CN219447351U - Locking device and mobile operation device - Google Patents

Abstract

The utility model provides a locking device and mobile operation equipment, the locking device includes: the first connecting rod, the first driving rod and the second connecting rod which are hinged to the first connecting rod and respectively form a first fixed hinge point and a second fixed hinge point, the second driving rod which is hinged to the first connecting rod and forms a third fixed hinge point, and the locking piece; the locking piece comprises a pushing part pushed by the second driving rod, a locking piece for limiting the second connecting rod to rotate around a second fixed hinge point, and a limiting part which is movably contacted with and separated from the locking piece is formed at the tail end of the second connecting rod; one end of the first driving rod forms at least one driving end, the second driving rod forms a driving surface driven by the driving end to pivot along the third fixed hinge point, and when the first driving rod rotates around the first fixed hinge point, the switching between the locking state and the unlocking state of the locking piece and the limiting part is executed. The utility model realizes the secondary locking of the rod-shaped piece and the connecting rod, so as to enhance the reliability of the rod-shaped piece and the connecting rod in the locking state.

Description

Locking device and mobile operation device

Technical Field

The utility model relates to the technical field of rod-shaped piece locking devices, in particular to a locking device and a mobile operation device.

Background

In the agricultural field, spraying operation or seeding operation and the like for plant protection are generally realized through unmanned aerial vehicles. Unmanned aerial vehicle generally includes frame, horn and the screw of being connected with the horn, and the unmanned aerial vehicle horn is under the condition of normally expanding, and is bulky, needs occupy great accommodation space, and inconvenient carrying goes out, consequently need fold in order to realize the accomodating to unmanned aerial vehicle to make things convenient for unmanned aerial vehicle's the transportation of going out.

In the prior art, the folding of the arm is realized, and the folding is generally realized in a four-bar mode. The four-bar linkage mode is to transform the length relation among the four bars to obtain various motion modes, specifically: when the connecting rod and the driven member are in the same straight line position, the pressure angle=90°, the acting force or moment of the driving member on the driven member by the connecting rod is zero, the driving member can not drive the driven member to work, and the mechanism is at the position called dead point. When the rocker is used as the driving part, a dead point position exists, and although the whole mechanism can be locked, the whole mechanism can not move any more, the locking only occurs at a specific point position, and once the position is shifted, the mechanism can continue to move. When being applied to unmanned aerial vehicle horn folding with this kind of mode, as long as driven rocker drives the connecting rod slightly and lifts up, breaks away from after the locking position, whole four bar linkage then present the not hard up active state, if the horn is in not hard up active state, then lead to unmanned aerial vehicle flight to lose balancing force very easily to cause unmanned aerial vehicle crash scheduling problem.

In view of this, there is a need for an improved locking mechanism for a drone arm in the prior art to address the above-described problems.

Disclosure of Invention

The utility model aims to disclose the problem that in the prior art, for example, a frame and a horn of an unmanned aerial vehicle are assembled in an unstable way by adopting a traditional four-bar structure under a locking state due to slight deviation of positions of connecting bars in a foldable assembly process.

To achieve one of the above objects, in a first aspect, the present utility model discloses a locking device for locking a foldable rod-like member with a body, the locking device comprising:

the first connecting rod is hinged to the first connecting rod, forms a first driving rod and a second connecting rod with a first fixed hinge point and a second fixed hinge point respectively, is hinged to the first connecting rod, forms a second driving rod with a third fixed hinge point and is provided with a locking piece;

the locking piece comprises a pushing part pushed by a second driving rod and a locking piece for limiting the second connecting rod to rotate around the second fixed hinge point, and the tail end of the second connecting rod far away from the second fixed hinge point forms a limiting part which is in movable contact with and separated from the locking piece;

the first driving rod is close to one end of the second driving rod to form at least one driving end, the second driving rod forms a driving surface which is driven by the driving end to pivot along a third fixed hinge point when rotating around the first fixed hinge point, and the first driving rod is used for executing switching between a locking state and an unlocking state of the locking piece and the limiting part when rotating around the first fixed hinge point.

As a further improvement of the present utility model, there is also included: two second driving rods symmetrically arranged along the transverse length extension direction of the first connecting rod, and locking pieces symmetrically arranged and respectively pushed by the two second driving rods;

the first driving rod is close to one end of the second driving rod to form two bifurcated driving ends, and an included angle is formed between two driving surfaces formed by the two second driving rods, so that when the first driving rod rotates around the first fixed hinge point, the driving ends synchronously drive the two driving surfaces to synchronously drive the two second driving rods to do pivoting motion around the third fixed hinge point.

As a further improvement of the present utility model, the second link includes a base post formed at a second fixed hinge point, a lever portion extending laterally, and a locking post extending vertically in a direction perpendicular to an extending direction of the lever portion and forming a stopper portion;

the first connecting rod, the second connecting rod, the rod-shaped piece and the body are hinged end to end in sequence, and when the second connecting rod rotates around the second fixed hinge point, the rod-shaped piece and the body are driven to be switched between a locking state and an unlocking state.

As a further improvement of the utility model, the limiting part forms a blind hole at least partially accommodating the locking piece to limit the rotation of the second connecting rod around the second fixed hinge point.

As a further improvement of the utility model, a driving tongue plate for driving the first driving rod to rotate around the first fixed hinge point is formed at one end of the first driving rod far away from the second driving rod, and the first driving rod is hinged to the first connecting rod through a first reset piece.

As a further improvement of the utility model, the plane where the two driving surfaces are located is in a contracted shape or an expanded shape along the longitudinal direction from outside to inside;

when the first driving rod is contracted, pressure is applied to the driving tongue plate so as to drive the first driving rod to rotate anticlockwise around the first fixed hinge point;

when the first driving rod is in an outward expansion shape, pulling force is applied to the driving tongue plate so as to drive the first driving rod to rotate clockwise around the first fixed hinge point.

As a further improvement of the present utility model, the locking member further includes: the second reset piece is arranged on one side of the pushing part, far away from the second driving rod, and the cover body is sleeved on the second reset piece to support the second reset piece.

As a further improvement of the present utility model, the device further comprises a limiting post disposed at a side of the second driving rod opposite to the pushing part, so as to limit the second driving rod to rotate inwards around the third fixed hinge point.

As a further development of the utility model, the pushing part and the locking element are a one-piece rigid structure.

In a second aspect, based on the same inventive concept, the present utility model also discloses a mobile working device, comprising:

a body with a power mechanism, at least one foldable rod-like member, and a locking device according to any of the first aspects formed between the rod-like member and the body.

Compared with the prior art, the utility model has the beneficial effects that:

in the utility model, when the second connecting rod rotates around the fourth fixed hinge point along the sixth direction, the rod-shaped piece is driven to rotate around the fifth fixed focus along the seventh direction until the second connecting rod moves to the inner side of the first connecting rod, so that the first connecting rod is attached to the rod-shaped piece under the action of the third reset piece, and the first locking of the rod-shaped piece and the body is realized. At this time, the second connecting rod moves to the inner side of the first connecting rod, and the locking piece are respectively accommodated through the blind hole and the blind hole so as to limit the second connecting rod to rotate around the second fixed hinge point, so that the aim of stabilizing the second connecting rod is achieved, the secondary locking of the rod-shaped piece and the body is achieved, the technical problem that the structure assembly of the frame and the arm in the locking state is unstable in the prior art is solved, and the safety of the mobile operation device such as the unmanned aerial vehicle in the operation process is ensured.

Drawings

FIG. 1 is an exploded view of a locking device of the present utility model;

fig. 2 is a perspective view of a mobile working device according to the present utility model in an unlocked state;

fig. 3 is a perspective view of the mobile working device in a locked state;

fig. 4 is a perspective view of the locking device in an unlocked state and omitting the second link;

fig. 5 is a perspective view of the locking device in a locked state;

FIG. 6 is a schematic view of the first drive rod rotating about a first fixed hinge point;

FIG. 7 is a perspective view of the locking device in the locked state and with the second link omitted;

FIG. 8 is a perspective view of a first drive rod and a second drive rod;

FIG. 9 is a perspective view of the retaining member;

FIG. 10 is a perspective view of the first link;

FIG. 11 is a perspective view of the second link;

FIG. 12 is a simplified schematic illustration showing the two driving surfaces in a plane in which they are disposed in a contracted form along the longitudinal direction from outside to inside;

fig. 13 is a simplified schematic view of a structure in which two driving surfaces are in a plane of the driving surfaces and expand outward in a longitudinal direction.

Detailed Description

The present utility model will be described in detail below with reference to the embodiments shown in the drawings, but it should be understood that the embodiments are not limited to the present utility model, and functional, method, or structural equivalents and alternatives according to the embodiments are within the scope of protection of the present utility model by those skilled in the art.

It should be understood that, in the present application, the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "axial", "radial", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the present technical solution and simplifying the description, and do not indicate or imply that the referred devices or elements must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present technical solution.

In this embodiment, as shown in fig. 7, the term "transverse" refers to the direction along the X axis, the term "longitudinal" refers to the direction along the Y axis, and the term "vertical" refers to the direction along the Z axis.

Please refer to fig. 1-13 for an embodiment of a locking device 100. The locking device 100 is used for locking the foldable rod-like member 71 with the body 81, for example, for locking a foldable frame and a foldable arm of a drone. The locking device 100 includes: the first link 11, the first driving lever 31 and the second link 21 hinged to the first link 11 and forming the first fixed hinge point 311 and the second fixed hinge point 211, respectively, the second driving lever 41 (or the second driving lever 42) hinged to the first link 11 and forming the third fixed hinge point 411 (or the third fixed hinge point 421), and the locker 51 (or the locker 52). One end of the first driving rod 31, which is close to the second driving rod 41 (or the second driving rod 42), forms a driving end 314, and one end of the first driving rod 31, which is far away from the second driving rod 41 (or the second driving rod 42), forms a driving tongue plate 312 for driving the first driving rod 31 to rotate around the first fixed hinge point 311, and the first driving rod 31 is hinged to the first link 11 through a first reset member 313. The first restoring member 313 may be, for example, a torsion spring, so as to enable the first driving rod 31 to be hinged to the first connecting rod 11 by the torsion spring, thereby achieving the purpose of ensuring that the first driving rod 31 is restored to the original locked state by the resilience of the first restoring member 313 when the acting force applied to the driving tongue plate 312 (for example, the compressive force applied to the driving tongue plate 312 in the first direction C or the tensile force applied to the driving tongue plate 312 opposite to the first direction C described below) is removed.

For example, as shown in connection with fig. 6, when pressure is not applied to the driving tongue plate 312, the first driving lever 31 assumes the state shown by the first driving lever 31 a; when pressure is applied to the driving tongue plate 312 in the first direction C, the first driving rod 31 rotates around the first fixed hinge point 311 in the second direction D, the first driving rod 31 assumes the state shown by the first driving rod 31b corresponding to the broken line, and at this time, the pressure applied to the driving tongue plate 312 is removed, and the first driving rod 31 rotates around the first fixed hinge point 311 in the fifth direction G under the resilience of the torsion spring (i.e., a lower concept of the first restoring member 313) to drive the first driving rod 31 to restore the state shown by the first driving rod 31a from the state shown by the first driving rod 31b, thereby achieving the purpose of restoring the first driving rod 31 to the original locked state under the resilience of the first restoring member 313 (i.e., an upper concept of the torsion spring). The first restoring member 313 may be any other elastic member besides the aforementioned torsion spring, as long as it can restore the first driving lever 31 to the original locked state by the action of the elastic member when the force (e.g., the pressing force or the pulling force) applied to the driving tongue plate 312 is removed, and in this embodiment, the first restoring member 313 is preferably a torsion spring.

Referring to fig. 1 and 7, the end of the second driving rod 41 (or the second driving rod 42) near the first driving rod 31 forms a driving surface 412 (or a driving surface 422) that is driven by the driving end 314 to pivotally move along the third fixed hinge point 411 (or the third fixed hinge point 421) when the first driving rod 31 rotates around the first driving rod 31, and the end of the second driving rod 41 (or the second driving rod 42) far from the first driving rod 31 forms a pushing end 413 (or a pushing end 423) that pushes the locking member 51 (or the locking member 52). Both ends of the driving surface 412 (or the driving surface 422) form a contracted end 4121 (or a contracted end 4221) and an expanded end 4122 (or an expanded end 4222), respectively. When no force is applied to the driving tongue plate 312, the first driving rod 31 assumes an original state (for example, a state shown by the first driving rod 31a corresponding to a solid line in fig. 6) in which the driving end 314 is located on a side near the contracted end 4121 (or the contracted end 4221) in which the driving end 314 is in contact with the contracted end 4121 (or the contracted end 4221) or not; when a force (e.g., a compressive force applied in the first direction C or a tensile force applied opposite the first direction C) is applied to the drive tongue 312, the first drive rod 31 rotates about the first fixed hinge point 311 to drive the drive end 314 to slide along the contour formed by the drive surface 412 (or the drive surface 422) from the contracted end 4121 (or the contracted end 4221) to the expanded end 4122 (or the expanded end 4222), at which point the drive end 314 contacts the contracted end 4121 (or the contracted end 4221).

Since the third fixed hinge point 411 (third fixed hinge point 421) is disposed in the longitudinal direction, the second driving rod 41 (or the second driving rod 42) is rotated about the third fixed hinge point 411 (or the third fixed hinge point 421) when the driving end 314 slides along the contour formed by the driving surface 412 (or the driving surface 422) from the contracted end 4121 (or the contracted end 4221) to the expanded end 4122 (or the expanded end 4222).

Referring to fig. 4, the locking device 100 includes two second driving rods (i.e., the second driving rod 41 and the second driving rod 42) symmetrically disposed along the transverse extending direction of the first link 11 (i.e., the direction along which the X-axis shown in fig. 7 is located), and the two second driving rods are hinged to the first link 11 and respectively form a third fixed hinge point 411 and a third fixed hinge point 421. The second driving rod 41 and one end of the second driving rod 42, which is close to the first driving rod 31, respectively form a driving surface 412 and a driving surface 422, and a plane where the driving surface 412 is located and a plane where the driving surface 422 is located form an included angle. One end of the first driving rod 31 near the second driving rod 41 and/or the second driving rod 42 forms two bifurcated driving ends (i.e., the driving end 314 and the driving end 315) so that when the first driving rod 31 rotates around the first fixed hinge point 311, the driving end 314 and the driving end 315 synchronously drive the driving surface 412 and the driving surface 422 to synchronously drive the second driving rod 41 and the second driving rod 42 to rotate around the third fixed hinge point 411 and the third fixed hinge point 421 respectively.

As shown in fig. 7 and 8, when no force is applied to the driving tongue plate 312, the driving end 314 and the driving end 315 are located at one side of the contracting end 4121 and the contracting end 4221, respectively; when a force is applied to the driving tongue plate 312, the driving end 314 and the driving end 315 slide to one sides of the expansion end 4122 and the expansion end 4222, respectively, and contact the expansion end 4122 and the expansion end 4222, respectively, so as to drive the second driving rod 41 and the second driving rod 42 to rotate around the third fixed hinge point 411 and the third fixed hinge point 421 through the driving end 314 and the driving end 315, respectively.

Preferably, the driving end 314 and the driving end 315 are symmetrically disposed with respect to the direction along the X-axis, so as to synchronously drive the driving surface 412 and the driving surface 422, so that the two second driving rods 41, 42, which are also symmetrically disposed with respect to the direction along the X-axis, synchronously rotate around the third fixed hinge points 411, 421, so as to synchronously drive the locking members 51, 52 to perform telescopic movement along the Z-axis, so as to drive the locking members 51, 52 and the second connecting rod 21 to switch between the locked state and the unlocked state.

Specifically, referring to fig. 4 and 7, the plane in which the driving surface 412 and the plane in which the driving surface 422 are located are contracted or expanded from outside to inside in the longitudinal direction (i.e., the direction in which the Y axis is located in fig. 7). The "inner" in the "outside-in" refers to the direction in which the plane defined by the XY axis points to the paper surface, and the "outer" refers to the direction in which the plane defined by the XY axis points away from the paper surface. In the view of fig. 8, the driving end and the driving face are cut in a sectional view taken in a direction perpendicular to the paper surface, and thus a simplified schematic drawing of a contracted configuration shown in fig. 12 and a simplified schematic drawing of an expanded configuration shown in fig. 13 are formed.

As shown in fig. 8, when the plane on which the driving surface 412 is located and the plane on which the driving surface 422 is located are contracted from outside to inside in the longitudinal direction, the contraction ends 4121 and 4221 respectively formed by the driving surface 412 and the driving surface 422 respectively formed by the second driving rod 41 and the second driving rod 42 are located at one end near the top plate 111 along the Y-axis direction, and the expansion ends 4122 and 4222 are located at one end far from the top plate 111 along the Y-axis direction. The driving end 314 is located at the outer side of the shrinking end 4121 relative to the shrinking end 4221, and the plane formed by the driving end 314 along the Y-axis direction forms an included angle with the plane on which the driving surface 412 is located, so as to ensure that when pressure is applied to the driving tongue plate 312 along the first direction C, the first driving rod 31 rotates along the second direction D around the first fixed hinge point 311, so as to drive the driving end 314 to slide along the contour formed by the driving surface 412 from the shrinking end 4121 to the expanding end 4122, thereby driving the second driving rod 41 to rotate along the third direction E1 around the third fixed hinge point 411. If the driving end 314 is in contact with the contracting end 4121, the driving end 314 slides along the surface of the driving surface 412 toward the expanding end 4122; if the driving end 314 is not in contact with the contracted end 4121, the driving end 314 is first in contact with the surface of the driving surface 412 and then slides along the surface of the driving surface 412 toward the expanded end 4122, so long as the sliding along the contour formed by the driving end 314 along the driving surface 412 can be realized, so as to enable the rotation of the first driving rod 31 around the first fixed hinge point 311, thereby driving the second driving rod 41 to rotate around the third fixed hinge point 411, and the specific assembly position of the driving end 314 and the contracted end 4121 is not limited in this embodiment. Similarly, the driving end 315 is located at an outer side of the shrinking end 4221 relative to the shrinking end 4121, and a plane formed by the driving end 315 along the Y-axis direction forms an included angle with a plane on which the driving surface 422 is located, so as to ensure that when a pressure is applied to the driving tongue plate 312 along the first direction C, the first driving rod 31 rotates along the second direction D around the first fixed hinge point 311, so as to drive the driving end 315 to slide along a contour formed by the driving surface 422 from the shrinking end 4122 to the expanding end 4222, thereby driving the second driving rod 42 to rotate along the fourth direction F2 around the third fixed hinge point 421. If the driving end 315 contacts the contracting end 4221, the driving end 315 slides along the surface of the driving face 422 toward the expanding end 4222; if the driving end 315 is not in contact with the contracting end 4221, the driving end 315 first contacts the surface of the driving face 422 and then slides along the surface of the driving face 422 toward the expanding end 4222.

As shown in connection with fig. 12, the drive face 412a and the drive face 422a are shown as converging from top to bottom, the converging end 4121a does not contact the drive end 314a, and the converging end 4222a does not contact the drive end 315 a. When pressure is applied to the driving tongue plate 312 along the first direction C, the first driving rod 31 rotates around the first fixed hinge point 311 along the second direction D to drive the driving end 314a and the driving end 315a to simultaneously and respectively slide from the contracted end 4121a and the contracted end 4222a to the expanded end 4122a and the expanded end 4222a along the profile formed by the driving surface 412a and the driving surface 422a, so that the driving end 314a and the driving end 315a slide from bottom to top to the driving end 314b and the driving end 315b to drive the driving surface 412a and the driving surface 422a to move inward to the driving surface 412b and the driving surface 422b. When the plane of the driving surface 412 and the plane of the driving surface 422 are in an expanding shape along the longitudinal direction from outside to inside, the contraction ends 4121 and 4221 respectively formed by the driving surfaces 412 and 422 of the second driving rod 41 and the second driving rod 42 are located at the end far from the top plate 111 along the Y-axis direction, and the expansion ends 4122 and 4222 are located at the end near to the top plate 111 along the Y-axis direction. The driving end 314 is located at an outer side of the shrinking end 4121 relative to the shrinking end 4221, and a plane formed by the driving end 314 along the Y-axis direction forms an included angle with a plane on which the driving surface 412 is located, so as to ensure that when a pulling force is applied to drive the tongue plate 312 in a direction opposite to the first direction C (i.e., a force applied to drive the tongue plate 312 in a direction opposite to the first direction C in fig. 6), the first driving rod 31 rotates about the first fixed hinge point 311 in the fifth direction G, so as to drive the driving end 314 to slide from the shrinking end 4121 to the expanding end 4122 along a contour formed by the driving surface 412, thereby driving the second driving rod 41 to rotate about the third fixed hinge point 411 in the third direction E1. If the driving end 314 is in contact with the contracting end 4121, the driving end 314 slides along the surface of the driving surface 412 toward the expanding end 4122; if the driving end 314 is not in contact with the contracted end 4121, the driving end 314 is first in contact with the surface of the driving surface 412 and then slides along the surface of the driving surface 412 toward the expanded end 4122, so long as the sliding along the contour formed by the driving end 314 along the driving surface 412 can be realized, so as to enable the rotation of the first driving rod 31 around the first fixed hinge point 311, thereby driving the second driving rod 41 to rotate around the third fixed hinge point 411, and the specific assembly position of the driving end 314 and the contracted end 4121 is not limited in this embodiment.

Similarly, the driving end 315 is located at an outer side of the shrinking end 4221 relative to the shrinking end 4121, and a plane formed by the driving end 315 along the Y-axis direction forms an included angle with a plane on which the driving surface 422 is located, so as to ensure that when a pulling force is applied to the driving tongue plate 312 along a direction opposite to the first direction C, the first driving rod 31 rotates around the first fixed hinge point 311 along the fifth direction G, so as to drive the driving end 315 to slide along a contour formed by the driving surface 422 from the shrinking end 4122 to the expanding end 4222, thereby driving the second driving rod 42 to rotate around the third fixed hinge point 421 along the fourth direction F2. If the driving end 315 contacts the contracting end 4221, the driving end 315 slides along the surface of the driving face 422 toward the expanding end 4222; if the driving end 315 is not in contact with the contracting end 4221, the driving end 315 first contacts the surface of the driving face 422 and then slides along the surface of the driving face 422 toward the expanding end 4222.

As shown in connection with fig. 13, the drive face 412c and the drive face 422c are shown as expanding from top to bottom, the constricted end 4121c is not in contact with the drive end 314c, and the constricted end 4222c is not in contact with the drive end 315 c. When a pulling force is applied to the driving tongue plate 312 in a direction opposite to the first direction C, the first driving rod 31 rotates around the first fixed hinge point 311 in the fifth direction G to drive the driving end 314C and the driving end 315C to synchronously slide along the profiles formed by the driving surface 412C and the driving surface 422C from the contracting end 4121C and the contracting end 4222C to the expanding end 4122C and the expanding end 4222C respectively, so that the driving end 314C and the driving end 315C slide from top to bottom to the driving end 314d and the driving end 315d to drive the driving surface 412C and the driving surface 422C to retract inwards to the driving surface 412d and the driving surface 422d. As shown in fig. 6, 10 and 12, when pressure is applied to the driving tongue plate 312 in the first direction C, the distance between the driving tongue plate 312 and the trailing end 119 is reduced to switch from the locked state to the unlocked state. As shown in fig. 6, 10 and 13, when a pulling force is applied to the driving tongue plate 312 in a direction opposite to the first direction C, the distance between the driving tongue plate 312 and the trailing end 119 is enlarged to switch from the locked state to the unlocked state. Referring to fig. 5, the locking device 100 further includes: a limiting post 61 provided at a side of the second driving lever 41 opposite to the pushing part 511 to limit the second driving lever 41 from rotating inward about the third fixed hinge point 411. When the first driving rod 31 does not apply a force to the second driving rod 41, the second driving rod 41 is abutted by the limit post 61, so that the problem of instability of the second driving rod 41 caused by inward rotation of the second driving rod 41 due to the hinge joint with the first connecting rod 11 is prevented. Similarly, the locking device 100 further includes: and a limiting post 62 disposed at a side of the second driving rod 42 opposite to the pushing part 521 to limit the second driving rod 42 from rotating inward about the third fixed hinge 421. The function of the stopper post 62 is similar to that of the stopper post 61 described above, and will not be described again.

Referring to fig. 1, 4, 9 and 10, the locking device 100 includes: the locking members 51 and 52 are symmetrically arranged along the transverse extending direction of the first link 11 and are pushed by the second driving rod 41 and the second driving rod 42, respectively. The locking member 51 includes: a clamping plate 513, a pushing part 511 protruded at the bottom (not shown) of the clamping plate 513 and pushed by the second driving rod 41, a locking member 512 for limiting the rotation of the second link 31 around the second fixed hinge point 211, and a first boss 515 and a second boss 516 protruded at the top (not shown) of the clamping plate 513. The upper side 114 of the first link 11 is provided with a first through hole 112 through which the pushing part 511 penetrates and a second through hole 113 through which the locking member 512 penetrates, the pushing part 511 penetrates the first through hole 112 to be pushed by the driving end 314, and the locking member 512 penetrates the second through hole 113 to limit the second link 21 to rotate around the second fixed hinge point 211, so that the second link 21 is stably locked, and finally the rod-shaped member 71 hinged to the second link 21 and the body 81 hinged to the first link 11 are stably locked. Only the pushing portion 511 and the locking member 512 of the locking member 51 respectively penetrate through the first through hole 112 and the second through hole 113, and the clamping plate 513 is disposed outside (not labeled) the upper side portion 114 of the first connecting rod 11, so that the clamping plate 513 abuts against the pushing portion 511 and the locking member 512. The pushing portion 511 and the locking member 512 are a rigid structure, so that the locking member 51 can be driven to move synchronously when the pushing portion 511 is pushed by the second driving rod 41.

Similarly, retaining member 52 includes: a clamping plate 523, a pushing portion 521 protruding from the top (not shown) of the clamping plate 523 and pushed by the second driving rod 42, and a locking member 522 for restricting the rotation of the second link 31 about the second fixed hinge point 211, a boss 525 protruding from the bottom (not shown) of the clamping plate 523, and a second boss 526. The lower portion 115 of the first link 11 is provided with a first through hole 122 through which the pushing portion 521 penetrates and a second through hole 123 through which the locking member 522 penetrates, the pushing portion 521 penetrates the first through hole 122 to be pushed by the driving end 315, and the locking member 522 penetrates the second through hole 123 to limit the second link 21 to rotate around the second fixed hinge point 211. Only the pushing portion 521 and the locking member 522 of the locking member 52 penetrate through the first through hole 122 and the second through hole 123, respectively, and the clamping plate 523 is disposed outside (not shown) the lower side portion 115 of the first link 11, so that the pushing portion 521 and the locking member 522 are abutted by the clamping plate 523.

Referring to fig. 5, 9 and 11, the second link 21 includes: the base column 211 formed at the second fixed hinge point 211, the lever portion 212 extending laterally (i.e., in the direction of the X-axis), and the locking column 213 extending vertically (i.e., in the direction of the Z-axis) perpendicular to the extending direction of the lever portion 212. Wherein, the two ends of the locking post 213 along the vertical direction (i.e., along the direction of the Z axis) respectively form a limiting portion 214 and a limiting portion 215, and the limiting portion 214 and the limiting portion 215 respectively form a blind hole 2141 and a blind hole 2151 that at least partially house the locking member 512 and the locking member 522. The base column 211 of the second connecting rod 21 is hinged with the first connecting rod 11 and forms a second fixed hinge point 211, and the limiting part 214 and the limiting part 215 are formed at the tail end of the second connecting rod 21 far away from the second fixed hinge point and respectively form movable contact and separation with the locking piece 512 and the locking piece 522 so as to lock and unlock the second connecting rod 21. The locking member 512 and the locking member 522 are respectively accommodated in the blind hole 2141 and the blind hole 2151, so that the locking member 512 and the limiting portion 214 reach a locking state, and the locking member 522 and the limiting portion 215 reach a locking state. The locking of both ends of the locking post 213 is performed to firmly lock the second link 21, thereby finally firmly locking the rod-shaped member 71 hinged to the second link 21 and the body 81 hinged to the first link 11.

Referring to fig. 1 and 9, the locking member 51 further includes: the second reset element 514 is disposed on the side of the pushing portion 511 away from the second driving rod 41, and the cover 517 is sleeved on the second reset element 514 to support the second reset element 514. When the second driving rod 41 does not apply a pushing force to the pushing portion 511 (i.e., when the second driving rod 41 does not push the pushing portion 511), the locking member 51 abuts against the first link 11 under the elastic force of the second resetting member 514, so as to stably hold the locking member 512 in the limiting portion 214, thereby locking the second link 21. When the second driving lever 41 applies a pushing force to the pushing portion 511, the locking member 51 moves upward in the vertical direction to drive the locking member 512 to be separated from the limiting portion 214, thereby unlocking the second link 21. At this time, the second restoring member 514 is compressed by the abutting action of the cover 517, and when the pushing force applied to the pushing portion 511 is withdrawn by the second driving lever 41, the locking member 51 is abutted against the first link 11 by the resilience force of the second restoring member 514, so as to realize stable assembly of the locking member 51 and the first link 11, and finally realize switching between the locked state and the unlocked state of the second link 22. The cover 517 may be only sleeved on the second reset piece 514 and jointly clamps the second reset piece 514 together with the clamping plate 513 along the Z axis, and reliably prevents the second reset piece 514 from sliding; for example, the cover 517 may also be axially sleeved on the first boss 515, the second boss 516 and the second reset element 514 along the Z axis and integrally cover the first boss 515, the second boss 516 and the second reset element 514, so as to achieve the protection effect on the first boss 515 and the second boss 516 and the position fixing effect on the second reset element 514, thereby preventing the easy damage caused by the exposed first boss 515 and the exposed second boss 516.

When the cover 517 is sleeved on the first boss 515, the second boss 516 and the second reset element 514, the cover 517 is provided with a third through hole 5171 through which the first boss 515 penetrates and a fourth through hole 5172 through which the second boss 516 penetrates. When the second driving rod 41 applies a pushing force to the pushing portion 511, the locking member 51 moves upward in the vertical direction to drive the first and second protruding columns 515 and 516 to penetrate the third and fourth through holes 5171 and 5172, respectively. The cover 517 is fixed to the upper side 114 of the first link 11 by a fixing member 5173, wherein the fixing member 5173 may be a combination of a bolt and a nut, for example. The number of the fixing members 5173 may be plural, so that the assembly between the cover 517 and the fixing members 5173 is more stable by the plural fixing members 5173. The specific arrangement mode of the cover 517 (for example, the above-mentioned cover is only sleeved on the second reset member 514, or is sleeved on the first boss 515, the second boss 516 and the second reset member 514), and the present embodiment is not limited specifically, as long as the second reset member 514 can be abutted, so as to ensure the stable assembly of the locking member 51 and the first link 11. In addition, the second restoring member 514 may be, for example, a spring, a torsion spring, or the like having an elastic storing and releasing function in an axial direction (e.g., in a direction longitudinal to coincide with the third fixed hinge point 411), and is preferably a spring.

Similarly, retaining member 52 includes: the second reset element 524 is disposed on a side of the pushing portion 521 away from the second driving rod 42, and the cover 527 is sleeved on the second reset element 524 to support the second reset element 524. The locking member 52 operates in a similar manner to the locking member 512 described above and will not be described in detail herein.

Referring to fig. 1 to 5, the first link 11, the second link 21, the rod-shaped member 71, and the body 81 are hinged end to end in this order, the first link 11 is hinged with the second link 21 and forms a first fixed hinge point 311, the second link 21 is hinged with the rod-shaped member 71 and forms a fourth fixed hinge point 711, the rod-shaped member 71 is hinged with the body 81 and forms a fifth fixed hinge point 811, and the body 81 is hinged with the first link 11 and forms a sixth fixed hinge point 116. The first link 11 includes: the support column 117 is disposed at an end far from the driving tongue plate 312, and the third resetting member 118 is sleeved on the support column 117. The upper portion 114 and the lower portion 115 of the first connecting rod 11 are respectively provided with a fifth through hole 1142 and a sixth through hole 1143 through which the support column 117 passes, and both ends of the support column 117 respectively pass through the fifth through hole 1142 and the sixth through hole 1143 and are fixed by a fitting such as a nut. The third restoring member 118 may be, for example, a torsion spring, and is sleeved on the supporting post 117 through the third restoring member 118 so as to always present a trend of attaching the first link 11 to the rod-shaped member 71.

When the second link 21 rotates around the fourth fixed hinge point 711 along the sixth direction H, the rod-shaped member 71 is driven to rotate around the fifth fixed focus 811 along the seventh direction I until the second link 21 moves to the inner side of the first link 11, so that the first link 11 is attached to the rod-shaped member 71 under the action of the third restoring member 118, thereby realizing the first locking of the rod-shaped member 71 and the body 81. At this time, the second connecting rod 21 moves to the inner side of the first connecting rod 11, and the locking member 512 and the locking member 522 are respectively accommodated in the blind hole 2141 and the blind hole 2151 to limit the second connecting rod 21 to rotate around the second fixed hinge point 211, so as to achieve the purpose of stabilizing the second connecting rod 21, thereby achieving the secondary locking of the rod-shaped member 71 and the body 81. The locking piece 512 and the locking piece 522 are used for locking the rod-shaped piece 71 and the body 81, so that the technical problem that in the prior art, the rod-shaped piece 71 and the body 81 are assembled unstably due to slight deviation of the connecting rod position (for example, the first connecting rod 21 or the second connecting rod 22 or the rod-shaped piece 71 or the body 81 and the like) is solved, and therefore, in the process of assembling the arm (namely, the upper concept of the rod-shaped piece 71) and the body 81 of the unmanned aerial vehicle adopting the locking device, and in the process of flying the unmanned aerial vehicle, even if the rod-shaped piece 71 is applied with force to the rod-shaped piece 71 along all directions by air, the rod-shaped piece 71 and the body 81 are not loosened, disconnected and other assembly failures are avoided, and the operation safety of the mobile operation device such as the unmanned aerial vehicle is ensured.

As shown in fig. 1, fig. 2, fig. 6, fig. 8, fig. 9, and fig. 11, when pressure is applied to the first driving rod 31 in the first direction C, the first driving rod 31 rotates around the first fixed hinge point 311 in the second direction D, so as to drive the driving end 314 and the driving end 315 to slide along the profiles formed by the driving surface 412 and the driving surface 422, respectively, so as to drive the second driving rod 41 and the second driving rod 42 to rotate around the third fixed hinge point 411 and the third fixed hinge point 421, respectively, in the third direction E1 and the fourth direction F2 (i.e., the driving surface 412 and the driving surface 422 are close to each other, and the driving end 314 and the driving end 315 are far away from each other), so as to drive the driving end 314 to push the locking member 51 to move upwards in the vertical direction, and drive the driving end 315 to push the locking member 52 to move downwards in the vertical direction, so as to drive the locking member 512 and the locking member 522 to separate from the blind hole 2141 and the blind hole 2151, respectively, so that the locking member 51 and the limiting portion 214 and the locking member 52 and the limiting portion 215 are in an unlocked state, so as to finally achieve unlocking of the rod member 71 and the body 81. When the pressure applied to the first driving rod 31 in the first direction C is removed, the first driving rod 31 rotates about the first fixed hinge point 311 in the fifth direction G under the resilience of the first reset member 313 to remove the forces of the first driving rod 31 to the driving surface 412 and the driving surface 422, respectively, and the second driving rod 41 and the second driving rod 42 rotate about the third fixed hinge point 411 and the third fixed hinge point 421 in the fourth direction F1 and the third direction E2 under the resilience of the second reset member 514 in the locking member 51 and the second reset member 524 in the locking member 52, respectively, so as to drive the second driving rod 41 and the second driving rod 42 to rotate about the locking member 512 in the locking member 51 and the locking member 522 in the third direction E2, and simultaneously drive the locking member 512 in the locking member 51 and the locking member 522 in the locking member 52 to contact the blind holes 2141 and 2151 (i.e., the blind holes 2141 and the blind holes 2151 at least partially house the locking member 512 and the locking member 522), so that the second connecting rod 21 of the locking member 51 is in the locked state, and finally locking the rod-shaped member 71 and the body 81.

Of course, in the present embodiment, by the second driving rod 41 and the second driving rod 42 which are symmetrically arranged, the locking member 51 and the locking member 52 which are respectively pushed by the second driving rod 41 and the second driving rod 41, and the limiting portion 215 which are respectively movably contacted with and separated from the locking member 512 and the locking member 522 and are respectively opened at both ends of the locking post 213, locking is respectively performed on both ends of the locking post 213 by the locking member 512 and the locking member 522 synchronously, so as to ensure stable locking between the rod-shaped member 71 and the body 81. It is also possible to provide only one second driving lever, that is, the second driving lever 41 or the second driving lever 42, so that one end of the locking post 213 is locked by only one locking member, that is, the locking member 512 or the locking member 522, which is not limited in this embodiment.

Based on the locking device 100 disclosed in the foregoing embodiment, the present embodiment also discloses a mobile working device 1000. The mobile working device 1000 includes: a body 81 with a power mechanism, at least one foldable rod 71, and a locking device 100 formed between the rod 71 and the body 81. The mobile working device 1000 including the main body 81 may be an aerial working device, a ground working device, or a water surface working device. The aerial work device may be an unmanned aerial vehicle, with the locking device 100 enabling a foldable assembly of the unmanned aerial vehicle frame (i.e. a lower concept of the body) with the horn (i.e. a lower concept of the stick). The technical solution of the locking device 100 included in the mobile working device 1000 disclosed in this embodiment is described in the previous embodiments, and is not repeated here.

The above list of detailed descriptions is only specific to practical embodiments of the present utility model, and they are not intended to limit the scope of the present utility model, and all equivalent embodiments or modifications that do not depart from the spirit of the present utility model should be included in the scope of the present utility model.

Furthermore, it should be understood that although the present disclosure describes embodiments, not every embodiment is provided with a separate embodiment, and that this description is provided for clarity only, and that the disclosure is not limited to the embodiments described in detail below, and that the embodiments described in the examples may be combined as appropriate to form other embodiments that will be apparent to those skilled in the art.

Claims (10)

1. A locking device for locking a foldable rod-like member to a body, the locking device comprising:

the first connecting rod is hinged to the first connecting rod, forms a first driving rod and a second connecting rod with a first fixed hinge point and a second fixed hinge point respectively, is hinged to the first connecting rod, forms a second driving rod with a third fixed hinge point and is provided with a locking piece;

the locking piece comprises a pushing part pushed by a second driving rod and a locking piece for limiting the second connecting rod to rotate around the second fixed hinge point, and the tail end of the second connecting rod far away from the second fixed hinge point forms a limiting part which is in movable contact with and separated from the locking piece;

the first driving rod is close to one end of the second driving rod to form at least one driving end, the second driving rod forms a driving surface which is driven by the driving end to pivot along a third fixed hinge point when rotating around the first fixed hinge point, and the first driving rod is used for executing switching between a locking state and an unlocking state of the locking piece and the limiting part when rotating around the first fixed hinge point.

2. The locking device of claim 1, further comprising: two second driving rods symmetrically arranged along the transverse length extension direction of the first connecting rod, and locking pieces symmetrically arranged and respectively pushed by the two second driving rods;

the first driving rod is close to one end of the second driving rod to form two bifurcated driving ends, and an included angle is formed between two driving surfaces formed by the two second driving rods, so that when the first driving rod rotates around the first fixed hinge point, the driving ends synchronously drive the two driving surfaces to synchronously drive the two second driving rods to do pivoting motion around the third fixed hinge point.

3. The locking device according to claim 1, wherein the second link includes a base post formed at a second fixed hinge point, a lever portion extending laterally, and a locking post extending vertically in a direction perpendicular to an extending direction of the lever portion and forming a stopper portion;

the first connecting rod, the second connecting rod, the rod-shaped piece and the body are hinged end to end in sequence, and when the second connecting rod rotates around the second fixed hinge point, the rod-shaped piece and the body are driven to be switched between a locking state and an unlocking state.

4. A locking device as claimed in claim 3, wherein the stop portion defines a blind bore at least partially receiving the locking member to limit rotation of the second link about the second fixed hinge point.

5. The locking device of claim 2, wherein an end of the first driving rod remote from the second driving rod forms a driving tongue plate for driving the first driving rod to rotate around the first fixed hinge point, and the first driving rod is hinged to the first connecting rod through a first reset piece.

6. The locking device of claim 5, wherein the plane of the two driving surfaces is convergent or divergent in the longitudinal direction from outside to inside;

when the first driving rod is contracted, pressure is applied to the driving tongue plate so as to drive the first driving rod to rotate anticlockwise around the first fixed hinge point;

when the first driving rod is in an outward expansion shape, pulling force is applied to the driving tongue plate so as to drive the first driving rod to rotate clockwise around the first fixed hinge point.

7. The locking device of claim 1, wherein the locking member further comprises: the second reset piece is arranged on one side of the pushing part, far away from the second driving rod, and the cover body is sleeved on the second reset piece to support the second reset piece.

8. The locking device of claim 1, further comprising a limiting post disposed on a side of the second drive rod opposite the pushing portion to limit inward rotation of the second drive rod about a third fixed hinge point.

9. A locking device as claimed in any one of claims 1 to 8, wherein the pushing portion and the locking member are a unitary rigid structural member.

10. A mobile work device, comprising:

a body with a power mechanism, at least one foldable rod-like member, and a locking device according to any one of claims 1 to 9 formed between the rod-like member and the body.