Folding mechanism, folding arm set and unmanned aerial vehicle

Abstract

The embodiment of the invention discloses a folding mechanism, a folding machine arm set and an unmanned aerial vehicle, the folding mechanism comprises a fixing piece, a connecting piece and a first locking piece, and the fixing piece is rotationally connected with the connecting piece; the first locking piece is movably arranged on the periphery of the connecting piece in a sleeving mode, and the first locking piece is provided with a first internal thread; when the connecting piece rotates to the folding position, a folding included angle is formed between the connecting piece and the fixing piece, and the first internal thread and the first external thread are separated from screw-thread fit; when the connecting piece rotates to the unfolding position, the connecting piece and the fixing piece are coaxially arranged, and the first internal thread and the first external thread are in threaded fit. Therefore, switching of the folding mechanism between the folding storage state and the unfolding locking state can be achieved through rotating matching of the fixing piece and the connecting piece and matching of threaded locking of the first locking piece, and the folding mechanism can adapt to equipment such as an unmanned aerial vehicle with double requirements for reliability and storage performance.

Description

Technical Field

[0001] This invention relates to the field of unmanned aerial vehicle (UAV) arm technology, and more specifically, to a folding mechanism, a folding arm assembly, and a UAV. Background Technology

[0002] With the rapid iteration of drone technology, multi-rotor drones have been widely used in long-distance monitoring and inspection scenarios such as highway networks, power lines, and oil and gas pipelines due to their advantages such as flexibility, convenient take-off and landing, and strong carrying capacity. They can efficiently complete tasks such as fault diagnosis, data collection, and hazard warning, which greatly improves inspection efficiency and operational safety, and also reduces manual maintenance costs.

[0003] However, most multi-rotor drones currently use extended, fixed arms to ensure flight stability and operational coverage, resulting in a large overall volume and causing numerous inconveniences for transportation and storage. For example, when transported by vehicle, carried on foot to the work site, or stored in confined spaces, the extended arms are prone to collisions with external objects, causing damage. This also increases packaging and transportation costs and limits the adaptability of drones to complex terrain and confined space operations. Summary of the Invention

[0004] In view of the shortcomings of the prior art, the purpose of this invention is to provide a novel folding mechanism, a folding arm assembly, and a drone.

[0005] According to one aspect of the present invention, a folding mechanism is provided, comprising: A fastener and a connector, wherein the fastener is rotatably connected to the connector and the connector is rotatable between a folded position and an unfolded position, and the end of the fastener near the connector has a first external thread; A first locking member is movably sleeved on the outer periphery of the connecting member, and the first locking member has a first internal thread; When the connector is rotated to the folded position, a folding angle is formed between the connector and the fixing member, and the first internal thread and the first external thread disengage from the threaded engagement. When the connector is rotated to the unfolded position, the connector and the fixing member are arranged coaxially, and the first internal thread and the first external thread form a threaded engagement.

[0006] Optionally, the end of the connector near the fixing member has a second external thread; When the connector is rotated to the unfolded position, a portion of the first internal thread and the first external thread form a threaded engagement, and another portion of the first internal thread and the second external thread form a threaded engagement.

[0007] Optionally, the outer periphery of the connector has a first mating surface, and the first locking member has a second mating surface, the second mating surface being circumferentially fitted with the first mating surface.

[0008] Optionally, the second mating surface is fitted with the inclined surface of the first mating surface.

[0009] According to another aspect of the present invention, a folding arm assembly is provided, comprising a body, a plurality of arms and a plurality of folding mechanisms, wherein one end of each fixing member remote from the connecting member is connected to the body, one end of each connecting member remote from the fixing member is connected to one of the arms, and the plurality of connecting members are rotatable in the same direction, such that the folding arm assembly is switchable between a folded state and an unfolded state.

[0010] Optionally, each of the arms is connected to a mounting base at its end, the fastener has a second connecting portion, and the mounting base has a second assembly portion; When the multiple connectors are rotated to the corresponding folding positions along the first direction, the folding arm assembly is in a folded state, and each of the second assembly parts can form a snap-fit ​​engagement with the second connector of the adjacent other fixing part; When the plurality of connecting parts are rotated to the corresponding unfolded position along the second direction, the folding arm assembly is in the unfolded state, each of the second assembly parts can disengage from the second connecting part of the adjacent fixing part, and the second direction is opposite to the first direction.

[0011] Optionally, the second connecting portion is a second protrusion, the second mounting portion is a second groove adapted to the second protrusion, and the second groove is located on the side wall of the mounting base.

[0012] Optionally, it also includes a third locking member, wherein the second protrusion has a through hole, one end of the third locking member is connected to the second groove, and the other end of the third locking member can extend and retract from the through hole.

[0013] Optionally, the second groove is provided with a threaded hole, and the third locking element is a glass ball screw, which includes a housing, a steel ball and a spring, and the housing and the mounting base form a threaded engagement at the threaded hole; When the folding arm assembly is in the folded state, the steel ball can extend from the through hole, and the spring is compressed.

[0014] Optionally, the second groove has a threaded hole, the third locking member is a glass ball screw, the folding mechanism of the glass ball screw also includes a second locking member, the second locking member is movably disposed on the connecting member, the second locking member has a first assembly part, the end of the first locking member has a first connecting part, and the first connecting part is adapted to the first assembly part; When the folding arm assembly is in the folded state, the first connecting part and the first assembly part are disengaged from the snap-fit ​​engagement. When the folding arm assembly is in the unfolded state, the first connecting part and the first assembly part form a snap-fit ​​engagement.

[0015] Optionally, the second groove has a threaded hole, the third locking member is a ball screw, the first connecting part of the ball screw includes a plurality of first grooves arranged circumferentially, and the first mounting part is a first protrusion adapted to the first groove.

[0016] Optionally, the second groove has a threaded hole, the third locking member is a ball screw, the second locking member of the ball screw includes a latch, a latch screw and a latch button, the latch button has a connecting groove, the latch screw passes through the connecting groove and extends into the latch, so as to connect the latch to the latch button, and the latch has the first mounting part; When the latch button is pressed, the first assembly part disengages from the first connecting part; When the latch button is released, the first assembly part and the first connecting part form a snap-fit ​​engagement.

[0017] Optionally, the second groove has a threaded hole, the third locking member is a ball screw, the second locking member of the ball screw also includes a connecting shaft and a torsion spring, the torsion spring is sleeved on the connecting shaft, one end of the torsion spring is connected to the locking button, and the other end of the torsion spring is connected to the connecting member.

[0018] According to another aspect of the present invention, a drone is provided, characterized in that it includes the folding mechanism or the folding arm assembly.

[0019] One technical advantage of the embodiments disclosed herein is that: The folding mechanism provided by the present invention, through the rotational cooperation of the fixing part and the connecting part, and the threaded locking of the first locking part, can realize the switching between the folding and storage state and the unfolded and locked state of the folding mechanism, which can be adapted to devices such as drones that have dual requirements for reliability and storage.

[0020] Other features and advantages of the invention will become clear from the following detailed description of exemplary embodiments of the invention with reference to the accompanying drawings. Attached Figure Description

[0021] The accompanying drawings, which form part of this specification, illustrate embodiments of the invention and, together with the specification, serve to explain the principles of the invention.

[0022] Figure 1 This is a schematic diagram of an unfolded state of a folding arm assembly according to an embodiment of the present disclosure; Figure 2 This is a schematic diagram of a folded state of a folding arm assembly according to an embodiment of the present disclosure; Figure 3 This is an exploded view of a folding mechanism according to an embodiment of the present disclosure; Figure 4 This is a cross-sectional view of a folding mechanism according to an embodiment of the present disclosure; Figure 5 This is a schematic diagram of a fastener according to an embodiment of the present disclosure; Figure 6 This is a schematic diagram of a connector according to an embodiment of the present disclosure; Figure 7 This is an exploded view of a folding arm assembly according to an embodiment of the present disclosure; Figure 8 This is a schematic diagram of a mounting bracket connection according to an embodiment of the present disclosure; Figure 9 This is another schematic diagram of a mounting bracket connection according to an embodiment of the present disclosure.

[0023] Explanation of reference numerals in the attached figures: 1. Fixing component; 11. Second connecting part; 2. Connecting component; 21. First mating surface; 3. First locking component; 31. Second mating surface; 32. First connecting part; 4. Second locking component; 41. First assembly part; 42. Lock; 43. Lock screw; 44. Lock button; 45. Connecting shaft; 46. Torsion spring; 5. Arm; 6. Mounting base; 61. Second assembly part; 7. Third locking component; 8. Housing; 9. Motor. Detailed Implementation

[0024] Various exemplary embodiments of the present invention will now be described in detail with reference to the accompanying drawings. It should be noted that, unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps set forth in these embodiments do not limit the scope of the invention.

[0025] The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit the invention or its application or use.

[0026] Techniques, methods, and equipment known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and equipment should be considered part of the specification.

[0027] In all the examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values.

[0028] It should be noted that similar labels and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be discussed further in subsequent figures.

[0029] This invention provides a folding mechanism that, through the rotational engagement of the fixing member 1 and the connecting member 2, and the threaded locking of the first locking member 3, enables efficient switching between the folding and storage state and the unfolded and locked state of the folding mechanism. It can be adapted to devices such as drones that have dual requirements for reliability and storage.

[0030] like Figure 3 and Figure 4 As shown, the folding mechanism provided in this embodiment of the invention includes: The fastener 1 and the connector 2 are rotatably connected, and the connector 2 is rotatable between a folded position and an unfolded position. The end of the fastener 1 near the connector 2 has a first external thread. The first locking member 3 is movably sleeved on the outer periphery of the connecting member 2, and the first locking member 3 has a first internal thread; When the connector 2 is rotated to the folded position, a folding angle is formed between the connector 2 and the fixing member 1, and the first internal thread and the first external thread disengage from the threaded engagement. When the connector 2 is rotated to the unfolded position, the connector 2 and the fixing part 1 are arranged coaxially, and the first internal thread and the first external thread form a threaded engagement.

[0031] Specifically, the fixing component 1 serves as the fixed base for the folding mechanism, connecting to the main body of the equipment, such as the fuselage of a drone, and providing a basis for the rotational support and locking engagement of the connecting component 2. The fixing component 1 can be made of high-strength aluminum alloy, combining lightweight design with structural rigidity, and can withstand vibrations and loads during equipment operation.

[0032] One end of the fastener 1 is provided with a device connection part, and the outer periphery of the device connection part is provided with an external thread or a circumferential groove for detachable fixation with the device body, so that the folding mechanism can be connected to the main body of the device.

[0033] Connector 2, as the movable end of the folding mechanism, can rotate with fixing member 1 to achieve folding and unfolding actions. A rotating hole can be provided at the end of connector 2 near fixing member 1. The diameter of the rotating hole is adapted to the outer diameter of the bearing on the rotating shaft of fixing member 1. The bearing is embedded into the rotating hole through an interference fit, allowing connector 2 to rotate flexibly around the rotating shaft. A retaining ring groove can be provided at the end of the rotating shaft for installing an elastic retaining ring, which can prevent connector 2 from axially detaching from the rotating shaft.

[0034] like Figure 3 and Figure 4 As shown, the first locking member 3 can be in the form of an annular sleeve structure, with its inner diameter matching the outer diameter of the connecting member 2, ensuring that the first locking member 3 can slide along the outer circumference of the connecting member 2. The inner wall of the first locking member 3 is machined with a first internal thread, which matches the first external thread of the fixing member 1. The tooth profile, nominal diameter, and pitch of the first internal thread are consistent with those of the first external thread, ensuring that the two can be smoothly screwed together to form a threaded fit.

[0035] In one embodiment, setting the effective length of the first internal thread to correspond to the effective length of the first external thread can ensure that the two have a certain overlap length after being screwed together, thereby ensuring the locking strength and enabling the folding mechanism to withstand a large load.

[0036] In one embodiment, an anti-slip structure can be provided on the outer periphery of the first locking member 3. The anti-slip structure can be formed by circumferentially evenly distributed anti-slip grooves or knurling treatment, which facilitates the rotation of the first locking member 3 and allows locking and unlocking operations to be completed without additional tools, thereby improving the ease of use of the folding mechanism.

[0037] like Figure 1 As shown, when the connecting member 2 is rotated to the unfolded position, its axis is completely aligned with the axis of the fixing member 1, forming a linear arm structure. At this time, the first locking member 3 can be rotated forward to bring it closer to the fixing member 1 until the first internal thread and the first external thread form a threaded engagement, and the first locking member 3 and the fixing member 1 are locked together through the threaded engagement, which helps to ensure the reliability and stability of the unfolded state.

[0038] Thus, when the connector 2 is rotated to the unfolded position, it can be arranged coaxially with the fixing part 1. The threaded engagement formed by the first internal thread and the first external thread, together with the end face of the fixing part 1 and the connector 2, can form a double constraint from the radial and axial directions, thereby reducing the coaxiality error after the mechanism is unfolded. This can improve the problems of radial sway and axial movement caused by the positioning gap in traditional folding mechanisms, and provide a stable mechanical basis for the operation of the equipment.

[0039] like Figure 2As shown, when the connector 2 is rotated to the folded position, it forms a folding angle with the fixing member 1. This folding angle can be adjusted according to the equipment storage requirements. At this time, the first locking member 3 can be rotated in the opposite direction to move away from the fixing member 1, so that the first internal thread and the first external thread are disengaged, which facilitates storage by folding the connector 2, helps to reduce the overall size of the equipment, and facilitates transportation and storage.

[0040] In one embodiment, an angle limiting structure can be added at the rotational connection between the fixing member 1 and the connecting member 2. For example, a limiting protrusion can be provided on the fixing member 1 and a corresponding limiting groove can be provided on the connecting member 2. When the connecting member 2 rotates to the folding position, the limiting protrusion and the limiting groove engage to limit the folding angle, avoid damage to the components caused by excessive rotation, and also improve the efficiency of folding and unfolding operations.

[0041] Optionally, the fixing member 1 is provided with a positioning boss, which fits against the end face of the connecting member 2 when the connecting member 2 is rotated to the unfolded position.

[0042] This provides axial positioning for the fastener 1 and the connector 2, ensuring their coaxiality and reducing coaxiality errors. Furthermore, the positioning boss increases the contact area between the fastener 1 and the connector 2, distributing the force after locking and thus preventing component deformation caused by localized stress concentration.

[0043] Optionally, the end of the connector 2 near the fixing member 1 has a second external thread; When the connector 2 is rotated to the unfolded position, part of the first internal thread and the first external thread form a threaded engagement, and another part of the first internal thread and the second external thread form a threaded engagement.

[0044] Specifically, when the connector 2 rotates to the unfolded position, the first locking member 3 can simultaneously engage with the first external thread of the fixing member 1 and the second external thread of the connector 2, forming a two-stage threaded connection structure of "fixing member 1 and first locking member 3, and connector 2 and first locking member 3". Compared with a single-stage engagement, this increases the thread contact area, resulting in a more uniform distribution of locking force. This helps resist high-frequency vibrations and impact loads during equipment operation, and also prevents locking failure due to vibration, ensuring the long-term stability of the mechanism in its unfolded state.

[0045] Furthermore, the double-segment threaded fit can provide radial constraints from both sides of the connection between the fixing part 1 and the connecting part 2, ensuring that the fixing part 1 and the connecting part 2 can maintain a coaxial arrangement, which helps to reduce coaxiality error and eliminate the axial clearance and radial wobble that may exist in the single-segment threaded fit. This ensures that the force is balanced after the mechanism is deployed, avoids component deformation caused by local stress concentration, and helps to extend the service life of the mechanism.

[0046] In one embodiment, when the first locking member 3 is unlocked and the connecting member 2 is rotated to the folded position, the first internal thread of the first locking member 3 can be configured to form a threaded engagement with the second external thread of the connecting member 2, so as to limit the unlocking position of the first locking member 3 and prevent the first locking member 3 from axially moving or slipping on the connecting member 2.

[0047] In one embodiment, a blocking structure, such as a retaining ring or a stop, can also be provided on the connector 2. This blocking structure can also limit the unlocking position of the first locking member 3, preventing the first locking member 3 from moving axially or slipping off the connector 2.

[0048] In one embodiment, a limiting step can also be provided on the outer periphery of the connector 2. The end face of the limiting step can serve as the support surface of the first locking member 3, which helps to improve the stability of the mechanism during locking.

[0049] Optionally, the outer periphery of the connector 2 has a first mating surface 21, and the first locking member 3 has a second mating surface 31, with the second mating surface 31 circumferentially fitted to the first mating surface 21.

[0050] like Figure 4 and Figure 6 As shown, the first mating surface 21 and the second mating surface 31 are circumferentially fitted, which avoids the risk of loosening and retraction of the threaded engagement caused by the circumferential rotation of the first locking member 3 relative to the connecting member 2. It also counteracts the torsional torque generated during the operation of the mechanism, preventing stripping and wear caused by uneven force on the thread flanks, thereby ensuring the long-term stability of the mechanism under heavy load and high-frequency vibration scenarios. In addition, the surface contact of the first mating surface 21 and the second mating surface 31 in circumferential fit is more uniform in wear than the line contact of the thread, which can also reduce the wear rate of the first locking member 3 and the connecting member 2, and help improve the folding and unfolding cycle life of the overall mechanism.

[0051] In addition, the first mating surface 21 and the second mating surface 31 that fit together in the circumferential direction also have a guiding function. When the first locking member 3 is screwed on, it can guide the first internal thread to quickly align with the first external thread and the second external thread, avoiding screwing jamming caused by thread misalignment.

[0052] Optionally, the second mating surface 31 is fitted with the inclined surface of the first mating surface 21.

[0053] Specifically, the first mating surface 21 and the second mating surface 31 can be set to be inclined and form a conical mating. In this way, when the first locking member 3 is tightened, an axial preload and a radial clamping force can be generated between the inclined surfaces, making the two mating surfaces fit more tightly, which can counteract the loosening of the threads caused by vibration and impact, and help improve the locking effect.

[0054] In addition, the inclined surface mating allows the load to be transferred along the inclined surface gradient, avoiding local stress concentration when mating with flat surfaces. This allows the radial load to be evenly distributed across the entire mating surface and thread structure, while also preventing deformation of the inclined surface due to uneven stress, thus extending the cyclic service life of the component.

[0055] The present invention also provides a folding arm assembly, including a body, a plurality of arms 5 and a plurality of folding mechanisms. The end of each fixing member 1 away from the connecting member 2 is connected to the body, and the end of each connecting member 2 away from the fixing member 1 is connected to an arm 5. The plurality of connecting members 2 can rotate in the same direction, so that the folding arm assembly can switch between a folded state and an unfolded state.

[0056] like Figure 1 and Figure 2 As shown, the folding arm assembly may include four folding mechanisms, which are arranged at equal intervals. When the four connecting parts 2 are rotated to the unfolded position, the axis of each connecting part 2 is completely aligned with the axis of the corresponding fixing part 1, forming a linear arm structure, as shown. Figure 1 As shown. When the four connectors 2 are rotated to the folded position, each connector 2 forms a folding angle with the corresponding fixing member 1 to facilitate storage.

[0057] like Figure 1 and Figure 2 As shown, the four connecting parts 2 can rotate counterclockwise to the folding position, that is, rotate in the same direction, thereby reducing the overall volume of the folding arm assembly and making it easier to store and transport.

[0058] like Figure 1 and Figure 2 As shown, each connector 2 has a machine arm 5 connected to the end away from the fixing member 1, and a mounting base 6 connected to the end of the machine arm 5 away from the connector 2. The mounting base 6 can be used to install other end accessories such as motor 9 so as to realize the corresponding functions of the machine arm 5.

[0059] The main body, also known as the main support structure of the folding arm assembly, provides the installation space for the folding mechanism.

[0060] Optionally, each arm 5 is connected to a mounting base 6 at its end, the fastener 1 has a second connecting part 11, and the mounting base 6 has a second assembly part 61; When the multiple connectors 2 are rotated to the corresponding folding positions along the first direction, the folding arm assembly is in a folded state, and each second assembly part 61 can form a snap-fit ​​engagement with the second connector part 11 of the adjacent other fixing part 1. When the multiple connectors 2 are rotated to their respective unfolded positions along the second direction, the folding arm assembly is in the unfolded state, and each second assembly part 61 can disengage from the second connector part 11 of the adjacent other fixing part 1, and the second direction is opposite to the first direction.

[0061] like Figure 1 and Figure 2 As shown, the arm 5 can be connected to the side of the connector 2 away from the fixing member 1, and a mounting base 6 can be connected to the end of the arm 5. The mounting base 6 is used to install the motor 9 or other end accessories. The mounting base 6 can be connected to the arm 5 by adhesive bonding and rivets to ensure the reliability of the connection. The bottom of the mounting base 6 is provided with a positioning platform, which is bolted to the motor 9 or other end accessories for positioning.

[0062] like Figures 7 to 9 As shown, it also includes a housing 8, which is used to protect the internal motor 9 and other structures.

[0063] like Figures 7 to 9 As shown, when multiple connectors 2 rotate to the folding position along the first direction, such as the counterclockwise direction in the figure, the folding arm assembly is in a folded state. The second assembly part 61 of each mounting base 6 can form a snap-fit ​​with the second connection part 11 of another fixing part 1 adjacent to it along its rotation direction, so as to limit the circumferential swing and axial movement of the arm 5 after folding, and avoid the risk of the arm 5 rubbing against each other and the wear of parts due to bumps and collisions during the transportation or storage of the UAV. This helps to protect the arm 5 and the end accessories, such as motors and propellers.

[0064] like Figure 2 As shown, the second assembly part 61 of the mounting base 6 is engaged with the second connecting part 11 of another adjacent fixing member 1 along its rotation direction, so that the multiple folded arms 5 can be limited by the mounting base 6 and the adjacent fixing member 1, so that each arm 5 is arranged in a neat and compact manner after being folded, avoiding the problem of increased storage volume caused by the outward expansion and misalignment of the arms 5, and helping to reduce the overall storage space occupied by the drone.

[0065] When it is necessary to unfold, the snap-fit ​​between the second assembly part 61 and the second connecting part 11 can be released, making it easy for the folding arm assembly to switch between the folded and unfolded states.

[0066] Specifically, when multiple connectors 2 rotate to the corresponding unfolded position in a second direction opposite to the first direction, such as clockwise in the figure, the folding arm assembly is in the unfolded state, and the second assembly part 61 of each mounting base 6 can disengage from the second connecting part 11 of the adjacent fixing member 1 to facilitate the storage and transportation of the folding arm assembly.

[0067] According to design requirements, one of the second assembly part 61 and the second connecting part 11 can be a protrusion, and the other of the second assembly part 61 and the second connecting part 11 can be a groove. The groove and the protrusion are adapted to each other and can form a snap-fit ​​engagement.

[0068] Optionally, the second connecting part 11 is a second protrusion, the second mounting part 61 is a second groove adapted to the second protrusion, and the second groove is located on the side wall of the mounting base 6.

[0069] like Figures 7 to 9 As shown, the second groove is provided on the side wall of the mounting base 6, which makes it easy for the second protrusion of the adjacent fastener 1 to be inserted into the second groove from the side, which helps the folding arm assembly to switch conveniently between the folded state and the unfolded state.

[0070] Optionally, it also includes a third locking member 7, the second protrusion having a through hole, one end of the third locking member 7 being connected to the second groove, and the other end of the third locking member 7 being able to extend and retract from the through hole.

[0071] like Figures 7 to 9 As shown, when multiple connectors 2 are rotated to the folded position, the second groove of the mounting base 6 can engage with the second protrusion of the adjacent fixing member 1. At this time, the end of the third locking member 7 can extend from the through hole of the second protrusion and form an axial limit, so as to realize the dual fixing structure of "engagement positioning + axial limit", which completely restricts the relative displacement between the second protrusion and the second groove, effectively resists the bumps and collisions during the transportation of the drone, and avoids abnormalities such as loosening or misalignment of the engagement structure.

[0072] The third locking component 7 can flexibly extend and retract along the through hole of the second protrusion. In the locked state, its end extends out of the through hole and forms a limit; when unlocking, its end retracts into the through hole to release the limit. No additional parts need to be disassembled, making the operation simple and efficient.

[0073] Optionally, the second groove is provided with a threaded hole, and the third locking member 7 is a glass ball screw. The glass ball screw includes a housing, a steel ball and a spring. The housing and the mounting base 6 form a threaded engagement at the threaded hole. When the folding arm assembly is in the folded state, the steel ball can extend out from the through hole, and the spring is compressed.

[0074] like Figures 7 to 9As shown, the ball screw can be fixed to the second groove of the mounting base 6 through the threaded hole. When the multiple connecting parts 2 are rotated to the folded position, that is, when the folding arm assembly is in the folded state, the steel ball can extend out of the through hole under the action of the spring, and axially limit the engagement formed by the second protrusion and the second groove, preventing relative displacement between them. The elastic preload of the spring can also buffer the impact force caused by transportation bumps and vibrations, and prevent the third locking part 7 from loosening or the parts from being damaged due to hard contact. Thus, it can balance locking reliability and vibration damping, and effectively prevent the arm 5 from shifting or shaking after folding.

[0075] Among them, the steel balls in the glass ball screw have elastic telescopic characteristics. During the unfolding process of the folding arm assembly, only the conventional unfolding driving force needs to be applied to overcome the preload of the spring, so that the steel balls automatically retract into the through hole, simultaneously releasing the locking and locking engagement. The unlocking process is smooth and without jamming, requiring no additional unlocking operation. During the folding process of the folding arm assembly, the steel balls automatically pop out and lock as they align with the through hole, enabling the linkage between the folding and locking actions, and achieving convenient two-way folding locking and unfolding unlocking, thereby improving the ease of operation for folding and storing drones.

[0076] The housing of the ball screw and the threaded hole of the second groove form a threaded engagement, which enhances the connection rigidity and can effectively withstand the load in the folded state, preventing the third locking element 7 from loosening. The threaded engagement allows the ball screw to be disassembled and replaced individually. If maintenance or adjustment of the spring preload is required later, it can be done simply by turning the ball screw without disassembling the overall snap-fit ​​structure, resulting in low maintenance costs and simple operation.

[0077] Optionally, the folding mechanism further includes a second locking member 4, which is movably disposed on the connector 2. The second locking member 4 has a first mounting portion 41, and the end of the first locking member 3 has a first connecting portion 32, which is adapted to the first mounting portion 41. When the folding arm assembly is in the folded state, the first connecting part 32 and the first assembly part 41 disengage from the snap-fit ​​engagement. When the folding arm assembly is in the unfolded state, the first connecting part 32 and the first assembly part 41 form a snap-fit ​​engagement.

[0078] like Figure 3 and Figure 4 As shown, the first locking member 3 is used to lock the fixing member 1 and the connecting member 2 in the unfolded state, so that the fixing member 1 and the connecting member 2 can be kept coaxial. The second locking member 4 can lock the first locking member 3 to prevent the first locking member 3 from loosening or falling off, thereby improving the structural reliability of the folding arm assembly in the unfolded state.

[0079] The threaded engagement between the first locking member 3 and the fixing member 1 provides basic locking force, while the snap-fit ​​engagement between the second locking member 4 and the first locking member 3 forms a secondary mechanical lock, restricting the displacement and rotation of the first locking member 3 in both the circumferential and axial directions. This avoids problems such as thread retraction and locking failure caused by vibration and impact, and reduces the overall sway after the folding arm assembly is unfolded. This helps ensure the attitude stability of the equipment during operation and makes it suitable for extreme working conditions such as high-altitude flight and heavy-load operation.

[0080] The design incorporates a first connecting part that mates with the first assembly part, allowing for quick and manual manual engagement and disengagement without the need for additional tools. Combined with thread engagement, this creates a two-step locking process of "tightening + engaging," ensuring a secure lock while preventing thread damage from over-tightening. Disengagement is simple: first release the engagement, then loosen the threads. The operation is smooth and has a high tolerance for error.

[0081] Optionally, the first connecting portion 32 includes a plurality of first grooves arranged circumferentially, and the first mounting portion 41 is a first protrusion adapted to the first groove.

[0082] Specifically, the first connecting part 32 can be provided as a plurality of first grooves arranged circumferentially, and the first mounting part 41 can be a first protrusion. The first protrusion is adapted to the first groove and can form a snap-fit ​​to lock the first locking member 3. The plurality of first grooves can be arranged at equal intervals to shorten the rotational stroke when the first locking member 3 and the second locking member 4 are engaged.

[0083] Depending on the design requirements, a complete circle of the first groove can be arranged circumferentially, for example, forming a complete circle of toothed structure; or multiple first grooves can be arranged around a portion of the outer periphery of the first locking member 3.

[0084] Optionally, the second locking member 4 includes a latch 42, a latch screw 43, and a latch button 44. The latch button 44 has a connecting groove, and the latch screw 43 passes through the connecting groove and extends into the latch 42 so that the latch 42 can be connected to the latch button 44. The latch 42 has a first mounting portion 41. When the latch button 44 is pressed, the first assembly part 41 and the first connecting part 32 disengage from the latch engagement. When the latch button 44 is released, the first assembly part 41 and the first connecting part 32 form a snap-fit ​​engagement.

[0085] like Figure 3 and Figure 4 As shown, the connecting groove is a through groove, allowing the locking screw 43 to pass through and extend into the connecting hole of the locking buckle 42. An internal thread can be provided in the connecting hole to connect the locking buckle 42 to the locking button 44 via the locking screw 43. This creates a power transmission path of locking button 44 - locking screw 43 - locking buckle 42.

[0086] When one end of the locking button 44 is pressed, the other end of the locking button 44 causes the locking buckle 42 to lift up via the locking screw 43, causing the first mounting part 41 of the locking buckle 42 to disengage from the first connecting part 32 of the first locking member 3, and unlocking the first locking member 3. At this time, the position of the first locking member 3 can be adjusted, facilitating the folding and storage process of the folding arm assembly.

[0087] When one end of the locking button 44 is released, the other end of the locking button 44 drives the locking buckle 42 to engage through the locking screw 43, so that the first assembly part 41 of the locking buckle 42 and the first connecting part 32 of the first locking member 3 form a snap-fit ​​engagement, and lock the first locking member 3, so as to improve the structural reliability of the folding arm assembly in the unfolded state.

[0088] Therefore, the first assembly part 41 and the first connecting part 32 can be disengaged by pressing the locking button 44. The unlocking process can be completed simply by pressing, without the need for additional tools or complicated twisting actions. Compared with traditional twisting and plugging secondary locking structures, this reduces the unlocking operation time and is suitable for scenarios requiring rapid deployment and storage of equipment such as drones.

[0089] The locking screw 43 passes through the connecting groove of the locking button 44 and connects to the locking buckle 42. The gap design of the connecting groove allows the locking buckle 42 to also have a small displacement adjustment capability, which can adaptively compensate for the assembly deviation of the first connecting part 32 and ensure that the first assembly part 41 and the first connecting part 32 are precisely engaged. After releasing the locking button 44, the locking buckle 42 can automatically reset and form a stable engagement.

[0090] Optionally, the second locking member 4 also includes a connecting shaft 45 and a torsion spring 46. The torsion spring 46 is sleeved on the connecting shaft 45, and one end of the torsion spring 46 is connected to the locking button 44, while the other end of the torsion spring 46 is connected to the connector 2.

[0091] like Figure 3 and Figure 4 As shown, when an external force is applied to press one end of the locking button 44, the torsion spring 46 is compressed and undergoes elastic deformation. After the external force is removed, the torsion spring 46 can elastically reset and drive the locking button 44 back to its initial position, causing the first assembly part 41 of the locking buckle 42 to automatically and precisely engage with the first connecting part 32 of the first locking member 3. This eliminates the need for manual reset of the locking buckle 42, enabling a one-button operation of "press to unlock, release to lock". Compared to a structure without the torsion spring 46, this reduces the number of locking operation steps and helps adapt to the high-frequency operation requirements of rapid drone deployment.

[0092] Furthermore, the torsion spring 46 provides a stable and controllable preload, ensuring that the first assembly part 41 and the first connecting part 32 remain in a tight fit and eliminating gaps in the snap-fit. The balanced preload also prevents localized wear or deformation caused by uneven force during snap-fit, improving the vibration resistance and loosening resistance of the second locking member 4, making it suitable for extreme conditions such as high-altitude flight and heavy-load operations.

[0093] The connecting shaft 45 provides a precise mounting reference for the torsion spring 46 and also restricts the movement trajectory of the locking button 44, ensuring that it can only perform a linear press-and-reset motion in a preset direction, thus preventing abnormalities such as offset or jamming of the locking button 44. The torsional force of the connecting shaft 45, in conjunction with that of the torsion spring 46, also ensures that the travel of the locking button 44 is consistent with each press and reset, improving the consistency of the operating feel and the stability of the structural operation.

[0094] The present invention also provides a drone, including the aforementioned folding mechanism or the aforementioned folding arm assembly.

[0095] The above embodiments mainly describe the differences between the various embodiments. As long as the different optimization features between the various embodiments are not contradictory, they can be combined to form a better embodiment. For the sake of brevity, they will not be elaborated here.

[0096] While specific embodiments of the invention have been described in detail by way of examples, those skilled in the art should understand that the examples are for illustrative purposes only and not intended to limit the scope of the invention. Those skilled in the art should understand that modifications can be made to the above embodiments without departing from the scope and spirit of the invention. The scope of the invention is defined by the appended claims.

Claims

1. A folding mechanism, characterized in that, include: The fastener (1) and the connector (2) are rotatably connected, and the connector (2) is rotatable between a folded position and an unfolded position. The end of the fastener (1) near the connector (2) has a first external thread. The first locking member (3) is movably sleeved on the outer periphery of the connector (2), and the first locking member (3) has a first internal thread; When the connector (2) is rotated to the folded position, a folding angle is formed between the connector (2) and the fixing member (1), and the first internal thread and the first external thread disengage from the threaded engagement; When the connector (2) is rotated to the unfolded position, the connector (2) and the fixing member (1) are arranged coaxially, and the first internal thread and the first external thread form a threaded engagement.

2. The folding mechanism according to claim 1, characterized in that, The end of the connector (2) near the fastener (1) has a second external thread; When the connector (2) is rotated to the unfolded position, part of the first internal thread and the first external thread form a threaded engagement, and another part of the first internal thread and the second external thread form a threaded engagement.

3. The folding mechanism according to claim 1 or 2, characterized in that, The outer periphery of the connector (2) has a first mating surface (21), and the first locking member (3) has a second mating surface (31), which is circumferentially fitted with the first mating surface (21).

4. The folding mechanism according to claim 3, characterized in that, The second mating surface (31) is in contact with the inclined surface of the first mating surface (21).

5. A folding arm assembly, characterized in that, The assembly includes a body, multiple arms (5) and multiple folding mechanisms as described in any one of claims 1 to 4, wherein one end of each fixing member (1) away from the connecting member (2) is connected to the body, one end of each connecting member (2) away from the fixing member (1) is connected to one of the arms (5), and the multiple connecting members (2) are rotatable in the same direction, such that the folding arm assembly is rotatable between a folded state and an unfolded state.

6. The folding arm assembly according to claim 5, characterized in that, Each of the arm (5) is connected to a mounting base (6) at its end. The fastener (1) has a second connecting part (11), and the mounting base (6) has a second assembly part (61). When the multiple connectors (2) are rotated to the corresponding folding positions along the first direction, the folding arm assembly is in a folded state, and each of the second assembly parts (61) can form a snap-fit ​​with the second connection part (11) of the adjacent other fixing part (1); When the multiple connectors (2) are rotated to the corresponding unfolded position along the second direction, the folding arm assembly is in the unfolded state, and each of the second assembly parts (61) can disengage from the second connection part (11) of the adjacent other fixing part (1), and the second direction is opposite to the first direction.

7. The folding arm assembly according to claim 6, characterized in that, The second connecting part (11) is a second protrusion, the second mounting part (61) is a second groove adapted to the second protrusion, and the second groove is located on the side wall of the mounting base (6).

8. The folding arm assembly according to claim 7, characterized in that, It also includes a third locking member (7), the second protrusion having a through hole, one end of the third locking member (7) being connected to the second groove, and the other end of the third locking member (7) being able to extend and retract from the through hole.

9. The folding arm assembly according to claim 8, characterized in that, The second groove has a threaded hole, and the third locking member (7) is a glass ball screw. The glass ball screw includes a housing, a steel ball and a spring. The housing and the mounting base (6) form a threaded fit at the threaded hole. When the folding arm assembly is in the folded state, the steel ball can extend from the through hole, and the spring is compressed.

10. The folding arm assembly according to claim 5, characterized in that, The folding mechanism further includes a second locking member (4), which is movably disposed on the connector (2). The second locking member (4) has a first mounting portion (41), and the end of the first locking member (3) has a first connecting portion (32), which is adapted to the first mounting portion (41). When the folding arm assembly is in the folded state, the first connecting part (32) and the first assembly part (41) disengage from the snap-fit ​​engagement; When the folding arm assembly is in the unfolded state, the first connecting part (32) and the first assembly part (41) form a snap-fit ​​engagement.

11. The folding arm assembly according to claim 10, characterized in that, The first connecting portion (32) includes a plurality of first grooves arranged circumferentially, and the first mounting portion (41) is a first protrusion adapted to the first groove.

12. The folding arm assembly according to claim 10, characterized in that, The second locking member (4) includes a latch (42), a latch screw (43) and a latch button (44), the latch button (44) having a connecting groove, the latch screw (43) passing through the connecting groove and extending into the latch (42) to enable the latch (42) to be connected to the latch button (44), and the latch (42) having the first mounting portion (41); When the latch button (44) is pressed, the first assembly part (41) and the first connecting part (32) disengage from the latch engagement; When the latch button (44) is released, the first assembly part (41) and the first connecting part (32) form a snap-fit ​​engagement.

13. The folding arm assembly according to claim 12, characterized in that, The second locking member (4) further includes a connecting shaft (45) and a torsion spring (46). The torsion spring (46) is sleeved on the connecting shaft (45), and one end of the torsion spring (46) is connected to the locking button (44), and the other end of the torsion spring (46) is connected to the connector (2).

14. An unmanned aerial vehicle (UAV), characterized in that, It includes the folding mechanism as described in any one of claims 1 to 4 or the folding arm assembly as described in any one of claims 5 to 13.

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