Folding arm locking device, folding arm and multi-rotor unmanned aerial vehicle

Abstract

The utility model provides a folding machine arm locking device, a folding machine arm and a multi-rotor unmanned aerial vehicle, relates to the technical field of locking, and aims to solve the technical problem that safety risks are generated due to the fact that the folding machine arm is not locked in place. The folding machine arm locking device comprises a sensing assembly, at least one sensing block, a support part, a sleeve and a controller in communication connection with the sensing assembly. The sleeve can be locked to the support part through a locking structure of the sleeve. The sensing assembly is arranged on one of the support part and the sleeve, the sensing block is arranged on the other one of the support part and the sleeve, and when the distance between the sensing assembly and any one of the sensing blocks is smaller than or equal to the sensing distance, the sensing assembly sends a locking in-place signal to the controller. The locking device of the folding machine arm is high in locking in-place detection reliability.

Description

Technical Field

[0001] The utility model relates to the technical field of unmanned aerial vehicles, and in particular to a folding machine arm locking device, a folding machine arm, and a multi-rotor unmanned aerial vehicle. Background Art

[0002] The use environments of unmanned aerial vehicles are diverse, and their size is getting larger and larger. For portability, they need to be disassembled or folded. In related technologies, for example, a folding arm requires a locking structure to lock it, but there is a problem that the operator forgets to lock it, or the locking is not in place, resulting in the risk of damage to the unmanned aerial vehicle. Utility Model Content

[0003] The purpose of the utility model is to provide a folding arm locking device, a folding arm, and a multi-rotor UAV, so as to solve the technical problem of safety risks caused by the folding arm not being locked in place.

[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 folding machine arm locking device, comprising a sensing component, at least one sensing block, a support portion, a sleeve, and a controller in communication with the sensing component, wherein the sleeve can be locked to the support portion through its locking structure;

[0006] The sensing assembly is arranged on one of the support portion and the sleeve, and the sensing block is arranged on the other of the support portion and the sleeve;

[0007] When the distance between the sensing component and any one of the sensing blocks is less than or equal to the sensing distance, the sensing component sends a locking signal to the controller.

[0008] According to at least one embodiment of the present utility model, the sensing component is arranged on the support portion, and the at least one sensing block is arranged on the sleeve;

[0009] There are multiple sensing blocks, and the sensing blocks are evenly distributed along the circumference of the end surface of the sleeve close to the support portion;

[0010] The sensing component is opposite to the end surface of the sleeve facing the supporting portion.

[0011] According to at least one embodiment of the present utility model, the sleeve has an internal threaded portion;

[0012] The support portion has a first external thread section, which forms at least a portion of the external thread portion that cooperates with the internal thread portion;

[0013] The number of thread lines of the internal thread portion is multiple;

[0014] The advancing distance of the sleeve when rotating through the first preset angle is greater than the sensing distance between the sensing component and the corresponding sensing block.

[0015] According to at least one embodiment of the present utility model, when the distance between the sensing component and one of the multiple sensing blocks is less than or equal to the sensing distance, and the circumferential phase difference between the sensing component and one of the multiple sensing blocks is less than or equal to a second preset angle, the sensing component sends a locking signal to the controller.

[0016] According to at least one embodiment of the present utility model, the sleeve further has a tapered cavity adjacent to the internal threaded portion;

[0017] The seat portion further comprises a first tapered section adjacent to the first external thread section, wherein the first tapered section forms at least a portion of the tapered portion cooperating with the tapered cavity;

[0018] A first annular groove is further provided at a portion of the internal thread portion close to the tapered cavity, and a first rubber ring is provided in the first annular groove;

[0019] When the sleeve is in place, the first rubber ring is located on a side of the tapered portion close to the external threaded portion.

[0020] According to at least one embodiment of the utility model, the conical cavity is further provided with a second annular groove, the second annular groove is close to the end surface of the sleeve away from the support portion, the second annular groove is provided with a second rubber ring, and the second rubber ring is interference fit with the folding machine arm.

[0021] According to at least one embodiment of the present utility model, the sensing assembly includes a Hall switch assembly, and the Hall switch assembly includes a plurality of Hall elements, and the plurality of Hall elements are all opposite to the end surface of the sleeve close to the support portion;

[0022] The sensing block includes a magnetic block.

[0023] According to at least one embodiment of the present utility model, the folding machine arm locking device further includes a reminder device, and the sensing component is communicatively connected with the reminder device.

[0024] In a second aspect, the utility model provides a folding machine arm, comprising the folding machine arm locking device according to the first aspect, wherein the folding machine arm has a second external thread segment, and the first external thread segment and the second external thread segment form an external thread portion that cooperates with the internal thread portion;

[0025] The folder arm has a second tapered section adjacent to the second external thread section, and the first tapered section and the second tapered section form a tapered portion that matches the tapered cavity.

[0026] In a third aspect, the utility model provides a multi-rotor UAV, comprising the folding arm described in the second aspect, wherein the folding arm is arranged on the fuselage of the UAV through the support portion.

[0027] Among the one or more technical solutions provided in the exemplary embodiments of the present utility model, at least one of the following beneficial effects can be achieved.

[0028] The folding machine arm locking device of the exemplary embodiment of the utility model comprises a support part, a sleeve and a locking structure. The sleeve can be locked to the support part by the locking structure, and the sensing component and the sensing block are configured so that when the sleeve is locked in place, the distance between one and only one sensing block and the sensing component is within the sensing distance (that is, the distance between the sensing component and the sensing block is less than or equal to the sensing distance). In this way, it is ensured that a corresponding locking signal is generated when the locking is in place, and the locking signal is not generated erroneously / redundantly before the locking is in place, that is, false alarms (including no alarms) can be avoided, and accurate locking reminders are provided to the operator to ensure safety. 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 This is a schematic diagram of the axonometric structure of a drone arm in an unfolded state according to an embodiment of the utility model;

[0031] Figure 2 It is a schematic diagram of the three-dimensional exploded structure of the folding machine arm locking device according to the embodiment of the utility model;

[0032] Figure 3 It is a schematic cross-sectional view of a folding machine arm locking device according to an embodiment of the utility model;

[0033] Figure 4 It is a schematic diagram of the axonometric structure of the support portion according to an embodiment of the utility model;

[0034] Figure 5 It is a schematic diagram of a three-dimensional exploded structure of a support portion and a sensing component according to an embodiment of the utility model;

[0035] Figure 6 is a schematic diagram of the isometric structure of a sensing assembly according to an embodiment of the utility model;

[0036] Figure 7 It is a schematic diagram of the isometric structure of the folding machine arm and the sleeve (unlocked state) according to the embodiment of the utility model;

[0037] Figure 8 It is a schematic diagram of a three-dimensional exploded structure of a folding machine arm and a sleeve according to an embodiment of the utility model;

[0038] Fig. 9 It is a schematic diagram of a three-dimensional exploded structure of a sleeve according to an embodiment of the utility model;

[0039] Fig.10 It is a schematic cross-sectional structure diagram of a sleeve according to an embodiment of the utility model.

[0040] Figure numerals: 10, folding arm; 11, second external thread section; 12, second conical section; 13, hinged portion; 20, sleeve; 21, internal thread section; 211, first annular groove; 212, first rubber ring; 22, conical cavity; 221, second annular groove; 222, second rubber ring; 30, support portion; 31, first external thread section; 32, first conical section; 41, inner waterproof ring; 42, outer waterproof ring; 51, upper shell; 52, lower shell; 61, sensing block; 62, sensing assembly; 621, Hall element; 622, Hall switch board. DETAILED DESCRIPTION

[0041] 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.

[0042] 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 use environment is becoming more and more diverse. The larger the drone is, the more inconvenient it is to carry, so the drone needs to be disassembled or folded. During the folding or unfolding process, there is a situation where the locking is not in place, affecting flight safety.

[0043] In the related art, the folding arms of multi-rotor drones are generally locked with nuts or locks. The interference feel caused by the snapping of the nut is used to determine whether the lock or nut is in place. There are cases where the operator forgets to lock it; at the same time, the snapping or interference feel is reduced or disappears after repeated use, making it impossible to determine whether it is locked in place. An icon indicates that the folding arm locking device is locked in place. However, there are cases where the locking process is forgotten, the icon is not visible due to a bad angle, and the icon is unclear after long-term wear, making it impossible to determine whether the arm nut is in place, which is not conducive to safe flight.

[0044] The folding arm locking device provided by the exemplary embodiment of the utility model respectively arranges a sensing block and a corresponding sensing component on the sleeve and the support part of the folding arm, and configures the sensing component and the sensing block so that, when the sleeve is locked in place, the distance between one and only one sensing block and the sensing component is within the sensing distance (that is, the distance between the sensing component and the sensing block is less than or equal to the sensing distance). In this way, it is ensured that the corresponding locking-in-place signal is generated when the locking is in place, and the locking-in-place signal is not generated erroneously / unnecessarily before the locking is in place, that is, false alarms (including no alarms) can be avoided, and accurate locking-in-place reminders are provided to the operator to ensure safety.

[0045] It should be noted that the folding arm locking device of the utility model can be used not only for the arms of multi-rotor drones, but also for any other folding structures that need to be folded and unfolded.

[0046] Figure 1 1 is a schematic diagram of the axonometric structure of the drone arm in the unfolded state according to the embodiment of the utility model. Figure 1 As shown, when the folding arm 10 of the drone is in the unfolded state, the folding arm 10 and the support portion 30 are locked by the sleeve 20 sleeved on the folding arm 10, so that the folding arm 10 and the support portion 30 are kept in a closed position. Figure 1 The position shown in the figure prevents the folding arm 10 from folding again, causing the drone to crash or other accidents.

[0047] Figure 2 Schematic diagram of the three-dimensional exploded structure of the folding machine arm locking device according to the embodiment of the utility model. Figure 2 As shown, at the portion where the support portion 30 is connected to the drone body, an upper shell 51 and a lower shell 52 are respectively covered in the upper and lower directions, and the upper shell 51 and the lower shell 52 are respectively fixed to the support portion 30 by M4 screws.

[0048] Figure 7 It is a schematic diagram of the isometric structure of the folding machine arm and the sleeve (unlocked state) according to the embodiment of the utility model; Figure 8 is a schematic diagram of a three-dimensional exploded structure of a folding machine arm and a sleeve according to an embodiment of the utility model; Figure 2 , Figure 7 and Figure 8 As shown, in the folding machine arm locking device provided by the exemplary embodiment of the utility model, the sensing block 61 is arranged on the sleeve 20, and the sensing component 62 is arranged on the support portion 30. Exemplarily, the sensing block 61 can also be arranged on the support portion 30, and the sensing component 62 is arranged on the sleeve 20.

[0049] In actual application, when the folding machine arm 10 and the support part 30 are in an unlocked state, the sleeve 20 is sleeved near the middle of the folding machine arm 10, and the distance between the sensing block 61 and the support part 30 is relatively far, and the sensing component 62 provided on the support part 30 cannot sense the sensing block 61, that is, the sensing component 62 does not generate a signal. When the folding machine arm 10 and the support part 30 are in an unfolded state and need to be locked, the sleeve 20 moves to the hinged position of the folding machine arm 10 and the support part 30. When the sleeve 20 is locked in place, the distance between the sensing component 62 and the corresponding sensing block 61 on the sleeve 20 reaches within the sensing distance. The sensing distance allows the sensing component 62 to sense the sensing block 61 and send a locking signal to the controller. The controller reminds the operator to lock in place, and then safe operation can be performed.

[0050] Exemplarily, when the sensing component 62 cannot sense the sensing block 61, the sensing component 62 and the controller are in an open circuit state, and the controller determines that the folding arm 10 is in an unlocked and unfolded state, and prohibits the operation to ensure safety.

[0051] For example, when the folding arm 10 is the arm of a drone, when the controller receives the locking signal from the sensing component 62, it determines that the arm has been unfolded and locked in place, and the controller transmits the information to the remote control, reminding the operator to lock it through voice and pictures; and when the locking signal from the sensing component 62 is not received, the drone is prohibited from taking off, thereby ensuring the safe flight of the drone. Based on this, the folding arm locking device provided by the exemplary embodiment of the utility model can avoid safety problems caused by forgetting to lock in the prior art; because the sensing component and the sensing block do not contact each other, there is no situation where it is impossible to judge whether it is locked due to wear after multiple uses.

[0052] Considering that when the folder arm 10 is locked, the sensing component 62 can reliably sense the sensing block 61. There are multiple sensing blocks 61, and the multiple sensing blocks 61 are evenly distributed along the circumference of the end surface of the sleeve 20 close to the support part 30; the sensing component 62 is opposite to the end surface of the sleeve 20 facing the support part 30.

[0053] like Figure 8 As shown, the number of the sensing blocks 61 can be multiple, for example, the sensing blocks 61 can be 2, 3, 4 or more. The following is an example of the number of sensing blocks 61 being 4, and the 4 sensing blocks 61 are distributed at 90 degrees along the end surface of the sleeve 20. The sensing block 61 can protrude from the outer peripheral surface of the sleeve 20 and be flush with the end surface of the sleeve 20 close to the support portion 30, so that the distance between the sleeve 20 and the sensing component 62 is truly reflected by the sensing block 61. When any one of the 4 sensing blocks 61 is opposite to the sensing component 62 and is within the sensing distance, the sensing component 62 can generate a locking signal to the controller.

[0054] Exemplarily, the advance distance of the sleeve 20 rotating at the first preset angle is greater than the sensing distance between the sensing component 62 and the corresponding sensing block 61. In this embodiment, the sleeve 20 can obtain a larger advance distance with a smaller number of rotations, thereby avoiding the impact on the use feel due to the need to rotate the sleeve 20 too many times, and at the same time improving the efficiency of locking in place. Exemplarily, the first preset angle can be 30°, 45°, 60° or 90°, etc.

[0055] For example, the sensing component 62 can sense the sensing block 61 at a sensing distance of 2mm, and the number of threads of the internal thread portion 21 of the sleeve 20 is multiple, for example, it can be 2, 3, 4 or more, and the following is an example of a four-thread thread. When the internal thread portion 21 of the sleeve 20 is a four-thread thread, the sleeve 20 rotates 90° and advances 6mm, which is much larger than the sensing distance of 2mm. That is, when the distance between the sleeve 20 and the sensing component 62 is about to be locked, the sleeve has two positions before and after rotating 90°, wherein the distance between it and the sensing component 62 before rotating 90° is greater than the sensing distance, and the sensing component 62 cannot sense the corresponding sensing block 61 at this time; and after rotating 90°, the distance between it and the sensing component 62 must be less than the sensing distance, so that the sensing component 62 senses the corresponding sensing block 61 to send a locking signal to the controller.

[0056] Further, when the distance between the sensing component 62 and one of the plurality of sensing blocks 61 is less than or equal to the sensing distance, and the circumferential phase difference between the sensing component 62 and one of the plurality of sensing blocks 61 is less than or equal to the second preset angle, the sensing component 62 sends a locking signal to the controller. The value range of the second preset angle can be ±4°, ±5°, ±6°, ±7°, etc.

[0057] When the sensing angle is too large, for example, greater than the second preset angle, assuming ±10°, that is, when the circumferential phase difference between the sensing component 62 and the corresponding sensing block 61 of the sleeve 20 is ±10°, the sensing component 62 has already sensed the sensing block 61 and sent a locked signal to the controller. In fact, at this time, since the phase difference is ±10°, the sleeve 20 has a large phase difference with the circumferential position of the rotation position, which is not enough to lock, that is, the sensing component 62 has sent an erroneous locked signal before it is locked in place. For example, when the circumferential sensing angle between the sensing component 62 and the sensing block 61 is ±6°, such a small sensing angle range can prevent the misjudgment of not locking in place.

[0058] Figure 4 It is a schematic diagram of the axonometric structure of the support portion according to an embodiment of the utility model; Figure 5 Schematic diagram of the three-dimensional exploded structure of the support part and the sensing component according to the embodiment of the utility model. Figure 4 and Figure 5 As shown, the sensing component 62 may also protrude from the outer circumferential surface of the support portion 30 , and its end surface facing the sleeve 20 is just opposite to the corresponding sensing block 61 , so as to sense the sensing block 61 more accurately.

[0059] In some embodiments, the sleeve 20 may be locked with the support portion 30 and the folder arm 10 in the unfolded state by means of interference fit.

[0060] In other embodiments, Fig. 9 It is a schematic diagram of a three-dimensional exploded structure of a sleeve according to an embodiment of the utility model; Fig.10 Schematic diagram of the cross-sectional structure of the sleeve according to the embodiment of the utility model. Fig. 9 and Fig.10 As shown, the sleeve 20 has an internal threaded portion 21; the support portion 30 has a first external threaded segment 31, and the folding machine arm 10 has a second external threaded segment 11. The first external threaded segment 31 and the second external threaded segment 11 form an external threaded portion that cooperates with the internal threaded portion 21; the number of thread lines of the internal threaded portion 21 is multiple.

[0061] Exemplarily, the second external thread section 11 on the folding arm 10 can be a thread directly formed on half of the outer circumferential surface of the folding arm 10; or it can be a separate sleeve with half a thread that is sleeved and bonded to the end of the folding arm 10 and then fixed to the folding arm 10 with rivets.

[0062] Exemplarily, the support portion 30 has a first external thread section 31 which is also a sleeve with half a thread. When the folding arm 10 rotates from a folded state to an unfolded state, the portion of the folding arm 10 not covered by the second external thread section 11 enters into the sleeve of the first external thread section 31 of the support portion 30. At this time, the first external thread section 31 and the second external thread section 11 together form a complete external thread section, and the internal thread section 21 of the sleeve 20 rotates into the external thread section to form a lock between the support portion 30 and the folding arm 10, and enables the sensing component 62 to sense the sensing block 61 at a predetermined position, that is, the sleeve 20 has been locked in place.

[0063] Exemplarily, the number of threads of the internal thread portion 21 of the sleeve 20 is multiple, for example, a four-thread thread. Compared with a single-thread thread, a four-thread thread can make the thread have a larger pitch. Exemplarily, the pitch of the sleeve 20 is 24mm, that is, the sleeve 20 can move forward 24mm after one rotation, which can avoid affecting the use feeling due to too many rotations; the internal thread portion 21 of the sleeve 20 can be a tapered thread with a taper of 1°, which can be tightened more conveniently, and the taper makes it easier to hold the folding machine arm 10 and the support portion 30.

[0064] like Figure 3As shown, the sleeve 20 also has a tapered cavity 22 adjacent to the internal threaded portion 21; the support portion 30 also has a first tapered section 32 adjacent to the first external threaded section 31, and the folding machine arm 10 has a second tapered section 12 adjacent to the second external threaded section 11, and the first tapered section 32 and the second tapered section 12 form a tapered portion that cooperates with the tapered cavity 22; a first annular groove 211 is also provided at a portion of the internal threaded portion 21 close to the tapered cavity 22, and a first rubber ring is provided in the first annular groove 211; when the sleeve 20 is in place, the first rubber ring is located on one side of the tapered portion close to the external threaded portion.

[0065] Exemplarily, the cross-section of the conical cavity 22 gradually decreases in the direction away from the end of the folding arm 10. The second conical section 12 on the folding arm 10 and the first conical section 32 on the support portion 30 can be half of a conical section respectively. When a part of the folding arm 10 enters the support portion 30, the second conical section 12 and the first conical section 32 form a complete conical portion, which is adapted to the conical cavity 22 of the sleeve 20.

[0066] A first annular groove 211 is provided on the internal threaded portion 21 of the sleeve 20 to accommodate the first rubber ring 212. During the rotation and locking process of the sleeve 20, the outer peripheral surface of the tapered portion squeezes the first rubber ring 212, which means that deformation occurs until the first rubber ring 212 passes over the tapered portion and is released, thereby creating an interference fit feel during manual tightening, thereby preventing the sleeve 20 from loosening.

[0067] like Figure 7 As shown, the folding arm 10 further includes a hinge portion 13, and the folding arm 10 is hingedly connected to the support portion 30 through the hinge portion 13. Exemplarily, the hinge portion 13, the second external thread segment 11, and the second tapered segment 12 can be integrally formed at the end of the folding arm 10. Exemplarily, the hinge portion 13, the second external thread segment 11, and the second tapered segment 12 can also be independent components, which are fixedly arranged at the end of the folding arm 10 after processing / molding.

[0068] In some embodiments, Figure 3 , Fig. 9 and Fig.10 As shown, the conical cavity 22 in the folding arm locking device provided by the exemplary embodiment of the utility model is also provided with a second annular groove 221, the second annular groove 221 is close to the end surface of the sleeve 20 away from the support part 30, and the second annular groove 221 is provided with a second rubber ring 222, and the second rubber ring is interference fit with the folding arm 10.

[0069] The second rubber ring 222 is embedded in the second annular groove 221 in the tapered cavity 22, that is, the second rubber ring 222 is used to produce an interference fit of 0.1 mm with the folding arm 10 at the sliding position of the sleeve 20 and the folding arm 10, and the rubber property of the second rubber ring 222 and the outer peripheral surface of the folding arm 10 produce a damping effect, which can prevent the sleeve 20 from rotating and loosening due to the vibration of the folding arm 10. Exemplarily, the folding arm 10 can be made of carbon fiber composite material.

[0070] Figure 6 Schematic diagram of the isometric structure of the sensing component according to the embodiment of the utility model. Figure 5 and Figure 6 As shown, the sensing assembly 62 includes a Hall switch assembly, which includes a plurality of Hall elements 621 , and the plurality of Hall elements 621 are all opposite to the end surface of the sleeve 20 close to the support portion 30 ; the sensing block 61 includes a magnetic block.

[0071] For example, the Hall element 621 is a Hall switch, the sensing block 61 is a magnet, and the sensing assembly 62 is two Hall elements 621 welded on a Hall switch board 622, thereby generating a redundant design, improving stability and reliability, and avoiding the situation where the sensor cannot be sensed when the lock is in place. At the same time, the Hall switch board 622 also has lead wires for communication with the controller.

[0072] For example, in order to be waterproof, the Hall switch plate 622 and the Hall element 621 are sealed by injection molding to form a rubber-encapsulated housing. The entire sensing component 62 can be embedded in the groove of the support portion 30, or the support portion 30 is formed with a protrusion protruding from the circumference, and the inner side of the protrusion forms the above-mentioned groove. The magnet is embedded in the sleeve 20 by injection molding in a plastic mold to achieve the purpose of waterproofing.

[0073] In some embodiments, the folding arm locking device further includes a reminder device, and the sensing component 62 is communicatively connected to the reminder device. The sensing component 62 is communicatively connected to the controller via a wire, and the controller transmits a signal to the remote controller, and reminds the operator whether the folding arm 10 has been locked in place by voice or picture.

[0074] like Figure 2 and Figure 3 As shown, an inner waterproof ring 41 is provided on the inner side of the support part 30 close to the fuselage, and an outer waterproof ring 42 is provided on the outer side, that is, an outer waterproof ring 42 is provided between the support part 30 and the upper shell 51 or the lower shell 52 to prevent water leakage at the connection part between the support part 30 and the fuselage.

[0075] An exemplary embodiment of the utility model also provides a folding arm, including the folding arm locking device in the above-mentioned embodiment, the folding arm 10 has a second external thread section 11, the first external thread section 31 and the second external thread section 11 form an external thread portion that cooperates with the internal thread portion 21; the folding arm 10 has a second conical section 12 adjacent to the second external thread section 11, and the first conical section 32 and the second conical section 12 form a conical portion that cooperates with the conical cavity 22.

[0076] An exemplary embodiment of the utility model also provides a multi-rotor UAV, comprising a plurality of folding arms of the above-mentioned embodiments, wherein the folding arm 10 is arranged on the fuselage of the UAV through a support portion 30, wherein the support portion 30 is arranged on the fuselage of the UAV, the folding arm 10 is hinged on the support portion 30, and the relative position of the folding arm 10 and the support portion 30 in the unfolded state can be locked by a sleeve 20.

[0077] Compared with the prior art, the advantages of the folding arms and multi-rotor drone of the exemplary embodiment of the utility model are the same as those of the above-mentioned locking device, which will not be repeated here.

[0078] 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 folding machine arm locking device, characterized in that: It includes a sensing component, at least one sensing block, a support portion, a sleeve, and a controller in communication with the sensing component, wherein the sleeve can be locked to the support portion through its locking structure; The sensing assembly is arranged on one of the support portion and the sleeve, and the sensing block is arranged on the other of the support portion and the sleeve; When the distance between the sensing component and any one of the sensing blocks is less than or equal to the sensing distance, the sensing component sends a locking signal to the controller.

2. The folding machine arm locking device according to claim 1, characterized in that: The sensing assembly is arranged on the support portion, and the at least one sensing block is arranged on the sleeve; There are multiple sensing blocks, and the sensing blocks are evenly distributed along the circumference of the end surface of the sleeve close to the support portion; The sensing component is opposite to the end surface of the sleeve facing the supporting portion.

3. The folding machine arm locking device according to claim 2, characterized in that: The sleeve has an internal threaded portion; The support portion has a first external thread section, which forms at least a portion of the external thread portion that cooperates with the internal thread portion; The number of thread lines of the internal thread portion is multiple; The advancing distance of the sleeve when rotating by the first preset angle is greater than the sensing distance between the sensing component and the corresponding sensing block.

4. The folding machine arm locking device according to claim 3, characterized in that: When the distance between the sensing component and one of the plurality of sensing blocks is less than or equal to the sensing distance, and the circumferential phase difference between the sensing component and one of the plurality of sensing blocks is less than or equal to a second preset angle, the sensing component sends a locking signal to the controller.

5. The folding machine arm locking device according to claim 3, characterized in that: The sleeve also has a tapered cavity adjacent to the internal threaded portion; The seat portion further comprises a first tapered section adjacent to the first external thread section, wherein the first tapered section forms at least a portion of the tapered portion that cooperates with the tapered cavity; A first annular groove is further provided at a portion of the internal thread portion close to the tapered cavity, and a first rubber ring is provided in the first annular groove; When the sleeve is in place, the first rubber ring is located on a side of the tapered portion close to the external threaded portion.

6. The folding machine arm locking device according to claim 5, characterized in that: The conical cavity is further provided with a second annular groove, the second annular groove is close to the end surface of the sleeve away from the support portion, the second annular groove is provided with a second rubber ring, and the second rubber ring is interference fit with the folding machine arm.

7. The folding machine arm locking device according to any one of claims 1 to 6, characterized in that: The sensing assembly includes a Hall switch assembly, and the Hall switch assembly includes a plurality of Hall elements, and the plurality of Hall elements are all opposite to the end surface of the sleeve close to the support portion; The sensing block includes a magnetic block.

8. The folding machine arm locking device according to any one of claims 1 to 6, characterized in that: The folding machine arm locking device also includes a reminder device, and the sensing component is communicatively connected with the reminder device.

9. A folding machine arm, characterized in that: The folding machine arm locking device comprises the folding machine arm according to claim 5, wherein the folding machine arm has a second external thread segment, and the first external thread segment and the second external thread segment form an external thread portion that cooperates with the internal thread portion; The folder arm has a second tapered section adjacent to the second external thread section, and the first tapered section and the second tapered section form a tapered portion that matches the tapered cavity.

10. A multi-rotor drone, characterized in that: The invention comprises a plurality of folding arms as described in claim 9, wherein the folding arms are arranged on the fuselage of the drone through the support portion.

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