Scissor-type telescopic device and drone using the scissor-type telescopic device

Abstract

The present invention discloses a scissor-type telescopic device and a drone using the scissor-type telescopic device. The scissor-type telescopic device includes a first telescopic arm, a second telescopic arm and a driving assembly. The driving assembly is connected to the first telescopic arm, the first telescopic arm and the second telescopic arm are hinged to each other, and the driving assembly is used to drive the first telescopic arm to telescope, so that the first telescopic arm drives the second telescopic arm to telescope synchronously. By adding a second telescopic arm, the telescopic range of the first telescopic arm can be increased, so that the scissor-type telescopic device can be applied to special environments, thereby improving the applicability of the scissor-type telescopic device.

Description

Technical Field

[0001] The present invention relates to the technical field of industrial machinery, and in particular to a scissor-type telescopic device and a drone using the scissor-type telescopic device. Background Art

[0002] In the prior art, a scissor-type telescopic device includes a scissor-type telescopic arm and a drive assembly connected to each other, and the drive assembly is used to drive the scissor-type telescopic arm to extend and retract. The scissor-type telescopic device is widely used in supporting or connecting occasions where the load position changes. Since the scissor-type telescopic device has the characteristics of flexible telescopic ability and huge difference between the extreme values ​​of occupied space, it is deeply favored by users. In the prior art, the scissor-type telescopic device is limited by the influence of a single scissor-type telescopic arm, resulting in a limited telescopic range of the scissor-type telescopic device and cannot be used in special environments. Summary of the invention

[0003] The main purpose of the present invention is to provide a scissors-type telescopic device and a drone using the scissors-type telescopic device, aiming to solve the technical problem in the prior art that the scissors-type telescopic device is limited by the influence of a single scissors-type telescopic arm, resulting in a limited scope of use of the scissors-type telescopic device.

[0004] In order to solve the above technical problems, the technical solution provided by the present invention is:

[0005] A scissor-type telescopic device comprises a first telescopic arm, a second telescopic arm and a driving assembly, wherein the driving assembly is connected to the first telescopic arm, the first telescopic arm and the second telescopic arm are hinged to each other, and the driving assembly is used to drive the first telescopic arm to telescope so that the first telescopic arm drives the second telescopic arm to telescope synchronously.

[0006] Optionally, the first telescopic arm includes a plurality of scissor-type units, one ends of two adjacent scissor-type units are hinged to each other, one of the scissor-type units in the first telescopic arm and the second telescopic arm are hinged to each other, the driving component is connected to one of the scissor-type units, and the driving component drives one of the scissor-type units to rotate, so that one of the scissor-type units drives the adjacent scissor-type units to rotate synchronously, thereby making the scissor-type unit hinged to the second telescopic arm drive the second telescopic arm to extend and retract synchronously.

[0007] Optionally, the first telescopic arm further comprises a semi-scissors-type unit, the second telescopic arm is hinged to one end of the scissors-type unit, and the semi-scissors-type unit is hinged to one end of the scissors-type unit away from the second telescopic arm.

[0008] Optionally, the second telescopic arm includes 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 the second obtuse-angle link respectively, the driving assembly drives the first telescopic arm to extend and retract, and 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, and the second obtuse-angle link synchronously drives the second acute-angle link to rotate.

[0009] Optionally, the first obtuse-angle connecting rod comprises a first straight rod and a second straight rod connected to each other, the angle formed between the first straight rod and the second straight rod is an obtuse angle θ1, a first hinge hole and a second hinge hole are provided on the first straight rod, a third hinge hole is provided at the connection between the first straight rod and the second straight rod, and a fourth hinge hole is provided on the second straight rod, 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 distance between the second hinge hole and the third hinge hole is l;

[0010] The second obtuse-angle connecting rod comprises a third straight rod and a fourth straight rod connected to each other, the angle formed between the third straight rod and the fourth straight rod is an obtuse angle θ2, the third straight rod is provided with a fifth hinge hole and a sixth hinge hole, the connection between the third straight rod and the fourth straight rod is provided with a seventh hinge hole, and the fourth straight rod is provided with an eighth hinge hole, 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 distance between the sixth hinge hole and the seventh hinge hole is l;

[0011] The first acute-angle connecting rod comprises a fifth straight rod and a sixth straight rod connected to each other, the angle formed between the fifth straight rod and the sixth straight rod is an acute angle φ1, a ninth hinge hole is provided at the connection between the fifth straight rod and the sixth straight rod, a tenth hinge hole is provided on the fifth straight rod, and an eleventh hinge hole is provided on 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;

[0012] The second acute-angle connecting rod comprises a seventh straight rod and an eighth straight rod connected to each other, the angle formed between the seventh straight rod and the eighth straight rod is an acute angle φ2, a twelfth hinge hole is provided at the connection between the seventh straight rod and the eighth straight rod, a thirteenth hinge hole is provided on the seventh straight rod, and a fourteenth hinge hole is provided on 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;

[0013] A first straight line is formed through the fourth hinge hole and the tenth hinge hole, and a second straight line is formed through the eighth hinge hole and the thirteenth hinge hole. The angle between the first straight line and the second straight line is α, and α satisfies the following formula:

[0014] α=(θ1+θ2+φ1+φ2) / 2.

[0015] Another technical solution provided by the present invention is:

[0016] A drone comprises the above-mentioned scissor-type telescopic device, wherein the number of the scissor-type telescopic devices is multiple.

[0017] Optionally, the UAV further includes a plurality of rotor mechanisms, which are arranged one by one on an end of the plurality of first telescopic arms away from the second telescopic arms, and are used to generate flight power.

[0018] Optionally, the drone further comprises a supporting mechanism, and an end of the second telescopic arm facing away from the first telescopic arm is arranged on the supporting mechanism and can slide along the supporting mechanism.

[0019] Optionally, the supporting mechanism includes a frame bottom plate and a frame cover plate covered on the frame bottom plate, and one end of the second telescopic arm away 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.

[0020] Optionally, a first slide groove is provided on the frame bottom plate, a second slide groove is provided at a position of the frame cover corresponding to the first slide groove, and an end of the second telescopic arm away from the first telescopic arm is arranged between the first slide groove and the second slide groove, and can slide between the first slide groove and the second slide groove.

[0021] Compared with the prior art, the present invention has the following beneficial effects:

[0022] By adding the second telescopic arm, the telescopic range of the first telescopic arm can be increased, so that the scissor-type telescopic device can be used in special environments, thereby improving the applicability of the scissor-type telescopic device. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying creative work.

[0024] Figure 1 is a schematic diagram of a scissor-type telescopic device according to an embodiment of the present application;

[0025] Figure 2 is a schematic diagram of a first telescopic arm of an embodiment of the present application;

[0026] Figure 3 is a schematic diagram of a scissor-type unit of one embodiment of the present application;

[0027] Figure 4 is a schematic diagram of a semi-scissor-type unit of an embodiment of the present application;

[0028] Figure 5 is a schematic diagram of a second telescopic arm of an embodiment of the present application;

[0029] Figure 6 is a schematic diagram of a second telescopic arm of another embodiment of the present application;

[0030] Figure 7 is a schematic diagram of a second telescopic arm of yet another embodiment of the present application;

[0031] Figure 8 is a schematic diagram of a first obtuse-angle connecting rod of an embodiment of the present application;

[0032] Fig. 9 is a schematic diagram of a second obtuse-angle connecting rod of an embodiment of the present application;

[0033] Fig.10 is a schematic diagram of a first acute-angle connecting rod of an embodiment of the present application;

[0034] Fig.11 is a schematic diagram of a second acute-angle connecting rod of an embodiment of the present application;

[0035] Fig.12 is a schematic diagram of a combination of a first obtuse-angle connecting rod, a second obtuse-angle connecting rod, a first acute-angle connecting rod, and a second acute-angle connecting rod according to an embodiment of the present application;

[0036] Fig.13 is a schematic diagram of a combination of a first telescopic arm and a second telescopic arm of the present application;

[0037] Fig.14 is a schematic diagram of a first connecting member of an embodiment of the present application;

[0038] Fig.15 is a schematic diagram of a combination of a first connecting member, a driving assembly and a scissor-type unit according to an embodiment of the present application;

[0039] Fig.16 is a schematic diagram of a drone according to an embodiment of the present application;

[0040] Fig.17 is a schematic diagram of a rotor mechanism of an embodiment of the present application;

[0041] Fig.18 is a schematic diagram of a support mechanism of an embodiment of the present application;

[0042] Fig.19 It is a schematic diagram of the combination of a support mechanism, a first telescopic arm, and a second telescopic arm of an embodiment of the present application;

[0043] Fig. 20 is a schematic diagram of the combination of a support mechanism, a first telescopic arm, and a second telescopic arm of another embodiment of the present application;

[0044] Fig.21 It is a schematic diagram of the combination of a support mechanism and a scissor-type telescopic device according to an embodiment of the present application.

[0045] 10. Scissor-type telescopic device; 1. first telescopic arm; 11. scissor-type unit; 111. upper straight rod; 112. middle straight rod; 113. lower straight rod; 114. upper straight rod; 115. middle straight rod; 116. lower straight rod; 12. half scissor-type unit; 121. first half straight rod; 1211. first hinge cavity; 1212. second hinge cavity; 122. second half straight rod; 2. second telescopic arm; 21. first obtuse-angle connecting rod; 211. first straight rod; 212. second straight rod; 213. first hinge hole; 214. second hinge hole; 215, third hinge hole; 216, fourth hinge hole; 22, second obtuse angle connecting rod; 221, third straight rod; 222, fourth straight rod; 223, fifth hinge hole; 224, sixth hinge hole; 225, seventh hinge hole; 226, eighth hinge hole; 23, first acute angle connecting rod; 231, fifth straight rod; 232, sixth straight rod; 233, ninth hinge hole; 234, tenth hinge hole; 235, eleventh hinge hole; 24, second acute angle connecting rod; 241, seventh straight rod; 242, eighth straight rod; 243, twelfth hinge hole; 244, Thirteenth hinge hole; 245, fourteenth hinge hole; 2001, first obtuse-angle connecting rod of upper layer; 2002, second obtuse-angle connecting rod of middle layer; 2003, first obtuse-angle connecting rod of lower layer; 2004, second acute-angle connecting rod of upper layer; 2005, first acute-angle connecting rod of middle layer; 2006, second acute-angle connecting rod of lower layer; 2007, second obtuse-angle connecting rod of upper layer; 2008, first obtuse-angle connecting rod of middle layer; 2009, second obtuse-angle connecting rod of lower layer; 2010, first acute-angle connecting rod of upper layer; 2011, second acute-angle connecting rod of middle layer; 2012, first acute-angle connecting rod of lower layer; 3, driving group Component; 4, first connecting member; 41, first connecting part; 42, second connecting part; 5, second connecting member; 100, UAV; 20, rotor mechanism; 021, propeller; 0211, hub; 0212, blade; 022, motor; 023, rotor base; 30, supporting mechanism; 31, frame bottom plate; 311, first slide; 3111, first sub-slide; 3112, second sub-slide; 32, frame cover; 321, second slide; 3211, third sub-slide; 3212, fourth sub-slide; 40, flight control; 50, lithium battery. DETAILED DESCRIPTION

[0046] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0047] It should be noted that all directional indications in the embodiments of the present invention (such as up, down, left, right, front, back, etc.) are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0048] In addition, the descriptions of "first", "second", etc. in the present invention are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, "and / or" in the full text includes three solutions. Taking A and / or B as an example, it includes technical solution A, technical solution B, and technical solution that satisfies both A and B. In addition, the technical solutions between the various embodiments can be combined with each other, but it must be based on the ability of ordinary technicians in this field to implement. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0049] like Figure 1 As shown, this embodiment provides a scissor-type telescopic device 10, including a first telescopic arm 1, a second telescopic arm 2 and a driving assembly 3, 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 telescoped, so that the first telescopic arm 1 synchronously drives the second telescopic arm 2 to be telescoped.

[0050] By adding the second telescopic arm 2 , the telescopic range of the first telescopic arm 1 can be increased, so that the scissor-type telescopic device 10 can be used in special environments, thereby improving the applicability of the scissor-type telescopic device 10 .

[0051] In this embodiment, the driving component 3 is a steering gear.

[0052] like Figure 2 As shown, 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, one scissor-type unit 11 in the first telescopic arm 1 and the second telescopic arm 2 are hinged to each other, the driving component 3 is connected to one of the scissor-type units 11, and the driving component 3 drives one of the scissor-type units 11 to rotate, so that one of the scissor-type units 11 synchronously drives the adjacent scissor-type unit 11 to rotate, so that the scissor-type unit 11 hinged to the second telescopic arm 2 synchronously drives the second telescopic arm 2 to extend and retract. The mutual rotation between the two adjacent scissor-type units 11 improves the telescopic capacity of the first telescopic arm 1.

[0053] like Figure 3As shown, the scissor-type unit 11 includes a plurality of straight rods (111, 112, 113), the middle parts of the plurality of straight rods of each scissor-type unit 11 are hinged to each other, and in two adjacent scissor-type units 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.

[0054] In this embodiment, each scissor-type unit 11 includes three straight rods (111, 112, 113), and the three straight rods (111, 112, 113) are hinged in sequence from top to bottom, and the three straight rods (111, 112, 113) can improve the stability of the scissor-type unit 11 during the extension and retraction process. 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 can be determined according to actual needs.

[0055] Specifically, 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.

[0056] like Figure 2 As shown, the first telescopic arm 1 further includes a semi-scissor-type unit 12, the second telescopic arm 2 is hinged to one end of the scissor-type unit 11, and the semi-scissor-type unit 12 is hinged to one end of the scissor-type unit 11 away from the second telescopic arm 2. The telescopic capacity of the first telescopic arm 1 is improved by the mutual rotation between the semi-scissor-type unit 12 and the scissor-type unit 11.

[0057] like Figure 4 As shown, the half scissors-type unit 12 includes a plurality of half straight rods (121, 122), one ends of the half straight rods (121, 122) included in each half scissors-type unit 12 are hinged to each other, and the other ends of the half straight rods (121, 122) included in each half scissors-type unit 12 are hinged to the scissors-type unit 11.

[0058] In this embodiment, each half scissor-type unit 12 includes two half straight rods (121, 122) hinged to each other. It can be understood that in an optional embodiment, the number of half straight rods of each half scissor-type unit 12 is not limited to two, and can be determined according to actual needs.

[0059] Specifically, the semi-scissor-type unit 12 includes a first semi-straight rod 121 and a second semi-straight rod 122 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 one end of the second semi-straight rod 122 hinged to the first semi-straight rod 121 is arranged in the first hinge cavity 1211.

[0060] like Figure 2As shown, in this embodiment, 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 are hinged to each other through a hinge shaft, so that two adjacent scissor-type units 11 are hinged to each other. One end corresponding to the first half straight rod 121 and the middle straight rod 112 is hinged to each other through a hinge shaft, and one end hinged to the middle straight rod 112 and the first half straight rod 121 is arranged in the second hinge cavity 1212, and one end corresponding to the upper straight rod 111, the second half straight rod 122 and the lower straight rod 113 are hinged to each other through a hinge shaft, so that the half scissor-type unit 12 and the scissor-type unit 11 are hinged to each other.

[0061] like Figure 5 As shown, 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 the second obtuse-angle link 22 respectively, the driving assembly 3 drives the first telescopic arm 1 to extend and retract, and the first telescopic arm 1 synchronously drives the first obtuse-angle link 21 and the second obtuse-angle link 22 to rotate, so that the first obtuse-angle link 21 synchronously drives the first acute-angle link 23 to rotate, and the second obtuse-angle link 22 synchronously drives the second acute-angle link 24 to rotate. By changing the angles of the first obtuse-angle link 21 , the second obtuse-angle link 22 , the first acute-angle link 23 and the second acute-angle link 24 , the first telescopic arm 1 can be telescoped at corresponding angles, thereby improving the applicability of the scissor-type telescopic device 10 .

[0062] like Figure 6 In one embodiment, the second telescopic arm 2 includes an upper first obtuse-angle link 2001, a middle second obtuse-angle link 2002, a lower first obtuse-angle link 2003, an upper second acute-angle link 2004, a middle first acute-angle link 2005, and a lower second acute-angle link 2006. The upper first obtuse-angle link 2001, the middle second obtuse-angle link 2002, and the lower first obtuse-angle link 2003 are hinged to each other through a hinge shaft. The second acute-angle link 2004 of the upper layer, the first acute-angle link 2005 of the middle layer and the second acute-angle link 2006 of the lower layer are hinged to each other through a hinge axis, the second acute-angle link 2004 of the upper layer, the second obtuse-angle link 2002 of the middle layer and the second acute-angle link 2006 of the lower layer are hinged to each other through a hinge axis, the first obtuse-angle link 2001 of the upper layer, the first acute-angle link 2005 of the middle layer and the first obtuse-angle link 2003 of the lower layer are hinged to each other through a hinge axis.

[0063] like Figure 7In one embodiment, the second telescopic arm 2 includes an upper second obtuse-angle link 2007, a middle first obtuse-angle link 2008, a lower second obtuse-angle link 2009, an upper first acute-angle link 2010, a middle second acute-angle link 2011, and a lower first acute-angle link 2012. The upper second obtuse-angle link 2007, the middle first obtuse-angle link 2008, and the lower second obtuse-angle link 2009 are hinged to each other through a hinge shaft. The first acute-angle link 2010 of the upper layer, the second acute-angle link 2011 of the middle layer and the first acute-angle link 2012 of the lower layer are hinged to each other through a hinge axis, the first acute-angle link 2010 of the upper layer, the first obtuse-angle link 2008 of the middle layer and the first acute-angle link 2012 of the lower layer are hinged to each other through a hinge axis, the second obtuse-angle link 2007 of the upper layer, the second acute-angle link 2011 of the middle layer and the second obtuse-angle link 2009 of the lower layer are hinged to each other through a hinge axis.

[0064] like Figure 8 As shown, the first obtuse-angle connecting rod 21 includes a first straight rod 211 and a second straight rod 212 connected to each other, the angle formed between the first straight rod 211 and the second straight rod 212 is an obtuse angle θ1, the first straight rod 211 is provided with a first hinge hole 213 and a second hinge hole 214, a third hinge hole 215 is provided at the connection between the first straight rod 211 and the second straight rod 212, and the second straight rod 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.

[0065] like Fig. 9 As shown, the second obtuse-angle connecting rod 22 includes a third straight rod 221 and a fourth straight rod 222 connected to each other, the angle formed between the third straight rod 221 and the fourth straight rod 222 is an obtuse angle θ2, 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, and 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.

[0066] like Fig.10As shown, the first acute-angle connecting rod 23 includes a fifth straight rod 231 and a sixth straight rod 232 which are connected to each other, the angle formed between the fifth straight rod 231 and the sixth straight rod 232 is an acute angle φ1, a ninth hinge hole 233 is provided at the connection between the fifth straight rod 231 and the sixth straight rod 232, a tenth hinge hole 234 is provided on the fifth straight rod 231, and an eleventh hinge hole 235 is provided on the sixth straight rod 232, 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.

[0067] like Fig.11 As shown, the second acute-angle connecting rod 24 includes a seventh straight rod 241 and an eighth straight rod 242 connected to each other, the angle formed between the seventh straight rod 241 and the eighth straight rod 242 is an acute angle φ2, a twelfth hinge hole 243 is provided at the connection between the seventh straight rod 241 and the eighth straight rod 242, a thirteenth hinge hole 244 is provided on the seventh straight rod 241, and a fourteenth hinge hole 245 is provided on the eighth straight rod 242, 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 distance between the twelfth hinge hole 243 and the thirteenth hinge hole 244 is l.

[0068] like Fig.12 As shown, a first straight line is formed through the fourth hinge hole 216 and the tenth hinge hole 234, and a second straight line is formed through the eighth hinge hole 226 and the thirteenth hinge hole 244. The angle between the first straight line and the second straight line is α, and α satisfies the following formula:

[0069] α=(θ1+θ2+φ1+φ2) / 2.

[0070] Among them, 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=CE=DF=EF=HF=GF=l and α=(θ1+θ2+φ1+φ2) / 2, no matter how the obtuse-angle connecting rod and the acute-angle connecting rod rotate, the angle α between the first straight line and the second straight line will remain unchanged. When the driving assembly 3 drives the first telescopic arm 1 to extend or retract, the first telescopic arm 1 can always extend or retract along the preset direction, thereby improving the controllability of the scissors-type telescopic device 10. Fig.13 As shown, the preset direction is the straight line direction formed by the middle hinged positions of the plurality of straight rods of each scissor-type unit 11 .

[0071] like Figure 1 As shown, 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 via the first connecting member 4 .

[0072] like Fig.14 , 15 As shown, 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 and the lower straight rod 113 are hinged to each other, 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, and 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.

[0073] like Fig.15 As shown, the scissor-type telescopic device 10 also 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 member 5 to rotate, so that the second connecting member 5 drives the lower straight rod 113 to rotate. In this embodiment, the second connecting member 5 is a swing arm.

[0074] At present, the research on multi-rotor UAVs is mostly focused on the frame platform with a fixed wheelbase, combining perception technology and optimizing control algorithms to enhance environmental adaptability. When a large multi-rotor UAV is disturbed by unstable airflow during flight, due to its large moment of inertia, the large multi-rotor UAV can still maintain good stability; however, when a small multi-rotor UAV is disturbed by unstable airflow during flight, due to its small moment of inertia, it is easily disturbed by airflow and becomes very unstable, resulting in limited use of small multi-rotor UAVs. When a small multi-rotor UAV encounters a narrow passage during flight, due to its small wheelbase, it can easily pass through the passage; however, a large multi-rotor UAV has a large wheelbase and cannot easily pass through the passage, resulting in limited use of large multi-rotor UAVs.

[0075] like Fig.16 As shown, this embodiment provides a drone 100. The drone 100 may have a scissor-type telescopic device 10 in any of the above embodiments, and the number of the scissor-type telescopic devices 10 is multiple.

[0076] The driving components 3 of each scissor-type telescopic device 10 drive the corresponding first telescopic arm 1 to be telescopic, and the first telescopic arm 1 synchronously drives the second telescopic arm 2 to be telescopic, so that the volume of the drone 100 can be changed by changing the wheelbase of the rotor mechanism 20 in different scenarios, so that the drone 100 can fly in different scenarios, thereby improving the applicability of the drone 100.

[0077] In this embodiment, the number of the scissor-type telescopic devices 10 is four. It can be understood that in an optional embodiment, the number of the scissor-type telescopic devices 10 is not limited to four, and can be determined according to actual conditions.

[0078] The drone 100 also includes a rotor mechanism 20, which is used to generate flight power. The rotor mechanism 20 is arranged on one end of the first telescopic arm 1 of the scissors-type telescopic device 10 away from the second telescopic arm 2. The rotor mechanism 20 includes multiple rotor mechanisms 20, and the multiple rotor mechanisms 20 correspond one-to-one to the multiple scissors-type telescopic devices 10 respectively.

[0079] like Fig.17 As shown, 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.

[0080] The propeller 021 includes a hub 0211 and a plurality of blades 0212 , wherein the plurality of blades 0212 are evenly spaced along the circumference of the hub, and the motor 022 is fixedly connected to the hub 0211 , and the motor 022 is used to drive the hub 0211 to rotate, and the hub 0211 drives the blades 0212 to rotate.

[0081] The rotor mechanism 20 also 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 .

[0082] In this embodiment, the rotor base 023 is disposed on the first semi-straight rod 121 .

[0083] like Fig.16 As shown, the drone 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 arranged on the support mechanism 30 and can slide along the support mechanism 30. The driving 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 reliability of the extension and retraction of the scissor-type telescopic device 10.

[0084] like Fig.18As shown, the support mechanism 30 includes a frame bottom plate 31 and a frame cover plate 32 covered on the frame bottom plate 31. The end of the second telescopic arm 2 away from the first telescopic arm 1 is arranged between the frame bottom plate 31 and the frame cover plate 32, and can slide along the frame bottom plate 31 and the frame cover plate 32. The frame bottom plate 31 and the frame cover plate 32 can limit the sliding area of ​​the second telescopic arm 2, thereby improving the reliability of the telescopic scissor-type telescopic device 10.

[0085] The frame bottom plate 31 is provided with a first slide groove 311, and the frame cover plate 32 is provided with a second slide groove 321 at a position corresponding to the first slide groove 311. The end of the second telescopic arm 2 away from the first telescopic arm 1 is provided between the first slide groove 311 and the second slide groove 321, and can slide along the first slide groove 311 and the second slide groove 321. The sliding path of the second telescopic arm 2 can be limited by the first slide groove 311 and the second slide groove 321, so that the second telescopic arm 2 can reliably slide along the first slide groove 311 and the second slide groove 321 when telescoping, thereby improving the reliability of telescoping of the scissor-type telescopic device 10.

[0086] like Fig.19 As shown, in this embodiment, the first slide groove 311 includes a first sub-slide groove 3111 and a second sub-slide groove 3112, the middle-layer first obtuse-angle link 2008 is arranged in the first sub-slide groove 3111 through the fourth hinge hole via the hinge shaft, the upper-layer first acute-angle link 2010 and the lower-layer first acute-angle link 2012 are arranged in the first sub-slide groove 3111 through their respective tenth hinge holes via the hinge shaft, the upper-layer second obtuse-angle link 2007 and the lower-layer second obtuse-angle link 2009 are arranged in the second sub-slide groove 3112 through their respective eighth hinge holes via the hinge shaft, and the middle-layer second acute-angle link 2011 is arranged in the second sub-slide groove 3112 through the tenth hinge hole via the hinge shaft.

[0087] like Fig. 20 As shown, in this embodiment, the second slide groove 321 includes a third sub-slide groove 3211 and a fourth sub-slide groove 3212, the middle-layer first obtuse-angle connecting rod 2008 is arranged in the third sub-slide groove 3211 through the fourth hinge hole via the hinge shaft, the upper-layer first acute-angle connecting rod 2010 and the lower-layer first acute-angle connecting rod 2012 are arranged in the third sub-slide groove 3211 through their respective tenth hinge holes via the hinge shaft, the upper-layer second obtuse-angle connecting rod 2007 and the lower-layer second obtuse-angle connecting rod 2009 are arranged in the fourth sub-slide groove 3212 through their respective eighth hinge holes via the hinge shaft, and the middle-layer second acute-angle connecting rod 2011 is arranged in the fourth sub-slide groove 3212 through the tenth hinge hole via the hinge shaft.

[0088] like Fig.21As shown, 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 between the first sub-slot 3111 and the third sub-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 between the second sub-slot 3112 and the fourth sub-slot 3212.

[0089] like Fig.16 As shown, the drone 100 also 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 control 40 is used to control the operation of the drive assembly 3 and the rotor mechanism 20 respectively, and the battery 50 is used to provide power for the flight control 40.

[0090] The above description is only a preferred embodiment of the present invention, and does not limit the patent scope of the present invention. All equivalent structural changes made by using the contents of the present invention specification and drawings under the inventive concept of the present invention, or directly / indirectly applied in other related technical fields are included in the patent protection scope of the present invention.

Claims

1. A drone, comprising a scissor-type telescopic device, wherein the number of the scissor-type telescopic devices is multiple; It is characterized in that The scissor-type telescopic device comprises a first telescopic arm, a second telescopic arm and a driving assembly, wherein the driving assembly is connected to the first telescopic arm, the first telescopic arm and the second telescopic arm are hinged to each other, and the driving 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 comprises a plurality of scissor-type units, one end of two adjacent scissor-type units are hinged to each other, one of the scissor-type units in the first telescopic arm and the second telescopic arm are hinged to each other, the driving assembly is connected to one of the scissor-type units, and the driving assembly drives one of the scissor-type units to rotate, so that one of the scissor-type units drives the adjacent scissor-type units to rotate synchronously, so that the scissor-type unit hinged to the second telescopic arm drives the second telescopic arm to extend and retract synchronously; The second telescopic arm includes 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 the second obtuse-angle link respectively, the driving assembly drives the first telescopic arm to extend and retract, and 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, and the second obtuse-angle link synchronously drives the second acute-angle link to rotate.

2. The drone according to claim 1, characterized in that: The first telescopic arm further comprises a semi-scissor-type unit, the second telescopic arm is hinged to one end of the scissor-type unit, and the semi-scissor-type unit is hinged to one end of the scissor-type unit away from the second telescopic arm.

3. The drone according to claim 1, characterized in that: The first obtuse-angle connecting rod comprises a first straight rod and a second straight rod connected to each other, and the angle formed between the first straight rod and the second straight rod is an obtuse angle. θ 1, 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 fourth hinge hole, 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 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 connected to each other, and the angle formed between the third straight rod and the fourth straight rod is an obtuse angle. θ 2, the third straight rod is provided with a fifth hinge hole and a sixth hinge hole, the connection between the third straight rod and the fourth straight rod is provided with a seventh hinge hole, and the fourth straight rod is provided with an eighth hinge hole, 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 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 connected to each other, and the angle formed between the fifth straight rod and the sixth straight rod is an acute angle. , a ninth hinge hole is provided at the connection between the fifth straight rod and the sixth straight rod, a tenth hinge hole is provided on the fifth straight rod, and an eleventh hinge hole is provided on 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 connected to each other, and the angle formed between the seventh straight rod and the eighth straight rod is an acute angle. , a twelfth hinge hole is provided at the connection between the seventh straight rod and the eighth straight rod, a thirteenth hinge hole is provided on the seventh straight rod, and a fourteenth hinge hole is provided on 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 through the fourth hinge hole and the tenth hinge hole, and a second straight line is formed through the eighth hinge hole and the thirteenth hinge hole, and the angle between the first straight line and the second straight line is α , α Satisfies the following formula: 。 4. The drone according to claim 1, characterized in that: The UAV further comprises a plurality of rotor mechanisms, which are arranged one by one on one end of the plurality of first telescopic arms away from the second telescopic arms, and are used to generate flight power.

5. The drone according to claim 4, characterized in that: The drone further comprises a supporting mechanism, and an end of the second telescopic arm facing away from the first telescopic arm is arranged on the supporting mechanism and can slide along the supporting mechanism.

6. The drone according to claim 5, characterized in that: The supporting mechanism comprises a frame bottom plate and a frame cover plate covered on the frame bottom plate, and one end of the second telescopic arm away 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.

7. The drone according to claim 6, characterized in that: The frame bottom plate is provided with a first slide groove, the frame cover is provided with a second slide groove at a position corresponding to the first slide groove, and the end of the second telescopic arm away from the first telescopic arm is arranged between the first slide groove and the second slide groove, and can slide between the first slide groove and the second slide groove.

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