematic view of a first connector of an embodiment of the present application;

FIG. 15 is a schematic view of a combination of a first link, a drive assembly, and a scissor unit of an embodiment of the present application;

fig. 16 is a schematic view of a drone of an embodiment of the present application;

figure 17 is a schematic view of a rotor mechanism of an embodiment of the present application;

FIG. 18 is a schematic view of a support mechanism of an embodiment of the present application;

FIG. 19 is a schematic view of a combination of a support mechanism, first telescoping arm, and second telescoping arm of an embodiment of the present application;

FIG. 20 is a schematic view of a combination of a support mechanism, first telescoping arm, and second telescoping arm of another embodiment of the present application;

FIG. 21 is a schematic view of a combination of a support mechanism and scissor jack according to an embodiment of the present application.

10. A scissor-fork type telescopic device; 1. a first telescopic arm; 11. a scissor-fork unit; 111. an upper straight rod; 112. a middle layer straight rod; 113. a lower straight rod; 114. an upper straight rod; 115. a middle layer straight rod; 116. a lower straight rod; 12. a half scissor unit; 121. a first half straight rod; 1211. a first hinge chamber; 1212. a second hinge chamber; 122. a second half straight rod; 2. a second telescopic arm; 21. a first obtuse angle link; 211. a first straight rod; 212. a second straight rod; 213. a first hinge hole; 214. a second hinge hole; 215. a third hinge hole; 216. a fourth hinge hole; 22. a second obtuse angle link; 221. a third straight rod; 222. a fourth straight rod; 223. a fifth hinge hole; 224. a sixth hinge hole; 225. a seventh hinge hole; 226. an eighth hinge hole; 23. a first acute angle link; 231. a fifth straight rod; 232. a sixth straight rod; 233. a ninth hinge hole; 234. a tenth hinge hole; 235. an eleventh hinge hole; 24. a second acute angle link; 241. a seventh straight rod; 242. an eighth straight rod; 243. a twelfth hinge hole; 244. a thirteenth hinge hole; 245. a fourteenth hinge hole; 2001. an upper first obtuse angle link; 2002. a middle second obtuse angle connecting rod; 2003. a lower first obtuse angle link; 2004. an upper second acute angle connecting rod; 2005. a middle layer first acute angle connecting rod; 2006. a lower second acute angle connecting rod; 2007. an upper second obtuse angle link; 2008. a middle first obtuse angle link; 2009. a lower second obtuse angle link; 2010. an upper layer first acute angle connecting rod; 2011. a middle second acute angle connecting rod; 2012. a lower first acute angle link; 3. a drive assembly; 4. a first connecting member; 41. a first connection portion; 42. a second connecting portion; 5. a second connecting member; 100. an unmanned aerial vehicle; 20. a rotor mechanism; 021. a propeller; 0211. a hub; 0212. a paddle; 022. a motor; 023. a rotor base; 30. a support mechanism; 31. a chassis base plate; 311. a first chute; 3111. a first sub-chute; 3112. a second sub-chute; 32. a frame cover plate; 321. a second chute; 3211. a third sub-chute; 3212. a fourth sub-chute; 40. flight control; 50. a lithium battery.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.

It should be noted that all the directional indicators (such as upper, lower, 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 motion situation, etc. in a specific posture (as shown in the drawings), 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 implicit ly 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, the technical solutions in the embodiments may be combined with each other, but it must be based on the realization of those skilled in the art, and when the technical solutions are contradictory or cannot be realized, the combination of the technical solutions should not be considered to exist, and is not within the protection scope of the present invention.

As shown in fig. 1, the present embodiment provides a scissor type telescopic device 10, which includes a first telescopic arm 1, a second telescopic arm 2 and a driving assembly 3, wherein the driving assembly 3 is connected to the first telescopic arm 1, the first telescopic arm 1 and the second telescopic arm 2 are hinged to each other, and the driving assembly 3 drives the first telescopic arm 1 to be telescopic, so that the first telescopic arm 1 synchronously drives the second telescopic arm 2 to be telescopic.

Through increasing the flexible arm 2 of second, can improve the flexible scope of first flexible arm 1 for cut fork telescoping device 10 and can be applied to under the special environment, thereby improve the suitability of cutting fork telescoping device 10.

In this embodiment, the driving assembly 3 is a steering engine.

As shown in fig. 2, the first telescopic boom 1 includes a plurality of scissor units 11, one end of each of two adjacent scissor units 11 is hinged to each other, one scissor unit 11 of the first telescopic boom 1 is hinged to the second telescopic boom 2, the driving component 3 is connected to one of the scissor units 11, the driving component 3 drives one of the scissor units 11 to rotate, so that one of the scissor units 11 synchronously drives the adjacent scissor unit 11 to rotate, and the scissor unit 11 hinged to the second telescopic boom 2 synchronously drives the second telescopic boom 2 to extend and retract. The telescopic capacity of the first telescopic arm 1 is improved by mutual rotation between two adjacent scissor units 11.

As shown in fig. 3, each of the scissor units 11 includes a plurality of straight bars (111, 112, 113), the middle portions of the plurality of straight bars of each of the scissor units 11 are hinged to each other, and in two adjacent scissor units 11, one end of the plurality of straight bars of one of the scissor units 11 and one end of the plurality of straight bars of the other scissor unit 11 are hinged to each other.

In the embodiment, each scissor unit 11 comprises three straight rods (111, 112, 113), the three straight rods (111, 112, 113) are hinged from top to bottom, and the stability of the scissor unit 11 in the process of telescoping can be improved through the three straight rods (111, 112, 113). It will be appreciated that in alternative embodiments, the number of straight rods of each scissor unit 11 is not limited to three, and may be determined according to actual requirements.

Specifically, the scissor unit 11 includes an upper straight bar 111, a middle straight bar 112, and a lower straight bar 113, and the middle portions of the upper straight bar 111, the middle straight bar 112, and the lower straight bar 113 are hinged to each other through a hinge shaft.

As shown in fig. 2, the first telescopic boom 1 further includes a half scissor unit 12, the second telescopic boom 2 is hinged to one end of the scissor unit 11, and the half scissor unit 12 is hinged to one end of the scissor unit 11 away from the second telescopic boom 2. The telescopic capacity of the first telescopic arm 1 is improved by the mutual rotation between the half scissor unit 12 and the scissor unit 11.

As shown in fig. 4, the half-scissor unit 12 includes a plurality of half straight bars (121,122), one end of each of the plurality of half straight bars (121,122) included in each of the half-scissor units 12 is hinged to each other, and the other end of each of the plurality of half straight bars (121,122) included in each of the half-scissor units 12 is hinged to each of the scissor units 11.

In the present embodiment, each half-scissor unit 12 comprises two half-straight bars (121,122) hinged to each other. It will be appreciated that in alternative embodiments, the number of the half straight rods of each half scissor unit 12 is not limited to two, and may be determined according to actual requirements.

Specifically, the half scissor unit 12 comprises a first half straight rod 121 and a second half straight rod 122 which are hinged to each other, a first hinge cavity 1211 and a second hinge cavity 1212 are arranged in the first half straight rod 121, and one hinged end of the second half straight rod 122 and the first half straight rod 121 is arranged in the first hinge cavity 1211.

As shown in fig. 2, in the present embodiment, one ends of the upper straight bar 111, the middle straight bar 115, and the lower straight bar 113 are hinged to each other by a hinge shaft, and one ends of the upper straight bar 114, the middle straight bar 112, and the lower straight bar 116 are hinged to each other by a hinge shaft, so that two adjacent scissor units 11 are hinged to each other. The corresponding ends of the first half straight rod 121 and the middle layer straight rod 112 are hinged to each other through a hinge shaft, the hinged end of the middle layer straight rod 112 and the first half straight rod 121 is arranged in the second hinge cavity 1212, and the corresponding ends of the upper layer straight rod 111, the second half straight rod 122 and the lower layer straight rod 113 are hinged to each other through a hinge shaft, so that the half scissor unit 12 and the scissor unit 11 are hinged to each other.

As shown in fig. 5, the second telescopic arm 2 includes a first obtuse angle link 21, a second obtuse angle link 22, a first acute angle link 23 and a second acute angle link 24, the first obtuse angle link 21 and the second obtuse angle link 22 are hinged to each other, the first acute angle link 23 and the second acute angle link 24 are hinged to each other, the first obtuse angle link 21 and the first acute angle link 23 are hinged to each other, the second obtuse angle link 22 and the second acute angle link 24 are hinged to each other, the first telescopic arm 1 is hinged to one end of the first obtuse angle link 21 and one end of the second obtuse angle link 22, the driving assembly 3 drives the first telescopic arm 1 to telescope, the first telescopic arm 1 drives the first obtuse angle link 21 and the second obtuse angle link 22 to rotate synchronously, so that the first obtuse angle link 21 drives the first acute angle link 23 to rotate synchronously, and the second obtuse angle link 22 drives the second acute angle link 24 to rotate synchronously. The applicability of the scissor type telescopic device 10 is improved by changing the respective angles of the first obtuse link 21, the second obtuse link 22, the first acute link 23 and the second acute link 24 to extend and retract the first telescopic arm 1 at the corresponding angles.

As shown in fig. 6, in one embodiment, the second telescopic arm 2 includes an upper first obtuse link 2001, a middle second obtuse link 2002, a lower first obtuse link 2003, an upper second acute link 2004, a middle first acute link 2005, and a lower second acute link 2006, the upper first obtuse link 2001, the middle second obtuse link 2002, and the lower first obtuse link 2003 are hinged to each other through a hinge shaft, the upper second acute link 2004, the middle first acute link 2005, and the lower second acute link 2006 are hinged to each other through a hinge shaft, the upper second acute link 2004, the middle second obtuse link 2002, and the lower second acute link 2006 are hinged to each other through a hinge shaft, and the upper first obtuse link 2001, the middle first acute link 2005, and the lower first obtuse link 2003 are hinged to each other through a hinge shaft.

As shown in fig. 7, in one embodiment, the second telescopic arm 2 includes an upper second obtuse link 2007, a middle first obtuse link 2008, a lower second obtuse link 2009, an upper first acute link 2010, a middle second acute link 2011, and a lower first acute link 2012, the upper second obtuse link 2007, the middle first obtuse link 2008, and the lower second obtuse link 2009 are hinged to each other by a hinge shaft, the upper first acute link 2010, the middle second acute link 2011, and the lower first acute link 2012 are hinged to each other by a hinge shaft, the upper first acute link 2010, the middle first obtuse link 2008, and the lower first acute link 2012 are hinged to each other by a hinge shaft, and the upper second obtuse link 2007, the middle second acute link 2011, and the lower second obtuse link 2009 are hinged to each other by a hinge shaft.

As shown in fig. 8, the first obtuse angle link 21 includes a first straight bar 211 and a second straight bar 212 connected to each other, and an angle formed between the first straight bar 211 and the second straight bar 212 is an obtuse angle θ₁The first straight bar 211 is provided with a first hinge hole 213 and a second hinge hole 214, the joint of the first straight bar 211 and the second straight bar 212 is provided with a third hinge hole 215, the second straight bar 212 is provided with a fourth hinge hole 216, wherein the distance between the second hinge hole 214 and the third hinge hole 215 is equal to the distance between the third hinge hole 215 and the fourth hinge hole 216, and the distance between the second hinge hole 214 and the third hinge hole 215 is l.

As shown in fig. 9, the second obtuse angle link 22 includes a third straight bar 221 and a fourth straight bar 222 connected to each other, and an angle formed between the third straight bar 221 and the fourth straight bar 222 is an obtuse angle θ₂The third straight rod 221 is provided with a fifth hinge hole 223 and a sixth hinge hole 224, the joint of the third straight rod 221 and the fourth straight rod 222 is provided with a seventh hinge hole 225, the fourth straight rod 222 is provided with an eighth hinge hole 226, wherein the distance between the sixth hinge hole 224 and the seventh hinge hole 225 is equal to the distance between the seventh hinge hole 225 and the eighth hinge hole 226, and the distance between the sixth hinge hole 224 and the seventh hinge hole 225 is l.

As shown in fig. 10, the first acute angle link 23 includes a fifth straight bar 231 and a sixth straight bar 232 connected to each other, and an angle formed between the fifth straight bar 231 and the sixth straight bar 232 is an acute angle Φ₁The joint of the fifth straight rod 231 and the sixth straight rod 232 is provided with a ninth hinge hole 233, the fifth straight rod 231 is provided with a tenth hinge hole 234, the sixth straight rod 232 is provided with an eleventh hinge hole 235, wherein the distance between the ninth hinge hole 233 and the tenth hinge hole 234 is equal to the distance between the ninth hinge hole 233 and the eleventh hinge hole 235, and the distance between the ninth hinge hole 233 and the tenth hinge hole 234 is l.

As shown in fig. 11, the second acute angle link 24 includes a seventh straight bar 241 and an eighth straight bar 242 connected to each other, and an angle formed between the seventh straight bar 241 and the eighth straight bar 242 is an acute angle Φ₂A twelfth hinge hole 243 is formed at the joint of the seventh straight rod 241 and the eighth straight rod 242, and a thirteenth hinge hole is formed on the seventh straight rod 241244 and a fourteenth hinge hole 245 is formed on the eighth straight rod 242, wherein a distance between the twelfth hinge hole 243 and the thirteenth hinge hole 244 is equal to a distance between the twelfth hinge hole 243 and the fourteenth hinge hole 245, and a distance between the twelfth hinge hole 243 and the thirteenth hinge hole 244 is l.

As shown in fig. 12, the fourth hinge hole 216 and the tenth hinge hole 234 form a first straight line, the eighth hinge hole 226 and the thirteenth hinge hole 244 form a second straight line, and an angle α between the first straight line and the second straight line satisfies the following equation:

α＝(θ₁+θ₂+φ₁+φ₂)/2。

the fourth hinge hole 216 is a, the tenth hinge hole 234 is B, the third hinge hole 215 and the ninth hinge hole 233 are C, the second hinge hole 214 and the sixth hinge hole 224 are D, the eleventh hinge hole 235 and the thirteenth hinge hole 244 are E, the seventh hinge hole 225 and the twelfth hinge hole 243 are F, the eighth hinge hole 226 is G, and the fourteenth hinge hole 245 is H. When AC, BC, CD, DF, EF, HF, GF, and α (θ)₁+θ₂+φ₁+φ₂) And/2, the included angle alpha between the first line and the second line is kept constant no matter how the obtuse angle link and the acute angle link rotate. When the driving assembly 3 drives the first telescopic arm 1 to stretch, the first telescopic arm 1 can stretch and retract along a preset direction all the time, so that the controllability of the scissor type telescopic device 10 is improved. As shown in fig. 13, 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 11.

As shown in fig. 1, scissor jack 10 further comprises a first link 4, and the drive assembly 3 is connected to the first telescopic arm 1 via the first link 4.

As shown in fig. 14 and 15, the first connecting member 4 includes a first connecting portion 41 and a second connecting portion 42 connected to each other, the first connecting portion 41 is connected to the driving assembly 3, the second connecting portion 42 is hinged to the lower straight rod 113, and the output shaft of the driving assembly 3 is connected to the lower straight rod 113. The driving assembly 3 drives the lower straight rod 113 to rotate, the lower straight rod 113 synchronously drives the middle straight rod 112 to rotate, the middle straight rod 112 synchronously drives the second connecting portion 42 to rotate, the second connecting portion 42 synchronously drives the first connecting portion 41 to rotate, so that the first connecting portion 41 synchronously drives the driving assembly 3 to rotate, wherein the driving assembly 3 and the lower straight rod rotate in opposite directions.

As shown in fig. 15, the scissor type telescopic device 10 further comprises a second connecting member 5, and the output shaft of the driving assembly 3 and the lower straight rod 113 are connected through the second connecting member 5. The driving assembly 3 drives the second connecting member 5 to rotate, so that the second connecting member 5 drives the lower straight rod 113 to rotate. In the present embodiment, the second link 5 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. 16, the present embodiment provides a drone 100, and the drone 100 may have the scissor type telescopic devices 10 in any of the above embodiments, and the number of the scissor type telescopic devices 10 is plural.

Drive assembly 3 drive through each scissor telescopic device 10 respectively corresponding first flexible arm 1 flexible, first flexible arm 1 drives the flexible arm 2 of second in step flexible to make unmanned aerial vehicle 100 make its self volume change through the wheel base that changes rotor mechanism 20 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.

In the present embodiment, the number of scissor retractors 10 is four. It will be appreciated that in alternative embodiments, the number of scissor retractors 10 is not limited to four, and may be determined based on the actual situation.

Unmanned aerial vehicle 100 still includes rotor mechanism 20, and rotor mechanism 20 is used for producing flight power, and rotor mechanism 20 sets up in one of the flexible arm 2 of second of keeping away from in the first flexible arm 1 of scissor fork telescoping device 10 and serves, and rotor mechanism 20 includes a plurality ofly, a plurality of rotor mechanisms 20 respectively with a plurality of scissor fork telescoping device 10 one-to-one.

As shown in fig. 17, the rotor mechanism 20 includes a motor 022 and a propeller 021 connected to the motor 022, the motor 022 is disposed on the first telescopic arm 1, and the motor 022 is used for driving the propeller 021 to rotate.

The propeller 021 includes hub 0211 and a plurality of paddle 0212, and a plurality of paddle 0212 are evenly spaced along the circumference of hub and are set up, and motor 022 and hub 0211 fixed connection, motor 022 are used for driving hub 0211 to rotate, and hub 0211 drives paddle 0212 and rotates.

Rotor mechanism 20 also includes rotor base 023, and motor 022 sets up on rotor base 023, and rotor base 023 sets up on first telescopic arm 1.

In this embodiment, the rotor base 023 is disposed on the first semi-straight rod 121.

As shown in fig. 16, the unmanned aerial vehicle 100 further includes a support mechanism 30, and one end of the second telescopic arm 2 facing away from the first telescopic arm 1 is disposed on the support mechanism 30 and can slide along the support mechanism 30. The driving assembly 3 drives the first telescopic arm 1 to stretch, and the first telescopic arm 1 synchronously drives the second telescopic arm 2 to stretch so that the second telescopic arm 2 slides along the supporting mechanism 30, and therefore the stretching reliability of the scissor type telescopic device 10 is improved.

As shown in fig. 18, the supporting mechanism 30 includes a frame bottom plate 31 and a frame cover plate 32 covering the frame bottom plate 31, and one end of the second telescopic arm 2 facing away from the first telescopic arm 1 is disposed between the frame bottom plate 31 and the frame cover plate 32 and can slide along between the frame bottom plate 31 and the frame cover plate 32. The sliding region of the second telescopic arm 2 can be restricted by the frame base plate 31 and the frame cover plate 32, thereby improving the reliability of extension and retraction of the scissor type telescopic device 10.

The frame bottom plate 31 is provided with a first sliding groove 311, the frame cover plate 32 is provided with a second sliding groove 321 at a position corresponding to the first sliding groove 311, and one end of the second telescopic arm 2 departing from the first telescopic arm 1 is arranged between the first sliding groove 311 and the second sliding groove 321 and can slide along the first sliding groove 311 and the second sliding groove 321. The sliding path of the second telescopic arm 2 can be limited by the first sliding groove 311 and the second sliding groove 321, so that the second telescopic arm 2 can reliably slide along the first sliding groove 311 and the second sliding groove 321 when telescopic, thereby improving the telescopic reliability of the scissor type telescopic device 10.

As shown in fig. 19, in the present embodiment, the first chute 311 includes a first sub-chute 3111 and a second sub-chute 3112, the middle first obtuse link 2008 is disposed in the first sub-chute 3111 through a fourth hinge hole by a hinge shaft, the upper first acute link 2010 and the lower first acute link 2012 are disposed in the first sub-chute 3111 through respective tenth hinge holes by a hinge shaft, the upper second obtuse link 2007 and the lower second obtuse link 2009 are disposed in the second sub-chute 3112 through respective eighth hinge holes by a hinge shaft, and the middle second acute link 2011 is disposed in the second sub-chute 3112 through a tenth hinge hole by a hinge shaft.

As shown in fig. 20, in the present embodiment, the second chute 321 includes a third sub-chute 3211 and a fourth sub-chute 3212, the middle first obtuse link 2008 is disposed in the third sub-chute 3211 through a hinge shaft passing through a fourth hinge hole, the upper first acute link 2010 and the lower first acute link 2012 are disposed in the third sub-chute 3211 through a hinge shaft passing through a respective tenth hinge hole, the upper second obtuse link 2007 and the lower second obtuse link 2009 are disposed in the fourth sub-chute 3212 through a hinge shaft passing through a respective eighth hinge hole, and the middle second acute link 2011 is disposed in the fourth sub-chute 3212 through a hinge shaft passing through a tenth hinge hole.

As shown in fig. 21, the driving assembly 3 drives the first telescopic arm 1 to extend and retract, so that the first telescopic arm 1 synchronously drives the first obtuse angle link 21 and the first acute angle link 23 to slide along the first sub-sliding slot 3111 and the third sub-sliding slot 3211, and the first telescopic arm 1 synchronously drives the second obtuse angle link 22 and the second acute angle link 24 to slide along the second sub-sliding slot 3112 and the fourth sub-sliding slot 3212.

As shown in fig. 16, the drone 100 further includes a flight control 40 and a battery 50, the flight control 40 is electrically connected to the driving assembly 3, the rotor mechanism 20 and the battery 50, the flight control 40 and the battery 50 are respectively disposed on the supporting mechanism 30, the flight control 40 is configured to control the driving assembly 3 and the rotor mechanism 20 to operate, and the battery 50 is configured to provide power to the flight control 40.

The above only be the preferred embodiment of the utility model discloses a not consequently restriction the utility model discloses a patent range, all are in the utility model discloses a conceive, utilize the equivalent structure transform of what the content was done in the description and the attached drawing, or direct/indirect application all is included in other relevant technical field the utility model discloses a patent protection within range.

Claims

1. The utility model provides a cut fork telescoping device which characterized in that, includes first flexible arm, the flexible arm of second and drive assembly, drive assembly with first flexible arm is connected, first flexible arm with the flexible arm of second is articulated each other, drive assembly is used for the drive first flexible arm is flexible, so that first flexible arm drives the flexible arm of second is flexible in step.

2. A scissor telescopic device according to claim 1, wherein the first telescopic arm comprises a plurality of scissor units, one end of each of two adjacent scissor units is hinged to each other, one scissor unit of the first telescopic arm and the second telescopic arm are hinged to each other, the driving assembly is connected with one of the scissor units, and the driving assembly drives one of the scissor units to rotate, so that one of the scissor units drives the adjacent scissor units to rotate synchronously, and the scissor unit hinged to the second telescopic arm drives the second telescopic arm to extend and retract synchronously.

3. A scissor telescopic device according to claim 2, wherein the first telescopic arm further comprises a half scissor unit, the second telescopic arm being hinged to one end of the scissor unit, the half scissor unit being hinged to one end of the scissor unit remote from the second telescopic arm.

4. A scissor telescopic device according to claim 1, wherein the second telescopic arm comprises a first obtuse angle link, a second obtuse angle link, a first acute angle link and a second acute angle link, the first obtuse angle link and the second obtuse angle link are hinged to each other, the first acute angle link and the second acute angle link are hinged to each other, the first obtuse angle link and the first acute angle link are hinged to each other, the second obtuse angle link and the second acute angle link are hinged to each other, the first telescopic arm is hinged to one end of the first obtuse angle link and one end of the second obtuse angle link, respectively, the driving assembly drives the first telescopic arm to extend and retract, the first telescopic arm synchronously drives the first obtuse angle link and the second obtuse angle link to rotate, so that the first obtuse angle link synchronously drives the first acute angle link to rotate, the second obtuse angle connecting rod synchronously drives the second acute angle connecting rod to rotate.

5. A scissor retractor device according to claim 4 wherein the first obtuse link comprises a first straight bar and a second straight bar connected to each other, the first straight bar and the second straight bar forming an obtuse angle θ therebetween₁The first straight rod is provided with a first hinge hole and a second hinge hole, the joint of the first straight rod and the second straight rod is provided with a third hinge hole, the second straight rod is provided with a fourth hinge hole, the distance between the second hinge hole and the third hinge hole is equal to the distance between the third hinge hole and the fourth hinge hole, and the distance between the second hinge hole and the third hinge hole is l;

the second obtuse angle connecting rod comprises a third straight rod and a fourth straight rod which are connected with each other, and an angle formed between the third straight rod and the fourth straight rod is an obtuse angle theta₂The third straight rod is provided with a fifth hinge hole and a sixth hinge hole,a seventh hinge hole is formed in the joint of the third straight rod and the fourth straight rod, an eighth hinge hole is formed in the fourth straight rod, the distance between the sixth hinge hole and the seventh hinge hole is equal to the distance between the seventh hinge hole and the eighth hinge hole, and the distance between the sixth hinge hole and the seventh hinge hole is l;

α＝(θ₁+θ₂+φ₁+φ₂)/2。

6. an unmanned aerial vehicle comprising a scissor jack according to any one of claims 1 to 5, wherein the scissor jack is plural in number.

7. The drone of claim 6, further comprising a plurality of rotor mechanisms disposed in a one-to-one correspondence on an end of the plurality of first telescoping arms distal from the second telescoping arm, the rotor mechanisms for generating flight power.

8. The drone of claim 7, further comprising a support mechanism, an end of the second telescoping arm facing away from the first telescoping arm being disposed on and slidable along the support mechanism.

9. The unmanned aerial vehicle of claim 8, wherein the support mechanism comprises a frame bottom plate and a frame cover plate covering the frame bottom plate, and an end of the second telescopic arm facing away from the first telescopic arm is disposed between the frame bottom plate and the frame cover plate and can slide along the frame bottom plate and the frame cover plate.

10. The unmanned aerial vehicle of claim 9, wherein a first chute is disposed on the frame bottom plate, a second chute is disposed on the frame cover plate at a position corresponding to the first chute, and an end of the second telescopic arm away from the first telescopic arm is disposed between the first chute and the second chute and can slide along the first chute and the second chute.