Parallel servo device and drone

Abstract

The present invention discloses a parallel servo device and an unmanned aerial vehicle (UAV). The parallel servo device includes a first servo, a second servo and an isolation mechanism. The first servo includes a first fixed part and a first movable part, and the first movable part is movably connected to the first fixed part; the second servo includes a second fixed part and a second movable part, and the second movable part is movably connected to the second fixed part; the isolation mechanism includes a fixing assembly, a locking assembly and a driving assembly, and both fixing parts are movably connected to the fixing assembly; the position of the locking assembly relative to the first fixing part and the second fixing part includes a locking position and a releasing position; in the locking position, the locking assembly locks the first fixing part and the second fixing part to the fixing assembly; in the releasing position, one of the two fixing parts is locked to the fixing assembly by the locking assembly, and the other is movable relative to the fixing assembly; the driving assembly is connected to the locking assembly, and is used to drive the locking assembly to move between the locking position and the releasing position.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicles (UAVs), and in particular to a parallel servo device and an UAV. Background Art

[0002] A servo is an actuator that controls the rotation of an aircraft's control surfaces. To ensure reliable control, conventional technology employs a parallel servo design, where two servos are mechanically connected to the aircraft's control surfaces. However, if one servo fails, the other servo, while still functioning normally, will be affected by the faulty servo, rendering the parallel servo system inoperable. Summary of the Invention

[0003] The embodiments of the present invention provide a parallel servo device and an unmanned aerial vehicle (UAV) to solve the problems existing in the prior art.

[0004] A parallel servo device according to an embodiment of the present invention includes a first servo, a second servo and an isolation mechanism, wherein the first servo includes a first fixed part and a first movable part, and the first movable part is movably connected to the first fixed part; the second servo includes a second fixed part and a second movable part, and the second movable part is movably connected to the second fixed part; the isolation mechanism includes a fixing assembly, a locking assembly and a driving assembly, and the first fixing part and the second fixing part are both movably connected to the fixing assembly; the position of the locking assembly relative to the first fixing part and the second fixing part includes a locking position and a release position; in the locking position, the locking assembly locks the first fixing part and the second fixing part to the fixing assembly; in the release position, one of the first fixing part and the second fixing part is locked to the fixing assembly by the locking assembly, and the other is movable relative to the fixing assembly; the driving assembly is connected to the locking assembly for driving the locking assembly to move between the locking position and the release position.

[0005] According to some embodiments of the present invention, a movement direction of the first fixed portion relative to the fixed assembly is parallel to a movement direction of the first movable portion relative to the first fixed portion;

[0006] A moving direction of the second fixed portion relative to the fixing assembly is parallel to a moving direction of the second movable portion relative to the second fixed portion.

[0007] According to some embodiments of the present invention, the first movable portion is telescopically connected to the first fixed portion, and the second movable portion is telescopically connected to the second fixed portion; or,

[0008] The first movable part is rotatably connected to the first fixed part, and the second movable part is rotatably connected to the second fixed part.

[0009] According to some embodiments of the present invention, a movement path of the locking assembly between the locking position and the releasing position is a straight line or a curve.

[0010] According to some embodiments of the present invention, the fixing assembly is provided with a first sliding groove and a second sliding groove;

[0011] The isolation mechanism further includes a first sliding rod and a second sliding rod, the first fixing portion being connected to the first sliding rod, and the second fixing portion being connected to the second sliding rod; the first sliding rod being slidably disposed in the first sliding groove, and the second sliding rod being slidably disposed in the second sliding groove;

[0012] In the locked position, the locking assembly locks the first slide bar in the first slide groove and the second slide bar in the second slide groove;

[0013] In the release position, the locking assembly locks one of the first sliding rod and the second sliding rod and releases the other one.

[0014] According to some embodiments of the present invention, the fixing assembly further includes two first fixing members corresponding to the first fixing portion and two second fixing members corresponding to the second fixing portion, the two first fixing members being respectively located on opposite sides of the first fixing portion, and the two second fixing members being respectively located on opposite sides of the second fixing portion; each of the first fixing members is provided with the first sliding groove, and each of the second fixing members is provided with the second sliding groove;

[0015] The two ends of the first slide bar in the axial direction are slidably disposed in the two first slide grooves respectively; the two ends of the second slide bar in the axial direction are slidably disposed in the two second slide grooves respectively.

[0016] According to some embodiments of the present invention, the locking assembly includes a first locking member and a second locking member connected to the driving assembly, the first locking member is used to lock or release the first sliding rod, and the second locking member is used to lock or release the second sliding rod.

[0017] According to some embodiments of the present invention, the drive assembly comprises:

[0018] Motor;

[0019] a gear connected to the output shaft of the motor; and

[0020] A rack is meshed with the gear; and two ends of the rack in the length direction are respectively engaged with the first locking member and the second locking member.

[0021] According to some embodiments of the present invention, a moving direction of the rack is perpendicular to an extending direction of the first sliding groove and the second sliding groove.

[0022] According to some embodiments of the present invention, the fixing assembly is further provided with a first insertion hole corresponding to the first sliding groove and a second insertion hole corresponding to the second sliding groove;

[0023] The first locking member is movably provided in the first insertion hole to lock or release the first sliding rod, and the second locking member is movably provided in the second insertion hole to lock or release the second sliding rod.

[0024] According to some embodiments of the present invention, the first locking member includes a pair of first prongs, and the second locking member includes a pair of second prongs;

[0025] In the locked position, a pair of first fork arms are inserted into the first insertion hole, and the first slide bar is located between the pair of first fork arms, a pair of second fork arms are inserted into the second insertion hole, and the second slide bar is located between the pair of second fork arms.

[0026] According to some embodiments of the present invention, the pair of first fork arms are parallel to each other, and the pair of second fork arms are parallel to each other.

[0027] According to some embodiments of the present invention, in the release position, the released first sliding rod or the second sliding rod disengages from between the corresponding pair of fork arms, and the locked first sliding rod or the second sliding rod remains between the corresponding pair of fork arms.

[0028] The drone according to the embodiment of the present invention includes any one of the parallel servo devices described above.

[0029] One embodiment of the above invention has at least the following advantages or beneficial effects:

[0030] A parallel servo device according to an embodiment of the present invention includes a first servo, a second servo, and an isolation mechanism, wherein a locking assembly of the isolation mechanism is movable between a locked position and a released position. When the locking assembly is in the locked position, the locking assembly locks the first and second fixing portions to the fixing assembly, thereby enabling both the first and second servo to operate. When the locking assembly is in the released position, the locking assembly locks one of the first and second fixing portions to the fixing assembly, while the other is movable relative to the fixing assembly. Thus, the servo corresponding to the fixing portion locked to the fixing assembly can continue to operate, while the servo movable relative to the fixing assembly can follow the servo that continues to operate. In this manner, if one of the first and second servo fails and cannot operate, the other servo can continue to operate without being affected by the failed servo, thereby ensuring the normal operation of the aircraft control system and the safety of the unmanned aerial vehicle. Therefore, the parallel servo device according to an embodiment of the present invention not only improves the reliability of servo operation by providing two servos to operate the same servo, but also provides an isolation mechanism to release the failed servo, preventing it from affecting the normally operating servo, thereby ensuring the normal movement of the servo. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 Shown is a three-dimensional schematic diagram of a drone according to an embodiment of the present invention.

[0032] Figure 2 Shown is a three-dimensional schematic diagram of a parallel servo device according to an embodiment of the present invention, wherein the locking assembly is located in a locked position.

[0033] Figure 3 Shown is a three-dimensional schematic diagram of one of the steering gears according to an embodiment of the present invention.

[0034] Figure 4 Shown is a three-dimensional schematic diagram of an isolation mechanism according to an embodiment of the present invention, wherein the locking assembly is located in a locked position.

[0035] Figure 5 Shown is a partial schematic diagram of a parallel servo device according to an embodiment of the present invention, wherein the locking assembly is in a released position.

[0036] The description of the accompanying drawings is as follows:

[0037] 1. Drones;

[0038] 11. Aircraft body;

[0039] 12. Parallel servo device;

[0040] 13. Rudder;

[0041] 14. Elevator;

[0042] 15. Leading edge flaps;

[0043] 16. Controller

[0044] 100. First Servo

[0045] 110. First fixing portion

[0046] 120. First Activity Department

[0047] 121. First connection end

[0048] 200, Second Servo

[0049] 210. Second fixing portion

[0050] 220, Second Activity Department

[0051] 221. Second connection end

[0052] 300. Isolation Agency

[0053] 310. Fixed components

[0054] 311. First fixing member

[0055] 311a, first chute

[0056] 311b, first jack

[0057] 312. Second fixing member

[0058] 312a, second chute

[0059] 312b, second socket

[0060] 320. Locking component

[0061] 321. First locking member

[0062] 321a, first fork

[0063] 321b, first connecting arm

[0064] 322. Second locking member

[0065] 322a, second fork arm

[0066] 322b, second connecting arm

[0067] 330, drive components

[0068] 331. Motor

[0069] 332. Gear

[0070] 333, rack

[0071] 410, First Slide

[0072] 411, first roller

[0073] 420, Second Slide

[0074] 421, Second Roller

[0075] P1, locked position

[0076] P2, release position

[0077] D1, first direction

[0078] D2, second direction

[0079] D3. Third direction DETAILED DESCRIPTION

[0080] Example embodiments will now be described more fully with reference to the accompanying drawings. However, example embodiments can be embodied in many forms and should not be construed as limited to the embodiments set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete and will fully convey the concepts of the example embodiments to those skilled in the art. Like reference numerals in the figures represent like or similar structures, and thus their detailed description will be omitted.

[0081] like Figure 1 As shown, the drone 1 according to an embodiment of the present invention includes an aircraft body 11, a parallel servo device 12, and a controller 16. The parallel servo device 12 and the controller 16 are disposed on the aircraft body 11. The parallel servo device 12 and the controller 16 are communicatively connected to each other, and the parallel servo device 12 is connected to the control surfaces of the aircraft body 11. The parallel servo device 12 is configured to control the movement of the control surfaces of the aircraft body 11 based on signals received from the controller 16.

[0082] It can be understood that the control surfaces mentioned above may include but are not limited to a rudder 13 , an elevator 14 , and a leading edge flap 15 .

[0083] The terms "including," "having," and any variations thereof in the embodiments of the present invention are intended to cover non-exclusive inclusions. For example, a process, method, system, product, or apparatus comprising a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or components inherent to the process, method, product, or apparatus.

[0084] The term "communication connection" refers to a wired connection or a wireless connection. When it is a wireless connection, it can be connected via WiFi, Bluetooth, etc.

[0085] like Figures 2 to 4As shown, the parallel servo device 12 of the embodiment of the present invention includes a first servo 100, a second servo 200, and an isolation mechanism 300. The first servo 100 and the second servo 200 are arranged opposite each other in a third direction D3 and are parallel to each other. The isolation mechanism 300 is disposed between the first servo 100 and the second servo 200. The first servo 100 and the second servo 200 are arranged in parallel and are mechanically connected to the same control surface to control the movement of the control surface.

[0086] like Figure 3 As shown, the first servo 100 includes a first fixed portion 110 and a first movable portion 120, wherein the first movable portion 120 is movably connected to the first fixed portion 110. The second servo 200 includes a second fixed portion 210 and a second movable portion 220, wherein the second movable portion 220 is movably connected to the second fixed portion 210. The controller 16 is in communication with the first servo 100 and the second servo 200 and is configured to control the movement of the first movable portion 120 relative to the first fixed portion 110 and the movement of the second movable portion 220 relative to the second fixed portion 210.

[0087] like Figure 2 and Figure 3 As shown, the first movable portion 120 is telescopically connected to the first fixed portion 110 along an extension direction, and the second movable portion 220 is telescopically connected to the second fixed portion 210 along the same extension direction. The movement directions of the first movable portion 120 and the second movable portion 220 are parallel to each other. In this embodiment of the present invention, the extension direction of the first movable portion 120 and the second movable portion 220 is parallel to the first direction D1. The first direction D1 is perpendicular to the third direction D3.

[0088] The first movable portion 120 has a first connecting end 121 at one end away from the first fixed portion 110 , and the second movable portion 220 has a second connecting end 221 at one end away from the second fixed portion 210 . The first connecting end 121 and the second connecting end 221 are used to mechanically connect to the same control surface of the aircraft body 11 .

[0089] As an example, the first connecting end 121 and the second connecting end 221 are hinged to the control surface of the aircraft body 11 .

[0090] In this embodiment of the present invention, the control surface is driven to move by extending and retracting the first movable portion 120 and the second movable portion 220. It is understood that the first servo 100 and the second servo 200 are arranged in parallel. If one servo fails, the other servo can continue to operate, thereby improving the reliability of the operating system of the drone 1.

[0091] Of course, in other embodiments, the movement of the movable parts (120, 220) is not limited to linear extension and retraction. For example, the first movable part 120 may be rotatably connected to the first fixed part 110, and the second movable part 220 may be rotatably connected to the second fixed part 210. The first movable part 120 and the second movable part 220 are mechanically connected to the control surface, for example, by a hinge. The movement of the first movable part 120 and the second movable part 220 can drive the movement of the control surface.

[0092] It is understood that the failure of the servo means that the movable portion of the servo cannot move relative to the fixed portion. In the embodiment of the present invention, the movable portion cannot be extended or retracted relative to the fixed portion.

[0093] like Figure 2 and Figure 4 As shown, the isolation mechanism 300 includes a fixing assembly 310, a locking assembly 320, and a driving assembly 330. The fixing assembly 310 is fixedly mounted to the aircraft body 11. The first fixing portion 110 and the second fixing portion 210 are both movably connected to the fixing assembly 310. The positions of the locking assembly 320 relative to the first fixing portion 110 and the second fixing portion 210 include a locked position P1 and a released position P2. In the locked position P1, the locking assembly 320 locks the first fixing portion 110 and the second fixing portion 210 to the fixing assembly 310. In the released position P2, one of the first fixing portion 110 and the second fixing portion 210 is locked to the fixing assembly 310 by the locking assembly 320, while the other is movable relative to the fixing assembly 310. The driving assembly 330 is connected to the locking assembly 320 for driving the locking assembly 320 to move between the locked position P1 and the released position P2. In other words, at the locking position P1 , the first fixing portion 110 and the second fixing portion 210 are locked by the locking assembly 320 ; at the releasing position P2 , one of the first fixing portion 110 and the second fixing portion 210 is locked by the locking assembly 320 and the other is released.

[0094] It will be appreciated that the parallel servo device 12 of the embodiment of the present invention includes a first servo 100, a second servo 200, and an isolation mechanism 300. The locking assembly 320 of the isolation mechanism 300 is movable between a locked position P1 and a released position P2. When the locking assembly 320 is in the locked position P1, the locking assembly 320 locks the first fixing portion 110 and the second fixing portion 210 to the fixing assembly 310, thereby enabling both the first servo 100 and the second servo 200 to participate in operation. When the locking assembly 320 is in the release position P2, the locking assembly 320 locks one of the first fixing portion 110 and the second fixing portion 210 to the fixing assembly 310, while the other fixing portion is movable relative to the fixing assembly 310. In this way, the servo corresponding to the fixing portion locked to the fixing assembly 310 can continue to operate, and the servo movable relative to the fixing assembly 310 can follow the servo that continues to operate. In this way, if one of the first servo 100 and the second servo 200 fails and cannot operate, the other servo can continue to operate without being affected by the failed servo, thereby ensuring the normal operation of the aircraft control system and the safety of the drone 1.

[0095] Therefore, the parallel servo device 12 of the embodiment of the present invention not only operates the same rudder surface by providing two servos to improve the reliability of the rudder surface operation, but also releases the failed servo by providing an isolation mechanism 300 to prevent the failed servo from affecting the normally operating servo, thereby ensuring the normal movement of the rudder surface.

[0096] The following combination Figure 2 and Figure 5 The working process of the parallel servo device 12 according to the embodiment of the present invention is described with an example.

[0097] like Figure 2 As shown, if both the first servo 100 and the second servo 200 are functioning normally, the locking assembly 320 of the isolation mechanism 300 is in the locking position P1. The locking assembly 320 locks the first fixed portion 110 of the first servo 100 to the fixed portion 310, and locks the second fixed portion 210 of the second servo 200 to the fixed portion 310. In this way, the first movable portion 120 can move relative to the first fixed portion 110, and the second movable portion 220 can move relative to the second fixed portion 210, ultimately driving the movement of the control surface.

[0098] like Figure 5As shown, if the first servo 100 is functioning normally while the second servo 200 is inoperative, the locking assembly 320 of the isolation mechanism 300 is in the released position P2. The locking assembly 320 locks the first fixed portion 110 of the functioning first servo 100 to the fixed assembly 310, while the second fixed portion 210 of the inoperative second servo 200 is released by the locking assembly 320. This allows the second fixed portion 210 of the second servo 200 to move relative to the fixed assembly 310. When the first movable portion 120 of the first servo 100 is moved, it can drive the movement of the control surface. Since the second fixed portion 210 of the second servo 200 is movable relative to the fixed assembly 310, the second servo 200 can follow the movement of the control surface. In this manner, the inoperative second servo 200 does not affect the movement of the control surface.

[0099] It is understandable that Figure 5 The example shown here is a case where the second servo 200 fails while the first servo 100 is operating normally. In other embodiments, if the second servo 200 is operating normally while the first servo 100 fails, the locking assembly 320 locks the second servo 200 and releases the first servo 100. This will not be described in detail here.

[0100] like Figure 2 As shown, the movement direction of the first fixed portion 110 relative to the fixed assembly 310 is parallel to the movement direction of the first movable portion 120 relative to the first fixed portion 110. The movement direction of the second fixed portion 210 relative to the fixed assembly 310 is parallel to the movement direction of the second movable portion 220 relative to the second fixed portion 210.

[0101] In the embodiment of the present invention, the first fixed portion 110 moves relative to the fixed assembly 310 along the first direction D1, and the first movable portion 120 moves relative to the first fixed portion 110 along the first direction D1. The second fixed portion 210 moves relative to the fixed assembly 310 along the first direction D1, and the second movable portion 220 moves relative to the second fixed portion 210 along the first direction D1.

[0102] The movement path of the locking assembly 320 between the locking position P1 and the release position P2 is a straight line or a curve. Figure 5 As shown, the moving path of the locking assembly 320 can be a reciprocating movement along a straight line. In other embodiments, the moving path of the locking assembly 320 can also be a reciprocating swing along a curve.

[0103] like Figure 2 、 Figure 4 and Figure 5As shown, the fixing assembly 310 also includes two first fixing members 311 corresponding to the first fixing portion 110 and two second fixing members 312 corresponding to the second fixing portion 210. The two first fixing members 311 are arranged opposite each other in the second direction D2, and the two second fixing members 312 are arranged opposite each other in the second direction D2. The two first fixing members 311 and the two second fixing members 312 are arranged opposite each other in the third direction D3. The two first fixing members 311 are located on opposite sides of the first fixing portion 110 in the second direction D2, and the two second fixing members 312 are located on opposite sides of the second fixing portion 210 in the second direction D2. Each first fixing member 311 is provided with a first slide 311a extending along the first direction D1, and each second fixing member 312 is provided with a second slide 312a extending along the first direction D1. The two first slides 311a are arranged opposite each other in the second direction D2, and the two second slides 312a are arranged opposite each other in the second direction D2.

[0104] The first direction D1 , the second direction D2 and the third direction D3 are perpendicular to each other.

[0105] The isolation mechanism 300 further includes a first slide bar 410 and a second slide bar 420. The first fixing portion 110 is connected to the first slide bar 410, and the second fixing portion 210 is connected to the second slide bar 420. The axis of the first slide bar 410 and the axial direction of the second slide bar 420 are both parallel to the second direction D2.

[0106] The first slide bar 410 is disposed in the first slide groove 311a and slides in the first direction D1 within the first slide groove 311. The second slide bar 420 is disposed in the second slide groove 312a and slides in the first direction D1 within the second slide groove 312a. In this embodiment of the present invention, the first slide bar 410 has two axial ends slidably disposed in the two first slide grooves 311a. The second slide bar 420 has two axial ends slidably disposed in the two second slide grooves 312a.

[0107] In the locking position P1, the locking assembly 320 locks the first slide bar 410 in the first slide groove 311a and the second slide bar 420 in the second slide groove 312a. In the releasing position P2, the locking assembly 320 locks one of the first slide bar 410 and the second slide bar 420 and releases the other.

[0108] In this embodiment, if the first servo 100 fails and the locking assembly 320 is released, the first fixing portion 110 of the first servo 100 can slide relative to the fixing assembly 310 by being slidably connected to the two first sliding grooves 311a via the first sliding rod 410. If the second servo 200 fails and the locking assembly 320 is released, the second fixing portion 210 of the second servo 200 can slide relative to the fixing assembly 310 by being slidably connected to the two second sliding grooves 312a via the second sliding rod 420.

[0109] like Figure 2 、 Figure 4 and Figure 5 As shown, a first roller 411 is provided at each axial end of the first slide bar 410. The two first rollers 411 are rotatably connected to the ends of the first slide bar 410 and are respectively disposed in the two first chute grooves 311a. A second roller 421 is provided at each axial end of the second slide bar 420. The two second rollers 421 are rotatably connected to the ends of the second slide bar 420 and are respectively disposed in the two second chute grooves 312a. Thus, when the first fixing portion 110 of the first servo 100 slides relative to the fixing assembly 310 or the second fixing portion 210 of the second servo 200 slides relative to the fixing assembly 310, the provision of the first rollers 411 and the second rollers 421 can reduce the sliding resistance of the first and second slide bars 410 and 420.

[0110] The locking assembly 320 includes a first locking member 321 and a second locking member 322 connected to the driving assembly 330. The first locking member 321 is used to lock or release the first sliding rod 410, and the second locking member 322 is used to lock or release the second sliding rod 420.

[0111] Of course, in other embodiments, the locking assembly 320 may also be an integral member connected to the driving assembly 330. The two ends of the integral member are used to lock or release the first sliding rod 410 and the second sliding rod 420 respectively.

[0112] Each first fixing member 311 further includes a first insertion hole 311b corresponding to the first sliding groove 311a, and each second fixing member 312 further includes a second insertion hole 312b corresponding to the second sliding groove 312a. A first locking member 321 is movably disposed in the first insertion hole 311b along the third direction D3 to lock or release the first sliding rod 410. A second locking member 322 is movably disposed in the second insertion hole 312b along the third direction D3 to lock or release the second sliding rod 420.

[0113] The first locking member 321 includes a first connecting arm 321b and two pairs of first forked arms 321a. The first connecting arm 321b is connected to the driving assembly 330. One pair of first forked arms 321a is connected to one end of the first connecting arm 321b, and the other pair of first forked arms 321a is connected to the other end of the first connecting arm 321b. The two pairs of first forked arms 321a are arranged opposite each other in the first direction D1.

[0114] The second locking member 322 includes a second connecting arm 322b and two pairs of second forked arms 322a. The second connecting arm 322b is connected to the driving assembly 330. One pair of second forked arms 322a is connected to one end of the second connecting arm 322b, and the other pair of second forked arms 322a is connected to the other end of the second connecting arm 322b. The two pairs of second forked arms 322a are arranged opposite each other in the first direction D1.

[0115] like Figure 4 As shown, in the locked position P1, the two pairs of first prongs 321a are respectively inserted into the two first insertion holes 311b, and the first slide bar 410 is restrained between the two pairs of first prongs 321a. The two pairs of second prongs 322a are respectively inserted into the two second insertion holes 312b, and the second slide bar 420 is restrained between the two pairs of second prongs 322a. It can be understood that in the first direction D1, the first slide bar 410 is restrained by the two pairs of first prongs 321a, and the second slide bar 420 is restrained by the two pairs of second prongs 322a. In the third direction D3, the first slide bar 410 is restrained by the two first slots 311a, and the second slide bar 420 is restrained by the two second slots 312a.

[0116] like Figure 5 As shown, at the release position P2, the released first slide bar 410 or second slide bar 420 is released from between the corresponding pair of fork arms, while the locked first slide bar 410 or second slide bar 420 remains between the corresponding pair of fork arms. Since the first slide bar 410 and the second slide bar 420 are released from between the corresponding pair of fork arms, the fixed portion of the servo corresponding to the slide bar can slide along the first direction D1.

[0117] In this embodiment of the present invention, the first servo 100 is operating normally, while the second servo 200 is inoperative. As the locking assembly 320 moves from the locked position P1 to the released position P2, the first locking member 321 and the second locking member 322 are driven by the driving assembly 330 to begin moving. The first locking member 321 moves away from the second servo 200, while the second locking member 322 moves toward the first servo 100, until the second slide bar 420 is released from between the two second fork arms 322a of the second locking member 322.

[0118] The two first fork arms 321a are parallel to each other, and the two second fork arms 322a are parallel to each other. Each first fork arm 321a extends in the third direction D3, and each second fork arm 322a extends in the third direction D3.

[0119] like Figure 2 、 Figure 4 and Figure 5 As shown, the drive assembly 330 includes a motor 331, a gear 332 and a rack 333. The motor 331 is communicatively connected to the controller 16, and the motor 331 is used to control the rotation of the gear 332 according to the signal sent by the controller 16. The gear 332 is connected to the output shaft of the motor 331, and the rack 333 is engaged with the gear 332. The length direction of the rack 333 is parallel to the third direction D3. The two ends of the rack 333 in the length direction are respectively connected to the first connecting arm 321b of the first locking member 321 and the second connecting arm 322b of the second locking member 322. When the motor 331 is started, the control gear 332 rotates, thereby driving the rack 333 to reciprocate, and finally controlling the locking assembly 320 to move between the locking position P1 and the release position P2.

[0120] The moving direction of the rack 333 is parallel to the third direction D3 and perpendicular to the extending direction (the first direction D1 ) of the first sliding groove 311 a and the second sliding groove 312 a .

[0121] Of course, it is understood that, in addition to using a rack and pinion mechanism, the drive assembly 330 may also use a screw-slider mechanism, a worm gear mechanism, or other transmission mechanism to drive the movement of the locking assembly. Alternatively, the drive assembly 330 may further include a mechanism capable of driving the first locking member 321 and the second locking member 322 to rotate respectively to lock or release the first sliding rod 410 and the second sliding rod 420.

[0122] like Figure 2 As shown, the working stroke of one side of the rack 333 is L1; the maximum movement stroke of the first locking member 321 or the second locking member 322 is L2; ​​the stroke of the two paired fork arm release slide rods is L3, then L1>L2>L3.

[0123] The single-side stroke of the slide is L4, and the extension and retraction stroke of the movable part of the servo relative to the fixed part is L5, then L4>L5.

[0124] It is understandable that the various embodiments / implementations provided by the present invention can be combined with each other without causing any contradiction, and will not be illustrated one by one here.

[0125] In the embodiments of the invention, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. The term "plurality" refers to two or more, unless expressly limited otherwise. Terms such as "installed," "connected," "connected," and "fixed" should be interpreted broadly. For example, "connected" can mean a fixed connection, a detachable connection, or an integral connection; "connected" can mean a direct connection or an indirect connection through an intermediary. Those skilled in the art will understand the specific meanings of the above terms in the embodiments of the invention based on the specific circumstances.

[0126] In the description of the embodiments of the invention, it should be understood that the terms "up", "down", "left", "right", "front", "back", etc., indicating directions or positional relationships, are based on the directions or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the embodiments of the invention and simplifying the description, and do not indicate or imply that the device or unit referred to must have a specific direction, be constructed and operated in a specific direction. Therefore, they cannot be understood as limitations on the embodiments of the invention.

[0127] Throughout this specification, terms such as "one embodiment," "some embodiments," and "specific embodiments" mean that the specific features, structures, materials, or characteristics described in conjunction with that embodiment or example are included in at least one embodiment or example of the invention. In this specification, schematic representations of these terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

[0128] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Those skilled in the art will readily appreciate that various modifications and variations of the present invention are possible. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A parallel servo device, characterized in that: include: A first steering gear (100) comprises a first fixed portion (110) and a first movable portion (120), wherein the first movable portion (120) is movably connected to the first fixed portion (110); A second steering gear (200) comprises a second fixed portion (210) and a second movable portion (220), wherein the second movable portion (220) is movably connected to the second fixed portion (210); as well as An isolation mechanism (300) comprises a fixing assembly (310), a locking assembly (320) and a driving assembly (330), wherein the first fixing portion (110) and the second fixing portion (210) are both movably connected to the fixing assembly (310); the position of the locking assembly (320) relative to the first fixing portion (110) and the second fixing portion (210) comprises a locking position and a releasing position; in the locking position, the locking assembly (320) locks the first fixing portion (110) and the second fixing portion (210) to the fixing assembly (310); in the releasing position, one of the first fixing portion (110) and the second fixing portion (210) is locked to the fixing assembly (310) by the locking assembly (320), and the other is movable relative to the fixing assembly (310); and the driving assembly (330) is connected to the locking assembly (320) and is used to drive the locking assembly (320) to move between the locking position and the releasing position.

2. The parallel steering gear device according to claim 1, characterized in that: A moving direction of the first fixed portion (110) relative to the fixed assembly (310) is parallel to a moving direction of the first movable portion (120) relative to the first fixed portion (110); A moving direction of the second fixed portion (210) relative to the fixed assembly (310) is parallel to a moving direction of the second movable portion (220) relative to the second fixed portion (210).

3. The parallel steering gear device according to claim 2, characterized in that: The first movable portion (120) is telescopically connected to the first fixed portion (110), and the second movable portion (220) is telescopically connected to the second fixed portion (210); or, The first movable part (120) is rotatably connected to the first fixed part (110), and the second movable part (220) is rotatably connected to the second fixed part (210).

4. The parallel steering gear device according to claim 1, characterized in that: The movement path of the locking assembly (320) between the locking position and the releasing position is a straight line or a curve.

5. The parallel steering gear device according to claim 1, characterized in that: The fixing assembly (310) is provided with a first sliding groove (311a) and a second sliding groove (312a); The isolation mechanism (300) further includes a first slide bar (410) and a second slide bar (420), wherein the first fixing portion (110) is connected to the first slide bar (410), and the second fixing portion (210) is connected to the second slide bar (420); the first slide bar (410) is slidably disposed in the first slide groove (311a), and the second slide bar (420) is slidably disposed in the second slide groove (312a); In the locked position, the locking assembly (320) locks the first slide bar (410) in the first slide groove (311a) and locks the second slide bar (420) in the second slide groove (312a); In the release position, the locking assembly (320) locks one of the first sliding rod (410) and the second sliding rod (420) and releases the other.

6. The parallel steering gear device according to claim 5, characterized in that: The fixing assembly (310) further comprises two first fixing members (311) corresponding to the first fixing portion (110) and two second fixing members (312) corresponding to the second fixing portion (210), the two first fixing members (311) being respectively located on opposite sides of the first fixing portion (110), and the two second fixing members (312) being respectively located on opposite sides of the second fixing portion (210); each of the first fixing members (311) is provided with the first sliding groove (311a), and each of the second fixing members (312) is provided with the second sliding groove (312a); The two ends of the first slide bar (410) in the axial direction are slidably disposed in the two first slide grooves (311a) respectively; the two ends of the second slide bar (420) in the axial direction are slidably disposed in the two second slide grooves (312a) respectively.

7. The parallel steering gear device according to claim 5, characterized in that: The locking assembly (320) includes a first locking member (321) and a second locking member (322) connected to the driving assembly (330), wherein the first locking member (321) is used to lock or release the first sliding rod (410), and the second locking member (322) is used to lock or release the second sliding rod (420).

8. The parallel steering gear device according to claim 7, characterized in that: The drive assembly (330) includes: Motor (331); a gear (332) connected to the output shaft of the motor (331); and The rack (333) is meshed with the gear (332); and the two ends of the rack (333) in the length direction are respectively connected to the first locking member (321) and the second locking member (322).

9. The parallel steering gear device according to claim 8, characterized in that: The moving direction of the rack (333) is perpendicular to the extending direction of the first sliding groove (311a) and the second sliding groove (312a).

10. The parallel steering gear device according to claim 7, characterized in that: The fixing assembly (310) is further provided with a first insertion hole (311b) corresponding to the first sliding groove (311a) and a second insertion hole (312b) corresponding to the second sliding groove (312a); The first locking member (321) is movably inserted into the first insertion hole (311b) to lock or release the first slide bar (410), and the second locking member (322) is movably inserted into the second insertion hole (312b) to lock or release the second slide bar (420).

11. The parallel steering gear device according to claim 10, characterized in that: The first locking member (321) includes a pair of first fork arms (321a), and the second locking member (322) includes a pair of second fork arms (322a); In the locked position, a pair of first fork arms (321a) are inserted into the first insertion hole (311b), and the first slide bar (410) is limited between the pair of first fork arms (321a), a pair of second fork arms (322a) are inserted into the second insertion hole (312b), and the second slide bar (420) is limited between the pair of second fork arms (322a).

12. The parallel steering gear device according to claim 11, characterized in that: A pair of the first fork arms (321a) are parallel to each other, and a pair of the second fork arms (322a) are parallel to each other.

13. The parallel steering gear device according to claim 11, characterized in that: In the release position, the released first slide bar (410) or the second slide bar (420) is disengaged from between the corresponding pair of fork arms, and the locked first slide bar (410) or the second slide bar (420) is still maintained between the corresponding pair of fork arms.

14. A drone, characterized in that: The parallel servo device comprises the parallel servo device according to any one of claims 1 to 13.

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