WO2022036731A1 - Dispositif extensible de type ciseaux et véhicule aérien sans pilote utilisant celui-ci - Google Patents

Dispositif extensible de type ciseaux et véhicule aérien sans pilote utilisant celui-ci Download PDF

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Publication number
WO2022036731A1
WO2022036731A1 PCT/CN2020/111106 CN2020111106W WO2022036731A1 WO 2022036731 A1 WO2022036731 A1 WO 2022036731A1 CN 2020111106 W CN2020111106 W CN 2020111106W WO 2022036731 A1 WO2022036731 A1 WO 2022036731A1
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WO
WIPO (PCT)
Prior art keywords
hinge hole
straight rod
scissor
telescopic arm
link
Prior art date
Application number
PCT/CN2020/111106
Other languages
English (en)
Chinese (zh)
Inventor
李鹏
杨陶
刘云辉
Original Assignee
哈尔滨工业大学（深圳）
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Filing date
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Application filed by 哈尔滨工业大学（深圳） filed Critical 哈尔滨工业大学（深圳）
Publication of WO2022036731A1 publication Critical patent/WO2022036731A1/fr

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C1/00—Fuselages; Constructional features common to fuselages, wings, stabilising surfaces or the like
    • B64C1/30—Parts of fuselage relatively movable to reduce overall dimensions of aircraft
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C1/00—Fuselages; Constructional features common to fuselages, wings, stabilising surfaces or the like
    • B64C1/06—Frames; Stringers; Longerons ; Fuselage sections
    • B64C1/061—Frames
    • B64C1/063—Folding or collapsing to reduce overall dimensions, e.g. foldable tail booms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B64U10/10—Rotorcrafts
    • B64U10/13—Flying platforms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U30/00—Means for producing lift; Empennages; Arrangements thereof
    • B64U30/20—Rotors; Rotor supports
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U50/00—Propulsion; Power supply
    • B64U50/10—Propulsion
    • B64U50/19—Propulsion using electrically powered motors

Definitions

  • the invention relates to the technical field of industrial machinery, in particular to a scissor-type telescopic device and an unmanned aerial vehicle using the scissor-type telescopic device.
  • a scissor-type telescopic device includes interconnected scissor-type telescopic arms and a drive assembly, and the drive assembly is used for driving the scissor-type telescopic arms to extend and retract.
  • the scissor-type telescopic device is widely used in the support or connection occasions where the load position is changed. Because of the flexible expansion and contraction ability and the huge difference between the extreme values of the occupied space, the scissor-type telescopic device is favored by users.
  • 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 cannot be applied in special environments.
  • the main purpose of the present invention is to provide a scissor-type telescopic device and an unmanned aerial vehicle using the scissor-type telescopic device, aiming to solve the problem that the scissor-type scissor-type telescopic device in the prior art is limited by a single scissor-type telescopic device
  • the influence of the arm leads to the technical problem that the scope of use of the scissor-type scissor telescopic device is limited.
  • the technical scheme provided by the present invention is:
  • a scissor-type telescopic device includes a first telescopic arm, a second telescopic arm and a drive assembly, the drive assembly is connected with the first telescopic arm, and the first telescopic arm and the second telescopic arm are hinged to each other and the drive assembly is used to drive the first telescopic arm to extend and retract, so that the first telescopic arm drives the second telescopic arm to extend and retract synchronously.
  • the first telescopic arm includes a plurality of scissor-type units, one end of two adjacent scissor-type units is hinged to each other, and one of the scissor-type units in the first telescopic arm is connected to all the scissor-type units.
  • the second telescopic arms are hinged to each other, the drive assembly is connected to one of the scissor units, and the drive assembly drives one of the scissor units to rotate, so that one of the scissor units drives the adjacent scissor units to synchronize Rotating, so that the scissor-type unit hinged with the second telescopic arm drives the second telescopic arm to extend and retract synchronously.
  • the first telescopic arm further includes a semi-scissor-type unit, the second telescopic arm and one end of the scissor-type unit are hinged to each other, and the semi-scissor-type unit and the scissor-type unit are mutually hinged. One ends away from the second telescopic arm are hinged to each other.
  • the second telescopic arm includes a first obtuse link, a second obtuse link, a first acute link and a second acute link, the first obtuse link and the second obtuse link
  • 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, and the second obtuse-angle link and the first obtuse-angle link are hinged to each other.
  • Two acute-angle links are hinged with each other, the first telescopic arm is hinged with one end of the first obtuse-angle link and the second obtuse-angle link, respectively, and the drive assembly drives the first telescopic arm to extend and retract, the 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 drives the first acute-angle link to rotate synchronously, and the second obtuse-angle link rotates synchronously. Synchronously drives the second acute angle link to rotate.
  • the first obtuse-angle link includes a first straight rod and a second straight rod that are connected to each other, and the angle formed between the first straight rod and the second straight rod is an obtuse angle ⁇ 1 , and the The first straight rod is provided with a first hinge hole and a second hinge hole, the connection between the first straight rod and the second straight rod is provided with a third hinge hole, and the second straight rod is provided with a first hinge hole.
  • Four hinge holes wherein 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 second hinge hole and the The distance between the third hinge holes is l;
  • the second obtuse-angle link includes a third straight rod and a fourth straight rod that are connected to each other, the angle formed between the third straight rod and the fourth straight rod is an obtuse angle ⁇ 2 , and the third straight rod
  • a fifth hinge hole and a sixth hinge hole are provided on it, a seventh hinge hole is provided at the connection between the third straight rod and the fourth straight rod, and an eighth hinge hole is provided on the fourth straight rod, wherein, 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 sixth hinge hole and the seventh hinge hole
  • the distance between the holes is l;
  • the first acute-angle link includes a fifth straight rod and a sixth straight rod that are connected to each other, the angle formed between the fifth straight rod and the sixth straight rod is an acute angle ⁇ 1 , and the fifth straight rod
  • the connection with the sixth straight rod is provided with a ninth hinge hole
  • the fifth straight rod is provided with a tenth hinge hole
  • the sixth straight rod is provided with an eleventh hinge hole, wherein the 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 The distance is l;
  • the second acute-angle link includes a seventh straight rod and an eighth straight rod that are connected to each other, the angle formed between the seventh straight rod and the eighth straight rod is an acute angle ⁇ 2 , and the seventh straight rod
  • the connection with the eighth straight rod is provided with a twelfth hinge hole
  • the seventh straight rod is provided with a thirteenth hinge hole
  • the eighth straight rod is provided with a fourteenth hinge hole, 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 The distance between them is l;
  • a first straight line is formed through the fourth hinge hole and the tenth hinge hole, a second straight line is formed through the eighth hinge hole and the thirteenth hinge hole, and the first straight line and the first
  • the angle between the two straight lines is ⁇ , and ⁇ satisfies the following formula:
  • ⁇ ( ⁇ 1 + ⁇ 2 + ⁇ 1 + ⁇ 2 )/2.
  • Another technical scheme provided by the present invention is:
  • An unmanned aerial vehicle includes the above-mentioned scissor-type telescopic device, wherein the number of the scissor-type telescopic device is multiple.
  • the unmanned aerial vehicle further includes a plurality of rotor mechanisms, and the plurality of rotor mechanisms are arranged on one end of the plurality of first telescopic arms away from the second telescopic arms in a one-to-one correspondence. Used to generate flight power.
  • the unmanned aerial vehicle further includes a support mechanism, and an end of the second telescopic arm away from the first telescopic arm is disposed on the support mechanism and can slide along the support mechanism.
  • the support mechanism includes a rack bottom plate and a rack cover plate covered on the rack bottom plate, and an end of the second telescopic arm away from the first telescopic arm is provided with the rack bottom plate and the rack cover plate. between the rack cover plates, and can slide along the rack bottom plate and the rack cover plate.
  • the rack bottom plate is provided with a first chute
  • the rack cover is provided with a second chute at a position corresponding to the first chute
  • the second telescopic arm faces away from the first chute.
  • One end of a telescopic arm is disposed between the first chute and the second chute, and can slide along the space between the first chute and the second chute.
  • the present invention has the following beneficial effects:
  • the telescopic range of the first telescopic arm can be increased, so that the scissor-type telescopic device can be applied in a special environment, thereby improving the applicability of the scissor-type telescopic device.
  • FIG. 1 is a schematic diagram of a scissor-type telescopic device according to an embodiment of the present application
  • FIG. 2 is a schematic diagram of a first telescopic boom according to an embodiment of the present application
  • FIG. 3 is a schematic diagram of a scissor unit according to an embodiment of the present application.
  • FIG. 4 is a schematic diagram of a semi-scissor unit according to an embodiment of the present application.
  • FIG. 5 is a schematic diagram of a second telescopic arm according to an embodiment of the present application.
  • FIG. 6 is a schematic diagram of a second telescopic arm according to another embodiment of the present application.
  • FIG. 7 is a schematic diagram of a second telescopic boom according to another embodiment of the present application.
  • FIG. 8 is a schematic diagram of a first obtuse-angle connecting rod according to an embodiment of the present application.
  • FIG. 9 is a schematic diagram of a second obtuse-angle connecting rod according to an embodiment of the present application.
  • FIG. 10 is a schematic diagram of a first acute-angle connecting rod according to an embodiment of the present application.
  • FIG. 11 is a schematic diagram of a second acute-angle connecting rod according to an embodiment of the present application.
  • FIG. 12 is a schematic diagram 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 according to an embodiment of the present application;
  • Figure 13 is a schematic diagram of the combination of the first telescopic arm and the second telescopic arm of the present application;
  • FIG. 14 is a schematic diagram of a first connector according to an embodiment of the present application.
  • FIG. 15 is a schematic diagram of a combination of a first connector, a drive assembly and a scissor unit according to an embodiment of the present application;
  • 16 is a schematic diagram of a drone according to an embodiment of the present application.
  • FIG. 17 is a schematic diagram of a rotor mechanism according to an embodiment of the present application.
  • FIG. 18 is a schematic diagram of a support mechanism of an embodiment of the present application.
  • FIG. 19 is a schematic diagram of a combination of a support mechanism, a first telescopic arm, and a second telescopic arm according to an embodiment of the present application;
  • 20 is a schematic diagram of a combination of a support mechanism, a first telescopic arm, and a second telescopic arm according to another embodiment of the present application;
  • Fig. 21 is a schematic diagram of a combination of a support mechanism and a scissor-type telescopic device according to an embodiment of the present application.
  • Scissor telescopic device 1. First telescopic arm; 11. Scissor unit; 111, Upper straight rod; 112, Middle straight rod; 113, Lower straight rod; 114, Upper straight rod; 115, Middle straight rod rod; 116, lower straight rod; 12, semi-scissor unit; 121, first semi-straight rod; 1211, first hinge cavity; 1212, second hinge cavity; 122, second semi-straight rod; 2, second Telescopic arm; 21, first obtuse link; 211, first straight rod; 212, second straight rod; 213, first hinge hole; 214, second hinge hole; 215, third hinge hole; 216, fourth Hinged hole; 22, second obtuse connecting rod; 221, third straight rod; 222, fourth straight rod; 223, fifth hinged hole; 224, sixth hinged hole; 225, seventh hinged hole; 226, eighth Hinged hole; 23, the first acute-angle link; 231, the fifth straight rod; 232, the sixth straight rod; 233, the ninth hinge hole; 234,
  • this embodiment provides a scissor-type telescopic device 10 , which includes a first telescopic arm 1 , a second telescopic arm 2 and a drive assembly 3 .
  • the drive assembly 3 is connected to the first telescopic arm 1 , and the first telescopic arm 1
  • the telescopic arm 1 and the second telescopic arm 2 are hinged to each other, and the drive assembly 3 drives the first telescopic arm 1 to extend and retract, so that the first telescopic arm 1 synchronously drives the second telescopic arm 2 to extend and retract.
  • the telescopic range of the first telescopic arm 1 can be increased, so that the scissor-type telescopic device 10 can be applied in a special environment, thereby improving the applicability of the scissor-type telescopic device 10 .
  • the driving component 3 is a steering gear.
  • the first telescopic arm 1 includes a plurality of scissor-type units 11, one end of two adjacent scissor-type units 11 is hinged to each other, and one scissor-type unit 11 in the first telescopic arm 1 and the second
  • the telescopic arms 2 are hinged to each other, the drive assembly 3 is connected to one of the scissor units 11 , and the drive assembly 3 drives one of the scissor units 11 to rotate, so that one of the scissor units 11 drives the adjacent scissor units 11 synchronously Rotate, so that the scissor unit 11 hinged with the second telescopic arm 2 synchronously drives the second telescopic arm 2 to extend and retract.
  • the drive assembly 3 is connected to one of the scissor units 11
  • the drive assembly 3 drives one of the scissor units 11 to rotate, so that one of the scissor units 11 drives the adjacent scissor units 11 synchronously Rotate, so that the scissor unit 11 hinged with
  • the scissor-type unit 11 includes a plurality of straight rods (111, 112, 113), and the middle parts of the plurality of straight rods of each scissor-type unit 11 are hinged to each other, and two adjacent scissor-fork type In the unit 11, one end of the plurality of straight rods of one scissor-type unit 11 and one end of the plurality of straight rods of the other scissor-type unit 11 are hinged to each other.
  • each scissor-type unit 11 includes three straight rods (111, 112, 113), and the three straight rods (111, 112, 113) are hinged from top to bottom in sequence, and the three straight rods (111, 112, 113) are hinged from top to bottom.
  • 111, 112, 113) can improve the stability of the scissor unit 11 during the expansion and contraction. It can be understood that, in an optional embodiment, the number of straight rods of each scissor-type unit 11 is not limited to three, and may be determined according to actual requirements.
  • the scissor-type unit 11 includes an upper straight rod 111 , a middle straight rod 112 and a lower straight rod 113 , and the middle parts of the upper straight rod 111 , the middle straight rod 112 and the lower straight rod 113 are hinged to each other through a hinge shaft.
  • the first telescopic arm 1 further includes a semi-scissor-type unit 12, one end of the second telescopic arm 2 and the scissor-type unit 11 are hinged to each other, and the semi-scissor-type unit 12 and the scissor-type unit 11 are far away from the first One ends of the two telescopic arms 2 are hinged to each other.
  • the semi-scissor unit 12 and the scissor unit 11 are far away from the first One ends of the two telescopic arms 2 are hinged to each other.
  • the semi-scissor-type unit 12 includes a plurality of semi-straight rods (121, 122), one end of the plurality of semi-straight rods (121, 122) included in each semi-scissor-type unit 12 is hinged with each other, and each half-scissor fork The other ends of the plurality of semi-straight rods (121, 122) included in the scissor-type unit 12 are mutually hinged with the scissor-type unit 11.
  • each semi-scissor unit 12 includes two semi-straight rods (121, 122) hinged to each other. It can be understood that, in an optional embodiment, the number of semi-straight rods of each semi-scissor-type unit 12 is not limited to two, and may be determined according to actual requirements.
  • the semi-scissor unit 12 includes a first semi-straight rod 121 and a second semi-straight rod 122 that are hinged to each other.
  • the first semi-straight rod 121 is provided with a first hinge cavity 1211 and a second hinge cavity 1212, and the second The hinged end of the semi-straight rod 122 and the first semi-straight rod 121 is arranged in the first hinge cavity 1211 .
  • one end of the upper straight rod 111 , the middle straight rod 115 and the lower straight rod 113 are hinged to each other through a hinge shaft, and one end of the upper straight rod 114 , the middle straight rod 112 and the lower straight rod 116
  • the two adjacent scissor-type units 11 are hinged to each other through the hinge shaft.
  • the corresponding ends of the first semi-straight rod 121 and the middle straight rod 112 are hinged to each other through the hinge shaft, and the hinged end of the middle straight rod 112 and the first semi-straight rod 121 is set in the second hinge cavity 1212, the upper straight rod 111, the first The corresponding ends of the two half straight rods 122 and the lower straight rod 113 are hinged to each other through the hinge shaft, so that the half scissor-type unit 12 and the scissor-type unit 11 are hinged to each other.
  • the second telescopic arm 2 includes a first obtuse link 21 , a second obtuse link 22 , a first acute link 23 and a second acute link 24 , the first obtuse link 21 and the second obtuse link 21
  • the connecting rods 22 are hinged with each other, the first acute angle connecting rod 23 and the second acute angle connecting rod 24 are hinged with each other, the first obtuse angle connecting rod 21 and the first acute angle connecting rod 23 are hinged with each other, and the second obtuse angle connecting rod 22 and the second acute angle connecting rod are hinged with each other.
  • the drive assembly 3 drives the first telescopic arm 1 to telescopic, and the first telescopic arm 1 synchronously drives the first obtuse angle
  • the connecting rod 21 and the second obtuse-angle connecting rod 22 rotate, so that the first obtuse-angle connecting rod 21 drives the first acute-angle connecting rod 23 to rotate synchronously, and the second obtuse-angle connecting rod 22 drives the second acute-angle connecting rod 24 to rotate synchronously.
  • the first telescopic arm 1 can be extended and retracted at the corresponding angle, thereby improving the shear rate. Suitability of telescopic fork 10 .
  • the second telescopic arm 2 includes an upper first obtuse-angle connecting rod 2001, a middle-layer second obtuse-angle connecting rod 2002, a lower-layer first obtuse-angle connecting rod 2003, an upper-layer second acute-angle connecting rod 2004, An acute-angle link 2005 and a lower second acute-angle link 2006, an upper-layer first obtuse-angle link 2001, a middle-layer second obtuse-angle link 2002, and a lower-layer first obtuse-angle link 2003 are hinged to each other through hinge shafts, and the upper-layer second acute-angle link 2004 , the first acute angle connecting rod 2005 of the middle layer and the second acute angle connecting rod 2006 of the lower layer are hinged to each other through the hinge shaft, and the second acute angle connecting rod 2004 of the upper layer, the second obtuse angle connecting rod 2002 of the middle layer and the second acute angle connecting rod 2006 of the lower layer are hinged to each other through the hinge shaft , the upper first obtuse-angle connecting rod
  • the second telescopic arm 2 includes an upper second obtuse angle link 2007 , a middle layer first obtuse angle link 2008 , a lower second obtuse angle link 2009 , an upper first acute angle link 2010 , and a middle layer first obtuse link 2009 .
  • Two acute angle connecting rods 2011 and the lower first acute angle connecting rod 2012, the upper second obtuse angle connecting rod 2007, the middle first obtuse angle connecting rod 2008 and the lower second obtuse angle connecting rod 2009 are hinged to each other through the hinge shaft, and the upper first acute angle connecting rod 2010 , the middle second acute angle connecting rod 2011 and the lower first acute angle connecting rod 2012 are hinged to each other through the hinge shaft, the upper first acute angle connecting rod 2010, the middle layer first obtuse angle connecting rod 2008 and the lower first acute angle connecting rod 2012 are hinged to each other through the hinge shaft , the upper second obtuse angle connecting rod 2007, the middle second acute angle connecting rod 2011 and the lower second obtuse angle connecting rod 2009 are hinged to each other through the hinge shaft.
  • the first obtuse-angle link 21 includes a first straight rod 211 and a second straight rod 212 that are connected to each other.
  • the angle formed between the first straight rod 211 and the second straight rod 212 is an obtuse angle ⁇ 1 .
  • the straight rod 211 is provided with a first hinge hole 213 and a second hinge hole 214
  • the connection between the first straight rod 211 and the second straight rod 212 is provided with a third hinge hole 215
  • the second straight rod 212 is provided with a third hinge hole 215 .
  • the second obtuse-angle link 22 includes a third straight rod 221 and a fourth straight rod 222 that are connected to each other.
  • the angle formed between the third straight rod 221 and the fourth straight rod 222 is an obtuse angle ⁇ 2 .
  • the third straight rod 221 is provided with a fifth hinge hole 223 and a sixth hinge hole 224
  • the connection between 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 a third hinge hole 225 .
  • the first acute-angle link 23 includes a fifth straight rod 231 and a sixth straight rod 232 that are connected to each other.
  • the angle formed between the fifth straight rod 231 and the sixth straight rod 232 is an acute angle ⁇ 1 .
  • a ninth hinge hole 233 is provided at the connection between the fifth straight rod 231 and the sixth straight rod 232 , the fifth straight rod 231 is provided with a tenth hinge hole 234 , and the sixth straight rod 232 is provided with an eleventh hinge hole 235 .
  • 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.
  • the second acute-angle link 24 includes a seventh straight rod 241 and an eighth straight rod 242 that are connected to each other.
  • the angle formed between the seventh straight rod 241 and the eighth straight rod 242 is an acute angle ⁇ 2 .
  • a twelfth hinge hole 243 is provided at the connection between the seventh straight rod 241 and the eighth straight rod 242
  • the seventh straight rod 241 is provided with a thirteenth hinge hole 244
  • the eighth straight rod 242 is provided with a fourteenth hinge hole 245, wherein the distance between the twelfth hinge hole 243 and the thirteenth hinge hole 244 is equal to the distance between the twelfth hinge hole 243 and the fourteenth hinge hole 245 and the twelfth hinge hole 243 and the thirteenth hinge hole 245
  • the distance between the hinge holes 244 is l.
  • a first straight line is formed through the fourth hinge hole 216 and the tenth hinge hole 234
  • a second straight line is formed through the eighth hinge hole 226 and the thirteenth hinge hole 244 , the first straight line and the second straight line
  • the included angle is ⁇ , and ⁇ satisfies the following formula:
  • ⁇ ( ⁇ 1 + ⁇ 2 + ⁇ 1 + ⁇ 2 )/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 The 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
  • the fourteenth hinge hole 245 is H.
  • the driving assembly 3 drives the first telescopic arm 1 to extend and retract, the first telescopic arm 1 can always be extended and retracted in a preset direction, thereby improving the controllability of the scissor-type telescopic device 10 .
  • the preset direction is a linear direction formed by the mutually hinged positions of the middle portions of the plurality of straight rods of each scissor-type unit 11 .
  • the scissor-type telescopic device 10 further includes a first connecting member 4, and the driving assembly 3 and the first telescopic arm 1 are connected through the first connecting member 4.
  • the first connecting member 4 includes a first connecting portion 41 and a second connecting portion 42 that are connected to each other.
  • the first connecting portion 41 is connected to the drive assembly 3
  • the second connecting portion 42 is connected to the lower straight rod 113 . Articulated with each other, the output shaft of the drive assembly 3 is connected with the lower straight rod 113 .
  • the driving component 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 part 42 to rotate, and the second connecting part 42 synchronously drives the first connecting part 41 to rotate, so as to
  • the first connecting portion 41 drives the drive assembly 3 to rotate synchronously, wherein the rotation directions of the drive assembly 3 and the lower straight rod are opposite.
  • the scissor-type telescopic device 10 further includes 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 piece 5 to rotate, so that the second connecting piece 5 drives the lower straight rod 113 to rotate.
  • the second connecting member 5 is a swing arm.
  • this embodiment provides an unmanned aerial vehicle 100 .
  • the unmanned aerial vehicle 100 may have the scissor-type telescopic device 10 in any of the above embodiments, and the number of the scissor-type telescopic device 10 is multiple.
  • the corresponding first telescopic arms 1 are driven to expand and contract by the drive components 3 of each scissor-type telescopic device 10 , and the first telescopic arms 1 synchronously drive the second telescopic arms 2 to expand and contract, so that the UAV 100 can change through changing in different scenarios.
  • the wheelbase of the rotor mechanism 20 changes its own volume, so that the UAV 100 can fly in different scenarios, thereby improving the applicability of the UAV 100 .
  • the number of scissor-type telescopic devices 10 is four. It can be understood that, in an optional embodiment, the number of scissor-type telescopic devices 10 is not limited to four, and may be determined according to actual conditions.
  • the UAV 100 further includes a rotor mechanism 20, which is used to generate flight power.
  • the rotor mechanism 20 is arranged on the end of the first telescopic arm 1 of the scissor-type telescopic device 10 away from the second telescopic arm 2.
  • the rotor mechanism 20 includes: The plurality of rotor mechanisms 20 are in one-to-one correspondence with the plurality of scissor-type telescopic devices 10 .
  • 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 to drive the propeller 021 to rotate.
  • the propeller 021 includes a propeller hub 0211 and a plurality of propeller blades 0212.
  • the plurality of propeller blades 0212 are evenly spaced along the circumference of the propeller hub.
  • the motor 022 is fixedly connected to the propeller hub 0211.
  • the motor 022 is used to drive the propeller hub 0211 to rotate.
  • the rotor mechanism 20 further includes a rotor base 023 , the motor 022 is arranged on the rotor base 023 , and the rotor base 023 is arranged on the first telescopic arm 1 .
  • the rotor base 023 is disposed on the first semi-straight rod 121 .
  • the UAV 100 further includes a support mechanism 30 , and one end of the second telescopic arm 2 away from the first telescopic arm 1 is disposed on the support mechanism 30 and can slide along the support mechanism 30 .
  • the drive assembly 3 drives the first telescopic arm 1 to extend and retract, and the first telescopic arm 1 synchronously drives the second telescopic arm 2 to extend and retract, so that the second telescopic arm 2 slides along the support mechanism 30 , thereby improving the telescopic reliability of the scissor-type telescopic device 10 .
  • the support mechanism 30 includes a rack bottom plate 31 and a rack cover plate 32 covered on the rack bottom plate 31 .
  • the end of the second telescopic arm 2 facing away from the first telescopic arm 1 is provided with a rack bottom plate 31 and a rack cover plate 32 . between the rack cover plates 32 and can slide along the rack bottom plate 31 and the rack cover plate 32 .
  • the sliding area of the second telescopic arm 2 can be limited by the frame bottom plate 31 and the frame cover plate 32 , thereby improving the telescopic reliability of the scissor-type telescopic device 10 .
  • the rack bottom plate 31 is provided with a first chute 311
  • the rack cover 32 is provided with a second chute 321 at the position corresponding to the first chute 311
  • the end of the second telescopic arm 2 away from the first telescopic arm 1 is provided with a second chute 321 .
  • Between a sliding slot 311 and the second sliding slot 321 and can slide along between the first sliding slot 311 and the second sliding slot 321 .
  • the sliding path of the second telescopic arm 2 can be restricted by the first sliding groove 311 and the second sliding groove 321 , so that the second telescopic arm 2 can slide between the first sliding groove 311 and the second sliding groove 321 reliably during the telescopic operation. , thereby improving the telescopic reliability of the scissor-type telescopic device 10 .
  • the first chute 311 includes a first sub-chute 3111 and a second sub-chute 3112 , and the middle-layer first obtuse-angle connecting rod 2008 is disposed at the fourth hinge hole through the hinge shaft.
  • the upper-layer first acute-angle connecting rod 2010 and the lower-layer first acute-angle connecting rod 2012 are disposed in the first sub-chute 3111 through the respective tenth hinge holes through the hinge shaft, and the upper-layer second obtuse-angle connecting rod 2007 and the lower second obtuse link 2009 are arranged in the second sub-chutes 3112 through the hinge shaft through the respective eighth hinge holes, and the middle second acute angle link 2011 is set in the second sub-chute 3112 through the hinge shaft through the tenth hinge hole. in the sub-chutes 3112.
  • the second chute 321 includes a third sub-chute 3211 and a fourth sub-chute 3212 , and the middle-layer first obtuse-angle link 2008 is disposed at the fourth hinge hole through the hinge shaft.
  • the upper-layer first acute-angle link 2010 and the lower-layer first acute-angle link 2012 are disposed in the third sub-chutes 3211 through the respective tenth hinge holes through the hinge shafts, and the upper-layer second obtuse-angle link 2007 and the lower second obtuse link 2009 are arranged in the fourth sub-chutes 3212 through the hinge shaft through the respective eighth hinge holes, and the middle second acute angle link 2011 is arranged through the hinge shaft through the tenth hinge hole in the fourth sub-chute 3212. in the sub-chutes 3212.
  • the drive assembly 3 drives the first telescopic arm 1 to extend and retract, so that the first telescopic arm 1 synchronously drives the first obtuse link 21 and the first acute link 23 along the first sub chute 3111 and the third sub
  • the first telescopic arm 1 synchronously drives the second obtuse-angle link 22 and the second acute-angle link 24 to slide between the second sub-chutes 3112 and the fourth sub-chutes 3212 .
  • the UAV 100 further includes a flight control 40 and a battery 50 .
  • the flight control 40 is electrically connected to the drive assembly 3 , the rotor mechanism 20 and the battery 50 respectively.
  • the flight control 40 and the battery 50 are respectively arranged on the support mechanism 30 .
  • the flight controller 40 is used to control the driving assembly 3 and the rotor mechanism 20 to work respectively, and the battery 50 is used to provide power for the flight controller 40 .

Landscapes

  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Remote Sensing (AREA)
  • Forklifts And Lifting Vehicles (AREA)
  • Manipulator (AREA)

Abstract

L'invention concerne dispositif extensible de type ciseaux et un véhicule aérien sans pilote utilisant celui-ci. Le dispositif extensible de type ciseaux comprend un premier bras extensible, un second bras extensible et un ensemble d'entraînement, l'ensemble d'entraînement étant relié au premier bras extensible, le premier bras extensible et le second bras extensible étant articulés l'un à l'autre, et l'ensemble d'entraînement étant utilisé pour entraîner le premier bras extensible à s'étendre et se rétracter, de sorte que le premier bras extensible entraîne le second bras extensible à s'étendre et se rétracter de manière synchrone. Au moyen de la fourniture supplémentaire du second bras extensible, la plage d'extension du premier bras extensible peut être augmentée, de sorte que le dispositif extensible de type ciseaux puisse être utilisé dans des environnements spéciaux, ce qui permet d'améliorer l'applicabilité du dispositif extensible de type ciseaux.
PCT/CN2020/111106 2020-08-17 2020-08-25 Dispositif extensible de type ciseaux et véhicule aérien sans pilote utilisant celui-ci WO2022036731A1 (fr)

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Application Number Priority Date Filing Date Title
CN202010826414.5 2020-08-17
CN202010826414.5A CN111874206A (zh) 2020-08-17 2020-08-17 剪叉式伸缩装置以及应用该剪叉式伸缩装置的无人机

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WO2022036731A1 true WO2022036731A1 (fr) 2022-02-24

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Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20070123107A1 (en) * 2005-11-29 2007-05-31 Eurocopter Anti-impact shield for a mechanical part
CN106915479A (zh) * 2015-12-28 2017-07-04 中国科学院沈阳自动化研究所 一种立方体可展开太阳翼
CN108216601A (zh) * 2018-01-22 2018-06-29 南通知航机电科技有限公司 一种无人机防撞保护装置
CN108773473A (zh) * 2018-04-18 2018-11-09 清华大学 基于多环闭链空间可展开机构的飞行器变体头锥
CN110745230A (zh) * 2019-10-29 2020-02-04 湖南航天远望科技有限公司 一种高空气球的发放装置及发放方法
CN210707853U (zh) * 2019-09-20 2020-06-09 袁冬亮 一种旋翼无人机的机臂及无人机
CN111452949A (zh) * 2020-04-16 2020-07-28 张振增 一种用于多旋翼机的机臂折叠和转动的装置
CN111874207A (zh) * 2020-08-17 2020-11-03 哈尔滨工业大学（深圳） 伸缩装置以及应用该伸缩装置的无人机

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20070123107A1 (en) * 2005-11-29 2007-05-31 Eurocopter Anti-impact shield for a mechanical part
CN106915479A (zh) * 2015-12-28 2017-07-04 中国科学院沈阳自动化研究所 一种立方体可展开太阳翼
CN108216601A (zh) * 2018-01-22 2018-06-29 南通知航机电科技有限公司 一种无人机防撞保护装置
CN108773473A (zh) * 2018-04-18 2018-11-09 清华大学 基于多环闭链空间可展开机构的飞行器变体头锥
CN210707853U (zh) * 2019-09-20 2020-06-09 袁冬亮 一种旋翼无人机的机臂及无人机
CN110745230A (zh) * 2019-10-29 2020-02-04 湖南航天远望科技有限公司 一种高空气球的发放装置及发放方法
CN111452949A (zh) * 2020-04-16 2020-07-28 张振增 一种用于多旋翼机的机臂折叠和转动的装置
CN111874207A (zh) * 2020-08-17 2020-11-03 哈尔滨工业大学（深圳） 伸缩装置以及应用该伸缩装置的无人机

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