Wing folding and unfolding device for small and medium-sized folding wing unmanned aerial vehicle

Abstract

The wing folding and unfolding device comprises a right wing unfolding module, a left wing unfolding module, a damping module, a middle shaft and a torsional spring, the right wing unfolding module is composed of an upper fixing nut, an upper fixing plate, a right wing supporting piece, a right wing steering engine, an upper spring plunger, an upper electromagnetic push rod, a lower fixing nut, a lower spring plunger, a lower electromagnetic push rod and a lower electromagnetic push rod; the left wing unfolding module is composed of a lower fixing nut, a lower fixing plate, a left wing supporting piece, a left wing steering engine, a lower spring plunger, a lower electromagnetic push rod, a lower fixing bearing and a bearing clamping ring, and the damping module comprises a contact piece, a pressing ring, a damping spring and a shell. The wing can be unfolded by controlling stretching and retracting of the upper electromagnetic push rod and the lower electromagnetic push rod, the wing unfolding position can be locked through the upper spring plunger and the lower spring plunger, and the wing unfolding device is high in structural integration degree, high in reliability, low in production cost and suitable for popularization and application. And the manufacturing speed and the use portability of the unmanned aerial vehicle and the flight safety of the unmanned aerial vehicle are greatly improved.

Description

Technical Field

[0001] The present invention relates to the technical field of folding-wing UAVs, and in particular to a wing folding and unfolding device for small and medium-sized folding-wing UAVs. Background Art

[0002] In modern warfare, drones have become an important component. In the use of drones, lightness, speed and high performance have become inevitable requirements. In the process of use, in order to improve the aerodynamic performance of drones, drones generally have a larger wingspan. In order to make drones easier to transport, reduce the launch volume of drones, and improve portability, the wings must be able to fold when the drone is launched. Therefore, designing a safe and reliable drone folding and unfolding device has become a top priority.

[0003] Small UAVs used on the battlefield are often disassembled for transportation and installed and debugged when in use. However, the pace of modern warfare is fast, and later installation and debugging takes a lot of time, which cannot adapt to the fast-paced characteristics of the battlefield. The existing folding device has low integration and incomplete functions, and cannot achieve modular and quick disassembly and assembly of the wings, which greatly increases the debugging time of the UAV. The existing folding device has too many manufacturing parts, which greatly increases the production cost. The folding device that uses high-pressure gas and pyrotechnics as power sources is not only dangerous but can generally only be unfolded once and cannot be unfolded multiple times. The folding device that uses an electric motor as a power source has a slow wing unfolding speed, a complex structure and low reliability.

[0004] There is currently no very effective solution to the relevant technical issues. Summary of the invention

[0005] In view of the defects and shortcomings in the prior art, the technical problem solved by the present invention is to propose a wing folding and unfolding device for a small unmanned aerial vehicle, which has high integration, fast response speed, reusability, low cost, safety and reliability, and can stably realize wing unfolding.

[0006] The present invention is used to quickly install the wing on the fuselage of the unmanned aerial vehicle to realize the folding and unfolding of the wing. In order to achieve the above-mentioned purpose, the present invention is implemented through the following technical scheme: a wing folding and unfolding device for small and medium-sized folding-wing unmanned aerial vehicles, characterized in that it includes a right wing unfolding module 1, a left wing unfolding module 2, a shock absorbing module 3, an intermediate shaft 4, and a torsion spring 5. The wing unfolding time during use is within 500ms. The right wing unfolding module 1 is composed of an upper fixing nut 11, an upper fixing plate 12, a right wing supporting sheet 17, a right wing servo 14, a right wing servo adapter 15, a right wing servo adapter fixing screw 16, an upper spring plunger 18, an upper electromagnetic push rod 19, and an upper fixed bearing 13. The left wing unfolding module 2 is composed of a lower fixing nut 27, a lower fixing plate 28, a left The wing support plate 29, the left wing servo 24, the left wing servo adapter 25, the left wing servo adapter fixing screw 26, the lower spring plunger 23, the lower electromagnetic push rod 210, the lower fixed bearing 21, and the bearing retaining ring 22 are composed. The right wing deployment module 1 and the left wing deployment module 2 are fixed on the intermediate shaft 4 through the upper fixed bearing 13 and the lower fixed bearing 21 by interference fit. The axial positioning of the left wing deployment module 2 and the right wing deployment module 1 during installation is achieved through the shaft shoulder on the intermediate shaft 4. The torsion spring 5 is installed in the torsion spring installation groove inside the left wing deployment module 2 and the right wing deployment module 1 through an embedded installation method. There is a countersunk hole on the lower fixed plate 28. The shock absorption module 3 is installed on the lower fixed plate 28 in the left wing deployment module 2 by screw fixing.

[0007] Furthermore, the right wing support plate 17 is provided with a servo mounting groove, the mounting groove includes an M1.6 threaded hole, the right wing servo 14 is fixed in the servo mounting groove by screw fixing, the surface of the right wing support plate 17 has an M8 threaded hole, the upper spring plunger 18 is installed on the right wing support plate 17 by threaded connection, the upper fixed bearing 13 is installed in the middle hole of the right wing support plate 17, the upper electromagnetic push rod 19 is installed on the upper fixed plate 12 by screw fixing, and the middle part of the right wing support plate 17 has a limited stop block There is an arc-shaped limit groove in the middle of the upper fixed plate 12, and the limit block in the middle of the right wing support piece 17 is embedded in the arc-shaped limit groove in the middle of the upper fixed plate 12 to limit the rotation angle of the right wing support piece 17. The upper fixed plate 12 is provided with a stud 7 and a pin hole 5. The relative position of the present invention and the UAV frame is fixed by a locating pin. The present invention can be stably connected to the small fixed UAV frame by bolt connection. When the right wing deployment module 1 is installed, the upper fixing nut 11 is used to press the right wing deployment module 1 onto the intermediate shaft 4.

[0008] Furthermore, the left wing support piece 29 is provided with a servo mounting groove, the mounting groove includes an M1.6 threaded hole, and the left wing servo 24 is fixed in the servo mounting groove by screw fixing. The surface of the left wing support piece 29 has an M8 threaded hole, the lower spring plunger 23 is installed on the left wing support piece 29 by threaded connection, the upper fixed bearing 13 is installed in the middle hole of the right wing support piece 17, the lower electromagnetic push rod 210 is installed on the lower fixed plate 28 by screw fixing, the middle part of the left wing support piece 29 has a limited position block, and the upper fixed The fixed plate 12 has an arc-shaped limit groove in the middle, and the limit block in the middle of the right wing support piece (17) is embedded in the arc-shaped limit groove in the middle of the upper fixed plate (12) to limit the rotation angle of the right wing support piece (17). The bearing clamping ring 22 is used to separate the lower fixed bearing 21 from the lower fixed plate 28. When the left wing deployment mechanism 2 is installed, the lower fixed bearing 21 is limited to prevent the lower fixed bearing 21 from falling off the intermediate shaft 4. When the right wing deployment module 1 is installed, the upper fixed nut 11 is used to press the right wing deployment module 1 onto the intermediate shaft 4.

[0009] Furthermore, the shock absorbing module 3 includes a contact piece 31, a clamping ring 32, a shock absorbing spring 33, and a shell 34; during the wing unfolding process, the shock absorbing spring 33 will be compressed after the contact piece 31 is impacted, thereby absorbing the impact force generated when the right wing support piece 17 and the left wing support piece 29 rotate; the basic dimensions of the shock absorbing spring 33 are: the number of turns is 14, the wire diameter is 1mm, the middle diameter is 11mm, the height is 28mm, and the spring force range that can be provided is 3 to 6Kg.

[0010] Furthermore, the basic dimensions of the torsion spring 5 are: number of turns is 4, wire diameter is 3.5 mm, median diameter is 30 mm, arm length is 20 mm, and the spring force range that can be provided is 10 to 30 kg.

[0011] Furthermore, in order to improve the integration of the present invention and reduce the deployment resistance, the upper fixed bearing 13 and the lower fixed bearing 21 both use the same type of double-row ball bearings, with basic dimensions of: outer ring size 21mm, inner ring size 12mm, thickness 8mm.

[0012] Furthermore, in order to reduce the thickness of the present invention, the upper fixing nut 11 and the lower fixing nut 27 both adopt the same type of small hexagonal extra flat fine pitch nut, and the basic dimensions are: thread diameter M10, thickness 1mm.

[0013] Furthermore, in order to achieve the fixation of the wing after unfolding and reduce the procurement cost, the upper spring plunger 18 and the lower spring plunger 23 are of the same model, with basic dimensions: the outer surface thread is M6, the overall length is 10mm, the length when the plunger is fully extended is 3mm, and the diameter is 2.5mm.

[0014] Furthermore, in order to reduce procurement costs, the upper electromagnetic push rod 19 and the lower electromagnetic push rod 210 are of the same model, consisting of a metal shell, a push rod, an electromagnetic coil, and a wire; the basic dimensions are: an overall length of 31mm, a width of 11mm, a height of 12mm, an M2 threaded hole is provided on the metal shell, a push rod stroke of 4mm, a push rod diameter of 4mm, and a power-on time of ≤3s.

[0015] Compared with the prior art, the present invention has the following advantages: the present invention adopts a spring as a power source, avoiding the use of dangerous power sources such as compressed gas and pyrotechnics, and adopts spring embedded installation, which not only effectively reduces the size of the mechanism, making the wing deployment process more efficient, but also improves safety and deployment reliability.

[0016] The present invention adopts a quick interface installation, so that the connection with the fuselage becomes convenient and quick, and the connection with the wing also becomes faster, thereby improving the convenience of installation and use.

[0017] The present invention is internally designed with a shock absorbing module 3, so that the impact of the wing after unfolding can be significantly reduced, and the wing unfolding angle can also be developed, and redundant limit is added, making the device more reliable.

[0018] The present invention has high integration, simple structure, small external dimensions, few internal manufacturing parts, and most of all parts are standard parts, which greatly reduces the manufacturing cost and has great advantages in production and manufacturing. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0020] Figure 1 The present invention is a schematic diagram of the folded state of a wing folding and unfolding device for small and medium-sized folding-wing UAVs.

[0021] Figure 2 The diagram is a top view of a wing folding and unfolding device for a small or medium-sized folding-wing UAV in a folded state.

[0022] Figure 3 The figure is an overall structural diagram of a right wing deployment module in a wing folding and deployment device for small and medium-sized folding-wing UAVs.

[0023] Figure 4 The figure is an overall structural diagram of a left wing deployment module in a wing folding and deployment device for small and medium-sized folding-wing UAVs.

[0024] Figure 5 The figure is an overall structural diagram of a shock absorbing mechanism in a wing folding and unfolding device for small and medium-sized folding-wing UAVs.

[0025] Figure 6 The figure is an overall structural diagram of a wing folding and unfolding device for small and medium-sized folding-wing UAVs.

[0026] Figure 7 The present invention is a side view of a wing folding and unfolding device for a small or medium-sized folding-wing UAV in a folded state.

[0027] Figure 8 For the corresponding Figure 7 AA cross-section diagram.

[0028] In the figure: 1. Right wing deployment module; 2. Left wing deployment module; 3. Shock absorption module; 4. Intermediate shaft; 5. Torsion spring; 6. Positioning pin hole; 7. Fixing stud; 8. Electrical interface; 9. Wing plug interface; 11. Upper fixing nut; 12. Upper fixing plate; 13. Upper fixing bearing; 14. Right wing servo; 15. Right wing servo adapter; 16. Right wing servo adapter fixing screw; 17. Right wing support plate; 1 8. Upper spring plunger; 19. Upper electromagnetic push rod; 21. Lower fixed bearing; 22. Bearing retaining ring; 23. Lower spring plunger; 24. Left wing servo; 25. Left wing servo adapter; 26. Left wing servo adapter fixing screw; 27. Lower fixing nut; 28. Lower fixing plate; 29. ​​Left wing support plate; 210. Lower electromagnetic push rod; 31. Contact plate; 32. Clamping ring; 33. Shock-absorbing spring; 34. Housing. DETAILED DESCRIPTION

[0029] In order to facilitate the understanding of the present invention, the present invention will be described more comprehensively below with reference to the relevant accompanying drawings, in which preferred embodiments of the present invention are shown.

[0030] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by technicians in the technical field to which the present invention belongs. The terms used in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "and / or" used herein includes any and all combinations of one or more related listed items.

[0031] When describing a positional relationship, unless otherwise specified, when an element is referred to as being "on" another element, it can be directly on the other element or there may be intermediate elements. It can also be understood that when an element is referred to as being "between" two elements, it can be the only one between the two elements, or there may be one or more intermediate elements.

[0032] In the case of using “including,” “having,” and “comprising” described in this document, unless clear limiting terms such as “only,” “consisting of,” etc. are used, another component may be added, and unless mentioned otherwise, a term in the singular form may include plural forms and cannot be understood as being one in number.

[0033] In addition, the drawings are not drawn to a 1:1 scale, and the relative sizes of the elements in the drawings are drawn only as examples and not necessarily according to the true scale.

[0034] like Figure 1 , 2 shows a wing folding and unfolding device for small and medium-sized folding-wing UAVs, wherein Figure 1 The wing is shown in the state where it has been installed. When in use, its deployment time is within 500ms. It includes a right wing deployment module 1, a left wing deployment module 2, a shock absorbing module 33, an intermediate shaft, and a torsion spring 5. The intermediate shaft includes an upper and a lower end, the shorter end being the upper end, and the longer end being the lower end. There is a shoulder in the middle of the intermediate shaft, and the shoulder is used for axial positioning when installing the left wing deployment module 2 and the right wing installation module. The left wing deployment module 2 is installed from bottom to top until it contacts the intermediate shaft, and the torsion spring 5 is installed from top to bottom until it is inserted into the torsion spring 5 installation groove of the left wing deployment module 2. The shock absorbing module 3 is fixed to the rear of the right wing deployment module 1 by M2×3 countersunk screws. The right wing deployment module 1 is installed from the upper end of the intermediate shaft to the bottom until it contacts the intermediate shaft.

[0035] like Figure 3 As shown, the right wing deployment module 1 includes an upper fixing nut 11, an upper fixing plate 12, a right wing support plate 17, a right wing servo 14, a right wing servo adapter 15, an upper spring plunger 18, an upper electromagnetic push rod 19, and an upper fixed bearing 13. The right wing servo 14 is installed in the servo installation groove of the right wing support plate 17, the ear of the right wing servo 14 is aligned with the M1.6 threaded hole on the right wing support plate 17, and is fixed with M1.6×4 screws, the right wing servo 14 adapter is inserted into the servo spline, and the right wing servo adapter 15 is fixed to the right wing servo with M1.6×4 screws. On the machine 14, install the upper fixed bearing 13 into the middle circular hole of the right wing support piece 17, install the upper spring plunger 18 into the M6 ​​threaded hole on the right wing support piece 17, at this time the plunger faces upward, the bottom surface of the plunger coincides with the ground of the support piece, connect the upper electromagnetic push rod 19 to the upper fixed plate 12, align the M2 threaded hole on the upper electromagnetic push rod 19 with the countersunk hole on the upper fixed plate 12, and fix it with M2×3 countersunk screws, install the upper fixed plate 12 from top to bottom, so that the upper electromagnetic push rod 19 is stuck in the rear fixing hole of the right wing support piece 17, and the boss on the right wing support piece 17 is embedded in the arc groove of the upper fixed plate 12.

[0036] like Figure 4As shown, the left wing deployment module 2 includes a lower fixing nut 27, a lower fixing plate 28, a left wing support sheet 29, a left wing servo 24, a left wing servo adapter 25, a left wing servo adapter fixing screw 26, a lower spring plunger 23, a lower electromagnetic push rod 210, a lower fixed bearing 21, and a bearing snap ring 22. The left wing servo 24 is installed in the servo installation groove of the left wing support sheet 29, the ear of the left wing servo 24 is aligned with the M1.6 threaded hole on the left wing support sheet 29, and is fixed with M1.6×4 screws, the left wing servo adapter 25 is inserted into the servo spline, and the left wing servo is fixed with M1.6×4 screws. The adapter 25 is fixed on the left wing servo 24, the left fixed bearing is installed into the circular hole in the middle of the left wing mounting plate, the lower spring plunger 23 is installed into the M6 ​​threaded hole on the left wing support plate 29, the lower electromagnetic push rod 210 is connected to the lower fixed plate 28, the M2 threaded hole on the lower electromagnetic push rod 210 is aligned with the countersunk hole on the lower fixed plate 28, and fixed with M2×3 screws, the bearing retaining ring 22 is installed from bottom to top until the retaining ring contacts the bearing, and the lower fixed plate 28 is installed from bottom to top so that the lower electromagnetic push rod 210 is inserted into the rear fixing hole of the left wing support plate 29, and the boss on the left wing support plate 29 is embedded in the arc groove of the upper fixed plate 12.

[0037] like Figure 5 As shown, the shock absorber includes a contact piece 31, a clamping ring 32, a shock absorbing spring 33, and a shell 34. The basic dimensions of the shock absorbing spring 33 are: the number of turns is 14, the wire diameter is 1mm, the middle diameter is 11mm, the height is 28mm, and the spring force range provided is 3 to 6Kg. The shock absorbing spring 33 is installed in the shell 34, and then the contact piece 31 is installed in the shell 34. The clamping ring 32 has a thread on the outside and is installed in conjunction with the inner thread of the shell 34. The clamping ring 32 can be installed in the shell 34. The clamping ring 32 needs to be completely installed in the shell 34. At this time, the shock absorbing spring 33 is compressed.

[0038] like Figure 4 , 5 As shown, the present invention adopts a specific wiring method, which can effectively prevent the device lines from being exposed outside the fuselage; the power line of the right wing servo 14 and the power line of the left wing servo 24 and the control line are connected to the cavity between the upper fixing plate 12 and the lower fixing plate 28 through the right wing support plate 17 and the left wing support servo wire groove, and are connected to the line in the fuselage through the wire connection port on the upper fixing plate 12 to prevent the line from being exposed; the power lines of the upper electromagnetic push rod 19 and the lower electromagnetic push rod 210 are connected to the cavity between the upper fixing plate 12 and the lower fixing plate 28 through the gap between the upper and lower electromagnetic push rods, and are connected to the line in the fuselage through the wire connection port on the upper fixing plate 12 to prevent the line from being exposed.

[0039] like Figure 6As shown, after the small fixed-wing UAV wing folding and unfolding device is installed, its external interface is used to connect with the UAV fuselage, the positioning pin extending from the fuselage is inserted into the positioning pin hole 5 to achieve positioning, and the stud 7 is used to achieve bolt connection with the UAV fuselage to ensure the stability of the connection. Finally, the electrical interface is connected to the internal electrical circuit of the fuselage, and the use of the small fixed-wing UAV wing folding and unfolding device can be realized.

[0040] The working process of the present invention is as follows: when the wing folding and unfolding device is in operation, the upper electromagnetic push rod 19 and the lower electromagnetic push rod 210 of the small fixed-wing UAV wing folding and unfolding device are in an extended state before unfolding, and are stuck in the electromagnetic push rod bayonet on the left wing mounting plate in the left wing unfolding module 2 and the right wing mounting plate in the right wing unfolding module 1. At this time, the left wing unfolding module 2 and the right wing unfolding module 1 are in an initial state.

[0041] When the folding and unfolding device is unfolded, the upper electromagnetic push rod 19 and the lower electromagnetic push rod 210 are energized, and the upper electromagnetic push rod 19 and the lower electromagnetic push rod 210 are contracted, and the right wing mounting plate and the left wing mounting plate are rotated under the elastic force of the torsion spring 5 to realize the unfolding of the wing.

[0042] After unfolding to the limited angle, the upper electromagnetic push rod 19 and the lower electromagnetic push rod 210 are powered off, the push rods extend out and get stuck in the side fixing holes on the left wing mounting plate and the right wing mounting plate, the spring plungers on the right wing mounting plate and the left wing mounting plate pop out and get stuck in the spring plunger holes on the upper fixing plate 12 and the lower fixing plate 28, and now the left wing unfolding module 2 and the right wing unfolding module 1 are in an unfolded and fixed state.

[0043] Before the second use, the wing fixation can be released by pressing the upper spring plunger 18 and the lower spring plunger 23 at the same time, and energizing the upper electromagnetic push rod 19 and the lower electromagnetic push rod 210. At this time, the wing can be reset to the initial folded state, which is convenient for the repeated use of the present invention.

[0044] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0045] The above-mentioned embodiments only express the implementation methods of the present invention, and the description thereof is relatively specific and detailed, but it cannot be understood as limiting the scope of the invention patent. It should be pointed out that for ordinary technicians in this field, several modifications and improvements can be made without departing from the concept of the present invention, which all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be based on the attached claims.

Claims

1. A wing folding and unfolding device for small and medium-sized folding-wing UAVs, characterized in that: The invention comprises a right wing deployment module (1), a left wing deployment module (2), a shock absorbing module (3), an intermediate shaft (4), and a torsion spring (5). When in use, the wing deployment time is within 500ms. The right wing deployment module (1) comprises an upper fixing nut (11), an upper fixing plate (12), a right wing support plate (17), a right wing steering gear (14), a right wing steering gear adapter (15), a right wing steering gear adapter fixing screw (16), an upper spring plunger (18), an upper electromagnetic push rod (19), and an upper fixed bearing (13). The left wing deployment module (2) comprises a lower fixing nut (27), a lower fixing plate (28), a left wing support plate (29), a left wing steering gear (24), a left wing steering gear adapter (25), a left wing steering gear adapter fixing screw (26), and a lower spring plunger (23). , a lower electromagnetic push rod (210), a lower fixed bearing (21), and a bearing retaining ring (22); the right wing deployment module (1) and the left wing deployment module (2) are fixed on the intermediate shaft (4) by means of interference fit through the upper fixed bearing (13) and the lower fixed bearing (21), and the axial positioning of the left wing deployment module (2) and the right wing deployment module (1) during installation is achieved through the shaft shoulder on the intermediate shaft (4); the torsion spring (5) is installed in the torsion spring installation groove inside the left wing deployment module (2) and the right wing deployment module (1) by means of an embedded installation method; there is a countersunk hole on the lower fixed plate (28), and the shock absorbing module (3) is installed on the lower fixed plate (28) in the left wing deployment module (2) by means of screw fixing.

2. The wing folding and unfolding device for a small or medium-sized folding-wing UAV according to claim 1, characterized in that: The right wing support plate (17) is provided with a steering gear installation groove, the installation groove includes an M1.6 threaded hole, and the right wing steering gear (14) is fixed in the steering gear installation groove by screw fixing; the surface of the right wing support plate (17) has an M8 threaded hole, and the upper spring plunger (18) is installed on the right wing support plate (17) by threaded connection; the upper fixed bearing (13) is installed in the middle hole of the right wing support plate (17); the upper electromagnetic push rod (19) is installed on the upper fixed plate (12) by screw fixing; the middle part of the right wing support plate (17) is provided with a limit stop block, The upper fixing plate (12) has an arc-shaped limiting groove in the middle, and the limiting block in the middle of the right wing support plate (17) is embedded in the arc-shaped limiting groove in the middle of the upper fixing plate (12), so as to limit the rotation angle of the right wing support plate (17); the upper fixing plate (12) is provided with a stud (7) and a pin hole (5), and the relative position of the present invention and the unmanned aerial vehicle frame is fixed by a positioning pin, and the present invention can be stably connected with the small fixed unmanned aerial vehicle frame by a bolt connection; when the right wing deployment module (1) is installed, the upper fixing nut (11) is used to press the right wing deployment module (1) onto the intermediate shaft (4).

3. The wing folding and unfolding device for a small or medium-sized folding-wing UAV according to claim 1, characterized in that: The left wing support plate (29) is provided with a steering gear installation groove, the installation groove includes an M1.6 threaded hole, and the left wing steering gear (24) is fixed in the steering gear installation groove by screw fixing; the surface of the left wing support plate (29) has an M8 threaded hole, and the lower spring plunger (23) is installed on the left wing support plate (29) by threaded connection; the upper fixed bearing (13) is installed in the middle hole of the right wing support plate (17); the lower electromagnetic push rod (210) is installed on the lower fixed plate (28) by screw fixing; the left wing support plate (29) has a limited position block in the middle, and the upper fixed plate (12) has a limited position block in the middle. The right wing support plate (17) has an arc-shaped limit groove, and the middle limit block of the right wing support plate (17) is embedded in the middle arc-shaped limit groove of the upper fixed plate (12) to limit the rotation angle of the right wing support plate (17); the bearing retaining ring (22) is used to separate the lower fixed bearing (21) from the lower fixed plate (28), and when the left wing deployment mechanism (2) is installed, the lower fixed bearing (21) is limited to prevent the lower fixed bearing (21) from falling off the intermediate shaft (4); when the right wing deployment module (1) is installed, the upper fixed nut (11) is used to press the right wing deployment module (1) onto the intermediate shaft (4).

4. The wing folding and unfolding device for a small or medium-sized folding-wing UAV according to claim 1, characterized in that: The shock absorbing module (3) comprises a contact piece (31), a clamping ring (32), a shock absorbing spring (33), and a shell (34); during the unfolding process of the wing, after the contact piece (31) is impacted, the shock absorbing spring (33) will be compressed to absorb the impact force generated when the right wing support piece (17) and the left wing support piece (29) rotate; the basic dimensions of the shock absorbing spring (33) are: the number of turns is 14, the wire diameter is 1mm, the middle diameter is 11mm, the height is 28mm, and the spring force range that can be provided is 3 to 6Kg.

5. The wing folding and unfolding device for a small or medium-sized folding-wing UAV according to claim 1, characterized in that: Before the present invention is deployed, the upper electromagnetic push rod (19) and the lower electromagnetic push rod (210) are in an extended state and extend into the electromagnetic push rod bayonet of the left wing mounting plate (29) and the right wing mounting plate (17). At this time, the left wing deployment module (2) and the right wing deployment module (1) are in an initial state; when the present invention is deployed, the upper electromagnetic push rod (19) and the lower electromagnetic push rod (210) are energized, the upper electromagnetic push rod (19) and the lower electromagnetic push rod (210) are contracted, and the right wing support plate (17) and the left wing support plate (29) are rotated under the drive of the torsion spring (5) elastic force to realize the deployment of the wing; after the deployment reaches a limited angle, the upper electromagnetic push rod (19) and the lower electromagnetic push rod are stopped. When the electromagnetic push rod (210) is energized, the push rod extends out and snaps into the upper side fixing holes of the left wing mounting plate (29) and the right wing mounting plate (17), and the upper spring plunger (18) and the lower spring plunger (23) pop out and snap into the spring plunger snap holes on the surface of the upper fixing plate (12) and the spring plunger snap holes on the surface of the lower fixing plate (28). At this time, the right wing deployment module (1) and the left wing deployment module (2) are in a deployed and fixed state; before secondary use, the wing fixation can be released by pressing the upper spring plunger (18) and the lower spring plunger (23) at the same time and energizing the upper electromagnetic push rod (19) and the lower electromagnetic push rod (210). At this time, the wing can be reset, so that the present invention returns to the initial folding state.

6. The wing folding and unfolding device for a small or medium-sized folding-wing UAV according to claim 1, characterized in that: The present invention comprises two servos, wherein the right wing servo (14) is mounted on the right wing support plate (17), and the left wing servo (24) is mounted on the left wing support plate (29); the servos are mounted in the servo mounting grooves on the left wing support plate (29) and the right wing support plate (17) by means of M1.6×5 screws, and the servo spline extends through the servo connection port and is connected to the wing aileron by means of a specific adapter to achieve control of the wing aileron.

7. The wing folding and unfolding device for a small or medium-sized folding-wing UAV according to claim 1, characterized in that: The basic dimensions of the torsion spring (5) are: number of turns is 4, wire diameter is 3.5 mm, median diameter is 30 mm, arm length is 20 mm, and the spring force range that can be provided is 10 to 30 kg.

8. The wing folding and unfolding device for a small or medium-sized folding-wing UAV according to claim 1, characterized in that: In order to improve the integration of the present invention and reduce the unfolding resistance, the upper fixed bearing (13) and the lower fixed bearing (21) both use double-row ball bearings of the same model, with basic dimensions of: outer ring size 21 mm, inner ring size 12 mm, and thickness 8 mm.

9. The wing folding and unfolding device for a small or medium-sized folding-wing UAV according to claim 1, characterized in that: In order to reduce the thickness of the present invention, the upper fixing nut (11) and the lower fixing nut (27) both adopt the same type of small hexagonal extra flat fine-pitch nut, with basic dimensions of: thread diameter M10, thickness 1mm.

10. The wing folding and unfolding device for a small or medium-sized folding-wing UAV according to claim 1, characterized in that: In order to fix the wings after unfolding and reduce the purchase cost, the upper spring plunger (18) and the lower spring plunger (23) are of the same model, with basic dimensions of: the outer surface thread is M6, the overall length is 10mm, the length of the plunger when fully extended is 3mm, and the diameter is 2.5mm.

11. The wing folding and unfolding device for a small or medium-sized folding-wing UAV according to claim 1, characterized in that: In order to reduce procurement costs, the upper electromagnetic push rod (19) and the lower electromagnetic push rod (210) are of the same model, consisting of a metal shell, a push rod, an electromagnetic coil, and a wire; the basic dimensions are: overall length 31mm, width 11mm, height 12mm, an M2 threaded hole is provided on the metal shell, the push rod stroke is 4mm, the push rod diameter is 4mm, and the power-on time is ≤3s.

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