A portable foldable tandem wing aircraft

Abstract

This invention relates to a portable foldable tandem wing aircraft, comprising a frame, a front wing, an arm, a rear wing, a battery pack, a linear motor, a chuck, a mounting base, a first sliding plate, a first spring, a chuck return spring, a second spring, a second sliding plate, arm-wing connectors, a self-locking structure, and a double-ball-joint connecting rod. The mounting base and chuck are located in the middle of the battery pack. The chuck is connected to the output shaft of the linear motor, and the chuck return spring is connected to the mounting base and the chuck. The first sliding plate is slidably mounted on the front end of the battery pack, and the first spring is connected to the first sliding plate. The sliding plate is connected to the fixed base; the second sliding plate is slidably mounted at the rear end of the battery cylinder, and the second spring is connected to the second sliding plate and the battery cylinder; the arm wing connector is located at the front end of the battery cylinder, and the upper and lower ends of the arm wing connector are respectively connected to the arm, the head of the arm is rotatably connected to the arm wing connector, and is rotatably connected to the first sliding plate through a self-locking structure; the left and right sides of the arm wing connector are rotatably connected to the front wing, and the two sides at the rear end of the battery cylinder are rotatably connected to the rear wing; in the folded state, the arm and the rear wing are both locked together with the chuck. This aircraft is not only easy to carry, but also improves the stability during flight.

Description

Technical Field

[0001] This invention relates to the field of aircraft technology, and more particularly to a portable foldable tandem wing aircraft. Background Technology

[0002] Aircraft are widely used in commerce, agriculture, environmental monitoring, topographic mapping, and military fields. In the military, they primarily perform tasks such as air strikes, intelligence gathering, reconnaissance, and surveillance. Broadly speaking, aircraft are divided into fixed-wing and rotary-wing types. Fixed-wing aircraft have advantages in cruising speed, payload capacity, flight range, and endurance, but they have higher requirements for takeoff and landing environments. Rotary-wing aircraft have hovering capabilities, are less demanding in terms of takeoff and landing environments, and can be launched to distant locations for long-range missions. Traditional aircraft cannot be folded, occupy a large amount of space, and are inconvenient to carry.

[0003] Invention application No. 201510197851.4 discloses a foldable airdrop drone. The main body includes a fuselage base, a frame support rod vertically mounted on the base, a fuselage top frame fixed to the frame support rod, a propeller strut, and a propeller. One end of the propeller strut is movably connected to a base shaft on the fuselage base, and the other end is connected to the propeller via a motor. This drone applies a mechanical linkage mechanism to drone folding technology, using a servo motor to control the propeller strut's unfolding or retraction, thus achieving foldability. However, this drone folds using a slider and lead screw, resulting in a slow propeller strut unfolding and retraction speed, which is not conducive to rapid deployment of the drone.

[0004] Utility model application No. 202320923147.2 discloses a foldable quadcopter miniature drone, including a shell, arms, arm connectors, arm links, connecting shafts, connecting shaft fixing seats, link connectors, DC geared motors, motor mounts, arm chucks, tension springs, rotor frames, blades, and drive motors. The arm connectors are located on the upper part of the shell, and four arms are evenly arranged around the arm connectors. Drive motors are installed at the ends of the arms, and the output shafts of the drive motors are connected to the rotor frames. The drone has two rotating propellers; the upper end of the connecting shaft is connected to the arm connecting seat, and the lower end is connected to the connecting shaft fixing seat; the connecting rod connecting seat is slidably mounted on the connecting shaft, and four arm connecting rods are evenly hinged around the connecting rod connecting seat, with the other end of each arm connecting rod hinged to the corresponding arm's adjacent arm connecting seat; multiple tension springs are connected to the connecting rod connecting seat and the arm connecting seat respectively; a DC geared motor is located on the motor mount, and the arm chuck is mounted on the output shaft of the DC geared motor, securing the arm when folded. This drone has advantages such as small size, portability, and rapid deployment, but its stability is poor, and it is prone to falling during flight. Summary of the Invention

[0005] In view of the shortcomings of the prior art, the technical problem to be solved by the present invention is to provide a portable foldable tandem wing aircraft.

[0006] The technical solution adopted by the present invention to solve the aforementioned technical problem is as follows:

[0007] A portable foldable tandem wing aircraft, characterized in that the aircraft includes a frame, a front wing, an arm, a rear wing, a battery, a linear motor, a chuck, a mounting base, a first sliding plate, a first spring, a chuck return spring, a second spring, a second sliding plate, an arm-wing connector, a self-locking structure, and a double ball joint connecting rod.

[0008] The battery cylinder is located inside the frame, with the mounting base and chuck located in the middle of the battery cylinder. The chuck is connected to the output shaft of the linear motor and can reciprocate on the battery cylinder. A chuck return spring is located on the battery cylinder and connected to the mounting base and chuck. A first sliding disc is slidably mounted on the front end of the battery cylinder. A first spring is located on the battery cylinder and connected to the first sliding disc and the mounting base. In the folded state, the first spring is compressed, and under the action of the first spring, the first sliding disc slides towards the head of the machine. A second sliding disc is slidably mounted on the rear end of the battery cylinder. A second spring is located at the rear of the battery cylinder and connected to the second sliding disc and the battery cylinder. Under the action of the second spring, the second sliding disc slides towards the head of the machine. The arm wing connector is located at the front end of the battery cylinder. The upper and lower ends of the wing connector are respectively connected to the arm. The head of the arm is rotatably connected to the arm-wing connector and simultaneously rotatably connected to the first sliding disk through a self-locking structure. A rotor is installed at the tail of the arm. The left and right sides of the arm-wing connector are respectively rotatably connected to the front wings. A rotor is installed in the middle of the front end of each front wing. The bottom of the front end of the two front wings is rotatably connected to one end of the corresponding double ball joint connecting rod. The other ends of the two double ball joint connecting rods are respectively rotatably connected to the left and right sides of the first sliding disk. The two rear wings are respectively rotatably connected to the lugs on both sides of the rear end of the battery pack. The two rear wings are respectively rotatably connected to the left and right sides of the second sliding disk. In the folded state, the arm and the rear wings are locked together with the chuck.

[0009] Furthermore, the left and right sides of the arm wing connector are symmetrically provided with end ears that bend towards the nose. One side of the front wing is rotatably connected to the end of the corresponding end ear through a first optical axis. The first sliding disk slides towards the tail, and drives the front wing to rotate in space around the first optical axis through the double ball joint connecting rod, thereby realizing the folding of the front wing. The first sliding disk slides towards the nose to realize the unfolding of the front wing.

[0010] Furthermore, the battery pack has symmetrical lugs bent towards the tail on the left and right sides at the rear end. The two rear wings are rotatably connected to the ends of the corresponding lugs via the second optical axis near their sides. One corner of each rear wing is fixedly connected to a fork-shaped hinge seat of a corresponding Hooke hinge. The other fork-shaped hinge seats of the two Hooke hinges are connected to the ends of the corresponding single ball joints. The ball heads of the two single ball joints are rotatably connected to the left and right sides of the second sliding disk. The second sliding disk slides towards the nose, causing the rear wings to rotate in space around the second optical axis, thus unfolding the rear wings. The second sliding disk slides towards the tail, thus folding the rear wings.

[0011] Furthermore, the self-locking structure includes a first link, a second link, and a third link; one end of the first link is rotatably connected to the arm near the head, and the other end is rotatably connected to the first sliding disk; one end of the second link is rotatably connected to the arm, and the connection position is located between the arm head and the connection point of the arm wing connector and the first link; the other end of the second link is rotatably connected to one end of the third link, and the other end of the third link is rotatably connected to the arm wing connector; when the second and third links are collinear, the self-locking structure is in a self-locking state.

[0012] Furthermore, the rear of the forewing is provided with an aileron, which is rotatably connected to the main structure of the forewing via a servo motor.

[0013] Furthermore, the rear end of the frame is equipped with landing gear, which, together with the rear wing, serves as the landing gear for the aircraft's vertical takeoff and landing.

[0014] Compared with the prior art, the beneficial effects of the present invention are:

[0015] The unfolded shape of the aircraft resembles that of an airplane, with both the front and rear wings featuring streamlined, curved surfaces that contribute to flight stability. The structural design allows for the folding of the front and rear wings, ensuring a compact size for easy transport and enabling rapid deployment. Attached Figure Description

[0016] Figure 1 A diagram showing the deployment state of the aircraft from one perspective;

[0017] Figure 2 This is a diagram showing the folded state of the aircraft.

[0018] Figure 3 This is a cross-sectional view of the aircraft in its deployed state.

[0019] Figure 4 A diagram showing the deployment state of the aircraft from another perspective;

[0020] Figure 5A bottom view of the aircraft in its deployed state;

[0021] Figure 6 This is a structural diagram of the arm wing connector;

[0022] Figure 7 A simplified diagram of the self-locking mechanism;

[0023] Figure 8 A simplified diagram of the mechanism for folding and unfolding the forewing;

[0024] In the diagram, 1. Frame; 2. Front wing; 3. Arm; 4. Rear wing; 5. Battery pack; 6. Linear motor; 7. Chuck; 8. Mount; 9. Sliding disc No. 1; 10. Spring No. 1; 11. Chuck return spring; 12. Spring No. 2; 13. Sliding disc No. 2; 14. Arm-wing connector; 15. Self-locking structure; 16. Double ball joint connecting rod; 17. Rotor; 18. Hooke hinge; 19. Legs;

[0025] 2-1, Aileron; 3-1, Hook No. 1; 4-1, Hook No. 2; 5-1, Lug; 7-1, Claw; 14-1, End Lug; 15-1, Link No. 1; 15-2, Link No. 2; 15-3, Link No. 3. Detailed Implementation

[0026] Specific embodiments are given below with reference to the accompanying drawings. These specific embodiments are only used to describe the technical solution of the present invention in detail, but are not intended to limit the scope of protection of this application.

[0027] This invention provides a portable foldable tandem-wing aircraft (hereinafter referred to as the aircraft, see below) Figures 1-8 The system includes a frame 1, a front wing 2, an arm 3, a rear wing 4, a battery pack 5, a linear motor 6, a chuck 7, a mounting base 8, a first sliding plate 9, a first spring 10, a chuck return spring 11, a second spring 12, a second sliding plate 13, an arm-wing connector 14, a self-locking structure 15, a double ball joint connecting rod 16, a rotor 17, and a Hooke hinge 18.

[0028] The rear end of the frame 1 is equipped with a landing gear 19, which serves as the landing gear for vertical takeoff and landing of the aircraft. A battery cylinder 5 is installed inside the frame 1, containing batteries to power the aircraft. A mounting base 8 and a chuck 7 are fitted into the middle of the battery cylinder 5. The mounting base 8 is fixedly connected to the battery cylinder 5, and the chuck 7 is slidably connected to the battery cylinder 5 and located behind the mounting base 8. A chuck return spring 11 is fitted onto the battery cylinder 5 and located between the mounting base 8 and the chuck 7. Both ends of the chuck return spring 11 are fixedly connected to the mounting base 8 and the chuck 7, respectively. A linear motor 6 is installed inside the frame 1, and its output shaft is connected to the chuck 7. Under the action of the linear motor 6, the chuck 7 can move slightly towards the nose, disengaging the chuck 7 from the arm 3 and the rear wing 4, thus achieving rapid release of the arm 3 and the rear wing 4. The chuck 7 then returns to its original position under the action of the chuck return spring 11. The first sliding disk 9 is fitted onto the front end of the battery cylinder 5, and can slide back and forth on the battery cylinder 5. The first spring 10 is fitted onto the battery cylinder 5 and located between the first sliding disk 9 and the fixed seat 8. The two ends of the first spring 10 are fixedly connected to the first sliding disk 9 and the fixed seat 8, respectively. In the folded state, the first spring 10 is compressed. When the first spring 10 returns to its original length, it pushes the first sliding disk 9 to slide towards the nose, realizing the deployment of the arm 3 and the forewing 2. The second sliding disk 13 is fitted onto the rear end of the battery cylinder 5, and can slide back and forth on the battery cylinder 5. The second spring 12 is fitted onto the rear of the battery cylinder 5, and the two ends of the second spring 12 are fixedly connected to the second sliding disk 13 and the rear end of the battery cylinder 5, respectively. Under the action of the second spring 12, the second sliding disk 13 can slide towards the nose, causing the rear wing 4 to deploy.

[0029] The arm-wing connector 14 is fixedly installed at the front end of the battery pack 5. Two arms 3 are respectively installed at the upper and lower ends of the arm-wing connector 14. The head of the arm 3 is rotatably connected to the arm-wing connector 14, and the position near the head is rotatably connected to the first sliding disk 9 through the self-locking structure 15. As the first sliding disk 9 slides towards the nose, the arm 3 gradually unfolds. The tail of the arm 3 is equipped with a rotor 17 through a rotor drive motor. Since the airflow direction of the front wing 2 is the same as the folding direction of the arm 3, the self-locking structure 15 can also realize the unfolding of the arm 3. The self-locking mechanism keeps the arm 3 and the first sliding disk 9 relatively fixed to ensure the stability of the arm 3 and the forewing 2. As the first sliding disk 9 slides towards the tail, the arm 3 gradually folds. After folding, the first hook 3-1 of the arm 3 engages with the corresponding claw 7-1 on the chuck 7. That is, in the folded state, the chuck 7 and the arm 3 are engaged together. The chuck 7 slides towards the nose to disengage the chuck 7 from the arm 3, releasing the arm 3. The first spring 10 returns to its original length and pushes the first sliding disk 9 towards the nose to unfold the arm 3.

[0030] The left and right sides of the arm wing connector 14 are symmetrically provided with end ears 14-1 bent towards the nose. One side of each of the two forewings 2 is rotatably connected to the end of the corresponding end ear 14-1 via a first optical axis. To reduce the axial force on the end ear 14-1, a thrust bearing is provided between the first optical axis and the end ear 14-1. A rotor 17 is mounted on the middle of the front end of each forewing 2 via a rotor drive motor. The bottom of the front end of each of the two forewings 2 is rotatably connected to one end of the corresponding double ball joint connecting rod 16. The other ends of the two double ball joint connecting rods 16 are respectively connected to the left and right sides of the first sliding disk 9. The two sides are rotatably connected; during the sliding of the first sliding disk 9 towards the tail, the first sliding disk 9 drives the front wing 2 to rotate in space around the first optical axis through the double ball joint connecting rod 16, realizing the folding of the front wing 2; during the sliding of the first sliding disk 9 towards the nose, the first sliding disk 9 drives the front wing 2 to rotate in the opposite direction around the first optical axis through the double ball joint connecting rod 16, realizing the unfolding of the front wing 2; the first sliding disk 9 realizes the coupling of the two arms 3 and the two front wings 2, and the sliding of the first sliding disk 9 realizes the simultaneous unfolding or folding of the arms 3 and the front wings 2;

[0031] Symmetrically positioned on the left and right sides of the rear end of the battery pack 5 are lugs 5-1 bent towards the tail. The two rear wings 4, near their sides, are rotatably connected to the ends of their respective lugs 5-1 via a second optical axis. A thrust bearing is provided between the second optical axis, the rear wings 4, and the lugs 5-1. One end corner of each of the two rear wings 4 is fixedly connected to a fork-shaped hinge seat of a corresponding Hooke hinge 18. The other fork-shaped hinge seats of the two Hooke hinges 18 are connected to the ends of corresponding single-ball joints. The ball head is rotatably connected to the left and right sides of the second sliding disk 13 respectively; as the second sliding disk 13 slides towards the nose, the second sliding disk 13 drives the rear wing 4 to rotate in space around the second optical axis, realizing the deployment of the rear wing 4; as the second sliding disk 13 slides towards the tail, the rear wing 4 rotates in the opposite direction around the second optical axis, realizing the folding of the rear wing 4; after folding, the second hook 4-1 on the rear wing 4 engages with the corresponding claw 7-1 on the chuck 7.

[0032] The self-locking structure 15 includes a first connecting rod 15-1, a second connecting rod 15-2, and a third connecting rod 15-3. One end of the first connecting rod 15-1 is rotatably connected to the arm 3 near the head, and the other end is rotatably connected to the first sliding disk 9. One end of the second connecting rod 15-2 is rotatably connected to the arm 3, and the connection position is between the head of the arm 3 and the connection point between the arm wing connector 14 and the first connecting rod 15-1. The other end of the second connecting rod 15-2 is rotatably connected to one end of the third connecting rod 15-3, and the other end of the third connecting rod 15-3 is rotatably connected to the arm wing connector 14. During the deployment of the arm 3, the connecting rods of the self-locking structure 15 are linked together. When the second connecting rod 15-2 and the third connecting rod 15-3 are collinear, the self-locking structure 15 is in a dead position to achieve self-locking, ensuring the stability of the arm 3 after deployment.

[0033] Figure 7 The diagram shows a simplified representation of the self-locking mechanism. Points E and F are the connection points of link 15-1 with arm 3 and sliding disk 9, respectively. Points C and B are the connection points of link 25-2 with arm 3 and link 35-3, respectively. Point A is the connection point of link 35-3 with arm-wing connector 14. Point D is the connection point of arm 3 with arm-wing connector 14. When arm 3 is fully extended, it is equivalent to point C rotating around point D. When line segments AB and BC are collinear and line segment CD is vertical, arm 3 is fully extended and the self-locking mechanism is in a dead position.

[0034] The rear of the front wing 2 is provided with an aileron 2-1, which is connected to a servo motor located on the main structure of the front wing 2. The servo motor enables the rotation between the aileron 2-1 and the main structure of the front wing 2. The aileron 2-1 is used to assist in the adjustment of the aircraft fuselage.

[0035] The deployment and folding principles of the forewing 2 and the rear wing 4 are the same. Taking the forewing as an example... Figure 8 This is a simplified diagram of the mechanism for folding and unfolding the forewing. In the diagram, frame a corresponds to the arm wing connector, wing rotation axis b corresponds to the first optical axis, link c corresponds to the forewing, link d corresponds to the double ball joint connecting rod, slider link e corresponds to the first sliding disk, and frame f corresponds to the battery tube. During the reciprocating linear motion of slider link e along frame f, it drives link c to move through link d, so that link c can only rotate around the wing rotation axis b, thus realizing the folding and unfolding of the forewing 2.

[0036] The working principle and workflow of this invention are as follows:

[0037] The aircraft can be launched manually or using a launcher. Initially in the folded state, the front wing 2 wraps around the rear wing 4, springs 10 and 12 are compressed, the chuck return spring 11 is in its natural state, and the first hook 3-1 of the arm 3 and the second hook 4-1 of the rear wing 4 engage with the corresponding claws 7-1 of the chuck 7.

[0038] When deployment is required, linear motor 6 is activated, driving chuck 7 to move slightly towards the nose, disengaging the first hook 3-1 of arm 3 and the second hook 4-1 of rear wing 4 from the chuck 7's jaws 7-1, enabling rapid release of arm 3 and rear wing 4 and giving the aircraft a rapid response capability. During this process, chuck return spring 11 is compressed. After the first hook 3-1 of arm 3 and the second hook 4-1 of rear wing 4 disengage from chuck 7's jaws 7-1, linear motor 6 stops working, and chuck 7 resets under the action of chuck return spring 11. The first sliding disk 9 slides towards the nose under the action of the first spring 10, driving the self-locking structure 15... The linkage of the links causes the arm 3 to rotate, thus unfolding the arm 3. At the same time, the double ball joint connecting rod 16 drives the front wing 2 to rotate in space around the first optical axis, so that the front wing 2 and the arm 3 unfold synchronously. Meanwhile, the second sliding disk 13 slides towards the nose under the action of the second spring 12. The second sliding disk 13 drives the rear wing 4 to rotate in space around the second optical axis through the Hooke hinge 18 and the single ball joint connecting rod, so that the rear wing 4 unfolds. After the arm 3, the front wing 2 and the rear wing 4 are fully unfolded, the four rotors 17 are located in the same plane. Then the rotor drive motor is started to make the rotors 17 rotate. The rotation of the rotors 17 generates thrust, providing power for the flight of the aircraft.

[0039] When folding is required, manually push the first sliding disk 9 towards the tail. Arm 3 rotates in the opposite direction under the action of the self-locking structure 15, and the forewing 2 rotates in the opposite direction around the first optical axis under the action of the double ball joint connecting rod 16, achieving synchronous folding of arm 3 and forewing 2. When the first hook 3-1 of arm 3 engages with the corresponding claw 7-1 of chuck 7, the folding of arm 3 and forewing 2 is completed. Similarly, manually push the second sliding disk 13 towards the tail. The rear wing 4 rotates in the opposite direction around the second optical axis under the action of the Hooke hinge 18 and the single ball joint connecting rod, causing the rear wing 4 to fold. When the second hook 4-1 of the rear wing 4 engages with the corresponding claw 7-1 of chuck 7, the folding of the rear wing 4 is completed.

[0040] The aircraft operates in two modes: vertical takeoff and landing (VTOL) and horizontal flight. In VTOL mode, the fuselage is vertical, the rotors 17 are parallel to the ground, and the landing gear 19 and rear wing 4 together form the aircraft's landing gear, enabling stable VTOL takeoff and landing. All four rotors 17 rotate at the same speed, generating thrust in the same direction as the aircraft's movement, thus achieving VTOL. In horizontal flight mode, the aircraft needs to adjust the rotation speed of the four rotors 17 and use the ailerons 2-1 to assist in tilting the fuselage, gradually adjusting the fuselage from vertical to horizontal, thereby achieving horizontal flight. Once the aircraft completes the transition from vertical takeoff to horizontal flight, the ailerons 2-1 stop rotating, functioning like a traditional fixed-wing aircraft to maintain stability, while the four rotors 17 rotate to provide the thrust required for flight.

[0041] Any aspects not covered in this invention are applicable to existing technologies.

Claims

1. A portable foldable tandem-wing aircraft, characterized in that, The aircraft includes a frame, front wing, arms, rear wing, battery pack, linear motor, chuck, mounting base, first sliding plate, first spring, chuck return spring, second spring, second sliding plate, arm-wing connector, self-locking structure, and double ball joint connecting rod. The battery cylinder is located inside the frame, with the mounting base and chuck located in the middle of the battery cylinder. The chuck is connected to the output shaft of the linear motor and can reciprocate on the battery cylinder. A chuck return spring is located on the battery cylinder and connected to the mounting base and chuck. A first sliding disc is slidably mounted on the front end of the battery cylinder. A first spring is located on the battery cylinder and connected to the first sliding disc and the mounting base. In the folded state, the first spring is compressed, and under the action of the first spring, the first sliding disc slides towards the head of the machine. A second sliding disc is slidably mounted on the rear end of the battery cylinder. A second spring is located at the rear of the battery cylinder and connected to the second sliding disc and the battery cylinder. Under the action of the second spring, the second sliding disc slides towards the head of the machine. The arm wing connector is located at the front end of the battery cylinder. The upper and lower ends of the wing connector are respectively connected to the arm. The head of the arm is rotatably connected to the arm-wing connector and simultaneously rotatably connected to the first sliding disk through a self-locking structure. A rotor is installed at the tail of the arm. The left and right sides of the arm-wing connector are respectively rotatably connected to the front wings. A rotor is installed in the middle of the front end of each front wing. The bottom of the front end of the two front wings is rotatably connected to one end of the corresponding double ball joint connecting rod. The other ends of the two double ball joint connecting rods are respectively rotatably connected to the left and right sides of the first sliding disk. The two rear wings are respectively rotatably connected to the lugs on both sides of the rear end of the battery pack. The two rear wings are respectively rotatably connected to the left and right sides of the second sliding disk. In the folded state, the arm and the rear wings are locked together with the chuck. The arm wing connector has symmetrical lugs bent towards the nose on the left and right sides. One side of the front wing is rotatably connected to the end of the corresponding lug via a first optical axis. The first sliding disk slides towards the tail and drives the front wing to rotate in space around the first optical axis via a double ball joint, thus folding the front wing. The first sliding disk slides towards the nose to unfold the front wing. The battery pack has symmetrical lugs bent towards the tail on the left and right sides at the rear end. The two rear wings are rotatably connected to the ends of the corresponding lugs via the second optical axis near their sides. One end of each of the two rear wings is fixedly connected to a fork-shaped hinge seat of a corresponding Hooke hinge. The other fork-shaped hinge seat of each of the two Hooke hinges is connected to the end of the corresponding single ball joint. The ball joints of the two single ball joints are rotatably connected to the left and right sides of the second sliding disk. The second sliding disk slides towards the nose, causing the rear wings to rotate in space around the second optical axis, thus unfolding the rear wings. The second sliding disk slides towards the tail, thus folding the rear wings.

2. The portable foldable tandem-wing aircraft according to claim 1, characterized in that, The self-locking structure includes a first link, a second link, and a third link; one end of the first link is rotatably connected to the arm near the head, and the other end is rotatably connected to the first sliding disk; one end of the second link is rotatably connected to the arm, and the connection position is located between the arm head and the connection point of the arm wing connector and the first link; the other end of the second link is rotatably connected to one end of the third link, and the other end of the third link is rotatably connected to the arm wing connector; when the second and third links are collinear, the self-locking structure is in a self-locking state.

3. The portable foldable tandem-wing aircraft according to claim 1 or 2, characterized in that, The rear part of the forewing is provided with an aileron, which is rotatably connected to the main structure of the forewing via a servo motor.

4. The portable foldable tandem-wing aircraft according to claim 1, characterized in that, The rear end of the frame is equipped with landing gear, which, together with the rear wing, serves as the landing gear for the aircraft's vertical takeoff and landing.

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