A cylindrical launch folded quadrotor unmanned aerial vehicle

Abstract

The present application relates to a kind of cylinder type launching folding four-rotor unmanned aerial vehicle, including upper casing, lower casing, front casing, rear casing and four arms, further including connecting piece and four V-shaped springs, arm pivot and inclined table corresponding with arm one to one arrangement.It is automatically unfolded under the cooperation of V-shaped spring and inclined table, and is locked under the constraint of connecting piece, arm pivot and one of upper casing and lower casing, realizes the automatic unfolding and unfolding position locking of arm, improves the safety and reliability of unmanned aerial vehicle flight.The unfolded arm only needs to be operated by hand operation to be quickly folded back.The arm is X-shaped when unfolding, so that the force transmission path is shorter, and the structural stiffness is improved.The arm is machined to receive the spring, and the weight of the arm is reduced.The arm is placed in the middle part of the body, and the battery diameter and propeller diameter can be larger, so that the power efficiency of the unmanned aerial vehicle is improved.The electronic equipment is installed in the hollow space of upper and lower casing, so that the space utilization of the unmanned aerial vehicle is improved.

Description

Technical Field

[0001] This invention relates to the field of unmanned aerial vehicle (UAV) technology, and more specifically to a tube-launched folding quadcopter UAV. Background Technology

[0002] Foldable quadcopter drones can fold their components using a folding mechanism, effectively reducing their size and enabling launch or deployment from multiple weapon platforms. Through organic integration with munitions technology, they can perform single or multiple missions such as environmental reconnaissance, precision strikes, target location, long-range guidance, and damage assessment. They are characterized by low cost, high cost-effectiveness, small size, and ease of use. Compared to traditional drones, foldable quadcopter drones can be launched or deployed rapidly from multiple weapon platforms, forming a fast swarm deployment. They can also be deployed to various branches of the armed forces for individual soldier use, allowing for rapid entry into the combat zone, strong penetration capabilities, and flexible tactical use. Compared to conventional munitions or fixed-wing drones, they have better low-speed flight performance, better adaptability to complex urban environments, and a greater advantage in detecting and attacking concealed and sensitive targets.

[0003] Chinese patent CN212605801U discloses a folding structure design for a consumer-grade photography drone. This design, through a staggered vertical arrangement of the folding body, allows the drone to fold within the constraints of a single arm length, effectively improving space utilization. However, this design is only intended for consumer products and requires users to manually unfold the arms, making it less advantageous for rapid deployment. Chinese patent CN213735526U discloses a design for a high-payload, micro-gun-launched folding quadcopter drone. This design places the drone's arms on top of the body, with an H-shaped unfolding structure, and all electronic components are mounted on the underside of the body. Summary of the Invention

[0004] The inventors of this invention noted that although the design took into account the issue of gun firing, the structural utilization rate was extremely low: First, the arms had no locking mechanism when deployed, resulting in insufficient flight reliability; second, the arm structure was located above the fuselage, making the size of the motors and propellers relatively small for a drone, resulting in low aerodynamic efficiency; third, all electronic components were installed in the abdomen, making the space extremely limited, and the battery body was very small, resulting in insufficient space utilization; fourth, the arms were deployed in an H-configuration, resulting in a long torque transmission path, which may lead to insufficient rigidity.

[0005] In order to solve at least one or all of the above problems, the present invention provides a tube-launched folding quadcopter drone.

[0006] The technical solution of this invention is:

[0007] A tube-launched folding quadcopter drone includes an upper shell, a lower shell, a front shell, a rear shell, and four arms. The upper shell, lower shell, front shell, and rear shell are connected to each other to form a fuselage. The fuselage provides a space for accommodating the arms. The drone is special in that it also includes connectors and four V-shaped springs, four arm pivots, and four ramps that correspond to the four arms.

[0008] The connector is located inside the fuselage at the center of the front-to-back direction.

[0009] The four arm pivots are evenly distributed around the connector, and the arm pivots are fixed to the machine body;

[0010] The arm has a first end and a second end, the first end being hinged to an arm pivot so that the arm can rotate about the arm pivot and move between a folded position and an unfolded position;

[0011] The V-spring includes two arms and has a convex shaft on one of the arms. The V-spring is mounted to the arm and is mounted such that the convex shaft extends toward one of the upper and lower housings in the vertical direction of the fuselage.

[0012] The ramp is fixed to one of the upper and lower housings, and the ramp includes an inclined surface facing the corresponding cam shaft, which can slide on the inclined surface under the elastic force of a V-shaped spring.

[0013] In the folded position, the inclined surface contacts the cam shaft; in the unfolded position, the cam shaft leaves the inclined surface and the arm is locked by one of the connector, the arm pivot, and the upper and lower housings.

[0014] Furthermore, the arm includes a receiving portion for receiving a V-shaped spring, the V-shaped spring being mounted in the receiving portion and the cam extending out of the arm.

[0015] Furthermore, the arm is located in the middle of the fuselage in the vertical direction.

[0016] Furthermore, the upper housing includes a non-primary load-bearing component and a primary load-bearing component to provide space between the non-primary load-bearing component and the primary load-bearing component to accommodate the electronic equipment of the drone.

[0017] Furthermore, the lower housing includes a non-primary load-bearing component and a primary load-bearing component to provide space between the non-primary load-bearing component and the primary load-bearing component to accommodate the electronic equipment of the drone.

[0018] Furthermore, the drone also includes positioning components that facilitate the installation of the connector with the main load-bearing components of the upper and lower fuselage, respectively. The positioning components are respectively placed in grooves on the main load-bearing components of the upper and lower fuselage and fixed to the connector.

[0019] Furthermore, the connector also includes limiting parts respectively disposed on both sides of the connector in the left-right direction of the machine body, and the limiting parts contact the machine arm when the machine arm is in the extended position.

[0020] Furthermore, a motor is installed at the second end of the arm, and a propeller is fixed to the motor.

[0021] Furthermore, a camera is mounted on the front housing.

[0022] The beneficial effects of this invention are:

[0023] 1. The use of a combination of V-shaped springs and a structural ramp enables the automatic deployment and locking of the UAV arms, improving the safety and reliability of UAV flight.

[0024] 2. Once unfolded, the robotic arm can be quickly folded and retracted by hand with only the operator's bare hands.

[0025] 3. The drone's arms are fixed close to the center of the fuselage and form an X shape when deployed, which shortens the overall force transmission path of the arms, effectively improving structural rigidity and reducing structural weight.

[0026] 4. A receiving part is machined on the arm to install a V-shaped spring, which reduces the weight of the arm.

[0027] 5. Placing the arms in the middle of the fuselage allows for larger battery and propeller diameters, improving the drone's power efficiency.

[0028] 6. Electronic equipment can be installed in the hollow spaces of the upper and lower fuselage, which is flexible and convenient and improves the space utilization of the drone. Attached Figure Description

[0029] The features and advantages of the invention will become more readily apparent from the following description with reference to the accompanying drawings, which are not drawn to scale and some features are enlarged or reduced to show details of specific parts.

[0030] Figure 1 This is a schematic perspective view of a tube-launched folding quadcopter drone in its unfolded state, according to an exemplary embodiment of the present invention.

[0031] Figure 2 This is a schematic perspective view of a tube-launched folding quadcopter drone in a folded state according to an exemplary embodiment of the present invention;

[0032] Figure 3 This is a schematic enlarged perspective view of the arm connection structure in a tube-launched folding quadcopter UAV according to an exemplary embodiment of the present invention, wherein the arm is in the unfolded position;

[0033] Figure 4 This is a schematic enlarged perspective view of the automatic arm deployment structure in a tube-launched folding quadcopter UAV according to an exemplary embodiment of the present invention;

[0034] Figure 5 This is a schematic enlarged perspective view of the arm deployment position locking structure in a tube-launched folding quadcopter UAV according to an exemplary embodiment of the present invention;

[0035] Figure 6 This is a schematic perspective view of the arrangement structure of electronic equipment in a tube-launched folding quadcopter UAV according to an exemplary embodiment of the present invention;

[0036] Figure 7 This is a schematic plan view of a foldable quadcopter drone with a tube launcher in a folded, ready-to-launch state in the launch tube, according to an exemplary embodiment of the present invention.

[0037] Figure label:

[0038] 1-Upper housing, 1A-Non-main load-bearing component of upper housing, 1B-Main load-bearing component of upper housing;

[0039] 2-Lower housing, 2A-Non-main load-bearing component of lower housing, 2B-Main load-bearing component of lower housing;

[0040] 3-Front housing; 4-Rear housing;

[0041] 5-Arm, 501-First end, 502-Second end, 503-Receiving part;

[0042] 6-Connector, 601-Hole in connector, 602-Limiting part;

[0043] 7-V type spring, 701-cam shaft;

[0044] 8-Arm pivot; 9-Washer; 10-Sleeve;

[0045] 11- Inclined platform, 1101- Inclined surface;

[0046] 12-Cover plate;

[0047] 13-positioning piece, 1301-recess, 1302-hole of positioning piece;

[0048] 14-Motor; 15-Propeller; 15-GPS module; 16-Image processing board; 17-Flight controller; 18-Data link; 19-Optical flow laser module; 20-First battery; 21-Electronic speed controller; 22-Second battery; 23-Camera; 24-Launch tube; 25-Launch piston; 26-Gas generator. Detailed Implementation

[0049] The present invention will now be described in detail with reference to the accompanying drawings and exemplary embodiments thereof. It should be noted that the following detailed description is for illustrative purposes only and is not intended to limit the scope of the invention. Furthermore, the same reference numerals are used to denote the same parts in the various drawings.

[0050] First refer to Figure 1 and Figure 2 The present invention provides a general description of the tube-launched folding quadcopter UAV. Figure 1 This is a schematic perspective view of a tube-launched folding quadcopter drone in its unfolded state, according to an exemplary embodiment of the present invention. Figure 2 This is a schematic perspective view of a tube-launched folding quadcopter drone in a folded state according to an exemplary embodiment of the present invention.

[0051] like Figure 1 As shown, the tube-launched folding quadcopter drone, as an exemplary embodiment of the present invention, may include an upper shell 1, a lower shell 2, a front shell 3, a rear shell 4, and four arms 5. The upper shell 1, lower shell 2, front shell 3, and rear shell 4 are interconnected to form a fuselage, and the fuselage can provide accommodating space for accommodating the arms 5.

[0052] The drone provided in the exemplary embodiment of the present invention may further include a connector 6 and four V-shaped springs 7, four arm pivots 8, and four ramps 11, each corresponding to one of the four arms 5, wherein the V-shaped springs 7, arm pivots 8, and ramps 11 are in... Figure 1 and Figure 2 It is not shown in the figure and will be described below.

[0053] In some embodiments of the present invention, the connector 6 may be disposed inside the body at the center position in the front-to-back direction of the body. Alternatively, the connector 6 may be disposed centrally in the left-to-right and up-to-down directions of the body.

[0054] like Figure 2 As shown, the arm 5 can be located in the middle of the vertical direction of the fuselage. The arm 5 can have a first end 501 and a second end 502. The first end 501 can be hinged to the arm pivot 8 so that the arm 5 can rotate around the arm pivot 8. Figure 2 The folding position shown is the same as Figure 1 Move between the shown unfolded positions.

[0055] Next, refer to Figures 3 to 5 The present invention provides a detailed description of the arm connection structure, the automatic arm deployment structure, and the arm deployment position locking structure of the tube-launched folding quadcopter UAV. Figure 3This is a schematic enlarged perspective view of the arm connection structure in a tube-launched folding quadcopter drone according to an exemplary embodiment of the present invention, wherein the arm is in the unfolded position. Figure 4 This is a schematic enlarged perspective view of the automatic arm deployment structure in a tube-launched folding quadcopter drone according to an exemplary embodiment of the present invention. Figure 5 This is a schematic enlarged perspective view of the arm deployment position locking structure in a tube-launched folding quadcopter drone according to an exemplary embodiment of the present invention.

[0056] like Figure 3 As shown, in the illustrated embodiment, the connector 6 is generally cuboid and recessed inward at its four corners, but this is not intended to limit the invention. Multiple holes 601 may be formed on each sidewall of the connector 6 to reduce its weight, thereby reducing the weight of the drone.

[0057] The connector 6 may include limiting portions 602 respectively disposed on both sides of the connector 6 in the left-right direction of the body. The limiting portions 602 can contact the arm 5 when the arm 5 is in the extended position to limit the extended position of the arm 5, thereby locking the extended position of the arm 5. However, it should be noted that the limiting portions 602 are not essential to the present invention, and this function can be achieved by other parts of the connector 6, such as the sidewall.

[0058] The four arm pivots 8 can be evenly distributed around the connector 6, for example, respectively set at the four inwardly recessed corners of the connector 6.

[0059] The arm pivot 8 can be fixed to the body. By way of example and not limitation, the arm pivot 8 can pass through the holes on the upper housing 1, the arm 5 and the lower housing 2 in sequence in the vertical direction of the body.

[0060] In some exemplary embodiments of the present invention, such as Figure 4 As shown, the drone may also include two washers 9 and a sleeve 10 corresponding to a single arm pivot 8. The two washers 9 can be fitted onto the arm pivot 8 and positioned respectively between the upper housing 1 and the arm 5, and between the arm 5 and the lower housing. The sleeve 10 can be fitted onto the arm pivot 8 and located between two lugs at the first end 501 of the arm 5. It should be noted that those skilled in the art will understand that a bearing can be provided between the arm 5 and the arm pivot 8 to enable rotation of the arm 5 around the arm pivot 8; however, this is not intended to limit the invention, and any structure capable of enabling rotation of the arm 5 around the arm pivot 8 can be employed.

[0061] Combined with reference Figure 4 and Figure 5The V-spring 7 may include two arms and has a convex shaft 701 on one of the arms. The V-spring 7 is mounted to the arm 5 and configured such that the convex shaft 701 extends toward one of the upper housing 1 and the lower housing 2 in the vertical direction of the fuselage. In the illustrated embodiment, the convex shaft 701 extends toward the lower housing 2.

[0062] In an exemplary embodiment of the present invention, the arm 5 may include a receiving portion 503 for receiving a V-shaped spring 7, the V-shaped spring 7 being mounted in the receiving portion 503 and the protruding shaft 701 extending beyond the arm 5. Machining the receiving portion on the arm 5 to mount the V-shaped spring reduces the weight of the arm. Furthermore, the receiving portion 503 may penetrate the thickness of the wall of the arm 5; in this case, it may be provided on one side of the receiving portion 503. Figure 3 The cover plate 12 shown prevents the V-spring 7 from moving away from the arm 5. The cover plate 12 can be designed to correspond to the arm 5 and fixed to the arm 5 by screws.

[0063] The ramp 11 can be fixed to the lower housing 2, for example by screws passing through holes in the lower housing 2. The ramp 11 can also be integral with the lower housing 2.

[0064] The ramp 11 may include an inclined surface 1101 facing the corresponding convex shaft 701, which can slide on the inclined surface 1101 under the elastic force of the V-spring 7. Specifically, as shown in... Figure 5 As shown, the inclined platform 11 interacts with the convex shaft 701, generating a horizontal component force f on the convex shaft 701. h This causes the convex shaft 701 to slide on the inclined surface 1101, thereby moving the arm 5 horizontally toward the deployed position. It should be understood that the inclined surface 1101 facing the convex shaft 701 indicates that the thickness of the ramp 11 in the vertical direction of the fuselage decreases in the horizontal direction of the fuselage as it approaches the corresponding convex shaft 701. In some embodiments, the ramp 11 may be generally wedge-shaped and extend to the edge of the lower housing 2 in the horizontal direction of the fuselage; additionally, the inclined surface 1101 may be a concave curved surface.

[0065] According to the UAV of the present invention, in the folded position of the arm 5, the inclined surface 1101 contacts the convex shaft 701. The convex shaft 701 can slide on the inclined surface 1101 under the elastic restoring force of the V-shaped spring, causing the arm 5 to automatically move to the unfolded position. When the arm 5 is unfolded, since the arm is fixed close to the center of the body, the four arms 5 form an X-shaped structure, which shortens the overall force transmission path of the arm, effectively improving the structural rigidity and reducing the structural weight. When the arm 5 reaches the unfolded position with the maximum unfolding angle, the convex shaft 701 leaves the inclined surface 1101 and the arm 5 is locked under the constraint of one of the connecting member 6, the arm pivot 8, and the upper housing 1 and the lower housing 2. In particular, in the illustrated embodiment, the convex shaft 701 contacts the edge of the lower housing 2 and the arm 5 contacts the vertical edge of the limiting part 602 of the connecting member 6, thereby locking the unfolded position of the arm 5. Therefore, the UAV provided by this invention uses a combination of V-shaped springs and a structural ramp to automatically deploy the UAV arms and lock them in the deployed position, thereby improving the safety and reliability of UAV flight.

[0066] When it is necessary to release the locked position of the arm 5, the operator only needs to press the cam 701 by hand to bring it into contact with the inclined surface 1101. Then, by folding the corresponding arm 5 forward or backward, the arm 5 can be returned to the folded position for drone storage. Therefore, according to the drone of the present invention, the unfolded arm can be quickly folded and retracted by the operator with just their hands.

[0067] Next, refer to Figure 6 The arrangement structure of the electronic equipment in the tube-launched folding quadcopter UAV provided by the present invention is described. Figure 6 This is a schematic perspective view of the arrangement structure of electronic equipment in a tube-launched folding quadcopter drone according to an exemplary embodiment of the present invention.

[0068] Return to reference Figure 1 The upper housing 1 may include a non-main load-bearing component 1A and a main load-bearing component 1B to provide space between them for accommodating the electronic equipment of the UAV. The non-main load-bearing component 1A and the main load-bearing component 1B can be connected to each other by screws. The non-main load-bearing component 1A serves both as a shape-maintaining component and as a means to prevent instability of the main load-bearing component 1B. The non-main load-bearing component 1A may be semi-cylindrical in shape. Figure 6 As shown in the illustrated embodiment of the present invention, the GPS module 15, image processing board 16, flight controller 17, and data link 18 are arranged in the space between the non-main load-bearing component 1A and the main load-bearing component 1B of the upper fuselage and are mounted on the main load-bearing component 1B of the upper fuselage. The non-main load-bearing component 1A of the upper fuselage can be made of lightweight thin plastic, and the main load-bearing component 1B of the upper fuselage can be made of carbon fiber material.

[0069] The lower housing 2, similar to the upper housing 1, may include a non-primary load-bearing component 2A and a primary load-bearing component 2B to provide space between them for accommodating the drone's electronics. The structures of the non-primary load-bearing component 2A and the primary load-bearing component 2B are similar to those of the upper housing 1's non-primary load-bearing component 1A and primary load-bearing component 1B, and will not be described further here. Figure 6 As shown, in the embodiment of the present invention, the optical flow laser module 19, the first battery 20, the electronic speed controller 21, and the second battery 22 are arranged in the space between the non-main load-bearing component 2A of the lower housing and the main load-bearing component 2B of the lower housing and are mounted on the main load-bearing component 2B of the lower housing.

[0070] It should be noted that those skilled in the art will understand that the arrangement of electronic equipment in the drone of the present invention is not limited to the above description; for example, the positions of the aforementioned equipment can be interchanged. Therefore, the electronic equipment in the drone of the present invention can be installed in the hollow spaces of the upper and lower fuselage, offering flexibility and convenience, and improving the space utilization rate of the drone.

[0071] Continue to refer to Figure 1 According to an embodiment of the present invention, a motor 14 may be provided on the second end 502 of the arm 5, and a propeller 15 may be fixed on the motor 14. The UAV of the present invention places the arm in the middle part of the fuselage, which allows for a larger battery diameter and propeller diameter, thereby improving the power efficiency of the UAV.

[0072] In an optional embodiment of the invention, a camera mounting position can be reserved at the front fuselage 3 of the drone to install a camera 23. This space utilization design allows the largest area in the middle of the fuselage to accommodate a large-diameter motor and a large-diameter folding propeller, effectively ensuring the efficiency of the drone system.

[0073] Now return to the reference. Figure 3 In an exemplary embodiment of the present invention, the drone may further include positioning members 13, which facilitate the installation of the connector 6 with the upper housing main load-bearing member 1B and the lower housing main load-bearing member 2B, respectively. Figure 3 Only the positioning element 13 between the connector 6 and the main load-bearing component 1B of the upper housing is shown, while the positioning element 13 between the connector 6 and the main load-bearing component 2B of the lower housing is not shown.

[0074] In some embodiments, the positioning member 13 can be respectively placed in the grooves on the upper housing main load-bearing member 1B and the lower housing main load-bearing member 2B and fixed to the connector 6. The connector 6 can be installed together with the upper housing main load-bearing member 1B and the lower housing main load-bearing member 2B by passing a screw through the positioning member 13 and the connector 6 and having the screw head located on the upper housing main load-bearing member 1B and the lower housing main load-bearing member 2B.

[0075] like Figure 3 As shown, the positioning member 13 may include a recess 1301 and a hole 1302 disposed in the recess. A screw can pass through the hole 1302 of the positioning member 13 to complete the connection between the connector 6 and the main load-bearing member 1B of the upper housing.

[0076] The material of the positioning element 13 is not limited, but it is specifically made of plastic to facilitate passing through the slots of the upper housing main load-bearing member 1B and the lower housing main load-bearing member 2B. The number of positioning elements 13 is also not limited; exemplarily, such as... Figure 3 As shown, there are four positioning elements 13 between the connector 6 and the main load-bearing component 1B of the upper housing. However, it should be understood that the positioning element 13 can be designed as a single piece.

[0077] Next, refer to Figure 7 The working process of the tube-launched folding quadcopter UAV provided by the present invention is described. Figure 7 This is a schematic plan view of a foldable quadcopter drone with a tube launcher in a folded, ready-to-launch state in the launch tube, according to an exemplary embodiment of the present invention.

[0078] According to an exemplary embodiment of the present invention, the cylindrical launch folding quadcopter drone, when folded, can be a cylinder with a diameter of 40 mm and a length of 260 mm, such as... Figure 7 As shown, the drone can be easily stored in the launch tube 24. A gas generator 26 can be installed at the bottom of the launch tube 24. The gas generator 26 generates high-pressure gas through the explosion of gunpowder. With the help of a well-sealed launch piston 25, the drone can be quickly launched out of the tube.

[0079] After the drone is launched, the arm 5 slides rapidly and automatically on the inclined surface 1101 under the elastic restoring force of the V-spring 7 via the convex shaft 701 of the V-spring 7. In the deployed position, the arm 5 is locked by the constraint of the connector 6, the arm pivot 8, and one of the upper and lower housings 1 and 2. When the drone detects that the ascent rate is zero, it immediately initiates control, the motor 14 starts rotating, and the folded propeller 15 automatically unfolds under the action of centrifugal force, thus starting normal operation. Because this tube-launched folding quadcopter drone can be compactly packed in the launch tube, the drone can be densely deployed to achieve rapid cluster launch, and it also has promotional value in cluster applications.

[0080] After the drone completes its flight mission, the operator can manually press the cam 701 of the V-shaped spring 7 to release the position lock of the four arms 5, and then fold the corresponding arms 5 forward or backward, thereby quickly completing the folding of the arms 5 and the storage of the drone.

[0081] The features mentioned and / or shown in the foregoing description of exemplary embodiments of the present invention may be combined in the same or similar manner with one or more other embodiments, combined with features in other embodiments, or substituted for corresponding features in other embodiments. Such combinations or substitutions should also be considered as including within the scope of protection of the present invention.

Claims

1. A cylindrical launch folding quadcopter unmanned aerial vehicle (UAV), comprising an upper casing, a lower casing, a front casing, a rear casing, and four arms, wherein the upper casing, lower casing, front casing, and rear casing are interconnected to form a fuselage, and the fuselage provides accommodating space for housing the arms, characterized in that, The drone also includes connectors, four V-shaped springs, four arm pivots, and four inclined planes, each corresponding to one of the four arms. The connector is located inside the fuselage at the midpoint of the fuselage in the front-rear direction; The four arm pivots are evenly distributed around the connector, and the arm pivots are fixed to the machine body; The arm has a first end and a second end, the first end being hinged to the arm pivot so that the arm can rotate about the arm pivot and move between a folded position and an unfolded position; The V-shaped spring includes two arms and has a convex shaft on one of the arms. The V-shaped spring is mounted to the arm and is mounted such that the convex shaft extends toward one of the upper housing and the lower housing in the vertical direction of the body. The ramp is fixed to one of the upper housing and the lower housing, and the ramp includes an inclined surface facing a corresponding cam shaft, which is slidable on the inclined surface under the elastic force of the V-shaped spring. In the folded position, the inclined surface contacts the convex shaft. In the unfolded position, the convex shaft leaves the inclined surface under the elastic force of the V-shaped spring and contacts the edge of one of the upper and lower housings, while the arm contacts the connector, thereby locking the arm.

2. The tube-launched folding quadcopter UAV according to claim 1, characterized in that, The arm includes a receiving portion for receiving the V-shaped spring, the V-shaped spring being mounted in the receiving portion and the convex shaft extending outside the arm.

3. The tube-launched folding quadcopter UAV according to claim 1 or 2, characterized in that, The arm is located in the middle of the vertical direction of the fuselage.

4. The tube-launched folding quadcopter UAV according to claim 1 or 2, characterized in that, The upper housing includes a non-main load-bearing component and a main load-bearing component to provide space between the non-main load-bearing component and the main load-bearing component to accommodate the electronic equipment of the UAV.

5. The tube-launched folding quadcopter UAV according to claim 4, characterized in that, The lower housing includes a non-main load-bearing component and a main load-bearing component to provide space between the non-main load-bearing component and the main load-bearing component to accommodate the electronic equipment of the UAV.

6. The tube-launched folding quadcopter UAV according to claim 5, characterized in that, The drone also includes positioning components that facilitate the installation of the connector with the upper and lower main load-bearing components of the fuselage. The positioning components are respectively placed in grooves on the upper and lower main load-bearing components of the fuselage and fixed to the connector.

7. The tube-launched folding quadcopter UAV according to claim 1 or 2, characterized in that, The connector also includes limiting portions respectively disposed on both sides of the connector in the left-right direction of the machine body, wherein the limiting portions contact the machine arm when the machine arm is in the extended position.

8. The tube-launched folding quadcopter UAV according to claim 1 or 2, characterized in that, A motor is provided on the second end of the arm, and a propeller is fixed on the motor.

9. The tube-launched folding quadcopter UAV according to claim 1 or 2, characterized in that, A camera is mounted on the front housing.

Images