A folding unmanned aerial vehicle with a spring-arc cam driving locking mechanism

Abstract

This invention relates to the field of unmanned aerial vehicle (UAV) technology and discloses a folding UAV with a spring-loaded, arc-shaped surface-driven locking mechanism. The UAV includes: a fuselage with a first mounting base at the top and a second mounting base at the bottom; multiple folding arm assemblies hinged to the first mounting bases, each arm assembly having a rotor assembly at one end and an arc-shaped surface at the other end; the folding arm assemblies can rotate through a through-hole into the fuselage in a retracted position or out of the fuselage in a flight position; multiple springs, which, when the folding arm assemblies rotate into the fuselage, cause the arc-shaped surface to rotate clockwise and press upwards against the springs, giving them elastic potential energy; when the springs release their elastic potential energy, they drive the folding arm assemblies to rotate from inside the fuselage to outside, while the arc-shaped surface rotates counterclockwise. Compared with existing torsion spring-type drive elements, this invention overcomes the inherent defects of stress concentration at bends, nonlinear elastic force release, and large impact during arm deployment, thus improving aircraft safety and overall lifespan.

Description

Technical Field

[0001] This invention relates to the field of unmanned aerial vehicle (UAV) technology, and in particular to a folding UAV with a spring-loaded, arc-shaped surface-driven locking mechanism. Background Technology

[0002] With the increasing demands for scenarios such as individual emergency reconnaissance, portable outdoor aerial photography, and rapid on-site reconnaissance, capsule-shaped portable folding drones have become an important development direction in the small drone field due to their advantages of a compact cylindrical shape when folded, easy one-handed handling, and convenient portability. The core function of this type of product is to achieve reliable folding and storage of the arms, rapid unlocking and unfolding, and stable locking within extremely limited fuselage space. Therefore, the performance of the arm drive and locking mechanisms directly determines the portability, reliability, and service life of the entire drone.

[0003] Among the currently disclosed existing technologies, patent CN112678160B discloses a quadcopter unmanned aerial vehicle with a cylindrical carrier, which folds into a slender cylindrical shape suitable for tubular / capsule-like storage. Its arms are deployed using traditional torsion springs as the core driving element. Patent CN112678147A discloses a rotor arm folding and deployment device based on torsion spring drive, which provides the arm deployment power through a torsion spring mounted on a pin shaft. All of the above drones use torsion spring drive elements. Due to the limited space of the capsule-shaped body, the size of the torsion spring is greatly compressed. This not only amplifies the problem of stress concentration at the bending point, but also makes it prone to fatigue attenuation and preload failure after repeated folding. In addition, it has inherent defects such as nonlinear elastic release and large impact during arm deployment, which can easily cause wear on the hinge parts, incomplete arm deployment, or swaying during flight, directly affecting flight safety and the overall lifespan of the aircraft. Authorization announcement number CN220430568U discloses a foldable and retractable multi-rotor drone. This drone uses torsion springs to drive the arms in conjunction with servo motors for locking. Compared with the drones that use torsion springs alone, the structure is more complex, further encroaching on the internal space of the fuselage and increasing the potential for failure.

[0004] In addition, some portable drones use a manual folding and locking structure, which simplifies the drive components, but requires operators to unfold the locking arms one by one, which cannot meet the needs of "quick take-out and immediate use" in emergency scenarios.

[0005] In view of this, how to provide a capsule-shaped portable drone with a compact layout, fast and stable arm deployment, and improved reliability and service life is a problem that urgently needs to be solved by those skilled in the art. Summary of the Invention

[0006] The purpose of this invention is to provide a folding drone with a spring-loaded, arc-shaped surface-driven locking mechanism to solve the problems existing in the prior art.

[0007] To achieve the above objectives, the present invention provides a folding drone with a spring-loaded, arc-shaped surface driven locking mechanism, comprising: The fuselage is hollow inside, with a first mounting base at the top and a second mounting base at the bottom; Multiple folding arm assemblies are arranged circumferentially along the first mounting base and hinged to the first mounting base. One end of each folding arm assembly is provided with a rotor assembly, and the other end is provided with an arc-shaped curved surface. The fuselage has through holes through its inner and outer surfaces, and the folding arm assembly can rotate through the through holes to the inside of the fuselage in a stowed posture or rotate to the outside of the fuselage in a flying posture. Multiple springs, one end of which is fixed to the first mounting base, and the other end extends toward the folding arm assembly. The lower surface of the springs is in frictional contact with the arc-shaped curved surface. When the folding arm assembly rotates from the outside of the body to the inside of the body, the arc-shaped curved surface rotates clockwise and presses the springs upward, giving the springs elastic potential energy. When the springs release their elastic potential energy, they drive the folding arm assembly to rotate from the inside of the body to the outside of the body, and the arc-shaped curved surface rotates counterclockwise.

[0008] Furthermore, the folding arm assembly includes: A hinge rod is provided on the first mounting base, with a first through groove extending through the upper and lower surfaces corresponding to the hinge rod. A pressure block is provided on the first mounting base, and the pressure block is arranged on the left and right sides of the first through groove. The hinge rod is rotatably connected to the pressure block through a hinge shaft. The connecting rod has one end connected to the connecting rod and the other end provided with the arc-shaped curved surface. The end of the connecting rod is provided with a rotor assembly.

[0009] Furthermore, the rotor assembly includes: A drive motor is located at the end of the connecting rod; A folding rotor is mounted on the output end of the drive motor. When the folding arm assembly rotates from the through hole into the fuselage, the folding rotor retracts and can rotate from the through hole into the fuselage; when the folding arm assembly rotates from the through hole out of the fuselage, the folding rotor unfolds and is driven to rotate by the drive motor.

[0010] Furthermore, a first limiting surface is provided near the other end of the hinge rod, and a second limiting surface is provided at the other end of the spring piece. When the folding arm assembly rotates to the outside of the fuselage and assumes a flight posture, the first limiting surface and the second limiting surface come into contact, restricting the hinge rod from rotating counterclockwise.

[0011] Furthermore, one end of each of the multiple spring clips is integrally connected to the connecting part, the bottom of the connecting part is disposed on the base, and the base is disposed on the first mounting seat.

[0012] Furthermore, it also includes: A locking component is disposed on the second mounting base to lock and limit the folding arm assembly when it is in the retracted position.

[0013] Furthermore, the locking component includes: A linear telescopic motor is mounted on a first mounting base, with its telescopic rod extending downwards and an outwardly expanding end plate at the end of the telescopic rod. A locking plate has a guide block in its middle, which is slidably connected to a telescopic rod. A spring is sleeved on the telescopic rod, and the spring is located between the lower surface of the locking plate and the end plate. A locking block is provided on the folding arm assembly and / or rotor assembly, and a locking hook is provided on the outer edge of the locking plate corresponding to the locking block. When the folding arm assembly rotates into the body and is in a retracted position, the hook engages with the locking block, and the spring has an elastic tendency to lock the locking block and the hook tightly; when the linear telescopic motor extends, the locking plate moves down along the telescopic rod, causing the locking block and the hook to separate.

[0014] Furthermore, a battery compartment is provided on the lower surface of the first mounting base, a connecting plate is provided at the bottom of the battery compartment, the linear telescopic motor is provided on the lower surface of the connecting plate, a plurality of guide holes are provided through the upper and lower surfaces of the locking plate, and a plurality of guide rods parallel to the telescopic rod are provided between the connecting plate and the second mounting base, the guide rods and guide holes are corresponding one-to-one and slidably connected.

[0015] Furthermore, it also includes: The control buttons, located on the outer surface of the machine body, are used to control the extension and retraction of the linear telescopic motor; A transparent top cover is installed on the first mounting base; The lower fuselage compartment is located at the bottom of the second mounting base.

[0016] Furthermore, the deformation stroke of the spring and the output torque on the folding arm assembly can be adjusted during rotation by regulating the radius of curvature and / or mass distribution of the arc surface.

[0017] The present invention discloses the following technical effects: 1. This invention employs a spring-loaded spring with an arc-shaped surface at the end of a hinge rod. When the folding arm assembly rotates from outside the fuselage to inside, the arc-shaped surface presses upward against the spring, giving the spring elastic potential energy. This elastic potential energy is then used to drive the folding arm assembly to rotate from inside the fuselage to outside. Compared to existing torsion spring-type drive components, this invention overcomes the inherent defects of stress concentration at bends, nonlinear elastic force release, and large impact during arm deployment, thus improving aircraft safety and overall lifespan.

[0018] 2. This invention also includes a locking component. When the folding arm assembly needs to be unfolded, it can be activated with a single button press, causing the linear telescopic motor to simultaneously unlock all the latches and hooks, thereby enabling the folding arm assembly to unfold quickly. Compared with existing technologies, the structure is significantly simplified and compact, making it suitable for the lightweight and miniaturized design requirements of small folding drones. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1 This is a schematic diagram of the structure of the present invention; Figure 2 This is a schematic diagram of the internal structure of the present invention; Figure 3 This is a schematic diagram showing the assembly of the folding arm component and the rotor component. Figure 4 This is a schematic diagram of a folding arm assembly; Figure 5 This is a schematic diagram of the locking component; Figure 6 This is a schematic diagram of the locking plate; Figure 7 A schematic diagram showing the folding arm assembly rotating into the body and retracting into a storage position. Figure 8 A schematic diagram showing the folding arm assembly rotating outside the fuselage into a flight posture; The components are as follows: 1. Fuselage; 2. First mounting base; 3. Second mounting base; 4. Folding arm assembly; 401. Hinge rod; 4011. Arc-shaped surface; 4012. First limiting surface; 402. Pressure block; 403. Connecting rod; 5. Spring; 501. Second limiting surface; 6. Drive motor; 7. Folding rotor; 8. Locking assembly; 801. Linear telescopic motor; 802. End plate; 803. Locking plate; 804. Guide block; 805. Spring; 806. Hook; 9. Locking block; 10. Battery compartment; 11. Control button; 12. Transparent upper cover; 13. Fuselage lower compartment; 14. Gimbal; 15. Guide rod; 16. Adapter plate; 17. Hinge shaft; 18. Connecting bolt; 19. Motor base. Detailed Implementation

[0021] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0022] Those skilled in the art will understand that the term "comprising" as used in this application means the presence of the stated features, integers, steps, operations, elements, and / or components, but does not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or groups thereof. It should be understood that when we say an element is "connected" or "coupled" to another element, it can be directly connected or coupled to the other element, or there may be intermediate elements present. Furthermore, "connected" or "coupled" as used herein can include wireless connections or wireless coupling. The term "and / or" as used herein includes all or any unit and all combinations of one or more associated listed items.

[0023] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0024] like Figures 1 to 8 As shown, this embodiment of the invention provides a folding drone with a spring-loaded, arc-shaped surface driven locking mechanism, comprising: The fuselage 1 is hollow inside and is made of 3D printed nylon one-piece molded part. A first mounting base 2 is set on the top and a second mounting base 3 is set on the bottom. The first mounting base 2 is made of carbon fiber nylon material by 3D printing. Multiple folding arm assemblies 4 are arranged circumferentially along the first mounting base 2 and hinged to the first mounting base 2. One end of each folding arm assembly 4 is provided with a rotor assembly, and the other end is provided with an arc-shaped curved surface 4011. The fuselage 1 has through holes through its inner and outer surfaces. The folding arm assembly 4 can rotate through the through holes to the fuselage 1 to be in a retracted posture (generally a vertical posture) or rotate to the outside of the fuselage 1 to be in a flight posture (generally a horizontal posture). Multiple spring pieces 5 are made of highly elastic and fatigue-resistant elastic materials, such as spring steel 805 or thin carbon fiber sheets. One end of each spring piece 5 is fixed to the first mounting base 2, and the other end extends toward the folding arm assembly 4. The lower surface of the spring piece 5 is in frictional contact with the arc-shaped curved surface 4011. When the folding arm assembly 4 rotates from outside the body 1 to inside the body 1, the arc-shaped curved surface 4011 rotates clockwise and presses the spring piece 5 upward, giving the spring piece 5 elastic potential energy. When the spring piece 5 releases its elastic potential energy, it drives the folding arm assembly 4 to rotate from inside the body 1 to outside the body 1, and the arc-shaped curved surface 4011 rotates counterclockwise.

[0025] The working principle of shrapnel 5 is as follows: When the folding arm assembly 4 rotates from outside the body 1 to inside the body 1, the arc-shaped surface 4011 rotates clockwise and presses the spring piece 5 upward. At this time, the spring piece 5 deforms upward and generates elastic potential energy. When the spring piece 5 releases the elastic potential energy downward, the spring piece 5 applies normal pressure to the arc-shaped surface 4011. This pressure is decomposed into a tangential torque that drives the folding arm assembly 4 to rotate around the hinge axis 17, thereby driving the folding arm assembly 4 to rotate from inside the body 1 to outside the body 1, and the arc-shaped surface 4011 rotates counterclockwise.

[0026] In this embodiment, there are four folding arm assemblies 4, evenly spaced in four directions of the body 1, and they include: The hinge rod 401 has a first through groove on the upper and lower surfaces corresponding to the hinge rod 401. The first mounting base 2 is provided with a pressure block 402, which is arranged on the left and right sides of the first through groove. The hinge rod 401 is rotatably connected to the pressure block 402 through the hinge shaft 17. The connecting rod 403 has one end connected to the hinge rod 401, and the other end is provided with an arc-shaped curved surface 4011. The end of the connecting rod 403 is provided with a rotor assembly. Both the hinge rod 401 and the connecting rod 403 are made of 5mm carbon fiber plate. During the rotation of the hinge rod 401, the arc-shaped curved surface 4011 and the spring piece 5 always maintain surface contact, and the two only generate relative friction.

[0027] In this embodiment, the rotor assembly includes: The drive motor 6 is mounted on the end of the connecting rod 403 via the motor mount 19; The folding rotor 7 is located on the output end of the drive motor 6. When the folding arm assembly 4 rotates from the through hole into the body 1, the folding rotor 7 retracts and can rotate from the through hole into the body 1. When the folding arm assembly 4 rotates from the through hole to the outside of the body 1, the folding rotor 7 unfolds and is driven to rotate by the drive motor 6.

[0028] In this embodiment, the folding rotor 7 (foldable rotor) and the drive motor 6 can be based on existing technologies, and will not be described in detail here.

[0029] In this embodiment, a first limiting surface 4012 is provided near the other end of the hinge rod 401, and a second limiting surface 501 is provided at the other end of the spring piece 5. When the folding arm assembly 4 rotates to the outside of the fuselage 1 and is in a flight posture, the first limiting surface 4012 and the second limiting surface 501 are connected to restrict the hinge rod 401 from rotating counterclockwise.

[0030] During the specific operation, when the spring 5 releases its elastic potential energy, it drives the folding arm assembly 4 to rotate from inside the fuselage 1 to outside the fuselage 1. The arc surface 4011 rotates counterclockwise. When the folding arm assembly 4 rotates to the position corresponding to the flight attitude, the first limiting surface 4012 and the second limiting surface 501 automatically connect to achieve limiting and prevent the hinge rod 401 from rotating excessively.

[0031] In this embodiment, one end of each of the multiple spring pieces 5 is integrally connected to the connecting part, and the bottom of the connecting part is set on the base by the connecting bolt 18. The base is set on the first mounting seat 2.

[0032] In some other embodiments, the positions of the spring piece 5 and the arc-shaped surface 4011 can be interchanged. That is, the spring piece 5 is set on the hinge rod 401, and then the arc-shaped surface 4011 is set at a suitable position on the first mounting base 2. The outline of the spring piece 5 can be conventional or irregular, and the number of spring pieces 5 can also be reasonably adjusted according to actual needs.

[0033] In other embodiments, the spring 5 can adopt a modular structure for easy replacement. For example, the spring 5 can be set on a quick-release module, and the quick-release module can be installed on the first mounting base 2 to facilitate the replacement of springs 5 ​​with different thicknesses, materials, and effective lengths.

[0034] In other embodiments, the spring sheet 5 can also be stacked, for example, 2-3 thin spring sheets 5 of the same specification can be stacked to flexibly change the thickness of the spring sheet 5.

[0035] In this embodiment, it also includes: The locking component 8 is mounted on the second mounting base 3 and locks and limits the folding arm assembly 4 when it is in the retracted position.

[0036] In this embodiment, the locking component 8 includes: A linear telescopic motor 801 is mounted on the first mounting base 2, and its telescopic rod extends downward and has an outwardly expanding end plate 802 at the end of the telescopic rod. The locking plate 803 has a guide block 804 in its middle, which is slidably connected to the telescopic rod. A spring 805 is sleeved on the telescopic rod, and the spring 805 is located between the lower surface of the locking plate 803 and the end plate 802. The folding arm assembly 4 and / or the rotor assembly are provided with a locking block 9, and the outer edge of the locking plate 803 is provided with a hook 806 corresponding to the locking block 9. When the folding arm assembly 4 rotates into the body 1 and is in a retracted position, the hook 806 engages with the block 9, and the spring 805 has an elastic tendency to lock the block 9 and the hook 806 tightly; when the linear telescopic motor 801 extends, the locking plate 803 moves down along the telescopic rod, causing the block 9 and the hook 806 to separate.

[0037] In this embodiment, a battery compartment 10 is provided on the lower surface of the first mounting base 2, a connecting plate is provided at the bottom of the battery compartment 10, a linear telescopic motor 801 is provided on the lower surface of the connecting plate, a locking plate 803 is provided with a plurality of guide holes penetrating the upper and lower surfaces, a plurality of guide rods 15 parallel to the telescopic rod are provided between the connecting plate and the second mounting base 3, and the guide rods 15 correspond one-to-one with the guide holes and are slidably connected.

[0038] In this embodiment, it also includes: Control button 11 is located on the outer surface of the body 1. The telescopic motor has a control panel. Control button 11 is electrically connected to the control panel and is used to control the extension and retraction of the linear telescopic motor 801. A transparent upper cover 12 is placed on the first mounting base 2. It is 3D printed from high-transparency PC material and can protect the various structures set on the first mounting base 2. The transparent upper cover 12 has a second through slot corresponding to the first through slot, which is used for the hinge rod 401 to rotate through. The first through slot and the second through slot are connected. The edge of the transparent upper cover 12 is fixedly connected to the first mounting base 2 by screws. The lower compartment 13 is located at the bottom of the second mounting base 3, and the control button 11 is installed on the outer wall of the fuselage 1 of the lower compartment 13.

[0039] The specific work process is as follows: When the folding arm assembly 4 rotates into the body 1 and is in a retracted position, the hook 806 engages with the block 9, and the spring 805 has an elastic tendency to lock the block 9 and the hook 806 together, so that the folding arm assembly 4 can be stably stored inside the body 1.

[0040] When the folding arm assembly 4 needs to be unfolded, press the control button 11, and the linear telescopic motor 801 extends. The extension length is greater than the length of the spring 805, causing the end plate 802 to move significantly downward relative to the folding arm assembly 4 (at this time, the spring 805 is only subjected to the gravity of the end plate 802 and has almost no compression). The locking block 9 separates from the locking hook 806, and under the elastic potential energy of the spring piece 5, the folding arm assembly 4 rotates from inside the body 1 to outside the body 1.

[0041] After the folding arm assembly 4 rotates outside the fuselage 1, the linear telescopic motor 801 returns to its initial position, which is the initial engagement position of the locking block 9 and the locking hook 806. At this time, the spring 805 is still only subjected to the gravity of the end plate 802 and has almost no compression. After manually retracting the folding rotor 7, each folding arm assembly 4 is retracted inward. It can be retracted simultaneously or separately. During the retraction process, the locking block 9 and the locking hook 806 come into contact. The contact surface of the locking block 9 and the locking hook 806 has an inclined surface, which can make the contact force between the locking block 9 and the locking hook 806 generate downward pressure. After slightly compressing the spring 805, the folding arm assembly 4 rotates further inward a small distance. At this time, the locking block 9 and the locking hook 806 engage, and the spring 805 is also compressed. The spring 805 provides the locking force for the locking block 9 and the locking hook 806. It should be noted that the length and elasticity of the spring 805 should be adapted to ensure that the linear telescopic motor 801 can separate the locking block 9 from the locking hook 806 with a slight extension, while ensuring that the locking block 9 and the locking hook 806 can be smoothly engaged during the folding arm assembly 4 retraction process.

[0042] In this embodiment, the deformation stroke of the spring piece 5 and the output torque on the folding arm assembly 4 during rotation are adjusted by regulating the radius of curvature and / or mass distribution of the arc surface 4011. The specific parameters of the arc surface 4011 can be determined through mechanical analysis based on actual conditions. Other parameters that may affect the torque include the material and dimensions of the hinge rod 401. By rationally designing the arc surface 4011, linear control of the output torque of the spring piece 5 on the folding arm assembly 4 (i.e., the hinge rod 401) can be achieved.

[0043] In other embodiments, the system also includes: a flight controller (the core control unit of the UAV, used for flight attitude stabilization, navigation, and mission execution control), an electronic speed controller (ESC), a two-axis gimbal 14, and an edge computing card. The flight controller and ESC are fixedly mounted on the upper and lower surfaces of the first mounting base 2 (the linear telescopic motor 801 is spaced below the first mounting base 2 via support rods, reserving space for the ESC), reducing space occupation. The two-axis gimbal 14 is fixedly mounted above the first mounting base 2 via an adapter plate 16 and a copper column, with a height higher than the folding arm assembly 4, and is used to carry an aerial camera for image acquisition. The edge computing card is fixedly mounted in the mounting position of the lower fuselage compartment 13, which is provided with heat dissipation holes. The edge computing card is electrically connected to the flight controller, gimbal 14, and camera to realize real-time image processing, intelligent recognition, and other functions. The battery compartment 10 inside the fuselage 1 is used to install the power battery to power all electrical components.

[0044] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0045] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0046] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0047] The embodiments described above are merely preferred embodiments of the present invention and are not intended to limit the scope of the present invention. Various modifications and improvements made by those skilled in the art to the technical solutions of the present invention without departing from the spirit of the present invention should fall within the protection scope defined by the claims of the present invention.

Claims

1. A folding drone with a spring-loaded, arc-shaped surface-driven locking mechanism, characterized in that, include: The fuselage (1) is hollow inside, with a first mounting base (2) at the top and a second mounting base (3) at the bottom. Multiple folding arm assemblies (4) are arranged circumferentially along the first mounting base (2) and hinged to the first mounting base (2). One end of each folding arm assembly (4) is provided with a rotor assembly, and the other end is provided with an arc-shaped curved surface (4011). The fuselage (1) has through holes through its inner and outer surfaces. The folding arm assembly (4) can rotate through the through holes to the fuselage (1) in a stowed position or rotate to the outside of the fuselage (1) in a flying position. Multiple spring pieces (5) are fixed at one end to the first mounting base (2) and extend towards the folding arm assembly (4) at the other end. The lower surface of the spring piece (5) is in frictional contact with the arc-shaped surface (4011). When the folding arm assembly (4) rotates from outside the body (1) to inside the body (1), the arc-shaped surface (4011) rotates clockwise and presses the spring piece (5) upward, so that the spring piece (5) has elastic potential energy. When the spring piece (5) releases elastic potential energy, it drives the folding arm assembly (4) to rotate from inside the body (1) to outside the body (1), and the arc-shaped surface (4011) rotates counterclockwise.

2. A folding drone with a spring-loaded, arc-shaped surface-driven locking mechanism according to claim 1, characterized in that, The folding arm assembly (4) includes: The hinge rod (401) has a first through groove on the upper and lower surfaces corresponding to the hinge rod (401). The first mounting base (2) is provided with a pressure block (402). The pressure block (402) is arranged on the left and right sides of the first through groove. The hinge rod (401) is rotatably connected to the pressure block (402) through the hinge shaft (17). The connecting rod (403) has one end connected to the connecting rod (403) and the other end provided with the arc-shaped curved surface (4011). The end of the connecting rod (403) is provided with a rotor assembly.

3. A folding drone with a spring-loaded, arc-shaped surface-driven locking mechanism according to claim 2, characterized in that, The rotor assembly includes: A drive motor (6) is disposed at the end of the connecting rod (403); The folding rotor (7) is located on the output end of the drive motor (6). When the folding arm assembly (4) rotates from the through hole into the fuselage (1), the folding rotor (7) retracts and can rotate from the through hole into the fuselage (1); when the folding arm assembly (4) rotates from the through hole to the outside of the fuselage (1), the folding rotor (7) unfolds and is driven to rotate by the drive motor (6).

4. A folding drone with a spring-loaded, arc-shaped surface-driven locking mechanism according to claim 2, characterized in that, The hinge rod (401) has a first limiting surface (4012) near its other end, and the spring piece (5) has a second limiting surface (501) at its other end. When the folding arm assembly (4) rotates to the outside of the fuselage (1) and is in a flight posture, the first limiting surface (4012) and the second limiting surface (501) are connected to restrict the hinge rod (401) from rotating counterclockwise.

5. A folding drone with a spring-loaded, arc-shaped surface-driven locking mechanism according to claim 1, characterized in that, One end of each of the multiple spring pieces (5) is integrated with the connecting part, the bottom of the connecting part is disposed on the base, and the base is disposed on the first mounting seat (2).

6. A folding drone with a spring-loaded, arc-shaped surface-driven locking mechanism according to claim 1, characterized in that, Also includes: The locking component (8) is disposed on the second mounting base (3) and locks and limits the folding arm assembly (4) when it is in the storage posture.

7. A folding drone with a spring-loaded, arc-shaped surface-driven locking mechanism according to claim 6, characterized in that, The locking component (8) includes: A linear telescopic motor (801) is mounted on a first mounting base (2), with its telescopic rod extending downward and an outwardly expanding end plate (802) provided at the end of the telescopic rod. A locking plate (803) has a guide block (804) in its middle part. The guide block (804) is slidably connected to the telescopic rod. A spring (805) is sleeved on the telescopic rod. The spring (805) is located between the lower surface of the locking plate (803) and the end plate (802). A locking block (9) is provided on the folding arm assembly (4) and / or the rotor assembly. A locking hook (806) is provided on the outer edge of the locking plate (803) corresponding to the locking block (9). When the folding arm assembly (4) rotates into the body (1) and is in a retracted position, the hook (806) engages with the block (9), and the spring (805) has an elastic tendency to clamp the block (9) and the hook (806); when the linear telescopic motor (801) extends, the locking plate (803) moves down along the telescopic rod, causing the block (9) and the hook (806) to separate.

8. A folding drone with a spring-loaded, arc-shaped surface-driven locking mechanism according to claim 7, characterized in that, The lower surface of the first mounting base (2) is provided with a battery compartment (10), the bottom of the battery compartment (10) is provided with a connecting plate, the linear telescopic motor (801) is provided on the lower surface of the connecting plate, the locking plate (803) is provided with multiple guide holes through the upper and lower surfaces, and multiple guide rods (15) parallel to the telescopic rod are provided between the connecting plate and the second mounting base (3). The guide rods (15) correspond one-to-one with the guide holes and are slidably connected.

9. A folding drone with a spring-loaded, arc-shaped surface-driven locking mechanism according to claim 7, characterized in that, Also includes: A control button (11) is located on the outer surface of the machine body (1) and is used to control the extension and retraction of the linear telescopic motor (801); A transparent top cover (12) is placed on the first mounting base (2); The lower fuselage compartment (13) is located at the bottom of the second mounting base (3).

10. A folding drone with a spring-loaded, arc-shaped surface driven locking mechanism according to any one of claims 1-9, characterized in that, The deformation stroke of the spring (5) and the output torque on the folding arm assembly (4) are adjusted during the rotation of the folding arm assembly (4) by adjusting the radius of curvature and / or mass distribution of the arc surface (4011).

Images