Folding unmanned aerial vehicle platform based on torsion spring and self-locking pin linkage

Abstract

The invention relates to the field of unmanned aerial vehicles, in particular to a foldable unmanned aerial vehicle platform based on torsion spring and self-locking pin linkage, which comprises an unmanned aerial vehicle body, a folding disc is fixedly mounted at the upper end of the unmanned aerial vehicle body, arm sleeve seats are rotatably mounted in four folding grooves of the folding disc, and machine arms are embedded in the arm sleeve seats in a penetrating manner; the four vehicle arms are arranged in an annular array, wing bases are fixedly installed at the ends of the four vehicle arms, wing assemblies are installed on the wing bases, torsional springs are arranged between the vehicle arms and the folding discs, pin rods are elastically installed in the vehicle arms, self-locking pins are embedded in one ends of the pin rods in a penetrating mode, and the other ends of the pin rods are provided with locking assemblies. The two ends of the self-locking pin penetrate out of the two sides of the machine arm and the two sides of the arm sleeve base. According to the unmanned aerial vehicle, after the unmanned aerial vehicle leaves a packaging box, the vehicle arms can be automatically unfolded and automatically locked, use is effectively facilitated, a circle can be formed after the wings are folded, the storage space is reduced, and the transportation convenience is improved.

Description

Technical Field

[0001] This invention relates to the field of unmanned aerial vehicles (UAVs), and more particularly to a foldable UAV platform based on torsion spring self-locking pin linkage. Background Technology

[0002] Unmanned aerial vehicles (UAVs), also known as drones, are unmanned aircraft controlled by radio remote control or onboard program control devices. They integrate achievements from multiple fields such as aerospace design, automatic control, and communication technology, and are widely used in various sectors due to their flexibility, efficiency, and low cost. In the UAV field, particle swarm optimization (PSO) can be used for path planning. When UAVs perform tasks in complex environments, they need to plan optimal paths to avoid obstacles, save energy, and complete tasks efficiently. PSO plays a crucial role in UAV platform applications. For example, in UAV swarm collaborative operations, multiple UAVs need to complete tasks simultaneously while avoiding collisions and efficiently utilizing resources. PSO can simulate the information interaction and cooperation between individual UAVs, allowing each UAV to act like a "particle," adjusting its flight trajectory and task allocation based on its own and the swarm's optimal state. This achieves intelligent collaboration within the UAV swarm, improving overall operational efficiency and safety. In tasks such as large-scale environmental monitoring and emergency relief material delivery, this PSO-based UAV swarm collaboration can better accomplish complex tasks.

[0003] However, most existing drones have wings and fuselages that are integrated. Since the wings are in an extended state and cannot be adjusted, they take up a lot of space, requiring large packaging boxes for storage, which is inconvenient for subsequent transportation. Summary of the Invention

[0004] The purpose of this invention is to address the shortcomings of the prior art by proposing a foldable drone platform based on torsion spring self-locking pin linkage.

[0005] To achieve the above objectives, the technical solution adopted by the present invention is as follows: a foldable drone platform based on torsion spring self-locking pin linkage, comprising a drone body, a folding disk fixedly installed at the upper end of the drone body, arm sleeves rotatably installed in the four folding slots of the folding disk, an arm being embedded through the inside of the arm sleeve, the four arms being arranged in a circular array, an wing mount being fixedly installed at the end of each of the four arms, an wing assembly being installed on the wing mount, a torsion spring being provided between the arm and the folding disk, a pin being elastically installed inside the arm, a self-locking pin being embedded through one end of the pin, the two ends of the self-locking pin extending through from both sides of the arm and the arm sleeve, a self-locking groove being provided through on both sides of the inner wall of the folding slot of the folding disk, the self-locking groove being 7-shaped, the end of the self-locking pin extending into the horizontal section inside the self-locking groove, the self-locking pin fitting against the upper and lower ends inside the self-locking groove, a battery assembly being provided on the outside of the drone body, and a cover being provided on the folding disk.

[0006] Preferably, the horizontal end of the torsion spring is longer than the vertical end of the torsion spring, a spring clamping seat is fitted to the middle of the lower end of the arm, the end of the horizontal end of the torsion spring passes through the interior of the spring clamping seat, a spring clamping plate is provided inside the spring clamping seat, and the spring clamping plate is clamped to the end of the horizontal end of the torsion spring.

[0007] Preferably, two bolts are provided through the spring clamping plate and the spring clamping seat, the bolts extend from the upper end of the machine arm, and a nut is screwed onto the end of the bolt, the nut pressing against the upper end of the machine arm.

[0008] Preferably, a connecting shaft is embedded through the lower end of the arm sleeve seat, and bushings are rotatably installed at both ends of the connecting shaft. The bushings are embedded through the folding groove of the folding disc, and the connecting shaft passes through the inside of the torsion spring. A connecting insertion hole is provided at the bottom of the folding groove of the folding disc, and the vertical end of the torsion spring is inserted into the inside of the connecting insertion hole.

[0009] Preferably, pin grooves are provided on both sides of the arm and both sides of the arm sleeve seat. The self-locking pin passes through the pin groove and fits against the upper and lower ends of the pin groove. A lever extends from the upper part of the other end of the pin rod and extends out from the upper end of the arm.

[0010] Preferably, a support frame is slidably mounted on the outer surface of the pin, the support frame is embedded in the rear part of the inner surface of the arm, a self-locking spring is wound around the outer side of the pin, one end of the self-locking spring is fixed to the inner rear end of the support frame, a rod cap is coaxially embedded on the outer surface of the pin, the other end of the self-locking spring is fixed to the rod cap, and a groove is formed through the rear part of the upper end face of the arm, and the lever protrudes from the inside of the groove.

[0011] Preferably, the battery component includes a support ring that is slidably sleeved on the lower part of the outer surface of the drone body. Four batteries are arranged in a ring array on the outer side of the drone body. The batteries are offset from the arms. An upper limit seat is engaged with the upper end of the battery and is fixed to the folding disk. A lower limit seat is engaged with the lower end of the battery and is fixed to the support ring.

[0012] Preferably, the outer surface of the bearing ring extends with four connecting ears in an annular array. A limiting rod is slidably installed inside the connecting ear. The limiting rod extends from the upper and lower ends of the connecting ear. The upper end of the limiting rod is fixed to the folding disk, and the lower end of the limiting rod is fixed to the UAV body. A screw is screwed through the end of the connecting ear, and the end of the screw is pressed against the limiting rod.

[0013] Compared with the prior art, the present invention has the following beneficial effects: 1. After the drone leaves the packaging box, the torsion spring will push the arm to rotate around the connecting shaft and flip upwards. At this time, the self-locking pin will move upwards in the vertical section of the self-locking groove, and the self-locking spring will gradually contract. When the arm flips to a horizontal position, the self-locking pin will move to the corner of the self-locking groove. Then, the self-locking spring will use its own elasticity to push the pin rod, causing the self-locking pin on the pin rod to move forward and engage with the horizontal section of the self-locking groove, thus locking the arm in the horizontal position. This allows the arm to automatically unfold and lock itself, effectively facilitating its use.

[0014] 2. By moving the lever, the self-locking pin on the pin bar can be moved backward to the corner of the self-locking groove to release the lock on the arm. Then, the arm is pressed down, causing it to rotate and fold down around the connecting shaft. At this time, the self-locking pin moves downward in sync with the vertical section of the self-locking groove. When the arm is folded down to a vertical position attached to the outside of the drone body, the self-locking pin moves to the bottom of the vertical section of the self-locking groove, thus folding the arm into a circle to reduce storage space and improve transportation convenience. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the structure of a foldable unmanned aerial vehicle platform based on torsion spring self-locking pin linkage according to the present invention; Figure 2 This is a schematic diagram of the cover of a foldable drone platform based on torsion spring self-locking pin linkage according to the present invention. Figure 3 This invention relates to a foldable unmanned aerial vehicle (UAV) platform based on a torsion spring self-locking pin linkage. Figure 1 Enlarged view of A in the middle; Figure 4 This invention relates to a foldable unmanned aerial vehicle (UAV) platform based on a torsion spring self-locking pin linkage. Figure 2 Enlarged view of B in the middle; Figure 5 This is a schematic diagram of the arm sleeve of a foldable UAV platform based on torsion spring self-locking pin linkage according to the present invention. Figure 6 This is a schematic diagram of the folding disk of a folding drone platform based on torsion spring self-locking pin linkage according to the present invention. Figure 7 This invention relates to a foldable unmanned aerial vehicle (UAV) platform based on a torsion spring self-locking pin linkage. Figure 6 Enlarged view of C in the middle; Figure 8 This is a schematic diagram of the clamping spring seat of a folding drone platform based on torsion spring self-locking pin linkage according to the present invention. Figure 9 This is a schematic diagram of the arm of a foldable unmanned aerial vehicle platform based on torsion spring self-locking pin linkage according to the present invention. Figure 10 This is an internal view of the arm of a folding unmanned aerial vehicle platform based on torsion spring self-locking pin linkage according to the present invention. Figure 11 This is a view of a folding disk of a folding drone platform based on a torsion spring self-locking pin linkage according to the present invention. Figure 12 This invention relates to a foldable unmanned aerial vehicle (UAV) platform based on a torsion spring self-locking pin linkage. Figure 11 A magnified view of D.

[0016] In the diagram: 1. UAV body; 2. Canopy; 3. Battery; 4. Arm; 5. Wing assembly; 6. Folding disc; 7. Slot; 8. Tongue; 9. Arm sleeve seat; 10. Connecting socket; 11. Torsion spring; 12. Clamping spring seat; 13. Limiting rod; 14. Upper limit seat; 15. Screw; 16. Bearing ring; 17. Lower limit seat; 18. Connecting shaft; 19. Bushing; 20. Self-locking pin; 21. Self-locking groove; 22. Nut; 23. Bolt; 24. Clamping spring plate; 25. Bearing frame; 26. Self-locking spring; 27. Pin; 28. Pin groove; 29. ​​Connecting lug; 30. Wing seat; 31. Rod cap. Detailed Implementation

[0017] The following description is intended to disclose the invention and enable those skilled in the art to implement it. The preferred embodiments described below are merely examples, and other obvious variations will occur to those skilled in the art.

[0018] like Figures 1-12The folding drone platform shown includes a drone body 1. A folding disk 6 is fixedly installed on the upper end of the drone body 1. Arm sleeve seats 9 are rotatably installed in the four folding slots of the folding disk 6. The folding disk 6 serves to support the arm sleeve seats 9. An arm 4 is embedded through the inside of the arm sleeve seat 9, serving to connect the arm 4. The four arms 4 are arranged in a circular array. A wing seat 30 is fixedly installed at the end of each of the four arms 4. A wing assembly 5 is installed on the wing seat 30, serving to support the wing assembly 5. A torsion spring 11 is provided between the arm 4 and the folding disk 6. When the drone leaves the packaging box, the torsion of the torsion spring 11 will push the arm 4 to rotate and fold upward around the connecting shaft 18. A pin 27 is elastically installed inside the arm 4. A self-locking pin 20 is embedded through one end of the pin 27, which supports the self-locking pin 20. The self-locking pin 20 extends from both sides of the arm 4 and the arm sleeve 9. Self-locking grooves 21, shaped like the number 7, are provided on both sides of the inner wall of the folding groove of the folding disc 6. The end of the self-locking pin 20 extends into the horizontal section inside the self-locking groove 21, fitting snugly against the upper and lower ends of the groove. When the arm 4 flips upwards, the self-locking pin 20 moves upwards synchronously within the vertical section of the self-locking groove 21, and the self-locking spring 26 gradually contracts. When the drone is flipped up to the horizontal position, the self-locking pin 20 moves to the corner of the self-locking groove 21. Then, the self-locking spring 26 uses its own elasticity to push the pin 27, causing the self-locking pin 20 on the pin 27 to move forward and engage with the horizontal section of the self-locking groove 21, thus locking the arm 4 in the horizontal position. This allows the arm 4 to automatically unfold and lock itself. The outside of the drone body 1 is equipped with a battery, and the folding disk 6 is covered with a cover 2, which serves as a cover.

[0019] The horizontal end of the torsion spring 11 is longer than the vertical end of the torsion spring 11. A spring clamping seat 12 is attached to the middle of the lower end of the machine arm 4. The end of the horizontal end of the torsion spring 11 passes through the interior of the spring clamping seat 12. A spring clamping plate 24 is provided inside the spring clamping seat 12. The spring clamping seat 12 and the spring clamping plate 24 can clamp and fix the horizontal end of the torsion spring 11 to the machine arm 4. The spring clamping plate 24 is clamped to the end of the horizontal end of the torsion spring 11.

[0020] Two bolts 23 are inserted between the spring clamping plate 24 and the spring clamping seat 12. The bolts 23 extend from the upper end of the machine arm 4. A nut 22 is screwed onto the end of the bolt 23. The nut 22 is pressed against the upper end of the machine arm 4. The cooperation between the bolts 23 and the nut 22 can, on the one hand, allow the spring clamping seat 12 and the spring clamping plate 24 to clamp the horizontal end of the torsion spring 11, and on the other hand, fix the spring clamping seat 12 and the spring clamping plate 24 to the machine arm 4.

[0021] A connecting shaft 18 is embedded through the lower end of the arm sleeve seat 9. Both ends of the connecting shaft 18 are rotatably mounted with bushings 19. The connecting shaft 18 serves to allow the arm sleeve seat 9 to rotate. The bushings 19 are embedded through the folding groove of the folding disc 6 and serve to support the connecting shaft 18. The connecting shaft 18 passes through the inside of the torsion spring 11. A connecting insertion hole 10 is provided at the bottom of the folding groove of the folding disc 6. The vertical end of the torsion spring 11 is inserted into the inside of the connecting insertion hole 10. The connecting insertion hole 10 serves to connect the torsion spring 11.

[0022] Both sides of the arm 4 and both sides of the arm sleeve seat 9 are provided with pin grooves 28. The self-locking pin 20 passes through the pin groove 28. The pin groove 28 serves to allow the self-locking pin 20 to slide, so that the movement trajectory of the self-locking pin 20 is not obstructed. The self-locking pin 20 fits against the upper and lower ends of the pin groove 28. The other end of the pin rod 27 has a lever 8 extending from the upper part. The lever 8 extends from the upper end of the arm 4. The lever 8 can facilitate the movement of the pin rod 27 when folded.

[0023] A support frame 25 is slidably mounted on the outer surface of the pin 27. The support frame 25 is embedded in the rear part of the inner surface of the arm 4. The support frame 25 serves to allow the pin 27 to slide. A self-locking spring 26 is wound around the outer side of the pin 27. One end of the self-locking spring 26 is fixed to the inner rear end of the support frame 25. A rod cap 31 is coaxially embedded on the outer surface of the pin 27. The rod cap 31 is pushed by the self-locking spring 26. The other end of the self-locking spring 26 is fixed to the rod cap 31. A groove 7 is provided through the rear part of the upper end face of the arm 4. The groove 7 allows the lever 8 to be moved normally. The lever 8 passes through the inside of the groove 7. When the arm 4 is flipped up to the horizontal position, the self-locking pin 20 just moves to the corner of the self-locking groove 21. Then, the self-locking spring 26 uses its own elasticity to push the pin 27, causing the self-locking pin 20 on the pin 27 to move forward and engage with the horizontal section of the self-locking groove 21, so that the arm 4 in the horizontal position is locked.

[0024] The battery assembly includes a support ring 16 that is slidably fitted onto the lower part of the outer surface of the drone body 1. The support ring 16 serves to connect to the lower limit seat 17. Four batteries 3 are arranged in a ring array on the outer side of the drone body 1. The batteries 3 provide power. The batteries 3 are offset from the arms 4 to ensure that the arms 4 are not obstructed by the batteries 3 when folded. The upper end of the batteries 3 is engaged with an upper limit seat 14, which is fixed to the folding disc 6. The lower end of the batteries 3 is engaged with a lower limit seat 17, which is fixed to the support ring 16. The upper limit seat 14 and the lower limit seat 17 serve to securely fasten and fix the batteries 3.

[0025] The outer surface of the support ring 16 has four connecting ears 29 extending in a ring array. A limiting rod 13 is slidably installed inside the connecting ear 29. The cooperation between the limiting rod 13 and the connecting ear 29 prevents the support ring 16 from rotating. The limiting rod 13 extends from the upper and lower ends of the connecting ear 29. The upper end of the limiting rod 13 is fixed to the folding disk 6, and the lower end of the limiting rod 13 is fixed to the drone body 1. A screw 15 is screwed through the end of the connecting ear 29. The end of the screw 15 is pressed against the limiting rod 13, which can fix the support ring 16 to the drone body 1.

[0026] In use, by moving the lever 8, the self-locking pin 20 on the pin 27 can be moved backward, so that it moves to the corner of the self-locking groove 21 to release the lock on the arm 4. Then, the arm 4 is pressed down, so that the arm 4 rotates and flips down around the connecting shaft 18. At this time, the self-locking pin 20 moves downward in sync with the vertical section of the self-locking groove 21. When the arm 4 is flipped down to a vertical state and attached to the outside of the UAV body 1, the self-locking pin 20 just moves to the bottom of the vertical section of the self-locking groove 21, thus folding the arm 4 so that it forms a circle after folding. Then it can be put into the packaging box for storage, transportation and other operations. After the robot exits the packaging box, under the torque of the torsion spring 11, the robot arm 4 will rotate around the connecting shaft 18 and flip upward. At this time, the self-locking pin 20 will move upward synchronously in the vertical section of the self-locking groove 21, and the self-locking spring 26 will gradually contract. When the robot arm 4 flips to a horizontal state, the self-locking pin 20 will just move to the corner of the self-locking groove 21. Then, the self-locking spring 26 will use its own elasticity to push the pin 27, causing the self-locking pin 20 on the pin 27 to move forward and engage with the horizontal section of the self-locking groove 21, thus locking the robot arm 4 in the horizontal state. This allows the robot arm 4 to automatically unfold and lock itself, effectively facilitating its use.

[0027] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the claimed invention. The scope of protection claimed by the appended claims and their equivalents is defined.

Claims

1. A foldable unmanned aerial vehicle (UAV) platform based on torsion spring self-locking pin linkage, comprising a UAV body (1), characterized in that: A folding disk (6) is fixedly installed on the upper end of the UAV body (1). Arm sleeves (9) are rotatably installed in the four folding slots of the folding disk (6). Arms (4) are inlaid through the interior of the arm sleeves (9). The four arms (4) are arranged in a circular array. Wing mounts (30) are fixedly installed at the ends of the four arms (4). Wing assemblies (5) are installed on the wing mounts (30). A torsion spring (11) is provided between the arms (4) and the folding disk (6). A pin (27) is elastically installed inside the arms (4). One end of the rod (27) is inlaid with a self-locking pin (20). The two ends of the self-locking pin (20) extend from both sides of the arm (4) and the arm sleeve seat (9). The inner walls of the folding groove of the folding disk (6) are provided with self-locking grooves (21). The self-locking grooves (21) are in the shape of a 7. The end of the self-locking pin (20) extends into the horizontal section inside the self-locking groove (21). The self-locking pin (20) fits against the upper and lower ends inside the self-locking groove (21). The outside of the drone body (1) is provided with a battery. The folding disk (6) is covered with a cover (2).

2. The foldable unmanned aerial vehicle platform based on torsion spring self-locking pin linkage according to claim 1, characterized in that: The horizontal end of the torsion spring (11) is longer than the vertical end of the torsion spring (11). A spring clamping seat (12) is attached to the middle of the lower end of the arm (4). The end of the horizontal end of the torsion spring (11) passes through the interior of the spring clamping seat (12). A spring clamping plate (24) is provided inside the spring clamping seat (12). The spring clamping plate (24) is clamped to the end of the horizontal end of the torsion spring (11).

3. A foldable unmanned aerial vehicle platform based on a torsion spring self-locking pin linkage according to claim 2, characterized in that: Two bolts (23) are provided between the clamping spring plate (24) and the clamping spring seat (12). The bolts (23) extend from the upper end of the arm (4). A nut (22) is screwed onto the end of the bolt (23). The nut (22) is pressed against the upper end of the arm (4).

4. A foldable unmanned aerial vehicle platform based on a torsion spring self-locking pin linkage according to claim 1, characterized in that: The lower end of the arm sleeve seat (9) is inlaid with a connecting shaft (18), and both ends of the connecting shaft (18) are rotatably mounted with bushings (19). The bushings (19) are inlaid in the folding groove of the folding disc (6). The connecting shaft (18) passes through the inside of the torsion spring (11). The bottom of the folding groove of the folding disc (6) is provided with a connecting insertion hole (10), and the vertical end of the torsion spring (11) is inserted into the inside of the connecting insertion hole (10).

5. A foldable unmanned aerial vehicle platform based on a torsion spring self-locking pin linkage according to claim 1, characterized in that: Pin grooves (28) are provided on both sides of the arm (4) and both sides of the arm sleeve seat (9). The self-locking pin (20) passes through the pin groove (28) and fits against the upper and lower ends of the pin groove (28). The other end of the pin rod (27) extends with a lever (8), which passes through the upper end of the arm (4).

6. A foldable unmanned aerial vehicle platform based on a torsion spring self-locking pin linkage according to claim 5, characterized in that: A support frame (25) is slidably mounted on the outer surface of the pin (27). The support frame (25) is embedded in the rear part of the inner surface of the arm (4). A self-locking spring (26) is wound around the outer side of the pin (27). One end of the self-locking spring (26) is fixed to the inner rear end of the support frame (25). A rod cap (31) is coaxially embedded on the outer surface of the pin (27). The other end of the self-locking spring (26) is fixed to the rod cap (31). A groove (7) is opened through the rear part of the upper end face of the arm (4). The tongue (8) protrudes from the inside of the groove (7).

7. A foldable unmanned aerial vehicle platform based on torsion spring self-locking pin linkage according to claim 1, characterized in that: The battery assembly includes a support ring (16) that is slidably fitted on the lower part of the outer surface of the UAV body (1). Four batteries (3) are arranged in a ring array on the outer side of the UAV body (1). The batteries (3) are offset from the arm (4). An upper limit seat (14) is engaged at the upper end of the battery (3). The upper limit seat (14) is fixed to the folding disk (6). A lower limit seat (17) is engaged at the lower end of the battery (3). The lower limit seat (17) is fixed to the support ring (16).

8. A foldable unmanned aerial vehicle platform based on torsion spring self-locking pin linkage according to claim 7, characterized in that: The outer surface of the bearing ring (16) has four connecting ears (29) extending in an annular array. A limiting rod (13) is slidably installed inside the connecting ear (29). The limiting rod (13) extends from the upper and lower ends of the connecting ear (29). The upper end of the limiting rod (13) is fixed to the folding disk (6), and the lower end of the limiting rod (13) is fixed to the UAV body (1). A screw (15) is screwed through the end of the connecting ear (29), and the end of the screw (15) is pressed against the limiting rod (13).

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