UAV with Multi-Wing Synchronous Folding Mechanism

Abstract

The present invention discloses a drone with a multi-wing synchronous folding mechanism, which includes a fuselage and a number of thrusters. The fuselage is a cylindrical rotating body, and the thrusters are circumferentially and evenly distributed around the center line of the fuselage. The thrusters are connected to the surface of the fuselage through the arms, and the thrusters are jet engines or propellers. There are three thrusters in total. The connection between the arm and the fuselage is a rotatable movable connection, and the rotation axis of the arm is perpendicular to the center line of the fuselage and intersects the center line of the fuselage. The drone also includes a number of tail wings, which are circumferentially and evenly distributed at the tail of the fuselage. The number of tail wings is the same as the number of thrusters, and a folding mechanism is provided at the root of the tail wing for extending or retracting the tail wing. By adjusting the emission angle and output of each thruster, the attitude changes of the drone's level flight, turning, and pitching can be completed. In addition, the self-rotation attitude change of the drone is added, and the combination is flexible and variable. Very complex flight maneuvers can be completed through simple control.

Description

Technical Field

[0001] The present invention relates to the field of unmanned aerial vehicles, and specifically to an unmanned aerial vehicle with a multi-wing synchronous folding mechanism. Background Art

[0002] Unmanned aerial vehicles are used in more and more fields.

[0003] High-speed unmanned aerial vehicles in civil use and military unmanned aerial vehicles basically use high-power propellers as power or fuel-powered jet engines as power. And these unmanned aerial vehicles basically use the take-off methods of traditional civil airliners and fighter jets. The power of the propellers is all converted into the forward speed of the fuselage and takes off by interacting with the air through the wings. These aircrafts all require a long runway to obtain sufficient take-off speed.

[0004] In the prior art, there is no high-speed unmanned aerial vehicle that can achieve a vertical take-off and landing method similar to that of a helicopter. Most of the vertical take-off and landing unmanned aerial vehicles arrange the propellers in the form of a helicopter. The power provided by this setting method cannot enable the unmanned aerial vehicle to obtain a large horizontal flight speed. Summary of the Invention

[0005] The purpose of the present invention is to provide an unmanned aerial vehicle with a multi-wing synchronous folding mechanism to solve the problems in the prior art.

[0006] To achieve the above purpose, the present invention provides the following technical solutions:

[0007] An unmanned aerial vehicle with a multi-wing synchronous folding mechanism includes a fuselage and a number of thrusters. The fuselage is a cylindrical rotating body, and the thrusters are circumferentially and uniformly distributed around the center line of the fuselage. The thrusters are connected to the surface of the fuselage through the arms.

[0008] The thrusters are radially arranged and circumferentially and uniformly distributed. The thrusters are jet engines or propellers. The air outlet direction of the thrusters faces the rear of the fuselage. When all the thrusters jet backward together, the fuselage in a vertical posture can take off into the air. After vertically entering the air, whether it is through the adjustable-angle wings to change the flight angle or by changing the jet angle of the nozzles, finally the unmanned aerial vehicle becomes a conventional flight in the horizontal direction. For a high-speed flying jet unmanned aerial vehicle, the vertical take-off method greatly reduces the take-off conditions of the unmanned aerial vehicle and expands the application scenarios of the unmanned aerial vehicle.

[0009] Further, there are three thrusters in total, namely the first thruster, the second thruster, and the third thruster. Taking the attitude during horizontal flight as the standard attitude, the thruster at the high point is defined as the first thruster, the thruster on the left relative to the forward direction is defined as the second thruster, and the thruster on the right relative to the forward direction is defined as the third thruster. And in this attitude, a body coordinate system is defined, with the forward direction as X, the direction perpendicular to the X direction on the horizontal plane as Y, and the vertical direction as Z;

[0010] Further, the connection between the arm and the body is a rotatable movable connection, and the rotation axis of the arm is perpendicular to and intersects the body center line.

[0011] When the three thrusters with adjustable angles operate simultaneously, they can achieve actions such as the flight, turning, and pitching of the drone. The drone is in a normal horizontal flight state. At this time, the angle of the first thruster faces directly forward, and the angles of the second thruster and the third thruster are slightly inclined upward. The forces exerted by the thrusters on the body are respectively denoted as F2, F3, and F4. Denote the total gravity of the drone as G, the angle between F3 and X as θ3, the angle between F4 and X as θ4, F3z = F3 * sinθ3, F3x = F3 * cosθ3, F4z = F4 * sinθ4, F4x = F4 * cosθ4.

[0012] The following conditions for force balance are as follows:

[0013] 1. The resultant force of F3z and F4z is equal to G, that is: F3z + F4z = G;

[0014] 2. The moment difference between F3z and F4z with respect to the body is zero.

[0015] That is: F3z * 0.866L = F4z * 0.866L. This is the self-rotation moment balance. When the balance condition is reached, the body will not rotate;

[0016] 3. The moment of the resultant force of F3x and F4x from below with respect to the center of gravity is equal to the moment of F2 from above with respect to the center of gravity, that is: F3x * 0.5L + F4x * 0.5L = F2 * L; This is the pitching moment balance. After reaching the balance condition, the body will not pitch;

[0017] 4. The moments of F3x and F4x with respect to the center of gravity are equal.

[0018] That is: F3x * 0.866L = F4x * 0.866L. This is the turning moment balance. After reaching the balance condition, the body will not deflect in the horizontal direction;

[0019] The balance of the above four forces and moments is a prerequisite for horizontal straight flight. Additionally, the resultant force of F2, F4x, and F3x is the forward force of the drone. When the resultant force is equal to the flight resistance during forward movement, the drone flies at a constant speed. When it is higher than the resistance, the drone accelerates. When it is lower, the drone decelerates.

[0020] Taking the example of the drone needing to make a horizontal turn, rotate the arm of the third thruster by an angle so that its output forms an angle θ4 with the X-axis. The fourth item in the force balance condition changes: F4x * 0.866L > F3x * 0.866L, causing the body to turn to the left. The balance conditions of the other forces and moments can be maintained unchanged by changing the output magnitudes of the thrusters. Specifically: F4 increases (F4z remains unchanged), F3 remains unchanged, F2 increases (F3x * 0.5L + F4x’ * 0.5L = F2’ * L). After the turn, readjust θ4 to restore it and make it equal to θ3.

[0021] When the drone rotates on its own axis, it mainly changes F3z and F4z to have a difference to provide the self-rotation moment. When the drone pitches, it mainly changes the magnitude of F2. When F2 increases, it enters a diving attitude. When F2 decreases, it enters a nose-up climbing attitude. When the drone maintains a horizontal centerline and moves up or down in parallel, it adjusts the magnitudes of F3z and F4z simultaneously. Various attitude changes can be combined accordingly and decomposed into the above four basic changes for force analysis to decide how to make adjustments. The flight state can be identified by a gyroscope placed inside the body.

[0022] In addition, another effect of the synchronous operation of the three thrusters is that it can maintain the stability of the body during vertical lifting. The three thrusters spray in an oblique direction, and the forces provided by the three thrusters are combined into a vertical lift force to balance gravity. Each thruster also has three component forces that cause the drone to rotate on its own axis. The takeoff of the drone is a spiral ascent, similar to a bullet spiraling forward and a gyroscope rotating on its own axis, eliminating possible uneven weight distribution on the components, facilitating the body's head to break through the air, and maintaining the ascending stability of the body. Using this as the ascending method, the mounting arms of the thrusters can be made shorter.

[0023] Furthermore, the drone also includes several tail fins. The tail fins are evenly distributed circumferentially at the tail of the body, and the number of tail fins is the same as the number of thrusters. A folding mechanism is provided at the root of the tail fins for extending or retracting the tail fins. The tail fins play a role in stabilizing the wake and preventing self-rotation during the horizontal flight of the drone. However, the addition of tail fins will interfere with the aforementioned spiral takeoff method because during this takeoff process, the surface of the tail fins faces the airflow direction, so not only does the resistance increase significantly, but it also disturbs the airflow at the tail, and there is a high probability of overturning. Therefore, the tail fins should be retracted when the drone takes off or lands in a spiral.

[0024] Furthermore, the folding mechanism includes a connecting rod, a sliding screw, and a driving nut. A flaky trough-shaped folding bin is provided at the tail of the fuselage, and a circular driving chute is provided at the center of the tail of the fuselage. One end of the tail fin is hinged to the root of one end of the folding bin, the other end of the bottom of the tail fin is hinged to the connecting rod, the other end of the connecting rod is hinged to the end of the sliding screw, the sliding screw is arranged in the driving chute, the driving nut is also arranged in the driving chute and is threadedly connected to one end of the sliding screw, and the driving nut has an active rotational power.

[0025] The present invention realizes the retraction and extension of the tail fin through the structure of "slider-rocker". This is the state where the tail fin is retracted. When the vertical takeoff process ends and enters the level flight stage, the driving nut rotates. Since the end of the sliding screw is connected to multiple connecting rods, it cannot rotate along with it and can only perform translational motion, forming a lead screw structure. The rearward sliding screw jacks up the connecting rod, and the connecting rod jacks the tail fin out of the folding bin. When it is necessary to retract the tail fin, only need to reverse the driving nut, and the sliding screw will move forward.

[0026] As an optimization, a barrier-breaking needle is also provided at the head of the fuselage, and the barrier-breaking needle is located on the center line of the fuselage. The barrier-breaking needle is applicable to the high-speed flight state of this UAV. The thruster uses a high-thrust jet engine to enable the UAV to obtain high-speed flight ability. The barrier-breaking needle pierces through the sound barrier to maintain the stability of the UAV.

[0027] Furthermore, a landing and takeoff wheel set is also provided at the tail of the fuselage. The landing and takeoff wheel set includes a connecting pivot, a wheel axle, and several sliding wheels. The connecting pivot is fixed to the tail of the fuselage. The wheel axle is bent. One end of the wheel axle is connected to the connecting pivot, and the other end of the wheel axle extends radially with the center line of the fuselage as the axis and sliding wheels are arranged at the end. In the initial stage of spiral takeoff and the end stage of spiral landing, there will be a contact process between the tail of the fuselage and the landing platform. The landing and takeoff wheel set makes contact with the ground as an intermediary during landing and takeoff, and the rotationally arranged sliding wheels convert friction into rolling friction.

[0028] As an optimization, the landing and takeoff wheel set also includes a tightening spring. The connection between the wheel axle and the connecting pivot is a spherical joint bearing connection, and the tightening springs are respectively connected to the bent parts of each wheel axle. When landing, there is an impact force, the wheel axle deforms appropriately, the three sliding wheels expand outwards, the contact part of the sliding wheel tire inclines outwards, and the tightening spring resists the expansion tendency and helps to restore.

[0029] Compared with the prior art, the beneficial effects of the present invention are as follows: The present invention is arranged on the surface of the airframe in a circumferentially equally distributed installation form of three thrusters, and each can rotate around an axis perpendicular to and intersecting the center line of the airframe. Thus, through the emission angle and output of each thruster, the attitude changes of the unmanned aerial vehicle (UAV) such as level flight, turning, and pitching adjustment can be completed. In addition, the self-rotation attitude change of the UAV is added, and the combination is flexible and changeable. Very complex flight maneuvers can be completed through simple control. Combined with the auxiliary devices or even combat weapons of the UAV, relevant modifications can be made to turn it into a military UAV; the vertical takeoff and landing method completely eliminates the takeoff site restrictions of high-speed UAVs; when taking off and landing vertically, the spiral takeoff and landing formed by self-rotation greatly improves the takeoff and landing stability and saves the length of the thruster arm; the folding tail fin can be extended and retracted as needed. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] In order to make the content of the present invention be more clearly understood, the following further details the present invention according to specific embodiments in conjunction with the drawings.

[0031] Figure 1 is a schematic diagram of the external shape of the present invention;

[0032] Figure 2 is a force analysis diagram when the present invention takes off vertically;

[0033] Figure 3 is a force analysis diagram on the front view when the present invention flies horizontally;

[0034] Figure 4 is a schematic diagram of the thruster arrangement as seen from the head of the airframe of the present invention;

[0035] Figure 5 is a force analysis diagram when the present invention flies horizontally in a straight line at a normal speed from a three-dimensional perspective;

[0036] Figure 6 is a force analysis diagram when the present invention turns horizontally from a three-dimensional perspective;

[0037] Figure 7 is a structural diagram of the present invention when the folding mechanism and the tail fin are in the retracted position;

[0038] Figure 8 is a structural diagram of the present invention when the folding mechanism and the tail fin are in the deployed position;

[0039] Figure 9 is a three-dimensional schematic diagram of the landing wheel set of the present invention.

[0040] In the figure: 1 - airframe, 11 - folding bin, 12 - drive chute, 2 - first thruster, 3 - second thruster, 4 - third thruster, 5 - tail fin, 6 - folding mechanism, 61 - connecting rod, 62 - sliding screw, 63 - drive nut, 7 - obstacle-breaking needle, 81 - connecting pivot, 82 - tightening spring, 83 - axle, 84 - sliding wheel. Detailed implementation manners

[0041] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0042] As Figure 1 shown, a drone with a multi-wing synchronous folding mechanism includes an airframe 1 and several thrusters. The airframe 1 is a cylindrical rotating body, and the thrusters are circumferentially evenly distributed around the center line of the airframe 1. The thrusters are connected to the surface of the airframe 1 through the arms.

[0043] The thrusters are radially arranged and circumferentially evenly distributed. The thrusters are jet engines or propellers. The air outlet direction of the thrusters faces the rear of the airframe 1. When all the thrusters jet backward together, the airframe 1 in the vertical posture can take off into the air. After vertically entering the air, whether it is through the wings with adjustable angles to change the flight angle or by changing the jet angle of the nozzle, finally the drone becomes a conventional flight in the horizontal direction. For a jet drone flying at high speed, the vertical takeoff method greatly reduces the takeoff conditions of the drone and expands the application scenarios of the drone.

[0044] As Figures 1 to 4 shown, there are three thrusters in total, namely the first thruster 2, the second thruster 3 and the third thruster 4. Taking the posture during horizontal flight as the standard posture, the thruster at the high point is defined as the first thruster 2. The thruster on the left relative to the forward direction is defined as the second thruster 3, and the thruster on the right relative to the forward direction is defined as the third thruster 4. And a body coordinate system is defined in this posture. As Figures 5 to 6 shown, the forward direction is X, the direction perpendicular to the X direction on the horizontal plane is Y, and the vertical direction is Z;

[0045] As Figure 1 shown, the connection between the arm and the airframe 1 is a rotatable movable connection. The rotation axis of the arm is perpendicular to the center line of the airframe 1 and intersects the center line of the airframe 1.

[0046] When the three thrusters with adjustable angles operate simultaneously, the drone can perform actions such as flight, turning, pitching, etc. AsFigure 3 , 5 As shown, the drone is in a normal horizontal flight state. At this time, the angle of the first thruster 2 faces directly forward, and the angles of the second thruster 3 and the third thruster 4 are slightly inclined upward. The forces exerted by the thrusters on the airframe 1 are denoted as F2, F3, and F4 respectively. Denote the total gravity of the drone as G, the angle between F3 and X as θ3, and the angle between F4 and X as θ4. F3z = F3 * sinθ3, F3x = F3 * cosθ3, F4z = F4 * sinθ4, F4x = F4 * cosθ4.

[0047] The conditions for force balance are as follows:

[0048] 1. The resultant force of F3z and F4z is equal to G, that is: F3z + F4z = G;

[0049] 2. The torque difference between F3z and F4z with respect to the airframe 1 is zero.

[0050] That is: F3z * 0.866L = F4z * 0.866L. This is the balance of the rotation torque. When the balance condition is reached, the airframe 1 will not rotate.

[0051] 3. The torque of the resultant force of F3x and F4x from below with respect to the center of gravity is equal to the torque of F2 from above with respect to the center of gravity, that is: F3x * 0.5L + F4x * 0.5L = F2 * L; This is the balance of the pitching torque. After the balance condition is achieved, the airframe 1 will not pitch.

[0052] 4. The torques of F3x and F4x with respect to the center of gravity are equal respectively.

[0053] That is: F3x * 0.866L = F4x * 0.866L. This is the balance of the turning torque. After the balance condition is achieved, the airframe 1 will not deflect in the horizontal direction.

[0054] The above four force and torque balances are the necessary conditions for horizontal straight flight. The remaining are: The resultant force of F2, F4x, and F3x is the forward force of the drone. When the resultant force is equal to the flight resistance during forward movement, the drone flies at a constant speed. When it is higher than the resistance, it accelerates. When it is lower, it decelerates.

[0055] Taking the example of the drone needing to make a horizontal turn, the turning principle is described as follows. Figure 6As shown, the arm of the third thruster 4 is rotated by an angle so that its output forms an angle θ4 with X, and the lower 4 items in the force balance condition change: F4x*0.866L>F3x*0.866L, and the body 1 turns to the left. The remaining force and torque balance conditions can be maintained unchanged by changing the output size of each thruster, specifically: F4 increases (F4z remains unchanged), F3 remains unchanged, and F2 increases (F3x*0.5L+F4x'*0.5L=F2'*L). After the turn is completed, θ4 is readjusted to restore it to be equal to θ3.

[0056] When the drone rotates, it is mainly necessary to change F3z and F4z to make them have a difference to provide the rotation torque; when the drone pitches, it is mainly necessary to change the size of F2, F2 becomes larger to enter the dive attitude, and F2 becomes smaller to enter the pitch climbing attitude; when the drone keeps the centerline horizontal and performs parallel ascent or fall, the sizes of F3z and F4z are adjusted at the same time; various attitude changes can be combined accordingly, decomposed into the above four basic changes and refer to Figure 5 or Figure 6 A force analysis is performed to determine how to make adjustments, and the flight status can be identified by a gyroscope installed in the body 1.

[0057] In addition, the synchronous operation of the three thrusters can also maintain the stability of the body 1 during vertical ascent and descent, such as Figure 1 , 2 As shown, the three thrusters spray in an oblique direction, and the forces provided by the three thrusters are combined into a vertical lift to balance the gravity. Each thruster has three components to make the drone rotate. The take-off of the drone is a spiral rise, just like the spiral advance of a bullet and the rotation of a gyroscope. This eliminates the uneven weight distribution that may exist on the components, facilitates the head of the body 1 to break through the air, and maintains the stability of the body 1 as it rises. In this way, the mounting arm of the thruster can be made shorter ( Figure 4 length L in the middle).

[0058] like Figure 1 As shown, the UAV further includes a plurality of tail wings 5, which are evenly distributed around the tail of the body 1. The number of tail wings 5 ​​is the same as the number of propellers. A folding mechanism 6 is provided at the root of the tail wing 5 for extending or retracting the tail wing 5. The tail wing 5 plays a role in stabilizing the wake and preventing self-rotation when the UAV is flying horizontally. However, the addition of the tail wing 5 will hinder the aforementioned spiral takeoff method, because in this takeoff process, the surface of the tail wing 5 faces the direction of the airflow, so the resistance is significantly increased, and the tail airflow is disturbed, which is very likely to overturn. Therefore, the tail wing 5 should be folded when the UAV takes off or lands in a spiral line.

[0059] like Figure 7As shown in the figure, the folding mechanism 6 includes a connecting rod 61, a sliding screw 62, and a driving nut 63. A sheet-shaped trough-shaped folding bin 11 is provided at the tail of the fuselage 1, and a circular-hole-shaped driving chute 12 is provided at the center of the tail of the fuselage 1. One end of the tail wing 5 is hinged to the root of one end of the folding bin 11, the other end of the bottom of the tail wing 5 is hinged to the connecting rod 61, the other end of the connecting rod 61 is hinged to the end of the sliding screw 62, the sliding screw 62 is arranged in the driving chute 12, the driving nut 63 is also arranged in the driving chute 12 and is threadedly connected to one end of the sliding screw 62, and the driving nut 63 has an active rotational power.

[0060] The present invention realizes the retraction and extension of the tail wing 5 through the structure of "slider-rocker". As Figure 7 shown, it is the state where the tail wing 5 is retracted. When the vertical takeoff process ends and enters the level flight stage, the driving nut 63 rotates. Since the end of the sliding screw 62 is connected to multiple connecting rods 61, it cannot rotate along with it and can only perform translational motion, forming a lead screw structure. The rearward sliding screw 62 jacks up the connecting rod 61, and the connecting rod 61 ejects the tail wing 5 from the folding bin 11 to reach the Figure 8 position of the tail wing 5 in the figure. When it is necessary to retract the tail wing 5, only need to reverse the driving nut 63, and the sliding screw 62 will move forward.

[0061] As Figure 3 shown, a breaking needle 7 is also provided at the head of the fuselage 1, and the breaking needle 7 is located on the center line of the fuselage 1. The breaking needle 7 is applicable to the high-speed flight state of this UAV. The thruster uses a high-thrust jet engine to enable the UAV to obtain high-speed flight ability. The breaking needle 7 pierces the sound barrier to maintain the stability of the UAV.

[0062] As Figure 9 shown, a landing wheel set is also provided at the tail of the fuselage 1. The landing wheel set includes a connecting pivot 81, a wheel axle 83, and several sliding wheels 84. The connecting pivot 81 is fixed to the tail of the fuselage 1. The wheel axle 83 is bent. One end of the wheel axle 83 is connected to the connecting pivot 81, and the other end of the wheel axle 83 extends radially with the center line of the fuselage 1 as the axis and sliding wheels 84 are arranged at the end. In the initial stage of spiral takeoff and the end stage of spiral landing, there will be a contact process between the tail of the fuselage 1 and the landing platform. The landing wheel set makes contact with the ground as an intermediary during takeoff and landing, and the rotationally arranged sliding wheels 84 convert friction into rolling friction.

[0063] As Figure 9 shown, the landing wheel set also includes a tightening spring 82. The connection between the wheel axle 83 and the connecting pivot 81 is a spherical joint bearing connection, and the tightening spring 82 is respectively connected to the bent parts of each wheel axle 83. When landing, there is an impact force, the wheel axle 83 deforms appropriately, the three sliding wheels 84 expand outwards, the contact part of the tires of the sliding wheels 84 inclines outwards, and the tightening spring 82 resists the expansion tendency and helps to restore.

[0064] It is obvious to those skilled in the art that the present invention is not limited to the details of the above-described exemplary embodiments, and that the present invention can be implemented in other specific forms without departing from the spirit or essential characteristics of the present invention. Therefore, from any point of view, the embodiments should be regarded as exemplary and non-restrictive. The scope of the present invention is defined by the appended claims rather than the above description. Therefore, all changes falling within the meaning and scope of the equivalent elements of the claims are intended to be embraced within the present invention. Any reference signs in the claims should not be construed as limiting the claims involved.

Claims

1. A drone with a multi-wing synchronous folding mechanism, characterized in that: the drone includes a fuselage (1) and a number of thrusters. The fuselage (1) is a cylindrical rotating body, and the thrusters are circumferentially and evenly distributed around the center line of the fuselage (1). The thrusters are connected to the surface of the fuselage (1) through the arms; there are three thrusters in total. The connection between the arm and the fuselage (1) is a rotatable movable connection. The rotation axis of the arm is perpendicular to the center line of the fuselage (1) and intersects with the center line of the fuselage (1); When the thruster is in horizontal flight, it is recorded as the standard attitude. Define the thruster at the high point as the first thruster (2), the thruster on the left relative to the forward direction as the second thruster (3), and the thruster on the right relative to the forward direction as the third thruster (4). And define the body coordinate system in this attitude, with the forward direction as X, the direction perpendicular to the X direction on the horizontal plane as Y, and the vertical direction as Z; The respective thrusts of the first thruster (2), the second thruster (3), and the third thruster (4) are denoted as F2, F3, and F4. Denote the angle between F3 and X as θ3, the angle between F4 and X as θ4, F3z = F3 * sinθ3, F3x = F3 * cosθ3, F4z = F4 * sinθ4, F4x = F4 * cosθ4. Denote the total gravity of the drone as G; The horizontal flight, pitching, and turning actions of the aircraft are combined and adjusted through the thrusts F2, F3, F4, θ3, and θ4: When the drone maintains horizontal flight: F3z + F4z = G; F3z = F4z, (F3x + F4x) = 2 * F2, F3x = F4x; When the drone needs to pitch up for climbing: (F3z + F4z) = G, F3z = F4z, (F3x + F4x) > (2 * F2), F3x = F4x; When the drone needs to pitch down for diving: (F3z + F4z) = G, F3z = F4z, (F3x + F4x) < (2 * F2), F3x = F4x; When the drone needs to turn left horizontally: (F3z + F4z) = G, F3z = F4z, (F3x + F4x) = (2 * F2), F3x < F4x; The drone also includes a number of tail fins (5). The tail fins are circumferentially and evenly distributed at the tail of the fuselage (1). The number of tail fins (5) is the same as the number of thrusters. A folding mechanism (6) is provided at the root of the tail fin (5) for extending or retracting the tail fin (5); A landing wheel set is also provided at the tail of the fuselage (1). The landing wheel set includes a connecting pivot (81), an axle (83), and a number of sliding wheels (84). The connecting pivot (81) is fixed to the tail of the fuselage (1). The axle (83) is bent. One end of the axle (83) is connected to the connecting pivot (81). The other end of the axle (83) extends radially with the center line of the fuselage (1) as the axis and a sliding wheel (84) is provided at the end.

2. A drone with a multi-wing synchronous folding mechanism according to claim 1, characterized in that: The folding mechanism (6) includes a connecting rod (61), a sliding screw (62), and a driving nut (63). A folding bin (11) in the shape of a sheet-like groove is provided at the tail of the fuselage (1), and a driving chute (12) in the shape of a circular hole is provided at the center of the tail of the fuselage (1). One end of the tail wing (5) is hinged to the root of one end of the folding bin (11), the bottom of the other end of the tail wing (5) is hinged to the connecting rod (61), the other end of the connecting rod (61) is hinged to the end of the sliding screw (62), the sliding screw (62) is arranged in the driving chute (12), the driving nut (63) is also arranged in the driving chute (12) and is threadedly connected to one end of the sliding screw (62), and the driving nut (63) has an active rotational power.

3. The unmanned aerial vehicle with a multi-wing synchronous folding mechanism according to claim 1, characterized in that: The landing wheel set further includes a tightening spring (82). The connection between the wheel axle (83) and the connection pivot (81) is a spherical joint bearing connection, and the tightening spring (82) is respectively connected to the bent portions of each wheel axle (83).

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