A wing folding and unfolding device for medium and small folding-wing UAVs

Abstract

The present invention discloses a wing folding and unfolding device for a medium and small folding-wing unmanned aerial vehicle, which includes a right wing unfolding module, a left wing unfolding module, a shock absorption module, an intermediate shaft, and a torsion spring. The right wing unfolding module consists of an upper fixing nut, an upper fixing plate, a right wing support piece, a right wing servo, an upper spring plunger, an upper electromagnetic push rod, and an upper fixed bearing. The left wing unfolding module consists of a lower fixing nut, a lower fixing plate, a left wing support piece, a left wing servo, a lower spring plunger, a lower electromagnetic push rod, a lower fixed bearing, and a bearing snap ring. The shock absorption module includes a contact piece, a pressing ring, a shock absorption spring, and a housing. By controlling the telescopic movement of the upper electromagnetic push rod and the lower electromagnetic push rod, the unfolding of the wing can be achieved, and the locking of the wing unfolding position can be realized through the upper spring plunger and the lower spring plunger. The structure of the present invention has a high integration degree, high reliability, and low production cost, greatly improving the manufacturing speed, use portability, and flight safety of the unmanned aerial vehicle.

Description

Technical Field

[0001] The present invention relates to the technical field of folding-wing unmanned aerial vehicles, and more specifically, to a wing folding and unfolding device for medium and small-sized folding-wing unmanned aerial vehicles. Background Art

[0002] In modern warfare, unmanned aerial vehicles have become an important component. During the use of unmanned aerial vehicles, portability, speed, and high performance have become inevitable requirements. In order to improve the aerodynamic performance of unmanned aerial vehicles, unmanned aerial vehicles generally have a large wingspan. To make unmanned aerial vehicles easy to transport, reduce the launch volume of unmanned aerial vehicles, and enhance the portability of use, the wings should be able to fold when the unmanned aerial vehicle takes off. Therefore, designing a safe and reliable folding and unfolding device for unmanned aerial vehicles has become a top priority.

[0003] Small unmanned aerial vehicles used on the battlefield often adopt the method of disassembling for transportation and are installed and debugged during use. However, the pace of modern warfare is fast, and a large amount of time is required for later installation and debugging, which cannot adapt to the fast-paced characteristics of the battlefield. Existing folding devices have low integration and imperfect functions, and cannot achieve modular quick disassembly and assembly of wings, greatly increasing the debugging time of unmanned aerial vehicles. Existing folding devices have too many manufacturing parts, greatly increasing the production cost. Moreover, folding devices using high-pressure gas and pyrotechnics as power sources are not only dangerous but generally can only be unfolded once and cannot be unfolded multiple times. Folding devices using motors as power sources have a slow wing unfolding speed, complex mechanisms, and low reliability.

[0004] For the related technical problems, there is currently no very effective solution. Summary of the Invention

[0005] Aiming at the defects and deficiencies in the prior art, the technical problem solved by the present invention is to propose a wing folding and unfolding device for small unmanned aerial vehicles with high integration, fast response speed, reusable, low cost, safe and reliable, and capable of stably unfolding the wings.

[0006] The present invention is used to quickly install the wing on the UAV fuselage and realize the folding and unfolding of the wing. To achieve the above object, the present invention is realized through the following technical solutions. A wing folding and unfolding device for a medium and small folding-wing UAV, characterized in that it includes a right wing unfolding module 1, a left wing unfolding module 2, a shock absorption module 3, an intermediate shaft 4, a torsion spring 5. When in use, the wing unfolding time is within 500 ms. The right wing unfolding module 1 consists of an upper fixing nut 11, an upper fixing plate 12, a right wing support piece 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 fixing bearing 13. The left wing unfolding module 2 consists of a lower fixing nut 27, a lower fixing plate 28, a left wing support piece 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 fixing bearing 21, and a bearing snap ring 22. The right wing unfolding module 1 and the left wing unfolding module 2 are fixed on the intermediate shaft 4 by an interference fit method through the upper fixing bearing 13 and the lower fixing bearing 21. Through the shaft shoulder on the intermediate shaft 4, the axial positioning of the left wing unfolding module 2 and the right wing unfolding module 1 during installation is realized. The torsion spring 5 is installed in the torsion spring installation groove inside the left wing unfolding module 2 and the right wing unfolding module 1 by an embedded installation method. There are counterbores on the lower fixing plate 28, and the shock absorption module 3 is installed on the lower fixing plate 28 in the left wing unfolding module 2 by a screw fixing method.

[0007] Further, a servo installation groove is provided on the right wing support piece 17, and an M1.6 threaded hole is included in the installation groove. The right wing servo 14 is fixed in the servo installation groove by a screw fixing method. There is an M8 threaded hole on the surface of the right wing support piece 17, and the upper spring plunger 18 is installed on the right wing support piece 17 by a threaded connection method. The upper fixing bearing 13 is installed in the middle hole of the right wing support piece 17. The upper electromagnetic push rod 19 is installed on the upper fixing plate 12 by a screw fixing method. There is a limit block in the middle of the right wing support piece 17, and an arc-shaped limit groove is provided in the middle of the upper fixing plate 12. 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 fixing plate 12 to realize the rotation angle limit of the right wing support piece 17. There are studs 7 and pin holes 6 on the upper fixing plate 12. The relative position of the present invention and the UAV frame is fixed by a positioning pin. The stable connection between the present invention and the small fixed UAV frame can be realized by a bolt connection method. When the right wing unfolding module 1 is installed, the upper fixing nut 11 is used to press the right wing unfolding module 1 on the intermediate shaft 4.

[0008] Further, a servo mounting groove is provided on the left wing support piece 29. The mounting groove contains M1.6 threaded holes, and the left wing servo 24 is fixed in the servo mounting groove by means of screw fixation. There are M8 threaded holes on the surface of the left wing support piece 29. The lower spring plunger 23 is installed on the left wing support piece 29 by means of threaded connection. The lower fixed bearing 21 is installed in the middle hole of the left wing support piece 29. The lower electromagnetic push rod 210 is installed on the lower fixing plate 28 by means of screw fixation. There is a limit block in the middle of the left wing support piece 29, and there is an arc-shaped limit groove in the middle of the lower fixing plate 28. The limit block in the middle of the left wing support piece 29 is embedded in the arc-shaped limit groove in the middle of the lower fixing plate 28 to realize the rotation angle limit of the left wing support piece 29. The bearing snap ring 22 is used to separate the lower fixed bearing 21 from the lower fixing plate 28. When the left wing deployment module 2 is installed, the lower fixed bearing 21 is limited to prevent the lower fixed bearing 21 from falling off the middle shaft 4. When the left wing deployment module 2 is installed, the lower fixing nut 27 is used to press the left wing deployment module 2 against the middle shaft 4.

[0009] Further, the shock absorption module 3 includes a contact piece 31, a pressing ring 32, a shock absorption spring 33, and a housing 34; during the wing deployment process, after the contact piece 31 is impacted, the shock absorption spring 33 will compress to absorb the impact force generated during the rotation of the right wing support piece 17 and the left wing support piece 29; the basic dimensions of the shock absorption spring 33 are: the number of turns is 14, the wire diameter is 1 mm, the middle diameter is 11 mm, the height is 28 mm, and the spring force range that can be provided is 3-6 Kg.

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

[0011] Further, 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 adopt the same type of double-row ball bearing, and the basic dimensions are: the outer ring size is 21 mm, the inner ring size is 12 mm, and the thickness is 8 mm.

[0012] Further, 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 hexagon extra-thin fine thread nut, and the basic dimensions are: the thread diameter is M10 and the thickness is 1 mm.

[0013] Further, in order to realize the fixation of the wing after deployment and reduce the procurement cost, the upper spring plunger 18 and the lower spring plunger 23 are of the same model, and the basic dimensions are: the external surface thread is M6, the overall length is 10 mm, the length when the plunger completely extends is 3 mm, and the diameter is 2.5 mm.

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

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

[0016] The present invention adopts a quick interface installation, making the connection with the fuselage convenient and fast, and at the same time making the connection with the wing faster, improving the convenience of installation and use.

[0017] The interior of the present invention is designed with a shock absorption module 3, which can significantly reduce the impact generated by the wing after deployment. At the same time, the wing deployment angle can also be developed, increasing the redundant limit, making the device more reliable.

[0018] The present invention has a high integration degree, a simple mechanism, a small external dimension, few internal manufacturing parts, and most of all parts adopt standard parts, greatly reducing the manufacturing cost and having great advantages in production and manufacturing. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required to be used in the embodiments. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0020] Figure 1 It is a schematic diagram of the folded state of a wing folding and unfolding device for a medium and small-sized folding-wing unmanned aerial vehicle.

[0021] Figure 2 It is a top view schematic diagram of the folded state of a wing folding and unfolding device for a medium and small-sized folding-wing unmanned aerial vehicle.

[0022] Figure 3 It is an overall structure diagram of the right wing deployment module in a wing folding and unfolding device for a medium and small-sized folding-wing unmanned aerial vehicle.

[0023] Figure 4 It is an overall structure diagram of the left wing deployment module in a wing folding and unfolding device for a medium and small-sized folding-wing unmanned aerial vehicle.

[0024] Figure 5 It is an overall structural diagram of a shock absorption mechanism in a wing folding and unfolding device for medium and small-sized folding-wing unmanned aerial vehicles.

[0025] Figure 6 It is an overall structural diagram of a wing folding and unfolding device for medium and small-sized folding-wing unmanned aerial vehicles.

[0026] Figure 7 It is a side view of the folding state of a wing folding and unfolding device for medium and small-sized folding-wing unmanned aerial vehicles.

[0027] Figure 8 Corresponding to Figure 7 The sectional view of A-A.

[0028] In the figure: 1. Right wing unfolding module; 2. Left wing unfolding module; 3. Shock absorption module; 4. Intermediate shaft; 5. Torsion spring; 6. Pin hole; 7. Fixed stud; 8. Electrical interface; 9. Wing insertion 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; 18. Upper spring plunger; 19. Upper electromagnetic push rod; 21. Lower fixing bearing; 22. Bearing snap 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 piece; 32. Compression ring; 33. Shock absorption spring; 34. Outer shell. Specific implementation manners

[0029] For the convenience of understanding the present invention, the present invention will be described more comprehensively below with reference to the relevant drawings, and the preferred embodiments of the present invention are given in the drawings.

[0030] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those of ordinary skill in the technical field to which the present invention belongs. The terms used in the description of the present invention in this specification 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 of the related listed items.

[0031] When describing the 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 an intermediate element may also exist. 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 one or more intermediate elements may also exist.

[0032] In the case of using "including", "having", and "containing" described in this article, unless explicit limiting terms are used, such as "only", "consisting of", etc., another component can also be added. Unless otherwise mentioned, terms in the singular form can include the plural form and should not be understood as having a quantity of one.

[0033] In addition, the drawings are not drawn to a 1:1 scale, and the relative dimensions of each component are only drawn by way of example in the drawings and are not necessarily drawn to the actual scale.

[0034] As Figure 1 shown in FIG. 2, a wing folding and unfolding device for a medium and small folding-wing unmanned aerial vehicle, wherein Figure 1 shown in FIG. is the state where the wings are already installed. During use, its unfolding time is within 500 ms, including a right wing unfolding module 1, a left wing unfolding module 2, a shock absorption module 33, an intermediate shaft, a torsion spring 5. The intermediate shaft includes upper and lower ends. The shorter end is the upper end, and the longer one is 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 unfolding module 2 and the right wing installation module. The left wing unfolding module 2 is installed from bottom to top until it contacts the intermediate shaft axially. The torsion spring 5 is installed from top to bottom until it is snapped into the torsion spring 5 installation groove of the left wing unfolding module 2. The shock absorption module 3 is fixed to the rear of the right wing unfolding module 1 by M2×3 countersunk head screws. The right wing unfolding module 1 is installed from the upper end of the intermediate shaft downwards until it contacts the intermediate shaft axially.

[0035] As Figure 3 shown, the right wing unfolding module 1 includes an upper fixing nut 11, an upper fixing plate 12, a right wing support piece 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. Install the right wing servo 14 into the servo installation groove of the right wing support piece 17. Align the lugs of the right wing servo 14 with the M1.6 threaded holes on the right wing support piece 17 and fix them with M1.6×4 screws. Insert the adapter of the right wing servo 14 into the servo spline and fix the right wing servo adapter 15 to the right wing servo 14 with M1.6×4 screws. 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 upwards and the bottom surface of the plunger coincides with the ground surface of the support piece. Connect the upper electromagnetic push rod 19 with the upper fixing plate 12. Align the M2 threaded hole on the upper electromagnetic push rod 19 with the counterbore on the upper fixing plate 12 and fix them with M2×3 countersunk head screws. Install the upper fixing plate 12 from top to bottom so that the upper electromagnetic push rod 19 is snapped into 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-shaped groove of the upper fixing plate 12.

[0036] As 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 support 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 in the figure, after the wing folding and unfolding device of the small fixed-wing UAV is installed, it is connected to the UAV fuselage through its external interface. The positioning pin protruding from the fuselage is inserted into the positioning pin hole 6 for positioning, and the stud 7 is used to realize 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 wing folding and unfolding device of the small fixed-wing UAV can be realized.

[0040] The working process of the present invention is as follows: When the wing folding and unfolding device is operating, before the small fixed-wing UAV wing folding and unfolding device unfolds, the upper electromagnetic push rod 19 and the lower electromagnetic push rod 210 are in the extended state and are stuck in the electromagnetic push rod bayonets on the left wing support piece in the left wing unfolding module 2 and the right wing support piece 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 the initial state.

[0041] When the folding and unfolding device unfolds, by energizing the upper electromagnetic push rod 19 and the lower electromagnetic push rod 210, the upper electromagnetic push rod 19 and the lower electromagnetic push rod 210 contract, and the right wing support piece and the left wing support piece rotate under the drive of the elastic force of the torsion spring 5 to realize the unfolding of the wing.

[0042] After unfolding to the limited angle, at this time, stop energizing the upper electromagnetic push rod 19 and the lower electromagnetic push rod 210, and the push rod extends and is stuck in the side fixing holes on the left wing support piece and the right wing support piece. The spring plungers on the right wing support piece and the left wing support piece pop out and are stuck in the spring plunger holes on the upper fixing plate 12 and the lower fixing plate 28. At this time, the left wing unfolding module 2 and the right wing unfolding module 1 are in the unfolded and fixed state.

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

[0044] The technical features of the above embodiments can be combined arbitrarily. For the sake of brevity of description, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, it should be considered as the scope recorded in this specification.

[0045] The above-described embodiments merely represent the implementation manners of the present invention. The description is relatively specific and detailed, but it should not be construed as a limitation on the scope of the invention patent. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present invention, several modifications and improvements can still be made, and these all fall within the protection scope of the present invention. Therefore, the protection scope of the present invention patent shall be subject to the appended 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), a torsion spring (5), a pin hole (6), and a stud (7). 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 supporting plate (17), a right wing steering gear (14), a right wing steering gear adapter (15), and a right wing steering gear adapter. The left wing deployment module (2) is composed of 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), a lower spring plunger (23), a lower electromagnetic push rod (210), and a lower fixing bearing (13); the left wing deployment module (2) is composed of 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), a lower spring plunger (23), a lower electromagnetic push rod (210), and a lower fixing The invention relates to a mechanical device for locating a right wing deployment module (1) and a right wing deployment module (2). The right wing deployment module (1) and the right wing deployment module (2) are composed of a bearing (21) and a bearing retaining ring (22); the shock absorbing module (3) comprises a contact sheet (31), a clamping ring (32), a shock absorbing spring (33) and a housing (34); 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); 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; the lower fixed plate (28) is provided with a countersunk hole, 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; Before the device is deployed, the upper electromagnetic push rod (19) and the lower electromagnetic push rod (210) are in an extended state and extend into the upper electromagnetic push rod slots of the left wing support plate (29) and the right wing support 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 device 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 driven by the elastic force of the torsion spring (5) to achieve wing deployment; after the wing is deployed to a specified angle, the upper electromagnetic push rod (19) and the lower electromagnetic push rod (210) are stopped. When the lower electromagnetic push rod (210) is energized, the push rod extends out and snaps into the upper side fixing holes of the left wing support plate (29) and the right wing support 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 to return the device to the initial folding state.

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) has a limited position block, the An arc-shaped limiting groove is provided in the middle of the upper fixing plate (12), 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); a stud (7) and a pin hole (6) are provided on the upper fixing plate (12), and the relative position of the device and the UAV frame is fixed by a positioning pin, and the device 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).

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 lower fixed bearing (21) is installed in the middle hole of the left wing support plate (29); 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 limiting block in the middle, and the lower fixed plate (28) has a limiting block in the middle. The left wing support plate (29) has an arc-shaped limit groove, and the middle limit block of the left wing support plate (29) is embedded in the middle arc-shaped limit groove of the lower fixed plate (28) to limit the rotation angle of the left wing support plate (29); 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 module (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 left wing deployment module (2) is installed, the lower fixed nut (27) is used to press the left wing deployment module (2) 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: The device 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.

6. 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.

7. 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 device and reduce the deployment 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 21mm, inner ring size 12mm, and thickness 8mm.

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 reduce the thickness of the device, the upper fixing nut (11) and the lower fixing nut (27) are both small hexagonal extra-flat fine-thread nuts of the same model, with basic dimensions of: thread diameter M10, thickness 1mm.

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 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.

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 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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