WO2022082383A1 - 自锁结构、机臂组件及可移动平台 - Google Patents

自锁结构、机臂组件及可移动平台 Download PDF

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Publication number
WO2022082383A1
WO2022082383A1 PCT/CN2020/121983 CN2020121983W WO2022082383A1 WO 2022082383 A1 WO2022082383 A1 WO 2022082383A1 CN 2020121983 W CN2020121983 W CN 2020121983W WO 2022082383 A1 WO2022082383 A1 WO 2022082383A1
Authority
WO
WIPO (PCT)
Prior art keywords
self
locking
mounting
movable
structure according
Prior art date
Application number
PCT/CN2020/121983
Other languages
English (en)
French (fr)
Inventor
周万仁
周乐
卢绰莹
舒展
Original Assignee
深圳市大疆创新科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Priority to PCT/CN2020/121983 priority Critical patent/WO2022082383A1/zh
Priority to CN202080015997.1A priority patent/CN113490625B/zh
Publication of WO2022082383A1 publication Critical patent/WO2022082383A1/zh
Priority to US18/134,463 priority patent/US20230257102A1/en

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C3/00—Wings
    • B64C3/38—Adjustment of complete wings or parts thereof
    • B64C3/56—Folding or collapsing to reduce overall dimensions of aircraft
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U30/00—Means for producing lift; Empennages; Arrangements thereof
    • B64U30/20—Rotors; Rotor supports
    • B64U30/29—Constructional aspects of rotors or rotor supports; Arrangements thereof
    • B64U30/293—Foldable or collapsible rotors or rotor supports
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C1/00—Fuselages; Constructional features common to fuselages, wings, stabilising surfaces or the like
    • B64C1/30—Parts of fuselage relatively movable to reduce overall dimensions of aircraft
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C27/00—Rotorcraft; Rotors peculiar thereto
    • B64C27/04—Helicopters
    • B64C27/08—Helicopters with two or more rotors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B64U10/10—Rotorcrafts
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B64U10/10—Rotorcrafts
    • B64U10/13—Flying platforms
    • B64U10/14—Flying platforms with four distinct rotor axes, e.g. quadcopters
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/70—Energy storage systems for electromobility, e.g. batteries

Definitions

  • the present application relates to the technical field of movable platforms, and in particular, to a self-locking structure, an arm assembly and a movable platform.
  • the common solution in the industry is to use a foldable arm.
  • the arms are folded and unfolded when needed for flight.
  • the existing UAV usually needs to manually operate the arm after the arm is unfolded to effectively lock and fix the arm. In this way, it is easy for the operator to forget to lock the machine. Arm, drone bombing problems.
  • the present application provides a self-locking structure, an arm assembly and a movable platform.
  • the present application provides a self-locking structure for a movable platform, the self-locking structure comprising:
  • a movable piece rotatably connected with the mounting piece, so that the movable piece can be switched between the unfolded state and the folded state;
  • a self-locking component is provided on one of the mounting piece and the movable piece;
  • the self-locking assembly can synchronously lock the mounting piece and the movable piece in the current position, so that the movable piece is kept in the desired position. Expanded state.
  • an arm assembly comprising:
  • one of the mounting member and the movable member is a connecting member fixed to the center frame of the movable platform, and the other of the mounting member and the movable member is is the arm used to set the power suit;
  • the power suit is arranged on the machine arm.
  • the present application provides a movable platform, comprising:
  • the self-locking structure is provided on the body.
  • the embodiments of the present application provide a self-locking structure, an arm assembly and a movable platform.
  • the movable member is switched from the folded state to the unfolded state, and the self-locking
  • the assembly can automatically and synchronously lock the mounting part and the movable part so that the movable part can be reliably kept in the unfolded state, and the installation part and the movable part can be locked in the current position corresponding to the unfolded state without additional manual operation of the self-locking assembly, and the operation is simple , convenient, and avoids the problem of potential safety hazards due to the operator forgetting to lock the movable parts.
  • FIG. 1 is a schematic structural diagram of an angle of a self-locking structure provided by an embodiment of the present application, wherein the movable part is in a folded state;
  • FIG. 2 is a schematic structural diagram of another angle of the self-locking structure provided by an embodiment of the present application, wherein the movable part is in a folded state;
  • FIG. 3 is a schematic cross-sectional view of the self-locking structure along A-A in FIG. 2;
  • FIG. 4 is a schematic structural diagram of an angle of a self-locking structure provided by an embodiment of the present application, wherein the movable part is in an unfolded state;
  • FIG. 5 is a schematic structural diagram of another angle of the self-locking structure provided by an embodiment of the present application, wherein the movable part is in an unfolded state;
  • Fig. 6 is the sectional schematic diagram of the self-locking structure along B-B in Fig. 5;
  • FIG. 7 is an exploded schematic diagram of a self-locking structure provided by an embodiment of the present application.
  • FIG. 8 is a schematic structural diagram of an angle of a self-locking structure provided by an embodiment of the present application, wherein the movable part is in an unfolded state;
  • FIG. 9 is a schematic structural diagram of another angle of the self-locking structure provided by an embodiment of the present application, wherein the movable part is in an unfolded state;
  • Figure 10 is a schematic cross-sectional view of the self-locking structure along C-C in Figure 9;
  • Figure 11 is an exploded schematic view of the self-locking structure in Figure 9;
  • Fig. 12 is a partial enlarged schematic view of Fig. 6 at E;
  • FIG. 13 is a schematic structural diagram of a mounting member provided by an embodiment of the present application.
  • FIG. 14 is a schematic structural diagram of a movable part provided by an embodiment of the present application.
  • 15 is a schematic structural diagram of an angle of the first self-locking member provided by an embodiment of the present application.
  • 16 is a schematic structural diagram of another angle of the first self-locking member provided by an embodiment of the present application.
  • 17 is a schematic structural diagram of an operating member provided by an embodiment of the present application.
  • Fig. 18 is the partial enlarged schematic diagram at F of Fig. 3;
  • FIG. 19 is a schematic structural diagram of a movable platform provided by an embodiment of the present application.
  • Fig. 20 is a partial enlarged schematic view of the movable platform at G in Fig. 19;
  • FIG. 21 is a partial enlarged schematic view of the movable platform at H in FIG. 19 .
  • the first self-locking member 341, the first through hole; 3411, the first sub-hole; 3412, the second sub-hole; 3413, the fifth step 3413; 342, the self-locking body; 343, the first self-locking surface ; 344, the second self-locking surface;
  • an embodiment of the present application provides a self-locking structure 100 , and the self-locking structure 100 is used for a movable platform 1000 (as shown in FIG. 19 ).
  • the movable platform 1000 may be any object that can move or move automatically under the action of an external force, for example, the movable platform 1000 includes a handheld pan/tilt head or an unmanned aerial vehicle.
  • the movable platform 1000 may also be an unmanned vehicle, an unmanned boat, or a robot.
  • the self-locking structure 100 includes a mounting member 10 , a movable member 20 and a self-locking assembly 30 .
  • the movable member 20 is rotatably connected with the mounting member 10, so that the movable member 20 can be switched between the unfolded state and the folded state.
  • the self-locking component 30 is disposed on one of the mounting member 10 and the movable member 20 . Wherein, when the mounting member 10 and the movable member 20 are rotated to a preset angle, the self-locking assembly 30 can synchronously lock the mounting member 10 and the movable member 20 in the current position, so that the movable member 20 is kept in the unfolded state.
  • the movable member 20 and the installation member 10 are rotatably connected, the movable member 20 and the installation member 10 can rotate relative to each other, and rotate to an appropriate angle at which the movable member 20 and the installation member 10 are close to each other or away from each other, so as to realize The unfolding and folding of the movable part 20 is further applied to different occasions.
  • the self-locking structure 100 is shown in FIGS. 1 to 3 .
  • the self-locking structure 100 is shown in FIGS. 4 to 6 , or as shown in FIGS. 8 to 10 .
  • the movable platform 1000 is an unmanned aerial vehicle
  • one of the mounting member 10 and the movable member 20 is a connecting member for connecting with the center frame of the movable platform 1000 (as shown in FIG. 19 )
  • the mounting member 10 The other one of the movable member 20 is the arm 301 for setting the power suit 200 (see FIG. 19 ).
  • the movable part 20 and the mounting part 10 can be rotated to make the arm 301 switch from the folded state to the unfolded state, so that the power suit 200 is far away from the fuselage structural parts such as the center frame of the unmanned aerial vehicle, Mutual interference between the power suit 200 and the fuselage structure is avoided.
  • the movable member 20 and the mounting member 10 can be relatively rotated until the arms 301 are in a folded state, thereby reducing the overall size and occupied space of the UAV and facilitating transportation or storage.
  • the mounting part 10 and the movable part 20 may also be two parts in other structures.
  • the structure can be any object with an unfolded state and a folded state, such as a handheld gimbal.
  • a handheld gimbal Exemplarily, when the movable platform 1000 is a handheld gimbal, one of the mounting part 10 and the movable part 20 is the first part of the handheld gimbal, and the other of the mounting part 10 and the movable part 20 is the hand-held gimbal. the second part.
  • the first part and the second part can be rotated so that the movable part 20 is switched from the folded state to the unfolded state.
  • the hand-held pan-tilt head can carry the imaging device, and can adjust the imaging posture of the imaging device and adjust the imaging device. Maintain the desired imaging posture to provide stable imaging conditions for the imaging device.
  • the first part and the second part can be relatively rotated until the movable member 20 is in a folded state, thereby reducing the overall size and occupied space of the handheld gimbal and facilitating transportation or storage.
  • the mounting part 10 is the motor of the hand-held pan-tilt head
  • the movable piece 20 is the connecting arm of the hand-held pan-tilt head.
  • the mounting member 10 is a motor connected to the handle in the hand-held pan/tilt head.
  • the preset angle formed between the movable part 20 and the mounting part 10 is usually the angle when the movable platform 1000 is working, and the preset angle can ensure that the power suit 200 set on the movable part 20 and the mounting parts or other functional components have their normal working positions.
  • the preset angle is any suitable angle between 15°-180°, such as 15°, 90°, 120°, 135°, 150°, 180° and any other angle between 15°-180° suitable angle.
  • the preset angle is the included angle between the mounting member 10 and the movable member 20 when the movable member 20 is in the unfolded state.
  • the aforementioned current position is the relative position between the mounting member 10 and the movable member 20 when the movable member 20 is in the unfolded state.
  • the self-locking assembly 30 when the movable member 20 is relatively rotated with the mounting member 10 to unfold the movable member 20, the self-locking assembly 30 can be automatically and synchronously locked while the movable member 20 is switched from the folded state to the unfolded state.
  • the mounting piece 10 and the movable piece 20 can be reliably maintained in the unfolded state, and the mounting piece 10 and the movable piece 20 can be locked in the current position corresponding to the unfolded state without additional manual operation of the self-locking assembly 30, and the operation is simple It is convenient, and avoids the problem of potential safety hazards due to the operator forgetting to lock the movable part 20 .
  • both the unfolded state and the folded state may have one or at least two states. That is, the unfolded state of the movable element 20 may have only one unfolded state, or may have two or more unfolded states.
  • the folded state of the movable member 20 may have only one folded state, or may have two or more folded states.
  • the following description will be given by taking the movable platform 1000 as an unmanned aerial vehicle as an example.
  • the current angle between the movable part 20 and the mounting part 10 usually needs to be kept unchanged to ensure the stability of the unmanned aerial vehicle during flight. Therefore, when the arm 301 is deployed or after it is deployed, the arm 301 needs to be effectively locked and fixed, so as to keep the current angle between the movable member 20 and the mounting member 10, that is, to keep the movable member 20 reliably. in the expanded state.
  • One of the locking methods is as follows: the operator manually operates the machine arm 301 to rotate the machine arm 301 relative to the mounting member 10 until the machine arm 301 is in the unfolded state, and then the operator manually operates the locking structures such as threaded sleeves and buckles to adjust the unfolded position.
  • the machine arm 301 is locked and fixed.
  • This locking method is cumbersome to operate, and since the arm 301 can be locked and fixed only by manipulating the locking structure, it is very easy for the operator to forget to lock the arm 301 and the unmanned aerial vehicle will explode.
  • the locking method of the embodiment of the present application is as follows: when the mounting member 10 and the arm 301 are rotated to the preset angle corresponding to the deployed state, the self-locking assembly 30 can synchronously lock the mounting member 10 and the arm 301 at the corresponding angle corresponding to the deployed state. The current position, so that the arm 301 is reliably maintained in the deployed state. Therefore, the self-locking structure 100 of the embodiment of the present application can automatically lock the mounting member 10 and the machine arm 301 in the current position corresponding to the unfolded state without additional manual operation of the self-locking assembly 30 , which is simple and convenient to operate, and avoids the The operator forgets to lock the arm 301 and the unmanned aerial vehicle blows up, which improves the safety of the unmanned aerial vehicle.
  • the self-locking assembly 30 can unlock the mounting member 10 and the movable member 20 under the action of an external force, so that the movable member 20 can rotate relative to the mounting member 10 .
  • the self-locking assembly 30 can be operated to release the locking between the mounting member 10 and the arm 301 .
  • the arm 301 can be rotated relative to the mount 10, so that the arm 301 can be switched from the unfolded state to the folded state, thereby reducing the overall size and occupied space of the UAV and facilitating transportation or storage.
  • the self-locking assembly 30 can be manually operated or automatically operated to release the locking between the mounting member 10 and the movable member 20 .
  • the self-locking assembly 30 and the like are operated by automated equipment.
  • the mounting member 10 and the movable member 20 when the mounting member 10 and the movable member 20 are rotated to a predetermined angle, the mounting member 10 and the movable member 20 cooperate to form a limiting groove 40 , and some of the self-locking components 30 are accommodated in The mounting member 10 and the movable member 20 are locked in the limiting groove 40 .
  • part of the self-locking assembly 30 can enter the limiting slot 40 synchronously.
  • the self-locking assembly 30 located in the limiting groove 40 is sandwiched between the mounting piece 10 and the movable piece 20, so that the mounting piece 10 and the movable piece 20 are synchronously locked at the current position corresponding to the unfolded state, limiting the mounting piece
  • the relative rotation between the movable member 20 and the movable member 20 enables the movable member 20 to be reliably maintained in the unfolded state.
  • the self-locking assembly 30 is provided on the mount 10 . In other embodiments, the self-locking assembly 30 may also be provided on the movable member 20, which is not limited herein.
  • the number of the limiting grooves 40 can be designed according to actual requirements, such as one, two, three or more. In some embodiments, referring to FIG. 6 , the number of the limiting grooves 40 is two. Exemplarily, the two limiting grooves 40 are spaced apart along the axial direction of the self-locking assembly 30 .
  • the number of the limiting slot 40 is one.
  • the limiting slot 40 includes a slot 41 and an engaging slot 42 communicating with the slot 41 .
  • Part of the self-locking component 30 can enter into the engaging groove 42 through the slot 41 , so that the self-locking component 30 is engaged with the engaging groove 42 .
  • the self-locking assembly 30 can be disengaged from the limiting slot 40 under the action of an external force to unlock the mounting member 10 and the movable member 20 .
  • the self-locking assembly 30 located in the limiting slot 40 can be disengaged from the engaging slot 42 through the slot 41, so as to unlock the mounting member 10 and the movable member 20.
  • the installation member 10 and/or the movable member 20 are operated, so that there is relative rotation between the installation member 10 and the movable member 20 to gradually unfold the movable member 20 .
  • the notch 41 simultaneously allows part of the self-locking components 30 to enter the engaging groove 42, and at this time, some of the self-locking components 30 are engaged with the engaging groove 42, so that the movable member 20 Sync locked at the current position corresponding to the expanded state.
  • the self-locking assembly 30 is operated, so that the self-locking assembly 30 located in the engaging groove 42 is disengaged from the engaging groove 42 through the notch 41 .
  • the locking between the mounting member 10 and the movable member 20 is released.
  • the mounting member 10 and/or the movable member 20 are operated to make relative rotation between the mounting member 10 and the movable member 20 to switch the movable member 20 from the unfolded state to the folded state.
  • the engaging groove 42 includes a first groove wall 421 and a second groove wall 422 which are disposed opposite to each other.
  • the first groove wall 421 is disposed on the mounting member 10
  • the second groove wall 422 is disposed on the movable member 20 . Both the first groove wall 421 and the second groove wall 422 can be in contact with part of the self-locking assembly 30 to lock the mounting member 10 and the movable member 20 .
  • the first groove wall 421 may be in surface contact, point contact or line contact with the self-locking component 30 .
  • the second groove wall 422 can be in surface contact, point contact or line contact with the self-locking assembly 30, as long as the movable member 20 is deployed to the current position corresponding to the deployed state, the mounting member 10 and the movable member 20 can pass through the self-locking assembly 30 can achieve synchronization lock.
  • the first groove wall 421 is in surface contact with the self-locking assembly 30, and the second groove wall 422 is in surface contact with the self-locking assembly 30, so that the movable member 20 can be further reliably maintained in the unfolded state .
  • the engaging groove 42 can be designed into any suitable shape according to actual requirements, such as a square groove, a V-shaped groove, a right-angled trapezoidal groove, and the like.
  • the slot width of the engaging slot 42 extends from an end close to the slot 41 to an end away from the slot 41 in a gradually decreasing manner.
  • the distance between the first slot wall 421 and the second slot wall 422 extends from an end close to the slot 41 to an end away from the slot 41 in a gradually decreasing manner, so as to prevent the self-locking assembly 30 from interacting with the first slot 41 .
  • a virtual position is generated between the groove walls 421, and/or a virtual position is prevented from being generated between the self-locking assembly 30 and the second groove wall 422, so as to ensure that the movable member 20 can be reliably maintained in the unfolded state.
  • the distance between the end of the first slot wall 421 close to the slot 41 and the axis of the self-locking assembly 30 is greater than the distance between the end of the first slot wall 421 away from the slot 41 and the axis of the self-locking assembly 30 .
  • the distance between the axes of the self-locking assembly 30 is greater than the distance between the axes of the self-locking assembly 30 .
  • the distance between the end of the second slot wall 422 close to the slot 41 and the axis of the self-locking assembly 30 is greater than the distance between the end of the second slot wall 422 away from the slot 41 and the axis of the self-locking assembly 30 The distance between the axes of the self-locking assembly 30 .
  • the distance between the first slot wall 421 and the axis of the self-locking assembly 30 decreases gradually from the end close to the slot 41 to the end away from the slot 41 .
  • One end extends.
  • the distance between the second slot wall 422 and the axis of the self-locking assembly 30 extends from the end close to the slot 41 to the end away from the slot 41 in a gradually decreasing manner.
  • the first groove wall 421 and the second groove wall 422 cooperate to form a V-shaped groove.
  • the groove width of the V-shaped groove extends from an end close to the notch 41 to an end away from the notch 41 in a gradually decreasing manner.
  • the self-locking assembly 30 can well lock the mounting member 10 and the movable member 20 to avoid self-locking
  • the assembly 30 shakes in the engaging groove 42 , so that the movable member 20 can be reliably maintained in the unfolded state.
  • first groove wall 421 and the second groove wall 422 may be provided with grooves, notches, textures and other features, as long as the contour of the engaging groove 42 is roughly a V-shaped groove or other desired shapes.
  • the mounting member 10 includes a mounting body 11 and a first mounting portion 12 .
  • the first mounting portion 12 is fixedly connected to the mounting body 11 .
  • the first mounting portion 12 is rotatably connected with the movable member 20 .
  • the first mounting portion 12 can cooperate with the movable member 20 to form a limiting groove 40 .
  • the mounting body 11 is used to connect with the frame members of the center frame 400 in FIG. 19 .
  • the mounting body 11 may be integrally formed with at least part of the frame members.
  • the mounting body 11 may also be a separate structure from at least part of the frame members.
  • the installation body 11 is fixedly connected to the frame member by means of quick-release connection, screw connection, snap connection and the like.
  • the number of the first installation parts 12 is two, and the two first installation parts 12 are disposed on the installation body 11 at intervals and opposite to each other.
  • the two first mounting parts 12 are disposed on opposite edges of the mounting body 11 .
  • connecting ribs 13 are also connected between the two first mounting parts 12 to enhance the strength of the mounting member 10 .
  • the first mounting portion 12 and the mounting body 11 are disposed non-parallel.
  • the first mounting portion 12 is bent and extended from the edge of the mounting body 11 .
  • first mounting portion 12 and the mounting body 11 are integrally formed to reduce assembly steps and improve assembly efficiency.
  • first mounting portion 12 and the mounting body 11 may also be provided separately, for example, connected by a quick-release member.
  • the mounting body 11 can be designed into any suitable shape according to actual requirements, such as a plate shape, a sheet shape, other regular shapes or irregular shapes, and the like.
  • the movable member 20 includes a connecting body 21 and a second mounting portion 22 .
  • the second mounting portion 22 is fixedly connected to the connecting body 21 .
  • the second mounting portion 22 is rotatably connected to the first mounting portion 12 , so that the movable member 20 and the mounting member 10 can rotate relative to each other.
  • the first mounting portion 12 can cooperate with the second mounting portion 22 to form a limiting groove 40 .
  • the number of the second mounting portions 22 is two, and the two second mounting portions 22 are disposed on the connecting body 21 at intervals and opposite to each other.
  • the second mounting portion 22 is protruded on the connecting body 21 .
  • the second mounting portion 22 is integrally formed with at least part of the connecting body 21 to reduce assembly steps and improve assembly efficiency.
  • the second mounting portion 22 and the connecting body 21 may also be provided separately, for example, connected by a quick release member.
  • connection body 21 includes a first connection part and a second connection part connected with the first connection part, and the second connection part is connected with the second mounting part 22 .
  • first connecting portion is integrally formed with the second connecting portion.
  • first connecting portion and the second connecting portion are provided separately, for example, connected by a quick release member or a snap connection.
  • the connecting body 21 can be designed in any suitable shape according to actual requirements, such as a rod shape, other regular shapes or irregular shapes, and the like.
  • the number of the first mounting parts 12 is two.
  • the two first mounting parts 12 are disposed opposite to each other to form an accommodating space 14 , so as to provide a mounting space for the second mounting part 22 .
  • At least part of the second mounting portion 22 is accommodated in the accommodating space 14 .
  • the first mounting portion 12 is rotatably connected to the second mounting portion 22 through a rotating shaft 50 .
  • the rotating shaft 50 passes through the first mounting portion 12 and the second mounting portion 22 .
  • the movable member 20 and/or the mounting member 10 can be rotated around the rotating shaft 50, so that the movable member 20 can be switched between the unfolded state and the folded state.
  • the movable member 20 further includes a stopper portion 23 disposed on the connecting body 21 .
  • the stopper portion 23 can cooperate with the first mounting portion 12 to limit the rotation between the first mounting portion 12 and the second mounting portion 22 .
  • the stopper portion 23 abuts against the first mounting portion 12 , and at this time, the movable member 20 and the mounting member The pieces 10 cannot be rotated further relative to each other.
  • the target angle can be set according to actual needs.
  • the target angle is the included angle between the movable member 20 and the mounting member 10 corresponding to the folded state, or the preset angle corresponding to the unfolded state, or the like. In this way, excessive relative rotation between the movable member 20 and the mounting member 10 can be avoided, and the movable member 20 can be quickly switched between the unfolded state and the folded state.
  • the stopper portion 23 is protruded on the connecting body 21 and/or the second mounting portion 22 . That is, the stopper portion 23 may be provided on one of the connecting body 21 and the second mounting portion 22 . The stopper portion 23 may also be provided on the connecting body 21 and the second mounting portion 22 at the same time.
  • the stopper portion 23 can be designed into any suitable structure according to actual requirements, such as a flange structure and the like.
  • the two second mounting portions 22 are disposed on the connecting body 21 at intervals and opposite to each other.
  • the two second mounting portions 22 cooperate to form an interval.
  • the stopper portion 23 is provided on the side of the connecting body 21 and/or the second mounting portion 22 away from the space.
  • the first mounting portion 12 is provided with a protruding sub-portion 121 .
  • the first groove wall 421 is disposed on the protruding sub-portion 121 .
  • the second groove wall 422 is disposed on the second mounting portion 22 .
  • the first mounting portion 12 includes a protruding sub-portion 121 and a first mounting sub-portion 122 .
  • the protruding sub-portion 121 is protrudingly disposed on the first mounting sub-portion 122 .
  • the first groove wall 421 intersects with the first mounting sub-section 122 .
  • the included angle between the first groove wall 421 and the first mounting sub-portion 122 is an obtuse angle.
  • the second groove wall 422 is disposed at one end of the second mounting portion 22 away from the connecting body 21 .
  • the first mounting portion 12 is stepped.
  • the first groove wall 421 is disposed on the stepped surface 123 of the first mounting portion 12 .
  • the second groove wall 422 is disposed on the second mounting portion 22 .
  • the stepped surface 123 is connected with a connecting surface 124 , and the stepped surface 123 and the connecting surface 124 are intersected.
  • the included angle between the stepped surface 123 and the connecting surface 124 is an obtuse angle.
  • the second groove wall 422 is disposed at one end of the second mounting portion 22 away from the connecting body 21 .
  • the self-locking component 30 is a push-type self-locking component or a knob-type self-locking component or the like.
  • the self-locking component 30 is a push-type self-locking component
  • pressing the self-locking component 30 can make the self-locking component 30 located in the engaging slot 42 disengage from the slot 41 , so that the mounting member 10 and the movable member 20 are separated from each other.
  • unlock in time.
  • rotating the self-locking component 30 can make the self-locking component 30 located in the engaging groove 42 disengage from the notch 41 , so that the space between the mounting member 10 and the movable member 20 can be separated. unlock.
  • the limiting groove 40 includes a first limiting groove 43 .
  • the self-locking assembly 30 includes an operating member 31 , a guide member 32 , a limiting member 33 , a first self-locking member 34 and an elastic member 35 .
  • the operating member 31 is provided on the mounting member 10 .
  • the guide member 32 is provided on the mounting member 10 .
  • the limiting member 33 is connected to the guiding member 32 and the operating member 31 , and the limiting member 33 is used for limiting the guiding member 32 and the operating member 31 .
  • the first self-locking member 34 is sleeved on the outside of the operating member 31 .
  • the elastic member 35 is sleeved on the outside of the operating member 31 and the guide member 32 .
  • the elastic member 35 is in contact with the first self-locking member 34 .
  • the operating member 31 can drive the first self-locking member 34 to escape from the first limiting groove 43 under the action of an external force.
  • one of the first mounting portions 12 of the mounting member 10 is provided with a first through hole 125
  • the other first mounting portion 12 of the mounting member 10 is provided with a second through hole 125 .
  • Through hole 126 Both the first through hole 125 and the second through hole 126 communicate with the accommodating space 14 .
  • the first self-locking member 34 is provided with a first through hole 341 .
  • the operating member 31 passes through one of the first through hole 125 and the second through hole 126 , and passes through the first through hole 341 to be connected to the guide member 32 and/or the limiting member 33 .
  • the guide member 32 penetrates the other of the first through hole 125 and the second through hole 126 .
  • the first through hole 125 and the first through hole 341 are formed through the operating member 31
  • the second through hole 126 is formed through the guide member 32 .
  • first through holes 125 and the second through holes 126 are disposed opposite to each other.
  • the axial direction of the first through hole 125 and the axial direction of the second through hole 126 are coincident or substantially coincident.
  • the expansion and contraction direction of the elastic member 35 is parallel or substantially parallel to the axial direction of the first through hole 125 .
  • the operating member 31 includes a pressing segment 311 , a first connecting segment 312 and a second connecting segment 313 .
  • One end of the first connecting segment 312 is connected to the pressing segment 311 .
  • the first connecting segment 312 passes through the first self-locking member 34 .
  • the second connection segment 313 is connected to the other end of the first connection segment 312 .
  • the limiting member 33 passes through the guiding member 32 and is connected to the second connecting section 313 , so that the connection between the guiding member 32 and the operating member 31 can be realized; when the pressing section 311 is pressed, the limiting member 33 can also limit the guiding member 32 And/or the operating member 31 moves in a preset direction, so that the first self-locking member 34 located in the first limiting slot 43 is disengaged from the first limiting slot 43 through the notch 41 of the first limiting slot 43 .
  • the preset direction can be designed as any suitable direction according to actual requirements, such as the axial direction of the operating member 31 or the axial direction of the guide member 32 .
  • the preset direction is parallel to the connection line where the center of the first through hole 125 and the center of the second through hole 126 are located.
  • the pressing segment 311 and the first connecting segment 312 form a first step 314 .
  • the pressing segment 311 can move toward the notch 41 of the first limiting groove 43 under the action of external force, so that the first step 314 can abut with the first self-locking member 34 and drive the first self-locking member 34 to separate from the first self-locking member 34 .
  • Limit slot 43 .
  • the outer circumference of the pressing section 311 is larger than the outer circumference of the first connecting section 312 to form a first step 314 at the connection between the pressing section 311 and the first connecting section 312 .
  • the operating member 31 is movably connected to the first mounting portion 12 .
  • the operating member 31 is movably connected with the first self-locking member 34 .
  • the operating member 31 is movably connected with the guide member 32 .
  • the stepped surface of the first step 314 abuts against the first self-locking member 34 .
  • the stepped surface of the first step 314 and the first self-locking member 34 are arranged at intervals or in contact with each other.
  • the pressing section 311 further includes a third step 3111 for limiting the relative movement of the operating member 31 and the first mounting portion 12 , preventing The pressing segment 311 completely enters the first through hole 125 of the first mounting portion 12 .
  • the step surface of the third step 3111 is separated from the surface of the side of the first mounting portion 12 away from the accommodating space 14 by a first separation distance set up.
  • a first separation distance set up.
  • the stepped surface of the third step 3111 and the side surface of the first mounting portion 12 away from the accommodating space 14 are arranged at a second interval distance.
  • the first separation distance is smaller than the second separation distance.
  • the first separation distance is greater than or equal to zero.
  • the first connecting section 312 and the second connecting section 313 cooperate to form a fourth step 315 , which is used to limit the gap between the operating member 31 and the guide member 32 . relative motion.
  • the outer peripheral dimension of the first connecting segment 312 is larger than that of the second connecting segment 313 , so as to form the fourth step 315 at the connection between the first connecting segment 312 and the second connecting segment 313 .
  • the step surface of the fourth step 315 and the end of the guide member 32 facing the first self-locking member 34 are arranged at a third interval distance.
  • the step surface of the fourth step 315 and the end of the guide member 32 facing the first self-locking member 34 are arranged at a fourth interval distance.
  • the fourth separation distance is greater than the third separation distance.
  • the third separation distance is greater than or equal to zero.
  • the pressing section 311 , the first connecting section 312 and the second connecting section 313 are integrally formed.
  • the pressing segment 311 , the first connection segment 312 and the second connection segment 313 are provided separately, and are fixedly connected by a snap connection, a quick release connection, a screw connection, or the like.
  • two parts of the pressing segment 311 , the first connecting segment 312 and the second connecting segment 313 are integrally formed, and the other part is provided separately from the integrally formed structure, which is not limited herein.
  • the first through hole 341 on the first self-locking member 34 is used for the first connecting segment 312 to pass through.
  • the first through hole 341 cooperates with the first connecting section 312 to form the first positioning groove 60 .
  • One end of the elastic member 35 is located in the first positioning groove 60 so as to position the elastic member 35 .
  • the first positioning groove 60 is provided on the side of the first self-locking member 34 facing the elastic member 35 .
  • the first through hole 341 includes a first sub-hole 3411 and a second sub-hole 3412 that communicate with each other.
  • the second sub-hole 3412 is disposed away from the pressing segment 311 .
  • the second sub-hole 3412 cooperates with the first connecting section 312 to form the first positioning groove 60 .
  • the first sub-hole 3411 and the second sub-hole 3412 are arranged coaxially.
  • the diameter of the second sub-hole 3412 is larger than that of the first sub-hole 3411 , so that a fifth step 3413 is formed at the connection between the first sub-hole 3411 and the second sub-hole 3412 .
  • One end of the elastic member 35 can abut against the stepped surface of the fifth step 3413 .
  • one end of the elastic member 35 can abut against the stepped surface of the fourth step 315 and the stepped surface of the fifth step 3413 at the same time.
  • the movable member 20 is switched from the folded state to the unfolded state and the first limiting slot 43 is formed, at least part of the first self-locking member 34 can enter the first limiting slot 43 from the slot 41 of the first limiting slot 43 under the action of the elastic member 35 .
  • the engaging groove 42 of a limiting groove 43 In the engaging groove 42 of a limiting groove 43 .
  • the guide member 32 is provided with a guide hole 321 extending along the telescopic direction of the elastic member 35 .
  • the operating member 31 and/or the limiting member 33 can move along the axial direction of the guide hole 321 .
  • the step surface of the first step 314 and the first self-locking member 34 are separated by a preset distance.
  • the preset distance is greater than or equal to zero.
  • the operating member 31 has an operating end and a connecting end arranged oppositely, and the connecting end of the operating member 31 is connected to the limiting member 33 and/or the guiding member 32.
  • the operating member 31 and the limiting member 33 move relative to the guiding member 32 along the axial direction of the guide hole 321 , and the operating end of the operating member 31 gradually approaches the guiding member 32 .
  • the operating member 31 moves a preset distance relative to the guide member 32, the operating member 31 contacts the first self-locking member 34, and at this time, the operating member 31 is further pressed, and the operating member 31 can exert a force on the first self-locking member 34 so as to be located in the first self-locking member 34.
  • the first self-locking member 34 in the first limiting slot 43 gradually leaves the engaging slot 42 of the first limiting slot 43 through the notch 41 of the first limiting slot 43 , so that the first self-locking member 34 is pressed elastically. Piece 35.
  • the first self-locking member 34 completely leaves the engaging groove 42 of the first limiting groove 43 , the locking between the mounting member 10 and the movable member 20 is released. At this time, the movable member 20 is operated to switch the movable member 20 from the unfolded state to the folded state.
  • the movable member 20 and/or the mounting member 10 are operated to gradually expand between the movable member 20 and the mounting member 10 .
  • the movable member 20 is unfolded relative to the mounting member 10 until the first limiting groove 43 is formed between the movable member 20 and the mounting member 10 , at least part of the first self-locking members 34 are synchronized from the first limiting groove under the action of the elastic member 35 .
  • the notch 41 of 43 enters into the engaging groove 42 of the first limiting groove 43 , thereby locking the mounting member 10 and the movable member 20 .
  • the guide hole 321 includes a first sub-guide hole 3211 and a second sub-guide hole 3212 that communicate with each other.
  • the diameter of the first sub-guide hole 3211 is larger than the diameter of the second sub-guide hole 3212 to form a second step, and the large diameter end of the limiting member 33 is disposed in the first sub-guide hole 3211 .
  • the large diameter end of the limiting member 33 cooperates with the second step to limit the movement stroke between the operating member 31 and the movable member 20 .
  • the diameter of the first sub-guide hole 3211 is larger than the diameter of the hole portion of the second sub-guide hole 3212 for connecting with the first sub-guide hole 3211 .
  • the large diameter end of the limiting member 33 is disposed in the first sub-guide hole 3211 .
  • limiting member 33 can be designed into any suitable structure according to actual requirements, such as a limiting screw or the like.
  • the first self-locking member 34 includes a self-locking body 342 , a first self-locking surface 343 and a second self-locking surface 344 .
  • the second self-locking surface 344 is disposed on the self-locking body 342 opposite to the first self-locking surface 343 .
  • the first self-locking surface 343 can be in contact with the mounting member 10, and the second self-locking surface 344 can be in contact with the movable member 20, so as to lock the mounting member 10 and the movable member 20, thereby reliably maintaining the movable member 20 in the unfolded state.
  • the first through hole 341 penetrates through the self-locking body 342 .
  • the first self-locking surface 343 and the second self-locking surface 344 cooperate with the first groove wall 421 and the second groove wall 422 of the first limiting groove 43 , respectively.
  • the first self-locking surface 343 is in contact with the first groove wall 421 of the first limiting groove 43
  • the second self-locking surface 344 is in contact with the first groove wall 421 of the first limiting groove 43.
  • the second groove wall 422 of the first limiting groove 43 is in contact, and at least part of the self-locking body 342 is located in the engaging groove 42 of the first limiting groove 43, thereby locking the mounting member 10 and the movable member 20, so that the movable member 20 can be reliably Keep it expanded.
  • the limiting groove 40 includes a second limiting groove 44 .
  • the self-locking assembly 30 also includes a second self-locking member 36 .
  • the second self-locking member 36 is sleeved on the outside of the guiding member 32 .
  • the mounting member 10 and the movable member 20 are rotated to a preset angle, at least part of the second self-locking members 36 can simultaneously enter the second limiting groove 44 to simultaneously lock the mounting member 10 and the movable member 20 at the current position.
  • Both ends of the elastic member 35 abut against the first self-locking member 34 and the second self-locking member 36 respectively.
  • the guide member 32 can drive the second self-locking member 36 to escape from the second limiting groove 44 under the action of an external force.
  • the operation member 31 and the limiting member 33 move relative to the guide member 32 along the axial direction of the guide hole 321 , and the operation end of the operation member 31 gradually approaches the guide member 32 .
  • the operating member 31 is in contact with the first self-locking member 34 , if the operating member 31 is further pressed, the operating member 31 can exert a force on the first self-locking member 34 to make the first self-locking member located in the first limiting groove 43 .
  • 34 gradually leaves the engaging slot 42 of the first limiting slot 43 through the notch 41 of the first limiting slot 43 , so that the first self-locking member 34 presses the elastic member 35 .
  • the guide member 32 moves relative to the operating member 31 and the limiting member 33 in the axial direction of the guide hole 321 , and the operating end of the guide member 32 gradually approaches the operating member 31 .
  • the guide member 32 is in contact with the second self-locking member 36, if the guide member 32 is further pressed, the guide member 32 can exert a force on the second self-locking member 36 so that the second self-locking member located in the second limiting groove 44 36 gradually leaves the engaging slot 42 of the second limiting slot 44 through the notch 41 of the second limiting slot 44 , and makes the second self-locking member 36 press the elastic member 35 .
  • the connection between the mounting member 10 and the movable member 20 unlock in time.
  • the movable member 20 is operated to switch the movable member 20 from the unfolded state to the folded state.
  • the movable member 20 and/or the mounting member 10 are operated to gradually expand between the movable member 20 and the mounting member 10 .
  • the movable member 20 is unfolded relative to the mounting member 10 until the first limiting groove 43 and the second limiting groove 44 are formed between the movable member 20 and the mounting member 10 , at least part of the first self-locking member 34 is under the action of the elastic member 35
  • the notch 41 of the first limiting slot 43 enters the engaging slot 42 of the first limiting slot 43
  • at least part of the second self-locking member 36 passes through the notch 41 of the second limiting slot 44 under the action of the elastic member 35 . Entering into the engaging groove 42 of the second limiting groove 44 , the mounting member 10 and the movable member 20 are locked, and the relative rotation between the mounting member 10 and the movable member 20 is prevented.
  • the shape of the second limiting groove 44 may be the same as or different from that of the first limiting groove 43 .
  • the second limiting groove 44 is symmetrically arranged with the first limiting groove 43 .
  • the structure of the first self-locking member 34 may be the same as or different from that of the second self-locking member 36 .
  • the first self-locking member 34 and the second self-locking member 36 are arranged symmetrically.
  • both the first self-locking member 34 and the second self-locking member 36 are slider structures.
  • a second positioning groove (not shown) is formed between the second self-locking member 36 and the guide member 32 .
  • One end of the elastic member 35 is located in the first positioning groove 60, and the other end of the elastic member 35 is located in the second positioning groove.
  • both ends of the elastic member 35 abut against the first self-locking member 34 and the mounting member 10 respectively.
  • the guide member 32 is fixedly connected with the first mounting member 10 , and the operating member 31 can move relative to the guide member 32 .
  • One end of the elastic member 35 abuts against the bottom wall of the first positioning groove 60 , and the other end of the elastic member 35 abuts against the first mounting portion 12 of the mounting member 10 .
  • the guide member 30 is movable relative to the first mounting portion 12 .
  • the guide member 30 can slide relative to the second through hole 126 of the first mounting portion 12 .
  • the operating member 31 and the limiting member 33 move relative to the guide member 32 along the axial direction of the guide hole 321.
  • the operating member 31 can drive the guide member 32 to move relative to the first mounting portion 12 along the axial direction of the second through hole 126 , so that the operating member 31 drives the first self-locking member 34 to gradually move away from the first limit through the notch 41 of the first limit groove 43 .
  • the engaging slot 42 of the position slot 43 makes the first self-locking member 34 press the elastic member 35 .
  • an embodiment of the present application further provides an arm assembly 300 , which includes a self-locking structure 100 and a power suit 200 .
  • the self-locking structure 100 is the self-locking structure 100 of any of the above embodiments.
  • One of the mounting member 10 and the movable member 20 is a connecting member fixed to the center frame 400 of the movable platform 1000 , and the other of the mounting member 10 and the movable member 20 is an arm 301 for setting the power suit 200 .
  • the power suit 200 is arranged on the machine arm 301 .
  • the self-locking assembly 30 when the arm 301 and the mounting member 10 are relatively rotated to unfold the arm 301, the self-locking assembly 30 can be automatically and synchronously locked while the arm 301 is switched from the folded state to the unfolded state.
  • the mounting piece 10 and the machine arm 301 can be reliably maintained in the deployed state, and the mounting piece 10 and the machine arm 301 can be locked in the current position corresponding to the unfolded state without additional manual operation of the self-locking assembly 30, and the operation is simple , convenient, and avoids the problem of potential safety hazards due to the operator forgetting to lock the machine arm 301 .
  • an embodiment of the present application further provides a movable platform 1000 including a self-locking structure 100 and a body, and the self-locking structure 100 is disposed on the body.
  • the self-locking structure 100 is the self-locking structure 100 of any of the above embodiments.
  • the movable platform 1000 may be any object that can move or move automatically under the action of an external force, for example, the movable platform 1000 includes a handheld pan/tilt head or an unmanned aerial vehicle. Of course, the movable platform 1000 may also be an unmanned vehicle, an unmanned boat, or a robot.
  • the following description will be given by taking the movable platform 1000 as an unmanned aerial vehicle as an example.
  • the UAV includes a center frame 400 , an arm 301 , and a power suit 200 disposed on the arm 301 .
  • One end of the machine arm 301 is connected to the center frame 400 , and the power suit 200 is installed on the other end of the machine arm 301 .
  • the number of the arms 301 may be one, two, three or more.
  • the machine arm 301 extends radially from the body.
  • the body of the movable platform 1000 includes the center frame 400 .
  • the unmanned aerial vehicle further includes a flight controller.
  • the flight controller is connected to the power suit 200 in communication, so as to control the work of the power suit 200 to provide flight power for the unmanned aerial vehicle.
  • the flight controller is configured to generate a control command, and send the control command to the ESC of the power suit 200, so that the ESC controls the drive motor of the power suit 200 through the control command.
  • a flight controller is a device with a certain logic processing capability, such as a control chip, a single-chip microcomputer, and a micro-control unit.
  • the power suit 200 includes an ESC, a drive motor and a propeller.
  • the ESC is located in the cavity formed by the arm 301 or the body.
  • the ESC is respectively connected with the flight controller and the drive motor.
  • the ESC is electrically connected to the drive motor for controlling the drive motor.
  • the drive motor is installed on the arm 301, and the rotating shaft of the drive motor is connected to the propeller.
  • the propeller driven by a drive motor, generates a force that moves the UAV, eg, lift or thrust that moves the UAV.
  • At least one motion characteristic of the movable platform 1000 may be controlled by the user terminal.
  • the movable platform 1000 may be controlled by a user terminal to enable the movable platform 1000 to navigate toward a target object in a certain environment, or track the target object in the environment, and the like.
  • the environment may include geographic features, plants, landmarks, buildings, people, vehicles, animals, projectiles, and the like.
  • the self-locking assembly 30 can be locked automatically and synchronously.
  • the mounting piece 10 and the movable piece 20 can be reliably maintained in the unfolded state, and the mounting piece 10 and the movable piece 20 can be locked in the current position corresponding to the unfolded state without additional manual operation of the self-locking assembly 30, and the operation is simple It is convenient, and avoids the problem of potential safety hazards due to the operator forgetting to lock the movable part 20 .

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Remote Sensing (AREA)
  • Casings For Electric Apparatus (AREA)
  • Aerials With Secondary Devices (AREA)
  • Ladders (AREA)

Abstract

一种自锁结构(100)、机臂组件(300)及可移动平台(1000)，自锁结构(100)包括安装件(10)、活动件(20)和自锁组件(30)，活动件(20)与安装件(10)转动连接；自锁组件(30)设于安装件(10)和活动件(20)的其中一者上；在安装件(10)和活动件(20)旋转至预设角度时，自锁组件(30)能够将安装件(10)和活动件(20)同步锁定在当前位置，从而使得活动件(20)保持在展开状态。

Description

自锁结构、机臂组件及可移动平台 技术领域
本申请涉及可移动平台技术领域，尤其涉及一种自锁结构、机臂组件及可移动平台。
背景技术
为了减少无人机的占用空间，提高无人机存储、运输的便利性和经济性，行业内通用的解决方案是采用折叠式机臂，在不使用无人机时，将无人机的机臂折叠起来，需要飞行时再将机臂展开。为了保证无人机飞行时的稳定性，现有的无人机的机臂展开后通常需要人为操作机臂以对机臂进行有效的锁紧固定，这种方式容易出现操作人员忘记锁紧机臂、无人机炸机的问题。
发明内容
基于此，本申请提供了一种自锁结构、机臂组件及可移动平台。
根据本申请的第一方面，本申请提供了一种自锁结构，用于可移动平台，所述自锁结构包括：
安装件；
活动件，与所述安装件转动连接，以使所述活动件能够在展开状态和折叠状态之间切换；
自锁组件，设于所述安装件和所述活动件的其中一者上；
其中，在所述安装件和所述活动件旋转至预设角度时，所述自锁组件能够同步将所述安装件和所述活动件锁定在当前位置，从而使得所述活动件保持在所述展开状态。
根据本申请的第二方面，本申请提供了一种机臂组件，包括：
本申请的第一方面的自锁结构，所述安装件和所述活动件的其中一者为固定于可移动平台的中心架的连接件，所述安装件和所述活动件的另一者为用于设置动力套装的机臂；
动力套装，设于所述机臂上。
根据本申请的第三方面，本申请提供了一种可移动平台，包括：
机体；以及
本申请的第一方面的自锁结构，所述自锁结构设于所述机体上。
本申请实施例提供了一种自锁结构、机臂组件及可移动平台，在活动件与安装件相对转动以展开活动件的过程中，活动件从折叠状态切换至展开状态的同时，自锁组件能够自动并同步锁定安装件和活动件以使得活动件能够可靠地保持在展开状态，无需额外手动操作自锁组件即可将安装件和活动件锁定在展开状态所对应的当前位置，操作简单、方便，且避免了由于操作人员忘记锁紧活动件而存在安全隐患的问题。
附图说明
为了更清楚地说明本申请实施例技术方案，下面将对实施例描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图是本申请的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1是本申请一实施例提供的自锁结构的一角度的结构示意图，其中活动件处于折叠状态；
图2是本申请一实施例提供的自锁结构的另一角度的结构示意图，其中活动件处于折叠状态；
图3是图2中自锁结构沿A-A的剖面示意图；
图4是本申请一实施例提供的自锁结构的一角度的结构示意图，其中活动件处于展开状态；
图5是本申请一实施例提供的自锁结构的另一角度的结构示意图，其中活动件处于展开状态；
图6是图5中自锁结构沿B-B的剖面示意图；
图7是本申请一实施例提供的自锁结构的分解示意图；
图8是本申请一实施例提供的自锁结构的一角度的结构示意图，其中活动件处于展开状态；
图9是本申请一实施例提供的自锁结构的另一角度的结构示意图，其中活动件处于展开状态；
图10是图9中自锁结构沿C-C的剖面示意图；
图11是图9中自锁结构的分解示意图；
图12是图6在E处的局部放大示意图；
图13是本申请一实施例提供的安装件的结构示意图；
图14是本申请一实施例提供的活动件的结构示意图；
图15是本申请一实施例提供的第一自锁件一角度的结构示意图；
图16是本申请一实施例提供的第一自锁件另一角度的结构示意图；
图17是本申请一实施例提供的操作件的结构示意图；
图18是图3在F处的局部放大示意图；
图19是本申请一实施例提供的可移动平台的结构示意图；
图20是图19中可移动平台在G处的局部放大示意图；
图21是图19中可移动平台在H处的局部放大示意图。
附图标记说明：
1000、可移动平台；
100、自锁结构；
10、安装件；11、安装主体；12、第一安装部；121、凸设子部；122、第一安装子部；123、阶梯面；124、连接面；125、第一贯穿孔；126、第二贯穿孔；13、连接筋；14、容纳空间；
20、活动件；21、连接主体；22、第二安装部；23、止挡部；
30、自锁组件；31、操作件；311、按压段；3111、第三台阶；312、第一连接段；313、第二连接段；314、第一台阶；315、第四台阶；
32、导向件；321、导向孔；3211、第一子导向孔；3212、第二子导向孔；33、限位件；
34、第一自锁件；341、第一穿设孔；3411、第一子孔；3412、第二子孔；3413、第五台阶3413；342、自锁本体；343、第一自锁面；344、第二自锁面；
35、弹性件；36、第二自锁件；
40、限位槽；41、槽口；42、卡合槽；421、第一槽壁；422、第二槽壁；43、第一限位槽；44、第二限位槽；50、转轴；60、第一定位槽；
200、动力套装；300、机臂组件；301、机臂；400、中心架。
具体实施方式
下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例是本申请一部分实施例，而不是全部的实施例。基于本申请中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本申请保护的范围。
还应当理解，在本申请说明书中所使用的术语仅仅是出于描述特定实施例的目的而并不意在限制本申请。如在本申请说明书和所附权利要求书中所使用的那样，除非上下文清楚地指明其它情况，否则单数形式的“一”、“一个”及“该”意在包括复数形式。
还应当进一步理解，在本申请说明书和所附权利要求书中使用的术语“和/或”是指相关联列出的项中的一个或多个的任何组合以及所有可能组合，并且包括这些组合。
下面结合附图，对本申请的一些实施方式作详细说明。在不冲突的情况下，下述的实施例及实施例中的特征可以相互组合。
请参阅图1至图11，本申请实施例提供一种自锁结构100，该自锁结构100用于可移动平台1000(如图19)。可移动平台1000可以是任意能够在外力作用下移动或者自动移动的物体，比如可移动平台1000包括手持云台或者无人飞行器。当然，可移动平台1000也可以是无人驾驶车、无人驾驶船或者机器人等。
请参阅图1至图11，在一些实施例中，自锁结构100包括安装件10、活动件20和自锁组件30。活动件20与安装件10转动连接，从而使活动件20能够在展开状态和折叠状态之间切换。自锁组件30设于安装件10和活动件20的其中一者上。其中，在安装件10和活动件20旋转至预设角度时，自锁组件30能够同步将安装件10和活动件20锁定在当前位置，从而使得活动件20保持在展开状态。
可以理解地，由于活动件20与安装件10转动连接，因而活动件20与安装件10之间能够相对转动，并旋转至活动件20与安装件10相互并拢或者相互远离的合适角度，从而实现活动件20的展开与折叠，进而应用于不同的场合。
示例性地，活动件20处于折叠状态时，自锁结构100如图1至图3所示。
示例性地，活动件20处于展开状态时，自锁结构100如图4至图6所示，或者如图8至图10所示。
示例性地，当可移动平台1000为无人飞行器时，安装件10和活动件20的其中一者为用于与可移动平台1000的中心架(如图19)连接的连接件，安装件10和活动件20的另一者为用于设置动力套装200的机臂301(如图19)。当无人飞行器飞行或者工作时，活动件20和安装件10可以通过旋转而使得机臂301能够从折叠状态切换至展开状态，使得动力套装200远离无人飞行器的中心架等机身结构件，避免动力套装200与该机身结构件之间相互干扰。而当无人飞行器不需使用时，活动件20和安装件10之间可以相对旋转至机臂301处于折叠状态，从而减小无人飞行器的整体尺寸和占用空间，便于运输或者收纳。
当然，安装件10和活动件20还可以是其他结构体中的两个部件。该结构体可以是任意具有展开状态和折叠状态的物体，比如为手持云台。示例性地，当可移动平台1000为手持云台时，安装件10和活动件20的其中一者为手持云台的第一部分，安装件10和活动件20的另一者为手持云台的第二部分。当手持云台使用时，第一部分和第二部分可以旋转使得活动件20从折叠状态切换至展开状态，此时，手持云台能够搭载成像设备，并能够调节成像设备的成像姿态并将成像设备保持于所需的成像姿态，从而为成像设备提供稳定的成像条件。当手持云台无需使用时，第一部分和第二部分之间可以相对旋转至活动件20处于折叠状态，从而减小手持云台的整体尺寸和占用空间，便于运输或者收纳。示例性地，安装件10为手持云台的电机，活动件20为手持云台的连接臂。比如，安装件10为手持云台中与手柄连接的电机。
在一些实施例中，活动件20与安装件10之间所形成的预设角度通常为可移动平台1000工作时的角度，该预设角度可以保证活动件20上所设置的动力套装200、搭载部或者其他功能组件具有正常的工作位置。示例性地，该预设角度为15°-180°之间的任意合适角度，比如15°、90°、120°、135°、150°、 180°以及15°-180°之间的任意其他合适角度。
示例性地，预设角度为活动件20处于展开状态时，安装件10与活动件20之间的夹角。
示例性地，前述当前位置为活动件20处于展开状态时，安装件10与活动件20之间的相对位置。
上述实施例的自锁结构100，在活动件20与安装件10相对转动以展开活动件20的过程中，活动件20从折叠状态切换至展开状态的同时，自锁组件30能够自动并同步锁定安装件10和活动件20以使得活动件20能够可靠地保持在展开状态，无需额外手动操作自锁组件30即可将安装件10和活动件20锁定在展开状态所对应的当前位置，操作简单、方便，且避免了由于操作人员忘记锁紧活动件20而存在安全隐患的问题。
可以理解地，展开状态和折叠状态均可以具有一种或者至少两种状态。即活动件20的展开状态可以仅有一种展开状态，也可以有两种或者两种以上的展开状态。活动件20的折叠状态可以仅有一种折叠状态，也可以有两种或者两种以上的折叠状态。
下面以可移动平台1000为无人飞行器为例进行解释说明。
由于无人飞行器在进行飞行或者处于其它工作状态时，活动件20与安装件10之间通常需要保持在当前的角度不变化，以保证无人飞行器飞行时的稳定性。因而，在机臂301展开时或者展开后，需要对机臂301进行有效的锁紧固定，从而使得活动件20与安装件10之间保持在当前的角度，亦即使得活动件20可靠地保持在展开状态。
其中一种锁定方式为：操作人员手动操作机臂301使得机臂301相对安装件10旋转至机臂301处于展开状态后，操作人员再手动操作螺纹套筒、卡扣等锁固结构对展开后的机臂301进行锁紧固定。这种锁定方式，操作繁琐，且由于需要人为操作锁固结构才能对机臂301进行锁紧固定，因而极容易发生操作人员忘记锁紧机臂301、无人飞行器炸机的问题。
本申请实施例的锁定方式为：在安装件10和机臂301旋转至展开状态所对应的预设角度时，自锁组件30能够将安装件10和机臂301同步锁定在展开状态所对应的当前位置，从而使得机臂301可靠地保持在展开状态。因而，本申请实施例的自锁结构100，无需额外手动操作自锁组件30即可将安装件10和 机臂301自动锁定在展开状态所对应的当前位置，操作简单、方便，且避免了由于操作人员忘记锁紧机臂301而发生无人飞行器炸机的问题，提高了无人飞行器的安全性。
在一些实施例中，自锁组件30能够在外力作用下解除锁定安装件10和活动件20，以使活动件20能够与安装件10相对转动。示例性地，以活动件20为机臂301为例进行说明，当无人飞行器不工作时，可以操作自锁组件30以使得安装件10与机臂301之间解除锁定。安装件10与机臂301之间解除锁定后，机臂301能够相对安装件10转动，使得机臂301从展开状态切换至折叠状态，从而减小无人飞行器的整体尺寸和占用空间，便于运输或者收纳。
可以理解地，可以手动操作或者自动操作自锁组件30，以安装件10和活动件20之间解除锁定。比如，通过自动化设备操作自锁组件30等。
请参阅图6和图8，在一些实施例中，在安装件10和活动件20旋转至预设角度时，安装件10与活动件20配合形成限位槽40，部分自锁组件30容纳于限位槽40内以锁定安装件10和活动件20。
示例性地，当安装件10和活动件20旋转至活动件20处于展开状态时，部分自锁组件30能够同步进入限位槽40内。此时，位于限位槽40内的自锁组件30夹设在安装件10和活动件20之间，从而将安装件10和活动件20同步锁定在展开状态所对应的当前位置，限制安装件10和活动件20之间的相对转动，进而使得活动件20能够可靠地保持在展开状态。
在一些实施例中，自锁组件30设于安装件10上。在其他实施例中，自锁组件30也可以设于活动件20上，在此不作限制。
可以理解地，限位槽40的数量可以根据实际需求进行设计，比如一个、两个、三个或者更多。在一些实施方式中，请参阅图6，限位槽40的数量为两个。示例性地，两个限位槽40沿自锁组件30的轴向间隔设置。
在一些实施方式中，请参阅图10，限位槽40的数量为一个。
请参阅图6和图12，在一些实施例中，限位槽40包括槽口41和与槽口41连通的卡合槽42。部分自锁组件30能够经槽口41进入卡合槽42内，以使自锁组件30与卡合槽42卡合。
在一些实施例中，自锁组件30能够在外力作用下从限位槽40脱离而解除锁定安装件10和活动件20。具体地，位于限位槽40内的自锁组件30能够经 槽口41从卡合槽42脱离，以解除锁定安装件10和活动件20。
可以理解地，当需要展开活动件20时，操作安装件10和/或活动件20，使得安装件10和活动件20之间相对转动以逐渐展开活动件20。活动件20从折叠状态切换至展开状态的同时，槽口41同步允许部分自锁组件30进入卡合槽42内，此时部分自锁组件30与卡合槽42卡合配合，从而将活动件20同步锁定在展开状态所对应的当前位置。
当需要折叠活动件20时，操作自锁组件30，使得位于卡合槽42内的自锁组件30经该槽口41从卡合槽42内脱离。当卡合槽42内的自锁组件30全部脱离卡合槽42时，安装件10与活动件20之间解除锁定。此时，操作安装件10和/或活动件20，使得安装件10和活动件20之间相对转动以使活动件20从展开状态切换至折叠状态。
请参阅图12，结合图6，在一些实施例中，卡合槽42包括相对设置的第一槽壁421和第二槽壁422。第一槽壁421设于安装件10上，第二槽壁422设于活动件20上。第一槽壁421和第二槽壁422均能够与部分自锁组件30接触，以锁定安装件10和活动件20。
示例性地，第一槽壁421可以与自锁组件30面接触、点接触或者线接触。同样地，第二槽壁422可以与自锁组件30面接触、点接触或者线接触，只要在活动件20展开至展开状态对应的当前位置时，安装件10和活动件20能够通过自锁组件30实现同步锁定即可。
为了提高自锁组件30锁定的稳定性，第一槽壁421与自锁组件30面接触，第二槽壁422与自锁组件30面接触，从而使得活动件20能够进一步可靠地保持在展开状态。
卡合槽42可以根据实际需求设计为任意合适的形状，比如方形槽、V形槽、直角梯形槽等。
请参阅图12，结合图6，在一些实施例中，卡合槽42的槽宽以逐渐减小的方式从靠近槽口41的一端向远离槽口41的一端延伸。示例性地，第一槽壁421与第二槽壁422之间的距离以逐渐减小的方式从靠近槽口41的一端向远离槽口41的一端延伸，以防止自锁组件30与第一槽壁421之间产生虚位，和/或，防止自锁组件30与第二槽壁422之间产生虚位，从而保证活动件20能够可靠地保持在展开状态。
请参阅图12，结合图6，在一些实施方式中，第一槽壁421靠近槽口41的一端与自锁组件30的轴线之间的距离大于第一槽壁421远离槽口41的一端与自锁组件30的轴线之间的距离。
请参阅图12，结合图6，在一些实施方式中，第二槽壁422靠近槽口41的一端与自锁组件30的轴线之间的距离大于第二槽壁422远离槽口41的一端与自锁组件30的轴线之间的距离。
请参阅图12，结合图6，在一些实施方式中，第一槽壁421与自锁组件30的轴线之间的距离以逐渐减小的方式从靠近槽口41的一端向远离槽口41的一端延伸。第二槽壁422与自锁组件30的轴线之间的距离以逐渐减小的方式从靠近槽口41的一端向远离槽口41的一端延伸。
请参阅图12，结合图6，在一些实施方式中，第一槽壁421与第二槽壁422配合形成V形槽。V形槽的槽宽以逐渐减小的方式从靠近槽口41的一端向远离槽口41的一端延伸。如此，即使卡合槽42与自锁组件30中用于与卡合槽42配合的部分之间存在误差，也可以实现自锁组件30很好地锁定安装件10和活动件20，避免自锁组件30在卡合槽42内发生晃动，从而使得活动件20能够可靠地保持在展开状态。
可以理解地，第一槽壁421与第二槽壁422上可以设有凹槽、缺口、纹理等特征，只要卡合槽42的轮廓大致为V形槽或者其他所需形状即可。
请参阅图13，结合图4、图6、图12和图19，在一些实施例中，安装件10包括安装主体11和第一安装部12。第一安装部12与安装主体11固定连接。第一安装部12与活动件20转动连接。第一安装部12能够与活动件20配合形成限位槽40。示例性地，安装主体11用于与图19中的中心架400的框架件连接。其中，安装主体11可以与至少部分框架件为一体结构。安装主体11也可以与至少部分框架件为分体结构。比如，安装主体11通过快拆件连接、螺纹连接、卡扣连接等方式与框架件固定连接。
请参阅图13，在一些实施方式中，第一安装部12的数量为两个，两个第一安装部12间隔相对设置于安装主体11上。示例性地，两个第一安装部12设置于安装主体11的相对两边缘。
请参阅图13，在一些实施方式中，两个第一安装部12之间还连接有连接筋13，用于增强安装件10的强度。
请参阅图13，在一些实施方式中，第一安装部12与安装主体11非平行设置。示例性地，第一安装部12从安装主体11的边缘弯折延伸。
在一些实施方式中，第一安装部12与安装主体11一体成型，以减少组装步骤，提高组装效率。在另一些实施方式中，第一安装部12与安装主体11也可以分体设置，比如通过快拆件连接等。
示例性地，安装主体11可以根据实际需求设计为任意合适形状，比如板状、片状、其他规则形状或者不规则形状等。
请参阅图14，结合图4、图6和图12，在一些实施例中，活动件20包括连接主体21和第二安装部22。第二安装部22与连接主体21固定连接。第二安装部22与第一安装部12转动连接，以使得活动件20与安装件10能够相对转动。第一安装部12能够与第二安装部22配合形成限位槽40。
请参阅图14，在一些实施方式中，第二安装部22的数量为两个，两个第二安装部22间隔相对设置于连接主体21上。
请参阅图14，在一些实施方式中，第二安装部22凸设在连接主体21上。
在一些实施方式中，第二安装部22与至少部分连接主体21一体成型，以减少组装步骤，提高组装效率。在另一些实施方式中，第二安装部22与连接主体21也可以分体设置，比如通过快拆件连接等。
在一些实施例中，连接主体21包括第一连接部分和与第一连接部分连接的第二连接部分，第二连接部分与第二安装部22连接。在一些实施方式中，第一连接部分与第二连接部分一体成型。在另一些实施方式中，第一连接部分与第二连接部分分体设置，比如通过快拆件连接或者卡合连接等。
示例性地，连接主体21可以根据实际需求设计为任意合适形状，比如杆体状、其他规则形状或者不规则形状等。
请参阅图3和图13，在一些实施方式中，第一安装部12的数量为两个。两个第一安装部12间隔相对设置形成容纳空间14，从而为第二安装部22提供了安装空间。至少部分第二安装部22容纳于容纳空间14内。
请参阅图3、图6、图7、图10和图11，在一些实施例中，第一安装部12通过转轴50与第二安装部22转动连接。具体地，转轴50穿设第一安装部12和第二安装部22。活动件20和/或安装件10能够绕该转轴50转动，从而使得活动件20能够在展开状态和折叠状态之间切换。
请参阅图14，结合图1和图4，在一些实施例中，活动件20还包括设于连接主体21上的止挡部23。止挡部23能够与第一安装部12配合以限制第一安装部12与第二安装部22之间的转动。当活动件20和/或安装件10转动至活动件20与安装件10之间的夹角为目标角度时，止挡部23与第一安装部12抵接，此时，活动件20与安装件10无法进一步相对转动。
目标角度可以根据实际需求进行设置。比如目标角度为折叠状态所对应的活动件20与安装件10之间的夹角，或者为展开状态所对应的预设角度等。如此，能够避免活动件20与安装件10之间相对转动程度过大，保证活动件20能够快速在展开状态和折叠状态之间切换。
请参阅图14，在一些实施例中，止挡部23凸设在连接主体21和/或第二安装部22上。即止挡部23可以设于连接主体21和第二安装部22的其中一者上。止挡部23也可以同时设于连接主体21和第二安装部22上。
止挡部23可以根据实际需求设计为任意合适的结构，比如为翻边结构等。
请参阅图14，示例性地，两个第二安装部22间隔且相对设于连接主体21上。两个第二安装部22配合形成间隔空间。止挡部23设于连接主体21和/或第二安装部22远离该间隔空间的一侧。
请参阅图12和图13，在一些实施例中，第一安装部12上设有凸设子部121。第一槽壁421设于凸设子部121上。第二槽壁422设于第二安装部22上。示例性地，第一安装部12包括凸设子部121和第一安装子部122。凸设子部121凸设于第一安装子部122上。第一槽壁421与第一安装子部122相交设置。比如，第一槽壁421与第一安装子部122之间的夹角为钝角。第二槽壁422设于第二安装部22远离连接主体21的一端。
请参阅图13，在一些实施例中，第一安装部12呈阶梯状。第一槽壁421设于第一安装部12的阶梯面123上。第二槽壁422设于第二安装部22上。示例性地，该阶梯面123连接有连接面124，阶梯面123与连接面124相交设置。比如，阶梯面123与连接面124之间的夹角为钝角。第二槽壁422设于第二安装部22远离连接主体21的一端。
在一些实施例中，自锁组件30为按压式自锁组件或者旋钮式自锁组件等。当自锁组件30为按压式自锁组件时，按压该自锁组件30，能够使得位于卡合槽42内的自锁组件30从槽口41中脱离，从而使得安装件10与活动件20之间 解除锁定。当自锁组件30为旋钮式自锁组件时，旋转自锁组件30，能够使得位于卡合槽42内的自锁组件30从槽口41中脱离，从而使得安装件10与活动件20之间解除锁定。
请参阅图6、图10和图12，在一些实施例中，限位槽40包括第一限位槽43。请参阅图1至图12，自锁组件30包括操作件31、导向件32、限位件33、第一自锁件34和弹性件35。操作件31设于安装件10上。导向件32设于安装件10。限位件33连接于导向件32和操作件31，限位件33用于限位导向件32和操作件31。
第一自锁件34套设于操作件31的外部。在安装件10和活动件20旋转至预设角度时，至少部分第一自锁件34能够同步进入第一限位槽43内，从而同步将安装件10和活动件20锁定在当前位置。弹性件35套设于操作件31和导向件32的外部。弹性件35与第一自锁件34抵接。操作件31能够在外力作用下带动第一自锁件34脱离第一限位槽43。
请参阅图10和图13，在一些实施方式中，安装件10的其中一个第一安装部12上设有第一贯穿孔125，安装件10的另一个第一安装部12上设有第二贯穿孔126。第一贯穿孔125和第二贯穿孔126均连通于容纳空间14。请参阅图15和图16，第一自锁件34上设有第一穿设孔341。操作件31穿设第一贯穿孔125和第二贯穿孔126的其中一者，并穿设第一穿设孔341而连接于导向件32和/或限位件33。导向件32穿设第一贯穿孔125和第二贯穿孔126的另一者。比如，操作件31穿设第一贯穿孔125和第一穿设孔341，导向件32穿设第二贯穿孔126。
在一些实施方式中，第一贯穿孔125和第二贯穿孔126相对设置。示例性地，第一贯穿孔125的轴向和第二贯穿孔126的轴向重合或者大致重合。
示例性地，弹性件35的伸缩方向与第一贯穿孔125的轴向平行或者大致平行。
请参阅图17，结合图6和图12，在一些实施例中，操作件31包括按压段311、第一连接段312和第二连接段313。第一连接段312的一端与按压段311连接。第一连接段312穿设第一自锁件34。第二连接段313与第一连接段312的另一端连接。限位件33穿设导向件32而与第二连接段313连接，从而既能够实现导向件32与操作件31的连接；在按压按压段311时，限位件33也能够 限位导向件32和/或操作件31沿预设方向运动，以使得位于第一限位槽43内的第一自锁件34经第一限位槽43的槽口41从第一限位槽43内脱离。预设方向可以根据实际需求设计为任意合适方向，比如为操作件31的轴向或者导向件32的轴向。又如，预设方向平行于第一贯穿孔125的圆心和第二贯穿孔126的圆心所在的连接线。
请参阅图17和图18，结合图3、图6和图12，在一些实施例中，按压段311与第一连接段312形成第一台阶314。按压段311能够在外力作用下向靠近第一限位槽43的槽口41方向运动，从而使得第一台阶314能够与第一自锁件34抵接并带动第一自锁件34脱离第一限位槽43。
示例性地，按压段311的外周尺寸大于第一连接段312的外周尺寸，以在按压段311与第一连接段312的连接处形成第一台阶314。
在一些实施方式中，操作件31活动连接于第一安装部12。操作件31与第一自锁件34活动连接。操作件31与导向件32活动连接。
在一些实施方式中，如图3和图18所示，当活动件20处于折叠状态时，第一台阶314的台阶面与第一自锁件34抵接。如图6和图12所示，当活动件20处于展开状态时，第一台阶314的台阶面与第一自锁件34间隔设置或者接触设置。
请参阅图17，结合图3、图6、图12和图18，示例性地，按压段311还包括第三台阶3111，用于限位操作件31与第一安装部12的相对运动，防止按压段311完全进入第一安装部12的第一贯穿孔125。
在一些实施方式中，如图3和图18所示，当活动件20处于折叠状态时，第三台阶3111的台阶面与第一安装部12远离容纳空间14的一侧表面间隔第一间隔距离设置。如图6和图12所示，当活动件20处于展开状态时，第三台阶3111的台阶面与第一安装部12远离容纳空间14的一侧表面间隔第二间隔距离设置。第一间隔距离小于第二间隔距离。示例性地，第一间隔距离大于或者等于零。
请参阅图17，结合图3和图6，在一些实施方式中，第一连接段312与第二连接段313配合形成第四台阶315，用于限位操作件31与导向件32之间的相对运动。示例性地，第一连接段312的外周尺寸大于第二连接段313的外周尺寸，以在第一连接段312与第二连接段313的连接处形成第四台阶315。
示例性地，如图3和图18所示，当活动件20处于折叠状态时，第四台阶315的台阶面与导向件32朝向第一自锁件34的一端间隔第三间隔距离设置。如图6和图12所示，当活动件20处于展开状态时，第四台阶315的台阶面与导向件32朝向第一自锁件34的一端间隔第四间隔距离设置。第四间隔距离大于第三间隔距离。示例性地，第三间隔距离大于或者等于零。
在一些实施例中，按压段311、第一连接段312和第二连接段313一体成型。在另一些实施例中，按压段311、第一连接段312和第二连接段313为分体设置，通过卡扣连接、快拆件连接、螺纹连接等固定连接。当然，在又一些实施例中，按压段311、第一连接段312和第二连接段313中的其中两部分一体成型，另一部分与该一体成型结构分体设置，在此不作限定。
请参阅图6和图12，在一些实施例中，第一自锁件34上的第一穿设孔341用于供第一连接段312穿设。第一穿设孔341与第一连接段312配合形成第一定位槽60。弹性件35的一端位于该第一定位槽60内，从而定位弹性件35。示例性地，第一定位槽60设于第一自锁件34朝向弹性件35的一侧。
请参阅图6和图12，在一些实施例中，第一穿设孔341包括相互连通的第一子孔3411和第二子孔3412。第二子孔3412远离按压段311设置。第二子孔3412与第一连接段312配合形成第一定位槽60。示例性地，第一子孔3411与第二子孔3412同轴设置。
在一些实施例中，第二子孔3412的孔径大于第一子孔3411的孔径，从而在第一子孔3411和第二子孔3412的连接处形成第五台阶3413。弹性件35的一端能够抵接于第五台阶3413的台阶面。
在一些实施例中，弹性件35的一端能够同时抵接于第四台阶315的台阶面和第五台阶3413的台阶面。当活动件20从折叠状态切换至展开状态并形成第一限位槽43时，至少部分第一自锁件34能够在弹性件35的作用下从第一限位槽43的槽口41进入第一限位槽43的卡合槽42内。
请参阅图3、图6和图10，在一些实施例中，导向件32上设有沿弹性件35的伸缩方向延伸的导向孔321。操作件31和/或限位件33能够沿导向孔321的轴向运动。
示例性地，当活动件20处于展开状态时，第一台阶314的台阶面与第一自锁件34之间间隔预设距离。该预设距离大于或者等于零。操作件31具有相对 设置的操作端和连接端，操作件31的连接端连接于限位件33和/或导向件32。
按压操作件31的操作端，操作件31和限位件33沿导向孔321的轴向相对导向件32运动，操作件31的操作端逐渐靠近导向件32。当操作件31相对导向件32运动预设距离时，操作件31与第一自锁件34接触，此时进一步按压操作件31，操作件31能够对第一自锁件34施加作用力使得位于第一限位槽43内的第一自锁件34经第一限位槽43的槽口41逐渐离开第一限位槽43的卡合槽42，并使得第一自锁件34挤压弹性件35。当第一自锁件34完全离开第一限位槽43的卡合槽42时，安装件10和活动件20之间解除锁定。此时，操作活动件20以使活动件20从展开状态切换至折叠状态。在活动件20切换至折叠状态的过程中，当第二安装部22远离第一安装部12的一侧表面与第一自锁件34靠近第一安装部12的一侧表面接触时，即可松开操作件31。
当活动件20需要从折叠状态切换至展开状态时，操作活动件20和/或安装件10使得活动件20与安装件10之间逐渐展开。当活动件20相对安装件10展开至活动件20与安装件10之间形成第一限位槽43时，至少部分第一自锁件34在弹性件35的作用下同步从第一限位槽43的槽口41进入第一限位槽43的卡合槽42内，从而锁紧安装件10与活动件20。
请参阅图3、图6和图10，在一些实施例中，导向孔321包括相互连通的第一子导向孔3211和第二子导向孔3212。第一子导向孔3211的直径大于第二子导向孔3212的直径以形成第二台阶，限位件33的大径端设于第一子导向孔3211内。限位件33的大径端与第二台阶配合，能够限位操作件31与活动件20之间的运动行程。
在一些实施例中，第一子导向孔3211的直径大于第二子导向孔3212中用于与第一子导向孔3211连接的孔部的直径。限位件33的大径端设于第一子导向孔3211内。
可以理解地，限位件33可以根据实际需求设计为任意合适结构，比如为限位螺丝等。
请参阅图15和图16。结合图6和图12，在一些实施例中，第一自锁件34包括自锁本体342、第一自锁面343和第二自锁面344。第二自锁面344与第一自锁面343相对设置在自锁本体342上。第一自锁面343能够与安装件10接触，第二自锁面344能够与活动件20接触，从而锁定安装件10和活动件20，进而 将活动件20可靠地保持在展开状态。示例性地，第一穿设孔341贯穿自锁本体342。
请参阅图12，在一些实施例中，第一自锁面343和第二自锁面344分别与第一限位槽43的第一槽壁421和第二槽壁422配合。示例性地，在活动件20相对安装件10转动至展开状态对应的当前位置时，第一自锁面343与第一限位槽43的第一槽壁421接触，第二自锁面344与第一限位槽43的第二槽壁422接触，至少部分自锁本体342位于第一限位槽43的卡合槽42内，从而锁定安装件10和活动件20，使得活动件20可靠地保持在展开状态。
请参阅图6和图12，在一些实施例中，限位槽40包括第二限位槽44。自锁组件30还包括第二自锁件36。第二自锁件36套设于导向件32的外部。在安装件10和活动件20旋转至预设角度时，至少部分第二自锁件36能够同步进入第二限位槽44内以同步将安装件10和活动件20锁定在当前位置。弹性件35的两端分别抵接于第一自锁件34和第二自锁件36。导向件32能够在外力作用下带动第二自锁件36脱离第二限位槽44。
示例性地，按压操作件31的操作端，操作件31和限位件33沿导向孔321的轴向相对导向件32运动，操作件31的操作端逐渐靠近导向件32。当操作件31与第一自锁件34接触时，若进一步按压操作件31，操作件31能够对第一自锁件34施加作用力使得位于第一限位槽43内的第一自锁件34经第一限位槽43的槽口41逐渐离开第一限位槽43的卡合槽42，并使得第一自锁件34挤压弹性件35。
同样地，按压导向件32的操作端，导向件32相对操作件31和限位件33沿导向孔321的轴向运动，导向件32的操作端逐渐靠近操作件31。当导向件32与第二自锁件36接触时，若进一步按压导向件32，导向件32能够对第二自锁件36施加作用力使得位于第二限位槽44内的第二自锁件36经第二限位槽44的槽口41逐渐离开第二限位槽44的卡合槽42，并使得第二自锁件36挤压弹性件35。
当第一自锁件34完全离开第一限位槽43的卡合槽42且第二自锁件36完全离开第二限位槽44的卡合槽42时，安装件10和活动件20之间解除锁定。此时，操作活动件20以使活动件20从展开状态切换至折叠状态。在活动件20切换至折叠状态的过程中，当其中一个第二安装部22远离第一安装部12的一 侧表面与第一自锁件34靠近第一安装部12的一侧表面接触，且另一个第二安装部22远离第一安装部12的一侧表面与第二自锁件36靠近第一安装部12的一侧表面接触时，即可松开操作件31。
当活动件20需要从折叠状态切换至展开状态时，操作活动件20和/或安装件10使得活动件20与安装件10之间逐渐展开。当活动件20相对安装件10展开至活动件20与安装件10之间形成第一限位槽43和第二限位槽44时，至少部分第一自锁件34在弹性件35的作用下经第一限位槽43的槽口41进入第一限位槽43的卡合槽42，至少部分第二自锁件36在弹性件35的作用下经第二限位槽44的槽口41进入第二限位槽44的卡合槽42，从而锁紧安装件10与活动件20，防止安装件10与活动件20之间相对转动。
第二限位槽44的形状可以和第一限位槽43的形状相同，也可以不同。示例性地，第二限位槽44与第一限位槽43对称设置。
第一自锁件34的结构可以与第二自锁件36的结构相同，也可以不同。示例性地，第一自锁件34与第二自锁件36对称设置。
示例性地，第一自锁件34和第二自锁件36均为滑块结构。
请参阅图6和图12，在一些实施例中，第二自锁件36与导向件32之间配合形成第二定位槽(未标示)。弹性件35的一端位于第一定位槽60内，弹性件35的另一端位于第二定位槽内。
请参阅图9和图10，在一些实施例中，弹性件35两端分别抵接于第一自锁件34和安装件10。
示例性地，导向件32与第一安装件10固定连接，操作件31能够相对导向件32运动。弹性件35的一端抵接于第一定位槽60的底壁，弹性件35的另一端抵接于安装件10的第一安装部12。
示例性地，导向件30能够相对第一安装部12活动。具体地，导向件30能够相对第一安装部12的第二贯穿孔126滑动。按压操作件31的操作端，操作件31和限位件33沿导向孔321的轴向相对导向件32运动，当操作件31和限位件33相对导向件32运动至一定位置时，操作件31能够带动导向件32沿第二贯穿孔126的轴向相对第一安装部12运动，使得操作件31带动第一自锁件34经第一限位槽43的槽口41逐渐离开第一限位槽43的卡合槽42，并使得第一自锁件34挤压弹性件35。
请参阅图19至图21，本申请实施例还提供一种机臂组件300，包括自锁结构100和动力套装200。自锁结构100为上述任一实施例的自锁结构100。安装件10和活动件20的其中一者为固定于可移动平台1000的中心架400的连接件，安装件10和活动件20的另一者为用于设置动力套装200的机臂301。动力套装200设于机臂301上。
上述实施例的机臂组件300，在机臂301与安装件10相对转动以展开机臂301的过程中，机臂301从折叠状态切换至展开状态的同时，自锁组件30能够自动并同步锁定安装件10和机臂301以使得机臂301能够可靠地保持在展开状态，无需额外手动操作自锁组件30即可将安装件10和机臂301锁定在展开状态所对应的当前位置，操作简单、方便，且避免了由于操作人员忘记锁紧机臂301而存在安全隐患的问题。
请参阅图19至图21，本申请实施例还提供一种可移动平台1000包括自锁结构100和机体，自锁结构100设于机体上。自锁结构100为上述任一实施例的自锁结构100。
可移动平台1000可以是任意能够在外力作用下移动或者自动移动的物体，比如可移动平台1000包括手持云台或者无人飞行器。当然，可移动平台1000也可以是无人驾驶车、无人驾驶船或者机器人等。
下面以可移动平台1000为无人飞行器为例进行解释说明。
在一些实施例中，无人飞行器包括中心架400、机臂301和设于机臂301上的动力套装200。机臂301的一端与中心架400连接，动力套装200安装在机臂301的另一端上。机臂301的数量可以为一个、两个、三个或者更多。机臂301呈辐射状从机体上延伸而出。
示例性地，可移动平台1000的机体包括中心架400。
在一些实施例中，无人飞行器还包括飞行控制器。飞行控制器与动力套装200通信连接，从而控制动力套装200的工作，以为无人飞行器提供飞行动力。示例性地，飞行控制器用于生成控制指令，并将该控制指令发送至动力套装200的电调，以使得电调通过该控制指令控制动力套装200的驱动电机。飞行控制器为具有一定逻辑处理能力的器件，比如控制芯片、单片机、微控制单元等。
在一些实施例中，动力套装200包括电调、驱动电机和螺旋桨。电调位于机臂301或机体所形成的空腔内。电调分别与飞行控制器及驱动电机连接。具 体地，电调与驱动电机电连接，用于控制驱动电机。驱动电机安装在机臂301上，驱动电机的转动轴连接螺旋桨。螺旋桨在驱动电机的驱动下产生使得无人飞行器运动的力，例如，使得无人飞行器运动的升力或者推力。
在一些实施例中，可以通过用户终端来控制可移动平台1000的至少一个运动特性。示例性地，可以通过用户终端控制可移动平台1000以使得可移动平台1000能够在某个环境中朝向目标物体导航，或者，在该环境中跟踪目标物体等。环境可以包括地理特征、植物、地标、建筑物、人、载运工具、动物、发射体等。
上述实施例的可移动平台1000，在活动件20与安装件10相对转动以展开活动件20的过程中，活动件20从折叠状态切换至展开状态的同时，自锁组件30能够自动并同步锁定安装件10和活动件20以使得活动件20能够可靠地保持在展开状态，无需额外手动操作自锁组件30即可将安装件10和活动件20锁定在展开状态所对应的当前位置，操作简单、方便，且避免了由于操作人员忘记锁紧活动件20而存在安全隐患的问题。
以上，仅为本申请的具体实施方式，但本申请的保护范围并不局限于此，任何熟悉本技术领域的技术人员在本申请揭露的技术范围内，可轻易想到各种等效的修改或替换，这些修改或替换都应涵盖在本申请的保护范围之内。因此，本申请的保护范围应以权利要求的保护范围为准。

Claims (41)

  1. 一种自锁结构，用于可移动平台，其特征在于，所述自锁结构包括：
    安装件；
    活动件，与所述安装件转动连接，以使所述活动件能够在展开状态和折叠状态之间切换；
    自锁组件，设于所述安装件和所述活动件的其中一者上；
    其中，在所述安装件和所述活动件旋转至预设角度时，所述自锁组件能够同步将所述安装件和所述活动件锁定在当前位置，从而使得所述活动件保持在所述展开状态。
  2. 根据权利要求1所述的自锁结构，其特征在于，所述自锁组件能够在外力作用下解除锁定所述安装件和所述活动件，以使所述活动件能够与所述安装件相对转动。
  3. 根据权利要求1所述的自锁结构，其特征在于，在所述安装件和所述活动件旋转至所述预设角度时，所述安装件与所述活动件配合形成限位槽，部分所述自锁组件容纳于所述限位槽内以锁定所述安装件和所述活动件。
  4. 根据权利要求3所述的自锁结构，其特征在于，所述限位槽包括槽口和与所述槽口连通的卡合槽，部分所述自锁组件能够经所述槽口进入所述卡合槽内以使所述自锁组件与所述卡合槽卡合。
  5. 根据权利要求4所述的自锁结构，其特征在于，所述卡合槽包括相对设置的第一槽壁和第二槽壁，所述第一槽壁设于所述安装件上，所述第二槽壁设于所述活动件上，所述第一槽壁和所述第二槽壁均能够与部分所述自锁组件接触以锁定所述安装件和所述活动件。
  6. 根据权利要求5所述的自锁结构，其特征在于，所述第一槽壁靠近所述槽口的一端与所述自锁组件的轴线之间的距离大于所述第一槽壁远离所述槽口的一端与所述自锁组件的轴线之间的距离；和/或，所述第二槽壁靠近所述槽口的一端与所述自锁组件的轴线之间的距离大于所述第二槽壁远离所述槽口的一端与所述自锁组件的轴线之间的距离。
  7. 根据权利要求6所述的自锁结构，其特征在于，所述第一槽壁与所述自锁组件的轴线之间的距离以逐渐减小的方式从靠近所述槽口的一端向远离所述槽口的一端延伸；和/或，所述第二槽壁与所述自锁组件的轴线之间的距离以逐渐减小的方式从靠近所述槽口的一端向远离所述槽口的一端延伸。
  8. 根据权利要求5所述的自锁结构，其特征在于，所述第一槽壁与所述第二槽壁之间的距离以逐渐减小的方式从靠近所述槽口的一端向远离所述槽口的一端延伸。
  9. 根据权利要求3所述的自锁结构，其特征在于，所述自锁组件能够在外力作用下从所述限位槽脱离而解除锁定所述安装件和所述活动件。
  10. 根据权利要求3所述的自锁结构，其特征在于，所述限位槽的数量为一个或者两个。
  11. 根据权利要求10所述的自锁结构，其特征在于，两个所述限位槽沿所述自锁组件的轴向间隔设置。
  12. 根据权利要求5所述的自锁结构，其特征在于，所述安装件包括：
    安装主体；
    第一安装部，与所述安装主体固定连接，并与所述活动件转动连接，所述第一安装部能够与所述活动件配合形成所述限位槽。
  13. 根据权利要求12所述的自锁结构，其特征在于，所述第一安装部的数量为两个，两个所述第一安装部间隔相对设置于所述安装主体上。
  14. 根据权利要求12所述的自锁结构，其特征在于，所述活动件包括：
    连接主体；
    第二安装部，与所述连接主体固定连接，并与所述第一安装部转动连接，所述第一安装部能够与所述第二安装部配合形成所述限位槽。
  15. 根据权利要求14所述的自锁结构，其特征在于，所述第一安装部的数量为两个，两个所述第一安装部间隔相对设置形成用于容纳至少部分所述第二安装部的容纳空间。
  16. 根据权利要求14所述的自锁结构，其特征在于，所述第一安装部通过转轴与所述第二安装部转动连接。
  17. 根据权利要求14所述的自锁结构，其特征在于，所述活动件还包括设于所述连接主体上的止挡部，所述止挡部能够与所述第一安装部配合以限制所述第一安装部与所述第二安装部之间的转动。
  18. 根据权利要求17所述的自锁结构，其特征在于，所述止挡部凸设在所述连接主体和/或所述第二安装部上。
  19. 根据权利要求14所述的自锁结构，其特征在于，所述第一安装部上设有凸设部，所述第一槽壁设于所述凸设部上，所述第二槽壁设于所述第二安装部上。
  20. 根据权利要求14所述的自锁结构，其特征在于，所述第一安装部呈阶梯状，所述第一槽壁设于所述第一安装部的阶梯面上，所述第二槽壁设于所述第二安装部上。
  21. 根据权利要求3所述的自锁结构，其特征在于，所述自锁组件设于所述安装件上。
  22. 根据权利要求21所述的自锁结构，其特征在于，所述自锁组件为按压式自锁组件或者旋钮式自锁组件。
  23. 根据权利要求21所述的自锁结构，其特征在于，所述限位槽包括第一限位槽；所述自锁组件包括：
    操作件，设于所述安装件上；
    导向件，设于所述安装件；
    限位件，连接于所述导向件和所述操作件，用于限位所述导向件和所述操作件；
    第一自锁件，套设于所述操作件的外部；在所述安装件和所述活动件旋转至预设角度时，至少部分所述第一自锁件能够同步进入所述第一限位槽内以同步将所述安装件和所述活动件锁定在所述当前位置；
    弹性件，套设于所述操作件和所述导向件的外部，与所述第一自锁件抵接；所述操作件能够在外力作用下带动所述第一自锁件脱离所述第一限位槽。
  24. 根据权利要求23所述的自锁结构，其特征在于，所述操作件包括：
    按压段；
    第一连接段，一端与所述按压段连接，并穿设所述第一自锁件；
    第二连接段，与所述第一连接段的另一端连接，所述限位件穿设所述导向件而与所述第二连接段连接。
  25. 根据权利要求24所述的自锁结构，其特征在于，所述按压段与所述第一连接段形成第一台阶，所述按压段能够在外力作用下向靠近所述第一限位槽的槽口方向运动，以使所述第一台阶能够与所述第一自锁件抵接并带动所述第一自锁件脱离所述第一限位槽。
  26. 根据权利要求24所述的自锁结构，其特征在于，所述第一自锁件上设有用于供所述第一连接段穿设的第一穿设孔，所述第一穿设孔与所述第一连接段配合形成用于定位所述弹性件的第一定位槽。
  27. 根据权利要求26所述的自锁结构，其特征在于，所述第一穿设孔包括相互连通的第一子孔和第二子孔，所述第二子孔远离所述按压段设置，所述第二子孔与所述第一连接段配合形成所述第一定位槽。
  28. 根据权利要求27所述的自锁结构，其特征在于，所述第二子孔的孔径大于所述第一子孔的孔径。
  29. 根据权利要求23所述的自锁结构，其特征在于，所述导向件上设有沿所述弹性件的伸缩方向延伸的导向孔，所述操作件和/或所述限位件能够沿所述导向孔的轴向运动。
  30. 根据权利要求29所述的自锁结构，其特征在于，所述导向孔包括相互连通的第一子导向孔和第二子导向孔，所述第一子导向孔的直径大于所述第二子导向孔的直径以形成第二台阶，所述限位件的大径端设于所述第一子导向孔内。
  31. 根据权利要求23所述的自锁结构，其特征在于，所述限位件包括限位螺丝。
  32. 根据权利要求24所述的自锁结构，其特征在于，所述第一自锁件包括：
    自锁本体；
    第一自锁面；
    第二自锁面，与所述第一自锁面相对设置在所述自锁本体上，所述第一自锁面和所述第二自锁面分别能够与所述安装件和所述活动件接触以锁定所述安装件和所述活动件。
  33. 根据权利要求32所述的自锁结构，其特征在于，所述第一自锁面和所述第二自锁面分别与所述第一限位槽的第一槽壁和第二槽壁配合。
  34. 根据权利要求23所述的自锁结构，其特征在于，所述限位槽包括第二限位槽，所述自锁组件还包括：
    第二自锁件，套设于所述导向件的外部；在所述安装件和所述活动件旋转至预设角度时，至少部分所述第二自锁件能够同步进入所述第二限位槽内以同步将所述安装件和所述活动件锁定在所述当前位置；所述弹性件的两端分别抵接于所述第一自锁件和所述第二自锁件；所述导向件能够在外力作用下带动所述第二自锁件脱离所述第二限位槽。
  35. 根据权利要求34所述的自锁结构，其特征在于，所述第二限位槽与所述第一限位槽对称设置。
  36. 根据权利要求34所述的自锁结构，其特征在于，所述第一自锁件与所述第二自锁件对称设置。
  37. 根据权利要求23所述的自锁结构，其特征在于，所述弹性件两端分别抵接于所述第一自锁件和所述安装件。
  38. 根据权利要求1所述的自锁结构，其特征在于，所述安装件和所述活动件的其中一者为用于与可移动平台的中心架连接的连接件，所述安装件和所述活动件的另一者为用于设置动力套装的机臂。
  39. 一种机臂组件，其特征在于，包括：
    权利要求1-38任一项所述的自锁结构，所述安装件和所述活动件的其中一者为固定于可移动平台的中心架的连接件，所述安装件和所述活动件的另一者为用于设置动力套装的机臂；
    动力套装，设于所述机臂上。
  40. 一种可移动平台，其特征在于，包括：
    机体；以及
    权利要求1-38任一项所述的自锁结构，所述自锁结构设于所述机体上。
  41. 根据权利要求40所述的可移动平台，其特征在于，所述可移动平台包括：
    手持云台或者无人飞行器。
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