WO2022036732A1 - Dispositif télescopique et véhicule aérien sans pilote appliquant un dispositif télescopique - Google Patents

Dispositif télescopique et véhicule aérien sans pilote appliquant un dispositif télescopique Download PDF

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Publication number
WO2022036732A1
WO2022036732A1 PCT/CN2020/111107 CN2020111107W WO2022036732A1 WO 2022036732 A1 WO2022036732 A1 WO 2022036732A1 CN 2020111107 W CN2020111107 W CN 2020111107W WO 2022036732 A1 WO2022036732 A1 WO 2022036732A1
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WO
WIPO (PCT)
Prior art keywords
hinge hole
straight rod
hinged
linkage mechanism
telescopic
Prior art date
Application number
PCT/CN2020/111107
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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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 WO2022036732A1 publication Critical patent/WO2022036732A1/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

  • a scissor-type telescopic device includes a telescopic mechanism and a driving mechanism, and the driving mechanism is used to drive the telescopic mechanism to expand and contract.
  • 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. However, in the case of higher linkage, the existing scissor-type telescopic device cannot meet the requirements of users.
  • the main purpose of the present invention is to provide a telescopic device and an unmanned aerial vehicle using the same, aiming to solve the technical problem of poor linkage of scissor-type telescopic devices in the prior art.
  • the technical scheme provided by the present invention is:
  • a telescopic device comprising a drive mechanism, a linkage mechanism and a plurality of telescopic arms, the plurality of telescopic arms are respectively hinged with one end of the linkage mechanism, and the drive mechanism is hinged with an end of the linkage mechanism away from the telescopic arms , the drive mechanism drives the linkage mechanism to rotate, so that the linkage mechanism drives a plurality of the telescopic arms to synchronously expand and contract.
  • the telescopic arm includes a plurality of scissor-type units, one end of two adjacent scissor-type units is hinged with each other, and one of the scissor-type units in the telescopic arm is connected to the linkage mechanism. One end is hinged to each other, and the linkage mechanism synchronously drives the two adjacent scissor-type units to rotate with each other, so that the telescopic arm can be extended and retracted.
  • the telescopic arm further includes a semi-scissor-type unit, the linkage mechanism is hinged with one end of the scissor-type unit, and the semi-scissor-type unit and the scissor-type unit are far from the linkage One end of the mechanism is hinged to each other.
  • the semi-scissor-type unit includes a plurality of semi-straight rods, one end of the plurality of semi-straight rods of each semi-scissor-type unit is hinged with each other, and the other end is hinged with the scissor-type unit.
  • the linkage mechanism includes a plurality of linkage units, and one ends of two adjacent linkage units are hinged to each other to form a linked chain together.
  • each linkage unit includes a plurality of obtuse-angle links and a plurality of acute-angle links, a plurality of the obtuse-angle links and a plurality of the acute-angle links are hinged to each other, and a plurality of the adjacent two linkage units
  • the obtuse-angle link and a plurality of acute-angle links are hinged with each other to form a linked chain;
  • a plurality of the telescopic arms are respectively hinged with a plurality of the obtuse-angle links, and the drive mechanism is respectively connected with a plurality of acute-angle links
  • the drive mechanism drives a plurality of the acute-angle links to rotate, the acute-angle links drive the obtuse-angle links to rotate, and the obtuse-angle links drive the telescopic arms to synchronously expand and contract.
  • the obtuse-angle link includes a first straight rod and a second straight rod connected to the first straight rod, the angle formed by the first straight rod and the second straight rod is an obtuse angle ⁇ , 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
  • the second straight rod is provided with a first hinge hole.
  • the acute angle connecting rod includes a third straight rod, a fourth straight rod, a fifth straight rod and a sixth straight rod that are connected end to end, and the angle formed by the third straight rod and the fourth straight rod is an acute angle ⁇ , so The angle formed by the fifth straight rod and the sixth straight rod is an acute angle ⁇ , the connection between the third straight rod and the fourth straight rod is provided with a fifth hinge hole, and the third straight rod and the The connection of the sixth straight rod is provided with a sixth hinge hole, the connection of the fourth straight rod and the fifth straight rod is provided with a seventh hinge hole, and the fifth straight rod and the sixth straight rod are provided with a seventh hinge hole.
  • An eighth hinge hole is provided at the connection of the rod, wherein 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 and 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 between the hinge holes is 1, the distance from the eighth hinge hole to the sixth hinge hole is equal to the distance from the eighth hinge hole to the seventh hinge hole, and the distance from the eighth hinge hole to the sixth hinge hole is equal to the distance from the eighth hinge hole to the seventh hinge hole.
  • the distance of the hinge hole is m; the m satisfies the formula 1, and the ⁇ satisfies the formula 2:
  • n is the number of telescopic arms and ⁇ is 180 degrees.
  • the telescopic device further includes a connecting assembly, a plurality of the telescopic arms are respectively hinged with one end of the linkage mechanism, the connecting assembly is hinged with an end of the linkage mechanism away from the telescopic arm, the drive The mechanism is connected with the connecting assembly; the driving mechanism drives the connecting assembly to rotate, the connecting assembly drives the linkage mechanism to rotate, and the linkage mechanism drives a plurality of the telescopic arms to extend and retract synchronously.
  • the linkage mechanism is at least two layers
  • the connection assembly includes a first connector and a second connector
  • the first connector is hinged with the linkage mechanism on one layer
  • the second connector It is hinged with another layer of the linkage mechanism
  • the driving mechanism is drivingly connected with the first connecting piece
  • 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
  • the linkage mechanism drives the second connecting piece to rotate.
  • Another technical scheme provided by the present invention is:
  • An unmanned aerial vehicle is characterized in that it includes a rotor mechanism and a telescopic device, the rotor mechanism is arranged on the end of the telescopic arm away from the drive mechanism, and the rotor mechanism is used to generate flight power.
  • 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 used to drive the propeller to rotate.
  • the rotor mechanism further includes a rotor base, the rotor base is arranged on the telescopic arm, and the motor is arranged on the rotor base.
  • the rotor base is provided with a first cavity and a second cavity
  • the rotor mechanism further includes a propeller shaft
  • the motor is arranged in the first cavity
  • the propeller shaft is arranged In the second cavity
  • the motor is drivingly connected with one end of the propeller shaft
  • the propeller is fixedly connected with the end of the propeller shaft away from the motor, wherein the propeller is located at the end of the rotor base.
  • the motor drives the propeller shaft to rotate
  • the propeller shaft drives the propeller to rotate.
  • the rotor mechanism further includes a limiter, and the limiter is used to limit the rotation of the rotor base relative to the telescopic arm.
  • a limit slot is provided on the limit member, and the telescopic device further includes a hinge shaft, the hinge shaft is arranged on the telescopic arm and located in the limit slot to limit the rotor.
  • the base rotates relative to the telescopic arm.
  • the rotor mechanism further includes a support rod for supporting the rotor base.
  • the unmanned aerial vehicle further includes a support mechanism, the support mechanism includes a rack bottom plate and a rack cover plate covered on the rack bottom plate, and the linkage mechanism is located between the rack bottom plate and the rack bottom plate. between the rack covers.
  • a limiting portion is provided on the frame cover, and the limiting portion is used to limit the movement of the center position of the linkage mechanism relative to the frame cover.
  • the limiting portion is provided with at least three limiting grooves
  • the telescopic device further includes at least three hinge shafts
  • the hinge shafts are arranged on the linkage mechanism and located in the corresponding limiter. The center position of the linkage mechanism is restricted from moving relative to the frame cover, wherein the hinge shaft can slide along the corresponding limit slot.
  • the present invention has the following beneficial effects:
  • the linkage mechanism can be driven to rotate by the drive mechanism, so that the linkage mechanism can drive a plurality of telescopic arms to expand and contract synchronously, thereby improving the linkage of the telescopic device. Since one linkage mechanism can simultaneously drive multiple telescopic arms to synchronously expand and contract, 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.
  • FIG. 1 is a schematic diagram of a telescopic device according to an embodiment of the present application.
  • FIG. 2 is a schematic diagram of a 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 linkage mechanism according to an embodiment of the present application.
  • FIG. 6 is a schematic diagram of a linkage unit according to an embodiment of the present application.
  • FIG. 7 is a schematic diagram of a combination of a telescopic arm and a linkage mechanism according to an embodiment of the present application
  • FIG. 8 is a schematic diagram of an obtuse-angle connecting rod according to an embodiment of the present application.
  • FIG. 9 is a schematic diagram of an acute-angle connecting rod according to an embodiment of the present application.
  • FIG. 10 is a schematic diagram of a combination of different angles of an obtuse-angle connecting rod and an acute-angle connecting rod according to an embodiment of the present application;
  • FIG. 11 is a schematic diagram of an acute-angle connecting rod according to another embodiment of the present application.
  • connection assembly 12 is a schematic diagram of a connection assembly of an embodiment of the present application.
  • FIG. 13 is a schematic diagram of a first connector according to an embodiment of the present application.
  • FIG. 14 is a schematic diagram of a combination of a first connector and an acute-angle connecting rod according to an embodiment of the present application
  • FIG. 15 is a schematic diagram of a second connector according to an embodiment of the present application.
  • 16 is a schematic diagram of the combination of the second connecting member and the acute-angle connecting rod according to an embodiment of the present application
  • 17 is a schematic diagram of a drone according to an embodiment of the present application.
  • FIG. 18 is a cross-sectional view of a rotor mechanism according to an embodiment of the present application.
  • FIG. 19 is a perspective view of a rotor mechanism according to an embodiment of the present application.
  • 20 is a schematic diagram of a support mechanism of an embodiment of the present application.
  • FIG. 21 is a schematic diagram of a combination of a support mechanism and a telescopic device according to an embodiment of the present application.
  • FIG. 22 is a schematic diagram of the maximum deployed state of the drone according to an embodiment of the present application.
  • FIG. 23 is a schematic diagram of a semi-deployed state of the drone according to an embodiment of the present application.
  • FIG. 24 is a schematic diagram of the minimum retracted state of the drone according to an embodiment of the present application.
  • Telescopic device 1. Drive mechanism; 2. Linkage mechanism; 21. Linkage unit; 211, Obtuse link; 2111, First straight rod; 2112, Second straight rod; 2113, First hinge hole; 2114, No. Second hinge hole; 2115, third hinge hole; 2116, fourth hinge hole; 212, acute angle link; 2121, third straight rod; 2122, fourth straight rod; 2123, fifth straight rod; 2124, sixth straight rod Rod; 2125, the fifth hinge hole; 2126, the sixth hinge hole; 2127, the seventh hinge hole; 2128, the eighth hinge hole; 213, the upper obtuse link; 214, the middle obtuse link; 215, the lower obtuse link ; 216, upper acute angle link; 217, middle acute angle link; 218, lower acute angle link; 219, upper obtuse link; 220, middle acute link; 221, lower obtuse link; 3, telescopic arm; 31, Scissor unit; 311, upper straight rod; 312, middle straight rod; 313,
  • the linkage mechanism 2 since the linkage mechanism 2 has linkage, the linkage mechanism 2 drives the linkage mechanism 2 to rotate, so that the linkage mechanism 2 can drive the telescopic arms 3 to expand and contract synchronously, thereby improving the linkage of the telescopic device 10 . Since one linkage mechanism 2 can simultaneously drive multiple telescopic arms 3 to expand and contract synchronously, only one driving mechanism 1 is needed to drive the linkage mechanism 2 to rotate, thereby reducing the number of driving mechanisms 1 and the cost of the telescopic device 10 .
  • the driving mechanism 1 is a steering gear.
  • the number of the telescopic arms 3 is four, and the four telescopic arms 3 can improve the reliability of the telescopic device 10 . It can be understood that, in an optional embodiment, the number of the telescopic arms 3 is not limited to four, and can be determined according to actual requirements.
  • the telescopic arm 3 includes a plurality of scissor-type units 31 , one end of two adjacent scissor-type units 31 are hinged to each other, and one scissor-type unit 31 in the telescopic arm 3 is mutually connected with one end of the linkage mechanism 2 . Hinged, the linkage mechanism 2 synchronously drives the two adjacent scissor units 31 to rotate with each other, so that the telescopic arm 3 is telescopic. Through mutual rotation between two adjacent scissor units 31 , the telescopic ability of the telescopic arm 3 is improved.
  • the scissor-type unit 31 includes a plurality of straight rods (311, 312, 313), and the middle parts of the plurality of straight rods (311, 312, 313) of each scissor-type unit 31 are hinged to each other and are adjacent to each other.
  • One ends of the plurality of straight rods ( 311 , 312 , 313 ) of the two scissor-type units 31 are hinged to each other.
  • each scissor-type unit 31 includes three straight rods (311, 312, 313), and the three straight rods (311, 312, 313) are hinged from top to bottom in sequence, and the three straight rods (311, 312, 313) 311, 312, 313) can improve the stability of the scissor unit 31 during the expansion and contraction. It can be understood that, in an optional embodiment, the number of straight bars of each scissor-type unit 31 is not limited to three, and may be determined according to actual requirements.
  • the scissor unit 31 includes an upper straight rod 311 , a middle straight rod 312 and a lower straight rod 313 .
  • the upper straight rod 311 , the middle straight rod 312 and the lower straight rod 313 are hinged to each other through the hinge shaft.
  • the telescopic arm 3 further includes a semi-scissor-type unit 32 , the linkage mechanism 2 is hinged with one end of the scissor-type unit 31 , and the semi-scissor-type unit 32 is hinged with the end of the scissor-type unit 31 away from the linkage mechanism 2 . .
  • the telescopic ability of the telescopic arm 3 is improved.
  • each semi-scissor-type unit 32 includes three semi-straight rods (321, 322, 323), and the three semi-straight rods (321, 322, 323) are hinged from top to bottom in sequence, through three semi-straight rods (321, 322, 323)
  • the semi-straight rods ( 321 , 322 , 323 ) can improve the stability of the semi-scissor unit 32 during expansion and contraction. It can be understood that, in an optional embodiment, the number of semi-straight rods of each semi-scissor-type unit 32 is not limited to three, and may be determined according to actual requirements.
  • the semi-scissor unit 32 includes an upper semi-straight rod 321 , a middle semi-straight rod 322 and a lower semi-straight rod 323 , an upper semi-straight rod 321 , a lower semi-straight rod 323 and One end of the lower semi-straight rod 323 is hinged to each other through a hinge shaft.
  • one end of the upper straight rod 311, the middle straight rod 315 and the lower straight rod 313 are hinged to each other through the hinge shaft, and one end of the upper straight rod 314, the middle straight rod 312 and the lower straight rod 316 are hinged to each other through the hinge shaft, Therefore, two adjacent scissor-type units 31 are hinged to each other.
  • the corresponding ends of the upper layer semi-straight rod 321, the middle layer straight rod 312 and the lower layer semi-straight rod 323 are hinged to each other through the hinge shaft, and the corresponding ends of the upper layer straight rod 311, the middle layer semi-straight rod 322 and the lower layer straight rod 313 are hinged to each other through the hinge shaft, thereby The half scissor unit 32 and the scissor unit 31 are hinged.
  • the linkage mechanism 2 includes a plurality of linkage units 21 , and one end of two adjacent linkage units 21 are hinged to each other to form a linked chain together.
  • Each linkage unit 21 includes a plurality of obtuse-angle links 211 and a plurality of acute-angle links 212 , the plurality of obtuse-angle links 211 and the plurality of acute-angle links 212 are hinged to each other, and the plurality of obtuse-angle links 211 of two adjacent linkage units 21 It is hinged with a plurality of acute-angle links 212 to form a linked chain; a plurality of telescopic arms 3 are respectively hinged with a plurality of obtuse-angle links 211, and the drive mechanism 1 is respectively connected with a plurality of acute-angle links 212; the drive mechanism 1
  • the multiple acute-angle links 212 are driven to rotate, the multiple acute-angle links 212 drive the multiple obtuse-angle links 211 to rotate, and the multiple obtuse-angle links 211 drive the multiple telescopic arms 3 to expand and contract synchronously.
  • the upper obtuse-angle connecting rod 213 , the middle-layer obtuse-angle connecting rod 214 and the lower-layer obtuse-angle connecting rod 215 are hinged to each other through a hinge shaft, and the upper-layer obtuse-angle connecting rod 213 , the middle layer acute-angle connecting rod 217 , and the lower obtuse-angle connecting rod 215 are mutually connected through a hinge shaft
  • the upper acute-angle connecting rod 216 , the middle-layer obtuse-angle connecting rod 214 and the lower acute-angle connecting rod 218 are hinged to each other through a hinge shaft, thereby forming a linkage unit 21 .
  • FIG. 1 the upper acute-angle connecting rod 216 , the middle-layer obtuse-angle connecting rod 214 and the lower acute-angle connecting rod 218 are hinged to each other through a hinge shaft, thereby forming a linkage unit 21 .
  • the upper obtuse link 219 , the middle obtuse link 214 and the lower obtuse link 221 are hinged to each other through the hinge shaft, and the upper acute link 216 , the middle acute link 220 and the lower acute link 218 are mutually connected through the hinge shaft hinged, so that two adjacent linkage units 21 are hinged to each other.
  • the upper obtuse-angle connecting rod 213, the middle-layer straight rod 315 and the lower-layer obtuse-angle connecting rod 215 are hinged to each other through a hinge shaft, and the upper-layer straight rod 314, the middle-layer obtuse-angle connecting rod 214 and the lower layer straight rod 316 are hinged to each other through the hinge shaft, so that a plurality of obtuse-angle connecting rods are hinged to each other. (213, 214, 215) and the second scissor unit 31 are hinged to each other.
  • the obtuse-angle link 211 includes a first straight rod 2111 and a second straight rod 2112 connected to the first straight rod 2111 .
  • the angle formed by the first straight rod 2111 and the second straight rod 2112 is an obtuse angle ⁇ .
  • the straight rod 2111 is provided with a first hinge hole 2113 and a second hinge hole 2114, the connection between the first straight rod 2111 and the second straight rod 2112 is provided with a third hinge hole 2115, and the second straight rod 2112 is provided with a fourth hinge hole 2115.
  • the hinge hole 2116 wherein the distance between any two adjacent second hinge holes 2114, the third hinge hole 2115 and the fourth hinge hole 2116 is 1, and the plurality of obtuse-angle links 211 pass through the respective The second hinge hole 2114 realizes the hinge.
  • 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 that are connected end to end, and the third straight rod 2121 and the fourth straight rod 2122 form
  • the angle formed by the fifth straight rod 2123 and the sixth straight rod 2124 is an acute angle ⁇
  • the connection of the third straight rod 2121 and the fourth straight rod 2122 is provided with a fifth hinge hole 2125
  • the third straight rod 2121 and the sixth straight rod 2124 are connected with a sixth hinge hole 2126
  • the fourth straight rod 2122 and the fifth straight rod 2123 are connected with a seventh hinge hole 2127
  • An eighth hinge hole 2128 is provided at the connection of 2124, wherein the distance from the fifth hinge hole 2125 to the sixth hinge hole 2126 is equal to the distance from the fifth hinge hole 2125 to the seventh hinge hole 2127 and the distance from the fifth hinge hole 2125 to the sixth hinge hole 2125 The distance of the fifth
  • n is the number of telescopic arms 3
  • ⁇ is 180 degrees.
  • the fifth hinge hole 2125 is B
  • the sixth hinge hole 2126 is A
  • the seventh hinge hole 2127 is C
  • the eighth hinge hole 2128 is G.
  • the linkage mechanism 2 can drive the multiple telescopic arms 3 to always expand and contract in a preset direction, thereby improving the controllability of the 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 31 .
  • the upper acute-angle connecting rod may also include a third straight rod 2121 and a fourth straight rod 2122 , and a third straight rod 2121 and a fourth straight rod 2122 are provided at the connection of the third straight rod 2121 and the fourth straight rod 2122
  • Five hinge holes 2125 the end of the third straight rod 2121 away from the fifth hinge hole 2125 is provided with a sixth hinge hole 2126 , and the end of the fourth straight rod 2122 away from the fifth hinge hole 2125 is provided with a seventh hinge hole 2127 .
  • the upper acute-angle connecting rod may also include a fifth straight rod 2123 and a sixth straight rod 2124, and it is only necessary to ensure that the upper acute-angle connecting rod does not interfere with other components during the rotation process. Can.
  • the telescopic device 10 further includes a connecting assembly 4, a plurality of telescopic arms 3 are respectively hinged with one end of the linkage mechanism 2, the connecting assembly 4 is hinged with one end of the linkage mechanism 2 away from the telescopic arm 3, the driving mechanism 1 and the connecting assembly 4 connection; 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 multiple telescopic arms 3 to synchronously expand and contract.
  • the connecting assembly 4 is damaged, only the more damaged connecting assembly 4 is needed, and the entire driving mechanism 1 does not need to be replaced, thereby reducing the replacement cost of the telescopic device 10 .
  • the linkage mechanism 2 has at least two layers.
  • the connecting assembly 4 includes a first connecting member 41 and a second connecting member 42.
  • the first connecting member 41 is hinged with one layer of the linkage mechanism 2, and the second connecting member 42 is connected with the other layer of the linkage mechanism 2.
  • Hinged, the driving mechanism 1 is drivingly connected with the first connecting member 41, and the second connecting member 42 is fixedly connected with the driving mechanism 1; the driving mechanism 1 drives the first connecting member 41 to rotate, the first connecting member 41 drives the linkage mechanism 2 to rotate, and the linkage mechanism 2 to drive the second connecting piece 42 to rotate.
  • the first connecting member 41 is drivingly connected with the driving mechanism 1
  • the second connecting member 42 is fixedly connected with the driving mechanism 1 , so that the driving mechanism 1 can reliably drive the linkage mechanism 2 to rotate, thereby improving the reliability of the telescopic device 10 .
  • the linkage mechanism 2 has three layers. It can be understood that, in an optional embodiment, the linkage mechanism 2 is not limited to three layers, and may be determined according to actual needs.
  • 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 .
  • the ten hinge holes 414 , the eleventh hinge holes 415 and the twelfth hinge holes 416 are respectively connected with the eighth hinge holes 2128 corresponding to the acute-angle link of the middle layer to realize hinge connection.
  • 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
  • the distance from 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 on the first connecting piece 41 correspond to the middle linkage mechanism 2 respectively
  • the eighth hinge hole 2128 realizes hinge.
  • 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 the connection between the first connecting rod 411 and the second connecting rod 412 is set as In the center O, both ends of the first connecting rod 411 are provided with a ninth hinge hole 413 and a tenth hinge hole 414 , and both ends of the second connecting rod 412 are provided with an eleventh hinge hole 415 and a twelfth hinge hole 416 .
  • 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 .
  • the thirteenth hinge hole 425 , the fourteenth hinge hole 426 , the fifteenth hinge hole 427 , and the sixteenth hinge hole 428 are respectively connected with the eighth hinge hole 2128 corresponding to the lower acute-angle connecting rod.
  • 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 fifteenth hinge hole
  • the distance from 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 on the second connecting piece 42 are respectively corresponding to the lower chain links.
  • the eighth hinge hole 2128 realizes hinge.
  • the second connecting member 42 includes a third connecting rod 421 , a fourth connecting rod 422 , a fifth connecting rod 423 and a sixth connecting rod 424 connected end to end, wherein the third connecting rod 421 and the fifth connecting rod 423 are arranged in parallel, the fourth connecting rod 422 and the sixth connecting rod 424 are arranged in parallel, the fourth connecting rod 422 is provided with a thirteenth hinge hole 425 and a fourteenth hinge hole 426, and the sixth connecting rod 424 is provided with a tenth
  • the center point of the fifth hinge hole 427 and the sixteenth hinge hole 428, the 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 the center O.
  • the connecting assembly 4 further includes a third connecting piece, the output shaft of the driving mechanism 1 is fixedly connected with the third connecting piece, and the third connecting piece is fixedly connected with the first connecting piece 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, and the linkage mechanism 2 drives the telescopic arm 3 to expand and contract, and simultaneously drives the second connecting piece 42 Rotating, the second connecting member 42 rotates to drive the driving mechanism 1 to rotate.
  • the third connecting member is a swing arm.
  • this embodiment provides an unmanned aerial vehicle 100.
  • the unmanned aerial vehicle 100 may have a rotor mechanism 50 and the telescopic device 10 in any of the above embodiments.
  • the rotor mechanism 50 is arranged on the telescopic arm 3 away from the drive mechanism. At one end of 1, a rotor mechanism 50 is used to generate flight power.
  • the linkage mechanism 2 is driven by the drive mechanism 1 to rotate, and the linkage mechanism 2 drives the multiple telescopic arms 3 to expand and contract synchronously, so that the UAV 100 can change the wheelbase of the rotor mechanism 50 to make its own in different scenarios.
  • the volume of the UAV 100 changes, so that the UAV 100 can fly in different scenarios, thereby improving the applicability of the UAV 100 .
  • the rotor mechanism 50 includes a propeller 51 and a motor 52 , the motor 52 is arranged on the telescopic arm 3 , and the motor 52 is used to drive the propeller 51 to rotate.
  • the propeller 51 includes a propeller hub 511 and a plurality of propeller blades 512.
  • the plurality of propeller blades 512 are evenly arranged along the circumferential direction of the propeller hub.
  • the motor 52 is fixedly connected to the propeller hub 511. The motor 52 drives the propeller hub 511 to rotate, and the propeller hub 511 drives the propeller blades. 512 turns.
  • the rotor mechanism 50 further includes a rotor base 53 , the motor 52 is arranged on the rotor base 53 , and the rotor base 53 is arranged on the telescopic arm 3 .
  • the rotor base 53 is provided with a first cavity 531 and a second cavity 532
  • the rotor mechanism 50 further includes a propeller shaft 54
  • the motor 52 is arranged in the first cavity 531
  • the propeller shaft 54 is arranged in the second cavity
  • the motor 52 is drivingly connected with one end of the propeller shaft 54
  • the propeller 51 is fixedly connected with one end of the propeller shaft 54 away from the motor 52
  • the propeller 51 is located above the rotor base 53
  • the motor 52 drives the propeller shaft 54 to rotate
  • 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 arranged in the second cavity 532 through the first bearing 55 and the second bearing 56 , and 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 connected with one end of the propeller shaft 54 through the first gear 521 and the second gear 541, and the propeller hub 511 and one end of the propeller shaft 54 pass through The propeller adapter 57 is fixedly connected.
  • the first gear 521 and the second gear 541 are located below the rotor base 53, the propeller hub 511 and the blades 512 are located above the rotor base 53, the motor 52 drives the first gear 521 to rotate, and the first gear 521 drives the second gear 521.
  • the gear 541 rotates, 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 propeller hub 511 to rotate, and the propeller hub 511 drives the propeller blade 512 to rotate.
  • the rotor mechanism 50 further includes a limiter 58, which is used to limit the rotation of the rotor base 53 relative to the telescopic arm 3, so as to ensure that the rotor base 53 will not rotate during the flight of the UAV 100.
  • the position relative to the telescopic arm 3 is always kept unchanged, thereby improving the reliability of the UAV 100 during flight.
  • the limiting member 58 is disposed on the rotor base 53 .
  • the limiting member 58 is provided with a limiting groove 581
  • the telescopic device 10 further includes a hinge shaft 582 .
  • the hinge shaft 582 is arranged on the telescopic arm 3 and is located in the limiting groove 581 . In order to limit the rotation of the rotor base 53 relative to the telescopic arm 3 . Through the cooperation between the limiting groove 581 and the hinge shaft 582, the reliability of the limiting member 58 can be improved.
  • the rotor mechanism 50 further includes a support rod 59 for supporting the rotor base 53 .
  • Supporting the rotor base 53 by the support rod 59 can prevent the UAV 100 from tipping over during the landing process, so that a certain distance is always maintained between the propeller 51 and the ground, thereby ensuring the service life of the rotor mechanism 50 .
  • the support rod 59 is arranged at the bottom of the rotor base 53 .
  • the UAV 100 further includes a support mechanism 60 .
  • the support mechanism 60 includes a rack bottom plate 61 and a rack cover plate 62 covered on the rack bottom plate 61 .
  • the linkage mechanism 2 is located between the rack bottom plate 61 and the machine. between the frame cover 62 .
  • the frame cover 62 is provided with a limit portion 621, and the limit portion 621 is used to limit the movement of the center position of the linkage mechanism 2 (that is, the center O) relative to the frame cover 62, so that the telescopic device 10 is in the process of expanding and contracting. , the central position of the linkage mechanism 2 remains unchanged relative to the frame cover 62 , thereby improving the reliability of the UAV 100 during flight.
  • the limiting portion 621 is provided with at least three limiting slots 6211
  • the telescopic device 10 further includes at least three hinge shafts 6212 .
  • the hinge shafts 6212 are provided on the linkage mechanism 2 and are located in the corresponding In the limiting slot 6211 , the central position of the linkage mechanism 2 is restricted from moving relative to the frame cover 62 , wherein the hinge shaft can slide along the corresponding limiting slot 6211 .
  • the hinge shaft 6212 can slide along the corresponding limiting groove 6211 , which can prevent the linkage mechanism 2 from interfering with the frame cover 62 during the expansion and contraction process, thereby ensuring the normal operation of the expansion device 10 .
  • the number of limit slots 581 is four, and the included angle between two adjacent limit slots 581 is 2 ⁇ /n, where n is the number of telescopic arms 3 .
  • the number of telescopic arms 3 is 4, and the included angle between two adjacent guide grooves is 90 degrees.
  • the UAV 100 further includes a flight controller 70 , an inertial measurement unit 80 , a lithium battery 90 and a sensor 110 arranged on the support mechanism 60 .
  • the flight controller 70 is connected to the inertial measurement unit 80 , the lithium battery 90 and the sensor respectively. 110 connections.
  • the flight controller 70 is arranged on the frame cover 62
  • the inertial measurement unit 80 is arranged on the flight controller 70
  • the lithium battery 90 is arranged on the inertial measurement unit 80
  • the sensor 110 is arranged at the bottom of the frame bottom plate 61 . superior.
  • the inertial measurement unit 80 is an IMU inertial measurement unit 80 .
  • the sensor 110 is an optical flow sensor 110 .
  • Figure 22 shows the drone 100 reaching the maximum deployed state
  • Figure 23 shows the drone 100 reaching the semi-deployed state
  • Figure 24 shows the drone 100 reaching the minimum retracted state.

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 porte sur un dispositif télescopique (10) et sur un véhicule aérien sans pilote (100) appliquant le dispositif télescopique. Le dispositif télescopique comprend un mécanisme d'entraînement (1), un mécanisme de liaison (2) et une pluralité de bras télescopiques (3) ; la pluralité de bras télescopiques sont respectivement articulés à une extrémité du mécanisme de liaison, le mécanisme d'entraînement est articulé à l'extrémité du mécanisme de liaison à l'opposé des bras télescopiques et le mécanisme d'entraînement entraîne le mécanisme de liaison en rotation de telle sorte que le mécanisme de liaison entraîne la pluralité de bras télescopiques à s'étendre ou à se rétracter de manière synchrone. Étant donné que le mécanisme de liaison présente une propriété de liaison, le mécanisme d'entraînement entraîne le mécanisme de liaison en rotation de telle sorte que le mécanisme de liaison puisse entraîner la pluralité de bras télescopiques à s'étendre ou à se rétracter de manière synchrone, ce qui permet d'améliorer la propriété de liaison du dispositif télescopique. Étant donné qu'un mécanisme de liaison peut entraîner simultanément la pluralité de bras télescopiques à s'étendre ou à se rétracter de manière synchrone, seul un mécanisme d'entraînement doit être utilisé pour entraîner le mécanisme de liaison en rotation, ce qui permet de réduire le nombre de mécanismes d'entraînement et de réduire le coût du dispositif télescopique.
PCT/CN2020/111107 2020-08-17 2020-08-25 Dispositif télescopique et véhicule aérien sans pilote appliquant un dispositif télescopique WO2022036732A1 (fr)

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CN202010827633.5A CN111874207A (zh) 2020-08-17 2020-08-17 伸缩装置以及应用该伸缩装置的无人机
CN202010827633.5 2020-08-17

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CN111874206A (zh) * 2020-08-17 2020-11-03 哈尔滨工业大学（深圳） 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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CN105460211A (zh) * 2015-12-30 2016-04-06 联想(北京)有限公司 一种飞行装置
JP2017109626A (ja) * 2015-12-17 2017-06-22 株式会社ザクティ 飛行体
CN207791152U (zh) * 2017-12-15 2018-08-31 汕头市欧兰斯模型科技有限公司 一种飞行器驱动机构及飞行器
CN208036470U (zh) * 2018-04-09 2018-11-02 洛阳理工学院 一种兼具飞行与爬行功能的仿生机器人
CN111301663A (zh) * 2020-03-16 2020-06-19 王会涛 一种用于多旋翼机的机臂折叠和转动的装置
CN212890891U (zh) * 2020-08-17 2021-04-06 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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CN205131639U (zh) * 2015-09-01 2016-04-06 湖南云顶智能科技有限公司 一种多旋翼无人机
JP2017109626A (ja) * 2015-12-17 2017-06-22 株式会社ザクティ 飛行体
CN105460211A (zh) * 2015-12-30 2016-04-06 联想(北京)有限公司 一种飞行装置
CN207791152U (zh) * 2017-12-15 2018-08-31 汕头市欧兰斯模型科技有限公司 一种飞行器驱动机构及飞行器
CN208036470U (zh) * 2018-04-09 2018-11-02 洛阳理工学院 一种兼具飞行与爬行功能的仿生机器人
CN111301663A (zh) * 2020-03-16 2020-06-19 王会涛 一种用于多旋翼机的机臂折叠和转动的装置
CN212890891U (zh) * 2020-08-17 2021-04-06 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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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114408173A (zh) * 2022-03-02 2022-04-29 吉林大学 一种x型四旋翼可变结构无人机
CN114408173B (zh) * 2022-03-02 2023-11-17 吉林大学 一种x型四旋翼可变结构无人机

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