Retractable device and drone using the retractable device

Abstract

The present invention discloses a telescopic device and a drone applying the telescopic device. The telescopic device includes a driving mechanism, a linkage mechanism, and a plurality of telescopic arms. The plurality of telescopic arms are respectively hinged to one end of the linkage mechanism, and the driving mechanism is hinged to the end of the linkage mechanism away from the telescopic arms. The driving mechanism drives the linkage mechanism to rotate, so that the linkage mechanism drives the plurality of telescopic arms to expand and contract synchronously. Due to the linkage property of the linkage mechanism, by driving the linkage mechanism to rotate through the driving mechanism, the linkage mechanism can drive the plurality of telescopic arms to expand and contract synchronously, thereby improving the linkage property of the telescopic device. Since one linkage mechanism can drive a plurality of telescopic arms to expand and contract synchronously at the same time, only one driving mechanism is needed to drive the linkage mechanism to rotate, thereby reducing the number of driving mechanisms and lowering the cost of the telescopic device.

Description

Technical Field

[0001] The present invention relates to the technical field of industrial machinery, and particularly relates to a telescopic device and a drone applying the telescopic device. Background Art

[0002] In the prior art, 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 needs to be changed. Due to the flexible telescopic ability of the scissor-type telescopic device and the huge difference between the extreme values of the occupied space, it is deeply favored by users. However, in the occasions with higher linkage, the existing scissor-type telescopic device cannot meet the requirements of users. Summary of the Invention

[0003] The main object of the present invention is to provide a telescopic device and a drone applying the telescopic device, aiming to solve the technical problem of poor linkage of the scissor-type telescopic device in the prior art.

[0004] To solve the above technical problem, the technical solution provided by the present invention is as follows:

[0005] A telescopic device includes a driving mechanism, a linkage mechanism, and a plurality of telescopic arms. The plurality of telescopic arms are respectively hinged to one end of the linkage mechanism, the driving mechanism is hinged to the end of the linkage mechanism far from the telescopic arms, and the driving mechanism drives the linkage mechanism to rotate so that the linkage mechanism drives the plurality of telescopic arms to expand and contract synchronously.

[0006] Optionally, the telescopic arm includes a plurality of scissor-type units. One end of two adjacent scissor-type units is hinged to each other. One of the scissor-type units in the telescopic arm is hinged to one end of the linkage mechanism, and the linkage mechanism synchronously drives two adjacent scissor-type units to rotate relative to each other, thereby causing the telescopic arm to expand and contract.

[0007] Optionally, the scissor-type unit includes a plurality of straight rods. The middle parts of the plurality of straight rods of each scissor-type unit are hinged to each other, and one end of the plurality of straight rods of two adjacent scissor-type units is hinged to each other.

[0008] Optionally, the telescopic arm further includes a semi-scissor-type unit. The linkage mechanism is hinged to one end of the scissor-type unit, and the semi-scissor-type unit is hinged to the end of the scissor-type unit far from the linkage mechanism.

[0009] Optionally, 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 to each other, and the other end is hinged to the scissor-type unit.

[0010] Optionally, the linkage mechanism includes a plurality of linkage units, and one ends of two adjacent linkage units are hinged to each other to jointly form a linked chain.

[0011] Optionally, each linkage unit includes a plurality of obtuse-angle connecting rods and a plurality of acute-angle connecting rods. The plurality of obtuse-angle connecting rods and the plurality of acute-angle connecting rods are hinged to each other, and the plurality of obtuse-angle connecting rods and the plurality of acute-angle connecting rods of two adjacent linkage units are hinged to each other to jointly form a linked chain; the plurality of telescopic arms are respectively hinged to the plurality of obtuse-angle connecting rods, and the driving mechanism is respectively connected to the plurality of acute-angle connecting rods; the driving mechanism drives the plurality of acute-angle connecting rods to rotate, the plurality of acute-angle connecting rods drive the plurality of obtuse-angle connecting rods to rotate, and the plurality of obtuse-angle connecting rods drive the plurality of telescopic arms to synchronously extend and retract.

[0012] Optionally, the obtuse-angle connecting rod includes a first straight rod and a second straight rod connected to the first straight rod. An angle formed by the first straight rod and the second straight rod is an obtuse angle θ. 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 of 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 any two adjacent ones of the second hinge hole, the third hinge hole, and the fourth hinge hole is l, and the plurality of obtuse-angle connecting rods are hinged by a rotating shaft passing through their respective second hinge holes;

[0013] The acute-angle connecting rod includes a third straight rod, a fourth straight rod, a fifth straight rod, and a sixth straight rod connected end to end. An angle formed by the third straight rod and the fourth straight rod is an acute angle φ, and an angle formed by the fifth straight rod and the sixth straight rod is an acute angle β. A fifth hinge hole is provided at the connection of the third straight rod and the fourth straight rod, a sixth hinge hole is provided at the connection of the third straight rod and the sixth straight rod, a seventh hinge hole is provided at the connection of the fourth straight rod and the fifth straight rod, and an eighth hinge hole is provided at the connection of the fifth straight rod and the sixth straight 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 l, 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 and the distance from the eighth hinge hole to the sixth hinge hole is m; the m satisfies formula one, and the β satisfies formula two:

[0014]

[0015] β = 2α = (θ - φ) = 2π / n (two);

[0016] Wherein, n is the number of telescopic arms, and π is 180 degrees.

[0017] Optionally, the telescopic device further includes a connection component. A plurality of the telescopic arms are respectively hinged to one end of the linkage mechanism. The connection component is hinged to the end of the linkage mechanism away from the telescopic arms. The driving mechanism is connected to the connection component. The driving mechanism drives the connection component to rotate. The connection component drives the linkage mechanism to rotate. The linkage mechanism drives the plurality of telescopic arms to synchronously expand and contract.

[0018] Optionally, the linkage mechanism has at least two layers. The connection component includes a first connection member and a second connection member. The first connection member is hinged to one layer of the linkage mechanism. The second connection member is hinged to another layer of the linkage mechanism. The driving mechanism is in transmission connection with the first connection member. The second connection member is fixedly connected to the driving mechanism. The driving mechanism drives the first connection member to rotate. The first connection member drives the linkage mechanism to rotate. The linkage mechanism drives the second connection member to rotate.

[0019] Another technical solution provided by the present invention is:

[0020] An unmanned aerial vehicle, characterized by comprising a rotor mechanism and a telescopic device. The rotor mechanism is arranged at one end of the telescopic arm away from the driving mechanism. The rotor mechanism is used to generate flight power.

[0021] Optionally, the rotor mechanism includes a motor and a propeller connected to the motor. The motor is arranged on the telescopic arm. The motor is used to drive the propeller to rotate.

[0022] Optionally, the rotor mechanism further includes a rotor base. The rotor base is arranged on the telescopic arm. The motor is arranged on the rotor base.

[0023] Optionally, the rotor base is provided with a through 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 in transmission connection with one end of the propeller shaft. The propeller is fixedly connected to the end of the propeller shaft away from the motor. Wherein, the propeller is located above the rotor base. The motor drives the propeller shaft to rotate. The propeller shaft drives the propeller to rotate.

[0024] Optionally, the rotor mechanism further includes a limiting member. The limiting member is used to limit the relative rotation of the rotor base with respect to the telescopic arm.

[0025] Optionally, the limiting member is provided with a limiting groove. The telescopic device further includes a hinge shaft. The hinge shaft is arranged on the telescopic arm and is located in the limiting groove to limit the relative rotation of the rotor base with respect to the telescopic arm.

[0026] Optionally, the rotor mechanism further includes a support rod for supporting the rotor base.

[0027] Optionally, the drone further includes a support mechanism, which includes a frame bottom plate and a frame cover plate covering the frame bottom plate, and the linkage mechanism is located between the frame bottom plate and the frame cover plate.

[0028] Optionally, a limiting portion is provided on the frame cover plate for restricting the central position of the linkage mechanism from moving relative to the frame cover plate.

[0029] Optionally, at least three limiting grooves are provided on the limiting portion, and the telescopic device further includes at least three hinge shafts, which are arranged on the linkage mechanism and located in the corresponding limiting grooves to restrict the central position of the linkage mechanism from moving relative to the frame cover plate, wherein the hinge shafts can slide along the corresponding limiting grooves.

[0030] Compared with the prior art, the present invention has the following beneficial effects:

[0031] Due to the linkage of the linkage mechanism, by driving the linkage mechanism to rotate through the driving mechanism, the linkage mechanism can drive a plurality of telescopic arms to synchronously expand and contract, thereby improving the linkage of the telescopic device. Since one linkage mechanism can drive a plurality of telescopic arms to synchronously expand and contract at the same time, only one driving mechanism is needed to drive the linkage mechanism to rotate, thereby reducing the number of driving mechanisms and lowering the cost of the telescopic device. Description of the Drawings

[0032] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on the structures shown in these drawings.

[0033] Figure 1 is a schematic diagram of a telescopic device according to an embodiment of the present application;

[0034] Figure 2 is a schematic diagram of a telescopic arm according to an embodiment of the present application;

[0035] Figure 3 is a schematic diagram of a scissor unit according to an embodiment of the present application;

[0036] Figure 4 is a schematic diagram of a semi-scissor unit according to an embodiment of the present application;

[0037] Figure 5 Schematic diagram of the linkage mechanism of an embodiment of the present application;

[0038] Figure 6 Schematic diagram of the linkage unit of an embodiment of the present application;

[0039] Figure 7 Combined schematic diagram of the telescopic arm and the linkage mechanism of an embodiment of the present application;

[0040] Figure 8 Schematic diagram of the obtuse-angle link of an embodiment of the present application;

[0041] Figure 9 Schematic diagram of the acute-angle link of an embodiment of the present application;

[0042] Figure 10 Combined schematic diagram of different angles of the obtuse-angle link and the acute-angle link of an embodiment of the present application;

[0043] Figure 11 Schematic diagram of the acute-angle link of another embodiment of the present application;

[0044] Figure 12 Schematic diagram of the connection component of an embodiment of the present application;

[0045] Figure 13 Schematic diagram of the first connecting piece of an embodiment of the present application;

[0046] Figure 14 Combined schematic diagram of the first connecting piece and the acute-angle link of an embodiment of the present application;

[0047] Figure 15 Schematic diagram of the second connecting piece of an embodiment of the present application;

[0048] Figure 16 Combined schematic diagram of the second connecting piece and the acute-angle link of an embodiment of the present application;

[0049] Figure 17 Schematic diagram of the unmanned aerial vehicle of an embodiment of the present application;

[0050] Figure 18 Cross-sectional view of the rotor mechanism of an embodiment of the present application;

[0051] Figure 19 Stereogram of the rotor mechanism of an embodiment of the present application;

[0052] Figure 20 Schematic diagram of the support mechanism of an embodiment of the present application;

[0053] Figure 21Schematic diagram of the combination of the support mechanism and the telescopic device of an embodiment of the present application;

[0054] Figure 22 Schematic diagram of the maximum deployment state of an unmanned aerial vehicle of an embodiment of the present application;

[0055] Figure 23 Schematic diagram of the semi-deployment state of an unmanned aerial vehicle of an embodiment of the present application;

[0056] Figure 24 Schematic diagram of the minimum contraction state of an unmanned aerial vehicle of an embodiment of the present application;

[0057] 10. Telescopic device; 1. Driving mechanism; 2. Linkage mechanism; 21. Linkage unit; 211. Obtuse-angle link; 2111. First straight rod; 2112. Second straight rod; 2113. First hinge hole; 2114. 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; 2125. Fifth hinge hole; 2126. Sixth hinge hole; 2127. Seventh hinge hole; 2128. Eighth hinge hole; 213. Upper obtuse-angle link; 214. Middle obtuse-angle link; 215. Lower obtuse-angle link; 216. Upper acute-angle link; 217. Middle acute-angle link; 218. Lower acute-angle link; 219. Upper obtuse-angle link; 220. Middle acute-angle link; 221. Lower obtuse-angle link; 3. Telescopic arm; 31. Scissor unit; 311. Upper straight rod; 312. Middle straight rod; 313. Lower straight rod; 314. Upper straight rod; 315. Middle straight rod; 316. Lower straight rod; 32. Semi-scissor unit; 321. Upper semi-straight rod; 322. Middle semi-straight rod; 323. Lower semi-straight rod; 4. Connection assembly; 41. First connector; 411. First connecting rod; 412. Second connecting rod; 413. Ninth hinge hole; 414. Tenth hinge hole; 415. Eleventh hinge hole; 416. Twelfth hinge hole; 42. Second connector; 421. Third connecting rod; 422. Fourth connecting rod; 423. Fifth connecting rod; 424. Sixth connecting rod; 425. Thirteenth hinge hole; 426. Fourteenth hinge hole; 427. Fifteenth hinge hole; 428. Sixteenth hinge hole; 43. Third connector; 100. UAV; 50. Rotor mechanism; 51. Propeller; 511. Hub; 512. Blade; 52. Motor; 521. First gear; 53. Rotor base; 531. First cavity; 532. Second cavity; 54. Propeller shaft; 541. Second gear; 55. First bearing; 56. Second bearing; 57. Propeller adapter; 58. Limiting member; 581. Limiting groove; 582. Hinge shaft; 59. Support rod; 60. Support mechanism; 61. Frame bottom plate; 62. Frame cover plate; 621. Limiting part; 6211. Limiting groove; 6212. Hinge shaft; 70. Flight control; 80. Inertial measurement unit; 90. Lithium battery; 110. Sensor. Detailed implementation manners

[0058] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0059] It should be noted that all the directional indications (such as up, down, left, right, front, back...) in the embodiments of the present invention are only used to explain the relative positional relationship, movement conditions, etc. between components in a specific posture (as shown in the attached drawings). If the specific posture changes, the directional indications will also change accordingly.

[0060] In addition, the descriptions involving "first", "second", etc. in the present invention are only for descriptive purposes, and cannot be understood as indicating or implying their relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one of such features. In addition, "and / or" throughout the text includes three scenarios. Taking A and / or B as an example, it includes the technical solution of A, the technical solution of B, and the technical solution that both A and B are satisfied at the same time. In addition, the technical solutions between various embodiments can be combined with each other, but it must be based on the fact that those skilled in the art can implement it. When the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the protection scope required by the present invention.

[0061] As Figure 1 shown, this embodiment provides a telescopic device 10. The telescopic device 10 may have a driving mechanism 1, a linkage mechanism 2, and a plurality of telescopic arms 3. The plurality of telescopic arms 3 are respectively hinged to one end of the linkage mechanism 2, and the driving mechanism 1 is hinged to the end of the linkage mechanism 2 away from the telescopic arms 3. The driving mechanism 1 drives the linkage mechanism 2 to rotate, so that the linkage mechanism 2 drives the plurality of telescopic arms 3 to expand and contract synchronously.

[0062] In this embodiment, due to the linkage property of the linkage mechanism 2, by driving the linkage mechanism 2 to rotate through the driving mechanism 1, the linkage mechanism 2 can drive the plurality of telescopic arms 3 to expand and contract synchronously, thereby improving the linkage property of the telescopic device 10. Since one linkage mechanism 2 can drive the plurality of telescopic arms 3 to expand and contract synchronously at the same time, only one driving mechanism 1 is needed to drive the linkage mechanism 2 to rotate, thereby reducing the number of driving mechanisms 1 and lowering the cost of the telescopic device 10.

[0063] In this embodiment, the driving mechanism 1 is a servo motor.

[0064] In this embodiment, the number of 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 alternative embodiments, the number of telescopic arms 3 is not limited to four and can be determined according to actual needs.

[0065] As Figure 2As shown in the figure, the telescopic arm 3 includes a plurality of scissor units 31. One end of two adjacent scissor units 31 is hinged to each other. One scissor unit 31 in the telescopic arm 3 is hinged to one end of the linkage mechanism 2. The linkage mechanism 2 synchronously drives two adjacent scissor units 31 to rotate relative to each other, so that the telescopic arm 3 can be telescoped. By the relative rotation between two adjacent scissor units 31, the telescoping ability of the telescopic arm 3 is improved.

[0066] As Figure 3 shown in the figure, the scissor unit 31 includes a plurality of straight rods (311, 312, 313). The middle parts of the plurality of straight rods (311, 312, 313) of each scissor unit 31 are hinged to each other. One end of the plurality of straight rods (311, 312, 313) of two adjacent scissor units 31 is hinged to each other.

[0067] In this embodiment, each scissor unit 31 includes three straight rods (311, 312, 313). The three straight rods (311, 312, 313) are hinged in sequence from top to bottom. The stability of the scissor unit 31 during the telescoping process can be improved by the three straight rods (311, 312, 313). It can be understood that in an alternative embodiment, the number of straight rods of each scissor unit 31 is not limited to three, and can be determined according to actual requirements.

[0068] The scissor unit 31 includes an upper straight rod 311, a middle straight rod 312 and a lower straight rod 313. The middle parts of the upper straight rod 311, the middle straight rod 312 and the lower straight rod 313 are hinged to each other through a hinge shaft.

[0069] As Figure 2 shown in the figure, the telescopic arm 3 further includes a semi-scissor unit 32. The linkage mechanism 2 is hinged to one end of the scissor unit 31. The semi-scissor unit 32 is hinged to the end of the scissor unit 31 away from the linkage mechanism 2. By the relative rotation between the semi-scissor unit 32 and the scissor unit 31, the telescoping ability of the telescopic arm 3 is improved.

[0070] As Figure 4 shown in the figure, the semi-scissor unit 32 includes a plurality of semi-straight rods (321, 322, 323). One end of the plurality of semi-straight rods (321, 322, 323) of each semi-scissor unit 32 is hinged to each other, and the other end is hinged to the scissor unit 31.

[0071] In this embodiment, each semi-scissor unit 32 includes three semi-straight rods (321, 322, 323). The three semi-straight rods (321, 322, 323) are hinged in sequence from top to bottom. By means of the three semi-straight rods (321, 322, 323), the stability of the semi-scissor unit 32 during the telescopic process can be improved. It can be understood that in an alternative embodiment, the number of semi-straight rods of each semi-scissor unit 32 is not limited to three, and can be specifically determined according to actual requirements.

[0072] As Figure 4 shown, the semi-scissor unit 32 includes an upper-layer semi-straight rod 321, a middle-layer semi-straight rod 322, and a lower-layer semi-straight rod 323 that are arranged in sequence from top to bottom. One ends of the upper-layer semi-straight rod 321, the lower-layer semi-straight rod 323, and the lower-layer semi-straight rod 323 are hinged to each other through a hinge shaft.

[0073] As Figure 2 shown, one ends of the upper-layer straight rod 311, the middle-layer straight rod 315, and the lower-layer straight rod 313 are hinged to each other through a hinge shaft. One ends of the upper-layer straight rod 314, the middle-layer straight rod 312, and the lower-layer straight rod 316 are hinged to each other through a hinge shaft, so that two adjacent scissor units 31 are hinged to each other. One ends of the corresponding 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 a hinge shaft. One ends of the corresponding 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 a hinge shaft, so that the semi-scissor unit 32 and the scissor unit 31 are hinged.

[0074] As Figure 5 shown, the linkage mechanism 2 includes a plurality of linkage units 21. One ends of two adjacent linkage units 21 are hinged to each other to jointly form a linked chain. By jointly forming a linked chain through a plurality of linkage units 21, the reliability of the linkage mechanism 2 is improved.

[0075] Each linkage unit 21 includes a plurality of obtuse-angle connecting rods 211 and a plurality of acute-angle connecting rods 212. The plurality of obtuse-angle connecting rods 211 and the plurality of acute-angle connecting rods 212 are hinged to each other. The plurality of obtuse-angle connecting rods 211 and the plurality of acute-angle connecting rods 212 of two adjacent linkage units 21 are hinged to each other to jointly form a linked chain; the plurality of telescopic arms 3 are respectively hinged to the plurality of obtuse-angle connecting rods 211, and the driving mechanism 1 is respectively connected to the plurality of acute-angle connecting rods 212; the driving mechanism 1 drives the plurality of acute-angle connecting rods 212 to rotate, the plurality of acute-angle connecting rods 212 drive the plurality of obtuse-angle connecting rods 211 to rotate, and the plurality of obtuse-angle connecting rods 211 drive the plurality of telescopic arms 3 to telescopically move synchronously. By jointly forming a linked chain through the mutually hinged plurality of obtuse-angle connecting rods 211 and the plurality of acute-angle connecting rods 212, the reliability of the linkage mechanism 2 is improved.

[0076] As Figure 6As shown, the upper obtuse link 213, the middle obtuse link 214, and the lower obtuse link 215 are hinged to each other by a hinge shaft. The upper obtuse link 213, the middle acute link 217, and the lower obtuse link 215 are hinged to each other by a hinge shaft. The upper acute link 216, the middle obtuse link 214, and the lower acute link 218 are hinged to each other by a hinge shaft, thereby forming a linkage unit 21. As Figure 7 shown, the upper obtuse link 219, the middle obtuse link 214, and the lower obtuse link 221 are hinged to each other by a hinge shaft. The upper acute link 216, the middle acute link 220, and the lower acute link 218 are hinged to each other by a hinge shaft, so that two adjacent linkage units 21 are hinged to each other. The upper obtuse link 213, the middle straight link 315, and the lower obtuse link 215 are hinged to each other by a hinge shaft. The upper straight link 314, the middle obtuse link 214, and the lower straight link 316 are hinged to each other by a hinge shaft, so that a plurality of obtuse links (213, 214, 215) and the second scissor unit 31 are hinged to each other.

[0077] As Figure 8 shown, the obtuse 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 θ. A first hinge hole 2113 and a second hinge hole 2114 are provided on the first straight rod 2111. A third hinge hole 2115 is provided at the connection of the first straight rod 2111 and the second straight rod 2112. A fourth hinge hole 2116 is provided on the second straight rod 2112. Among them, the distance between any two adjacent ones of the second hinge hole 2114, the third hinge hole 2115, and the fourth hinge hole 2116 is l. A plurality of obtuse links 211 are hinged to each other by a rotating shaft passing through their respective second hinge holes 2114.

[0078] As Figure 9As shown in the figure, 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. The angle formed by the third straight rod 2121 and the fourth straight rod 2122 is an acute angle φ, and the angle formed by the fifth straight rod 2123 and the sixth straight rod 2124 is an acute angle β. A fifth hinge hole 2125 is provided at the connection of the third straight rod 2121 and the fourth straight rod 2122, a sixth hinge hole 2126 is provided at the connection of the third straight rod 2121 and the sixth straight rod 2124, a seventh hinge hole 2127 is provided at the connection of the fourth straight rod 2122 and the fifth straight rod 2123, and an eighth hinge hole 2128 is provided at the connection of the fifth straight rod 2123 and the sixth straight rod 2124. Among them, 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 2126 is l. The distance from the eighth hinge hole 2128 to the sixth hinge hole 2126 is equal to the distance from the eighth hinge hole 2128 to the seventh hinge hole 2127, and the distance from the eighth hinge hole 2128 to the sixth hinge hole 2126 is m;

[0079] m satisfies Formula One, and β satisfies Formula Two:

[0080]

[0081] β = 2α = (θ - φ) = 2π / n (Two);

[0082] Among them, n is the number of telescopic arms 3, and π is 180 degrees.

[0083] As Figure 10 shown, among them, the fifth hinge hole 2125 is B, the sixth hinge hole 2126 is A, the seventh hinge hole 2127 is C, and the eighth hinge hole 2128 is G. When Formula One holds, with G as the center and m as the radius, draw a circle through A. It can be seen that this circle must pass through C. Since the central angle corresponding to the chord AC is ∠AGC = β, according to the circumferential angle theorem, the circumferential angle of ∠AGC is β / 2. When both Formula One and Formula Two hold, it can be known that α = β / 2, and thus it can be deduced that ∠AOC = α, where α is the circumferential angle corresponding to the chord AC, that is, the center O is on this circle, and no matter how the obtuse-angle link 211 and the acute-angle link 212 rotate, the above conclusion always holds. Under the condition that both Formula One and Formula Two hold, when the driving mechanism 1 drives the linkage mechanism 2 to rotate, the linkage mechanism 2 can drive multiple telescopic arms 3 to always expand and contract along the preset direction, thereby improving the controllability of the telescopic device 10. As Figure 7 shown, the preset direction is the straight line direction formed by the middle hinge positions of the multiple straight rods of each scissor unit 31.

[0084] As Figure 11As shown, in this embodiment, the upper acute-angled link can also include a third straight rod 2121 and a fourth straight rod 2122, and a fifth hinge hole 2125 is provided at the connection of the third straight rod 2121 and the fourth straight rod 2122. A sixth hinge hole 2126 is provided at one end of the third straight rod 2121 away from the fifth hinge hole 2125, and a seventh hinge hole 2127 is provided at one end of the fourth straight rod 2122 away from the fifth hinge hole 2125. By using the upper acute-angled link 216 that does not include the fifth straight rod 2123 and the sixth straight rod 2124, interference between the upper acute-angled link and other components can be avoided, thus ensuring the normal operation of the linkage mechanism 2. It can be understood that in an alternative embodiment, the upper acute-angled link can also include the fifth straight rod 2123 and the sixth straight rod 2124, as long as it is ensured that the upper acute-angled link does not interfere with other components during rotation.

[0085] As Figure 12 shown, the telescopic device 10 further includes a connection assembly 4. The plurality of telescopic arms 3 are respectively hinged to one end of the linkage mechanism 2, the connection assembly 4 is hinged to the end of the linkage mechanism 2 away from the telescopic arms 3, and the drive mechanism 1 is connected to the connection assembly 4; the drive mechanism 1 drives the connection assembly 4 to rotate, the connection assembly 4 drives the linkage mechanism 2 to rotate, and the linkage mechanism 2 drives the plurality of telescopic arms 3 to expand and contract synchronously. When the connection assembly 4 is damaged, only the damaged connection assembly 4 needs to be replaced, without replacing the entire drive mechanism 1, thereby reducing the replacement cost of the telescopic device 10.

[0086] The linkage mechanism 2 has at least two layers. The connection assembly 4 includes a first connecting member 41 and a second connecting member 42. The first connecting member 41 is hinged to one layer of the linkage mechanism 2, the second connecting member 42 is hinged to another layer of the linkage mechanism 2, the drive mechanism 1 is in transmission connection with the first connecting member 41, and the second connecting member 42 is fixedly connected to the drive mechanism 1; the drive 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 drives the second connecting member 42 to rotate. By the first connecting member 41 being in transmission connection with the drive mechanism 1 and the second connecting member 42 being fixedly connected to the drive mechanism 1, the drive mechanism 1 can reliably drive the linkage mechanism 2 to rotate, thereby improving the reliability of the telescopic device 10. In this embodiment, the linkage mechanism 2 has three layers. It can be understood that in an alternative embodiment, the linkage mechanism 2 is not limited to three layers and can be determined according to actual needs.

[0087] As Figure 13 and Figure 14As shown in the figure, 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 ninth hinge hole 413, the tenth hinge hole 414, the eleventh hinge hole 415, and the twelfth hinge hole 416 are respectively hinged to the eighth hinge hole 2128 corresponding to the middle-layer acute-angle connecting rod. In this embodiment, since the distance from the center O to the eighth hinge hole 2128 is always m, the distance from the ninth hinge hole 413 to the center O is equal to the distance from the tenth hinge hole 414 to the center O, which is equal to the distance from the eleventh hinge hole 415 to the center O, which 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. Thus, the hinge holes on the first connecting member 41 are respectively hinged to the eighth hinge hole 2128 corresponding to the middle-layer linkage mechanism 2.

[0088] In this embodiment, the first connecting member 41 includes a first connecting rod 411 and a second connecting rod 412 vertically connected to the first connecting rod 411. Wherein, the connection part of the first connecting rod 411 and the second connecting rod 412 is set as the center O. The two ends of the first connecting rod 411 are provided with a ninth hinge hole 413 and a tenth hinge hole 414, and the two ends of the second connecting rod 412 are provided with an eleventh hinge hole 415 and a twelfth hinge hole 416.

[0089] As Figure 15 and Figure 16 As shown in the figure, 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 hinged to the eighth hinge hole 2128 corresponding to the lower-layer acute-angle connecting rod. In this embodiment, since the distance from the center O to the eighth hinge hole 2128 is always m, the distance from the thirteenth hinge hole 425 to the center O is equal to the distance from the fourteenth hinge hole 426 to the center O, which is equal to the distance from the fifteenth hinge hole to the center O, which 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. Thus, the hinge holes on the second connecting member 42 are respectively hinged to the eighth hinge hole 2128 corresponding to the lower-layer chain.

[0090] In this embodiment, 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 that are connected end to end. Among them, 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 fifteenth hinge hole 427 and a sixteenth hinge hole 428. The central points of the thirteenth hinge hole 425, the fourteenth hinge hole 426, the fifteenth hinge hole 427, and the sixteenth hinge hole 428 are set as the center O.

[0091] As Figure 1 shown, the connecting assembly 4 further includes a third connecting member. The output shaft of the driving mechanism 1 is fixedly connected to the third connecting member, and the third connecting member is fixedly connected to the first connecting member 41. The driving mechanism 1 drives the third connecting member to rotate, the third connecting member drives the first connecting member 41 to rotate, the first connecting member 41 drives the linkage mechanism 2 to rotate. While the linkage mechanism 2 drives the telescopic arm 3 to expand and contract, it drives the second connecting member 42 to rotate, and the rotation of the second connecting member 42 drives the driving mechanism 1 to rotate. In this embodiment, the third connecting member is a swing arm.

[0092] Currently, most of the research on multi-rotor drones focuses on the frame platform with a fixed wheelbase, combined with sensing technology and optimized control algorithms to enhance the environmental adaptability. When a large multi-rotor drone is disturbed by unstable airflows during flight, due to its large moment of inertia, the large multi-rotor drone can still maintain good stability; however, when a small multi-rotor drone is disturbed by unstable airflows during flight, due to its small moment of inertia, it is easily disturbed by the airflows and becomes very unstable, resulting in limited use of the small multi-rotor drone. When a small multi-rotor drone encounters a narrow passage during flight, due to the small wheelbase of the small multi-rotor drone, it can easily pass through the passage; however, the large multi-rotor drone has a large wheelbase and cannot easily pass through the passage, resulting in limited use of the large multi-rotor drone.

[0093] As Figure 17 shown, this embodiment provides a drone 100. The drone 100 may have a rotor mechanism 50 and the telescopic device 10 in any of the above embodiments. The rotor mechanism 50 is arranged at one end of the telescopic arm 3 away from the driving mechanism 1, and the rotor mechanism 50 is used to generate flight power.

[0094] In this embodiment, by driving the linkage mechanism 2 to rotate through the driving mechanism 1, the linkage mechanism 2 drives a plurality of telescopic arms 3 to expand and contract synchronously, so that the drone 100 can change its own volume by changing the wheelbase of the rotor mechanism 50 in different scenarios, enabling the drone 100 to fly in different scenarios, thereby improving the applicability of the drone 100.

[0095] As Figure 18 shown, the rotor mechanism 50 includes a propeller 51 and a motor 52. The motor 52 is disposed on the telescopic arm 3 and is used to drive the propeller 51 to rotate.

[0096] The propeller 51 includes a hub 511 and a plurality of blades 512. The plurality of blades 512 are uniformly arranged along the circumferential direction of the hub. The motor 52 is fixedly connected to the hub 511. The motor 52 drives the hub 511 to rotate, and the hub 511 drives the blades 512 to rotate.

[0097] The rotor mechanism 50 further includes a rotor base 53. The motor 52 is disposed on the rotor base 53, and the rotor base 53 is disposed on the telescopic arm 3.

[0098] The rotor base 53 is provided with a through first cavity 531 and a second cavity 532. The rotor mechanism 50 further includes a propeller shaft 54. The motor 52 is disposed in the first cavity 531, and the propeller shaft 54 is disposed in the second cavity 532. The motor 52 is in transmission connection with one end of the propeller shaft 54, and the propeller 51 is fixedly connected to the end of the propeller shaft 54 away from the motor 52. Among them, the propeller 51 is located above the rotor base 53. The motor 52 drives the propeller shaft 54 to rotate, and the propeller shaft 54 drives the propeller 51 to rotate.

[0099] The rotor mechanism 50 further includes a first bearing 55, a second bearing 56, and a propeller adapter 57. The propeller shaft 54 is disposed in the second cavity 532 through the first bearing 55 and the second bearing 56. A first gear 521 is provided on the motor 52, and a second gear 541 adapted to the first gear 521 is provided on the propeller shaft 54. The motor 52 is in transmission connection with one end of the propeller shaft 54 through the first gear 521 and the second gear 541. The hub 511 is fixedly connected to one end of the propeller shaft 54 through the propeller adapter 57. Among them, the first gear 521 and the second gear 541 are located below the rotor base 53, the hub 511 and the blades 512 are located above the rotor base 53. The motor 52 drives the first gear 521 to rotate, the first gear 521 drives the second gear 541 to rotate, the second gear 541 drives the propeller shaft 54 to rotate, the propeller shaft 54 drives the propeller adapter 57 to rotate, the propeller adapter 57 drives the hub 511 to rotate, and the hub 511 drives the blades 512 to rotate.

[0100] As Figure 19 shown, the rotor mechanism 50 further includes a limiting member 58. The limiting member 58 is used to limit the relative rotation of the rotor base 53 with respect to the telescopic arm 3, so as to ensure that during the flight of the drone 100, the position of the rotor base 53 relative to the telescopic arm 3 always remains unchanged, thereby improving the reliability of the drone 100 during flight. In this embodiment, the limiting member 58 is disposed on the rotor base 53.

[0101] As Figure 7 , Figure 19 and Figure 21 shown, the limiting member 58 is provided with a limiting groove 581, and the telescopic device 10 further includes a hinge shaft 582. The hinge shaft 582 is arranged on the telescopic arm 3 and located in the limiting groove 581 to limit the rotation of the rotor base 53 relative to the telescopic arm 3. Through the cooperation of the limiting groove 581 and the hinge shaft 582, the reliability of the limiting member 58 can be improved.

[0102] As Figure 19 shown, the rotor mechanism 50 further includes a support rod 59, and the support rod 59 is used to support the rotor base 53. By supporting the rotor base 53 with the support rod 59, it is possible to prevent the drone 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. In this embodiment, the support rod 59 is arranged at the bottom of the rotor base 53.

[0103] As Figure 20 shown, the drone 100 further includes a support mechanism 60. The support mechanism 60 includes a frame bottom plate 61 and a frame cover plate 62 covering the frame bottom plate 61, and the linkage mechanism 2 is located between the frame bottom plate 61 and the frame cover plate 62.

[0104] The frame cover plate 62 is provided with a limiting portion 621, and the limiting portion 621 is used to limit the central position (i.e., the center O) of the linkage mechanism 2 from moving relative to the frame cover plate 62, so that during the telescoping process of the telescopic device 10, the central position of the linkage mechanism 2 always remains unchanged relative to the frame cover plate 62, thereby improving the reliability of the drone 100 during flight.

[0105] As Figure 7 and Figure 21 shown, at least three limiting grooves 6211 are provided on the limiting portion 621, and the telescopic device 10 further includes at least three hinge shafts 6212. The hinge shafts 6212 are arranged on the linkage mechanism 2 and located in the corresponding limiting grooves 6211 to limit the central position of the linkage mechanism 2 from moving relative to the frame cover plate 62. Among them, the hinge shafts can slide along the corresponding limiting grooves 6211. Through the cooperation of the three limiting grooves 6211 and the three hinge shafts 6212, the reliability of the limiting portion 621 can be improved. The hinge shafts 6212 can slide along the corresponding limiting grooves 6211, which can prevent the linkage mechanism 2 from interfering with the frame cover plate 62 during the telescoping process, thereby ensuring the normal operation of the telescopic device 10.

[0106] As Figure 20As shown, the number of the limiting grooves 581 is four, and the included angle between two adjacent limiting grooves 581 is 2π / n, where n is the number of the telescopic arms 3. In this embodiment, the number of the telescopic arms 3 is 4, and the included angle between two adjacent guiding grooves is 90 degrees.

[0107] As Figure 17 shown, the drone 100 further includes a flight controller 70, an inertial measurement unit 80, a lithium battery 90, and a sensor 110 disposed on the support mechanism 60. The flight controller 70 is respectively connected to the inertial measurement unit 80, the lithium battery 90, and the sensor 110.

[0108] In this embodiment, the flight controller 70 is disposed on the frame cover plate 62, the inertial measurement unit 80 is disposed on the flight controller 70, the lithium battery 90 is disposed on the inertial measurement unit 80, and the sensor 110 is disposed at the bottom of the frame bottom plate 61.

[0109] In this embodiment, the inertial measurement unit 80 is an IMU inertial measurement unit 80. The sensor 110 is an optical flow sensor 110.

[0110] As Figure 22 is the drone 100 in the maximum deployed state; Figure 23 is the drone 100 in the semi-deployed state; Figure 24 is the drone 100 in the minimum contracted state.

[0111] The above are only the preferred embodiments of the present invention, and thus do not limit the patent scope of the present invention. Any equivalent structural transformation made under the inventive concept of the present invention by using the content of the specification and drawings of the present invention, or any direct / indirect application in other related technical fields shall be included within the patent protection scope of the present invention.

Claims

1. A telescopic device, characterized in that, it includes a driving mechanism, a linkage mechanism and a plurality of telescopic arms. The plurality of telescopic arms are respectively hinged to one end of the linkage mechanism, and the driving mechanism is hinged to the end of the linkage mechanism away from the telescopic arms. The driving mechanism drives the linkage mechanism to rotate, so that the linkage mechanism drives the plurality of telescopic arms to telescopically extend and retract synchronously; the linkage mechanism includes a plurality of linkage units, and one ends of two adjacent linkage units are hinged to each other to jointly form a linked chain.

2. The telescopic device according to claim 1, characterized in that, the telescopic arm includes a plurality of scissor units. One ends of two adjacent scissor units are hinged to each other. One of the scissor units in the telescopic arm is hinged to one end of the linkage mechanism. The linkage mechanism synchronously drives two adjacent scissor units to rotate relative to each other, so as to make the telescopic arm telescopically extend and retract.

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

4. The telescopic device according to claim 2, characterized in that, the telescopic arm further includes a semi-scissor unit. The linkage mechanism is hinged to one end of the scissor unit, and the semi-scissor unit is hinged to the end of the scissor unit away from the linkage mechanism.

5. The telescopic device according to claim 4, characterized in that, each semi-scissor unit includes a plurality of semi-straight rods. One ends of the plurality of semi-straight rods of each semi-scissor unit are hinged to each other, and the other ends are hinged to the scissor unit.

6. The telescopic device according to claim 1, characterized in that, each linkage unit includes a plurality of obtuse-angle connecting rods and a plurality of acute-angle connecting rods. The plurality of obtuse-angle connecting rods and the plurality of acute-angle connecting rods are hinged to each other. The plurality of obtuse-angle connecting rods and the plurality of acute-angle connecting rods of two adjacent linkage units are hinged to each other to jointly form a linked chain; the plurality of telescopic arms are respectively hinged to the plurality of obtuse-angle connecting rods, and the driving mechanism is respectively connected to the plurality of acute-angle connecting rods; the driving mechanism drives the plurality of acute-angle connecting rods to rotate, the plurality of acute-angle connecting rods drive the plurality of obtuse-angle connecting rods to rotate, and the plurality of obtuse-angle connecting rods drive the plurality of telescopic arms to telescopically extend and retract synchronously.

7. The telescopic device according to claim 6, characterized in that, the obtuse-angle connecting rod includes a first straight rod and a second straight rod connecting the first straight rod. The angle formed by the first straight rod and the second straight rod is an obtuse angle θ. The first straight rod is provided with a first hinge hole and a second hinge hole, and a third hinge hole is provided at the connection between the first straight rod and the second straight rod. The second straight rod is provided with a fourth hinge hole. Among them, the distance between any two adjacent ones of the second hinge hole, the third hinge hole and the fourth hinge hole is l. The plurality of obtuse-angle connecting rods are hinged to each other by a rotating shaft passing through their respective second hinge holes; The acute-angle connecting rod comprises a third straight rod, a fourth straight rod, a fifth straight rod and a sixth straight rod connected end to end, the angle formed by the third straight rod and the fourth straight rod is an acute angle φ, the angle formed by the fifth straight rod and the sixth straight rod is an acute angle β, a fifth hinge hole is provided at the connection between the third straight rod and the fourth straight rod, a sixth hinge hole is provided at the connection between the third straight rod and the sixth straight rod, a seventh hinge hole is provided at the connection between the fourth straight rod and the fifth straight rod, and an eighth hinge hole is provided at the connection between the fifth straight rod and the sixth straight 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 l, 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 m; m satisfies formula 1, and β satisfies formula 2: β=2α=(θ-φ)=2πn (two); Where n is the number of telescopic arms and π is 180 degrees.

8. The telescopic device according to claim 1, It is characterized in that The telescopic device also includes a connecting assembly, and the multiple telescopic arms are respectively hinged to one end of the linkage mechanism, the connecting assembly is hinged to one end of the linkage mechanism away from the telescopic arm, and the driving mechanism is connected to 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 the multiple telescopic arms to extend and retract synchronously.

9. The telescopic device according to claim 8, It is characterized in that The linkage mechanism has at least two layers, and the connecting component includes a first connecting member and a second connecting member. The first connecting member is hinged to one layer of the linkage mechanism, and the second connecting member is hinged to another layer of the linkage mechanism. The driving mechanism is transmission-connected to the first connecting member, and the second connecting member is fixedly connected to the driving mechanism; the driving mechanism drives the first connecting member to rotate, the first connecting member drives the linkage mechanism to rotate, and the linkage mechanism drives the second connecting member to rotate.

10. A drone, It is characterized in that It comprises a rotor mechanism and the telescopic device according to any one of claims 1 to 9, wherein the rotor mechanism is arranged on an end of the telescopic arm away from the driving mechanism, and the rotor mechanism is used to generate flight power.

11. The drone according to claim 10, It is characterized in that The rotor mechanism comprises a motor and a propeller connected to the motor. The motor is arranged on the telescopic arm and is used to drive the propeller to rotate.

12. The drone according to claim 11, It is characterized in that The rotor mechanism also includes a rotor base, which is arranged on the telescopic arm, and the motor is arranged on the rotor base.

13. The drone according to claim 12, It is characterized in that The rotor base is provided with a through first cavity and a second cavity. The rotor mechanism further includes a propeller shaft. The motor is disposed in the first cavity, and the propeller shaft is disposed in the second cavity. The motor is drivingly connected to one end of the propeller shaft, and the propeller is fixedly connected to the end of the propeller shaft away from the motor. Wherein, the propeller is located above the rotor base, the motor drives the propeller shaft to rotate, and the propeller shaft drives the propeller to rotate.

14. The unmanned aerial vehicle according to claim 12, wherein, the rotor mechanism further includes a limiting member for limiting the relative rotation of the rotor base with respect to the telescopic arm.

15. The unmanned aerial vehicle according to claim 14, wherein, the limiting member is provided with a limiting groove, and the telescopic device further includes a hinge shaft disposed on the telescopic arm and located in the limiting groove to limit the relative rotation of the rotor base with respect to the telescopic arm.

16. The unmanned aerial vehicle according to claim 12, wherein, the rotor mechanism further includes a support rod for supporting the rotor base.

17. The unmanned aerial vehicle according to claim 10, wherein, the unmanned aerial vehicle further includes a support mechanism, the support mechanism includes a frame bottom plate and a frame cover plate covering the frame bottom plate, and the linkage mechanism is located between the frame bottom plate and the frame cover plate.

18. The unmanned aerial vehicle according to claim 17, wherein, the frame cover plate is provided with a limiting portion for limiting the movement of the central position of the linkage mechanism relative to the frame cover plate.

19. The unmanned aerial vehicle according to claim 18, wherein, the limiting portion is provided with at least three limiting grooves, and the telescopic device further includes at least three hinge shafts disposed on the linkage mechanism and located in the corresponding limiting grooves to limit the movement of the central position of the linkage mechanism relative to the frame cover plate, wherein the hinge shafts can slide along the corresponding limiting grooves.

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