Scissor fork type double-ring repeatable unfolding and folding structure

Abstract

A shear fork type double-ring repeatable unfolding and folding structure comprises a center body, a transmission shaft, a shear fork type repeated unfolding and folding mechanism, a driving rod, an outer ring supporting rod and an outer ring connecting rod. The middle of the center body is of a hollow structure, and the transmission shaft penetrates through the middle hollow structure of the center body and is connected with the center body. A plurality of shear fork type repeated unfolding and folding mechanisms are arranged and are distributed on the outer side of the central body in a central symmetry manner; one end of the driving rod is mounted on the transmission shaft, and the other end of the driving rod is connected with the shear-fork type repeated unfolding and folding mechanism, so that the transmission shaft can be folded or unfolded by pulling or pushing the shear-fork type repeated unfolding and folding mechanism through the driving rod when moving up and down; the outer side of the shear fork type repeated unfolding and folding mechanism is connected with the outer ring supporting rod through the outer ring supporting rod. According to the invention, the advantage of high rigidity when the shear fork type repeatable unfolding and folding structure is unfolded is utilized, the underwater detection array can be supported, and the device also has the characteristics of high precision, high stability, light weight, high unfolding and folding ratio, rapid unfolding, stable folding and easy carrying and arrangement.

Description

Technical Field

[0001] The present invention belongs to the technical field of underwater deployable detection arrays, and in particular relates to a scissor-type double-ring repeatedly deployable and retractable structure. Background Art

[0002] Underwater repeatable deployment and retraction mechanisms are an important support for underwater detection arrays. In recent years, they have been developing towards high deployment and retraction ratio, high reliability, low error, and lightweight. However, the current classic structural form cannot meet the growing performance requirements of underwater detection arrays. Therefore, underwater repeatable deployment and retraction mechanisms have been widely studied at home and abroad.

[0003] The American company L3 has released the HELRAS detection array, an eight-link repeatable retractable underwater detection array; the French company Thales has released the FLASH detection array, a six-link repeatable retractable underwater detection array.

[0004] The existing underwater repeatable deployment and retraction mechanisms represented by the above-mentioned scheme require high processing precision, and their circumferential arrays have certain stiffness limitations. It is difficult to ensure the array position accuracy when facing ocean currents in a complex environment. Summary of the Invention

[0005] In order to overcome the shortcomings of the above-mentioned prior art, the purpose of the present invention is to provide a scissor-type double-ring repeatable deployable structure, which utilizes the advantage of high rigidity of the scissor-type repeatable deployable structure when deployed, can support the underwater detection array, and also has the characteristics of high precision, high stability, light weight, high deployment ratio, rapid deployment, stable folding, and easy transportation and arrangement.

[0006] In order to achieve the above object, the technical solution adopted by the present invention is:

[0007] A scissor-type double-ring repeatable expansion and contraction structure, comprising a central body, a transmission shaft, a scissor-type repeatable expansion and contraction mechanism, a driving rod, an outer ring support rod, and an outer ring connecting rod;

[0008] The center of the central body is a hollow structure, and the transmission shaft passes through the hollow structure of the central body and is connected to the central body; a plurality of scissor-type repeated expansion and contraction mechanisms are provided, and are centrally and symmetrically distributed outside the central body; one end of the drive rod is mounted on the transmission shaft, and the other end is connected to the scissor-type repeated expansion and contraction mechanism, so that when the transmission shaft moves up and down, the scissor-type repeated expansion and contraction mechanism can be pulled or pushed by the drive rod to achieve expansion or contraction;

[0009] The outer side of the scissor-type repeated expansion and contraction mechanism is connected to the outer ring support rod through the outer ring support rod.

[0010] The central body is in the shape of a prism, with a cylinder hollowed out in the middle; the side of the central body has a plurality of support rods distributed in a centrally symmetrical manner, and each support rod is fixedly mounted with a pair of fixed hinges and slider guide rails located on the same circumference.

[0011] Each pair of the fixed hinges and the slider guide rails is used to install one of the scissor-type repeated extension and retraction mechanisms; each scissor-type repeated extension and retraction mechanism includes an upper and a lower scissor-type structure.

[0012] The scissor structure on the lower side consists of two connecting rods; the connecting rods have two hinge holes at the front and rear for connecting the slider or support rod; there is a central hinge at the midpoint for connecting the connecting rods to each other to form a scissor structure;

[0013] Each connecting rod is connected to the support rod and the slider on both sides; the two connecting rods are connected by a central hinge joint, so that the two connecting rods can rotate relative to each other with the central hinge joint as the rotation point; drive hinge joints are provided on both sides of the central hinge joint;

[0014] The slider is mounted on the inner ring support rod slider guide rail so that the slider can slide along the inner ring support rod slider guide rail;

[0015] The connecting rod is hinged to the inner ring support rod hinge connection through the shaft, so that the connecting rod can rotate around the inner ring support rod hinge connection.

[0016] The dimensions of the connecting rods are designed to be completely consistent, in order to increase the commonality of the mechanism components, facilitate the maintenance and replacement of the mechanism, and reduce the processing cost of the mechanism;

[0017] The scissor structure on the upper side consists of an outer slider connecting rod and an extended connecting rod. The outer slider connecting rod is designed to be centrally symmetrical, with the hinges at both ends consistent, which improves the versatility of the component and the convenience of installation. One end of the outer slider connecting rod is connected to the fixed hinge of the support rod; the other end is connected to the slider.

[0018] The slider is mounted on the inner ring support rod slider guide rail so that the slider can slide along the inner ring support rod slider guide rail;

[0019] The extended connecting rod is hinged to the inner ring support rod hinge connection through the shaft, so that the connecting rod 31 can rotate around the inner ring support rod hinge connection.

[0020] A central hinge joint is provided between the outer slider connecting rod and the extended connecting rod, and the outer slider connecting rod and the extended connecting rod are connected through the central hinge joint, so that the outer slider connecting rod and the extended connecting rod can rotate relative to each other with the central hinge joint as the rotation point; a drive rod hinge is provided at the outer slider connecting rod, and the drive rod hinge is used to connect the drive rod.

[0021] The extension design is carried out in the direction of the hinge hole connecting the extended support rod to the inner ring support rod; the extension design and angle deflection are carried out according to the wavelength length corresponding to the required working frequency, and a hinge hole is opened at the end of the extension;

[0022] An outer ring connecting rod is arranged at the lower end of the inner ring supporting rod and is parallel to the extended end and has the same length as the extended end, forming a parallelogram mechanism.

[0023] On the lower side of the inner ring support rod, according to the extension design of the extension support rod, the distance between the extension support rod and the hinge hole of the inner ring support rod and the angle deflection, an outer ring connecting rod with the same structure as the extended part of the extension support rod is set; the extended design part of the extension support rod is parallel to the outer ring connecting rod, and the distance between the hinge hole of the extension support rod connecting the inner ring support rod and the hinge hole of the extension support rod connecting the outer ring support rod is equal to the distance between the hinge hole of the outer ring connecting rod connecting the inner ring support rod and the hinge hole of the outer ring connecting rod connecting the outer ring support rod, they are parallel and equidistant, and the extended design part of the extension support rod and the outer ring connecting rod form a parallelogram mechanism.

[0024] The outer ring support rod has two hinge holes on the upper and lower sides, wherein the upper side is connected to the outer ring support rod hinge of the extended connecting rod, and the other side is connected to the outer ring connecting rod;

[0025] The outer ring connecting rod is arranged at the lower connection of the inner ring support rod and the outer ring support rod, and has hinge holes at both ends, which are respectively connected to the lower sides of the inner ring support rod and the outer ring support rod;

[0026] The scissor-type repeated deployment and retraction mechanism can be repeatedly deployed and retracted and supports the underwater hydrophone array after deployment.

[0027] A method for using a scissor-type double-ring repeatedly expandable and retractable structure comprises the following steps:

[0028] When the transmission shaft drives the scissor-type retractable mechanism to retract, the outer ring support rod is retracted synchronously; the scissor-type retractable mechanism, the driving rod, the outer ring support rod, and the outer ring connecting rod are evenly distributed around the central body. Under the drive of the transmission shaft, the scissor-type retractable mechanism is synchronously driven. Under the drive of the transmission shaft, underwater sensors are evenly arranged on the inner ring support rod and the outer ring support rod according to work requirements. When retracted, they are used for transportation, and the space occupied by the mechanism is reduced.

[0029] When the transmission shaft drives the scissors-type repeated extension and retraction mechanism to expand, the outer ring support rod is expanded synchronously; the scissors-type repeated extension and retraction mechanism, the driving rod, the outer ring support rod, and the outer ring connecting rod are evenly distributed around the central body. Under the drive of the transmission shaft, the scissors-type repeated extension and retraction mechanism is synchronously driven, and underwater sensors are equidistantly arranged on the inner ring support rod and the outer ring support rod according to work requirements, and the working diameter of the mechanism is increased.

[0030] When the transmission shaft is driven, all the circumferential scissor-type repeated expansion and contraction mechanisms are simultaneously pushed to expand, so that the circumferential support rods remain in a synchronous state.

[0031] Space is left outside the drive shaft's driving stroke to install the drive device, signal processing device, etc.; sufficient space is left to facilitate the optimization of the mechanism's drive device, so that the mechanism's drive shaft can bear greater transmission force requirements; the signal processing device can collect and preliminarily analyze the data in the sensor, and generate and output signals;

[0032] The support rods arranged circumferentially around the central body form a structure with a certain volume after being fully expanded, wherein the underwater sensors distributed on several inner ring support rods arranged circumferentially around the central body form an inner ring detection array; the underwater sensors distributed on several outer ring support rods arranged circumferentially around the central body form an outer ring detection array; the inner ring detection array and the outer ring detection array constitute a double-ring cylindrical detection array, which is used for transmitting and receiving underwater signals.

[0033] Beneficial effects of the present invention:

[0034] The design of the scissor-type repeatable expansion and contraction mechanism of the present invention is that a plurality of inner ring support rods and outer ring support rods arranged circumferentially around the central body can perform expansion or contraction movements under the support of the scissor-type repeatable expansion and contraction mechanism; after underwater sensors are arranged on the support rods according to work requirements, the mechanism can be used to support the formation of the underwater detection array volume array, realize the expansion and contraction functions of the underwater detection array volume array, and meet the requirements of high expansion and contraction ratio, high stability, high precision and high rigidity of the underwater detection array volume array.

[0035] The mechanism is initially in a folded state with a compact structure and small space occupation, meeting the storage volume requirements and being easy to carry. When the mechanism is unfolded, all circumferential support rods can be unfolded simultaneously. After unfolding, the mechanism has a large diameter, and the two scissor-type mechanisms make the mechanism more rigid. It has little deformation after encountering impact and strong stability, helping the underwater detection array to maintain stability and meet the accuracy requirements.

[0036] When the mechanism is folded, it can reduce underwater resistance and facilitate folding. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 Schematic diagram of the overall structure of an embodiment of the present invention in the expanded state.

[0038] Figure 2 Schematic diagram of the overall structure of an embodiment of the present invention in a folded state.

[0039] Figure 3 Schematic diagram of a single scissor-type repeated expansion and contraction mechanism according to an embodiment of the present invention.

[0040] Figure 4 Schematic diagram of the centrosome according to an embodiment of the present invention.

[0041] Figure 5 Schematic diagram of a connecting rod according to an embodiment of the present invention.

[0042] Figure 6 Schematic diagram of the design of a scissor-type repeated expansion and contraction mechanism according to an embodiment of the present invention.

[0043] Figure 7 This is a schematic diagram of an intermediate state of the overall mechanism of an embodiment of the present invention.

[0044] Description of reference numerals:

[0045] 1-Center body; 2-Drive shaft; 3-Scissor-type repeated extension and retraction mechanism; 4-Drive rod; 5-Outer ring support rod; 6-Outer ring connecting rod; 11-Fixed hinge; 12-Slider guide rail; 13-Support rod; 31-Connecting rod; 32-Outer slider connecting rod; 33-Inner ring support rod; 34-Extended connecting rod; 311-Center hinge joint; 312-Drive hinge joint; 313-Outer ring support rod hinge joint. DETAILED DESCRIPTION

[0046] The present invention will be described in further detail below with reference to the accompanying drawings.

[0047] Example 1

[0048] like Figure 1-Figure 7 This embodiment provides a scissor-type double-ring underwater repeatable deployment and retraction mechanism for underwater detection array applications. The mechanism includes: a central body 1; a transmission shaft 2; a scissor-type repeatable deployment and retraction mechanism 3; a drive rod 4; an outer ring support rod 5; and an outer ring connecting rod 6. The scissor-type repeatable deployment and retraction mechanism 3, the outer ring connecting rod 6, and the outer ring support rod 5 are configured to be able to deploy and retract and support the underwater detection array unit after deployment, while ensuring a large deployment and retraction ratio and high rigidity while meeting the required precision.

[0049] Specifically, see Figure 1 , Figure 4 The central body 1 is in a prism shape, with a cylinder hollowed out in the middle; the side of the central body 1 has a plurality of support rods 13 distributed symmetrically with the center, and each support rod 13 is fixedly installed with a pair of fixed hinges 11 and slider guides 12 located on the same circumference, and each pair of the fixed hinges 11 and slider guides 12 is used to install one of the scissor-type repeated extension and retraction mechanisms 3; the transmission shaft 2 passes through the middle hollow structure of the central body 1 and is connected to the central body 1, and the transmission shaft 2 is tightly fitted with the central body 1.

[0050] The scissor-type repeated extension and retraction mechanism 3 is provided with a plurality of them distributed symmetrically around the center, one end of the driving rod 4 is installed at the hinge point in the driving shaft, and the other end is connected to the scissor-type repeated extension and retraction mechanism 3;

[0051] The side of the transmission shaft 2 has multiple hinges distributed symmetrically around the center, and each pair of hinges is used to connect one of the driving rods 4, thereby driving the scissor-type repeated expansion and contraction mechanism 3;

[0052] Each of the scissor-type repeated expansion and contraction mechanisms 3 comprises two scissor parts, wherein the scissor part located on the upper side is composed of an outer slider connecting rod 32 and an extended connecting rod 34 to form a scissor part; the scissor part located on the lower side is composed of two connecting rods 31 to form a scissor structure; one side of the two scissor parts is connected to the central body 1, and the other side is connected to the inner ring support rod 33, and they work together to realize the expansion and contraction function of the inner ring support rod 33; see Figure 5 , Figure 6 The scissor-type repeated extension and retraction mechanism 3 has two scissor-type structures. The connecting rod of the scissor-type repeated extension and retraction mechanism 3 is named as the outer slider connecting rod 32, which is connected to the driving rod 4 and serves as the active component of the scissor-type repeated extension and retraction mechanism 3; its structure is the same as that of the connecting rod 31;

[0053] The driving rod 4 is provided with hinge holes on both sides, one side of which is connected to the hinge hole of the transmission shaft 2, and the other side is connected to the connecting rod 31 of the scissor part located on the upper side of the scissor-type repeated extension and retraction mechanism 3 at the driving hinge hinge 312;

[0054] The extended connecting rod 34 is designed to extend one end of a connecting rod 31 at a certain angle, and the extended length can be selected according to the multiple of the wavelength corresponding to the working frequency; the extended connecting rod 34 has an outer ring support rod hinge joint 313 at its extended part.

[0055] One end of each connecting rod 31 is connected to the fixed hinge of the support rod through a hinge, and the other end is connected to the hinge of the slider; a hinge hole is provided in the middle of each connecting rod 31, and the two connecting rods 31 are connected by an axis so that the connecting rods 31 can rotate relative to each other;

[0056] The connecting rod 31 is hinged to a fixed hinge of the central body through an axis, so that the connecting rod can rotate around the fixed hinge; the other end of the connecting rod is hinged to the slider through the slider hinge connection, so that the slider can rotate around the slider hinge connection;

[0057] Furthermore, the slider is mounted on the slider guide rail of the inner ring support rod 33, so that the slider can slide along the direction of the slider guide rail of the inner ring support rod 33. Another connecting rod is hinged to the hinge connection of the inner ring support rod 33 through an axis, so that the connecting rod 31 can rotate around the hinge connection of the inner ring support rod 33;

[0058] The connecting rod 31 is hinged to the slider via the slider hinge connection, so that the slider can rotate around the slider hinge connection; the slider is installed on the slider guide rail of the central body support rod, so that the slider can slide along the direction of the slider guide rail of the central body;

[0059] Specifically, the connecting rod 31 is hinged to the corresponding central hinge connection of another connecting rod 31 through the central hinge connection, so that the connecting rod 31 forms a scissors-fork structure and rotates around the center; the scissors-fork part composed of two connecting rods 31 can realize the angle expansion and contraction of the scissors-fork mechanism; one side of the scissors-fork part is connected to the central body 1, and the other side is connected to the inner ring support rod 33. The distance between the inner ring support rod 33 and the central body 1 can be changed by changing the angle of the scissors-fork part composed of the two connecting rods 31, and then it is designed to support the repeated expansion and contraction of the inner ring support rod 33.

[0060] See also Figure 3 The transmission shaft is connected to the scissor-type repeated expansion and contraction mechanism 3 through the driving rod 4.

[0061] The connecting rod 31 of the upper hinge of the inner ring support rod 33 is designed to be extended so that the connecting rod 31 has a certain outward extension distance compared to the inner ring support rod 33;

[0062] The extended design part of the connecting rod 31 has another parallel, equal-length outer ring connecting rod 6, so that the inner ring support rod 33 and the outer ring support rod 5 form a parallelogram structure; such a size design can keep the inner ring support rod 33 and the outer ring support rod 5 always in a parallel state, which is beneficial to the accuracy requirements of the underwater detection array.

[0063] See also Figure 1 , Figure 2 , Figure 7 The scissors-type repeated expansion and contraction mechanism 3 is driven by the drive rod 4 under the transmission shaft 2. When moving downward, it is folded, and at the same time, the outer inner ring support rod 33 and the outer ring support rod 5 form a parallelogram mechanism and are folded together to achieve the overall folding of the mechanism; when moving upward, it is expanded, and at the same time, the outer inner ring support rod 33 and the outer ring support rod 5 form a parallelogram mechanism and are expanded together to achieve the overall expansion of the mechanism.

[0064] The inner ring support rods and outer ring support rods arranged around the circumference of the central body can be expanded or retracted with the support of a scissor-type repeated expansion and contraction mechanism; after underwater sensors are arranged on the support rods according to work requirements, they can be used to support the formation of the underwater detection array volume array, thereby realizing the expansion and retraction functions of the underwater detection array volume array.

[0065] The scissor-type double-ring underwater repeatable expansion and contraction mechanism is used to support the formation of an underwater detection array volume array.

[0066] The working process of the scissor-type double-ring underwater repeatable deployment and retraction mechanism provided in this embodiment is described as follows:

[0067] This embodiment of a scissor-type double-ring underwater retractable mechanism includes a central body 1; a transmission shaft 2; a plurality of scissor-type retractable mechanisms 3 distributed symmetrically around the center; a driving rod 4; an outer ring support rod 5; and an outer ring connecting rod 6. Figure 1 , Figure 1 This is a schematic diagram of the overall structure of a scissor-type dual-ring underwater retractable mechanism for underwater detection array applications provided by an embodiment of the present invention. At this time, the mechanism is fully deployed and in working condition, and the working diameter of the mechanism meets the design requirements; after reaching the preset position, the mechanism drive device is locked in position, no relative movement occurs, and the transmission shaft 2 is constrained. At this time, the mechanism active parts are locked, the mechanism degree of freedom is zero, and the mechanism is locked, with high stability and high rigidity; see also Figure 2 The initial state of the mechanism is the folded state. At this time, the mechanism structure is compact, occupies little space, meets the storage volume requirements, and is convenient for transportation.

[0068] In summary, the design of the scissor-type double-ring repeatable expansion and contraction mechanism of this embodiment is used to support the formation of the underwater detection array unit array and realize the underwater detection function. When the mechanism is deployed, it can form a volume array, meeting the large-caliber scale requirements required by the underwater detection array unit array and having sufficient rigidity; when the mechanism is folded, it has a small volume, a compact structure, and occupies a small space, meeting the storage volume requirements. Because the present invention has the characteristics of high precision, high rigidity, light weight, high expansion and contraction ratio, rapid deployment, stable folding, and easy transportation and deployment, it can be applied to the field of underwater detection array technology.

Claims

1. A scissor-type double-ring retractable structure, characterized in that: It comprises a central body (1), a transmission shaft (2), a scissor-type repeated expansion and contraction mechanism (3), a driving rod (4), an outer ring support rod (5) and an outer ring connecting rod (6); The center of the central body (1) is a hollow structure, and the transmission shaft (2) passes through the hollow structure in the center of the central body (1) and is connected to the central body (1); a plurality of scissor-type repeated expansion and contraction mechanisms (3) are provided, and are centrally and symmetrically distributed outside the central body (1); one end of the driving rod (4) is mounted on the transmission shaft (2), and the other end is connected to the scissor-type repeated expansion and contraction mechanism (3), so that when the transmission shaft (2) moves up and down, the driving rod (4) can pull or push the scissor-type repeated expansion and contraction mechanism (3) to achieve expansion or contraction; The outer side of the scissor-type repeated expansion and contraction mechanism (3) is connected to the outer ring support rod (6) via the outer ring support rod (5).

2. A scissor-type double-ring retractable structure according to claim 1, characterized in that: The central body (1) is in the shape of a prism, with a cylindrical body hollowed out in the middle; a plurality of support rods (13) are provided on the side of the central body (1) and are distributed in a centrally symmetrical manner, and a pair of fixed hinges (11) and slider guide rails (12) located on the same circumference are fixedly mounted on each support rod (13).

3. The scissor-type double-ring retractable structure according to claim 2, characterized in that: Each pair of the fixed hinges (11) and the slider guide rails (12) is used to install one of the scissor-type repeated expansion and contraction mechanisms (3); each scissor-type repeated expansion and contraction mechanism (3) comprises an upper and a lower scissor-type structure.

4. The scissor-type double-ring retractable structure according to claim 3, characterized in that: The scissor-fork structure located on the lower side is composed of two connecting rods (31); the connecting rods (31) have two hinge holes at the front and rear ends for connecting the slider or the support rod; a central hinge joint (311) is provided at the midpoint for connecting the connecting rods (31) to each other to form the scissor-fork structure; Each connecting rod (31) is connected to a support rod and a slider on both sides; the two connecting rods (31) are connected via a central hinge joint (311), so that the two connecting rods (31) can rotate relative to each other with the central hinge joint (311) as a rotation point; driving hinge joints (312) are provided on both sides of the central hinge joint (311); The slider is mounted on the slider guide rail of the inner ring support rod (33) so that the slider can slide along the direction of the slider guide rail of the inner ring support rod (33); The connecting rod is hinged to the hinge connection of the inner ring support rod (33) via an axis, so that the connecting rod can rotate around the hinge connection of the inner ring support rod (33).

5. The scissor-type double-ring repeatedly expandable and retractable structure according to claim 4, characterized in that: The scissor structure located on the upper side is composed of an outer slider connecting rod (32) and an extended connecting rod (34); the outer slider connecting rod (32) is of central symmetry design, with the hinges at both ends being consistent, one end of the outer slider connecting rod (32) is connected to the support rod fixed hinge (11); the other end is connected to the slider; The slider is mounted on the slider guide rail of the inner ring support rod (33) so that the slider can slide along the direction of the slider guide rail of the inner ring support rod (33); The extended connecting rod (34) is hinged to the hinge connection of the inner ring support rod (33) through an axis, so that the connecting rod (31) can rotate around the hinge connection of the inner ring support rod (33).

6. The scissor-type double-ring repeatedly expandable and retractable structure according to claim 5, characterized in that: A central hinge joint (311) is provided between the outer slider connecting rod (32) and the extended connecting rod (34), and the outer slider connecting rod (32) and the extended connecting rod (34) are connected via the central hinge joint (311), so that the outer slider connecting rod (32) and the extended connecting rod (34) can rotate relative to each other with the central hinge joint (311) as a rotation point; a driving rod hinge joint (312) is provided on the outer slider connecting rod (32), and the driving rod hinge joint (312) is used to connect the driving rod (4).

7. The scissor-type double-ring repeatedly expandable and retractable structure according to claim 6, characterized in that: The extended support rod (34) is designed to be extended in the direction of the hinge hole connecting the inner ring support rod (33); and a hinge hole is opened at the end of the extended part; An outer ring connecting rod (6) having the same length as the extended end is arranged at the lower end of the inner ring supporting rod (33) to form a parallelogram structure.

8. The scissor-type double-ring repeatedly expandable and retractable structure according to claim 7, characterized in that: On the lower side of the inner ring support rod (33), according to the extension design of the extension support rod (34), the distance between the extension support rod (34) and the hinge hole of the inner ring support rod (33) and the deflection of the angle, an outer ring connecting rod (6) with the same structure as the extension part of the extension support rod (34) is provided; the extension design part of the extension support rod (34) is parallel to the outer ring connecting rod (6), the distance between the hinge hole of the extension support rod (34) connecting the inner ring support rod (33) and the hinge hole of the extension support rod (34) connecting the outer ring support rod (5) is equal to the distance between the hinge hole of the outer ring connecting rod (6) connecting the inner ring support rod (33) and the hinge hole of the outer ring connecting rod (6) connecting the outer ring support rod (5), parallel and equidistant, the extension design part of the extension support rod (34) and the outer ring connecting rod (6) forming a parallelogram mechanism.

9. The scissor-type double-ring repeatedly expandable and retractable structure according to claim 1, characterized in that: The outer ring support rod (5) has two hinge holes at the top and bottom, wherein the upper side is connected to the outer ring support rod hinge (313) of the extended connecting rod (34), and the other side is connected to the outer ring connecting rod (6); The outer ring connecting rod (6) is arranged at the lower connection of the inner ring supporting rod (33) and the outer ring supporting rod (6), and has hinge holes at both ends thereof, which are respectively connected to the lower sides of the inner ring supporting rod (33) and the outer ring supporting rod (6).

10. A method for using a scissor-type double-ring retractable structure according to any one of claims 1 to 9, characterized in that: The following steps are included: When the transmission shaft (2) drives the scissor-type repeated expansion and contraction mechanism (3) to be folded, the outer ring support rod (5) is folded synchronously; the scissor-type repeated expansion and contraction mechanism (3), the driving rod (4), the outer ring support rod (5), and the outer ring connecting rod (6) are evenly distributed in the circumferential direction around the central body (1); under the drive of the transmission shaft (2), the scissor-type repeated expansion and contraction mechanism (3) is synchronously driven, and underwater sensors are equidistantly arranged on the inner ring support rod (33) and the outer ring support rod (5) according to work requirements. When folded, they are used for transportation, and the space occupied by the mechanism is reduced; When the transmission shaft (2) drives the scissor-type repeated expansion and contraction mechanism 3 to expand, the outer ring support rod (5) is simultaneously expanded; the scissor-type repeated expansion and contraction mechanism (3), the driving rod (4), the outer ring support rod (5), and the outer ring connecting rod (6) are evenly distributed around the central body (1). Under the drive of the transmission shaft, the scissor-type repeated expansion and contraction mechanism (3) is synchronously driven, and underwater sensors are equidistantly arranged on the inner ring support rod (33) and the outer ring support rod (5) according to working requirements, thereby increasing the working diameter of the mechanism; When the transmission shaft (2) is driven, all the circumferential scissor-type repeated expansion and contraction mechanisms 3 are synchronously pushed to expand, so that the circumferential support rods are kept in a synchronous state.

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