WO2022095205A1 - 折叠机臂及无人机 - Google Patents

折叠机臂及无人机 Download PDF

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Publication number
WO2022095205A1
WO2022095205A1 PCT/CN2020/135425 CN2020135425W WO2022095205A1 WO 2022095205 A1 WO2022095205 A1 WO 2022095205A1 CN 2020135425 W CN2020135425 W CN 2020135425W WO 2022095205 A1 WO2022095205 A1 WO 2022095205A1
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WIPO (PCT)
Prior art keywords
sensing
locking member
machine arm
arm
signal
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PCT/CN2020/135425
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English (en)
French (fr)
Inventor
孟祥�
李日照
农贵升
白孝涛
严欣
赵进
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.)
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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 CN202080075703.4A priority Critical patent/CN114728694A/zh
Publication of WO2022095205A1 publication Critical patent/WO2022095205A1/zh

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    • 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

Definitions

  • the present disclosure relates to the technical field of unmanned aerial vehicles, and in particular, to a folding machine arm and an unmanned aerial vehicle.
  • Folding-arm UAV is an important design to reduce the packaging volume of UAV.
  • the arm can be folded. At this time, the drone is small in size, which is convenient for users to store and transport.
  • the arms can be unfolded and locked in place to facilitate the rotation of the propellers on the arms to take off.
  • the user before using the drone, the user usually only unfolds the arms of the drone, and it is difficult to notice whether the arms are unfolded in place and whether the arms are locked after unfolding.
  • the propeller when the propeller is started when the arm is not deployed in place or the arm is not locked after deployment, it is easy to cause vibration of the arm, resulting in loosening of the arm, or even cause the drone to fall abnormally and damage no damage.
  • Man-machine greatly reducing the safety of the use of drones.
  • the present disclosure is proposed to provide a folding arm and drone that overcomes the above problems or at least partially solves the above problems.
  • the present disclosure discloses a folding machine arm for an unmanned aerial vehicle, wherein the folding machine arm is used to carry a motor that provides flight power for the unmanned aerial vehicle, including:
  • the arm body includes a first body and a second body that can be folded relative to the first body, so that the arm body can be switched between an unfolded position and a folded position; wherein the first body A body is connected to the fuselage of the drone, and the second body is used to carry the motor;
  • a locking mechanism for keeping the first body and the second body in an unfolded state or a locked state
  • the locking mechanism is also provided with a sensing element to sense whether the first body and the second body are in a locked state.
  • the locking mechanism includes a first locking member and a second locking member, the first locking member is provided on the first body, and the second locking member is provided on the second locking member a body, when the arm body is in the deployed position, the first locking member and the second locking member can be locked to keep the arm body in the deployed position;
  • the first locking member is provided with a triggering member
  • the second locking member is provided with a sensing member
  • the triggering member cooperates with the sensing member, so that the sensing member generates a signal for indicating the first locking member.
  • the sensing member can sense the trigger member to generate an in-position sensing signal, and the in-position sensing signal is The bit sensing signal can trigger the UAV to open the working mode;
  • the sensing member When the first locking member and the second locking member are not locked, the sensing member does not sense the triggering member to generate a non-position sensing signal, and the non-positioning member The sensing signal can trigger the drone to turn off the working mode.
  • the trigger is a contact trigger
  • the sensing member is a contact sensing member
  • the trigger element is a contactless trigger element
  • the sensing element is a contactless sensing element
  • the contact trigger element is a conductive element, and the contact induction element is a current detection circuit;
  • the contact triggering element is a force transmission element
  • the contact sensing element is a pressure sensor
  • the non-contact trigger member is a magnetic member
  • the non-contact sensing member is a Hall sensor or a reed switch
  • the non-contact triggering element is an infrared transmitter
  • the non-contact sensing element is an infrared receiver
  • the non-contact sensing element is a capacitive sensor
  • the non-contact triggering element is a first electrode plate of the capacitive sensor
  • the folding machine arm further comprises: an attitude detector, the attitude detector is arranged on the machine arm body, and generates an attitude signal for indicating whether the machine arm body is unfolded in place.
  • the attitude detector when the arm body is deployed in place, can generate a horizontal attitude signal, and the horizontal attitude signal can trigger the unmanned aerial vehicle to start the working mode; When not deployed in place, the attitude detector can generate a non-horizontal attitude signal, and the non-horizontal attitude signal can trigger the UAV to close the working mode.
  • the attitude detector includes at least one of an angle detector, an inertial measurement unit, and a level.
  • the folding machine arm further comprises: an electrical adjustment board installed on the machine arm body, when the machine arm body is in the unfolded position, the electrical adjustment board and the machine arm body level;
  • the attitude detector is installed on the ESC.
  • the folding machine arm further comprises: a communication interface, the communication interface is electrically connected with the sensing element and/or the attitude detector, and the communication interface is used for connecting with the processor of the drone a communication connection to send the sensed signal and/or the gesture signal to the processor.
  • the first locking member is a first buckle
  • the second locking member is a second buckle
  • the first buckle and the second buckle are hinged
  • the first buckle When the arm body is in the unfolded position, the first buckle is engaged with the second buckle, and when the arm body is in the folded position, the first buckle is engaged with the second buckle. The clamping connection between the buckle and the second buckle is released.
  • the trigger element is a magnetic element
  • the sensing element is a Hall sensor or a reed switch
  • the sensing signal is the Hall sensor or the reed switch according to whether the magnetic element is sensed the magnetic field generated.
  • the first locking member is a sleeve rod
  • the second locking member is a sleeve
  • the sleeve is sleeved outside the sleeve rod
  • the inner ring of the sleeve can be connected with the sleeve.
  • the outer ring of the sleeve rod is locked
  • the trigger element is arranged on the outer ring of the sleeve rod, and the induction element is arranged on the inner ring of the sleeve.
  • the present disclosure also discloses an unmanned aerial vehicle, comprising: a fuselage and the above-mentioned folding arm; wherein,
  • the folding machine arm is connected to the body.
  • the UAV further comprises: a processor, the processor is provided on the fuselage;
  • a communication interface is provided on the folding machine arm, and the communication interface is electrically connected with the sensing element;
  • the processor is connected in communication with the communication interface, and the processor is configured to receive a sensing signal sent by the communication interface and used to indicate whether the first locking member and the second locking member are locked, and according to the The sensing signal activates or deactivates the working mode; wherein, the sensing signal is generated by the sensing element under the triggering of the trigger element.
  • the locking mechanism is provided with a sensing element
  • the sensing element can sense whether the first body and the second body are in a locked state, so as to avoid the first body and the second body being locked.
  • the motor is activated, which improves the use safety of the folding machine arm, and further, can also improve the use safety of the UAV to which the folding machine arm is applied.
  • FIG. 1 is a schematic structural diagram of a folding machine arm of the present disclosure in an unfolded position
  • FIG. 2 is a schematic cross-sectional view of the folding machine arm in FIG. 1 of the present disclosure
  • FIG. 3 is a schematic structural diagram of a folding machine arm of the present disclosure in a folded position
  • FIG. 4 is a schematic cross-sectional view of the folding machine arm in FIG. 3 of the present disclosure.
  • Fig. 6 is the second structural schematic diagram of a UAV of the present disclosure.
  • FIG. 7 is a third schematic structural diagram of a UAV of the present disclosure.
  • FIG. 8 is the fourth schematic diagram of the structure of an unmanned aerial vehicle of the present disclosure.
  • FIG. 1 a schematic structural diagram of a folding machine arm of the present disclosure is shown in an unfolded position.
  • FIG. 2 a schematic cross-sectional view of the folding machine arm of FIG.
  • a schematic structural diagram of the disclosed folding machine arm in a folded position is shown.
  • FIG. 4 a schematic cross-sectional view of the folding machine arm in FIG. 3 of the present disclosure is shown.
  • FIGS. 1-4 an embodiment of the present disclosure discloses a The folding arm 10 can be used for the drone 100, and the folding arm 10 can be used to carry a motor that provides flight power for the drone 100.
  • the folding arm 10 can specifically include: an arm body 1, and the arm body 1 can It includes a first body 11 and a second body 12 that can be folded relative to the first body 11, so that the arm body 1 can be switched between the unfolded position and the folded position;
  • the body 20 is connected, and the second body 12 can be used to carry the motor;
  • the locking mechanism 3 can be used to make the first body 11 and the second body 12 in the unfolded state or the locked state;
  • the locking mechanism 3 can also be provided with an induction member 31 to sense whether the first body 11 and the second body 12 are in a locked state.
  • the sensing member 31 can sense whether the first body 11 and the second body 12 are in the locked state, so as to avoid the occurrence of the first body 11 and the second body
  • the motor 12 is activated when it is not in the locked state, which improves the use safety of the folding machine arm 10 , and further improves the use safety of the UAV 100 to which the folding machine arm 10 is applied.
  • the volume of the drone 100 can be reduced, which facilitates the storage and transportation of the drone 100 .
  • the folding machine arm 10 is also provided with a locking mechanism 3 , and the locking mechanism 3 can make the first body 11 and the second body 12 in a locked state when the arm body 1 is unfolded in place, so that there is no The man-machine 100 can fly normally.
  • the locking mechanism 3 is also provided with a sensing member 31, which can sense whether the first body 11 and the second body 12 are in a locked state, so that before the drone 100 takes off, the folding arm 10 can be The detection can prevent the unfolded arm body 1 from being in place or loosened, thereby avoiding the phenomenon that the drone 100 is damaged due to abnormal falling during the flight.
  • the sensing element 31 can sense whether the first body 11 and the second body 12 are in a locked state, so as to prevent the drone 100 from being in the first body 11 and the second body 12 The safety accident that caused the drone 100 to blow up after taking off without being locked.
  • the locking mechanism 3 may include a first locking member 32 and a second locking member 34, the first locking member 32 may be provided on the first body 11, and the second locking member 34 may be provided on the second body 12.
  • the first locking member 32 and the second locking member 34 can be locked to keep the arm body 1 in the deployed position; the first locking member 32 can be set.
  • the second locking member 34 can be provided with a sensing member 31, and the trigger member 33 can cooperate with the sensing member 31, so that the sensing member 31 is generated to indicate the first locking member 32 and the second locking member. 34 Sensing signal of whether it is locked or not.
  • the first locking member 32 of the locking mechanism 3 is provided on the first body 11, and the second locking member 34 is provided on the second body 12.
  • the first locking member 32 is provided with a trigger member 33
  • the second locking member 34 is provided with a sensing member 31, so that the first locking member 32 and the second locking member can be known by detecting the sensing signal 34 locking situation, more convenient and quick.
  • the sensing member 31 can sense the trigger member 33 to generate an in-position sensing signal, the in-position sensing signal Can trigger the drone 100 to open the working mode; when the first locking member 32 and the second locking member 34 are not locked, the sensing member 31 does not sense the triggering member 33 and generates a not-in-place sensing signal , the not-in-position sensing signal can trigger the drone 100 to turn off the working mode.
  • the sensing member 31 when the first locking member 32 is locked with the second locking member 34, the sensing member 31 can sense the trigger member 33 and generate an in-position sensing signal, through the in-position sensing member 31 The sensing signal can trigger the drone 100 to start the working mode.
  • the sensing member 31 cannot sense the trigger member 33 and can generate a non-position sensing signal, and the non-position sensing signal can be used to generate a signal.
  • Trigger Drone 100 to turn off working mode. According to the sensing signal generated by the sensing element 31 , the UAV 100 can be triggered to open or close the working mode, so as to facilitate the control of the UAV 100 .
  • the trigger member 33 is close to the sensing member 31, so that the sensing member 31 can sense the trigger member 33 and generate an in-position sensing signal
  • the first body 11 and the second body 12 are in the locked state, and the arm body 1 is in the unfolded position, which can trigger the drone 100 to start the working mode.
  • the arm body 1 is in the unfolded position, so that the UAV 100 can meet the conditions for safe take-off, and the use safety of the UAV 100 is improved.
  • the working modes include: starting the motor of the drone 100, rotating the propeller, and the like.
  • the triggering member 33 is far away from the sensing member 31, so that the sensing member 31 cannot sense the triggering member 33.
  • the sensing member 31 An absence sensing signal can be generated.
  • the first body 11 and the second body 12 are in the unfolded state, and the arm body 1 is in the folded position, which can trigger the drone 100 to close the working mode.
  • the body 1 of the machine arm is in the folded position. In order to avoid abnormality after the drone 100 takes off, the drone 100 can be triggered to turn off the working mode.
  • the first locking member 32 can be a first buckle
  • the second locking member 34 can be a second buckle
  • the first buckle and the second buckle can be hinged; when the arm body 1 is in the unfolded position
  • the first buckle and the second buckle are released.
  • the first buckle and the second buckle when the arm body 1 is in the deployed position, the first buckle and the second buckle can be snapped to ensure that the arm body 1 remains in the deployed position.
  • the engagement of the first buckle and the second buckle can be released, so that the arm body 1 can be folded for storage.
  • the trigger element 33 may be a magnetic element
  • the sensing element 31 may be a Hall sensor or a reed switch
  • the sensing signal is generated by a Hall sensor or a reed switch according to whether the magnetic field of the magnetic element is sensed.
  • the Hall sensor or the reed switch can generate a sensing signal according to whether the magnetic field of the magnetic element is sensed, so as to control the UAV 100 to open or close the working mode, so as to improve the use safety of the UAV 100 .
  • the first locking member 32 can be a sleeve rod
  • the second locking member 34 can be a sleeve
  • the sleeve can be sleeved outside the sleeve rod
  • the inner ring of the sleeve can be locked with the outer ring of the sleeve rod
  • the trigger member 33 can be set on the outer ring of the sleeve rod
  • the induction member 31 can be set on the inner ring of the sleeve.
  • the stability of the arm body 1 in the deployed position can be improved.
  • the trigger member 33 may be a contact type trigger member
  • the sensing member 31 may be a contact type sensing member.
  • the sensing member 31 is a contacting sensing member. In this way, through the mutual contact between the triggering member 33 and the sensing member 31, the sensing member 31 can quickly sense the triggering member 33 and generate The sensing signal improves the sensitivity of the sensing element 31 to generate the sensing signal.
  • the contact-type triggering element may be a conductive element
  • the contact-type sensing element may be a current detection circuit. Since the current detection circuit can be used to detect the current change of the conductive member, in this way, the sensing member 31 can sense the trigger member 33 and generate a sensing signal by sensing the current change.
  • the conductive member can be used as a conductor to conduct the connection between the induction member 31 and the power source, or to conduct the connection between the induction member 31 and the controller, and the like.
  • the contact trigger member may be a force transmission member
  • the contact sensing member may be a pressure sensor. Since the pressure sensor can be used to detect the pressure change of the force transmission member, in this way, the sensing member 31 can sense the trigger member 33 and generate a sensing signal by sensing the pressure change.
  • the force transmission member is used as an intermediate member for conducting force to transmit the external force exerted on the trigger member 33 to the induction member 31 .
  • the trigger member 33 can be a non-contact trigger member
  • the sensing member 31 can be a non-contact sensing member. In this way, when the trigger member 33 and the sensing member 31 are not in contact, the sensing member 31 can also quickly sense the trigger.
  • the sensing element 33 can generate a sensing signal without touching the triggering element 33 , which prevents the sensing element 31 from being exposed to the second body 12 , and facilitates the dustproof and waterproof design of the second body 12 .
  • the non-contact trigger member may be a magnetic member
  • the non-contact sensing member may be a Hall sensor or a reed switch.
  • the Hall sensor or the reed switch can sense the change of the magnetic field caused by the magnetic element, in this way, the sensing element 31 can sense the trigger element 33 and generate a sensing signal by sensing the change of the magnetic field.
  • the magnetic member is a magnet with magnetic induction.
  • the reed switch and the Hall sensor can be sensitive to the magnetic field, and make certain electrical actions to determine whether there is a magnetic field.
  • the reed switch can be turned on or off under the action of a certain magnetic field, which is equivalent to a magnetic switch. , to indicate the presence or absence of a magnetic field.
  • the Hall sensor Under the action of a certain magnetic field, the Hall sensor can output high and low levels to indicate the presence or absence of the magnetic field.
  • the magnetic element can be a permanent magnet, which can generate a certain size of magnetic field. When the magnetic field is far away from and close to the reed switch and the Hall sensor, the sensor can output different high and low level signals. Different high and low level signals can judge whether the permanent magnet is far away from or close to the reed switch and hall sensor.
  • the non-contact triggering element may be an infrared transmitter
  • the non-contact sensing element may be an infrared receiver.
  • the infrared receiver can receive the signal of the infrared transmitter, in this way, the sensing element 31 can sense the trigger element 33 and generate the sensing signal through the change of the sensing signal.
  • the infrared transmitter is used to emit infrared light signals or infrared heat signals.
  • the non-contact sensing element may be a capacitive sensor
  • the non-contact triggering element may be the first electrode plate of the capacitive sensor.
  • the capacitance sensor can sense the change of the electrical signal caused by the first electrode plate, in this way, the sensing element 31 can sense the trigger element 33 and generate the sensing signal by inducing the change of the electrical signal.
  • the capacitance sensor can be any one of three types: medium variation type ( ⁇ changes and therefore C changes), area variation type (S changes and therefore C changes) and pole pitch variation type (d changes and therefore C changes).
  • the non-contact sensing element can also be an optical signal transmitter, and the optical signal transmitter can be used to transmit an optical signal.
  • the sensing element 31 can sense the trigger element 33 and generate a sensing signal by sensing the change of the light signal.
  • the folding machine arm 10 may include: a posture detector, which may be provided on the machine arm body 1 to generate a posture signal for indicating whether the machine arm body 1 is unfolded in place.
  • an attitude detector may also be provided on the arm body 1, and the attitude detector can generate an attitude signal for indicating whether the arm body 1 is unfolded in place.
  • the attitude detector By setting the attitude detector to detect the machine Whether the arm body 1 is deployed in place improves the reliability of detection.
  • the attitude detector detects that the arm body 1 is unfolded in place, which can further ensure that the drone 100 It meets the conditions for safe flight, and further improves the use safety of the UAV 100.
  • the attitude detector when the arm body 1 is deployed in place, can generate a horizontal posture signal, and the horizontal posture signal can trigger the unmanned aerial vehicle 100 to open the working mode; when the arm body 1 is not deployed in place In the case of , the attitude detector can generate a non-horizontal attitude signal, and the non-horizontal attitude signal can trigger the UAV 100 to close the working mode.
  • the posture detector when the arm body 1 is deployed in place, the posture detector can generate a horizontal posture signal, and when the arm body 1 is not deployed in place, the posture detector can generate a non-horizontal posture signal
  • the attitude signal according to the horizontal attitude signal and the non-horizontal attitude signal, triggers the unmanned aerial vehicle 100 to open or close the working mode, which can facilitate the control of the unmanned aerial vehicle 100 .
  • the UAV 100 can have the conditions for safe flight, and then trigger the UAV to start the working mode according to the horizontal attitude signal generated by the attitude detector, which can improve the performance of the UAV. 100 is safe to use.
  • the non-horizontal attitude signal generated by the attitude detector can trigger the UAV 100 to close the working mode, which can prevent the UAV 100 from falling abnormally after taking off.
  • the attitude detector may include at least one of an angle detector, an inertial measurement unit, and a level.
  • the accuracy of the attitude detector in generating the horizontal attitude signal or the non-horizontal attitude signal can be improved.
  • the attitude detector may only include an angle detector or an inertial measurement unit or a level, or may include an angle detector, an inertial measurement unit, and a level at the same time, which may be set according to actual conditions, and the embodiment of the present disclosure does not Make specific restrictions.
  • the folding machine arm 10 may further include: an electrical adjustment board installed on the machine arm body 1 , when the machine arm body 1 is in the unfolded position, the electrical adjustment board can be connected with the machine The arm body 1 is horizontal; the attitude detector can be installed on the ESC.
  • the ESC is installed on the arm body 1, and the attitude detector is installed on the ESC.
  • the ESC can provide a reference, so that the attitude detection The detection result of the device is more accurate.
  • the folding machine arm 10 may further include: a communication interface, which can be electrically connected to the sensing element 31 and/or the attitude detector, and the communication interface can be used to communicate with the processor of the UAV 100 a communication connection to send the sensed signal and/or the gesture signal to the processor.
  • a communication interface which can be electrically connected to the sensing element 31 and/or the attitude detector, and the communication interface can be used to communicate with the processor of the UAV 100 a communication connection to send the sensed signal and/or the gesture signal to the processor.
  • the communication interface can be electrically connected to the sensing element 31 and/or the attitude detector, and communicated with the processor of the UAV 100, so that the sensing signal and/or the all The attitude signal is sent to the processor, so as to control the UAV 100 to open or close the working mode through the sensing signal and/or the attitude signal.
  • the number of the communication interfaces may be one, and one of the communication interfaces is electrically connected to the sensing element 31 and the attitude detector respectively, so that one of the communication interfaces can connect the sensing signal to the attitude Sending the signal to the processor can reduce the setting of the internal components of the folding machine arm 10 and save the cost.
  • the number of the communication interfaces can also be two, and one of the communication interfaces can be connected to the sensing element 31 and the processor of the drone 100 respectively, so as to send the sensing signal to the processor;
  • One of the communication interfaces may be connected to the attitude detector and the processor of the UAV 100, respectively, to transmit the attitude signal to the processor.
  • the sensing signal and the attitude signal are sent using different communication interfaces, which can improve the sensitivity and safety of signal sending.
  • the locking mechanism is provided with a sensing element
  • the sensing element can sense whether the first body and the second body are in a locked state, so as to avoid the first body and the second body being locked.
  • the motor is activated, which improves the use safety of the folding machine arm, and further, can also improve the use safety of the UAV to which the folding machine arm is applied.
  • FIG. 5 it shows one of the schematic structural diagrams of an unmanned aerial vehicle of the present disclosure.
  • FIG. 6 shows the second structural schematic diagram of an unmanned aerial vehicle of the present disclosure.
  • FIG. 8 shows the fourth structural schematic diagram of an unmanned aerial vehicle of the present disclosure.
  • the present disclosure provides an unmanned aerial vehicle.
  • the drone may specifically include a body 20 and the above-mentioned folding arm 10 , wherein the folding arm 10 is connected to the body 20 of the drone 100 .
  • the folding arm 10 of the drone 100 is connected to the fuselage 20, which can improve the use safety of the drone 100.
  • the UAV 100 may further include: a processor, which may be provided on the fuselage 20; a communication interface may be provided on the folding arm 10, and the communication interface may be electrically connected to the sensing element 31;
  • the processor may be communicatively connected to the communication interface, and the processor may be used to receive a sensing signal sent by the communication interface and used to indicate whether the first locking member 32 and the second locking member 34 are locked or not, and according to the sensing signal
  • the working mode of the drone 100 is activated or deactivated; wherein, the sensing signal is generated by the sensing element 31 under the triggering of the triggering element 33 .
  • the communication interface is respectively connected to the sensing element 31 and the processor in communication, so that the processor can receive the sensing signal sent by the communication interface, and control the drone 100 to turn on or off according to the sensing signal. Turn off work mode.
  • the locking mechanism is provided with a sensing element
  • the sensing element can sense whether the first body and the second body are in a locked state, so as to avoid the first body and the second body being locked.
  • the motor is activated, which improves the use safety of the folding machine arm, and further, can also improve the use safety of the UAV to which the folding machine arm is applied.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Forklifts And Lifting Vehicles (AREA)
  • Emergency Alarm Devices (AREA)
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Abstract

一种折叠机臂和无人机，涉及无人机技术领域，以解决在机臂未展开到位或者机臂展开后未锁紧的情况下启动螺旋桨时，很容易造成机臂的振动，导致机臂松开，甚至，会导致无人机异常掉落，损坏无人机，极大的降低了无人机的使用安全的问题。所述折叠机臂(10)用于承载为无人机(100)提供飞行动力的电机，包括：机臂本体(1)，所述机臂本体(1)包括第一本体(11)以及可相对于所述第一本体(11)折叠的第二本体(12)，使所述机臂本体(1)可在展开位置和折叠位置之间切换；其中，所述第一本体(11)与所述无人机(100)的机身连接，所述第二本体(12)用于承载所述电机；锁紧机构(3)，用于使所述第一本体(11)及所述第二本体(12)处于展开状态或锁合状态；所述锁紧机构(3)还设置有感应件(31)，以感测所述第一本体(11)及所述第二本体(12)是否处于锁合状态。本公开实施例中，可以避免在所述第一本体及所述第二本体未处于锁合状态的情况下启动电机，提高了所述折叠机臂的使用安全，以及应用了所述折叠机臂的无人机的使用安全。

Description

折叠机臂及无人机
本申请要求在2020年11月09日提交中国专利局、申请号为202022577797.5、发明名称为“折叠机臂及无人机”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本公开涉及无人机技术领域，特别是涉及一种折叠机臂以及一种无人机。
背景技术
折叠机臂式无人机是减小无人机包装体积的重要设计。在需要收纳或者运输无人机的情况下，可以将机臂进行折叠，此时，无人机体积较小，方便用户收纳和运输。在需要使用无人机的情况下，可以将机臂展开到位并锁紧，以方便启动机臂上的螺旋桨旋转起飞。
现有的技术中，用户在使用无人机之前，通常仅仅将无人机的机臂进行展开，很难注意到机臂是否展开到位，以及机臂展开后是否锁紧。然而，在机臂未展开到位或者机臂展开后未锁紧的情况下启动螺旋桨时，很容易造成机臂的振动，导致机臂松开，甚至，会导致无人机异常掉落，损坏无人机，极大的降低了无人机的使用安全。
概述
鉴于上述问题，提出了本公开以便提供一种克服上述问题或者至少部分地解决上述问题的一种折叠机臂和无人机。
为了解决上述问题，第一方面，本公开公开了一种折叠机臂，用于无人机，所述折叠机臂，用于承载为所述无人机提供飞行动力的电机，包括：
机臂本体，所述机臂本体包括第一本体以及可相对于所述第一本体折叠的第二本体，使所述机臂本体可在展开位置和折叠位置之间切换；其中，所述第一本体与所述无人机的机身连接，所述第二本体用于承载所述电机；
锁紧机构，用于使所述第一本体及所述第二本体处于展开状态或锁合状态；
所述锁紧机构还设置有感应件，以感测所述第一本体及所述第二本体是 否处于锁合状态。
可选地，所述锁紧机构包括第一锁紧件和第二锁紧件，所述第一锁紧件设于所述第一本体，所述第二锁紧件设于所述第二本体，在所述机臂本体处于所述展开位置的情况下，所述第一锁紧件和所述第二锁紧件可锁合，以使所述机臂本体保持在所述展开位置；
所述第一锁紧件设有触发件，所述第二锁紧件设有感应件，所述触发件与所述感应件相配合，以使所述感应件产生用于表示所述第一锁紧件与所述第二锁紧件是否锁合的感测信号。
可选地，在所述第一锁紧件与所述第二锁紧件锁合的情况下，所述感应件能够感测到所述触发件而产生一在位感测信号，所述在位感测信号能够触发所述无人机开启工作模式；
在所述第一锁紧件与所述第二锁紧件未锁合的情况下，所述感应件未感测到所述触发件而产生一未在位感测信号，所述未在位感测信号能够触发所述无人机关闭所述工作模式。
可选地，所述触发件为接触式触发件，所述感应件为接触式感应件；
或者，所述触发件为非接触式触发件，所述感应件为非接触式感应件。
可选地，所述接触式触发件为导电件，所述接触式感应件为电流检测电路；
或者，所述接触式触发件为传力件，所述接触式感应件为压力传感器；
可选地，所述非接触式触发件为磁性件，所述非接触式感应件为霍尔传感器或者干簧管；
或者，所述非接触式触发件为红外发射器，所述非接触式感应件为红外接收器；
或者，所述非接触式感应件为电容传感器，所述非接触式触发件为所述电容传感器的第一电极板。
可选地，所述折叠机臂还包括：姿态检测器，所述姿态检测器设于所述机臂本体上，产生用于表示所述机臂本体是否展开到位的姿态信号。
可选地，在所述机臂本体展开到位的情况下，所述姿态检测器能够产生一水平姿态信号，所述水平姿态信号能够触发所述无人机开启工作模式；在所述机臂本体未展开到位的情况下，所述姿态检测器能够产生一非水平姿态信号，所述非水平姿态信号能够触发所述无人机关闭所述工作模式。
可选地，所述姿态检测器包括：角度检测器、惯性测量单元、水平仪中 的至少一种。
可选地，所述折叠机臂还包括：安装于所述机臂本体的电调板，在所述机臂本体处于所述展开位置的情况下，所述电调板与所述机臂本体水平；
所述姿态检测器安装于所述电调板。
可选地，所述折叠机臂还包括：通信接口，所述通信接口与所述感应件和/或所述姿态检测器电连接，所述通信接口用于与所述无人机的处理器通信连接，以将所述感测信号和/或所述姿态信号发送至所述处理器。
可选地，所述第一锁紧件为第一卡扣、所述第二锁紧件为第二卡扣，所述第一卡扣和所述第二卡扣铰接；
在所述机臂本体处于所述展开位置的情况下，所述第一卡扣与所述第二卡扣卡接，在所述机臂本体处于所述折叠位置的情况下，所述第一卡扣与所述第二卡扣的卡接解除。
可选地，所述触发件为磁性件，所述感应件为霍尔传感器或者干簧管，所述感测信号为所述霍尔传感器或者所述干簧管根据是否感应到所述磁性件的磁场产生。
可选地，所述第一锁紧件为套杆，所述第二锁紧件为套筒，所述套筒套接在所述套杆外，所述套筒的内圈可与所述套杆的外圈锁合；
所述触发件设置于所述套杆的外圈，所述感应件设置于所述套筒的内圈。
第二方面，本公开还公开了一种无人机，包括：机身以及上述折叠机臂；其中，
所述折叠机臂连接于所述机身。
可选地，所述无人机还包括：处理器，所述处理器设于所述机身上；
所述折叠机臂上设置有通信接口，所述通信接口与感应件电连接；
所述处理器与所述通信接口通信连接，所述处理器用于，接收由所述通信接口发送的用于表示第一锁紧件与第二锁紧件是否锁合的感测信号，并根据所述感测信号启动或者关闭工作模式；其中，所述感测信号由所述感应件在触发件的触发下产生。
本公开包括以下优点：
本公开实施例中，由于所述锁紧机构设置有感应件，所述感应件可以感测所述第一本体及所述第二本体是否处于锁合状态，以避免在所述第一本体及所述第二本体未处于锁合状态的情况下启动电机，提高了所述折叠机臂的 使用安全，进而，还可以提高应用了所述折叠机臂的无人机的使用安全。
上述说明仅是本公开技术方案的概述，为了能够更清楚了解本公开的技术手段，而可依照说明书的内容予以实施，并且为了让本公开的上述和其它目的、特征和优点能够更明显易懂，以下特举本公开的具体实施方式。
附图简述
为了更清楚地说明本公开实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作一简单地介绍，显而易见地，下面描述中的附图是本公开的一些实施例，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是本公开的一种折叠机臂处于展开位置的结构示意图；
图2是本公开图1中的折叠机臂的剖面示意图；
图3是本公开的一种折叠机臂处于折叠位置的结构示意图；
图4是本公开图3中的折叠机臂的剖面示意图；
图5是本公开的一种无人机的结构示意图之一；
图6是本公开的一种无人机的结构示意图之二；
图7是本公开的一种无人机的结构示意图之三；
图8是本公开的一种无人机的结构示意图之四；
附图标记说明：
100-无人机，10-折叠机臂，1-机臂本体，11-第一本体，12-第二本体，20-机身，3-锁紧机构，31-感应件，32-第一锁紧件，33-触发件，34-第二锁紧件。
详细描述
为使本公开的上述目的、特征和优点能够更加明显易懂，下面结合附图和具体实施方式对本公开作进一步详细的说明。显然，所描述的实施例是本公开一部分实施例，而不是全部的实施例。基于本公开中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本公开保护的范围。
参照图1，示出了本公开的一种折叠机臂处于展开位置的结构示意图， 参照图2，示出了本公开图1中的折叠机臂的剖面示意图，参照图3，示出了本公开的一种折叠机臂处于折叠位置的结构示意图，参照图4，示出了本公开图3中的折叠机臂的剖面示意图，如图1-4所示，本公开实施例公开了一种折叠机臂10，可以用于无人机100，折叠机臂10可以用于承载为无人机100提供飞行动力的电机，折叠机臂10具体可以包括：机臂本体1，机臂本体1可以包括第一本体11以及可相对于第一本体11折叠的第二本体12，使得机臂本体1可以在展开位置和折叠位置之间切换；其中，第一本体11可以与无人机100的机身20连接，第二本体12可以用于承载电机；锁紧机构3，可以用于使第一本体11及第二本体12处于展开状态或锁合状态；锁紧机构3还可以设置有感应件31，以感测第一本体11及第二本体12是否处于锁合状态。
在本公开实施例中，由于锁紧机构3设置有感应件31，感应件31可以感测第一本体11及第二本体12是否处于锁合状态，以避免在第一本体11及第二本体12未处于锁合状态的情况下启动电机，提高了折叠机臂10的使用安全，进而，还可以提高应用了折叠机臂10的无人机100的使用安全。
具体地，折叠机臂10的机臂本体1处于折叠位置的情况下，无人机100的体积可以变小，方便对无人机100的收纳和运输。
具体地，折叠机臂10上还设有锁紧机构3，锁紧机构3可以在机臂本体1展开到位的情况下，使得第一本体11及第二本体12可以处于锁合状态，使得无人机100可以正常飞行。具体地，锁紧机构3上还设有感应件31，可以感测第一本体11及第二本体12是否处于锁合状态，这样，在无人机100起飞之前，可以对折叠机臂10进行检测，避免展开的机臂本体1出现展开不到位或者松开的情况，进而避免无人机100在飞行过程中出现因异常掉落而导致损坏的现象。
在实际应用中，在无人机100起飞之前，可以通过感应件31感测第一本体11及第二本体12是否处于锁合状态，以避免无人机100在第一本体11及第二本体12未处于锁合状态下起飞后造成无人机100炸机的安全事故。
可选地，锁紧机构3可以包括第一锁紧件32和第二锁紧件34，第一锁紧件32可以设于第一本体11，第二锁紧件34可以设于第二本体12，在机 臂本体1处于展开位置的情况下，第一锁紧件32和第二锁紧件34可以锁合，以使机臂本体1保持在展开位置；第一锁紧件32可以设有触发件33，第二锁紧件34可以设有感应件31，触发件33可以与感应件31相配合，以使感应件31产生用于表示第一锁紧件32与第二锁紧件34是否锁合的感测信号。
在本公开实施例中，锁紧机构3的第一锁紧件32设在第一本体11上，第二锁紧件34设在第二本体12上，通过锁合第一锁紧件32和第二锁紧件34，使得第一本体11和第二本体12处于锁合状态，以便于将机臂本体1保持在展开位置。第一锁紧件32上设有触发件33，第二锁紧件34上设有感应件31，这样，通过检测所述感测信号即可知晓第一锁紧件32和第二锁紧件34的锁合情况，更加方便快捷。
可选地，在第一锁紧件32与第二锁紧件34锁合的情况下，感应件31能够感测到触发件33而产生一在位感测信号，所述在位感测信号能够触发无人机100开启工作模式；在第一锁紧件32与第二锁紧件34未锁合的情况下，感应件31未感测到触发件33而产生一未在位感测信号，未在位感测信号能够触发无人机100关闭工作模式。
在本公开实施例中，第一锁紧件32与第二锁紧件34锁合的情况下，感应件31可以感测到触发件33并产生一在位感测信号，通过所述在位感测信号可以触发无人机100开启工作模式。第一锁紧件32与第二锁紧件34未锁合的情况下，感应件31感测不到触发件33可以产生一未在位感测信号，通过所述未在位感测信号可以触发无人机100关闭工作模式。根据感应件31产生的感测信号即可触发无人机100开启或关闭工作模式，便于对无人机100的控制。
具体地，第一锁紧件32与第二锁紧件34锁合的情况下，触发件33与感应件31靠近，使得感应件31可以感测到触发件33并产生一在位感测信号，在此情况下，第一本体11及第二本体12处于锁合状态，机臂本体1处于展开位置，可以触发无人机100启动工作模式。在实际应用中，机臂本体1处于展开位置，使得无人机100可以具备安全起飞的条件，提高无人机100的使用安全。所述工作模式包括：启动无人机100的电机，转动螺旋桨 等。
具体地，第一锁紧件32与第二锁紧件34未锁合的情况下，触发件33与感应件31远离，使得感应件31感测不到触发件33，此时，感应件31可以产生一未在位感测信号，在此情况下，第一本体11及第二本体12处于展开状态，机臂本体1处于折叠位置，可以触发无人机100关闭工作模式。在实际应用中，机臂本体1处于折叠位置，为了避免无人机100起飞后出现异常，可以触发无人机100关闭工作模式。
可选地，第一锁紧件32可以为第一卡扣、第二锁紧件34可以为第二卡扣，第一卡扣和第二卡扣可以铰接；在机臂本体1处于展开位置的情况下，第一卡扣与第二卡扣卡接，在机臂本体1处于折叠位置的情况下，第一卡扣与第二卡扣的卡接解除。
在本公开实施例中，机臂本体1处于展开位置的情况下，第一卡扣和第二卡扣可以卡接，以保证机臂本体1保持在展开位置。机臂本体1处于折叠位置的情况下，第一卡扣和第二卡扣的卡接可以解除，便于将机臂本体1折叠进行收纳。
可选地，触发件33可以为磁性件，感应件31可以为霍尔传感器或者干簧管，感测信号为霍尔传感器或者干簧管根据是否感应到磁性件的磁场产生。
在本公开实施例中，霍尔传感器或者干簧管可以根据是否感应到磁性件的磁场产生感测信号，便于控制无人机100开启或关闭工作模式，以提高无人机100的使用安全。
可选地，第一锁紧件32可以为套杆，第二锁紧件34可以为套筒，套筒可以套接在套杆外，套筒的内圈可与套杆的外圈锁合；触发件33可以设置于套杆的外圈，感应件31可以设置于套筒的内圈。
在本公开实施例中，通过套杆和套筒的设置，可以提高机臂本体1保持在展开位置的稳定性。
在一些可选实施例中，触发件33可以为接触式触发件，感应件31可以为接触式感应件。具体地，触发件33为接触式触发件的情况下，感应件31为接触式感应件，这样，通过触发件33与感应件31的相互接触，感应件31 可快速感应到触发件33并产生感测信号，提高感应件31产生所述感测信号的灵敏性。
可选地，所述接触式触发件可以为导电件，所述接触式感应件可以为电流检测电路。由于电流检测电路可以用于检测导电件的电流变化，这样，感应件31通过感应电流变化即可感测到触发件33并产生感测信号。具体地，所述导电件可以用于作为导体导通感应件31与电源之间的连接，或者导通感应件31与控制器之间的连接等。
可选地，所述接触式触发件可以为传力件，所述接触式感应件可以为压力传感器。由于压力传感器可以用于检测传力件的压力变化，这样，感应件31通过感应压力变化既可感测到触发件33并产生感测信号。具体地，所述传力件用于作为传导力的中间件将施加于触发件33上的外力传递至感应件31上。
或者，触发件33可以为非接触式触发件，感应件31可以为非接触式感应件，这样，在触发件33和感应件31未发生接触的情况下，感应件31也能够快速感应到触发件33并产生感测信号，感应件31不用接触触发件33即可产生感测信号，避免了感应件31外露于第二本体12，便于第二本体12进行防尘防水的设计。
可选地，所述非接触式触发件可以为磁性件，所述非接触式感应件可以为霍尔传感器或者干簧管。具体地，由于霍尔传感器或者干簧管可以感应到由磁性件引起的磁场变化，这样，感应件31通过感应磁场变化即可感测到触发件33并产生感测信号。具体地，所述磁性件为具有磁感应的磁体。
具体地，干簧管和霍尔传感器可以敏感磁场，对是否有磁场做出一定的电气动作，其中，干簧管在受到一定大小磁场的作用下可以导通或断开，相当于一个磁性开关，来指示磁场的有无。霍尔传感器在受到一定大小磁场的作用下，可以输出高低电平，来指示磁场的有无。在实际应用中，磁性件可以是一个永磁铁，永磁铁可以产生一定大小的磁场，磁场远离和靠近干簧管和霍尔传感器的时候，传感器可以输出不同的高低电平信号，处理器通过采集不同的高低电平信号可以判断永磁铁是远离还是靠近 干簧管和霍尔传感器。
或者，所述非接触式触发件可以为红外发射器，所述非接触式感应件可以为红外接收器。具体地，由于红外接收器可以接收红外发射器的信号，这样，感应件31通过感应信号变化既可感测到触发件33并产生感测信号。具体地，所述红外发射器用于发射红外光信号或红外热信号。
或者，所述非接触式感应件可以为电容传感器，所述非接触式触发件可以为电容传感器的第一电极板。具体地，由于所述电容传感器能够感测到由第一电极板引起的电信号的变化，这样，感应件31通过感应电信号的变化即可感测到触发件33并产生感测信号。
具体地，所述电容式传感器一般可以由两个平行电极构成，在其两个电极之间以空气作为介质，在不考虑边缘效应的前提下，其电容可表示为C＝εS/d，其中，ε表示两电极间介质(即空气)的介电常数，S表示两电极之间相互覆盖的面积，d表示两电极间的距离，电容受这三个参数影响，任意一参数的改变就会使得电容得以改变。可以通过改变这三个参数，来实现传声器10对于不同的防风件的识别，从而采取相应的降噪模式。
所述电容传感器可以为介质变化型(ε变化因此C变化)、面积变化型(S变化因此C变化)和极距变化型(d变化因此C变化)三种中的任意一种。
在实际应用中，所述非接触式感应件还可以为光信号发射器，所述光信号发射器可以用于发射光信号。这样，感应件31通过感应光信号的变化既可感测到触发件33并产生感测信号。
本公开的一个可选实施例中，折叠机臂10可以包括：姿态检测器，所述姿态检测器可以设于机臂本体1上，产生用于表示机臂本体1是否展开到位的姿态信号。
在本公开实施例中，机臂本体1上还可以设有姿态检测器，所述姿态检测器可以产生用于表示机臂本体1是否展开到位的姿态信号，通过设置所述姿态检测器检测机臂本体1是否展开到位，提高了检测的可靠性。
具体地，检测到第一本体11和第二本体12处于锁合状态，机臂本体1处于展开位置，并且通过所述姿态检测器检测到机臂本体1展开到位，可以进一步保证无人机100符合安全飞行的条件，进一步提高无人机100的使用 安全。
可选地，在机臂本体1展开到位的情况下，所述姿态检测器能够产生一水平姿态信号，所述水平姿态信号能够触发无人机100开启工作模式；在机臂本体1未展开到位的情况下，所述姿态检测器能够产生一非水平姿态信号，非水平姿态信号能够触发无人机100关闭工作模式。
在本公开实施例中，机臂本体1展开到位的情况下，所述姿态检测器可以产生一水平姿态信号，机臂本体1未展开到位的情况下，所述姿态检测器可以产生一非水平姿态信号，根据所述水平姿态信号和所述非水平姿态信号触发无人机100开启或关闭工作模式，可便于对无人机100的控制。
具体地，机臂本体1展开到位的情况下，使得无人机100可以具备安全飞行的条件，进而根据所述姿态检测器产生的水平姿态信号触发无人机启动工作模式，可以提高无人机100的使用安全。
具体地，机臂本体1未展开到位的情况下，根据所述姿态检测器产生的非水平姿态信号可以触发无人机100关闭工作模式，可以避免无人机100起飞后出现异常坠落。
可选地，所述姿态检测器可以包括：角度检测器、惯性测量单元、水平仪中的至少一种。在实际应用中，由于角度传感器、惯性测量单元、水平仪的测量精准度较高，可以提高所述姿态检测器产生水平姿态信号或非水平姿态信号的准确性。
具体地，所述姿态检测器可以只包括角度检测器或惯性测量单元或水平仪，也可以同时包括角度检测器、惯性测量单元和水平仪，具体可根据实际情况下进行设定，本公开实施例不做具体限定。
本公开可选地的一个实施例中，折叠机臂10还可以包括：安装于机臂本体1的电调板，在机臂本体1处于展开位置的情况下，所述电调板可以与机臂本体1水平；所述姿态检测器可以安装于所述电调板。
在本公开实施例中，所述电调板安装于机臂本体1上，所述姿态检测器安装于所述电调板，这样，所述电调板可以提供参照物，使得所述姿态检测器的检测结果更准确。
可选地，折叠机臂10还可以包括：通信接口，所述通信接口可以与感 应件31和/或所述姿态检测器电连接，所述通信接口可以用于与无人机100的处理器通信连接，以将所述感测信号和/或所述姿态信号发送至所述处理器。
在本公开实施例中，所述通信接口通过与感应件31和/或所述姿态检测器电连接，以及与无人机100的处理器通信连接，可以将所述感测信号和/或所述姿态信号发送至所述处理器，以便于通过所述感测信号和/或所述姿态信号控制无人机100开启或关闭工作模式。
具体地，所述通信接口的数量可以为一个，通过一个所述通信接口分别与感应件31和所述姿态检测器电连接，可以实现一个所述通信接口将所述感测信号和所述姿态信号发送至所述处理器，可以减少折叠机臂10内部器件的设置，节约成本。
或者，所述通信接口的数量也可以为两个，一个所述通信接口可以分别与感应件31和无人机100的处理器连接，以将所述感测信号发送至所述处理器；另一个所述通信接口可以分别与所述姿态检测器和无人机100的处理器连接，以将所述姿态信号发送至所述处理器。所述感测信号和所述姿态信号使用不同的所述通信接口发送，可以提高信号发送的灵敏性可安全性。
本公开实施例提供的所述折叠机臂至少包括以下优点：
本公开实施例中，由于所述锁紧机构设置有感应件，所述感应件可以感测所述第一本体及所述第二本体是否处于锁合状态，以避免在所述第一本体及所述第二本体未处于锁合状态的情况下启动电机，提高了所述折叠机臂的使用安全，进而，还可以提高应用了所述折叠机臂的无人机的使用安全。
参照图5，示出了本公开的一种无人机的结构示意图之一，参照图6，示出了本公开的一种无人机的结构示意图之二，参照图7，示出了本公开的一种无人机的结构示意图之三，参照图8，示出了本公开的一种无人机的结构示意图之四，如图5-8所示，本公开提供了一种无人机，具体可以包括机身20和上述折叠机臂10，其中，折叠机臂10连接于无人机100的机身20。
在本公开实施例中，无人机100的折叠机臂10连接于机身20，可以提 高无人机100的使用安全。
可选地，无人机100还可以包括：处理器，所述处理器可以设于机身20上；折叠机臂10上可以设置有通信接口，所述通信接口可以与感应件31电连接；处理器可以与通信接口通信连接，处理器可以用于，接收由通信接口发送的用于表示第一锁紧件32与第二锁紧件34是否锁合的感测信号，并根据感测信号启动或者关闭无人机100的工作模式；其中，感测信号由感应件31在触发件33的触发下产生。
在本公开实施例中，所述通信接口分别与感应件31和处理器通信连接，使得处理器可以接收由通信接口发送的感测信号，并根据所述感测信号控制无人机100开启或关闭工作模式。
本公开实施例提供的所述无人机至少包括以下优点：
本公开实施例中，由于所述锁紧机构设置有感应件，所述感应件可以感测所述第一本体及所述第二本体是否处于锁合状态，以避免在所述第一本体及所述第二本体未处于锁合状态的情况下启动电机，提高了所述折叠机臂的使用安全，进而，还可以提高应用了所述折叠机臂的无人机的使用安全。
最后，还需要说明的是，在本文中，诸如第一和第二等之类的关系术语仅仅用来将一个实体或者操作与另一个实体或操作区分开来，而不一定要求或者暗示这些实体或操作之间存在任何这种实际的关系或者顺序。而且，术语“包括”、“包含”或者其任何其他变体意在涵盖非排他性的包含，从而使得包括一系列要素的过程、方法、物品或者终端设备不仅包括那些要素，而且还包括没有明确列出的其他要素，或者是还包括为这种过程、方法、物品或者终端设备所固有的要素。在没有更多限制的情况下，由语句“包括一个……”限定的要素，并不排除在包括所述要素的过程、方法、物品或者终端设备中还存在另外的相同要素。
以上对本公开所提供的一种折叠机臂和无人机，进行了详细介绍，本文中应用了具体个例对本公开的原理及实施方式进行了阐述，以上实施例的说明只是用于帮助理解本公开的方法及其核心思想；同时，对于本领域 的一般技术人员，依据本公开的思想，在具体实施方式及应用范围上均会有改变之处，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本公开各实施例技术方案的精神和范围。综上所述，本说明书内容不应理解为对本公开的限制。

Claims (16)

  1. 一种折叠机臂，用于无人机，所述折叠机臂，用于承载为所述无人机提供飞行动力的电机，其特征在于，包括：
    机臂本体，所述机臂本体包括第一本体以及可相对于所述第一本体折叠的第二本体，使所述机臂本体可在展开位置和折叠位置之间切换；其中，所述第一本体与所述无人机的机身连接，所述第二本体用于承载所述电机；
    锁紧机构，用于使所述第一本体及所述第二本体处于展开状态或锁合状态；
    所述锁紧机构还设置有感应件，以感测所述第一本体及所述第二本体是否处于锁合状态。
  2. 根据权利要求1所述的折叠机臂，其特征在于，所述锁紧机构包括第一锁紧件和第二锁紧件，所述第一锁紧件设于所述第一本体，所述第二锁紧件设于所述第二本体，在所述机臂本体处于所述展开位置的情况下，所述第一锁紧件和所述第二锁紧件可锁合，以使所述机臂本体保持在所述展开位置；
    所述第一锁紧件设有触发件，所述第二锁紧件设有感应件，所述触发件与所述感应件相配合，以使所述感应件产生用于表示所述第一锁紧件与所述第二锁紧件是否锁合的感测信号。
  3. 根据权利要求2所述的折叠机臂，其特征在于，在所述第一锁紧件与所述第二锁紧件锁合的情况下，所述感应件能够感测到所述触发件而产生一在位感测信号，所述在位感测信号能够触发所述无人机开启工作模式；
    在所述第一锁紧件与所述第二锁紧件未锁合的情况下，所述感应件未感测到所述触发件而产生一未在位感测信号，所述未在位感测信号能够触发所述无人机关闭所述工作模式。
  4. 根据权利要求2所述的折叠机臂，其特征在于，所述触发件为接触式触发件，所述感应件为接触式感应件；
    或者，所述触发件为非接触式触发件，所述感应件为非接触式感应件。
  5. 根据权利要求4所述的折叠机臂，其特征在于，所述接触式触发件为导电件，所述接触式感应件为电流检测电路；
    或者，所述接触式触发件为传力件，所述接触式感应件为压力传感器；
  6. 根据权利要求4所述的折叠机臂，其特征在于，所述非接触式触发件为磁性件，所述非接触式感应件为霍尔传感器或者干簧管；
    或者，所述非接触式触发件为红外发射器，所述非接触式感应件为红外接收器；
    或者，所述非接触式感应件为电容传感器，所述非接触式触发件为所述电容传感器的第一电极板。
  7. 根据权利要求1所述的折叠机臂，其特征在于，所述折叠机臂还包括：姿态检测器，所述姿态检测器设于所述机臂本体上，产生用于表示所述机臂本体是否展开到位的姿态信号。
  8. 根据权利要求7所述的折叠机臂，其特征在于，在所述机臂本体展开到位的情况下，所述姿态检测器能够产生一水平姿态信号，所述水平姿态信号能够触发所述无人机开启工作模式；在所述机臂本体未展开到位的情况下，所述姿态检测器能够产生一非水平姿态信号，所述非水平姿态信号能够触发所述无人机关闭所述工作模式。
  9. 根据权利要求7所述的折叠机臂，其特征在于，所述姿态检测器包括：角度检测器、惯性测量单元、水平仪中的至少一种。
  10. 根据权利要求7任一项所述的折叠机臂，其特征在于，所述折叠机臂还包括：安装于所述机臂本体的电调板，在所述机臂本体处于所述展开位置的情况下，所述电调板与所述机臂本体水平；
    所述姿态检测器安装于所述电调板。
  11. 根据权利要求7所述的折叠机臂，其特征在于，所述折叠机臂还包括：通信接口，所述通信接口与所述感应件和/或所述姿态检测器电连接，所述通信接口用于与所述无人机的处理器通信连接，以将所述感测信号和/或所述姿态信号发送至所述处理器。
  12. 根据权利要求2所述的折叠机臂，其特征在于，所述第一锁紧件为第一卡扣、所述第二锁紧件为第二卡扣，所述第一卡扣和所述第二卡扣铰接；
    在所述机臂本体处于所述展开位置的情况下，所述第一卡扣与所述第二卡扣卡接，在所述机臂本体处于所述折叠位置的情况下，所述第一卡扣与所述第二卡扣的卡接解除。
  13. 根据权利要求12所述的折叠机臂，其特征在于，所述触发件为磁性件，所述感应件为霍尔传感器或者干簧管，所述感测信号为所述霍尔传感器或者所述干簧管根据是否感应到所述磁性件的磁场产生。
  14. 根据权利要求2所述的折叠机臂，其特征在于，所述第一锁紧件为套杆，所述第二锁紧件为套筒，所述套筒套接在所述套杆外，所述套筒的内圈可与所述套杆的外圈锁合；
    所述触发件设置于所述套杆的外圈，所述感应件设置于所述套筒的内圈。
  15. 一种无人机，其特征在于，包括：机身以及权利要求1至14任一项所述的折叠机臂；其中，
    所述折叠机臂连接于所述无人机的机身。
  16. 根据权利要求15所述的无人机，其特征在于，所述无人机还包括：处理器，所述处理器设于所述机身上；
    所述处理器用于接收由所述通信接口发送的用于表示第一锁紧件与第二锁紧件是否锁合的感测信号，并根据所述感测信号启动或者关闭工作模式；其中，所述感测信号在触发件的触发下产生。
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