A barrel-launched UAV deployment mechanism with a spring-driven connecting rod and a UAV

Abstract

The present invention relates to the technical field of foldable drones, and provides a barrel-launched drone deployment mechanism with a spring-driven connecting rod and a drone, including a base, a spring drive assembly, and two sets of connecting rod assemblies with the same structure and arranged in a spatially offset manner; a limiting long hole is provided on the base; each set of connecting rod assemblies includes a first connecting rod and a special-shaped connecting rod, and one end of the first connecting rod is rotatably connected to one end of the special-shaped connecting rod; the other ends of the two first connecting rods are connected by a first connecting column, and the first connecting column is slidably arranged in the limiting long hole on the base; the second ends of the two special-shaped connecting rods are jointly hinged to the base; the third ends of the two special-shaped connecting rods are respectively connected to two wings; the first connecting columns of the two first connecting rods are connected to the spring drive assembly, so that the first connecting column moves in the limiting long hole to complete the deployment action of the wings. The one-time deployment of the wings is realized, complex limiting and locking structures are omitted, and the response speed and stability of the deployment mechanism are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of foldable drones, and more specifically, to a barrel-launched drone deployment mechanism and a drone with a spring-driven connecting rod. Background Art

[0002] The statements in this section merely provide background technical information related to the present invention and do not necessarily constitute prior art.

[0003] Existing barrel-launched drone platforms have put forward higher requirements for the deployment mechanism in terms of structural compactness, deployment reliability, and cost control. To achieve efficient folding and stable deployment of the wings within a limited cabin space, the deployment mechanism must be lightweight, responsive, and simple in structure. The deployment mechanism not only affects the storage efficiency and motion stability of the drone platform, but its design also determines the deployment reliability of the wings under limited size conditions. Therefore, how to achieve efficient, stable, and synchronous deployment actions within a limited space is a key technical problem to be solved in the design process of the deployment structure, with significant engineering value and research significance.

[0004] Currently, the common deployment mechanisms mostly use torsion springs in combination with ratchet limit structures to achieve single deployment. This structure is complex, has too large a mass, and is too thick, resulting in a large occupied space; in order to increase the deployment torque, it is necessary to select heavier and larger torsion springs, which also leads to a large mass of the limit mechanism. Moreover, the deployment mechanism using a torsion spring in combination with a ratchet limit structure also has the following problems: First, in the deployment structure using a torsion spring in combination with a ratchet limit structure, after repeated use, the ratchet structure creeps, the teeth are cut, or the meshing surface is damaged, resulting in jamming or insufficient meshing of the deployment structure. The ratchet mechanism needs to be accurately meshed during the release of the torsion spring, otherwise jamming or insufficient meshing may occur, causing the deployment action to lag or fail, affecting the stability of the deployment function and the repeatability of the deployment mechanism. Second, the torsion spring itself is prone to elastic fatigue under long-term compressed energy storage, affecting the consistency of energy release, making each deployment action different, and reducing the reliability and repeatability of the deployment mechanism. In addition, due to the mechanical complexity of the ratchet limit structure, it is highly sensitive to machining accuracy and assembly errors, further increasing the uncertainty and failure risk in practical applications. Summary of the Invention

[0005] To solve the above problems, the present invention proposes a spring-driven link mechanism for a tube-launched UAV and a UAV. Through the symmetrically arranged link structure combined with spring drive, it can achieve efficient, stable and synchronous deployment actions within a limited space, realizing the one-time deployment of the wings, eliminating complex limiting and locking structures. The interaction of each link improves the response speed and stability of the deployment mechanism, and reduces the offset or blockage of the wings during deployment, which is beneficial to improving the flight stability of the UAV. Moreover, the size of the deployment mechanism is easy to scale, the processing cost is low, the precision requirement is low, and the mechanism quality is light, enabling wide-range popularization and application.

[0006] To achieve the above object, the present invention adopts the following technical solutions:

[0007] One or more embodiments provide a spring-driven link mechanism for a tube-launched UAV, including a base, a spring drive assembly, and two sets of link assemblies with the same structure and arranged in a spatially staggered manner;

[0008] The base is fixed on the UAV body, and a limiting long hole is provided on the base;

[0009] Each set of link assemblies includes a first link and a special-shaped link. One end of the first link is rotatably connected to one end of the special-shaped link; the other ends of the two first links are connected by a first connecting column, and the first connecting column is slidably arranged in the limiting long hole; the second ends of the two special-shaped links are jointly hinged at the first fulcrum position on the base as the rotation center of the special-shaped link; the third ends of the two special-shaped links are respectively connected to the two wings;

[0010] The first connecting column is connected to the spring drive assembly so that the first connecting column moves in the limiting long hole to complete the deployment action of the wings.

[0011] One or more embodiments provide a UAV that adopts the above-mentioned spring-driven link mechanism for a tube-launched UAV to automatically deploy the wings of the UAV.

[0012] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0013] The deployment mechanism of this embodiment adopts a spring drive mechanism to provide one-time deployment ability, eliminating complex limiting and locking structures, and improving the response speed and stability of the deployment mechanism. The deployment mechanism of this embodiment adopts a four-link mechanism composed of a link assembly and a sliding first connecting column. The component structure is simple, and the structural mass ratio is small, suitable for narrow spaces. The double-group link assemblies arranged in a spatially staggered manner can also effectively improve the symmetry and balance during deployment, reduce the offset or blockage of the wings during deployment, and are beneficial to improving the reliability and stability of the UAV wing deployment mechanism.

[0014] The advantages of the present invention and the advantages of additional aspects will be described in detail in the following specific embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] The accompanying drawings forming a part of the present invention are used to provide a further understanding of the present invention. The schematic embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute a limitation to the present invention.

[0016] Figure 1 is a partial enlarged view of the deployment mechanism of Embodiment 1 of the present invention provided on a drone;

[0017] Figure 2 is a schematic structural view of the base of Embodiment 1 of the present invention;

[0018] Figure 3 is a schematic structural view of the deployment mechanism of Embodiment 1 of the present invention in a state where the wing is deployed;

[0019] Figure 4 is a schematic structural view of the deployment mechanism of Embodiment 1 of the present invention in a state of large elevation angle during the launch of the drone;

[0020] Figure 5 is a schematic structural view of the deployment mechanism of Embodiment 1 of the present invention in a state where the wing is folded;

[0021] Figure 6 is a schematic structural view of the drone of Embodiment 1 of the present invention in a state where the wing is folded;

[0022] Wherein, 1, airframe; 2, right wing; 3, left wing; 4, base; 5, spring; 6, straight link; 7, first link; 8, special-shaped link; 9, bolt; 10, stud; 11, rotation center; 12, limit long hole; 13, positioning hole; 14, first connection column; 15, second connection column. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0023] The present invention will be further described below in conjunction with the drawings and embodiments.

[0024] It should be noted that the following detailed descriptions are all exemplary and are intended to provide a further description of the present invention. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by those of ordinary skill in the technical field to which the present invention belongs.

[0025] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present invention. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should also be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof. It should be noted that, without conflict, the various embodiments in the present invention and the features in the embodiments can be combined with each other. The embodiments will be described in detail below with reference to the accompanying drawings.

[0026] Embodiment 1

[0027] In the technical solutions disclosed in one or more embodiments, as Figures 1 to 6 shown, a barrel-launched UAV deployment mechanism with a spring-driven link is installed on the body 1 of the barrel-launched UAV and connects the left wing 3 and the right wing 2; the deployment mechanism includes a base 4, a spring drive assembly, and two sets of link assemblies with the same structure and arranged in a spatially staggered manner;

[0028] The base 4 is fixed on the UAV body 1, and a limit long hole 12 is provided on the base 4;

[0029] Each set of link assemblies includes a first link 7 and a special-shaped link 8. One end of the first link 7 in the same group is rotatably connected to one end of the special-shaped link 8; the other ends of the two first links 7 are connected by a first connection column 14, and the first connection column 14 is slidably arranged in the limit long hole 12; the second ends of the two special-shaped links 8 are jointly hinged at the first fulcrum position on the base 4 as the rotation center 11 of the special-shaped link 8, and the third ends of the two special-shaped links 8 are respectively connected to the two wings so that the two wings can be deployed or folded;

[0030] The first connection column 14 is connected to the spring drive assembly so that the first connection column 14 moves in the limit long hole 12 to complete the deployment action of the wing.

[0031] The deployment mechanism of this embodiment uses the spring drive assembly as the power source to drive the first connection column 14 to slide in the limit long hole 12, and then drives the two first links 7 to move synchronously. One end of the first link 7 is connected to the special-shaped link 8 by hinge. During the sliding process of the first connection column 14, the power is transmitted to the special-shaped link 8, causing the special-shaped link 8 to rotate around the first fulcrum. The rotation of the special-shaped link 8 directly drives the wing to deploy, and the two wings achieve synchronous and balanced deployment actions. The two sets of link assemblies are arranged in a spatially staggered manner to avoid interference between the wings or the link mechanism and improve the structural compactness.

[0032] Compared with the traditional torsion spring and ratchet solutions, the deployment mechanism in this embodiment adopts a four-bar linkage mechanism composed of a connecting rod assembly and a sliding first connecting column 14. The component structure is simple, the structural mass ratio is small, it is suitable for narrow spaces, easy for standardized production and modular installation, and significantly reduces the processing difficulty and assembly complexity. At the same time, the spring drive mechanism provides a one-time deployment ability, eliminating complex limiting and locking structures, and improving the response speed and stability of the deployment mechanism. The double-group connecting rod assemblies arranged with spatial dislocation can also effectively improve the symmetry and balance during the deployment process, reduce the offset or blockage of the wing during deployment, and are beneficial to improving the reliability and stability of the UAV wing deployment mechanism.

[0033] In a possible implementation manner, the base 4 can adopt a structure that can realize the linkage of the connecting rod assembly. It can use a polygonal plate to set the limit long holes 12 at corresponding positions, or it can adopt a linear structure;

[0034] Preferably, as Figure 2 shown, the base 4 adopts a Y-shaped base; the limit long holes 12 are arranged on the symmetry axis of the Y-shaped base 4; the positioning holes 13 are arranged at the ends of the base 4;

[0035] In some embodiments, for the spatial dislocation arrangement of the two groups of connecting rod assemblies, the upper and lower dislocation arrangement can be adopted. When the two wings connected by the connecting rod assembly are in the folded state, the left wing 3 and the right wing 2 are stacked one above the other;

[0036] In this embodiment, the upper and lower dislocation arrangement is achieved by setting the installation positions of the two groups of connecting rod assemblies in the vertical direction within the base 4, so that each group of connecting rod assemblies is located on different height planes respectively, thus avoiding interference caused by the overlap of the connecting rods when the deployment mechanism is in the folded state. The upper and lower stacking layout helps to improve the symmetry and balance during the deployment process, reduces the asymmetric interference caused by gravity or connecting rod coupling during the wing deployment process, and improves the stability and response consistency of the mechanism operation.

[0037] A feasible technical solution is that the base 4 includes an upper bracket and a lower bracket with the same structure. The upper bracket and the lower bracket are stacked one above the other and spaced by a set first distance H, and the stacked upper bracket and lower bracket are fixed on the airframe 1 of the UAV; the connecting rod assembly is arranged between the upper bracket and the lower bracket and spaced by a set second height difference h; the second height difference h is not less than the thickness of the wing;

[0038] In this embodiment, to fix the stacked upper bracket and lower bracket on the airframe 1 of the UAV, threaded connection can be adopted, and the upper bracket and the lower bracket are connected and fixed on the airframe 1 through bolts 9.

[0039] The above - mentioned embodiment adopts a modular bracket structure. Inside the UAV body 1, an installation platform for the deployment mechanism is formed by stacking an upper bracket and a lower bracket vertically. A space area for installing the link assembly is formed between the two layers of brackets. The height difference of the link assembly is set as the second height difference h to ensure that this area is sufficient to accommodate the link mechanism and the wing assembly connected thereto. The first distance H between the upper bracket and the lower bracket is adjusted according to the structural space of the UAV body 1 to provide sufficient space for mechanism arrangement on the basis of not affecting the folding and storage of the wings, realizing the vertical isolation and structural support of the link assembly.

[0040] Optionally, for two sets of link assemblies, one set of link assemblies is attached to the lower surface of the upper bracket in the base 4, and the other set of link assemblies is attached to the upper surface of the lower bracket in the base 4.

[0041] In the above - mentioned embodiment, the two link assemblies are respectively arranged in the inner surface areas of the upper and lower brackets. One link assembly is installed on the lower surface of the upper bracket, and the other link assembly is installed on the upper surface of the lower bracket, forming a symmetrically distributed layout structure. This arrangement improves the space utilization rate, makes the structure more compact, and helps to reduce the overall volume of the deployment mechanism. The link assemblies are installed closely against the inner surfaces of the brackets, which not only improves the structural stability but also facilitates assembly and later maintenance. The symmetric installation further improves the balance of the deployment action and reduces structural distortion or motion interference caused by eccentric loading or assembly errors.

[0042] In a specific implementation scheme, limit long holes 12 are provided in the relative positions of the upper bracket and the lower bracket. A slidable first connection column 14 penetrates through the two limit long holes 12. One ends of two first links 7 are hinged on the first connection column 14, and the elastic force output end of the spring drive assembly is fixedly connected to the first connection column 14.

[0043] In some embodiments, the spring drive assembly may include one or more springs 5. One end of the spring 5 is connected to the first connection column 14, and the other end is fixed at a positioning position on the body 1.

[0044] As Figure 1 shown, corresponding to the Y - shaped base 4, three fixing columns can be provided at the three ends of the Y - shape to stably fix the base 4 on the body 1; the fixing columns can all adopt bolts 9.

[0045] Preferably, the upper bracket and the lower bracket adopt a Y - shaped bracket as Figure 2 shown. The spring drive assembly includes two springs 5. The springs 5 are horizontally arranged between the upper bracket and the lower bracket; one end of the spring 5 is fixedly connected to the fixing column at the end of the Y - shaped bracket, and the other end is connected to the first connection column 14 for hinging the two first links 7.

[0046] Specifically, circular rings are provided at both ends of the spring 5 and are connected to the fixing posts at the ends of the Y-shaped bracket. The fixing posts can be bolts 9. Two bolts 9 can be passed through to form a rotating pair. After the spring 5 is stretched, it is sleeved on the bolts 9 and the first connecting post 14. The spring 5 is always in a stretched state to provide a pulling force.

[0047] In this embodiment, the upper bracket and the lower bracket are respectively designed as Y-shaped structures. Two springs 5 are arranged in the transverse direction, that is, parallel to the horizontal axis of the drone. One end is fixedly connected to the fixing posts provided at the ends of the Y-shaped bracket, and the other end is connected to the first connecting post 14 between the two first linkages 7. When the spring 5 is pre-compressed, energy is stored in its elastic deformation; at the moment of launch, the spring 5 releases the stored energy, driving the first connecting post 14 to slide along the limit long hole 12, and then driving the linkage mechanism to move, realizing the automatic synchronous deployment of the wings.

[0048] In a further technical solution, a slidable second connecting post 15 is arranged through the limit long hole 12. The first connecting post 14 and the second connecting post 15 are connected by a straight link 6. The spring 5 of the spring drive assembly is connected to the first connecting post 14 through the second connecting post 15 and the straight link 6. The maximum deployment angle of the wings is adjusted by adjusting the length of the straight link 6; the straight link 6 passes through the first connecting post 14 and the second connecting post 15 to form a rotating pair.

[0049] In this embodiment, a slidable second connecting post 15 is arranged in the limit long hole 12 of the base 4 and can move smoothly along the direction of the limit long hole 12 under the drive of the spring 5. The first connecting post 14 is connected to the second connecting post 15 through a straight link 6, constituting an indirect transmission path between the spring 5 and the first linkage 7. When the spring 5 releases the stored energy, its thrust acts on the first connecting post 14 through the second connecting post 15 and the straight link 6, driving the two first linkages 7 to slide along the limit long hole 12 direction, and at the same time driving the special-shaped linkage 8 to rotate, so that the wings connected to its end are synchronously deployed. The length of the straight link 6 determines the maximum stroke of the first connecting post 14 in the limit long hole 12, and further affects the rotation angle of the special-shaped linkage 8 and the maximum deployment angle of the wings, thereby realizing the adjustable control of the deployment angle.

[0050] In addition, the base 4 is composed of an upper bracket and a lower bracket, and is provided with a limit long hole 12 for restricting the movement paths of the straight link 6 and the first connecting post 14. The limit long hole 12 is arranged in a long strip layout, playing a guiding and restricting role, effectively controlling the sliding track of the straight link 6, forming a stable linear movement path in the Y-shaped base, avoiding lateral shaking or deviation, and ensuring the stability and reliability of the mechanism operation.

[0051] The above structural design realizes the flexible distribution of the driving force path and the precise control of the deployment angle by setting the second connecting column 15 and the straight connecting rod 6. The length adjustment function of the straight connecting rod 6 enables the wing deployment angle to be highly adjustable to meet different flight requirements. The limit elongated hole 12 not only provides a stable movement guide for the straight connecting rod 6, but also restricts the movement range of the first connecting column 14, further ensuring the consistency and precision of the structural movement. Through the design of this guiding structure, the lateral interference, structural shaking or the risk of linkage mechanism interference are effectively reduced, thereby greatly improving the stability, symmetry and precision of the wing deployment process, and enhancing the flight reliability of the UAV and the overall adaptability of the deployment mechanism.

[0052] Further, the second connecting column 15 connected to the straight connecting rod 6 moves to the hole edge of the limit elongated hole 12 near the spring drive assembly end, and the corresponding deployment angle of the wing is 90 degrees.

[0053] In this embodiment, through the end position of the second connecting column 15, the effective control of the maximum deployment angle of the wing can be achieved, ensuring that the wing can stably reach the 90-degree angle after each catapult deployment, and improving the consistency of each deployment action. This structure does not require an additional angle limiting mechanism and only relies on the structural arrangement to complete precise control, simplifies the system structure and improves reliability.

[0054] Optionally, the structures of the first connecting column 14 and the second connecting column 15 can be the same, and a smooth rod stud or a double-headed rivet can be used;

[0055] In some embodiments, the first connecting rod 7 adopts an L-shaped connecting rod, including two ends; the special-shaped connecting rod 8 adopts an asymmetric T-shaped connecting rod, including three ends;

[0056] This implementation optimizes the design of the connecting rod structure. The first connecting rod 7 adopts an L-shaped structure, enabling it to better adapt to the sliding path of the limit elongated hole 12 during installation and providing a favorable angle for the hinge with the special-shaped connecting rod 8. At the same time, the L-shaped configuration can generate a large angle output with a small linear sliding stroke, thereby improving the driving efficiency. The special-shaped connecting rod 8 adopts an asymmetric T-shaped structure. One end is hinged to the first connecting rod 7, the second end is fixed to the base 4 as the rotation center 11, and the third end is used to connect the wing. The asymmetric T-shaped design enables non-linear acceleration transmission during its rotation process, which helps to optimize the wing deployment speed curve and avoid excessive speed at the initial stage of deployment or excessive impact at the end.

[0057] Optionally, the first connecting rod 7 and the special-shaped connecting rod 8 within the same connecting rod assembly are rotatably connected by a stud 10 to form a movable rotating pair; the second ends of the two special-shaped connecting rods 8 are jointly hinged to the first fulcrum position on the base 4 by bolts 9 to form a rotating pair, and the first fulcrum position is the rotation center 11 of the special-shaped connecting rod 8.

[0058] Optionally, the first link 7, the special-shaped link 8, the straight link 6, and the base 4 can use 45# steel material to ensure high structural strength. The spring 5 can be a manganese steel spring, and the bolts 9 and studs 10 use the standard parts of mother and son studs made of metal materials.

[0059] For the deployment mechanism of the above solution, the link mechanism provides the required motion mode, the spring drive assembly provides the driving force, and the base 4 is used to connect the motion mechanism and the structure of the airframe 1. During the launch process, from the whole UAV being ejected from the launch tube to the whole UAV flying stably, the action process of the deployment structure is as follows:

[0060] 1) When the whole UAV is in the launch tube, the state of the deployment structure is as Figure 5 shown, the wings are in the folded state; as Figure 6 shown is the folded state of the UAV, and the wings are stacked closely against the airframe 1 of the UAV. Figure 6 In the A area in

[0061] is the deployment mechanism set for wing connection; Figure 4 2) When the whole UAV is ejected from the launch tube, the left wing 3 and the right wing 2 are no longer restricted by the launch tube. The elastic force of the spring 5 pulls the straight link 6 through the second connection column 15, and the straight link 6 pulls the first connection column 14 to transmit the pulling force to the two link assemblies; at the moment of just leaving the tube, the airframe 1 is in a large elevation angle state, and the gravity is always vertically downward, that is, the component of the gravity in the airframe coordinate system will inhibit the wing deployment. As

[0062] shown, the two special-shaped links 8 are deployed at a certain angle, but cannot be fully deployed; Figure 3 3) When the UAV airframe 1 changes from a large elevation angle to a level flight angle, the gravity is perpendicular to the spring 5. Thus, the elastic force of the spring 5 is transmitted from the second connection column 15, the straight link 6, the first connection column 14 to the first link 7. The first link 7 pulls the second end of the special-shaped link 8 through the stud 10, and the special-shaped link 8 rotates around the rotation center 11 as the axis. As

[0063] shown, for the state where the deployment device is set on the airframe 1 without connecting the wings, the special-shaped link 8 is transformed into a flattened state, driving the wings to quickly change from the contracted state to the deployed state.

[0064] Embodiment 2

[0065] Based on Embodiment 1, a drone is provided in this embodiment. It adopts a barrel-launched drone deployment mechanism with a spring-driven connecting rod described in Embodiment 1. The deployment mechanism is connected to the wings of the drone and is used to automatically deploy the wings of the drone.

[0066] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention can have various changes and modifications. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A spring-driven link mechanism for unfolding a tube-launched UAV, characterized in that: It includes a base, a spring drive assembly, and two sets of link assemblies with the same structure and arranged in a spatially offset manner; The base is fixed on the drone body, and a limit long hole is provided on the base; Each set of link assemblies includes a first link and a special-shaped link. One end of the first link is rotatably connected to one end of the special-shaped link; the other ends of the two first links are connected by a first connecting column, and the first connecting column is slidably arranged in the limit long hole; the second ends of the two special-shaped links are jointly hinged at the first fulcrum position on the base, serving as the rotation center of the special-shaped link; the third ends of the two special-shaped links are respectively connected to two wings; The first connecting column is connected to the spring drive assembly so that the first connecting column moves in the limit long hole to complete the unfolding action of the wings; the spatial offset arrangement of the two sets of link assemblies is an up-and-down offset arrangement. When the two wings connected by the link assemblies are in the folded state, the left wing and the right wing are in an up-and-down stacked state; the base includes an upper bracket and a lower bracket with the same structure. The upper bracket and the lower bracket adopt a Y-shaped-like bracket. The spring drive assembly includes two springs, and the springs are arranged horizontally between the upper bracket and the lower bracket; one end of the spring is fixedly connected to the fixed column at the end of the Y-shaped-like bracket, and the other end is connected to the first connecting column for hinging the two first links; A slidable second connecting column is arranged through the limit long hole. The first connecting column and the second connecting column are connected by a straight link. When the second connecting column connected by the straight link moves to the hole edge near the spring drive assembly end of the limit long hole, the corresponding unfolding angle of the wing is 90 degrees.

2. The unfolding mechanism of the tube-launched UAV driven by a spring-driven connecting rod according to claim 1, wherein: The upper bracket and the lower bracket are stacked up and down and spaced by a set first distance H. The stacked upper bracket and lower bracket are fixed on the drone body; the two sets of link assemblies are arranged between the upper bracket and the lower bracket, with a set second height difference h; the second height difference h is not less than the thickness of the wing.

3. The barrel-shot drone unfolding mechanism with a spring-driven link according to claim 2, characterized in that: For the two sets of link assemblies, one set of link assemblies is attached to the lower surface of the upper bracket in the base, and the other set of link assemblies is attached to the upper surface of the lower bracket in the base.

4. The unfolding mechanism of the tube-launched unmanned aerial vehicle with a spring-driven connecting rod according to claim 2, characterized in that: The spring of the spring drive assembly is connected to the first connecting column through the second connecting column and the straight link; the maximum unfolding angle of the wing is adjusted by adjusting the length of the straight link.

5. The unfolding mechanism of the tube-launched unmanned aerial vehicle with a spring-driven connecting rod according to claim 1, characterized in that: The first link adopts an L-shaped-like link; the special-shaped link adopts an asymmetric T-shaped-like link.

6. The unfolding mechanism of the tube-launched unmanned aerial vehicle with a spring-driven connecting rod according to claim 1, characterized in that: The first link and the special-shaped link within the same link assembly are rotatably connected by a stud to form a movable rotating pair; the second ends of the two special-shaped links are jointly hinged at the first fulcrum position on the base by a stud to form a rotating pair.

7. A drone, characterized in that, The barrel-shot drone unfolding mechanism with a spring-driven link according to any one of claims 1-6 is used to automatically unfold the wings of the drone.

Images