A rearward and forward foldable ducted unmanned aerial vehicle and a folding method thereof

Abstract

This invention discloses a foldable ducted-type unmanned aerial vehicle (UAV) and its folding method, relating to the field of UAV technology. The ducted-type UAV includes a fuselage, multiple ducted components, a rotating connecting component, and a locking structure. The fuselage includes a front fuselage section and a rear fuselage section, with multiple ducted components respectively disposed on the front and rear fuselage sections. The rotating connecting component connects the front and rear fuselage sections, allowing them to rotate relative to each other. The locking structure is located at the connection point and is used to lock or unlock, enabling the UAV to unfold or fold. Based on the technical solution disclosed in this invention, the entire UAV can be folded forward and backward, simplifying the folding structure and making operation convenient. The folded storage volume is significantly reduced, making it easy to carry. Furthermore, the locking mechanism is reliable in the unfolded state, ensuring the stability of the ducted-type UAV's flight structure.

Description

Technical Field

[0001] This invention relates to the field of unmanned aerial vehicle (UAV) technology, and more specifically to a ducted UAV that can be folded forward and backward and its folding method. Background Technology

[0002] Quad-duct drones have been widely used in consumer aerial photography, small-scale operations, and entertainment due to their compact structure, stable flight, and ease of operation. Currently, most quad-duct drones on the market use a one-piece fixed fuselage structure, resulting in a fixed overall size and inconvenient carrying and storage. Although some drones have attempted to reduce size through folding structures, the relevant technologies mainly employ arm-folding methods, that is, reducing space occupation by folding the support arms containing each duct.

[0003] However, the aforementioned folding arm solutions have several technical drawbacks. First, to achieve independent folding and locking of multiple arms, each arm typically requires a complex multi-link system, rotating shaft, and independent locking mechanism, resulting in a complex overall mechanical structure. This not only increases the drone's weight and manufacturing cost but also reduces long-term reliability due to the increased number of components. Second, after folding the arms, the dimensions of the drone's main body (including the center plate, battery compartment, and control module) remain unchanged. The components do not fit tightly together after folding, and the overall space occupied is still relatively large, failing to fundamentally solve the problem of excessive storage volume. Third, in existing folding structures, the fixing method in the unfolded state is mostly a single latch, which is prone to loosening under flight vibrations, affecting structural stability. In the folded state, the duct components lack effective positioning and protection structures, making them susceptible to damage during transportation due to collisions. Furthermore, the complex folding operation steps also reduce the user experience.

[0004] Therefore, developing a folding solution for ducted drones that can overcome the above-mentioned defects is of great significance for the further development and promotion of ducted drones. Summary of the Invention

[0005] The purpose of this invention is to overcome the above-mentioned technical deficiencies and propose a ducted unmanned aerial vehicle (UAV) that can be folded forward and backward and its folding method, thereby solving the technical problems of existing ducted UAVs having complex structures, occupying a large space after folding, and having poor fixation reliability in both unfolded and folded states.

[0006] To achieve the above-mentioned technical objectives, the present invention adopts the following technical solution: In a first aspect, the present invention provides a foldable ducted unmanned aerial vehicle (UAV), comprising: The fuselage, which includes the forward fuselage section and the aft fuselage section; Multiple duct assemblies are respectively disposed on the front fuselage section and the rear fuselage section; A rotary connecting assembly connects the front fuselage section and the rear fuselage section respectively, allowing the front fuselage section and the rear fuselage section to rotate relative to each other about the rotary connecting assembly; and A locking structure is provided at the connection between the front fuselage section and the rear fuselage section, and is configured to lock or unlock the front fuselage section and the rear fuselage section to enable the ducted unmanned aerial vehicle to unfold or fold.

[0007] In some embodiments, the rotary connection assembly includes: Two connecting seats are respectively connected to the front fuselage section and the rear fuselage section; A rotating shaft connects the two connecting seats and forms a revolute joint with the two connecting seats to allow the forward fuselage section and the aft fuselage section to rotate relative to each other about the rotating shaft; and A damping structure, disposed between the connecting seat and the rotating shaft, is configured to provide rotational resistance.

[0008] In some embodiments, the locking structure is a snap-fit ​​structure, which includes a snap-fit ​​body disposed on the front fuselage section and a snap-fit ​​seat disposed on the rear fuselage section, wherein the snap-fit ​​body and the snap-fit ​​seat are configured to engage with each other to achieve locking.

[0009] In some embodiments, the pressing side of the buckle body is provided with anti-slip texture, and one side of the buckle body is provided with a positioning groove; a positioning protrusion is correspondingly provided on the fastening seat, and the positioning protrusion is configured to be embedded in the positioning groove when locked.

[0010] In some embodiments, the plurality of duct assemblies include at least one front duct assembly disposed on the front fuselage section and at least one rear duct assembly disposed on the rear fuselage section. The ends of the front duct assembly and the rear duct assembly are respectively provided with a first tail cone and a second tail cone. A fixing structure is provided between the first tail cone and the second tail cone. The fixing structure is configured to connect and fix the first tail cone and the second tail cone when the front fuselage section and the rear fuselage section are folded and fitted together.

[0011] In some embodiments, the fixing structure includes two magnetic suction members respectively disposed on the first coccyx and the second coccyx, the two magnetic suction members having opposite polarities and being configured to achieve fixing by magnetic attraction when the fuselage is folded.

[0012] In some embodiments, the fixing structure includes a boss and a groove that cooperate with each other, the boss and the groove being respectively disposed on the first coccyx and the second coccyx, and the boss being configured to be able to be inserted into the groove in the folded state of the fuselage.

[0013] In some embodiments, the mating surfaces of the first and / or second coccygeal vertebrae are provided with cushioning pads made of flexible material and configured to provide cushioning when folded and fitted.

[0014] In some embodiments, at least two duct assemblies are provided on the front fuselage section and the rear fuselage section respectively, and the number of duct assemblies on the front fuselage section and the rear fuselage section are equal and symmetrically distributed.

[0015] In a second aspect, the present invention also provides a folding method for a foldable ducted unmanned aerial vehicle (UAV) that can be folded back and forth, applicable to the foldable ducted UAV as described in the first aspect, comprising the following steps: S1. Unlock: Unlock the locking structure to separate the front fuselage section from the rear fuselage section; S2, Folding: Push the front fuselage section and / or the rear fuselage section to rotate them around the rotary connecting assembly by a preset angle so that the front fuselage section and the rear fuselage section fit together; S3. Fixing: Fixing the front fuselage section and the rear fuselage section to achieve stable folding.

[0016] Compared with the prior art, the present invention provides a foldable ducted unmanned aerial vehicle and its folding method. By dividing the fuselage into a front fuselage section and a rear fuselage section, and setting a rotating connecting component between the two as the rotation axis, a locking structure is configured at the connection point. When the fuselage is unfolded, the locking structure can lock the front fuselage section and the rear fuselage section into one piece to ensure structural rigidity during flight. When folding, the locking structure is unlocked, and the front fuselage section and the rear fuselage section can rotate relative to each other around the rotating connecting component and achieve front-to-back folding, causing the various ducted components to come closer together.

[0017] The above method allows the entire aircraft to be folded simply by rotating the connecting components and the locking structure, significantly simplifying the mechanical structure and helping to reduce manufacturing costs. In terms of operation, users only need to unlock and rotate to quickly fold it in half, greatly improving the convenience of storage and carrying. At the same time, the front and rear fuselage sections fit together after folding, reducing the overall volume to about half of the unfolded state, effectively solving the problem of excessive storage space. In addition, the reliable locking of the locking structure in the unfolded state ensures the stability of the fuselage during flight and avoids the risk of loosening. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the ducted unmanned aerial vehicle in the deployed state according to one embodiment of the present invention; Figure 2 This is a bottom view of a ducted unmanned aerial vehicle in one embodiment of the present invention; Figure 3 This is a schematic diagram of the locking structure in one embodiment of the present invention; Figure 4This is a schematic diagram of the folded state of a ducted unmanned aerial vehicle in one embodiment of the present invention; Figure 5 This is a schematic diagram of the fixed structure in one embodiment of the present invention; Figure 6 This is a flowchart illustrating a ducted unmanned aerial vehicle (UAV) folding method in one embodiment of the present invention.

[0019] Explanation of reference numerals in the attached drawings: 10. Fuselage; 11. Front fuselage section; 12. Rear fuselage section; 20. Duct assembly; 21. Front duct assembly; 22. Rear duct assembly; 23. Tail cone; 231. First tail cone; 232. Second tail cone; 30. Rotary connecting assembly; 31. First connecting seat; 32. Second connecting seat; 33. Rotating shaft; 40. Locking structure; 41. Buckle body; 411. Positioning groove; 42. Buckling seat; 421. Positioning protrusion; 50. Fixing structure; 51. Magnetic suction element; 52. Boss; 53. Groove; 54. Buffer pad. Detailed Implementation

[0020] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0021] In related technologies, ducted unmanned aerial vehicles (UAVs) mainly adopt a folding arm method, which reduces space occupation by folding the support arm containing each duct. However, this folding solution has many drawbacks, such as complex mechanical structure, still large overall space occupation after folding, easy loosening and damage of the folding structure, and complicated folding operation steps.

[0022] To address the aforementioned technical problems, this invention provides a ducted unmanned aerial vehicle (UAV) that can be folded forward and backward, and its folding method. The entire UAV can be folded forward and backward, the folding structure is simplified, the operation is convenient, the storage volume after folding can be greatly reduced, making it easy to carry, and the locking in the unfolded state is reliable, which can ensure the stability of the flight structure of the ducted UAV.

[0023] Please see Figure 1-2This invention provides a ducted unmanned aerial vehicle (UAV) that can be folded forward and backward. The ducted UAV includes a fuselage 10, multiple ducted components 20, a rotating connection assembly 30, and a locking structure 40. The fuselage 10, as the core load-bearing part of the UAV, is segmented along the forward and backward direction and includes a front fuselage section 11 and a rear fuselage section 12. The multiple ducted components 20, serving as power units providing lift and thrust, are respectively disposed on the front fuselage section 11 and the rear fuselage section 12. The rotating connection assembly 30 connects the front fuselage section 11 and the rear fuselage section 12, allowing them to rotate relative to each other around the assembly. The locking structure 40 is located at the connection point between the front fuselage section 11 and the rear fuselage section 12, and can lock or unlock them, facilitating the unfolding or folding of the ducted UAV.

[0024] It should be noted that in this embodiment of the invention, the number of ducted components 20 can be set to four, six or more, and each ducted component 20 can be divided into two groups, respectively disposed on the front fuselage section 11 and the rear fuselage section 12, to provide balanced lift and handling stability for the UAV. The following will use a four-ducted UAV as an example to describe the technical solution of this embodiment in detail. However, those skilled in the art should understand that technical solutions with six or more ducted components 20 also fall within the protection scope of this invention.

[0025] In some embodiments, please refer to Figure 2 The rotary connection assembly 30 may include two connecting seats and a rotary shaft 33. The two connecting seats may be referred to as the first connecting seat 31 and the second connecting seat 32, respectively. The first connecting seat 31 may be fixedly connected to the front fuselage section 11, and the second connecting seat 32 may be fixedly connected to the rear fuselage section 12. The rotary shaft 33 connects both connecting seats and forms a rotary joint with the two connecting seats, allowing the front fuselage section 11 and the rear fuselage section 12 to rotate relative to each other around the rotary shaft 33, and the rotation angle range can be set to 0-180°.

[0026] For example, the rotating connection assembly 30 may also include a damping structure (not shown in the figure). The damping structure is disposed between the connecting seat and the rotating shaft 33 and can provide appropriate rotational resistance when the front fuselage section 11 and the rear fuselage section 12 rotate relative to each other. The specific configuration of the damping structure can be flexibly set as needed. For example, one or more damping rings made of wear-resistant rubber or silicone material can be provided between the mating surfaces of the rotating shaft 33 and the first connecting seat 31 and / or the second connecting seat 32. When the rotating shaft 33 rotates relative to the connecting seat, the damping ring is compressed and deformed, and its elastic restoring force generates continuous frictional resistance, thereby effectively slowing down the rotational speed during folding or unfolding and preventing the front fuselage section 11 and the rear fuselage section 12 from folding suddenly due to gravity and causing impact. For example, the damping structure can also consist of a set of disc springs and friction plates. The disc springs press the friction plates between the connecting seat and the end face of the rotating shaft 33. By adjusting the compression of the springs, a preset constant rotational damping torque can be obtained, allowing the fuselage 10 to maintain a stable attitude at any folding angle, greatly facilitating one-handed operation. Alternatively, the damping structure can use high-viscosity damping grease filled in the gap between the rotating shaft 33 and the connecting seat. Utilizing the shear resistance of the viscous fluid, it achieves a smooth and quiet rotational feel, particularly suitable for indoor or nighttime flight scenarios where quiet operation is crucial. With this configuration, the damping force provided by the damping structure can prevent the fuselage 10 from rotating too quickly and uncontrollably due to gravity or external forces, avoiding violent collisions between components (such as the duct components 20) during folding or unfolding. It also allows the drone to maintain a temporarily stable state at any folding angle, facilitating user operation.

[0027] In some embodiments, please refer to Figure 3 The locking structure 40 can be configured as a snap-fit ​​structure. This snap-fit ​​structure includes a snap-fit ​​body 41 on the front fuselage section 11 and a snap-fit ​​seat 42 on the rear fuselage section 12. The snap-fit ​​body 41 can engage with the snap-fit ​​seat 42. Of course, to ensure appearance and sealing, the snap-fit ​​body 41 can also be configured as a hidden snap-fit ​​(such as a press-to-pop snap-fit), and this is not specifically limited. With this configuration, when the drone needs to be deployed for flight, the user can rotate the front fuselage section 11 and the rear fuselage section 12 around the rotation axis 33 to align them, and then press the snap-fit ​​body 41 to engage with the snap-fit ​​seat 42, thus firmly locking the front fuselage section 11 and the rear fuselage section 12 into one unit, ensuring the rigidity of the flight structure. When the drone needs to be folded and stored, the user only needs to press the unlocking part of the snap-fit ​​body 41 to separate the snap-fit ​​body 41 from the snap-fit ​​seat 42 and release the lock.

[0028] For example, to improve the ease of operation and locking stability of the buckle structure, the pressing side of the buckle body 41 is provided with anti-slip texture (not shown in the figure). This anti-slip texture can be raised vertical lines or a grid pattern, used to increase the friction between the finger and the buckle body 41. At the same time, a positioning groove 411 is provided on one side of the buckle body 41; correspondingly, a positioning protrusion 421 is provided on the fastening seat 42. With this configuration, when the buckle body 41 and the fastening seat 42 are fastened and locked, the positioning protrusion 421 is precisely embedded in the positioning groove 411 to provide a secondary locking effect and prevent the buckle structure from accidentally disengaging due to vibration.

[0029] In some embodiments, two ducted assembly 20 are respectively provided on the front fuselage section 11 and the rear fuselage section 12. The two ducted assembly 20 on the front fuselage section 11 can be respectively located on the left and right sides of the fuselage 10, and the two ducted assembly 20 on the rear fuselage section 12 can also be respectively located on the left and right sides of the fuselage 10. Furthermore, the two ducted assembly 20 on the front fuselage section 11 and the two ducted assembly 20 on the rear fuselage section 12 can be symmetrically distributed. In this case, the ducted unmanned aerial vehicle (UAV) can constitute a quad-ducted UAV.

[0030] In some embodiments, such as Figure 1 As shown, the two ducted assemblies 20 on the forward fuselage section 11 include at least one forward ducted assembly 21, and the two ducted assemblies 20 on the aft fuselage section 12 include at least one aft ducted assembly 22. The forward and aft ducted assemblies 21 and 22 are symmetrically arranged on the fuselage 10 along the longitudinal direction. Simultaneously, the ends of the forward and aft ducted assemblies 21 and 22 are respectively provided with a first tail cone 231 and a second tail cone 232. It should be noted that the tail cones 23 (i.e., the first and second tail cones 231 and 232) can be configured as streamlined or block-shaped structures extending downward from the duct end face, which can be used to improve aerodynamic performance or as protective supports. Of course, to ensure the stability of the UAV flight, tail cones 23 can be provided on all four ducted assemblies 20. The four tail cones 23 can be divided into two groups according to the symmetrical relationship of the various ducted assemblies 20. Each group of tail cones 23 includes a first tail cone 231 located on the forward fuselage section 11 and a second tail cone 232 located on the aft fuselage section 12.

[0031] For example, please refer to Figure 5Taking one set of tail vertebrae 23 as an example, a fixing structure 50 can be provided between the first tail vertebrae 231 and the second tail vertebrae 232. This fixing structure 50 connects and fixes the first tail vertebrae 231 and the second tail vertebrae 232 when the front fuselage section 11 and the rear fuselage section 12 are folded and fitted together. Specifically, the fixing structure 50 can adopt a magnetic adsorption or snap-fit ​​structure. Taking the case where the fixing structure 50 adopts a magnetic adsorption structure as an example, the fixing structure 50 can include two magnetic suction pieces 51 respectively disposed at the ends of the first tail vertebrae 231 and the second tail vertebrae 232. The two magnetic suction pieces 51 can be strong permanent magnets such as neodymium magnets, and their polarities are opposite, i.e., one is the N pole and the other is the S pole. With this configuration, when the drone is folded to the state where the front and rear fuselage sections 12 are fitted together, the first tail vertebrae 231 and the second tail vertebrae 232 can approach each other. The two magnetic suction pieces 51 with opposite polarities magnetically attract each other, and the attraction between them will automatically pull the two tail vertebrae 23 closer and tightly adsorb them together, thereby achieving a stable fixation. In this way, no additional operation is required from the user; the folding mechanism automatically secures the device when it is in place, greatly improving ease of use. At the same time, the magnetic force is uniform and constant, providing a long-lasting and reliable fixation effect.

[0032] For example, the fixing structure 50 may further include a boss 52 and a groove 53 that cooperate with each other. The boss 52 and the groove 53 are respectively disposed on the cooperating ends of the first tail cone 231 and the second tail cone 232, and the two can form an embedded fit. At the same time, one of the magnetic suction members 51 can be fixedly disposed on the end face of the boss 52, and the other magnetic suction member 51 can be fixedly disposed on the bottom face of the groove 53. With this configuration, when the drone is in the folded state, under the magnetic attraction of the two magnetic suction members 51, the boss 52 can be embedded into the matching groove 53, improving positioning accuracy and providing reliable shear resistance, preventing relative lateral misalignment between the front fuselage section 11 and the rear fuselage section 12, and ensuring the stability of the storage state.

[0033] Furthermore, a buffer pad 54 can be provided on the mating surfaces (non-magnetic adsorption surfaces of the magnetic component 51) of the first tail vertebra 231 and / or the second tail vertebra 232. The buffer pad 54 can be made of flexible materials such as silicone, rubber, or EVA foam. With this configuration, when the drone is folded to its final closed state, the buffer pad 54 can absorb the impact energy through its own elastic deformation, thereby playing a buffering role and preventing direct and violent hard collisions between the rigid materials of the first tail vertebra 231 and the second tail vertebra 232, thus preventing damage to the tail vertebra 23 structure or scratches on the surface. At the same time, the buffer pad 54 can generate a certain amount of rebound force after being compressed, thereby increasing the tightness of the fit between the first tail vertebra 231 and the second tail vertebra 232.

[0034] Please see Figure 6The present invention also provides a folding method for a foldable ducted unmanned aerial vehicle (UAV), which can be applied to the foldable ducted UAV in any of the above embodiments. The folding method includes the following steps: S1. Unlock: Unlock the locking structure 40 to separate the front fuselage section 11 from the rear fuselage section 12.

[0035] In some embodiments, when it is necessary to fold and store the unfolded drone, an unlocking operation can be performed first. Specifically, the user can locate the latch structure at the connection between the front fuselage section 11 and the rear fuselage section 12, press the pressing side with anti-slip texture on the latch body 41 with a finger to overcome the elastic force of the latch, causing the latch body 41 to disengage from the latch seat 42, thus unlocking. After unlocking, the front fuselage section 11 and the rear fuselage section 12 are no longer constrained by the locking structure 40 and can move relative to each other.

[0036] S2, Folding: Push the front fuselage section 11 and / or the rear fuselage section 12 to rotate them around the rotary connecting assembly 30 by a preset angle so that the front fuselage section 11 and the rear fuselage section 12 fit together.

[0037] In some embodiments, when the locking structure 40 is unlocked, the folding operation can proceed. Specifically, the user can hold the front body section 11 or the rear body section 12, or both, and then apply a rotational torque to push the front body section 11 and / or the rear body section 12. Guided by the rotating connection assembly 30, the front body section 11 and the rear body section 12 will rotate relative to each other about their rotation axis 33. The user continues to push, causing them to rotate by a preset angle. This preset angle can theoretically be any angle between 0° and 180°, but to minimize the storage volume, it is preferable to rotate the body 10 to a fully folded state, i.e., a rotation angle of 180°. When the rotation angle reaches 180°, the inner surfaces or mounting surfaces of the front body section 11 and the rear body section 12 will approach and fit together.

[0038] S3. Fixing: Fix the front fuselage section 11 and the rear fuselage section 12 to achieve stable folding.

[0039] In some embodiments, once the folding action is completed and the front fuselage section 11 and the rear fuselage section 12 are fully fitted together, a fixing step can be initiated to maintain the drone in a stable folded and stowed state. Specifically, the first tail cone 231 located at the rear of the front duct assembly 21 and the second tail cone 232 located at the rear of the rear duct assembly 22 gradually approach each other as the front fuselage section 11 and the rear fuselage section 12 rotate, and eventually dock. When the first tail cone 231 and the second tail cone 232 dock, the two magnetic suction pieces 51 generate magnetic attraction, guiding and accelerating the precise fitting of the two tail cones 23. At the same time, the boss 52 and the groove 53 will automatically complete the fitting and positioning with the assistance of magnetic attraction, while the buffer pad 54 located on the fitting surface will be compressed momentarily before full fitting, providing gentle cushioning and avoiding hard impacts.

[0040] Upon docking, the first tail cone 231 and the second tail cone 232 are firmly fixed together by the magnetic attraction generated by the two magnetic components 51, preventing accidental separation. At the same time, the interlocking structure of the boss 52 and the groove 53 can also provide additional mechanical positioning and shear resistance, ensuring that there is no lateral displacement or swaying between the front fuselage section 11 and the rear fuselage section 12.

[0041] After the above steps S1-S3, the ducted drone can be stably converted from the unfolded state to the folded state, the overall volume of the fuselage 10 is greatly reduced, and the components are reliably fixed, making it easy to put into a backpack or storage box for carrying and transportation.

[0042] In some embodiments, when it is necessary to unfold the drone from a folded state to a flight state, it can be achieved by reversing the above-described steps. First, the user needs to overcome the magnetic attraction 51 and manually separate the front fuselage section 11 from the rear fuselage section 12, causing the first tail cone 231 to disengage from the second tail cone 232. Then, push the front fuselage section 11 and / or the rear fuselage section 12 to rotate in the opposite direction around the rotation axis 33 until the rotation angle is 0°. At this point, the front fuselage section 11 and the rear fuselage section 12 are reconnected to form a complete fuselage 10. Finally, re-fasten the locking structure 40 to lock the front fuselage section 11 and the rear fuselage section 12. At this point, the drone is fully unfolded and reliably locked, and can be powered on for takeoff.

[0043] It should be noted that in this embodiment of the invention, by setting the fuselage 10 as a combination of a front fuselage section 11 and a rear fuselage section 12, and using the rotating connecting component 30 as the folding axis, combined with the locking structure 40 and the magnetic / mechanical dual fixing structure on the tail cone 23, the entire drone can be quickly folded in half. This significantly simplifies the mechanical structure and reduces manufacturing costs and fuselage weight. Simultaneously, in terms of operation, the user only needs two simple actions—unlocking and rotating—to complete the folding. Furthermore, the overall volume of the drone can be reduced to approximately half its unfolded state through folding, greatly improving the convenience of storage and carrying, effectively solving the pain point of ducted drones being difficult to carry due to their large size. In addition, the latching lock in the unfolded state and the tail cone fixing in the folded state both provide a stable and reliable locking effect for the drone, ensuring flight safety and stable storage, and effectively protecting delicate components such as the duct from collision damage.

[0044] The specific embodiments of the present invention described above do not constitute a limitation on the scope of protection of the present invention. Any other corresponding changes and modifications made in accordance with the technical concept of the present invention should be included within the scope of protection of the claims of the present invention.

Claims

1. A ducted unmanned aerial vehicle (UAV) that can be folded forward and backward, characterized in that, include: The fuselage, which includes the forward fuselage section and the aft fuselage section; Multiple duct assemblies are respectively disposed on the front fuselage section and the rear fuselage section; A rotary connecting assembly connects the front fuselage section and the rear fuselage section respectively, allowing the front fuselage section and the rear fuselage section to rotate relative to each other around the rotary connecting assembly; as well as A locking structure is provided at the connection between the front fuselage section and the rear fuselage section, and is configured to lock or unlock the front fuselage section and the rear fuselage section to enable the ducted unmanned aerial vehicle to unfold or fold.

2. The ducted unmanned aerial vehicle (UAV) according to claim 1, characterized in that, The rotary connection assembly includes: Two connecting seats are respectively connected to the front fuselage section and the rear fuselage section; A rotating shaft connects the two connecting seats and forms a revolute joint with the two connecting seats to allow the forward fuselage section and the aft fuselage section to rotate relative to each other about the rotating shaft; and A damping structure, disposed between the connecting seat and the rotating shaft, is configured to provide rotational resistance.

3. The ducted unmanned aerial vehicle (UAV) according to claim 1, characterized in that, The locking structure is a snap-fit ​​structure, which includes a snap-fit ​​body disposed on the front fuselage section and a snap-fit ​​seat disposed on the rear fuselage section. The snap-fit ​​body and the snap-fit ​​seat are configured to engage with each other to achieve locking.

4. The ducted unmanned aerial vehicle according to claim 3, characterized in that, The pressing side of the buckle body is provided with anti-slip texture, and one side of the buckle body is provided with a positioning groove; the fastening seat is provided with a corresponding positioning protrusion, which is configured to be embedded in the positioning groove when locked.

5. The ducted unmanned aerial vehicle (UAV) according to claim 1, characterized in that, The plurality of duct assemblies include at least one front duct assembly disposed on the front fuselage section and at least one rear duct assembly disposed on the rear fuselage section. The ends of the front duct assembly and the rear duct assembly are respectively provided with a first tail cone and a second tail cone. A fixing structure is provided between the first tail cone and the second tail cone. The fixing structure is configured to connect and fix the first tail cone and the second tail cone when the front fuselage section and the rear fuselage section are folded and fitted together.

6. The ducted unmanned aerial vehicle according to claim 5, characterized in that, The fixing structure includes two magnetic suction components respectively disposed on the first coccyx and the second coccyx. The two magnetic suction components have opposite polarities and are configured to be fixed by magnetic attraction when the fuselage is folded.

7. The ducted unmanned aerial vehicle (UAV) according to claim 5, characterized in that, The fixing structure includes a boss and a groove that cooperate with each other. The boss and the groove are respectively disposed on the first tail vertebra and the second tail vertebra, and the boss is configured to be able to be inserted into the groove when the fuselage is folded.

8. The ducted unmanned aerial vehicle according to claim 5, characterized in that, The mating surfaces of the first and / or second coccygeal vertebrae are provided with cushioning pads made of flexible material and configured to provide cushioning when folded and fitted.

9. The ducted unmanned aerial vehicle (UAV) according to claim 1, characterized in that, At least two duct assemblies are provided on the forward fuselage section and the aft fuselage section respectively, and the number of duct assemblies on the forward fuselage section and the aft fuselage section is equal and symmetrically distributed.

10. A folding method for a ducted unmanned aerial vehicle (UAV) that can be folded forward and backward, characterized in that, An application to a foldable ducted unmanned aerial vehicle as described in any one of claims 1-9, comprising the following steps: S1. Unlock: Unlock the locking structure to separate the front fuselage section from the rear fuselage section; S2, Folding: Push the front fuselage section and / or the rear fuselage section to rotate them around the rotary connecting assembly by a preset angle so that the front fuselage section and the rear fuselage section fit together; S3. Fixing: Fixing the front fuselage section and the rear fuselage section to achieve stable folding.

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