Scissor wing unmanned aerial vehicle

Abstract

The invention discloses a scissor wing unmanned aerial vehicle, and relates to the technical field of aircrafts, the scissor wing unmanned aerial vehicle mainly comprises a fuselage main body, a left front wing, a left rear wing, a right front wing and a right rear wing, the wings are respectively provided with a tiltable ducted fan, the left front wing and the left rear wing as well as the right front wing and the right rear wing can be closed or unfolded, only one set of power system is adopted in the scissor wing unmanned aerial vehicle, the unmanned aerial vehicle can have the operation advantages of a fixed wing unmanned aerial vehicle and a rotor unmanned aerial vehicle at the same time, wing structures which can be separated like scissors are utilized, a power system capable of tilting is matched, wings are unfolded in the take-off and landing stages to take off and land vertically, the wings are closed in the navigation stage to fly at a high speed, and through conversion between the fixed wing and the rotor, the unmanned aerial vehicle can take off and land vertically. A corresponding wing form is used in a specific stage, and the nuclear load capacity, the cruising ability and the flexibility are comprehensively improved.

Description

Technical Field

[0001] The present invention relates to the technical field of aircraft, and in particular to a scissor-wing UAV. Background Art

[0002] With the gradual opening of low-altitude airspace and the continuous innovation of technology, the low-altitude economy has developed rapidly in recent years and the market scale has continued to expand. Under this development trend, the drone industry, as the leading industry of the low-altitude economy, has become particularly prominent.

[0003] At present, the application scope of drones in various fields continues to expand, and they have been widely used in logistics and transportation, disaster relief, street scene photography, environmental testing, power inspection, traffic monitoring, and agricultural plant protection. For example, in the field of logistics and transportation, it is involved in many scenarios such as urban terminal distribution, remote area transportation, and special material transportation. E-commerce and logistics giants are actively deploying, and instant retail companies are also deeply involved. The development of technologies such as flight control, remote sensing communication, and automatic driving and obstacle avoidance has strongly promoted its application. The market size has grown rapidly, policy support has continued to increase, and infrastructure such as take-off and landing points and route planning, and integrated management platform construction has been gradually improved. The overall situation is booming and has huge potential.

[0004] Existing drones usually use fixed-wing drones or rotary-wing drones. For fixed-wing drones, they cannot take off and land vertically, and must use a certain length of runway for takeoff and taxiing. This places high demands on the take-off and landing sites, limiting their application in some areas with complex terrain or limited space. At the same time, they cannot hover in the air and have poor flexibility, making take-off and landing operations difficult. For rotary-wing drones, their flight speed is relatively slow, their endurance is limited, and their efficiency is low when flying over long distances, which may affect timeliness. Summary of the invention

[0005] In view of the above shortcomings, the present invention provides a scissor-wing UAV to solve the problem that existing UAVs are difficult to have the characteristics of large payload, long endurance and high flexibility.

[0006] In order to achieve the above object, the present invention adopts the following technical scheme:

[0007] A scissor-wing drone, comprising:

[0008] The main body of the fuselage;

[0009] A left front wing, a left rear wing, a right front wing and a right rear wing, wherein the left front wing and the left rear wing are located on the left side of the fuselage body, and the right front wing and the right rear wing are located on the right side of the fuselage body, and one end of the left front wing, the left rear wing, the right front wing and the right rear wing are respectively rotatably connected to the fuselage body;

[0010] a wing opening and closing drive mechanism, which is arranged on the fuselage body to drive the left front wing and the left rear wing to rotate so as to fit each other front and back to form a left fixed wing, and to drive the right front wing and the right rear wing to rotate so as to fit each other front and back to form a right fixed wing; or to drive the left front wing and the left rear wing to rotate so as to spread forward and backward, and to drive the right front wing and the right rear wing to rotate so as to spread forward and backward;

[0011] Ducted fans are respectively arranged on the left front wing, the left rear wing, the right front wing and the right rear wing;

[0012] A fan steering drive mechanism is arranged on the left front wing, the left rear wing, the right front wing and the right rear wing to drive the ducted fan to switch between a front-to-back facing state and a vertical state.

[0013] Further, the ducted fan is respectively installed on the left front wing, the left rear wing, the right front wing or the right rear wing through a fan bracket, and the ducted fan is rotatably connected to the fan bracket;

[0014] The fan steering drive mechanism is a first electric push rod, one end of which is rotationally connected to the left front wing, the left rear wing, the right front wing or the right rear wing, and the other end of which is rotationally connected to the ducted fan.

[0015] Furthermore, the fan bracket extends obliquely downward from the bottom surface of the left front wing, the left rear wing, the right front wing or the right rear wing, the ducted fan is installed at the end of the fan bracket and when the ducted fan is converted to a vertical state, the left front wing, the left rear wing, the right front wing or the right rear wing does not block the ducted fan in the vertical direction.

[0016] Furthermore, a receiving groove is provided at the rear side surfaces of the left front wing and the right front wing, and when the left front wing and the left rear wing are fitted front and back, the front side surface of the left rear wing is fitted in the receiving groove of the left front wing, and when the right front wing and the right rear wing are fitted front and back, the front side surface of the right rear wing is fitted in the receiving groove of the right front wing.

[0017] Furthermore, the bottom of the accommodating groove is arc-shaped, and the front side surfaces of the left rear wing and the right rear wing are corresponding arc surfaces.

[0018] Furthermore, the wing opening and closing drive mechanism includes a wing opening and closing unit, and there are two wing opening and closing units, which are relatively arranged on the left and right sides of the top of the fuselage main body and respectively correspond to the left front wing and left rear wing on the left side and the right front wing and right rear wing on the right side. The wing opening and closing unit includes a second electric push rod, a wing connecting joint and a wing rotating top rod, the second electric push rod is fixedly installed on the fuselage main body and extends toward the side accordingly, the end of the telescopic rod of the second electric push rod is connected to the end of the wing connecting joint, and there are two wing rotating top rods, one end of the two wing rotating top rods are respectively and one-to-one rotatably connected to the two ends of the wing connecting joint, and the other end is respectively and one-to-one rotatably connected to the left front wing, left rear wing, right front wing or right rear wing on the same side.

[0019] Furthermore, both ends of the wing joint are chamfered at the parts away from the second electric push rod, and are at right angles at the parts close to the second electric push rod, so that when the telescopic rod of the second electric push rod is retracted, the wing rotating push rods at both ends of the wing joint rotate close to each other, thereby driving the left front wing and the left rear wing on the same side to rotate and fit together front and back to form a left fixed wing, and driving the right front wing and the right rear wing to rotate and fit together front and back to form a right fixed wing, and when the telescopic rod of the second electric push rod is extended, the wing rotating push rods at both ends of the wing joint rotate and unfold with each other, thereby driving the left front wing and the left rear wing on the same side to rotate and unfold with each other front and back, and driving the right front wing and the right rear wing to rotate and unfold with each other front and back, and when the wing rotating push rods at both ends of the wing joint rotate and unfold to a certain angle, the end surface of the wing rotating push rod abuts against the end surface of the wing joint, so that the wing rotating push rod can no longer continue to unfold.

[0020] Further, a storage compartment is provided at the bottom of the fuselage body, the bottom of the storage compartment penetrates downwardly through the bottom surface of the fuselage body to form a storage compartment exit, and doors are rotatably provided on both sides of the storage compartment exit, and when the doors on both sides are rotated and closed, the storage compartment exit can be closed;

[0021] A third electric push rod is also provided on both sides of the bottom of the fuselage body, and a door push rod is provided at the bottom of the doors on both sides. One end of the door push rod is rotatably connected to the door located on the same side, and the other end is rotatably connected to the telescopic rod of the third electric push rod located on the same side.

[0022] Furthermore, push-pull electromagnets are respectively provided at the front and rear ends of the storage compartment, and a door lock is provided at the end of the telescopic rod of the push-pull electromagnet. C-shaped locking rings are respectively provided on the doors on both sides, and when the doors on both sides are rotated closed and the storage compartment exit is sealed, the C-shaped locking rings of the doors on both sides can form an annular structure for inserting the door lock.

[0023] Furthermore, protrusions are respectively provided on the front and rear sides of the storage compartment, so that when the door lock is inserted into the ring structure formed by the C-shaped locking ring, the bottom of the door lock abuts against the top of the protrusion.

[0024] Compared with the prior art, the present invention has the following beneficial effects:

[0025] The present invention provides a scissor-wing UAV, which adopts only one set of power system and can have the operational advantages of both fixed-wing and rotary-wing UAVs. It utilizes a wing structure that can be separated like a "scissors" and cooperates with a tiltable power system. The wings are unfolded during take-off and landing stages for vertical take-off and landing, and the wings are closed during navigation stage for high-speed flight. By switching between fixed wings and rotary wings and using corresponding wing forms in specific stages, the nuclear carrying capacity, endurance and flexibility are comprehensively improved. In particular, the improvement is obvious in the field of logistics and transportation, which can significantly improve the efficiency and scope of logistics and transportation, reduce transit and delays, and bring more efficient and extensive solutions to logistics distribution.

[0026] The scissor-wing UAV of the present invention innovatively integrates the characteristics of fixed-wing and rotor-wing UAVs. It can take off and land vertically and hover in rotor mode during take-off and landing phases, accurately adapt to complex terrain and narrow spaces, and switch to fixed-wing mode during the cruising phase. It can expand the flight range and improve flight efficiency by virtue of high speed and long endurance, greatly reduce transit delays, and comprehensively enhance the adaptability and flexibility of UAV applications.

[0027] The wings of the present invention adopt a structural design that can be unfolded or merged like "scissors". At the same time, when each wing is unfolded to the maximum angle, the design is physically limited to be in a "dead point" position, which can greatly enhance the stability in the rotor mode.

[0028] After the wings of the present invention are separated, the cross-sectional configurations of the front and rear wings can still retain some of the upper and lower pressure differences, which is a way to provide lift for the drone, making the drone more stable and reliable during the landing phase when switching from fixed-wing mode to rotor mode.

[0029] The present invention provides lift for the rotor mode in a vertical state and thrust for the fixed-wing mode in a horizontal state through a tiltable power system structure, thereby realizing the vertical take-off and landing function of the UAV and ensuring high speed performance with low power consumption.

[0030] The present invention can ensure that the air inlet of the ducted fan will not be blocked by the wing when the ducted fan is tilted to a vertical state, thereby causing power failure, by installing the ducted fan on a wing bracket whose end extends obliquely downward.

[0031] The present invention has an idea and concept that the ducted fan is distributed in a "trapezoidal" shape in the rotor mode. After switching to the fixed-wing mode, the relative position distance between the front and rear power units of the wing on the same side is minimized, making the overall design of the UAV more compact and reasonable.

[0032] The present invention utilizes an electric push rod to realize the structure of opening and closing the cabin door, which can effectively prevent the cabin door from shaking and getting stuck when opening and closing. Its stable movement characteristics are beneficial to prolonging the service life of the cabin door and connecting parts, and reducing the vibration impact on internal sensitive equipment.

[0033] The present invention utilizes a push-pull electromagnet to lock the hatch structure, which has a quick response, efficient locking, and the ability to flexibly adjust the locking force. It has a simple and compact structure and high operational reliability. It can effectively prevent materials from accidentally falling, and is extremely convenient in terms of automated control. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for describing the embodiments are briefly introduced below.

[0035] Figure 1 It is a schematic diagram of the structure of the scissor-wing UAV of the present invention in the fixed-wing mode;

[0036] Figure 2 It is a schematic diagram of the structure of the scissor-wing UAV of the present invention in the rotor mode;

[0037] Figure 3 It is a structural schematic diagram of the fuselage main body in the present invention;

[0038] Figure 4 It is a schematic structural diagram of the frame of the fuselage main body and its upper parts in the present invention;

[0039] Figure 5 It is a schematic structural diagram of the frame of the fuselage main body and its upper parts in the present invention;

[0040] Figure 6 It is a schematic diagram of the structure of the fuselage bottom plate and its upper parts in the present invention (with the door closed);

[0041] Figure 7 for Figure 6 The enlarged schematic diagram of point A in the middle;

[0042] Figure 8 It is a schematic diagram of the structure of the fuselage bottom plate and its upper parts in the present invention (with the door open);

[0043] Fig. 9 It is a schematic diagram of the structure of the main frame of the fuselage and each wing when unfolded in the present invention;

[0044] Fig.10 It is a schematic diagram of the structure of the main frame of the fuselage and each wing (without the outer shell) when unfolded in the present invention;

[0045] Fig.11 It is a structural schematic diagram of the ducted fan of the present invention when it is installed on the fan bracket (the ducted fan is in a vertical state);

[0046] Fig.12 It is a schematic diagram of the positions of two ducted fans when two wings are combined in the present invention (the ducted fans are in a horizontal state).

[0047] Among them, the markings shown in the figure are: 10-fuselage body; 11-left front wing; 12-left rear wing; 13-right front wing; 14-right rear wing; 15-storage slot; 16-storage compartment; 17-storage compartment exit; 18-cabin door; 19-power compartment; 111-fuselage; 112-nose; 113-tail; 117-roof cover; 118-partition; 119-nose; 120-flight control board; 121-vertical stabilizer; 122-rudder; 123-horizontal stabilizer; 124-elevator; 125-wing support frame; 126-vertical Partition; 127-wing bone; 129-aileron; 130-top plate; 20-ducted fan; 21-fan bracket; 22-fan steering drive mechanism; 23-ducted rotation joint; 24-push rod rotation joint; 25-fixed support rod; 31-second electric push rod; 32-wing connection joint; 33-wing rotation push rod; 41-third electric push rod; 42-cabin door push rod; 43-push-pull electromagnet; 44-cabin door lock; 45-C-type locking ring; 46-protrusion; 47-fuselage bottom plate; 48-landing gear; 50-panoramic camera. DETAILED DESCRIPTION

[0048] The technical scheme in the embodiment of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiment of the present invention. Obviously, the described embodiment is only a part of the embodiment of the present invention, not all of the embodiments. Based on the embodiment of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0049] In the description of the present invention, it should be noted that the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside", etc. indicate directions or positional relationships based on the directions or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction. Therefore, they cannot be understood as limitations on the present invention.

[0050] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected" and "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal connection of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances. In addition, the technical features involved in the different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0051] The purpose of the present invention is to provide a drone that uses only one set of power system and has the operational advantages of both fixed-wing and rotary-wing drones, achieving a large payload, strong endurance, and high flexibility. The drone mainly utilizes a wing structure that can be separated like a "scissors", and cooperates with a tiltable power system. The scissor-wing drone can take off and land vertically with the wings spread out during take-off and landing phases, and fly at high speed with the wings closed during navigation phase. By switching between fixed wings and rotary wings and using corresponding wing forms in specific phases, the payload capacity, endurance, and flexibility are comprehensively improved. Especially in the field of logistics and transportation, the improvement is obvious, which can significantly improve the efficiency and scope of logistics and transportation, reduce transit and delays, and bring more efficient and extensive solutions to logistics distribution.

[0052] Please refer to Figures 1 to 12 A preferred embodiment of the present invention provides a scissor-wing UAV, which mainly includes a fuselage body 10, wings and a ducted fan 20, etc.

[0053] Please continue to refer to Figures 1 to 12In an exemplary embodiment, a storage compartment 16 is provided at the bottom of the fuselage body 10, and a power supply compartment 19 is provided at the top. The fuselage body 10 includes a fuselage 111, a nose 112 located at the head of the fuselage, and a tail 113 located at the tail of the fuselage. The nose 112 is wrapped with a nose skin, the fuselage 111 is wrapped with a fuselage skin, and the tail 113 is wrapped with a tail skin. The fuselage skin, the nose skin, and the tail skin are all streamlined. At the same time, a top cover 117 is provided above the fuselage 111. The top cover 117 is used to wrap the joints of the wing rotation opening and closing to reduce air resistance. A nose 119 is fixedly installed at the front of the nose 112. The nose 119 is used to guide airflow, reduce air resistance, and withstand part of the flight stress. The frames of the fuselage 111, the nose 112 and the tail 113 all adopt the design of the truss fuselage frame, which can effectively bear the axial load, improve the torsional rigidity to enhance the structural strength and stability, and have both weight efficiency, can reduce weight, extend fatigue life, and are easy to manufacture and maintain, and the frames of the three are firmly connected. The fuselage body 10 is fixedly provided with a partition 118 at the middle position corresponding to the fuselage 111 to form a storage compartment 16 at the bottom and a power compartment 19 at the top. A plurality of battery slots are reserved inside the power compartment for storing batteries or other energy supply devices, which play the role of safely protecting the power supply, optimizing the power supply placement position to balance the overall center of gravity of the drone, shielding the electromagnetic interference generated by the power supply, and providing a suitable working environment (such as heat dissipation, moisture resistance, etc.) for the power supply. During the operation of the UAV, the load at the shaft connecting the wing and the fuselage will be transferred to the fuselage frame and dispersed to various places. At the same time, the skin, supported by the stringers, can better resist the deformation caused by the torsion force during flight, and the overall center of gravity of the UAV is controlled at the center of the fuselage frame, which can enhance flight stability, optimize handling performance, improve power system efficiency and make the structure more reasonably stressed. Under the condition of ensuring strength, the integration of various mechanisms on the fuselage frame is realized. A flight control board 120 is also installed on the partition 118, which can sense the attitude with the help of sensors and control the motor to adjust the attitude to maintain balance, stabilize the entire flight, coordinate the positioning module for navigation positioning and correction, manage multiple flight modes, and allocate motor power according to flight status and needs to ensure the operation of the power system. A vertical stabilizer 121 is arranged at the end of the tail 113, and a rudder 122 is installed at the rear position of the vertical stabilizer 121, which is used to control the UAV to rotate vertically and the yaw movement of the straight axis, and change the aerodynamic force of the vertical tail by deflecting left and right, so that the UAV turns left or right. A horizontal stabilizer 123 is provided at the end of the tail 113, and an elevator 124 is installed at the rear position of the horizontal stabilizer 123. The aerodynamic force of the tail wing is changed by controlling the up and down deflection, thereby controlling the pitch movement of the UAV around the horizontal axis to achieve ascent, descent or maintain a stable altitude, and is used to reduce air resistance.

[0054] The wings mainly include a left front wing 11, a left rear wing 12, a right front wing 13 and a right rear wing 14. The left front wing 11 and the left rear wing 12 are located on the left side of the fuselage body 10, and the right front wing 13 and the right rear wing 14 are located on the right side of the fuselage body 10. One end of the left front wing 11, the left rear wing 12, the right front wing 13 and the right rear wing 14 are respectively rotatably connected to the fuselage body 10. In an exemplary embodiment, four rotating shafts are installed on the top of the fuselage 111, and the four rotating shafts are distributed in a square shape. The left front wing 11, the left rear wing 12, the right front wing 13 and the right rear wing 14 are respectively provided with wing support frames 125, and the wing support frames 125 are all wrapped with wing shells. One end of the wing support frames 125 of the left front wing 11, the left rear wing 12, the right front wing 13 and the right rear wing 14 is respectively connected to four rotating shafts in a one-to-one correspondence, so that the left front wing 11, the left rear wing 12, the right front wing 13 and the right rear wing 14 can be rotated with the axes of the four rotating shafts as the rotation center. A vertical partition 126 is fixedly provided in the middle of the top of the fuselage, and the vertical partition 126 separates the four rotating shafts into two on the left and right sides. A top plate 130 is installed on the top of the four rotating shafts to reduce the bending moment borne by each rotating shaft and improve the structural strength. In this exemplary embodiment, the width of the left front wing 11 and the right front wing 13 is smaller than the width of the left rear wing 12 and the right rear wing 14.

[0055] The wing opening and closing driving mechanism is arranged on the fuselage body 10 to drive the left front wing 11 and the left rear wing 12 to rotate so as to fit each other front and back to form a left fixed wing form, and to drive the right front wing 13 and the right rear wing 14 to rotate so as to fit each other front and back to form a fixed wing form. Figure 1 or driving the left front wing 11 and the left rear wing 12 to rotate to unfold forward and backward relative to each other, and driving the right front wing 13 and the right rear wing 14 to rotate to unfold forward and backward relative to each other, at this time, the left front wing 11, the left rear wing 12, the right front wing 13 and the right rear wing 14 form an X-shaped structure and are converted into a rotor form, such as Figure 2 The left front wing 11 and the left rear wing 12, as well as the right front wing 13 and the right rear wing 14 can be opened and closed like a pair of scissors, which is why the scissor-wing drone of the present invention is named. When unfolded, the drone is in an X shape as a whole, and in a straight shape when closed. The left front wing 11 and the left rear wing 12, as well as the right front wing 13 and the right rear wing 14 on the left and right sides are symmetrically arranged with the midline as the axis, and are in a bilaterally symmetrical state regardless of being unfolded or closed.

[0056] The wing opening and closing driving mechanism includes a wing opening and closing unit. There are two wing opening and closing units, which are arranged on the left and right sides of the top of the fuselage of the fuselage main body 10 and correspond to the left front wing 11 and the left rear wing 12 on the left side and the right front wing 13 and the right rear wing 14 on the right side. Each wing opening and closing unit includes a second electric push rod 31, a wing connection joint 32 and a wing rotation top rod 33. The second electric push rod 31 is fixedly installed on the fuselage main body 10 and extends toward the side. The end of the telescopic rod of the second electric push rod 31 is connected to the end of the wing connection joint 32. There are two wing rotation top rods 33. One end of the two wing rotation top rods 33 is respectively and one-to-one correspondingly connected to the two ends of the wing connection joint 32, and the other end is respectively and one-to-one correspondingly connected to the left front wing 11, the left rear wing 12, the right front wing 13 or the right rear wing 14 on the same side.

[0057] The two ends of the wing joint 32 are rounded at the part away from the second electric push rod 31, and are at right angles at the part close to the second electric push rod 31, so that when the telescopic rod of the second electric push rod 31 is retracted, the wing rotating top rods 33 at the two ends of the wing joint 32 rotate close to each other, thereby driving the left front wing 11 and the left rear wing 12 on the same side to rotate to fit each other front and back to form the left fixed wing, and driving the right front wing 13 and the right rear wing 14 to rotate to fit each other front and back to form the right fixed wing, and when the telescopic rod of the second electric push rod 31 is extended, the wing rotating top rods 33 at the two ends of the wing joint 32 rotate close to each other, thereby driving the left front wing 11 and the left rear wing 12 on the same side to rotate to fit each other front and back to form the left fixed wing, and driving the right front wing 13 and the right rear wing 14 to rotate to fit each other front and back to form the right fixed wing. When the wing rotating top rods 33 at both ends of the wing connecting joint 32 rotate to each other and unfold, so as to drive the left front wing 11 and the left rear wing 12 on the same side to rotate to unfold forward and backward, and drive the right front wing 13 and the right rear wing 14 to rotate to unfold forward and backward, and when the wing rotating top rods 33 at both ends of the wing connecting joint 32 rotate to each other and unfold to a certain angle, the end surface of the wing rotating top rod 33 abuts against the end surface of the wing connecting joint 32, so that the wing rotating top rod 33 can no longer continue to unfold, that is, the mechanism is in a "dead point" position.

[0058] In an exemplary embodiment, the wing opening and closing drive mechanism has two wing opening and closing units, each of which has a second electric push rod 31, that is, the wing opening and closing drive mechanism has two power sources, and the two second electric push rods 31 are respectively installed at the top position of the fuselage frame, respectively close to the two sides of the vertical partition 126 at the middle position, and are fixed by bolts. The second electric push rod 31 uses an electro-hydraulic push rod. When the telescopic rod of the electro-hydraulic push rod is extended, the middle vertical partition 126 will offset the reaction force of the push rods on the left and right sides, reduce the tangential load of the fixing bolts of the electro-hydraulic push rod, and improve the safety of wing deployment. The rotating shafts corresponding to the four wing support frames 125 of the wing are distributed in a rectangular shape, and sufficient space is left in the relative installation positions before and after to ensure that the telescopic movement of the electro-hydraulic push rod can be carried out smoothly. A pressure self-locking mechanism is designed in the oil circuit integrated block of the electro-hydraulic push rod. When the motor stops rotating, the mechanism can make the telescopic rod self-lock at a certain position, and the push rod is self-locked. When the wing rotating top rods 33 at both ends of the wing connecting joint 32 rotate to each other and unfold to a certain angle, the end surface of the wing rotating top rod 33 abuts against the end surface of the wing connecting joint 32, making it impossible for the wing rotating top rod 33 to continue to unfold. The UAV is in the rotor mode, the pushing range of the second electric push rod 31 reaches the maximum value, the axes of the wing rotating top rod 33 on the same side coincide, the pressure angle on the follower is 90 degrees, and the mechanism is in the "dead point" position, which greatly improves the stability of the wing when unfolding.

[0059] During implementation, such as in the take-off or landing stage, the second electric push rod 31 is energized, and its motor rotates forward to extend the push rod, and the wing rotating push rod 33 is tilted outward through the wing connecting joints 32 on both sides. Under the action of the push rod, the wings on both sides (the left front wing 11 and the left rear wing 12, as well as the right front wing 13 and the right rear wing 14) will be spread out like "scissors", and finally reach the "dead point" position of the mechanism to achieve wing opening. At this time, the UAV is in rotor mode; and in the cruising stage, the second electric push rod 31 is energized, and its motor rotates reversely to retract the push rod, and the wing rotating push rod 33 is tilted inward through the wing connecting joints 32 on both sides. Under the action of the push rod, the wings on both sides (the left front wing 11 and the left rear wing 12, as well as the right front wing 13 and the right rear wing 14) are merged, and the UAV is in fixed-wing mode.

[0060] The wing support frame 125 is reinforced with a plurality of wing bone pieces 127, which are distributed along the overall extension direction of the wing support frame 125. The wing bone pieces 127 are lightweight while ensuring qualified strength. A receiving groove 15 is provided at the rear side of the left front wing 11 and the right front wing 13. When the left front wing 11 and the left rear wing 12 are attached front and back, the front side of the left rear wing 12 is attached to the receiving groove 15 of the left front wing 11, and when the right front wing 13 and the right rear wing 14 are attached front and back, the front side of the right rear wing 14 is attached to the receiving groove 15 of the right front wing 13. In a preferred embodiment, the bottom of the receiving groove 15 is arc-shaped, and the front side of the left rear wing 12 and the right rear wing 14 are corresponding arc surfaces. More specifically, in this exemplary embodiment, the accommodating groove 15 is in the form of a concave inner shell of the left front wing 11 and the right front wing 13, and the front side of the wing shell of the left rear wing 12 and the right rear wing 14 corresponds to the arc surface. When the left front wing 11 and the left rear wing 12 are combined into the fixed-wing mode, the contact surfaces of the wing shells of the left front wing 11 and the left rear wing 12 are completely fitted, and there is almost no gap in the middle to ensure that the wing can provide sufficient lift in the fixed-wing state; similarly, when the right front wing 13 and the right rear wing 14 are combined into the fixed-wing mode, the contact surfaces of the wing shells of the right front wing 13 and the right rear wing 14 are completely fitted, and there is almost no gap in the middle to ensure that the wing can provide sufficient lift in the fixed-wing state. In terms of cross-sectional structure, the cross-section of the wing shell of the left rear wing 12 and the right rear wing 14 still meets the requirements of large flow velocity on the upper surface and small flow velocity on the lower surface, and can form a pressure difference. Therefore, in the process of switching from the fixed-wing mode to the rotary wing mode, the rear wing can still provide lift, which improves the stability during the switching process. Ailerons 129 are also installed on the left rear wing 12 and the right rear wing 14. In the fixed-wing mode, the lift difference on both sides of the wings is changed by differential deflection of the trailing edge ailerons of the left rear wing 12 and the right rear wing 14, thereby controlling the rolling motion of the drone around the longitudinal axis, realizing the tilting of the drone, and assisting in completing turns and other actions.

[0061] The ducted fans 20 are respectively arranged on the left front wing 11, the left rear wing 12, the right front wing 13 and the right rear wing 14. In this exemplary embodiment, a ducted fan 20 is respectively arranged on the left front wing 11, the left rear wing 12, the right front wing 13 and the right rear wing 14. The ducted fan 20 is respectively installed on the left front wing 11, the left rear wing 12, the right front wing 13 or the right rear wing 14 through a fan bracket 21, and the ducted fan 20 is rotatably connected to the fan bracket 21. In this exemplary embodiment, each ducted fan 20 is connected to the corresponding wing on the opposite left and right sides through a fan bracket 21 respectively, and the fan bracket 21 is provided with a ducted rotating joint 23 at one end connected to the ducted fan 20, and the rotational connection with the ducted fan 20 is achieved through the ducted rotating joint 23, that is, the ducted fan 20 can be rotated around the ducted rotating joints 23 on both sides, and the other end is fixedly connected to the wing support frame 125 of the left front wing 11, the left rear wing 12, the right front wing 13 and the right rear wing 14.

[0062] The fan steering drive mechanism 22 is arranged on the left front wing 11, the left rear wing 12, the right front wing 13 and the right rear wing 14 to drive the ducted fan 20 to switch between the front-to-back state and the vertical state. In this exemplary embodiment, the fan steering drive mechanism 22 is a first electric push rod, one end of which is rotatably connected to the left front wing 11, the left rear wing 12, the right front wing 13 or the right rear wing 14, and the other end is rotatably connected to the ducted fan 20. The fan steering drive mechanism 22 of the first electric push rod is located below the fan bracket 21, and its telescopic rod is connected to the ducted fan 20 through the push rod rotating joint 24. The tilting angle of the ducted fan 20 is changed by the extension and shortening of the telescopic rod of the fan steering drive mechanism 22, so as to realize the conversion of the ducted fan 20 between the front-to-back state and the vertical state. It can be understood that the tilting angle of the ducted fan 20 can be between the front-to-back state and the vertical state. The ducted fans 20 are distributed in a staggered and symmetrical manner as a whole. In the rotor mode, they are in a vertical state with vertical thrust, and in the fixed-wing mode, they are in a front-to-back state with horizontal thrust, which is used to provide power for the drone during flight.

[0063] Five fixed support rods 25 are installed between the fan brackets 21 of the left front wing 11 and the right front wing 13, respectively, and four fixed support rods 25 are installed between the fan brackets 21 of the left rear wing 12 and the right rear wing 14, respectively, for reinforcing the fan brackets 21 to ensure the lateral stability of the ducted fan 20 during the tilting process. The fan brackets 21 of the left front wing 11 and the fan brackets 21 of the left rear wing 12 are staggered, with errors in the front-to-back direction and the left-to-right direction, and ensure that the fan brackets 21 of the left front wing 11 and the left rear wing 12 do not interfere with each other and the relative distance is minimized when the left front wing 11 and the left rear wing 12 are closed. Similarly, the fan brackets 21 of the right front wing 13 and the fan brackets 21 of the right rear wing 14 are staggered, with errors in the front-to-back direction and the left-to-right direction, and ensure that the fan brackets 21 of the right front wing 13 and the right rear wing 14 do not interfere with each other and the relative distance is minimized when the left front wing 11 and the left rear wing 12 are closed. 11, after the left rear wing 12, the right front wing 13 and the right rear wing 14 are unfolded, the fan brackets 21 on the left front wing 11, the left rear wing 12, the right front wing 13 and the right rear wing 14 are evenly distributed in an "isosceles trapezoid" as a whole. At this time, the ducted fans 20 on the left front wing 11, the left rear wing 12, the right front wing 13 and the right rear wing 14 are evenly distributed in an "isosceles trapezoid" as a whole, and the distance between the ducted fans 20 on the left front wing 11 and the right front wing 13 is smaller than the distance between the ducted fans 20 on the left rear wing 12 and the right rear wing 14. The first electric push rod is internally matched with a nut and a screw. When the motor drives the screw to rotate, the nut moves along the axial direction of the screw to convert the rotational motion of the motor into a linear motion, realize the extension and retraction of the push rod, and ensure that each position is self-locking.

[0064] The fan bracket 21 extends obliquely downward from the bottom surface of the left front wing 11, the left rear wing 12, the right front wing 13 or the right rear wing 14, specifically extends obliquely forward. The ducted fan 20 is installed at the end of the fan bracket 21 and when the ducted fan 20 is converted to a vertical state, the left front wing 11, the left rear wing 12, the right front wing 13 or the right rear wing 14 do not block the ducted fan 20 in the vertical direction. The purpose of the fan bracket 21 extending obliquely downward instead of being vertical is to ensure that when the ducted fan 20 is tilted to a vertical state, on the axis of the fan rotation, the air inlet will not be blocked by the wing, thereby rendering the power ineffective. At the same time, the fan bracket 21 is connected with an oblique brace to increase the rigidity and strength, and further ensure the stability of the fan bracket 21 and the ducted fan 20 thereon.

[0065] During implementation, at the take-off stage, after the wings (left front wing 11 and left rear wing 12, as well as right front wing 13 and right rear wing 14) are fully unfolded, the UAV is in rotor mode. At this time, the motors of the fan steering drive mechanism 22 of the electric push rod corresponding to each ducted fan 20 are energized at the same time, and the motor drives the screw to rotate. Through the cooperation of the nut and the screw, the nut converts the rotational motion of the motor into linear motion, so that its telescopic rod extends. Since the two ends of the electric push rod are rotatably connected, and the ducted fan 20 is fixed at the end by a bracket and can rotate around the axis, the extension of the telescopic rod of the electric push rod will cause the ducted fan 20 to tilt upward around the axis, and the ducted fan 20 is in a vertical state. At this time, Figure 2 As shown, the ducted fan 20 is then started. When the blades of the ducted fan 20 reach the specified rotation speed, sufficient lift will be provided, and the UAV can now leave the ground. Similarly, in the cruising stage, the wings on both sides (the left front wing 11 and the left rear wing 12, as well as the right front wing 13 and the right rear wing 14) are combined, and the ducted fan 20 is in a horizontal state (front and back direction) by contracting the telescopic rod of the fan steering drive mechanism 22 of the electric push rod. At this time, the blades of the ducted fan 20 reach the specified rotation speed to allow the UAV to reach a certain speed, and the pressure difference between the upper and lower surfaces of the wing can provide upward power. The ducted fan only needs to overcome the aerodynamic force at this time to maintain a high-speed flight state, achieving high speed with low power consumption. During the landing phase, the wings on both sides (left front wing 11 and left rear wing 12, as well as right front wing 13 and right rear wing 14) are unfolded, and the ducted fans 20 are placed in a vertical state through the telescopic rod of the electric push rod. By slowly reducing the rotation speed of the blades of the ducted fan 20, the upward lift is reduced, thereby slowly lowering the altitude to achieve a soft landing of the UAV.

[0066] A storage compartment 16 is provided at the bottom of the fuselage body 10, and the storage compartment 16 can be used to store materials. In this case, the UAV is a transport UAV. The bottom of the storage compartment 16 penetrates downward through the bottom surface of the fuselage body 10 to form a storage compartment outlet 17. Doors 18 are rotatably provided on both sides of the storage compartment outlet 17, and when the doors 18 on both sides are rotated and closed, the storage compartment outlet 17 can be closed. In this case, materials can be placed in the storage compartment 16, and when the doors 18 are rotated to open the storage compartment outlet 17, the materials can be allowed to go out of the storage compartment outlet 17. A fuselage bottom plate 47 is provided at the bottom of the fuselage 111, and the storage compartment outlet 17 is opened on the fuselage bottom plate 47. A third electric push rod 41 is also provided on both sides of the bottom of the fuselage body 10, and a door push rod 42 is provided at the bottom of the doors 18 on both sides, and one end of the door push rod 42 is rotatably connected to the door 18 on the same side, and the other end is rotatably connected to the telescopic rod of the third electric push rod 41 on the same side.

[0067] Push-pull electromagnets 43 are respectively provided at the front and rear ends of the storage cabin 16, and a cabin door lock 44 is provided at the end of the telescopic rod of the push-pull electromagnet 43. C-shaped locking rings 45 are respectively provided on the cabin doors 18 on both sides, and when the cabin doors 18 on both sides are rotated and closed to seal the storage cabin exit 17, the C-shaped locking rings 45 of the cabin doors 18 on both sides can form an annular structure for inserting the cabin door lock 44. When the cabin door lock 44 is inserted into the annular structure formed by the C-shaped locking rings 45 on both sides, the C-shaped locking ring 45 can be limited by the cabin door lock 44, and at this time, the cabin doors 18 on both sides cannot rotate. In a preferred embodiment, the bottom side surface of the end of the hatch lock 44 where the C-shaped locking ring 45 is inserted is an inclined surface, so that when the hatch 18 is closed and the C-shaped locking ring 45 passes through the inclined surface of the hatch lock 44, the hatch lock 44 can be driven to retract until the C-shaped locking ring 45 and the hatch 18 are closed. The C-shaped locking ring 45 passes over the hatch lock 44, and under the action of the electromagnet spring, the hatch lock 44 is reset and inserted into the annular structure formed by the C-shaped locking rings 45 on both sides, thereby achieving the closure and locking of the hatch 18.

[0068] The storage compartment 16 is provided with protrusions 46 on the front and rear sides respectively, so that when the door lock 44 is inserted into the ring structure formed by the C-shaped lock ring 45, the bottom of the door lock 44 abuts against the top of the protrusion 46, using the protrusion 46 as a fulcrum.

[0069] During implementation, the telescopic rod of the push-pull electromagnet 43 is normally in an extended state, and the third electric push rod 41 is installed on the vertical support plates on both sides of the bottom of the fuselage frame to provide power for opening and closing the cabin door 18. One push-pull electromagnet 43 is installed at the front position of the top surface of the fuselage bottom plate 47 and is aligned with the closing line of the two cabin doors 18. The other push-pull electromagnet 43 is installed at the rear position of the top surface of the fuselage bottom plate 47 and is aligned with the closing line of the two cabin doors 18. At the same time, the front of the electromagnet push rod is connected to a cabin door lock 44, which cooperates with the C-shaped lock ring 45 inserted on the chassis door to lock the cabin door 18 to prevent the cabin door from accidentally opening and the materials carried from accidentally falling. Protrusions 46 are respectively provided on the front and rear sides of the storage cabin 16, which can serve as the fulcrum of the cabin door lock 44 after the cabin door 18 is closed, and can reliably bear a large amount of load, thereby increasing the load capacity of materials. A panoramic camera 50 is installed at the front side of the bottom of the fuselage bottom plate 47 for real-time observation of the external environment, and then the flight direction of the UAV is controlled through the flight control board 120. A landing gear 48 is installed at the bottom of the fuselage bottom plate 47 through four landing gear clips, which is used to support the safe take-off and landing of the UAV, maintain the height of the fuselage from the ground to avoid contact with ground obstacles, and assist in moving on the ground. After the push-pull electromagnet 43 is energized, its telescopic rod will retreat, and the door lock 44 will withdraw to the outside of the ring structure formed by the C-shaped lock ring 45. Then the third electric push rod 41 is energized, and the motor reverses to shrink its telescopic rod, so that the door top rods 42 on both sides are pulled upward. Since one side of the door 18 is limited by the rotating shaft, the door 18 is rotated outward under the traction of the door top rod 42. When a sufficient rotation angle is reached, the carried materials fall under the action of gravity, and the materials are dropped; after the drop, the push-pull electromagnet 43 loses power, and its telescopic rod is in the extended state. The third electric push rod 41 is energized, and the motor rotates forward to make the door top rod 42 on both sides rotate upward. The telescopic rod is extended to push the door top rods 42 on both sides downward. Since one side of the door 18 is restricted by the rotating shaft, the door 18 is rotated inward. When the C-shaped locking ring 45 on the door 18 contacts the inclined surface of the door lock 44, the door 18 continues to be rotated, causing the door lock 44 to retreat, and the spring of the push-pull electromagnet 43 is stretched until the doors 18 on both sides are horizontally closed. At the same time, the top of the C-shaped locking ring 45 will pass over the door lock 44. Under the action of the electromagnet spring, the door lock 44 is reset and placed in the annular structure formed by the C-shaped locking ring 45, thereby realizing the closure and locking of the door 18.

[0070] The following is a more specific implementation example, which describes in detail the logistics transportation task of the drone of the present invention through the specific implementation of the drone preparation stage, take-off stage, cruising stage, hovering delivery stage and landing stage.

[0071] During the preparation stage, the UAV is in fixed-wing mode and parked on an open ground. The supplies are stably placed inside the storage compartment 16, the left and right doors 18 are closed and locked, the battery power lithium battery in the power compartment 19 is fully charged, all components have been adjusted, the flight route is clear, the road environment is safe, the flight controller is in the operating room, the main power is started, and preparations for takeoff are made.

[0072] During the take-off phase, the flight control board 120 sends a control signal, the second electric push rod 31 at the wing shaft is powered on, the motor starts to rotate forward, and drives its telescopic rod to extend outward. With the help of the wing joints 32 on both sides, the linear motion of the electric push rod is converted into the outward tilting motion of the wing rotating top rod 33. As the wing rotating top rod 33 continues to rotate, the force it exerts on both sides will cause each wing (the left front wing 11 and the left rear wing 12, as well as the right front wing 13 and the right rear wing 14) to gradually unfold outward, like a pair of "scissors" slowly opening, until the entire wing structure moves to the "dead point" position, the flight control board 120 sends a control signal, the second electric push rod 31 is powered off, and at this time, the left front wing 11 and the left rear wing 12, as well as the right front wing 13 and the right rear wing 14 on the same side are fully opened until the wings on the same side are 75 degrees to each other and remain stable. From then on, the flight control board 120 further sends out a control signal, and the motor of the fan steering drive mechanism 22 is synchronously powered on and rotates forward, driving the screw to rotate, and with the help of the transmission pair of the nut and the screw, the rotational motion of the motor is converted into linear motion, and its telescopic rod is extended to cause each ducted fan 20 to tilt upward around the axis to a vertical state, and the flight control board 120 sends out a control signal, and the fan steering drive mechanism 22 is powered off and locked. Then the flight control board 120 sends out a control signal again, and each ducted fan 20 is powered on and started. When the fan blade speed of the ducted fan 20 reaches the preset value, sufficient lift is generated to make the drone take off the ground and prepare for cruising.

[0073] In the cruise phase, the flight control board 120 sends a control signal, the motor of the fan steering drive mechanism 22 is powered on and reversed, and the telescopic rod is contracted to make each ducted fan 20 tilt horizontally to 45°, while increasing the rotation speed of the blades of the ducted fan 20, so that the drone can fly forward while maintaining lift. When a certain forward speed is reached, due to the different cross-sectional configurations of the front and rear wings, the rear wing can ensure a greater pressure difference and provide greater lift, so the flight control board 120 sends a control signal to make the motor of the fan steering drive mechanism 22 of the left rear wing 12 and the right rear wing 14 powered on and reversed, and the telescopic rod is contracted to make the ducted fans 20 of the left rear wing 12 and the right rear wing 14 enter the horizontal state first, and then the motor of the second electric push rod 31 is powered on and reversed, and the wing connection joint 32 is contracted to merge the left front wing 11 and the left rear wing 12, and merge the right front wing 13 and the right rear wing 14. During this process, the ducted fans 20 of the left front wing 11 and the right front wing 13 are continuously regulated to make the front and rear lifts and the left and right lifts the same, and the UAV maintains dynamic balance. After the wings are merged, the flight control board 120 sends a control signal to make the motors of the fan steering drive mechanisms 22 of the left front wing 11 and the right front wing 13 energized and reversed, and the telescopic rods are retracted to make the ducted fans 20 of the left front wing 11 and the right front wing 13 enter a horizontal state. The flight control board 120 further sends a control signal to adjust the speed of each ducted fan 20, so that the UAV enters the rated high speed, and then the panoramic camera 50 under the UAV observes the ground environment in real time, and further adjusts the ailerons 129, rudder 122, and elevator 124 in real time through the flight control board 120 to control the flight direction of the UAV, so that it moves toward the drop site and prepares for hovering and drop.

[0074] During the hovering delivery phase, when the drone reaches the designated delivery location, the flight control board 120 sends a control signal, the motors of the fan steering drive mechanism 22 of the left front wing 11 and the right front wing 13 are powered on and rotated forward, and the telescopic rod is extended to tilt the ducted fans 20 of the left front wing 11 and the right front wing 13 to a vertical state, and then the motor of the second electric push rod 31 is powered on and rotated forward, and the telescopic rod is extended to open the front and rear wings until they reach the "dead point" position and then self-lock. In this process, the ducted fans 20 of the left front wing 11 and the right front wing 13 are continuously regulated to make the front and rear lifts and the left and right lifts the same, and the drone maintains dynamic balance. After the wings are unfolded, the flight control board 120 sends a control signal to make the motors of the fan steering drive mechanism 22 of the left rear wing 12 and the right rear wing 14 powered on and rotated forward, and the telescopic rod is extended to make the ducted fans 20 of the left rear wing 12 and the right rear wing 14 enter a vertical state. The flight control board 120 further sends a control signal to adjust the blade speed of each ducted fan 20, so that the UAV has a certain lift to support the UAV, and due to the effect of air resistance, the forward speed of the UAV gradually decreases. By adjusting the blade speed of the ducted fan 20, the UAV chassis door is aligned with the drop site at a certain horizontal height. The flight control board 120 sends a control signal, the push-pull electromagnet 43 is energized, the electromagnet push rod is retracted, and the door lock 44 is withdrawn to the ring structure formed by the C-shaped lock ring 45. Then the third electric push rod 41 is energized, and the motor reverses to drive the push rod to shrink, so that the door push rods 42 on both sides rotate outward. Since one side of the door 18 is constrained by the rotating shaft, the door 18 rotates outward under the action of the door push rod 42. When the rotation angle reaches a predetermined value, the carried materials fall naturally under the action of gravity. After the drop action is completed, the push-pull electromagnet 43 is powered off, and its electromagnet push rod returns to the initial state of being extended. At this time, the flight control board 120 sends a control signal, the third electric push rod 41 is energized, and its motor rotates forward to drive the push rod to extend, driving the two side door push rods 42 to rotate inward, and the push rods rotate to cause the door 18 to close inward. When the C-shaped lock ring 45 on the door 18 contacts the inclined surface of the door lock 44, as the door 18 continues to rotate, the door lock 44 is forced to retreat, causing the electromagnet spring to stretch until the two side doors 18 are in a horizontal closed state, and the top of the C-shaped lock ring 45 passes over the door lock 44. Under the restoring force of the electromagnet spring, the door lock 44 is reset and embedded in the ring structure formed by the C-shaped lock ring 45, thereby realizing the closing and locking operation of the door 18. The flight control board 120 sends a control signal, and by adjusting the speed of each ducted fan 20, the drone is transferred to the top of the landing site and prepared for landing.

[0075] During the landing phase, when the drone is directly above the landing site, the flight control board 120 sends a control signal to adjust the speed of each ducted fan 20 to make the drone slowly fall until the landing gear 48 touches the ground and achieves a soft landing. The flight control board 120 then sends a control signal, the second electric push rod 31 motor is powered and reverses, and the push rod contracts to merge the front and rear wings. The drone is on standby to integrate data. After the integration is completed, a detailed report on the mission process is sent to the control room, and the drone power is disconnected to complete a logistics transportation mission.

[0076] The present invention proposes a new type of drone that uses only one power system but combines the advantages of fixed-wing and rotary-wing drones, has large load capacity, long endurance and high flexibility, and can effectively perform various flight missions. It integrates the advantages of rotary-wing drones and fixed-wing drones, switches flight modes according to the flight process, switches to rotary-wing mode during takeoff and landing, achieves vertical takeoff and landing and can hover in the air, and switches to fixed-wing mode during the cruising phase to achieve long endurance and high speed, thereby effectively enhancing the nuclear load capacity, endurance and flexibility, and can adapt to diverse and complex terrains and environmental conditions including cities, mountainous areas, islands, etc., greatly broadening the coverage range.

[0077] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily thought of by a person skilled in the art within the technical scope disclosed by the present invention should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. A scissor-wing drone, characterized in that: Included are: A fuselage body (10); A left front wing (11), a left rear wing (12), a right front wing (13) and a right rear wing (14), wherein the left front wing (11) and the left rear wing (12) are located on the left side of the fuselage body (10), and the right front wing (13) and the right rear wing (14) are located on the right side of the fuselage body (10), and one end of the left front wing (11), the left rear wing (12), the right front wing (13) and the right rear wing (14) are respectively rotatably connected to the fuselage body (10); A wing opening and closing drive mechanism, which is arranged on the fuselage body (10) to drive the left front wing (11) and the left rear wing (12) to rotate so as to fit each other front and back to form a left fixed wing, and to drive the right front wing (13) and the right rear wing (14) to rotate so as to fit each other front and back to form a right fixed wing; or to drive the left front wing (11) and the left rear wing (12) to rotate so as to spread forward and backward, and to drive the right front wing (13) and the right rear wing (14) to rotate so as to spread forward and backward; Ducted fans (20) are respectively arranged on the left front wing (11), the left rear wing (12), the right front wing (13) and the right rear wing (14); A fan steering drive mechanism (22) is arranged on the left front wing (11), the left rear wing (12), the right front wing (13) and the right rear wing (14) to drive the ducted fan (20) to switch between a front-to-rear facing state and a vertical state.

2. The scissor-wing drone according to claim 1, characterized in that: The ducted fan (20) is respectively installed on the left front wing (11), the left rear wing (12), the right front wing (13) or the right rear wing (14) through a fan bracket (21), and the ducted fan (20) is rotatably connected to the fan bracket (21); The fan steering drive mechanism (22) is a first electric push rod, one end of which is rotationally connected to the left front wing (11), the left rear wing (12), the right front wing (13) or the right rear wing (14), and the other end of which is rotationally connected to the ducted fan (20).

3. The scissor-wing drone according to claim 2, characterized in that: The fan bracket (21) extends obliquely downward from the bottom surface of the left front wing (11), the left rear wing (12), the right front wing (13) or the right rear wing (14); the ducted fan (20) is installed at the end of the fan bracket (21); and when the ducted fan (20) is converted to a vertical state, the left front wing (11), the left rear wing (12), the right front wing (13) or the right rear wing (14) does not block the ducted fan (20) in the vertical direction.

4. The scissor-wing drone according to claim 1, characterized in that: The left front wing (11) and the right front wing (13) are provided with a receiving groove (15) at the rear side surface. When the left front wing (11) and the left rear wing (12) are attached front to back, the front side surface of the left rear wing (12) is attached to the receiving groove (15) of the left front wing (11); and when the right front wing (13) and the right rear wing (14) are attached front to back, the front side surface of the right rear wing (14) is attached to the receiving groove (15) of the right front wing (13).

5. The scissor-wing drone according to claim 1, characterized in that: The bottom of the accommodating groove (15) is arc-shaped, and the front side surfaces of the left rear wing (12) and the right rear wing (14) are corresponding arc surfaces.

6. The scissor-wing drone according to claim 1, characterized in that: The wing opening and closing driving mechanism comprises a wing opening and closing unit. The wing opening and closing units are two and are arranged on the left and right sides of the top of the fuselage body (10) and correspond to the left front wing (11) and the left rear wing (12) on the left side and the right front wing (13) and the right rear wing (14) on the right side. The wing opening and closing unit comprises a second electric push rod (31), a wing connection joint (32) and a wing rotation top rod (33). The second electric push rod (31) is fixedly mounted on the fuselage body (10). The second electric push rod (31) is disposed on the main body (10) and correspondingly extends toward the side, the end of the telescopic rod of the second electric push rod (31) is connected to the end of the wing connection joint (32), and there are two wing rotation top rods (33), one end of the two wing rotation top rods (33) is respectively and correspondingly rotationally connected to the two ends of the wing connection joint (32), and the other end is respectively and correspondingly rotationally connected to the left front wing (11), the left rear wing (12), the right front wing (13) or the right rear wing (14) on the same side.

7. The scissor-wing drone according to claim 6, characterized in that: The two ends of the wing joint (32) are chamfered at the part away from the second electric push rod (31), and are at right angles at the part close to the second electric push rod (31), so that when the telescopic rod of the second electric push rod (31) is retracted, the wing rotating top rods (33) at the two ends of the wing joint (32) rotate close to each other, thereby driving the left front wing (11) and the left rear wing (12) on the same side to rotate so as to fit each other front and back to form a left fixed wing, and driving the right front wing (13) and the right rear wing (14) to rotate so as to fit each other front and back to form a right fixed wing, and when the second electric push rod (31) is retracted, the wing rotating top rods (33) at the two ends of the wing joint (32) rotate close to each other, thereby driving the left front wing (11) and the left rear wing (12) on the same side to rotate so as to fit each other front and back to form a left fixed wing, and driving the right front wing (13) and the right rear wing (14) to rotate so as to fit each other front and back to form a right fixed wing. When the telescopic rod 1) is extended, the wing rotating top rods (33) at both ends of the wing connecting joint (32) rotate and unfold with each other, thereby driving the left front wing (11) and the left rear wing (12) on the same side to rotate and unfold with each other, and driving the right front wing (13) and the right rear wing (14) to rotate and unfold with each other, and when the wing rotating top rods (33) at both ends of the wing connecting joint (32) rotate and unfold with each other to a certain angle, the end surface of the wing rotating top rod (33) abuts against the end surface of the wing connecting joint (32), so that the wing rotating top rod (33) can no longer be unfolded.

8. The scissor-wing drone according to claim 1, characterized in that: A storage compartment (16) is provided at the bottom of the fuselage body (10), the bottom of the storage compartment (16) penetrates downward through the bottom surface of the fuselage body (10) to form a storage compartment outlet (17), doors (18) are rotatably provided on both sides of the storage compartment outlet (17), and when the doors (18) on both sides are rotated and closed, the storage compartment outlet (17) can be closed; A third electric push rod (41) is also provided on both sides of the bottom of the fuselage body (10), and a door push rod (42) is provided at the bottom of the doors (18) on both sides, one end of the door push rod (42) is rotatably connected to the door (18) located on the same side, and the other end is rotatably connected to the telescopic rod of the third electric push rod (41) located on the same side.

9. The scissor-wing drone according to claim 8, characterized in that: The storage compartment (16) is provided with a push-pull electromagnet (43) at the front and rear ends respectively, and a door lock (44) is provided at the end of the telescopic rod of the push-pull electromagnet (43). The doors (18) on both sides are provided with C-shaped locking rings (45) respectively, and when the doors (18) on both sides are rotated and closed to seal the storage compartment exit (17), the C-shaped locking rings (45) of the doors (18) on both sides can form an annular structure for inserting the door lock (44).

10. The scissor-wing drone according to claim 9, characterized in that: The storage compartment (16) is provided with protrusions (46) on both the front and rear sides, respectively, so that when the door lock (44) is inserted into the ring structure formed by the C-shaped lock ring (45), the bottom of the door lock (44) abuts against the top of the protrusion (46).

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