Semi-folding wing automatic unfolding and locking device and unmanned aerial vehicle

Abstract

The invention provides a semi-folding wing automatic unfolding and locking device and an unmanned aerial vehicle. The locking device comprises a fuselage wing and a locking device, the folding wings are hinged to the fuselage wings; the hinge mechanism comprises a hinge shaft and a hinge torsion spring, the folding wings are hinged to the fuselage wings through the hinge shaft, the hinge torsion spring is arranged on the hinge shaft in a sleeving mode, the hinge torsion spring is connected with the folding wings and the fuselage wings, and when the folding wings are folded relative to the fuselage wings, the hinge torsion spring is in a deformation state; the first locking mechanism is arranged on the fuselage wings; the first locking mechanism is arranged on the folding wing, the second locking mechanism is arranged on the folding wing, the first locking mechanism is movably connected with the second locking mechanism, and when the folding wing is unfolded relative to the fuselage wing, the first locking mechanism and the second locking mechanism are in a locking state. Due to the fact that the fuselage wings are hinged to the folding wings through the hinge mechanisms, the semi-folding wings can be placed in a launching box with small width and regular appearance to be stored and launched in the folded state, and storage and transportation of the semi-folding wings are facilitated.

Description

Technical Field

[0001] The present application relates to the technical field of unmanned aerial vehicles, and in particular to a semi-folding wing automatic unfolding locking device and a unmanned aerial vehicle. Background Art

[0002] With the development of modernization and the requirement for rapid response of drones, folding-wing drones are convenient for large-scale storage and transportation in limited space, and can be quickly launched for reconnaissance, surveillance and attack missions when needed. Especially on mobile platforms, space is very valuable, and folding-wing drones can be compactly stored, launched by catapult or take off from a storage vehicle platform to complete flight missions. Therefore, there is an urgent need for a drone whose wings can be automatically unfolded and locked without power. Summary of the invention

[0003] The embodiment of the present application provides a semi-folding wing automatic deployment locking device and a UAV, which are used to solve the problem of realizing the unpowered automatic deployment and locking of the wings of a UAV with folding wings after launch. The technical solution is as follows:

[0004] In a first aspect, an embodiment of the present application provides a semi-folded wing automatic deployment locking device, comprising:

[0005] fuselage wing;

[0006] A folding wing, the folding wing being hinged to the fuselage wing, and the folding wing being able to rotate relative to the hinge between the folding wing and the fuselage wing;

[0007] A hinge mechanism, the hinge mechanism comprising a hinge shaft and a hinge torsion spring, the folding wing and the fuselage wing are hinged via the hinge shaft, the hinge torsion spring is sleeved on the hinge shaft, the hinge torsion spring is connected to the folding wing and the fuselage wing, and when the folding wing is folded relative to the fuselage wing, the hinge torsion spring is in a deformed state;

[0008] a first locking mechanism, wherein the first locking mechanism is disposed on the fuselage wing;

[0009] A second locking mechanism, wherein the second locking mechanism is arranged on the folding wing, the first locking mechanism is movably connected with the second locking mechanism, and when the folding wing is unfolded relative to the fuselage wing, the first locking mechanism and the second locking mechanism are in a locked state.

[0010] In one embodiment, the articulated mechanism also includes a first articulated blade and a second articulated blade, the first articulated blade and the second articulated blade are both articulated to the articulated shaft, the first articulated blade is connected to the fuselage wing, the second articulated blade is connected to the folding wing, and there are two articulated torsion springs, which are located between the two first articulated blades.

[0011] In one embodiment, the first locking mechanism includes a locking body and a locking tongue assembly, the locking tongue assembly is rotatably connected to the locking body, and the second locking mechanism is a U-bolt, the locking tongue assembly has a locking position, and the U-bolt locks after entering the locking position.

[0012] In one embodiment, the locking tongue assembly includes a first locking tongue and a second locking tongue, the locking position is located on the first locking tongue, and a locking insertion groove is provided on the locking body. The U-shaped bolt enters the locking position after being inserted into the locking insertion groove. After the U-shaped bolt enters the locking position, it drives the first locking tongue to rotate. After the U-shaped bolt moves to the bottom of the locking insertion groove, the first locking tongue is locked with the second locking tongue.

[0013] In one embodiment, a first fastener and a second fastener are installed on the locking body, the first fastener and the second fastener are located on both sides of the locking insertion groove, the first locking tongue is rotatably connected to the first fastener, and the second locking tongue is rotatably connected to the second fastener.

[0014] In one embodiment, a first locking torsion spring is sleeved on the first fastener, and the first locking torsion spring is connected to the locking body and the first lock tongue; a second locking torsion spring is sleeved on the second fastener, and the second locking torsion spring is connected to the locking body and the second lock tongue, the first torsion spring is in a free state, the first lock tongue and the second lock tongue are against each other, and the second torsion spring is in a deformed state.

[0015] In one embodiment, the first locking tongue has a first locking portion, the second locking tongue has a second locking portion, the first locking portion cooperates with the second locking portion, and the first locking tongue is locked with the second locking tongue through the first locking portion and the second locking portion.

[0016] In one embodiment, a limiting groove is provided on the locking body, and an unlocking pin is provided on the second lock tongue. The unlocking pin is placed in the limiting groove, and the unlocking pin moves in the limiting groove.

[0017] In one embodiment, the semi-folded wing automatic unfolding locking device also includes a magnetic component, the magnetic component includes a first magnetic component and a second magnetic component, the first magnetic component is fixed on the fuselage wing, the second magnetic component is fixed on the folding wing, and the first magnetic component and the second magnetic component are attracted to each other; the folding wing can rotate relative to the hinge axis at an angle of 15 degrees to 180 degrees.

[0018] In a second aspect, an embodiment of the present application provides a drone, comprising a semi-folded wing automatic unfolding locking device as described in any one of the above items.

[0019] The advantages or beneficial effects of the above technical solution include at least:

[0020] The automatic unfolding locking device of the semi-folding wing of the embodiment of the present application includes a fuselage wing, a folding wing, a hinge mechanism, a first locking mechanism and a second locking mechanism. Since the fuselage wing and the folding wing are hinged by the hinge mechanism, the semi-folding wing can be stored and launched in a launch box with a small width and a regular shape in a folded state, which is convenient for its storage and transportation. Since the hinge mechanism includes a hinge shaft and a hinge torsion spring, and the hinge torsion spring is in a deformed state when the folding wing is folded relative to the fuselage wing, after the semi-folding wing is launched from the launch box, the folding wing can be automatically unfolded by the torque of the hinge torsion spring without providing additional power. After the folding wing is unfolded, the first locking mechanism and the second locking mechanism are in a locked state, so that the folding wing can be locked with the fuselage wing to prevent the folding wing from folding again.

[0021] The above summary is for illustrative purposes only and is not intended to be limiting in any way. In addition to the illustrative aspects, embodiments and features described above, further aspects, embodiments and features of the present application will be readily apparent by reference to the accompanying drawings and the following detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In the accompanying drawings, unless otherwise specified, the same reference numerals throughout the multiple drawings represent the same or similar parts or elements. These drawings are not necessarily drawn to scale. It should be understood that these drawings only depict some embodiments disclosed in the present application and should not be regarded as limiting the scope of the present application.

[0023] Figure 1 A schematic diagram of the structure of the folding wing of the semi-folding wing automatic unfolding locking device after the folding wing is folded;

[0024] Figure 2 A schematic diagram of the structure of the folding wing after the semi-folding wing is unfolded with the automatic unfolding locking device of the semi-folding wing;

[0025] Figure 3 It is a schematic diagram of the structure of the fuselage wing;

[0026] Figure 4 is a schematic diagram of the structure of the folding wing;

[0027] Figure 5 It is a structural schematic diagram of the hinge mechanism;

[0028] Figure 6 is a schematic diagram of the first locking mechanism and the second locking mechanism in a locked state;

[0029] Figure 7 is a schematic diagram of the first locking mechanism and the second locking mechanism in an unlocked state;

[0030] Figure 8 is another schematic diagram of the first locking mechanism and the second locking mechanism in an unlocked state;

[0031] Fig. 9 is a structural schematic diagram of a first lock body;

[0032] Fig.10 Another schematic diagram of the first locking mechanism and the second locking mechanism in a locked state;

[0033] Description of reference numerals:

[0034] 1. Fuselage wing; 2. Folding wing; 3. Articulated mechanism; 4. First locking mechanism; 5. Second locking mechanism; 31. Articulated shaft; 32. Articulated torsion spring; 33. First hinged blade; 34. Second hinged blade; 41. Locking body; 42. Lock tongue assembly; 421. Locking position; 422. First lock tongue; 423. Second lock tongue; 411. Locking insertion slot; 43. First fastener; 44. Second fastener; 45. First locking torsion spring; 46. Second locking torsion spring; 4221. First locking part; 4231. Second locking part; 412. First lock body; 413. Second lock body; 414. Fixing bolt; 47. First movable bushing; 48. Second movable bushing; 415. Limiting slot; 49. Unlocking pin; 6. Magnetic assembly; 61. First magnetic part; 62. Second magnetic part. DETAILED DESCRIPTION

[0035] In the following, only some exemplary embodiments are briefly described. As those skilled in the art will appreciate, the described embodiments may be modified in various ways without departing from the spirit or scope of the present application. Therefore, the drawings and descriptions are considered to be exemplary and non-restrictive in nature.

[0036] Embodiment 1:

[0037] like Figures 1 to 10As shown, the embodiment of the present application provides a semi-folding wing automatic unfolding locking device, including a fuselage wing 1, a folding wing 2, a hinge mechanism 3, a first locking mechanism 4 and a second locking mechanism 5. The folding wing 2 is hinged to the fuselage wing 1, and the folding wing 2 can rotate relative to the hinge between the folding wing 2 and the fuselage wing 1. The hinge mechanism 3 includes a hinge shaft 31 and a hinge torsion spring 32, and the folding wing 2 is hinged to the fuselage wing 1 through the hinge shaft 31. The hinge torsion spring 32 is sleeved on the hinge shaft 31, and the hinge torsion spring 32 is connected to the folding wing 2 and the fuselage wing 1. When the folding wing 2 is in a folded state relative to the fuselage wing 1, the hinge torsion spring 32 is in a deformed state. The first locking mechanism 4 is arranged on the fuselage wing 1; the second locking mechanism 5 is arranged on the folding wing 2, and the first locking mechanism 4 is movably connected to the second locking mechanism 5. When the folding wing 2 is unfolded relative to the fuselage wing 1, the first locking mechanism 4 and the second locking mechanism 5 are in a locked state.

[0038] Since the fuselage wing 1 and the folding wing 2 are hinged by the hinge mechanism 3, the semi-folding wing can be stored and launched in a launch box with a small width and regular shape in the folded state, which is convenient for storage and transportation. Since the hinge mechanism 3 includes a hinge shaft 31 and a hinge torsion spring 32, and the hinge torsion spring 32 is in a deformed state when the folding wing 2 is folded relative to the fuselage wing 1, the folding wing 2 can be automatically unfolded by the torque of the hinge torsion spring 32 after the semi-folding wing is launched from the launch box, and no additional power is required. After the folding wing 2 is unfolded, the first locking mechanism 4 and the second locking mechanism 5 are in a locked state, so that the folding wing 2 can be locked with the fuselage wing 1 to prevent the folding wing 2 from folding again.

[0039] In one embodiment, in order to realize the hinge connection between the folding wing 2 and the fuselage wing 1, the hinge mechanism 3 further includes a first hinge blade 33 and a second hinge blade 34, and the first hinge blade 33 and the second hinge blade 34 are both hinged to the hinge shaft 31. The first hinge blade 33 is connected to the fuselage wing 1, and the second hinge blade 34 is connected to the folding wing 2. Specifically, the first hinge blade 33 and the second hinge blade 34 are both penetrated on the hinge shaft 31, and the first hinge blade 33 and the fuselage wing 1 can be connected by screws, and the second hinge blade 34 and the folding wing 2 can also be connected by screws.

[0040] The number of the hinged torsion springs 32 can be two, and the two hinged torsion springs 32 are located between the two first hinged blades 33. One of the torsion arms of the hinged torsion spring 32 abuts against the side of the fuselage wing 1, and the other torsion arm of the hinged torsion spring 32 abuts against the side of the folding wing 2. In other embodiments, the hinged torsion spring 32 can also be connected to the fuselage wing 1 and the folding wing 2 by other means such as a card slot, and the specific connection method is not limited.

[0041] When the folding wing 2 needs to be folded, an external force is applied to rotate the folding wing 2 relative to the hinge shaft 31 toward the fuselage wing 1, and the folding wing 2 drives a torsion arm of the hinge torsion spring 32 to rotate, thereby deforming the hinge torsion spring 32. When the half-folded wing is launched from the launch box, the folding wing 2 is driven to unfold under the action of the hinge torsion spring 32, and the hinge torsion spring 32 is reset to a free state.

[0042] In one embodiment, after the folding wing 2 is unfolded, in order to achieve the locking of the folding wing 2 and the fuselage wing 1, the first locking mechanism 4 includes a locking body 41 and a locking tongue assembly 42. The locking tongue assembly 42 is rotatably connected to the locking body 41, and the second locking mechanism 5 is a U-bolt, and the locking tongue assembly 42 has a locking position 421, and the U-bolt is locked after entering the locking position 421. The U-bolt is threadedly connected to the folding wing 2.

[0043] Specifically, the locking tongue assembly 42 includes a first locking tongue 422 and a second locking tongue 423, and the locking position 421 is located on the first locking tongue 422. A locking insertion groove 411 is provided on the locking body 41, and the U-shaped bolt enters the locking position 421 after being inserted into the locking insertion groove 411. After the U-shaped bolt enters the locking position 421, it drives the first locking tongue 422 to rotate, and after the U-shaped bolt moves to the bottom of the locking insertion groove 411, the first locking tongue 422 and the second locking tongue 423 are locked.

[0044] In order to achieve the locking of the first locking tongue 422 and the second locking tongue 423, a first fastener 43 and a second fastener 44 are installed on the locking body 41. The first fastener 43 and the second fastener 44 are respectively located on both sides of the locking insertion groove 411, and the first locking tongue 422 is rotatably connected to the first fastener 43, and the second locking tongue 423 is rotatably connected to the second fastener 44. The first fastener 43 is sleeved with a first locking torsion spring 45, and the first locking torsion spring 45 is connected to the locking body 41 and the first locking tongue 422; the second fastener 44 is sleeved with a second locking torsion spring 46, and the second locking torsion spring 46 is connected to the locking body 41 and the second locking tongue 423. When the first locking torsion spring 45 is in a free state, the first locking tongue 422 and the second locking tongue 423 are against each other, and the second locking torsion spring 46 is in a deformed state.

[0045] The first locking tongue 422 has a first locking portion 4221 , and the second locking tongue 423 has a second locking portion 4231 . The first locking portion 4221 matches with the second locking portion 4231 , and the first locking tongue 422 is locked with the second locking tongue 423 via the first locking portion 4221 and the second locking portion 4231 .

[0046] Specifically, the locking body 41 includes a first lock body 412 and a second lock body 413 that are arranged opposite to each other, and the first fastener 43 and the second fastener 44 are both bolts. The first fastener 43 passes through the first lock body 412 and is threadedly connected to the second lock body 413. Similarly, the second fastener 44 also passes through the first lock body 412 and is threadedly connected to the second lock body 413. In order to achieve the connection between the first lock body 412 and the second lock body 413, the locking body 41 also includes two fixing bolts 414, which are respectively connected to the first lock body 412 and the second lock body 413, thereby further achieving the connection between the first lock body 412 and the second lock body 413.

[0047] A first movable bushing 47 is sleeved on the first fastener 43, a second movable bushing 48 is sleeved on the second fastener 44, the first locking torsion spring 45 and the end of the first lock tongue 422 are sleeved on the first movable bushing 47, and the second locking torsion spring 46 and the end of the second lock tongue 423 are sleeved on the second movable bushing 48. The first locking torsion spring 45 is located between the first lock tongue 422 and the first lock body 412, and the second locking torsion spring 46 is located between the second lock tongue 423 and the second lock body 413.

[0048] In one embodiment, one torsion arm of the first locking tongue 422 is connected to the first lock body 412, and another torsion arm of the first locking tongue 422 is connected to the first locking tongue 422. One torsion arm of the second locking tongue 423 is connected to the first lock body 412, and another torsion arm of the second locking tongue 423 is connected to the second locking tongue 423.

[0049] In one embodiment, fixing holes may be provided on the first lock body 412, the first lock tongue 422, and the second lock tongue 423, and one torsion arm of the first locking torsion spring 45 is inserted into the fixing hole on the first lock body 412 for fixing, and the other torsion arm of the first locking torsion spring 45 is inserted into the fixing hole on the first lock tongue 422 for fixing. One torsion arm of the second locking torsion spring 46 is inserted into the fixing hole on the first lock body 412 for fixing, and the other torsion arm of the second locking torsion spring 46 is inserted into the fixing hole on the first lock tongue 422 for fixing. The connection method between the first locking torsion spring 45 and the first lock body 412 and the first lock tongue 422, and between the second locking torsion spring 46 and the first lock body 412 and the second lock tongue 423 may be any one, as long as the connection can be achieved, and no specific limitation is made here.

[0050] In order to limit the rotation of the second lock tongue 423, limiting grooves 415 are respectively provided at corresponding positions on the first lock body 412 and the second lock body 413. An unlocking pin 49 is installed on the second lock tongue 423. The unlocking pin 49 is placed in the limiting groove 415 and moves in the limiting groove 415.

[0051] In the initial state of the first locking mechanism 4, the first locking torsion spring 45 is in a free state, and the locking opening of the locking position 421 faces the U-bolt. At this time, the first locking tongue 422 and the second locking tongue 423 are against each other, so that the second locking torsion spring 46 is in a deformed state. In the process of unfolding the folding wing 2 relative to the fuselage wing 1, as the folding wing 2 unfolds, the U-bolt first enters the locking insertion groove 411, and enters the locking position 421 through the locking opening. As the folding wing 2 further unfolds, the U-bolt enters the locking position 421 and drives the first locking tongue 422 to move toward the bottom of the locking insertion groove 411 until the U-bolt enters the bottom of the locking insertion groove 411. At this time, the first locking torsion spring 45 is deformed as the first locking tongue 422 rotates. As the first locking tongue 422 moves, the abutment between the first locking tongue 422 and the second locking tongue 423 is released, and the second locking tongue 423 is driven to rotate under the action of the second locking torsion spring 46. During the rotation of the second locking tongue 423, the second locking portion 4231 enters the first locking portion 4221 to achieve locking. The first locking portion 4221 is a locking groove, and the second locking portion 4231 is a locking protrusion.

[0052] In one embodiment, in order to further lock the folding wing 2 and the fuselage wing 1 in the unfolded state, the semi-folded wing automatic unfolding locking device further includes a magnetic component 6, the magnetic component 6 includes a first magnetic component 61 and a second magnetic component 62, the first magnetic component 61 is fixed on the fuselage wing 1, the second magnetic component 62 is fixed on the folding wing 2, and the first magnetic component 61 and the second magnetic component 62 are attracted to each other. Preferably, the first magnetic component 61 is fixed to the end of the fuselage wing 1 close to the folding wing 2, and the second magnetic component 62 is fixed to the end of the folding wing 2 close to the fuselage wing 1. A magnetic fixing hole is reserved on the fuselage wing 1, and the first magnetic component 61 is fixed in the magnetic fixing hole by gluing. A magnetic fixing hole is also reserved on the folding wing 2, and the second magnetic component 62 is fixed in the magnetic fixing hole by gluing.

[0053] The first magnetic member 61 and the second magnetic member 62 are both high-strength magnets. The first magnetic member 61 and the second magnetic member 62 are fixed to each other by attracting each other through the S pole and the N pole to prevent the unfolding opening of the folding wing 2 from rebounding after colliding with the fuselage wing 1.

[0054] In one embodiment, the folding wing 2 can rotate relative to the hinge axis 31 at an angle of 15 to 180 degrees.

[0055] The semi-folding wing automatic unfolding locking device of the embodiment of the present application can realize the folding of the folding wing 2, so that the aircraft can be placed in a launch box with a small width and regular shape for storage and transportation and launch in the folded state. It is convenient to store and transport, the launching process is simple and fast, and the requirements for the launch site are low. The folding wing 2 and the fuselage wing 1 of the embodiment of the present application are both rigid wings, which solves the problem that the inflatable wing has low strength and rigidity, the entire wing will fail after damage, and it is difficult to repair; the rigid wing is used, and it is easy to arrange the rudder surface and load on the wing. In the embodiment of the present application, the aerodynamic force of the folding wing 2 during the unfolding process always makes the folding wing 2 have a tendency to rotate in the unfolding direction, so the unfolding torque of the spring can realize the unfolding of the wing only in the initial stage of unfolding. After unfolding, the wing is locked, and will no longer fold or vibrate, so it can withstand all the flight functions of conventional fixed-wing drones such as stall and upper wing thrust. The embodiment of the present application reduces the limitation of the wing chord length. The chord length only needs to be less than 1 / 3 of the fuselage width to be applicable. It is suitable for medium and low speed unmanned aerial vehicles. The two wings can be folded symmetrically and popped out symmetrically at the same time without interfering with each other, and the requirements for the flatness of the wings are low.

[0056] Embodiment 2:

[0057] The present embodiment is described in detail below with reference to the first embodiment:

[0058] An embodiment of the present application provides a drone, comprising the semi-folded wing automatic unfolding locking device as described in the first embodiment above.

[0059] The automatic unfolding and locking device for the semi-folding wings has a simple structure and is easy to install and maintain. The unfolding of the folding wings 2 does not require external force and does not affect the body structure of the UAV. It has certain versatility and can meet the unfolding and locking requirements of the wings of different types of UAVs.

[0060] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine different embodiments or examples described in this specification and the features of different embodiments or examples, unless they are contradictory.

[0061] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of this application, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0062] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of various changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A semi-folded wing automatic deployment locking device, characterized in that: include: fuselage wing; A folding wing, the folding wing being hinged to the fuselage wing, and the folding wing being able to rotate relative to the hinge between the folding wing and the fuselage wing; A hinge mechanism, the hinge mechanism comprising a hinge shaft and a hinge torsion spring, the folding wing and the fuselage wing are hinged via the hinge shaft, the hinge torsion spring is sleeved on the hinge shaft, the hinge torsion spring is connected to the folding wing and the fuselage wing, and when the folding wing is folded relative to the fuselage wing, the hinge torsion spring is in a deformed state; a first locking mechanism, wherein the first locking mechanism is disposed on the fuselage wing; A second locking mechanism, wherein the second locking mechanism is arranged on the folding wing, the first locking mechanism is movably connected with the second locking mechanism, and when the folding wing is unfolded relative to the fuselage wing, the first locking mechanism and the second locking mechanism are in a locked state.

2. The semi-folded wing automatic deployment locking device according to claim 1, characterized in that: The articulated mechanism also includes a first articulated blade and a second articulated blade, the first articulated blade and the second articulated blade are both articulated to the articulated shaft, the first articulated blade is connected to the fuselage wing, the second articulated blade is connected to the folding wing, and there are two articulated torsion springs, which are located between the two first articulated blades.

3. The semi-folded wing automatic deployment locking device according to claim 1 or 2, characterized in that: The first locking mechanism includes a locking body and a locking tongue assembly, wherein the locking tongue assembly is rotatably connected to the locking body, and the second locking mechanism is a U-shaped bolt, wherein the locking tongue assembly has a locking position, and the U-shaped bolt is locked after entering the locking position.

4. The semi-folded wing automatic deployment locking device according to claim 3, characterized in that: The locking tongue assembly includes a first locking tongue and a second locking tongue, the locking position is located on the first locking tongue, a locking insertion groove is provided on the locking body, the U-shaped bolt enters the locking position after being inserted into the locking insertion groove, and drives the first locking tongue to rotate after the U-shaped bolt enters the locking position, and the first locking tongue is locked with the second locking tongue after the U-shaped bolt moves to the bottom of the locking insertion groove.

5. The semi-folded wing automatic deployment locking device according to claim 4, characterized in that: The locking body is provided with a first fastener and a second fastener, the first fastener and the second fastener are respectively located on both sides of the locking insertion slot, the first locking tongue is rotatably connected to the first fastener, and the second locking tongue is rotatably connected to the second fastener.

6. The semi-folded wing automatic deployment locking device according to claim 5, characterized in that: The first fastener is sleeved with a first locking torsion spring, which is connected to the locking body and the first lock tongue; the second fastener is sleeved with a second locking torsion spring, which is connected to the locking body and the second lock tongue, and the first torsion spring is in a free state, the first lock tongue and the second lock tongue are against each other, and the second torsion spring is in a deformed state.

7. The semi-folded wing automatic deployment locking device according to claim 6, characterized in that: The first locking tongue has a first locking portion, the second locking tongue has a second locking portion, the first locking portion cooperates with the second locking portion, and the first locking tongue is locked with the second locking tongue through the first locking portion and the second locking portion.

8. The semi-folded wing automatic deployment locking device according to claim 4, characterized in that: The locking body is provided with a limiting groove, the second lock tongue is provided with an unlocking pin, the unlocking pin is placed in the limiting groove, and the unlocking pin moves in the limiting groove.

9. The semi-folded wing automatic deployment locking device according to claim 1 or 2, characterized in that: The semi-folded wing automatic unfolding locking device also includes a magnetic component, which includes a first magnetic part and a second magnetic part. The first magnetic part is fixed on the fuselage wing, and the second magnetic part is fixed on the folding wing. The first magnetic part and the second magnetic part are attracted to each other. The folding wing can rotate relative to the hinge axis at an angle of 15 degrees to 180 degrees.

10. A drone, characterized in that It comprises the automatic unfolding locking device of the semi-folded wing as claimed in any one of claims 1 to 9.

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