CN114746688B

CN114746688B - Folding device and movable platform

Info

Publication number: CN114746688B
Application number: CN202080074208.1A
Authority: CN
Inventors: 赵进; 农贵升; 李日照; 严欣
Original assignee: SZ DJI Technology Co Ltd
Current assignee: SZ DJI Technology Co Ltd
Priority date: 2020-11-09
Filing date: 2020-11-09
Publication date: 2024-06-14
Anticipated expiration: 2040-11-09
Also published as: WO2022095036A1; CN114746688A

Abstract

A folding device and a movable platform, the folding device comprises a first connecting piece (10), a second connecting piece (11), a third connecting piece (12), a fourth connecting piece (13) and a braking piece (14); the first connecting piece (10), the second connecting piece (11), the third connecting piece (12) and the fourth connecting piece (13) are sequentially hinged to form a four-bar mechanism; when the four-bar linkage is at a dead point position, the fourth connecting piece (13) is close to the second connecting piece (11); the braking piece (14) is arranged on the four-bar mechanism, and the braking piece (14) is linked with the four-bar mechanism to prevent the fourth connecting piece (13) from being far away from the second connecting piece (11). Folding device can realize folding dead point position and lock four bar linkage in dead point position through disposable folding operation, can promote operation convenience to, operation once is synchronous to be accomplished, avoids missing secondary operation, can promote folding device's fail safe nature.

Description

Folding device and movable platform

Technical Field

The invention relates to the technical field of machinery, in particular to a folding device and a movable platform.

Background

With the increasing maturity of unmanned control technology, mobile platforms such as unmanned aerial vehicles are widely used in various industries such as agricultural plant protection, video and aerial photography, electric power inspection and the like. Typically, the pesticide is sprayed, such as by using an unmanned aerial vehicle.

Since such a movable platform needs to carry a heavy load, the platform itself is bulky in order to provide more sufficient power. In order to achieve both the power performance and the convenience of storage and transportation. One design common in the prior art is to design a part of the extension into a foldable mechanism. However, the existing folding mechanism of the rack is lack of self-positioning locking, and needs to rely on a user to use other auxiliary parts for secondary operation to fix.

Therefore, the existing folding mechanism is excessively dependent on active operation of a user to realize locking and fixing, so that the operation is complicated and not simple enough, and once the user forgets to fix the folding mechanism, the safety risk is easily increased, and the reliability is low.

Disclosure of Invention

In view of the above, the invention provides a folding mechanism and a movable platform for solving the problems of complicated operation, simplicity and low reliability of the existing folding mechanism.

In a first aspect, an embodiment of the present invention provides a folding device for a movable platform, the folding device including a first connecting member, a second connecting member, a third connecting member, a fourth connecting member, and a braking member;

The first connecting piece, the second connecting piece, the third connecting piece and the fourth connecting piece are sequentially hinged to form a four-bar mechanism;

when the four-bar linkage is at a dead point position, the fourth connecting piece is close to the second connecting piece;

the braking piece is arranged on the four-bar mechanism, and is linked with the four-bar mechanism to block the fourth connecting piece from being far away from the second connecting piece.

In a second aspect, an embodiment of the present invention provides a movable platform, including a support rod and a folding device according to the first aspect of the embodiment of the present invention;

The first connecting piece is connected with the main body of the movable platform, and the second connecting piece is connected with the supporting rod.

In a third aspect, an embodiment of the present invention provides a movable platform, including the foregoing folding apparatus, where the folding apparatus includes a position sensing device;

the position sensing device is electrically connected with a controller of the movable platform;

in the first dead center position, the controller receives the position locking signal, and the controller allows the movable platform to move.

The folding device and the movable platform provided by the embodiment of the invention have at least the following advantages;

In an embodiment of the invention, a folding device is provided for a movable platform, and the folding device comprises a first connecting piece, a second connecting piece, a third connecting piece, a fourth connecting piece and a braking piece. The first connecting piece, the second connecting piece, the third connecting piece and the fourth connecting piece are sequentially hinged to form a four-bar mechanism. When the four-bar linkage is in the dead point position, the fourth connecting piece is close to the second connecting piece. The braking piece is arranged on the four-bar mechanism, the braking piece is linked with the four-bar mechanism, the movement of the four-bar mechanism drives the braking piece to move, the braking piece can generate braking force, and the braking force can prevent the fourth connecting piece from being far away from the second connecting piece. On the one hand, since the force applied to the fourth link by the second link, which is the driving member, in the four-bar linkage passes through the hinge center thereof when the four-bar linkage is at the dead point position, the fourth link cannot be effectively driven. On the other hand, under the effect of the braking piece, the motion of the fourth connecting piece, which is far away from the second connecting piece around the hinging center of the fourth connecting piece, is blocked, the locking effect of the fourth connecting piece is achieved, and the fourth connecting piece can be prevented from accidentally moving to cause the four-bar mechanism to deviate from the four-point position. Therefore, the folding device provided by the embodiment of the invention can realize folding to the dead point position and lock the four-bar mechanism at the dead point position through one-time folding operation, so that the operation convenience can be improved, the operation is completed synchronously at one time, the omission of secondary operation is avoided, and the safety and the reliability of the folding device can be improved.

The foregoing description is only an overview of the present invention, and is intended to be implemented in accordance with the teachings of the present invention in order that the same may be more clearly understood and to make the same and other objects, features and advantages of the present invention more readily apparent.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions of the prior art, the following description will briefly explain the drawings used in the embodiments or the description of the prior art, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.

Fig. 1 schematically shows a three-dimensional schematic of a folding device according to an embodiment of the invention;

Fig. 2 schematically shows a schematic view of the structural principle of a folding device according to an embodiment of the present invention;

FIG. 3 schematically illustrates a folding device of an embodiment of the invention in an unfolded state;

FIG. 4 schematically illustrates a four bar linkage corresponding to a folding device of an embodiment of the present invention in a first dead center position;

FIG. 5 schematically illustrates a folding device according to an embodiment of the invention in a folded state;

FIG. 6 schematically illustrates a four bar linkage corresponding to a folding device of an embodiment of the present invention in a second dead center position;

Fig. 7 schematically shows a three-dimensional schematic of another folding device according to an embodiment of the invention.

DETAILED DESCRIPTION OF EMBODIMENT (S) OF INVENTION

For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

Referring to fig. 1 and 2, an embodiment of the present invention provides a folding device for a movable platform, the folding device including a first link 10, a second link 11, a third link 12, a fourth link 13, and a stopper 14;

The first connecting piece 10, the second connecting piece 11, the third connecting piece 12 and the fourth connecting piece 13 are sequentially hinged to form a four-bar mechanism;

when the four-bar linkage is in a dead-center position, the fourth connecting piece 13 approaches the second connecting piece 11;

The brake piece 14 is disposed on the four-bar linkage, and the brake piece 14 is linked with the four-bar linkage to block the fourth connecting piece 13 from being far away from the second connecting piece 11.

As shown in fig. 1 and 2, in the embodiment of the present invention, the first end 10-1 of the first connecting member 10 is hinged to the first end 11-1 of the second connecting member 11, the second end 11-2 of the second connecting member 11 is hinged to the first end 12-1 of the third connecting member 12, the second end 12-2 of the third connecting member 12 is hinged to the first end 13-1 of the fourth connecting member 13, the second end 13-2 of the fourth connecting member 13 is hinged to the second end 10-2 of the first connecting member 10, and the four connecting members are sequentially hinged to form a four-bar linkage. In the four-bar linkage mechanism, the first connecting piece 10 can be used as a stationary base piece, namely in the four-bar linkage mechanism, the second connecting piece 11 can rotate around a hinge point, the fourth connecting piece 13 can rotate around the hinge point, and as the two ends of the third connecting piece 12 are simultaneously hinged with the second connecting piece 11 and the fourth connecting piece 13, the third connecting piece 12 can be driven to translate in a plane when the second connecting piece 11 and the fourth connecting piece 13 rotate.

As shown in fig. 3 to 5, schematic diagrams of movement tracks of the four-bar linkage disclosed in the embodiment of the present invention are given, and it can be seen that the fourth connecting member 13 approaches the second connecting member 11 when the four-bar linkage moves to the dead point position. It should be noted that the fourth connecting member 13 being close to the second connecting member 11 means that the distance between the fourth connecting member 13 and the second connecting member 11 is smaller than a certain preset value, or that the included angle between the fourth connecting member 13 and the second connecting member 11 is smaller than a certain preset angle. For example, when the four-bar linkage is at a position other than the dead point position, the distance between the two reference points on the fourth link 13 and the second link 11, respectively, is L1, and when the four-bar linkage is at the dead point position, the distance between the two identical reference points on the fourth link 13 and the second link 11, respectively, is L2. L2 is less than L1. That is, when the four-bar linkage is in the dead-center position, the fourth link 13 approaches the second link 11.

The brake member 14 is disposed on the four-bar linkage, and the brake member 14 can be linked with the four-bar linkage, for example, the second connecting member 11 in the four-bar linkage can be used as a driving member, and the brake member 14 is driven to generate a braking force when the third connecting member 12 and the fourth connecting member 13 are driven to move, so that the braking force always prevents the fourth connecting member 13 and the second connecting member 11 from being separated from each other. In particular, when the four-bar linkage is at the dead point position, after the fourth link 13 approaches the second link 11, the fourth link 13 and the second link 11 are kept in a state of approaching each other by the blocking of the stopper 14. On the one hand, when the driving member of the four-bar linkage mechanism has no driving force at the dead point position, the driven member of the four-bar linkage mechanism can be blocked at the dead point position. On the other hand, the braking force of the braking member can prevent the fourth link 13 from being separated from the second link 11, and the release of the driven member itself can be avoided regardless of whether the fourth link 13 or the second link 11 serves as the driven member.

In the folding device according to the embodiment of the present invention, on the one hand, since the force applied to the fourth link 13 by the second link 11, which is the driving member, in the four-bar linkage passes through the hinge center of the fourth link 13 and the first link 10 through the third link 12 when the four-bar linkage is at the dead point position, the fourth link 13 cannot be driven effectively. On the other hand, under the action of the brake member, the movement of the fourth connecting member 13 itself around the hinge center of the fourth connecting member 13 and the first connecting member 10 in the direction away from the second connecting member 11 is hindered, the locking effect of the fourth connecting member 13 is achieved, and the four-bar linkage mechanism can be prevented from deviating from the four-point position due to the unexpected movement of the fourth connecting member 13. Therefore, the folding device provided by the embodiment of the invention can realize folding to the dead point position and lock the four-bar mechanism at the dead point position through one-time folding operation, so that the operation convenience can be improved, the operation is completed synchronously at one time, the omission of secondary operation is avoided, and the safety and the reliability of the folding device can be improved.

Alternatively, referring to fig. 1, the first connecting member 10 is hinged to the second connecting member 11 to form a first hinge point 20, the second connecting member 11 is hinged to the third connecting member 12 to form a second hinge point 21, the third connecting member 12 is hinged to the fourth connecting member 13 to form a third hinge point 22, and the fourth connecting member 13 is hinged to the first connecting member 10 to form a fourth hinge point 23;

The dead point positions comprise a first dead point position and a second dead point position;

when the second hinge point 21, the third hinge point 22 and the fourth hinge point 23 are on the same straight line, and the second hinge point 21 is between the third hinge point 22 and the fourth hinge point 23, the four-bar linkage is at the first dead point position;

The four bar linkage is in the second dead point position when the second hinge point 21, the third hinge point 22, the fourth hinge point 23 are on the same straight line, and the third hinge point 22 is between the second hinge point 21 and the fourth hinge point 23.

Specifically, as shown in fig. 1, in one embodiment, the four connecting pieces are hinged in sequence to form a four-bar linkage mechanism, which includes four hinge points: a first hinge point 20, a second hinge point 21, a third hinge point 22 and a fourth hinge point 23. It can be understood that the dead point position is the position corresponding to the position when two side links in the four-bar linkage are on the same straight line, and the two side links are the second connecting piece 11 and the fourth connecting piece 13 respectively. The dead center positions include a first dead center position and a second dead center position. As shown in fig. 3 and 4, when the second hinge point 21, the third hinge point 22, and the fourth hinge point 23 are on the same straight line, and the second hinge point 21 is between the third hinge point 22 and the fourth hinge point 23, the four-bar linkage is in the first dead point position. As shown in fig. 5 and 6, when the second hinge point 21, the third hinge point 22, and the fourth hinge point 23 are on the same straight line, and the third hinge point 22 is between the second hinge point 21 and the fourth hinge point 23, the four-bar linkage is in the second dead point position. As can be seen, in two different dead-centre positions, the first connecting piece 10 can remain stationary and the other three connecting pieces can be moved to different positions. If fig. 3 and 4 are considered to be in an expanded state, fig. 5 and 6 may be correspondingly considered to be in a collapsed state. Therefore, the two dead point positions of the four-bar mechanism can be respectively used for self-locking fixation in an unfolding state and a folding state, and the locking fixation of the four-bar mechanism can be realized without adding other auxiliary fixation parts no matter in the unfolding state or the folding state, so that the four-bar mechanism has a simple structure.

Alternatively, referring to fig. 1, the stopper 14 is disposed on the first connector 10 to press the fourth connector 13 close to the second connector 11.

Specifically, as shown in fig. 1, in one embodiment, the braking member 14 may be fixed to the first connecting member 10, and the braking member 14 may be a pressing member that generates a pressing force. Under the action of the pressing force of the braking member 14, the braking member 14 can apply pressure to the fourth connecting member 13 from a side of the fourth connecting member 13 facing away from the second connecting member 11, so as to press the fourth connecting member 13 to approach the second connecting member 11, and avoid the fourth connecting member 13 from being far away from the second connecting member 11.

Alternatively, referring to fig. 1, the braking member 14 is a torsion spring;

The torsion spring is arranged at the fourth hinge point 23, one end of the torsion spring is fixed with the first connecting piece 10, and the other end of the torsion spring is fixed with the fourth connecting piece 13.

Specifically, as shown in fig. 1, in one embodiment, the braking member 14 may be a torsion spring, and in practical application, the torsion spring may be disposed at the fourth hinge point 23, for example, the torsion spring may be sleeved on a hinge shaft where the first connecting member 10 and the fourth connecting member 13 are hinged, and one end of the torsion spring abuts against the first connecting member 10, and the other end abuts against the fourth connecting member 13. The torsion spring applies pressure to the fourth link 13 from a side of the fourth link 13 facing away from the second link 11, so that it can be kept in a state of being close to the second link 11.

Alternatively, the braking member 14 is disposed on the first connecting member 10 or the second connecting member 11, and pulls the fourth connecting member 13 to approach the second connecting member 10.

Specifically, in one embodiment, in addition to the brake 14 that can generate a pressing force, a brake 14 that can generate a pulling force can be used. It will be appreciated that the detent 14 may be provided on either the first connector 10 or the second connector 11. In the dead-point position, the braking member 14 generates a pulling force pulling the fourth connecting member 13 closer to the second connecting member 10.

Optionally, the braking member 14 is an elastic telescopic member, one end of which is fixed to the first connecting member 10 or the second connecting member 11, and the other end of which is fixed to the third hinge point 22.

Specifically, in one embodiment, the braking member 14 may be an elastic expansion member having elastic deformation performance such as a tension spring or a rubber band. In practical applications, one end of the elastic expansion element may be fixed to the first connecting element 10 or the second connecting element 11, and the other end of the elastic expansion element may be fixed to the third hinge point 22. It will be readily appreciated that the fourth link 13 is held in close proximity to the second link 10 by the pulling force of the brake member 14.

Optionally, the included angle between the fourth connecting piece 13 at the self-locking position and the dead point position is greater than or equal to 0 °;

Wherein the self-locking position is a position where the fourth connecting piece 13 is close to contact with the second connecting piece 11.

Optionally, the included angle between the self-locking position and the dead point position of the fourth connecting piece 13 is greater than or equal to 0 ° and less than or equal to 5 °.

In particular, in one embodiment, when the four-bar linkage is in the dead-center position, the fourth link 13 and the second link 11 may still continue to move, and when the fourth link 13 continues to move relative to the second link 11 until the two are brought into close contact, the fourth link 13 is in the self-locking position. It will be readily appreciated that in this self-locking position, the fourth connecting piece 13 is rotated at a certain angle relative to the dead point position. In practical applications, the fourth connecting member 13 can continue to rotate beyond its dead point position by designing corresponding avoidance structures on the fourth connecting member 13 and the second connecting member 11. Illustratively, the evasion feature may continue to rotate the fourth link 13 0-5 ° relative to the dead center position until the fourth link 13 is immediately adjacent to the second link 11. Thus, when the four-bar linkage is in the unfolded state, the fourth link 13 passes over the first dead point position, and the fourth link 13 is in contact with the second link 11, even if the second link 11 is slightly wobbled and rotated, the fourth link 13 is not caused to be released from the reverse movement. Similarly, when the four-bar linkage is in the folded state, the fourth link 13 passes over the second dead center position, and the fourth link 13 is in contact with the second link 11, even if the second link 11 is slightly wobbled and rotated, the fourth link 13 is not caused to be released in the reverse movement. Therefore, the included angle of the fourth connecting piece 13 between the self-locking position and the dead point position helps to improve the self-locking reliability of the four-bar linkage, and avoids the loosening of the four-bar linkage caused by accidental shake of the second connecting piece 11.

Optionally, referring to fig. 7, the folding apparatus further includes a position sensing device 15, where the position sensing device 15 is disposed on the four-bar linkage and is used to detect a relative position of the fourth connecting piece 13 and the second connecting piece 11;

The position sensing device 15 outputs a position locking signal when the four bar linkage is in the first dead center position.

Specifically, as shown in fig. 7, in one embodiment, the aforementioned folding device may further include a position sensing device 15, where the position sensing device 15 is disposed on a four-bar mechanism, and in particular, may be fixed on an arbitrary link, or on a hinge shaft of a hinge point. The position sensing device 15 may detect the relative position between the fourth connection 13 and the second connection 11 using acoustic, optical, electrical or magnetic signals. When it is detected that the relative positional relationship between the fourth connecting member 13 and the second connecting member 11 satisfies the first dead point position, since the first dead point position may correspond to the unfolded state of the folding device, that is, the folding device will enter the operation mode, at this time, the position sensing device 15 may output a position locking signal to the outside, where the position locking signal is used to notify other devices that the folding device has been unfolded in place, and may execute the subsequent action instruction. By providing the position sensing device 15 in the folding device, the position relation of the folding device can be used for making a trigger condition for starting other parts, so that the linkage of the structural position of the folding device and the other parts is realized, the false action of the other parts when the folding device is not unfolded is avoided, and the safety is improved.

Optionally, the position sensing device 15 comprises a contact switch or a contactless switch.

Specifically, in one embodiment, the position sensing device 15 may be a contact switch including two metal spring plates, and when the two metal spring plates are in close contact, the circuit is conducted, and the position locking signal is output. Of course, non-contact switches operating using acoustic, optical or magnetic signals may also be selected. When the non-contact switch is selected, the position sensing device 15 basically does not generate abrasion on a physical structure, so that the accuracy and the reliability of position detection can be improved, and false triggering is avoided. Illustratively, the non-contact switch includes any one of a magnetic induction switch, a photoelectric induction switch, and a radio frequency switch. The magnetic induction switch can send out the on-off signal of the circuit based on the change of the magnetic field where the magnetic induction switch is positioned, the photoelectric induction switch can send out the on-off signal of the circuit according to whether reflected light or the intensity of the light is received, and the radio frequency switch can send out the on-off signal of the circuit based on whether information interaction is generated between the radio frequency card and the radio frequency reader. The signal that the circuit is on can then be used as a position lock signal to trigger other components to start.

Optionally, referring to fig. 7, the magnetic induction switch includes a permanent magnet 151 and an induction element 152;

The permanent magnet 151 is fixedly connected with the fourth connecting piece 13, and the sensing element 152 is fixedly connected with the second connecting piece 11; or alternatively, the first and second heat exchangers may be,

The permanent magnet 151 is fixedly connected with the second connecting piece 11, and the sensing element 152 is fixedly connected with the fourth connecting piece 13;

Wherein, at the first dead point position, the permanent magnet 151 and the sensing element 152 are close to each other, and the sensing element 152 outputs the position locking signal.

Specifically, as shown in fig. 7, in one embodiment, when a magnetic induction switch is used as the position sensing device 15, the magnetic induction switch may include a permanent magnet 151 and an induction element 152. The permanent magnet 151 is used to change the magnetic field environment of the sensing element 152, the magnetic field around the sensing element 152 becomes strong when the permanent magnet 151 is close to the sensing element 152, and the magnetic field around the sensing element 152 becomes weak when the permanent magnet 151 is far from the sensing element 152.

In practical applications, the permanent magnet 151 may be fixedly connected to one of the fourth connecting member 13 and the second connecting member 11, and the sensing element 152 may be fixedly connected to the other of the fourth connecting member 13 and the second connecting member 11. When the fourth connecting member 13 and the second connecting member 11 are close to each other at the first dead center position, the sensing element 152 may sense that the peripheral magnetic field thereof is strong, and the sensing element 152 may output a position locking signal when the magnetic field strength is enhanced to a preset strength value. The sensing element 152 may be, for example, a reed switch or a hall element. It is easy to understand that, for the reed pipe, when the peripheral magnetic field of the reed pipe is weak, the reed pipe is in an off state, when the peripheral magnetic field of the reed pipe is strong, the reed pipe is in an on state, and when the reed pipe is on, a position locking signal is output outwards. For the Hall element, when the peripheral magnetic field of the Hall element is weak, the Hall element outputs no signal, and when the peripheral magnetic field of the Hall element is strong and the peripheral magnetic field is enhanced to a preset strength, the Hall element outputs a position locking signal outwards.

Optionally, the sensing element 152 is sealingly fixed within the second connector 11 or the fourth connector 13.

Specifically, as shown in fig. 7, in one embodiment, when a non-contact switch is used, since the non-contact switch does not rely on physical contact, the sensing element 152 can be sealed and fixed within the second connector 11 or the fourth connector 13. Thereby helping to reduce the risk of damage to sensing element 152 from rain, dust, etc.

Optionally, the photoelectric sensing switch comprises a transmitter and a receiver;

The emitter and the receiver are fixed to the second connector 11, and the receiver is used for receiving the reflected light of the fourth connector 13; or alternatively, the first and second heat exchangers may be,

The emitter and the receiver are fixed on the fourth connecting piece 13, and the receiver is used for receiving the reflected light of the second connecting piece 11;

Wherein, at the first dead point position, the fourth connecting piece 13 and the second connecting piece 11 are close to each other, and the photoelectric sensing switch outputs the position locking signal.

In particular, in one embodiment, when a photo-induced switch is used as the position sensing device 15, the photo-induced switch may include a transmitter and a receiver. The transmitter is used for transmitting detection light, and the receiver is used for outputting a corresponding signal according to whether the reflected light is received or not.

The transmitter and the receiver may be fixed to one of the fourth connecting member 13 and the second connecting member 11 together, and in the first dead center position, the fourth connecting member 13 and the second connecting member 11 are close to each other, and at this time, the receiver may receive a reflected light signal reflected back from the other connecting member, so that the photo-sensing switch outputs a position locking signal.

Optionally, the radio frequency switch comprises a radio frequency reader and an NFC card;

The radio frequency reader is fixedly connected with the fourth connecting piece 13, and the NFC patch is fixedly connected with the second connecting piece 10; or alternatively, the first and second heat exchangers may be,

The radio frequency reader is fixedly connected with the second connecting piece 10, and the NFC patch is fixedly connected with the fourth connecting piece 13;

wherein, in the first dead center position, the fourth connecting member 13 and the second connecting member 10 are close to each other, and the rf reader outputs the position locking signal.

In particular, in one embodiment, when a radio frequency switch is used as the position sensing device 15, the radio frequency switch package may include a radio frequency reader and an NFC (NEAR FIELD Communication) card. The radio frequency reader may acquire information of the NFC card based on the near field communication principle, and the NFC card may record information indicating that the fourth connector 13 and the second connector 11 are close to each other in advance. The radio frequency reader may be fixed to one of the fourth connector 13 and the second connector 11 and the NFC card to the other of the fourth connector 13 and the second connector 11. At the first dead point position, the fourth connecting piece 13 and the second connecting piece 11 are close to each other, at the moment, the radio frequency reader senses that the NFC card is close to each other, and the fact that the four-bar mechanism is at the first dead point position is known, so that the radio frequency reader outputs a position locking signal.

Optionally, the distance between the third hinge point 22 and the fourth hinge point 23 is adjustable.

Specifically, in one embodiment, the third link 12 is connected between the third hinge point 22 and the fourth hinge point 23. When the distance between two hinge points is changed, the movement difficulty of the four-bar mechanism can be changed, and the integral rigidity of the four-bar mechanism can be adjusted. When the distance between two hinge points meets a certain preset range, the four-bar mechanism moves lightly and has weak rigidity. When the distance between two hinge points is not in the preset range, the four-bar mechanism is laborious in movement and high in rigidity. Thus, the adjustment of the distance between the two hinge points described above allows for an adjustment of the stiffness of the folding device.

Optionally, the third connecting member 12 is screwed with the hinge shaft at the third hinge point 22 or with the hinge shaft at the fourth hinge point 23.

Specifically, in one embodiment, in order to achieve an adjustable distance between the third hinge point 22 and the fourth hinge point 23, the distance may be adjusted by means of a threaded connection. The third connecting member 12 may be screwed with the hinge shaft at the third hinge point 22 or with the hinge shaft at the fourth hinge point 23 so that the distance becomes larger or smaller when the screw threads at either end are screwed.

Illustratively, one end of the third connecting member 12 may be provided with a hinge hole, through which the hinge with the hinge shaft at the fourth hinge point 23 is achieved, a screw hole may be provided on the hinge shaft at the third hinge point 22, the axis of the screw hole being perpendicular to the axis of the hinge shaft at the third hinge point 22, and the other end of the third connecting member 12 is screw-connected with the hinge shaft at the third hinge point 22, whereby the adjustment of the distance between the third hinge point 22 and the fourth hinge point 23 may be achieved by screwing the screw.

Alternatively, referring to fig. 1, the first connector 10 includes a base portion 101 and a clamping portion 102 integrally connected, and the clamping portion 102 has a clamping cavity;

The base part 101 is used for being connected with a main body of the movable platform;

In the first dead point position, the second connecting piece 11 rotates around the first hinging point 20 to the clamping cavity; wherein, the opening interval of joint chamber is less than the inner wall interval.

Specifically, as shown in fig. 1, in one embodiment, the first connector 10 includes a base portion 101 and a locking portion 102, and the base portion 101 and the locking portion 102 may be formed by one-shot injection molding with a mold. The base portion 101 is for connection with the body of the movable platform. For example, the base portion 101 may be detachably connected to the main body of the movable platform by providing a structure such as a snap-fit prism, a snap-fit groove, a screw hole, or the like.

The clamping portion 102 has a clamping cavity for clamping and fixing the second connecting member 11. For example, the locking portion 102 may be a square tube with one side open, the space inside the square tube is a locking cavity, and the second connector 11 enters and exits the locking cavity through the opening. In the first dead point position, the second connecting piece 11 rotates around the first hinge point 20 into the clamping cavity. It should be noted that, the opening interval of joint chamber is less than the inner wall interval, and when second connecting piece 11 is located the joint intracavity, is difficult for following narrow opening part and rotates out, helps promoting folding device stability and reliability when first dead point position.

Optionally, referring to fig. 1, the second connecting member 11 is a tubular member, and an outer wall of the second connecting member 11 is provided with a flange 111;

in the first dead point position, the second connecting piece 11 rotates around the first hinging point 20 to the clamping cavity; wherein the flange 111 is an interference fit with the first connector 10.

Specifically, as shown in fig. 1, in one embodiment, the second connecting member 11 may be a tubular member with a circular or rectangular cross section, and an inner cavity of the tubular member is used for inserting and fixing other connecting rods or supporting rods. The outer wall of the second connector 11 may be provided with a flange 111 protruding from the tube wall.

In the first dead point position, the second connecting piece 11 rotates around the first hinge point 20 to the clamping cavity of the first connecting piece 10, and at this time, the flange 111 is in interference fit with the first connecting piece 10. For example, the surface of the flange 111 that cooperates with the first connecting element 10 may be designed as a convex curved surface or as an inclined wedge surface, so that the second connecting element 11 is clamped with the first connecting element 10 by means of an interference fit, ensuring the stability and reliability of the folding device in the first dead point position.

Alternatively, referring to fig. 1, a handle 131 is provided at one end of the fourth connecting member 13, and one end provided with the handle 131 is hinged to the third connecting member 12, while the other end not provided with the handle is hinged to the first connecting member 10.

Specifically, as shown in fig. 1, in one embodiment, when the four-bar linkage is at the dead point position, the fourth link 13 may be driven to move by applying an external force to the fourth link 13, so that the four-bar linkage is moved away from the dead point position. Specifically, in order to improve the operation convenience, one end of the fourth link 13 is provided with a handle 131, one end provided with the handle 131 is hinged with the third link 12, and one end not provided with the handle 131 is hinged with the first link 10. That is, it is easy to understand that the handle 131 faces the side facing away from the first connecting member 10, and that the operator's hand has a larger operation space on the side facing away from the main body after the first connecting member 10 is connected with the main body of the movable platform, thereby facilitating the operation of the folding apparatus.

The embodiment of the invention also provides a movable platform, which comprises a supporting rod 30 and the folding device;

The first connecting member 10 is connected to the main body of the movable platform, and the second connecting member 11 is connected to the support bar 30.

In particular, the folding device provided by the foregoing embodiments of the invention may be used in a mobile platform, for example, in conjunction with a multi-rotor unmanned aerial vehicle or in conjunction with an unmanned vehicle. The movable platform includes a main body, which may be a fuselage body of an unmanned aerial vehicle or a body of an unmanned aerial vehicle, and a support bar 30. The support bar 30 may be a support member that supports a load device, a power device, an operating mechanism, or the like. The first connector 10 of the folding device is connected to the main body of the movable platform, and the second connector 11 is connected to the support bar 30. Therefore, the folding device is used for connecting the support rod 30 with the main body of the movable platform, the support rod 30 can be rapidly switched between the folded state and the unfolded state relative to the main body, and the support rod 30 can be automatically in a locking and fixing state no matter in the folded state or the unfolded state, and is safer and more reliable in working or in storage.

Optionally, the movable platform is an unmanned aerial vehicle, and the support rod 30 is a wing or landing gear of the unmanned aerial vehicle.

Specifically, in one embodiment, the movable platform may be an unmanned aerial vehicle, in which the first connector 10 may be a connection base connected to a fuselage, the second connector 11 may be a sleeve for inserting a fixed wing or landing gear, the third connector 12 may be a link, and the fourth connector 13 may be a handle for a user to operate. In practical application, the user can operate the fourth connecting piece 13, and drive the third connecting piece 12 and the second connecting piece 11 through the fourth connecting piece 13, so that the folding device is switched between the folded state and the unfolded state. Thereby controlling the folding or unfolding of the corresponding wings or landing gear, and taking into account the working reliability and the convenience of storage and transportation.

The embodiment of the invention also provides a movable platform, which comprises the folding device with the position sensing device 15;

The position sensing device 15 is electrically connected with a controller of the movable platform;

In particular, the folding device provided by the foregoing embodiments of the invention may be used in a mobile platform, for example, in conjunction with a multi-rotor unmanned aerial vehicle or in conjunction with an unmanned vehicle. Wherein when the folding device is provided with a position sensing device 15, the position sensing device 15 can be electrically connected with a controller of the movable platform. Thus, the position lock signal of the position sensing device 15 can be sent to the controller. The controller is used as a control pivot of the movable platform and can control the movement of the movable platform based on the position locking signal. Taking an unmanned aerial vehicle as an example, after the wing connected to the second connecting piece 11 is unfolded, the four-bar mechanism is at the first dead point position, the second connecting piece 11 and the fourth connecting piece 13 are close to each other, and the position sensing device 15 outputs a position locking signal to the controller. The controller then sends instructions to the motor driver to allow the motor to start. Therefore, the position sensing device 15 is connected with the controller, and the controller is informed of the action of the trigger motor by means of the position relation of the four-bar mechanism, so that the operation safety of the platform can be improved, and the safety accident caused by the false start when the folding device is not unfolded in place can be avoided.

The apparatus embodiments described above are merely illustrative, wherein the elements illustrated as separate elements may or may not be physically separate, and the elements shown as elements may or may not be physical elements, may be located in one place, or may be distributed over a plurality of network elements. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment. Those of ordinary skill in the art will understand and implement the present invention without undue burden.

Reference herein to "one embodiment," "an embodiment," or "one or more embodiments" means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment of the invention. Furthermore, it is noted that the word examples "in one embodiment" herein do not necessarily all refer to the same embodiment.

In the description provided herein, numerous specific details are set forth. However, it is understood that embodiments of the invention may be practiced without these specific details. In some instances, well-known methods, structures and techniques have not been shown in detail in order not to obscure an understanding of this description.

In the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The word "comprising" does not exclude the presence of elements or steps not listed in a claim. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The invention may be implemented by means of hardware comprising several distinct elements, and by means of a suitably programmed computer. In the unit claims enumerating several means, several of these means may be embodied by one and the same item of hardware. The use of the words first, second, third, etc. do not denote any order. These words may be interpreted as names.

Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A folding device for a movable platform, the folding device comprising a first connector, a second connector, a third connector, a fourth connector and a brake;

When the four-bar linkage is at a dead point position, the fourth connecting piece is positioned at a preset position close to the second connecting piece, wherein the dead point position comprises a first dead point position corresponding to the unfolding state of the folding device and a second dead point position corresponding to the folding state of the folding device;

the brake piece set up in on the four-bar linkage, the brake piece is along with four-bar linkage links, when four-bar linkage is in first dead point position with the second dead point position, the brake piece obstructs the fourth connecting piece with the second connecting piece is kept away from.

2. The folding device of claim 1, wherein the first connector is hinged to the second connector to form a first hinge point, the second connector is hinged to the third connector to form a second hinge point, the third connector is hinged to the fourth connector to form a third hinge point, and the fourth connector is hinged to the first connector to form a fourth hinge point;

When the second hinge point, the third hinge point and the fourth hinge point are positioned on the same straight line, and the second hinge point is positioned between the third hinge point and the fourth hinge point, the four-bar mechanism is positioned at the first dead point;

When the second hinge point, the third hinge point and the fourth hinge point are on the same straight line, and the third hinge point is between the second hinge point and the fourth hinge point, the four-bar linkage mechanism is at the second dead point position.

3. The folding device of claim 2, wherein the brake is disposed on the first connector to compress the fourth connector adjacent the second connector.

4. A folding device according to claim 3, wherein the braking member is a torsion spring;

The torsional spring set up in the fourth pin joint, the one end of torsional spring with first connecting piece is fixed, the other end of torsional spring with the fourth connecting piece is fixed.

5. The folding device of claim 2, wherein the brake is disposed on the first connector or the second connector, pulling the fourth connector closer to the second connector.

6. The folding device of claim 5, wherein the braking member is an elastic telescopic member, one end of the elastic telescopic member is fixed to the first connecting member or the second connecting member, and the other end of the elastic telescopic member is fixed to the third hinge point.

7. The folding device of claim 1, wherein the angle between the fourth connector in the self-locking position and the dead-center position is 0 ° or more;

the self-locking position is a position where the fourth connecting piece is close to and contacts the second connecting piece.

8. The folding device of claim 1, further comprising a position sensing device disposed on the four bar linkage for detecting a relative position of the fourth connector and the second connector;

The position sensing device outputs a position locking signal when the four bar linkage is in the first dead center position.

9. The folding apparatus of claim 8, wherein the position sensing device comprises a contact switch or a non-contact switch.

10. The folding device of claim 9, wherein the non-contact switch comprises any one of a magnetic induction switch, a photo-inductive switch, and a radio frequency switch.

11. The folding device of claim 10, wherein the magnetic induction switch comprises a permanent magnet and an inductive element;

The permanent magnet is fixedly connected with the fourth connecting piece, and the induction element is fixedly connected with the second connecting piece; or alternatively, the first and second heat exchangers may be,

The permanent magnet is fixedly connected with the second connecting piece, and the induction element is fixedly connected with the fourth connecting piece;

wherein, in the first dead point position, the permanent magnet and the sensing element are close to each other, and the sensing element outputs the position locking signal.

12. The folding device of claim 11, wherein the inductive element comprises a reed switch or a hall element.

13. The folding device of claim 12, wherein the sensing element is sealingly secured within the second connector or the fourth connector.

14. The folding device of claim 10, wherein the photo-inductive switch comprises a transmitter and a receiver;

The emitter and the receiver are fixed on the second connecting piece, and the receiver is used for receiving the reflected light of the fourth connecting piece; or alternatively, the first and second heat exchangers may be,

The emitter and the receiver are fixed on the fourth connecting piece, and the receiver is used for receiving the reflected light of the second connecting piece;

And the photoelectric sensing switch outputs the position locking signal at the first dead point position, wherein the fourth connecting piece and the second connecting piece are close to each other.

15. The folding device of claim 10, wherein the radio frequency switch comprises a radio frequency reader and an NFC patch;

The radio frequency reader is fixedly connected with the fourth connecting piece, and the NFC patch is fixedly connected with the second connecting piece; or alternatively, the first and second heat exchangers may be,

The radio frequency reader is fixedly connected with the second connecting piece, and the NFC patch is fixedly connected with the fourth connecting piece;

Wherein, in the first dead point position, the fourth connecting piece and the second connecting piece are close to each other, and the radio frequency reader outputs the position locking signal.

16. The folding device of any of claims 2 to 6, wherein a distance between the third hinge point and the fourth hinge point is adjustable.

17. The folding device of claim 16, wherein the third connection is threadably connected to a hinge shaft at the third hinge point or to a hinge shaft at the fourth hinge point.

18. The folding device of any one of claims 2 to 6, wherein the first connecting member includes a base portion and a clamping portion integrally connected, the clamping portion having a clamping cavity;

the base part is used for being connected with the main body of the movable platform;

in the first dead point position, the second connecting piece rotates around the first hinging point to the clamping cavity; wherein, the opening interval of joint chamber is less than the inner wall interval.

19. The folding device of claim 18, wherein the second connector is a tubular member, an outer wall of the second connector being provided with a flange;

In the first dead point position, the second connecting piece rotates around the first hinging point to the clamping cavity; wherein the flange is in interference fit with the first connector.

20. A folding device according to any one of claims 1 to 15, wherein a handle is provided at one end of the fourth connecting member, the end provided with the handle being hinged to the third connecting member, and the end not provided with the handle being hinged to the first connecting member.

21. The folding device of claim 1, wherein the first connector includes a clamping portion including a clamping cavity, the second connector being rotatable into the clamping cavity to effect connection with the first connector.

22. A movable platform comprising a support bar and a folding device according to any one of claims 1 to 21;

23. The mobile platform of claim 22, wherein the mobile platform is an unmanned aerial vehicle and the support bar is a wing or landing gear of the unmanned aerial vehicle.

24. A movable platform comprising a folding device according to any one of claims 8 to 15;