Foldable structure, foldable arm and multi-rotor unmanned aerial vehicle

Abstract

The utility model provides a foldable structure, a foldable arm and a multi-rotor unmanned aerial vehicle, relates to the technical field of locking, and aims to solve the technical problem that the foldable structure is poor in usability. The foldable structure comprises a base, a first locking piece, a connecting rod and a folding piece hinged to the base through a third pin shaft. One end of the first locking piece is hinged to the folding piece through a fourth pin shaft; one end of the connecting rod is hinged to the base through a first pin shaft, and the other end is hinged to the middle of the first locking fastener through a second pin shaft; the distances between the first pin shaft and the second pin shaft are respectively a first distance corresponding to a first position, a second distance corresponding to a second position and a third distance corresponding to a third position; wherein the second interval is the maximum interval, and the third interval is larger than the first interval and smaller than the second interval; when the fourth pin shaft is close to the first pin shaft, the first locking piece is sequentially provided with a first position, a second position and a third position in the direction close to the folding piece. The foldable structure is convenient to operate.

Description

Technical Field

[0001] The utility model relates to the technical field of locking, and in particular to a foldable structure, a foldable machine arm, and a drone. Background Art

[0002] The use environment of unmanned aerial vehicles is diverse, and their size is getting larger and larger. For portability, they need to be disassembled or folded. In related technologies, such as the folding structure of the aircraft arm, the foldable structure needs to be locked, but it cannot meet the ease of use in complex environments. Utility Model Content

[0003] The purpose of the utility model is to provide a foldable structure, a foldable machine arm, and a multi-rotor UAV, so as to solve the technical problem that the foldable structure has poor usability.

[0004] In order to achieve the above purpose, the utility model provides the following technical solutions:

[0005] In a first aspect, the utility model provides a foldable structure, the foldable structure comprising a base, a first locking member, a connecting rod, and a folding member hinged to the base through a third pin shaft;

[0006] One end of the first locking member is hinged to the folding member through a fourth pin; one end of the connecting rod is hinged to the base through a first pin, and the other end is hinged to the middle part of the first locking member through a second pin;

[0007] The distances between the first pin shaft and the second pin shaft are respectively a first distance corresponding to the first position, a second distance corresponding to the second position, and a third distance corresponding to the third position; wherein the second distance is the maximum distance, and the third distance is greater than the first distance and less than the second distance;

[0008] When the fourth pin shaft approaches the first pin shaft, the first locking member sequentially has the first position, the second position and the third position along the direction approaching the folding member.

[0009] According to at least one embodiment of the present utility model, the foldable structure further includes a torsion spring, a second locking member hinged to the first locking member through a fifth pin, the second locking member having a force-applying portion and a hook portion located on a side of the force-applying portion facing the folding member;

[0010] The folding member is provided with a hook portion matching the hook portion, and the torsion spring is respectively connected to the second pin shaft and the force applying portion, and is used for stopping the hook portion in the hook portion.

[0011] According to at least one embodiment of the present utility model, the first locking member is further provided with a limiting portion parallel to the fifth pin shaft; the end surface of the free end of the hook portion away from the force-applying portion has a recessed portion;

[0012] When the first locking member is at the first position or the second position, the recessed portion stops at the limiting portion.

[0013] According to at least one embodiment of the present utility model, the side of the hook portion facing away from the third pin shaft has an opening for the hook section of the hook portion to enter, and the wall plate of the hook portion away from the folding member has a first inclined surface, and along the direction away from the third pin shaft, the first inclined surface extends obliquely from the outer surface of the wall plate to the inner wall of the wall plate to the opening;

[0014] The top end of the hook section has a second inclined surface matched with the first inclined surface.

[0015] According to at least one embodiment of the present utility model, the length of the portion of the connecting rod between the first pin shaft and the second pin shaft is adjustable.

[0016] According to at least one embodiment of the utility model, the foldable structure also includes a reminder device, a magnetic member is provided at the middle position of the first locking member, the folding member is provided with a magnetic switch coordinated with the magnetic member, and the magnetic switch is communicatively connected to the reminder device.

[0017] According to at least one embodiment of the present utility model, the magnetic switch is enclosed in a rubber sleeve; and / or,

[0018] The magnetic induction switch includes at least two magnetic induction elements.

[0019] According to at least one embodiment of the present utility model, the number of the connecting rods is two, and the two connecting rods are respectively connected to positions close to the ends of the first pin shaft and the second pin shaft.

[0020] According to at least one embodiment of the present utility model, the foldable structure further comprises a protective cover, and the protective cover is arranged at a position where the folding member contacts the first locking member and / or the second locking member;

[0021] The hook portion is arranged on the sheath.

[0022] In a second aspect, the utility model provides a foldable arm, comprising the foldable structure described in the first aspect, wherein the foldable member is an arm of a drone.

[0023] In a third aspect, the utility model provides a multi-rotor drone, comprising a fuselage and the foldable arms described in the second aspect;

[0024] The base is fixedly mounted on the fuselage, and a clamp ring is also arranged on the fuselage;

[0025] When the first locking member is in the first position, the machine arm is arranged in the clamping ring; when the first locking member is in the third position, the machine arm extends in a direction away from the machine body.

[0026] One or more technical solutions provided in the exemplary embodiments of the present utility model can achieve at least one of the following beneficial effects.

[0027] The foldable structure of the exemplary embodiment of the utility model includes a base and a folding member hinged on the base, the folding member can have two states: unfolded and folded, and when the folding member is in the unfolded state, the first locking member can lock the relative position of the folding member and the base. Specifically, the connecting rod between the first pin shaft and the second pin shaft is driven by the first locking member to rotate around the first pin shaft toward the folding member, and during the rotation process, the first locking member has a first position, a second position, and a third position in sequence. When the first locking member is in the first position, there is a first spacing between the first pin and the second pin, that is, the length of the connecting rod is the first spacing, and the first spacing is the length of the connecting rod in a relaxed state; when the first locking member rotates to the second position, the length of the connecting rod is the second spacing, at which time the length of the connecting rod reaches the maximum value, that is, the stress deformation of the connecting rod reaches the maximum, and this position is the dead point position; when the first locking member continues to rotate to the third position, the length of the connecting rod is the third spacing, at which time the length of the connecting rod is between the length of the connecting rod in a relaxed state and the length of the connecting rod in the dead point position, and the first locking member at this position still has a large force acting on the first pin and the fourth pin, so that the two cannot rotate, thereby locking the folding member to the base. Based on this, compared with the nut locking in the prior art, the foldable structure has the advantages of reliable use in complex environments and is easy to operate.

[0028] Furthermore, during the rotation of the folding member and the base, the first locking buckle will deform along with the rotation, and the folding member can be locked by pressing the free end of the first locking buckle without additional overlapping or moving, thereby making the operation quick. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] The accompanying drawings illustrate exemplary embodiments of the present invention and are used to explain the principles of the present invention together with the description thereof, wherein these drawings are included to provide a further understanding of the present invention, and the accompanying drawings are included in and constitute a part of this specification;

[0030] Figure 1 It is a schematic diagram of a three-dimensional exploded structure of a foldable structure according to an embodiment of the utility model;

[0031] Figure 2is a schematic cross-sectional structural diagram of a foldable structure according to an embodiment of the utility model;

[0032] Figure 3 yes Figure 2 A magnified schematic diagram of part A;

[0033] Figure 4 is a schematic diagram of the locking principle of the foldable structure according to the embodiment of the utility model;

[0034] Figure 5 It is a schematic diagram of the axonometric structure of the foldable structure (folding member in folded state) according to an embodiment of the utility model;

[0035] Figure 6 It is a schematic diagram of the axonometric structure of the foldable structure (transition state between folding and unfolding of the foldable member) according to an embodiment of the utility model;

[0036] Figure 7 It is a schematic diagram of the axonometric structure of the foldable structure (dead point position) according to the embodiment of the utility model;

[0037] Figure 8 It is a schematic diagram of the axonometric structure of the foldable structure (locked state) according to an embodiment of the utility model.

[0038] Figure numerals: 11, first locking member; 12, second locking member; 121, hook portion; 122, force-applying portion; 13, limiting portion; 14, hook section; 141, second inclined surface; 15, magnetic member; 20, base; 30, connecting rod; 40, folding member; 41, magnetic switch; 51, first pin shaft; 52, second pin shaft; 53, third pin shaft; 54, fourth pin shaft; 55, fifth pin shaft; 60, torsion spring; 70, hook portion; 71, first inclined surface; 80, snap ring. DETAILED DESCRIPTION

[0039] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0040] With the continuous development of science and technology, the application of drone technology has been greatly improved. There are more and more types of drones, and the usage environments are becoming more diverse. The larger the drone is, the more inconvenient it is to carry, so the drone needs to be disassembled or folded.

[0041] In the related art, the folding structure of the multi-rotor drone arm is generally locked with a nut or a single buckle. In the case of locking with a nut, dust and mud will affect the use of the nut in a complex environment, making it difficult to turn the nut, resulting in a failure to tighten or unscrew it; at the same time, the tightening of the nut is affected by the user's arm strength, and different people have different tightening degrees, resulting in inconsistent vibration of the drone body and affecting the flight control attitude control. The locking method with a single buckle is easy to loosen or not locked at all, and has poor reliability.

[0042] The foldable structure provided by the exemplary embodiment of the utility model forms a four-bar mechanism similar to that hinged together in sequence between the base, the locking member, the connecting rod and the first locking member. By making the deformation of the connecting rod in the locking position greater than that in the relaxed position and less than that in the dead point position, the various pin shafts cannot rotate, thereby locking the folding member, which is convenient and quick.

[0043] It should be noted that the foldable structure of the utility model can be used not only for locking the arms of a multi-rotor drone, but also for any other parts to be locked that need to be folded and unfolded.

[0044] Figure 1 It is a schematic diagram of a three-dimensional exploded structure of a foldable structure according to an embodiment of the utility model; Figure 4 is a schematic diagram of the locking principle of the foldable structure according to the embodiment of the utility model;

[0045] Figure 6 Schematic diagram of the isometric structure of the foldable structure (transition state between folding and unfolding of the foldable member) according to the embodiment of the utility model. Figure 1 , Figure 4 and Figure 6 As shown, the foldable structure provided by the exemplary embodiment of the utility model includes a base 20, a first locking member 11, a connecting rod 30 and a folding member 40 hinged to the base 20 through a third pin 53; one end of the first locking member 11 is hinged to the folding member 40 through a fourth pin 54; one end of the connecting rod 30 is hinged to the base 20 through a first pin 51, and the other end is hinged to the middle part of the first locking member 11 through a second pin 52; the spacings between the first pin 51 and the second pin 52 are respectively a first spacing L1 corresponding to the first position I, a second spacing L2 corresponding to the second position II, and a third spacing L3 corresponding to the third position III; wherein the second spacing L2 is the maximum spacing, and the third spacing L3 is greater than the first spacing L1 and less than the second spacing L2; when the fourth pin 54 approaches the first pin 51, the first locking member 11 has a first position I, a second position II and a third position III in sequence along the direction approaching the folding member 40.

[0046] In actual application, when the folding member 40 is in the unfolded state on the base 20 and the first locking member 11 is required to lock the folding member 40 to this position, the position of the fourth pin 54 is already in the vicinity of the first pin 51, and the first locking member 11 is in the first position I. At this time, the first locking member 11 is in a loose and unlocked state, the first pin 51 and the fourth pin 54 are both rotatable in the plane, and the connecting rod 30 connected between the first pin 51 and the second pin 52 is not subjected to force, and the length of the connecting rod 30 is the first spacing L1, for example, L1 is 81.69 mm.

[0047] When the free end of the first locking member 11 is pressed by the operator, the free end of the first locking member 11 rotates toward the folding member 40, that is, rotates from the first position I to the second position II, and the distance between the first pin 51 and the second pin 52 is the second spacing L2, for example, L2 is 82.04 mm, which is greater than the effective length L1 of the connecting rod 30. Exemplarily, the connecting rod 30 can be a stainless steel rod. Since the connecting rod 30 cannot provide more effective length, the first locking member 11, the first pin 51 and the end of the folding member 40 are deformed by compressive stress, and the connecting rod 30 is deformed by tensile stress. The total deformation is 0.35 mm, which is within the recoverable deformation range. The stress of the connecting rod 30 in the second position II reaches the maximum value, that is, the distance L2 between the first pin 51 and the second pin 52 reaches the maximum value. At this time, the first locking member 11 is at the dead point.

[0048] When the free end of the first locking member 11 continues to be pressed by the operator, the free end of the first locking member 11 continues to rotate toward the folding member 40, that is, from the second position II to the third position III, and the distance between the first pin shaft 51 and the second pin shaft 52 is the third spacing L3, for example, L3 is 81.89 mm, that is, in this process, the connecting rod 30 releases 0.15 mm of internal stress deformation, and L3 is still greater than 81.69 mm of the effective length L1 of the connecting rod 30. Therefore, in the third position III, the first locking member 11 still has a large force acting on the first pin shaft 51 and the fourth pin shaft 54, so that the first pin shaft 51 and the fourth pin shaft 54 ​​cannot rotate, thereby locking the folding member 40.

[0049] Exemplarily, when the first locking member 11 is in the third position III, the distance d1 between the fourth pin 54 and the second pin 52 is 66 mm, and the distance d2 between the first pin 51 and the fourth pin 54 is 16.04 mm.

[0050] Since the first locking member 11 releases the internal stress when rotating from the second position II to the third position III, when rotating from the third position III back to the second position II, an external force is required to pull the free end of the first locking member 11, and work is done on the first locking member 11 to complete the above action. Therefore, when there is no external force acting on the free end of the first locking member 11, it can be ensured that the first locking member 11 is in the third position III and does not move, that is, the folding member 40 and the base 20 are in a locked state. Based on this, compared with the locking method of nuts, etc., the foldable structure of the exemplary embodiment of the utility model can be used in complex environments. At the same time, since the locking degree depends on the stress deformation of the connecting rod 30, the locking degree will not be different due to different personnel, and the consistency is good. For example, when the foldable structure is used to lock the arms of a drone, the locking degrees of each arm are consistent, and the vibration of the drone fuselage is the same, which will not affect the flight control attitude. Furthermore, compared with the locking of a single buckle, it is not easy to get loose or not get stuck, and the reliability and safety are high.

[0051] Figure 2 is a schematic cross-sectional structural diagram of a foldable structure according to an embodiment of the utility model; Figure 3 yes Figure 2 A magnified schematic diagram of part A. Figure 2 and Figure 3 As shown, the foldable structure also includes a torsion spring 60, a second locking member 12 hinged to the first locking member 11 through a fifth pin shaft 55, the second locking member 12 has a force-applying portion 122 and a hook portion 121 located on the side of the force-applying portion 122 facing the folding member 40; the folding member 40 is provided with a hook portion 70 matching the hook portion 121, and the torsion spring 60 is respectively connected to the second pin shaft 52 and the force-applying portion 122, and is used to stop the hook portion 121 in the hook portion 70.

[0052] Exemplarily, the fifth pin 55 is provided on the first locking member 11 and is located on the side of the second pin 52 away from the fourth pin 54. One end of the torsion spring 60 abuts against the second pin 52 and the other end abuts against the force-applying portion 122, so that the force-applying portion 122 has a force to rotate around the fifth pin 55 toward the folding member 40. When the first locking member 11 rotates from the second position II to the third position III, the hook portion 121 of the second locking member 12 also enters the hook portion 70 of the folding member 40 and is locked under the action of the torsion spring 60, thereby realizing a secondary locking safety setting to prevent the entire foldable structure from loosening.

[0053] In some embodiments, in order to prevent the second locking member 12 from rotating excessively around the fifth pin 55 under the action of the torsion spring 60 and failing to match and lock with the hook portion 70, a limiting portion 13 parallel to the fifth pin 55 is further provided on the first locking member 11. The end surface of the free end of the hook portion 121 away from the force-applying portion 122 has a recessed portion. When the first locking member 11 is in the first position I and the second position II, the recessed portion abuts against the limiting portion 13 to prevent the second locking member 12 from rotating excessively. Then, when the first locking member 11 is in the third position III, the hook portion 121 of the second locking member 12 can be matched with the hook portion 70 and clamped together to complete the locking. Exemplarily, the limiting portion 13 is a rivet provided on the first locking member 11, and the fifth pin 55 can also be a rivet.

[0054] For example, Figure 3 As shown, in order to make the hook part 121 and the hook part 70 smoothly combined when the first lock member 11 is subjected to a pressing force, the hook part 70 has an opening for the hook section 14 to enter on the side away from the third pin shaft 53, and the wall plate of the hook part 70 away from the folding member 40 has a first inclined surface 71, and along the direction away from the third pin shaft 53, the first inclined surface 71 extends obliquely from the outer surface of the wall plate to the inner wall of the wall plate to the opening; the top end of the hook section 14 of the hook part 121 has a second inclined surface 141 that matches the first inclined surface 71.

[0055] When the first locking member 11 is in the third position III, the first inclined surface 71 and the second inclined surface 141 can be arranged substantially in parallel. When the first locking member 11 rotates from the second position II to the third position III, the second inclined surface 141 of the hook section 14 contacts the first inclined surface 71 of the hook portion 70, so that the hook section 14 smoothly slides into the opening of the hook portion 70 and enters the interior, thereby completing the secondary locking.

[0056] Furthermore, when the folding member 40 needs to be unlocked, the force-applying portion 122 of the second locking member 12 can be pulled to simultaneously pull the free end of the first locking member 11, thereby opening the foldable structure in one action. On the other hand, when the folding member 40 needs to be locked, the free end of the first locking member 11 can be pressed to lock the first locking member 11 and the second locking member 12 at the same time, so the operation process is convenient and quick.

[0057] like Figure 4As shown, the magnitude of the locking force of the folding member 40 is derived from the difference between the second spacing L2 and the effective length L1 of the connecting rod 30 when the first locking member 11 is in the second position II. The greater the difference, the greater the internal stress of the first locking member 11 in the third position III, that is, the greater the locking force of the folding member 40. Therefore, the length of the portion of the connecting rod 30 between the first pin shaft 51 and the second pin shaft 52 can be set to be adjustable, and then the locking force can be adjusted.

[0058] For example, Figure 1 As shown, the connecting rod 30 can be a stainless steel stud, one end of which passes through the first pin shaft 51 and is connected to the first pin shaft 51 at the end by a screw with a nut, and the other end passes through the second pin shaft 52 and is locked at the end with a lock nut. Based on this, by adjusting the position of the end of the lock nut on the stainless steel stud, the effective length L1 of the connecting rod 30 between the first pin shaft 51 and the second pin shaft 52 can be easily adjusted.

[0059] Exemplarily, there are two connecting rods 30 , and each connecting rod 30 is connected to a position close to the end of the first pin shaft 51 and the second pin shaft 52 . Figure 5 Schematic diagram of the foldable structure (folding state of the folding member) according to the embodiment of the utility model. Figure 5 and Figure 6 As shown, both ends of the first pin shaft 51 are supported between the two support seats of the base 20, and the second pin shaft 52 passes through the first locking member 11, and the two ends extend outward respectively. The two connecting rods 30 are connected to the first pin shaft 51 at the position between the two support seats, and the end of the connecting rod 30 located on the side of the first pin shaft 51 away from the second pin shaft 52 is provided with an M4 screw for connection, and the nut of the screw can also play a limiting role to prevent the first pin shaft 51 from falling off from the shaft holes of the two support seats. The other ends of the two connecting rods 30 are connected to the part of the second pin shaft 52 exposed to the first locking member 11 through nuts.

[0060] It should be noted that the fourth pin shaft 54 ​​connects the first locking component 11 and the folding component 40. A bracket protruding from the surface is also provided on the folding component 40 facing the first locking component 11. The fourth pin shaft 54 ​​passes through the bracket and is connected to the first locking component 11 to form a hinged connection structure.

[0061] Considering the safety of the foldable structure, the foldable structure of the present utility model further includes a reminder device, such as Figure 1-Figure 3 As shown, a magnetic member 15 is provided in the middle of the first locking member 11 , and a magnetic switch 41 coordinated with the magnetic member 15 is provided on the folding member 40 , and the magnetic switch 41 is communicatively connected with the reminding device.

[0062] Exemplarily, the magnetic switch 41 is fixed to the magnetic switch bracket by means of a snap-fit, and the magnetic switch wraps the PCB board by means of a rubber sleeve to achieve a waterproof effect; the PCB board in the magnetic switch 41 contains multiple magnetic sensing components to provide redundant sensing function; the magnetic switch bracket is fixed to the inner side of the folding part 40 by means of a screw connection, for example, fixed to the cavity wall of the hollow machine arm.

[0063] Taking the folding part 40 as an example of the arm of the drone, when the first locking part 11 is in the third position III, the magnetic part 15 of the first locking part 11, such as a magnet bonded to the first locking part 11 by glue, corresponds to the magnetic induction component of the magnetic switch 41, and the magnetic induction component is in a conductive state under the influence of the magnetic field, and then outputs a signal to the drone control unit to remind the user that the arm has been locked; if the arm is not locked, the magnetic part 15 is far away from the magnetic induction component, and the magnetic induction component cannot work. At this time, the circuit is in an open circuit, and this state is fed back to the drone control unit to remind the user that the arm is not locked and take-off is prohibited to ensure safety.

[0064] In some embodiments, Figure 1 and Figure 6 As shown, the foldable structure also includes a sheath, which is arranged at the position where the folding member 40 contacts the first locking member 11 and / or the second locking member 12; the hook portion 70 is arranged on the sheath. The sheath can be a metal sheath, which is sleeved on the folding member 40 and fixed by screws. For example, the folding member 40 is also provided with a limiting hole corresponding to the sheath to limit the position of the sheath. The setting of the sheath can prevent the first locking member 11 or the second locking member 12 from scratching the folding member 40 when pressing and locking, so as to avoid damaging the overall structural strength. For example, the above-mentioned hook portion 70 is arranged on the sheath for easy maintenance and replacement.

[0065] The exemplary embodiment of the present utility model further provides a foldable machine arm, including the foldable structure of the above embodiment, wherein the folding member 40 is the machine arm of the drone.

[0066] The exemplary embodiment of the utility model further provides a multi-rotor drone, comprising a fuselage and the foldable arms of the above embodiment; illustratively, the above drone may be a multi-rotor drone, or may be other drones with a folding structure. Figure 5 As shown, the base 20 is fixed on the fuselage of the drone, and a snap ring 80 is also provided on the fuselage; when the first locking member 11 is in the first position, the arm is arranged in the snap ring 80; when the first locking member 11 is in the third position, the arm extends in a direction away from the fuselage.

[0067] When the first locking member 11 is in the first position, that is, when the connecting rod 30 is not subjected to internal stress, the machine arm can be folded and clamped in the clamp ring 80. At this time, the machine arm is in a folded state and cannot rotate, which can prevent swinging during transportation. At this time, the first foldable structure is in the maximum open state; move the machine arm to rotate as shown in FIG. Figure 6 As shown, the first locking member 11 rotates accordingly until Figure 7 The status shown, Figure 7 This is a schematic diagram of the foldable structure (dead point position) according to the embodiment of the utility model. In this process, the foldable structure will rotate and deform, and there is no need to overlap or move the first locking member 11, so as to achieve quick locking. Press the first locking member 11 to lock the machine arm. Figure 8 The status shown, Figure 8 This is a schematic diagram of the axonometric structure of the foldable structure (locked state) according to the embodiment of the utility model. Figure 8 In the state shown, the first locking member 11 can be pulled in the reverse direction to complete the unlocking, and then the machine arm can be rotated, folded and clamped in the clamping ring 80.

[0068] Exemplarily, when the machine arm is folded, the position of the snap ring 80 can be set at a position corresponding to the cover of the machine arm, and the snap ring 80 is clamped on the cover to avoid scratching the machine arm.

[0069] Compared with the prior art, the advantages of the foldable arms and drone of the exemplary embodiment of the utility model are the same as those of the above-mentioned foldable structure, which will not be repeated here.

[0070] Those skilled in the art should understand that the above embodiments are only for the purpose of clearly illustrating the present invention, and are not intended to limit the scope of the present invention. For those skilled in the art, other changes or modifications may be made based on the above disclosure, and these changes or modifications are still within the scope of the present invention.

Claims

1. A foldable structure, characterized in that: The foldable structure comprises a base, a first locking member, a connecting rod, and a folding member hinged to the base via a third pin shaft; One end of the first locking member is hinged to the folding member through a fourth pin; one end of the connecting rod is hinged to the base through a first pin, and the other end is hinged to the middle part of the first locking member through a second pin; The distances between the first pin shaft and the second pin shaft are respectively a first distance corresponding to the first position, a second distance corresponding to the second position, and a third distance corresponding to the third position; wherein the second distance is the maximum distance, and the third distance is greater than the first distance and less than the second distance; When the fourth pin shaft approaches the first pin shaft, the first locking member sequentially has the first position, the second position and the third position along the direction approaching the folding member.

2. The foldable structure according to claim 1, characterized in that: The foldable structure further includes a torsion spring, a second locking member hinged to the first locking member via a fifth pin, the second locking member having a force-applying portion and a hook portion located on a side of the force-applying portion facing the foldable member; The folding member is provided with a hook portion matching the hook portion, and the torsion spring is connected to the second pin shaft and the force applying portion, and is used for stopping the hook portion in the hook portion.

3. The foldable structure according to claim 2, characterized in that: The first locking member is also provided with a limiting portion parallel to the fifth pin shaft; the end surface of the free end of the hook portion away from the force-applying portion has a recessed portion; When the first locking member is at the first position or the second position, the recessed portion stops at the limiting portion.

4. The foldable structure according to claim 2, characterized in that: The hook portion has an opening on one side away from the third pin shaft for the hook section of the hook portion to enter, and the hook portion has a first inclined surface on the wall plate away from the folding member, and the first inclined surface extends obliquely from the outer surface of the wall plate to the inner wall of the wall plate to the opening along the direction away from the third pin shaft; The top end of the hook section has a second inclined surface matched with the first inclined surface.

5. The foldable structure according to claim 1, characterized in that: The length of the portion of the connecting rod between the first pin shaft and the second pin shaft is adjustable.

6. The foldable structure according to claim 1, characterized in that: The foldable structure also includes a reminder device. A magnetic piece is provided at the middle position of the first locking piece. The folding piece is provided with a magnetic switch coordinated with the magnetic piece. The magnetic switch is communicatively connected with the reminder device.

7. The foldable structure according to claim 6, characterized in that: The magnetic switch is enclosed in a rubber sleeve; and / or, The magnetic induction switch includes at least two magnetic induction elements.

8. The foldable structure according to claim 1, characterized in that: The number of the connecting rods is two, and the two connecting rods are respectively connected to positions close to the ends of the first pin shaft and the second pin shaft.

9. A foldable machine arm, characterized in that: It comprises the foldable structure according to any one of claims 1 to 8, wherein the foldable part is an arm of a drone.

10. A multi-rotor drone, characterized in that: It comprises a body and the foldable arm as claimed in claim 9; The base is fixedly mounted on the fuselage, and a clamp ring is also arranged on the fuselage; When the first locking member is in the first position, the machine arm is arranged in the clamping ring; when the first locking member is in the third position, the machine arm extends in a direction away from the machine body.

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