阅读说明：本技术 一种自动折叠翼无人机 (Automatic folding wing unmanned aerial vehicle ) 是由 王春梅 张付祥 于 2019-10-10 设计创作，主要内容包括：一种自动折叠翼无人机,所述无人机包括自动折叠装置(1)、机身(2)、左副翼(3)、右副翼(4)、左尾翼(5)和右尾翼(6)。机身(2)是整个自动折叠翼无人机的主体部分,自动折叠装置(1)布置在机身(2)内部的前方,左副翼(3)、右副翼(4)左右对称布置在自动折叠装置(1)的左侧和右侧,左尾翼(5)和右尾翼(6)左右对称布置在机身(2)的尾部。本发明利用三个动力源实现无人机的自动折叠与展开,自动折叠装置用一个左右双向输出的减速电机和两侧旋向相反的直线导轨的特殊结构保证左副翼和右副翼折叠机构运动的同步和对称；设置了安全防护装置,利用销与套筒的配合结构,保证自动折叠翼无人机在工作状态时结构的稳定。(An automatic folding wing unmanned aerial vehicle comprises an automatic folding device (1), a vehicle body (2), a left aileron (3), a right aileron (4), a left empennage (5) and a right empennage (6). Fuselage (2) is whole automatic folding wing unmanned aerial vehicle's main part, and automatic folding device (1) are arranged in the inside the place ahead of fuselage (2), and left aileron (3), right aileron (4) bilateral symmetry arrange on the left side and the right side of automatic folding device (1), and left fin (5) and right fin (6) bilateral symmetry arrange the afterbody in fuselage (2). The invention utilizes three power sources to realize the automatic folding and unfolding of the unmanned aerial vehicle, and the automatic folding device ensures the synchronization and symmetry of the movement of the folding mechanisms of the left aileron and the right aileron by using a speed reducing motor with left and right bidirectional output and a special structure of linear guide rails with opposite rotation directions on two sides; the safety protection device is arranged, and the stability of the structure of the automatic folding wing unmanned aerial vehicle in the working state is guaranteed by utilizing the matching structure of the pin and the sleeve.)

1. The utility model provides an automatic folding wing unmanned aerial vehicle, unmanned aerial vehicle includes automatic folding device (1), fuselage (2), left aileron (3), right aileron (4), left fin (5) and right fin (6), a serial communication port, fuselage (2) is whole automatic folding wing unmanned aerial vehicle's main part, automatic folding device (1) is arranged in the place ahead of fuselage (2) inside, left aileron (3), right aileron (4) bilateral symmetry arrange on the left side and the right side of automatic folding device (1), left fin (5) and right fin (6) bilateral symmetry arrange the afterbody in fuselage (2).

2. The automatic folding wing unmanned aerial vehicle of claim 1, characterized in that the automatic folding device (1) is bilateral symmetry as a whole, the automatic folding device (1) comprises a mounting plate (1-1), a first gear motor (1-2), a coupler (1-3), a linear guide rail (1-4), a sliding table (1-5), a second gear motor (1-6), a first bevel gear (1-7), a second bevel gear (1-8), a driving shaft (1-9), a central wheel (1-10), a planet carrier (1-11), a driven shaft (1-12), a planet wheel (1-13), a third bevel gear (1-14), a fourth bevel gear (1-15) and an aileron pin shaft (1-16), the mounting plate (1-1) in the automatic folding device (1), The first gear motor (1-2), the coupler (1-3) and the linear guide rail (1-4) form an aileron separation mechanism; a sliding table (1-5), a second reducing motor (1-6), a first bevel gear (1-7), a second bevel gear (1-8), a driving shaft (1-9), a center wheel (1-10), a planet carrier (1-11), a driven shaft (1-12), a planet wheel (1-13), a third bevel gear (1-14), a fourth bevel gear (1-15) and a aileron pin shaft (1-16) form an aileron folding mechanism, a mounting plate (1-1) is a base of the automatic folding device (1) and is fixed in the machine body (2) through screws, the first reducing motor (1-2) and the mounting plate (1-1) are fixed in the middle of the mounting plate (1-1) through a motor base by threaded connection, a speed reducer of the first reducing motor (1-2) is output by left-right double-shaft synchronous rotation, the left output shaft of the speed reducer is connected with the automatic folding device part of the left aileron (3), the right output shaft of the speed reducer is connected with the automatic folding device part of the right aileron (4), the output shaft of the first speed reducing motor (1-2) is connected with the lead screw of the linear guide rail (1-4) through the shaft coupling (1-3) and ensures synchronous rotation, the linear guide rail (1-4) is fixedly arranged on the mounting plate (1-1), the sliding table (1-5) is fixedly connected on the sliding block of the linear guide rail (1-4) through threads, the automatic folding device of the left aileron (3) and the automatic folding device of the right aileron (4) are bilaterally symmetrical, but the screw nut pair of the linear guide rail (1-4) has opposite rotation directions, the left output shaft and the right output shaft of the speed reducing motor (1-2) synchronously rotate, and the screw nut pair of the linear guide rails (1-, the sliding tables (1-5) on the left side and the right side generate relative and opposite linear motion to realize the separation or combination of ailerons, the sliding tables (1-5) are the frame part of a wing folding mechanism, a second reducing motor (1-6) is fixedly arranged on the sliding tables (1-5) along the axial direction of a machine body (2), a first bevel gear (1-7) is fixedly arranged on an output shaft of the second reducing motor (1-6), a second bevel gear (1-8) is fixedly arranged on a driving shaft (1-9), the driving shaft (1-9) and the output shaft of the first reducing motor (1-2) are in the same direction, two sides of the driving shaft (1-9) are fixedly arranged on the sliding tables (1-5) through bearing seats, and a planet carrier (1-11) is fixedly arranged on the driving shaft (1-9), the center wheel (1-10) is an incomplete gear, the lower part of the center wheel is a mounting seat, the center wheel is fixedly mounted on a sliding table (1-5), a driving shaft (1-9) penetrates through an inner hole of the center wheel (1-10), the left end of a driven shaft (1-12) is fixedly mounted with a planet wheel (1-13), the right end of the driven shaft is fixedly mounted with a third bevel gear (1-14), the driven shaft (1-12) is arranged at the tail end of a planet carrier (1-11) and is parallel to the driving shaft (1-9), the center wheel (1-10), the planet carrier (1-11) and the planet wheel (1-13) form an epicyclic gear train, a fourth bevel gear (1-15) is fixedly mounted on an aileron pin shaft (1-16), the aileron pin shaft (1-16) is mutually vertical to the axis of the driving shaft (1-9), a connecting block on a right aileron (4) is fixedly connected with the ail, the planet carrier (1-11) is in clearance fit connection with the aileron pin shaft (1-16), and the rotating speed of the driving shaft (1-9) is the same as that of the aileron pin shaft (1-16).

3. An automatic folding wing drone, according to claim 1, characterised in that the number of teeth z of the central wheel (1-10)₃Number of teeth z of the planet wheels (1-13)₄the number of teeth z of the third bevel gear (1-14)₅and the number of teeth z of the fourth bevel gear (1-15)₆Satisfies the relation z₆×z₄－z₅×(z₃+z₄)＝0。

4. An automatic folding wing drone according to claim 1, characterised in that the central wheel (1-10) and the planetary wheels (1-13) both select straight gears with modulus 0.5mm and number of teeth 24, the third bevel gears (1-15) select bevel gears with modulus 0.5mm and number of teeth 20, and the fourth bevel gears (1-16) select bevel gears with modulus 0.5mm and number of teeth 40.

5. The unmanned aerial vehicle with the automatic folding wings as claimed in claim 1, wherein the safety combination device comprises a sleeve (2-1), a flap limit switch (2-2) and a flap fixing pin (4-1), the sleeve (2-1) is in clearance fit connection with the flap fixing pin (4-1), the flap fixing pin (4-1) is fixedly arranged on the right flap (4), and the flap limit switch (2-2) is fixedly arranged on the fuselage (2).

6. an automatic folding wing drone according to claim 1, characterised in that the first reduction motors (1-2) and the second reduction motors (1-6) are direct current servomotors.

Technical Field

the invention relates to an unmanned aerial vehicle, in particular to an automatic folding wing unmanned aerial vehicle, and belongs to the technical field of unmanned aerial vehicles.

Background

The unmanned plane is called unmanned plane for short, and is an unmanned aerial vehicle operated by radio remote control equipment and a self-contained program control device. The wings of the unmanned aerial vehicle are components for providing lift force, and due to the limitation of takeoff weight and a flight principle, the wings are usually designed into a slender shape, so that the airplane is ensured to have enough lift force, but a lot of problems can occur, the wings are slender, the occupied space is larger, and the unmanned aerial vehicle is very unfavorable for storage and transportation. Therefore, a folding mechanism is needed to fold the wing. The existing solution is that the wings are connected through a mechanical structure, and then the folding and unfolding of the wings are realized through a manual method. The method has the disadvantages that automatic folding of the wings cannot be realized, the method is difficult to apply in certain fields, manual folding can take much time to a certain extent, and the existing method is not convenient and fast. Therefore, it is necessary to invent an unmanned aerial vehicle with automatically folded wings to solve the above problems.

disclosure of Invention

In order to achieve the purpose, the invention provides an automatic folding wing unmanned aerial vehicle which can realize automatic folding and meet the technical requirements of automatic switching of folding and unfolding of wings during storage, transportation and flight of the unmanned aerial vehicle.

The invention relates to an automatic folding wing unmanned aerial vehicle which comprises an automatic folding device 1, a vehicle body 2, a left aileron 3, a right aileron 4, a left empennage 5 and a right empennage 6. The fuselage 2 is the main part of the whole automatic folding wing drone. The automatic folding device 1 is disposed in front of the inside of the body 2. The left flap 3 and the right flap 4 are arranged on the left and right sides of the automatic folding device 1 in bilateral symmetry. The left empennage 5 and the right empennage 6 are symmetrically arranged at the tail part of the fuselage 2.

The automatic folding apparatus 1 is bilaterally symmetrical, and here, the automatic folding apparatus 1 will be described by taking the automatic folding apparatus of the right flap 4 as an example. The automatic folding device 1 comprises a mounting plate 1-1, a first speed reducing motor 1-2, a coupler 1-3, a linear guide rail 1-4, a sliding table 1-5, a second speed reducing motor 1-6, a first bevel gear 1-7, a second bevel gear 1-8, a driving shaft 1-9, a central wheel 1-10, a planet carrier 1-11, a driven shaft 1-12, a planet wheel 1-13, a third bevel gear 1-14, a fourth bevel gear 1-15 and an aileron pin shaft 1-16. An aileron separation mechanism is formed by a mounting plate 1-1, a first speed reducing motor 1-2, a coupling 1-3 and a linear guide rail 1-4 in the automatic folding device 1; the aileron folding mechanism comprises a sliding table 1-5, a second speed reducing motor 1-6, a first bevel gear 1-7, a second bevel gear 1-8, a driving shaft 1-9, a center wheel 1-10, a planet carrier 1-11, a driven shaft 1-12, a planet wheel 1-13, a third bevel gear 1-14, a fourth bevel gear 1-15 and an aileron pin shaft 1-16.

The mounting plate 1-1 is a base of the automatic folding device 1 and is fixed inside the body 2 by screws. The first speed reducing motor 1-2 and the mounting plate 1-1 are fixed in the middle of the mounting plate 1-1 through a motor base in a threaded connection mode, a speed reducer of the first speed reducing motor 1-2 is used for outputting left and right double-shaft synchronous rotation, a left output shaft of the speed reducer is connected with an automatic folding device part of the left aileron 3, and a right output shaft of the speed reducer is connected with an automatic folding device part of the right aileron 4. An output shaft of the first speed reducing motor 1-2 is connected with a lead screw of the linear guide rail 1-4 through a coupler 1-3 and ensures synchronous rotation, the linear guide rail 1-4 is fixedly arranged on the mounting plate 1-1, and the sliding table 1-5 is fixedly connected on a sliding block of the linear guide rail 1-4 through threads. The automatic folding device of the left aileron 3 and the automatic folding device of the right aileron 4 are bilaterally symmetrical, but the screw-nut pairs of the linear guide rails 1-4 have opposite rotating directions. The left and right output shafts of the reducer of the first speed reducing motor 1-2 synchronously rotate, and the screw nut pairs of the linear guide rails 1-4 on the left and right sides have opposite rotation directions, so that the sliding tables 1-5 on the left and right sides generate opposite and opposite linear motions to realize the separation or combination of the ailerons.

The sliding table 1-5 is a frame part of the wing folding mechanism, a second speed reducing motor 1-6 is fixedly arranged on the sliding table 1-5 along the axial direction of the body 2, a first bevel gear 1-7 is fixedly arranged on an output shaft of the second speed reducing motor 1-6, a second bevel gear 1-8 is fixedly arranged on a driving shaft 1-9, and the driving shaft 1-9 and the output shaft of the first speed reducing motor 1-2 are in the same direction. Two sides of the driving shaft 1-9 are fixedly arranged on the sliding table 1-5 through a bearing seat. The planet carrier 1-11 is fixedly arranged on the driving shaft 1-9. The central wheel 1-10 is an incomplete gear, the lower part is a mounting seat, the central wheel is fixedly mounted on the sliding table 1-5, and the driving shaft 1-9 penetrates through an inner hole of the central wheel 1-10. The left end of the driven shaft 1-12 is fixedly installed with the planet wheel 1-13, and the right end is fixedly installed with the third bevel gear 1-14. The driven shafts 1-12 are arranged at the ends of the planetary carriers 1-11 in parallel with the driving shafts 1-9. The central wheel 1-10, the planet carrier 1-11 and the planet wheel 1-13 form an epicyclic gear train. The fourth bevel gears 1-15 are fixedly arranged on the aileron pin shafts 1-16, and the aileron pin shafts 1-16 are vertical to the axes of the driving shafts 1-9. The connecting block on the right aileron 4 is fixedly connected with the aileron pin shafts 1-16 to ensure synchronous rotation. The planet carrier 1-11 is in clearance fit connection with the aileron pin shaft 1-16. The rotating speed of the driving shaft 1-9 is the same as that of the aileron pin shaft 1-16.

The wing folding movement of the automatic folding device 1 needs strict transmission ratio calculation, so that the left aileron 3 and the right aileron 4 move synchronously and are completely folded, and the conversion between the working state and the folding state is realized.

n₂for rotational speed of the driving shafts 1-9, n₃the rotational speed of the central wheel 1-10, n₄For the rotational speed of the planet wheels 1-13, n₅The rotational speed, n, of the third bevel gears 1-14₆The rotational speed of the fourth bevel gear 1-15, n_Hthe rotational speed of the planet carrier 1-11. z is a radical of₁the number of teeth of the first bevel gears 1-7, z₂the number of teeth of the second bevel gear 1-8, z₃Number of teeth of the central gear 1-10, z₄Number of teeth, z, of planet wheels 1-13₅Number of teeth of third bevel gears 1-14, z₆The number of teeth of the fourth bevel gear 1-15.The transmission ratio of the central wheel 1-10 and the planet wheels 1-13 relative to the planet carrier 1-11, i₅₆The gear ratios of the third bevel gears 1-14 and the fourth bevel gears 1-15.

The automatic folding device 1 of the invention needs the same rotating speed of the driving shafts 1-9 and the aileron pin shafts 1-16 when working. I.e. n₂＝n₆. From the middle

The core wheel 1-10, the planet carrier 1-11 and the planet wheel 1-13 form an epicyclic gear train, and the calculation formula of the epicyclic gear train is

In the formula

the rotational speeds of the driving shaft 1-9 and the planet carrier 1-11 are the same, i.e. n₂＝n_H；

the centre wheels 1-10 being stationary, i.e. n₃＝0。

Calculating the formula (1):

The third bevel gears 1-14 and the fourth bevel gears 1-15 form an ordinary gear train, and the calculation formula of the ordinary gear train is

In the formula

Since the planet gears 1-13 and the bevel gears 1-14 rotate at the same speed, i.e. n₄＝n₅。

Calculating the formula (2):

The tooth number relation among the gears is obtained according to the formula (1) and the formula (2):

z₆×z₄－z₅×(z₃+z₄)＝0 (3)

number z of teeth of the sun gear 1-10₃Number of teeth z of planet wheels 1-13₄The number of teeth z of the third bevel gears 1 to 14₅And the number of teeth z of the fourth bevel gears 1 to 15₆The formula (3) must be satisfied to ensure that the rotation speeds of the driving shafts 1-9 and the aileron pin shafts 1-16 are the same.

in order to ensure the stability of the working state of the unmanned aerial vehicle and ensure the accuracy of the combining process of the ailerons of the unmanned aerial vehicle, a safety combining device needs to be configured. The safety combination device comprises a sleeve 2-1, an aileron limit switch 2-2 and an aileron fixing pin 4-1. The sleeve 2-1 is in clearance fit connection with the aileron fixing pin 4-1, the aileron fixing pin 4-1 is fixedly arranged on the right aileron 4 by adopting a cementing method, and the aileron limit switch 2-2 is fixedly arranged on the machine body 2 by adopting a cementing method.

The beneficial technical effects of the invention are as follows:

(1) The automatic folding and unfolding of the unmanned aerial vehicle are realized by utilizing three power sources, and the automatic folding device ensures the synchronization and symmetry of the movement of the left aileron folding mechanism and the right aileron folding mechanism by using a speed reducing motor with left and right bidirectional output and a special structure of linear guide rails with opposite rotation directions on two sides;

(2) the safety protection device is arranged, the stop of the speed reduction motor is controlled by the limit switch, and the stability of the structure of the automatic folding wing unmanned aerial vehicle in the working state is guaranteed by the aid of the matching structure of the pin and the sleeve.

Drawings

Fig. 1 is a schematic view of the general structure of an automatic folding wing drone (with the nacelle cover removed) according to the invention;

Fig. 2 is a top view of an automatic folding wing drone (with the nacelle cover removed) of the present invention;

FIG. 3 is a schematic view of an automatic folding wing drone according to the present invention with the ailerons separated;

Fig. 4 is a top view of an automatic folding wing drone aileron of the present invention in a folded state;

Fig. 5 is a left side view of an automatic folding wing drone aileron of the present invention in a folded state;

Fig. 6 is a partial sectional view of an automatic folding wing drone operating state safety coupling device of the present invention;

FIG. 7 is a view from B-B of the working state safety coupling device of an automatic folding wing UAV of the present invention;

fig. 8 is a partial view of an automatic folding wing drone aileron detached condition safety device of the present invention;

FIG. 9 is a schematic diagram of the aileron separation motion of an automatic folding wing drone of the present invention;

FIG. 10 is a schematic diagram of the flap folding motion of an automatic folding wing drone of the present invention;

Fig. 11 is a three-dimensional view of an automatic folding wing drone automatic folding device 1 of the present invention;

fig. 12 is a top view of an automatic folding wing drone automatic folding device 1 of the present invention;

Fig. 13 is a partial front view of an automatic folding wing drone automatic folding device 1 of the present invention;

3 fig. 3 14 3 is 3 a 3 view 3 a 3- 3 a 3 of 3 an 3 automatic 3 folding 3 wing 3 drone 3 automatic 3 folding 3 device 3 1 3 of 3 the 3 present 3 invention 3. 3

Detailed Description

The contents and operation of the present invention will be described with reference to fig. 1-14.

The invention relates to an automatic folding wing unmanned aerial vehicle which comprises an automatic folding device 1, a vehicle body 2, a left aileron 3, a right aileron 4, a left empennage 5 and a right empennage 6. The fuselage 2 is the main part of the whole automatic folding wing drone. The automatic folding device 1 is disposed in front of the inside of the body 2. The left flap 3 and the right flap 4 are arranged on the left and right sides of the automatic folding device 1 in bilateral symmetry. The left empennage 5 and the right empennage 6 are symmetrically arranged at the tail part of the fuselage 2.

The automatic folding apparatus 1 is bilaterally symmetrical, and here, the automatic folding apparatus 1 will be described by taking the automatic folding apparatus of the right flap 4 as an example. The automatic folding device 1 comprises a mounting plate 1-1, a first speed reducing motor 1-2, a coupler 1-3, a linear guide rail 1-4, a sliding table 1-5, a second speed reducing motor 1-6, a first bevel gear 1-7, a second bevel gear 1-8, a driving shaft 1-9, a central wheel 1-10, a planet carrier 1-11, a driven shaft 1-12, a planet wheel 1-13, a third bevel gear 1-14, a fourth bevel gear 1-15 and an aileron pin shaft 1-16. An aileron separation mechanism is formed by a mounting plate 1-1, a first speed reducing motor 1-2, a coupling 1-3 and a linear guide rail 1-4 in the automatic folding device 1; the aileron folding mechanism comprises a sliding table 1-5, a second speed reducing motor 1-6, a first bevel gear 1-7, a second bevel gear 1-8, a driving shaft 1-9, a center wheel 1-10, a planet carrier 1-11, a driven shaft 1-12, a planet wheel 1-13, a third bevel gear 1-14, a fourth bevel gear 1-15 and an aileron pin shaft 1-16.

The mounting plate 1-1 is a base of the automatic folding device 1 and is fixed inside the body 2 by screws. The first speed reducing motor 1-2 and the mounting plate 1-1 are fixed in the middle of the mounting plate 1-1 through a motor base in a threaded connection mode, a speed reducer of the first speed reducing motor 1-2 is used for outputting left and right double-shaft synchronous rotation, a left output shaft of the speed reducer is connected with an automatic folding device part of the left aileron 3, and a right output shaft of the speed reducer is connected with an automatic folding device part of the right aileron 4. An output shaft of the first speed reducing motor 1-2 is connected with a lead screw of the linear guide rail 1-4 through a coupler 1-3 and ensures synchronous rotation, the linear guide rail 1-4 is fixedly arranged on the mounting plate 1-1, and the sliding table 1-5 is fixedly connected on a sliding block of the linear guide rail 1-4 through threads. The automatic folding device of the left aileron 3 and the automatic folding device of the right aileron 4 are bilaterally symmetrical, but the screw-nut pairs of the linear guide rails 1-4 have opposite rotating directions. The left and right output shafts of the reducer of the first speed reducing motor 1-2 synchronously rotate, and the screw nut pairs of the linear guide rails 1-4 on the left and right sides have opposite rotation directions, so that the sliding tables 1-5 on the left and right sides generate opposite and opposite linear motions to realize the separation or combination of the ailerons.

The sliding table 1-5 is a frame part of the wing folding mechanism, a second speed reducing motor 1-6 is fixedly arranged on the sliding table 1-5 along the axial direction of the body 2, a first bevel gear 1-7 is fixedly arranged on an output shaft of the second speed reducing motor 1-6, a second bevel gear 1-8 is fixedly arranged on a driving shaft 1-9, and the driving shaft 1-9 and the output shaft of the first speed reducing motor 1-2 are in the same direction. Two sides of the driving shaft 1-9 are fixedly arranged on the sliding table 1-5 through a bearing seat. The planet carrier 1-11 is fixedly arranged on the driving shaft 1-9. The central wheel 1-10 is an incomplete gear, the lower part is a mounting seat, the central wheel is fixedly mounted on the sliding table 1-5, and the driving shaft 1-9 penetrates through an inner hole of the central wheel 1-10. The left end of the driven shaft 1-12 is fixedly installed with the planet wheel 1-13, and the right end is fixedly installed with the third bevel gear 1-14. The driven shafts 1-12 are arranged at the ends of the planetary carriers 1-11 in parallel with the driving shafts 1-9. The central wheel 1-10, the planet carrier 1-11 and the planet wheel 1-13 form an epicyclic gear train. The fourth bevel gears 1-15 are fixedly arranged on the aileron pin shafts 1-16, and the aileron pin shafts 1-16 are vertical to the axes of the driving shafts 1-9. The connecting block on the right aileron 4 is fixedly connected with the aileron pin shafts 1-16 to ensure synchronous rotation. The planet carrier 1-11 is in clearance fit connection with the aileron pin shaft 1-16. The rotating speed of the driving shaft 1-9 is the same as that of the aileron pin shaft 1-16.

By considering the transmission performance and the working space of the design scheme, the optimal transmission scheme of the invention is as follows: the central gear 1-10 and the planet gear 1-13 are respectively provided with a straight gear with a modulus of 0.5mm and a tooth number of 24 teeth, the third bevel gear 1-15 is provided with a bevel gear with a modulus of 0.5mm and a tooth number of 20 teeth, and the fourth bevel gear 1-16 is provided with a bevel gear with a modulus of 0.5mm and a tooth number of 40 teeth. The first speed reducing motor 1-2 and the second speed reducing motor 1-6 are direct current servo motors.

In order to ensure the stability of the working state of the unmanned aerial vehicle and ensure the accuracy of the combining process of the ailerons of the unmanned aerial vehicle, a safety combining device needs to be configured. The safety combination device comprises a sleeve 2-1, an aileron limit switch 2-2 and an aileron fixing pin 4-1. The sleeve 2-1 is in clearance fit connection with the aileron fixing pin 4-1, the aileron fixing pin 4-1 is fixedly arranged on the right aileron 4 by adopting a cementing method, and the aileron limit switch 2-2 is fixedly arranged on the machine body 2 by adopting a cementing method.

The automatic operation of the automatic folding wing unmanned aerial vehicle comprises two conditions of folding and unfolding, which are respectively explained below.

The folding of automatic folding wing unmanned aerial vehicle divide into aileron separation and two steps of aileron folding, and specific working process is as follows:

(1) The aileron separation first speed reduction dual output shaft motor 1-2 begins to start, and drives the lead screw on the linear guide 1-4 to rotate through the coupling joint, and linear guide 1-4 drives slip table 1-5 to move, and left aileron 3 and right aileron 4 move to keeping away from fuselage 2 direction this moment, and the aileron fixed pin 4-1 on the right aileron 4 is extracted from the sleeve 2-1 on fuselage 2, and first speed reduction motor 1-2 stops work after slip table 1-5 moves to the assigned position.

(2) When the ailerons are folded, the second speed reducing motor 1-6 starts to rotate and drives the first bevel gear 1-7 to rotate, the first bevel gear 1-7 drives the second bevel gear 1-8 to rotate through meshing transmission, so as to drive the driving shaft 1-9 and the planet carrier 1-11 to rotate, because the planet carrier 1-11, the driven shaft 1-12, the planet wheel 1-13 and the central wheel 1-10 form an epicyclic gear train, the planet wheel 1-13 revolves around the central wheel 1-10 and simultaneously the driven shaft 1-12 rotates, so as to drive the third bevel gear 1-14 to rotate, the third bevel gear 1-14 drives the fourth bevel gear 1-15 to rotate through meshing transmission, the fourth bevel gear 1-15 and the aileron pin shaft 1-16 are fixed and synchronously rotate, because the aileron pin shaft 1-16 is connected with the right aileron 4 through flat keys, therefore, the right aileron 4 and the aileron pin shafts 1-16 rotate synchronously, the second speed reducing motors 1-6 stop working after rotating for a specified angle, at the moment, the ailerons are in a folded state, and the left aileron 3 and the right aileron 4 are parallel to the side edge of the fuselage 2.

The automatic folding wing unmanned aerial vehicle is divided into two steps of flap wing unfolding and flap wing combination, and the specific working process is as follows:

(1) The ailerons unfold the second reducing motor 1-6 to start reverse rotation and drive the first bevel gear 1-7 to rotate, the first bevel gear 1-7 drives the second bevel gear 1-8 to rotate through meshing transmission, thereby driving the driving shaft 1-9 and the planet carrier 1-11 to rotate, since the driven shafts 1-12 rotate while the planetary gears 1-13 revolve around the center gears 1-10, therefore, the planet wheels 1-13 revolve around the central wheels 1-10 while the driven shafts 1-12 rotate, the third bevel gears 1-14 and the driven shafts 1-12 rotate synchronously, the third bevel gears 1-14 drive the fourth bevel gears 1-15 to rotate through meshing transmission, the right ailerons 4 and the aileron pin shafts 1-16 rotate synchronously, and the second speed reduction motors 1-6 stop working after rotating for a specified angle.

(2) the ailerons start to rotate reversely by combining with the first reducing motor, a screw rod on the linear guide rails 1-4 is driven to rotate through coupling, a nut screw rod pair on the linear guide rails 1-4 drives the sliding table 1-5 to move, at the moment, the left aileron 3 and the right aileron 4 move towards the direction close to the airframe 2, an aileron fixing pin 4-1 on the right aileron 4 is inserted into a sleeve 2-1 on the airframe 2, when the right aileron 4 touches the aileron limit switch 2-2, the first reducing motor 1-2 stops working, and at the moment, the automatic folding wing unmanned aerial vehicle is in a completely unfolded state.