Flapping-wing air vehicle with wings and empennage capable of actively deforming

Abstract

The utility model discloses an ornithopter with wings and an empennage capable of actively deforming. The ornithopter comprises a fuselage, a driving mechanism, the empennage and a wing folding mechanism, the driving mechanism is mounted on the machine body; the wing folding mechanisms are symmetrically installed on the two sides of the fuselage, and vertical flapping and folding movement of wings are achieved through steering engines and crank and rocker mechanisms in the driving mechanisms. The empennage is installed at the tail of the fuselage, deflection of the empennage in the horizontal direction and the vertical direction is achieved through the two small steering engines, and empennage attitude adjustment in the flying process is achieved. According to the ornithopter with the wings and the empennage capable of being actively transformed, the wings can be actively unfolded and folded in the flying process, the aerodynamic characteristics of the wings can be changed, efficient flying is achieved, and the wings and the empennage can be adjusted by adjusting the empennage. The flapping-wing air vehicle is more stable in flight attitude under the working conditions of taking off, landing, turning, gliding, hovering and the like, and the defects that an existing flapping-wing air vehicle is few in foldable wings, uncontrollable in folding, unstable in flight and the like are overcome.

Description

Technical Field

[0001] The utility model belongs to the technical field of flapping-wing aircraft, and in particular relates to a flapping-wing aircraft with actively variable wings and tail. Background Art

[0002] With the continuous development of micro air vehicle technology, flapping-wing aircraft has important research value in military and civilian fields due to its light weight, high flight efficiency, good flexibility and strong concealment. In order to enable various bionic flapping-wing aircraft to fly in complex environments, achieve better bionic effects, and realize take-off, landing, hovering, turning and other actions, it is necessary to improve the movement mechanism of bionic flapping-wing aircraft.

[0003] Existing flapping-wing aircraft can already imitate birds flapping their wings up and down to achieve flight. In real life, birds can fold and unfold their wings, change the wing area, and adjust the posture of the tail to improve aerodynamic characteristics, thereby achieving a more stable flight. Therefore, in order to achieve better bionic effects and allow flapping-wing aircraft to achieve a smoother and more efficient flight, it is necessary to design a flapping-wing aircraft with stable flight, good folding performance, controllable folding, and adjustable tail. Utility Model Content

[0004] The utility model aims to solve the above problems and proposes a flapping-wing aircraft with good folding performance, stable flight, light weight, controllable folding and adjustable tail attitude to achieve stable flight with folded wings.

[0005] In order to solve the above problems, the technical solution of the utility model is: a flapping-wing aircraft with actively deformable wings and tail, comprising a fuselage, a driving mechanism, a tail and a wing folding mechanism, characterized in that: the driving mechanism is fixed to the fuselage, the wing folding mechanism is connected to both sides of the fuselage, and the two sides are symmetrical, the flapping-wing servo in the driving mechanism drives the wing folding mechanism to realize the up and down flapping of the wings, the folding-wing servo drives the wing folding mechanism to realize the active folding and unfolding of the wings, the tail is connected to the rear support plate of the fuselage at the tail of the fuselage, and the fuselage includes A flapping-wing servo fixing frame, a fuselage front support plate, a fuselage first support rod, a fuselage rear support plate, a fuselage second support rod, a fuselage third support rod and a folding-wing servo fixing frame, wherein one end of the fuselage first support rod is fixed to the flapping-wing servo fixing frame, and the other end passes through the fuselage front support plate and the folding-wing servo fixing frame and is fixed to the fuselage rear support plate, one end of the fuselage second support rod and the fuselage third support rod are fixed to the fuselage rear support plate, and the other end passes through the folding-wing servo fixing frame and is fixed to the fuselage front support plate, and the fuselage front support plate is fitted with the flapping-wing servo fixing frame.

[0006] Preferably, the driving mechanism comprises a flapping-wing servo rocker arm, a front fixing plate of the rocker arm, a rear fixing plate of the rocker arm, a flapping-wing servo, a folding-wing connecting rod, a first connecting piece, a folding-wing slider, a second connecting piece, a disc and a folding-wing servo, wherein the flapping-wing servo rocker arm is fixed on the flapping-wing servo, the flapping-wing servo is fixed on the flapping-wing servo fixing frame, the front fixing plate of the rocker arm and the rear fixing plate of the rocker arm are fixed on the flapping-wing servo rocker arm, and are used to fix the first main rod of the wing, the second connecting piece is connected to the folding-wing slider, the first connecting piece is connected to the second connecting piece, and is used to fix the wing side rod, the folding-wing connecting rod One end is connected to the folding-wing slider, and the other end is connected to the disc. The disc is fixed on the folding-wing servo, and the folding-wing servo is fixed to the folding-wing servo fixing frame of the fuselage. The folding-wing servo rotates, and the rotation of the disc drives the folding-wing connecting rod to make the folding-wing slider move horizontally along the second support rod and the third support rod of the fuselage. The movement of the wing side rod makes the fourth connecting piece rotate around the third connecting piece to realize the active folding and unfolding of the wing. The rotation of the flapping-wing servo drives the flapping-wing servo rocker arm, the front fixing plate of the rocker arm and the rear fixing plate of the rocker arm to rotate together, thereby driving the wing folding mechanism to realize the up and down flapping of the wing.

[0007] Preferably, the tail comprises a first tail servo, a tail servo rocker arm, a second tail servo, a tail servo fixing part, a tail fixing part, a tail vertical rod, a tail side rod and a tail middle rod. The first tail servo is fixed to the rear support plate of the fuselage, the tail servo rocker arm is fixed to the first tail servo for connecting to the tail servo fixing part, the second tail servo is fixed to the tail servo fixing part, the tail vertical rod, the tail side rod and the tail middle rod are fixed to the tail fixing part, the tail fixing part is connected to the second tail servo, the first tail servo rotates, the tail servo rocker arm fixed on the first tail servo drives the tail servo fixing part to move up and down, and the rotation of the second tail servo drives the tail fixing part to rotate, thereby realizing the attitude control of the tail.

[0008] Preferably, the wing folding mechanism comprises a first main rod of the wing, a side rod of the wing, a second main rod of the wing, a third main rod of the wing, a third connecting piece, a fourth connecting piece, a first auxiliary rod of the wing and a second auxiliary rod of the wing, wherein one end of the first main rod of the wing is fixed between the front fixing plate of the rocker arm and the rear fixing plate of the rocker arm, and the other end is connected to the third connecting piece, two first connecting pieces are connected to the two ends of the side rod of the wing, one end and the second connecting piece are connected to the second supporting rod of the fuselage, and the other end is fixed to the fourth connecting piece, one end of the second main rod of the wing and the third main rod of the wing are respectively fixed with a first connecting piece, the angle between the second main rod of the wing and the second connecting piece is 60°, and the angle between the third main rod of the wing and the second connecting piece is 40°. °, the angle between the first auxiliary rod of the wing and the second auxiliary rod of the wing is 20°, the angle between the two second connecting parts and the horizontal plane is 5°, the third connecting part and the fourth connecting part are connected and can rotate relative to each other, the first auxiliary rod of the wing is fixed on the first connecting part, the second auxiliary rod of the wing is fixed on the second connecting part, the first connecting part is connected to the second connecting part and can rotate, the folding wing slider moves horizontally along the second support rod of the fuselage and the third support rod of the fuselage, the folding wing slider drives the first connecting part and the second connecting part on the second support rod of the fuselage to move, thereby driving the wing side rod to move, so that the fourth connecting part rotates around the third connecting part to realize the folding and unfolding of the wing, and the wing folding mechanism on the other side is symmetrically distributed.

[0009] The utility model has the following beneficial effects: the flapping-wing aircraft with active wing and tail shape changeability provided by the utility model has the characteristics of good folding performance, controllable wing deformation, stable flight, light weight, and adjustable tail attitude. During flight, the flapping-wing servo transmits power to the wing folding mechanism through the flapping-wing servo rocker arm to realize the up and down flapping of the wing, the folding-wing servo drives the folding-wing slider to move horizontally through the disc, so that the wing side rod moves, and the active folding and unfolding of the wing is realized, and the tail realizes the attitude adjustment of the tail through the tail servo first and the tail servo second. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] Figure 1 The utility model is an overall schematic diagram of the flapping-wing aircraft in which the wings and tail wing can be actively changed.

[0011] Figure 2 It is a schematic diagram of the fuselage main body and driving mechanism in the utility model.

[0012] Figure 3 This is a schematic diagram of the new mid-wing folding mechanism used in this study.

[0013] Figure 4 It is a schematic diagram of the tail wing mechanism in the utility model.

[0014] Figure 5 It is a schematic diagram of the wings of the flapping-wing aircraft with actively variable wings and tail in the utility model being fully unfolded.

[0015] Figure 6 The utility model is a schematic diagram of the wings of the flapping-wing aircraft with actively variable wings and tail wing fully folded.

[0016] Figure 7 It is a schematic diagram of the utility model in which the wings and tail of the flapping-wing aircraft can be actively deformed after the tail attitude is adjusted.

[0017] Description of Reference Numerals

[0018] 1. Fuselage; 2. Driving mechanism; 3. Tail; 4. Wing folding mechanism; 11. Flapping-wing servo fixing frame; 12. Fuselage front support plate; 13. Fuselage first support rod; 14. Fuselage rear support plate; 15. Fuselage second support rod; 16. Fuselage third support rod; 17. Folding-wing servo fixing frame; 21. Flapping-wing servo rocker; 22. Rocker front fixing plate; 23. Rocker rear fixing plate; 24. Flapping-wing servo; 25. Folding-wing connecting rod; 26. First connecting piece; 27. Folding-wing slider; 28 , the second connecting piece; 29, the disc; 30, the folding wing servo; 31, the tail servo one; 32, the tail servo rocker arm; 33, the tail servo two; 34, the tail servo fixing piece; 35, the tail fixing piece; 36, the tail vertical rod; 37, the tail side rod; 38, the tail center rod; 41, the first main rod of the wing; 42, the wing side rod; 43, the second main rod of the wing; 44, the third main rod of the wing; 45, the third connecting piece; 46, the fourth connecting piece; 47, the first auxiliary rod of the wing; 48, the second auxiliary rod of the wing. DETAILED DESCRIPTION

[0019] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0020] like Figure 1 and Figure 2As shown, the utility model provides a flapping-wing aircraft with actively deformable wings and tail, comprising a fuselage 1, a driving mechanism 2, a tail 3 and a wing folding mechanism 4, characterized in that: the driving mechanism 2 is fixed on the fuselage 1, the wing folding mechanism 4 is connected to both sides of the fuselage 1, and the two sides are symmetrical, the flapping-wing servo 24 in the driving mechanism 2 drives the wing folding mechanism 4 to realize the up and down flapping of the wing, and the folding-wing servo 30 drives the wing folding mechanism to realize the active folding and unfolding of the wing, the tail 3 is connected to the rear fuselage support plate 14 at the tail of the fuselage 1, and the fuselage 1 includes a flapping-wing servo fixing frame 11, a fuselage front support plate 12, a fuselage first support The support rod 13, the rear support plate 14 of the fuselage, the second support rod 15 of the fuselage, the third support rod 16 of the fuselage and the folding-wing servo fixing frame 17, wherein one end of the first support rod 13 of the fuselage is fixed to the flapping-wing servo fixing frame 11, and the other end passes through the front support plate 12 of the fuselage and the folding-wing servo fixing frame 17 and is fixed to the rear support plate 14 of the fuselage, the second support rod 15 of the fuselage and the third support rod 16 of the fuselage are fixed to the rear support plate 14 of the fuselage at one end, and the other end passes through the folding-wing servo fixing frame 17 and is fixed to the front support plate 12 of the fuselage, and the front support plate 12 of the fuselage is fitted with the flapping-wing servo fixing frame 11, and the driving mechanism 2 includes a flapping-wing servo rocker arm 21, a front fixed arm The fixed plate 22, the rear fixed plate 23 of the rocker arm, the flapping-wing servo 24, the folding-wing connecting rod 25, the first connecting member 26, the folding-wing slider 27, the second connecting member 28, the disc 29 and the folding-wing servo 30, wherein the flapping-wing servo rocker arm 21 is fixed on the flapping-wing servo 24, the flapping-wing servo 24 is fixed on the flapping-wing servo fixing frame 11, the front fixed plate 22 of the rocker arm and the rear fixed plate 23 of the rocker arm are fixed on the flapping-wing servo rocker arm 21, and are used to fix the first main rod 41 of the wing, the second connecting member 28 is connected to the folding-wing slider 27, the first connecting member 26 is connected to the second connecting member 28, and is used to fix the wing side rod 42, and one end of the folding-wing connecting rod 25 is connected to the folding-wing slider 2 7, and the other end is connected to the disc 29, the disc 29 is fixed on the folding-wing servo 30, and the folding-wing servo 30 is fixed on the folding-wing servo fixing frame 17 of the fuselage 1. The folding-wing servo 30 rotates, so that the disc 29 rotates to drive the folding-wing connecting rod 25 to move, so that the folding-wing slider 27 moves horizontally along the second support rod 15 of the fuselage and the third support rod 16 of the fuselage, and the wing side rod 42 moves to allow the fourth connecting member 46 to rotate around the third connecting member 45, so as to realize the active folding and unfolding of the wing, and the flapping-wing servo 24 rotates to drive the flapping-wing servo rocker arm 21, the front fixing plate 22 of the rocker arm and the rear fixing plate 23 of the rocker arm to rotate together, so as to drive the wing folding mechanism 4 to realize the up and down flapping of the wing.

[0021] like Figure 3As shown, the tail 3 includes a tail servo 1 31, a tail servo rocker arm 32, a tail servo 2 33, a tail servo fixing piece 34, a tail fixing piece 35, a tail pole 36, a tail side pole 37 and a tail middle pole 38. The tail servo 1 31 is fixed to the rear support plate 14 of the fuselage 1, the tail servo rocker arm 32 is fixed to the tail servo 1 31 and is used to connect the tail servo fixing piece 34, the tail servo 2 33 is fixed to the tail servo fixing piece 34, the tail pole 36, the tail side pole 37 and the tail middle pole 38 are fixed to the tail fixing piece 35, the tail fixing piece 35 is connected to the tail servo 2 33, the tail servo 1 31 rotates, the tail servo rocker arm 32 fixed on the tail servo 1 31 moves the tail servo fixing piece up and down, and the tail servo 2 33 rotates to drive the tail fixing piece 35 to rotate, so as to realize the attitude control of the tail wing.

[0022] like Figure 4 As shown, the wing folding mechanism 4 includes a first wing main rod 41, a wing side rod 42, a second wing main rod 43, a third wing main rod 44, a third connecting member 45, a fourth connecting member 46, a first wing auxiliary rod 47 and a second wing auxiliary rod 48, wherein one end of the first wing main rod 41 is fixed between the front fixing plate 22 of the rocker arm and the rear fixing plate 23 of the rocker arm, and the other end is connected to the third connecting member 45, two first connecting members 26 are connected to the two ends of the wing side rod 42, one end and the second connecting member 28 are connected to the second fuselage support rod 15 on the fuselage 1, and the other end is fixed to the fourth connecting member 46, one end of the second wing main rod 43 and the third wing main rod 44 are respectively fixed with a first connecting member 26, the angle between the second wing main rod 43 and the second connecting member 28 is 60°, and the third wing main rod 44 and the second connecting member 2 8 The angle is 40°, the angle between the first auxiliary rod 47 of the wing and the second auxiliary rod 48 of the wing is 20°, the angle between the two second connecting members and the horizontal plane is 5°, the third connecting member 45 and the fourth connecting member 46 are connected and can rotate relative to each other, the first auxiliary rod 47 of the wing is fixed on the first connecting member 26, the second auxiliary rod 48 of the wing is fixed on the second connecting member 28, the first connecting member 26 is connected to the second connecting member 28, and can rotate, the folding wing slider 27 moves horizontally along the second support rod 15 of the fuselage and the third support rod 16 of the fuselage, the folding wing slider 27 drives the first connecting member 26 and the second connecting member 28 on the second support rod 15 of the fuselage to move, thereby driving the wing side rod 42 to move, the fourth connecting member 46 rotates around the third connecting member 45 to realize the folding and unfolding of the wing, and the folding mechanism of the wing on the other side is symmetrically distributed.

[0023] like Figure 5 and Figure 6As shown, the flapping-wing servo 24 rotates to drive the flapping-wing servo rocker arm 21, the front fixing plate 22 of the rocker arm and the rear fixing plate 23 of the rocker arm to rotate together, and the power is transmitted to the wing folding mechanism 4 through the first main rod 41 of the wing to realize the up and down flapping of the wing, and the folding-wing servo 30 rotates, and the folding-wing slider 27 is horizontally moved along the second support rod 15 of the fuselage and the third support rod 16 of the fuselage through the disc 29 and the folding-wing connecting rod 25, and the first connecting member 26 and the second connecting member 28 connected to the folding-wing slider 27 move horizontally, and the fourth connecting member 46 is rotated around the third connecting member 45 through the wing side rod 42 to realize the folding and unfolding of the wing.

[0024] like Figure 7 As shown, the tail servo 1 31 drives the tail servo rocker 32 to rotate to achieve the up and down adjustment of the tail 3, and the tail servo 2 33 on the tail servo fixing frame 34 rotates to drive the tail fixing member 35 to rotate, thereby achieving the attitude adjustment of the tail 3.

[0025] Working principle: The flapping wing servo 24 rotates to drive the flapping wing servo rocker 21, the front fixing plate 22 of the rocker arm and the rear fixing plate 23 of the rocker arm to rotate together, and the power is transmitted to the wing folding mechanism 4 through the first main rod 41 of the wing to realize the up and down flapping of the wing, and the folding wing servo 30 rotates, and the folding wing servo 30 drives the disk 29 to rotate, and the folding wing connecting rod 25 connected to one end of the disk 29 makes a circular motion around the center of the disk 29. When the two ends of the folding wing connecting rod 25 are in line with the center of the disk 29, the folding wing slider 27 moves the closest and farthest distances relative to the folding wing servo 30, and the folding wing slider 27 is connected to the folding wing servo 30. The power is transmitted to the wing side rod 42 through the first connecting member 26 and the second connecting member 28. When the distance is short, the fourth connecting member 46 rotates clockwise around the third connecting member 45 to realize active unfolding of the wing. When the distance is farthest, the fourth connecting member 46 rotates counterclockwise around the third connecting member 45 to realize active folding of the wing. The maximum folding angle is 90°. The tail servo 1 31 drives the tail servo rocker arm 32 to rotate to realize the up and down adjustment of the tail 3. The tail servo 2 33 on the tail servo fixing frame 34 rotates to drive the tail fixing member 35 to rotate, so as to realize the attitude adjustment of the tail 3.

[0026] 0027 The above description is only a preferred specific implementation method of the utility model, but the protection scope of the utility model is not limited thereto. Any technician familiar with the technical field within the technical scope disclosed by the utility model, who makes equivalent replacements or changes based on the technical scheme and utility model concept of the utility model, should be covered by the protection scope of the utility model.

Claims

1. A flapping-wing aircraft with actively variable wings and tail, comprising a fuselage (1), a drive mechanism (2), a tail (3) and a wing folding mechanism (4), characterized in that: The driving mechanism (2) is fixed on the fuselage (1); the wing folding mechanism (4) is connected to both sides of the fuselage (1) symmetrically; the flapping wing servo (24) in the driving mechanism (2) drives the wing folding mechanism (4) to flap up and down; the folding wing servo (30) drives the wing folding mechanism to realize active folding and unfolding of the wing; the tail wing (3) is connected to the rear fuselage support plate (14) at the rear of the fuselage (1); the fuselage (1) comprises a flapping wing servo fixing frame (11), a fuselage front support plate (12), a fuselage first support rod (13), a fuselage rear support plate (14), a fuselage second support rod ( 15), a third fuselage support rod (16) and a folding-wing servo fixing frame (17), wherein one end of the first fuselage support rod (13) is fixed to the flapping-wing servo fixing frame (11), and the other end passes through the fuselage front support plate (12) and the folding-wing servo fixing frame (17) to be fixed to the fuselage rear support plate (14); one end of the second fuselage support rod (15) and the third fuselage support rod (16) are fixed to the fuselage rear support plate (14), and the other end passes through the folding-wing servo fixing frame (17) to be fixed to the lower end of the fuselage front support plate (12), and the fuselage front support plate (12) is in contact with the flapping-wing servo fixing frame (11).

2. The flapping-wing aircraft with actively variable wings and tail according to claim 1, characterized in that: The driving mechanism (2) comprises a flapping-wing servo engine rocker arm (21), a front fixing plate (22) of the rocker arm, a rear fixing plate (23) of the rocker arm, a flapping-wing servo engine (24), a folding-wing connecting rod (25), a first connecting member (26), a folding-wing slider (27), a second connecting member (28), a disk (29) and a folding-wing servo engine (30), wherein the flapping-wing servo engine rocker arm (21) is fixed on the flapping-wing servo engine (24), the flapping-wing servo engine (24) is fixed on a flapping-wing servo engine fixing frame (11), the front fixing plate (22) of the rocker arm and the rear fixing plate (23) of the rocker arm are fixed on the flapping-wing servo engine rocker arm (21) and are used to fix a first main rod (41) of a wing, the second connecting member (28) is connected to the folding-wing slider (27), the first connecting member (26) is connected to the second connecting member (28) and is used to fix a wing side rod (42), and the folding-wing connecting rod (25) is connected to the first connecting member (26) and the second connecting member (28) and is used to fix a wing side rod (42). One end of the wing connecting rod (25) is connected to the folding wing slider (27), and the other end is connected to the disc (29). The disc (29) is fixed to the folding wing steering gear (30). The folding wing steering gear (30) is fixed to the folding wing steering gear fixing frame (17) of the fuselage (1). When the folding wing steering gear (30) rotates, the disc (29) rotates to drive the folding wing connecting rod (25) to make the folding wing slider (27) move horizontally along the second support rod (15) and the third support rod (16) of the fuselage. The wing side rod (42) moves to make the fourth connecting member (46) rotate around the third connecting member (45), so that the wing is actively folded and unfolded. The flapping wing steering gear (24) rotates to drive the flapping wing steering gear rocker arm (21), the front fixing plate (22) and the rear fixing plate (23) of the rocker arm to rotate together, so that the wing folding mechanism (4) realizes the wing flapping up and down.

3. The flapping-wing aircraft with actively variable wings and tail fins according to claim 1, characterized in that: The tail (3) comprises a tail servo (31), a tail servo rocker (32), a tail servo (33), a tail servo fixing (34), a tail fixing (35), a tail upright (36), a tail side rod (37) and a tail middle rod (38), wherein the tail servo (31) is fixed to a rear support plate (14) of the fuselage (1), the tail servo rocker (32) is fixed to the tail servo (31) and is used to connect the tail servo fixing (34), the tail servo (33) and the tail servo (33) ) is fixed on the tail servo fixing part (34), the tail vertical rod (36), the tail side rod (37) and the tail middle rod (38) are fixed on the tail fixing part (35), the tail fixing part (35) is connected to the tail servo second (33), the tail servo first (31) rotates, the tail servo rocker arm (32) fixed on the tail servo first (31) drives the tail servo fixing part (34) to move up and down, the tail servo second (33) rotates to drive the tail fixing part (35) to rotate, so as to realize the attitude control of the tail.

4. The flapping-wing aircraft with actively variable wings and tail fins according to claim 1, characterized in that: The wing folding mechanism (4) comprises a first wing main rod (41), a wing side rod (42), a second wing main rod (43), a third wing main rod (44), a third connecting member (45), a fourth connecting member (46), a first wing auxiliary rod (47) and a second wing auxiliary rod (48), wherein one end of the first wing main rod (41) is fixed between the front fixing plate (22) and the rear fixing plate (23) of the rocker arm, and the other end is connected to the third connecting member (45). Two first connecting members (26) are connected to two ends of the wing side rod (42), one end and the second connecting member (28) are connected to the second fuselage support rod (15) of the fuselage (1), and the other end is connected to the fourth connecting member (46), one end of the second main rod (43) of the wing and the third main rod (44) of the wing are respectively fixed with a first connecting member (26), the angle between the second main rod (43) of the wing and the second connecting member (28) is 60 degrees, and the angle between the third main rod (44) of the wing and the second connecting member (28) is 60 degrees. The angle between the first connecting member (47) and the second connecting member (48) of the wing is 40°, the angle between the first connecting member (47) and the second connecting member (48) of the wing is 20°, the angle between the two second connecting members and the horizontal plane is 5°, the third connecting member (45) and the fourth connecting member (46) are connected and can rotate relative to each other, the first connecting member (47) of the wing is fixed on the first connecting member (26), the second connecting member (48) of the wing is fixed on the second connecting member (28), the first connecting member (26) and the second connecting member (28) are connected and can rotate, the folding wing slider (27) moves horizontally along the second supporting rod (15) of the fuselage and the third supporting rod (16) of the fuselage, the folding wing slider (27) drives the first connecting member (26) and the second connecting member (28) on the second supporting rod (15) of the fuselage to move, thereby driving the wing side rod (42) to move, so that the fourth connecting member (46) rotates around the third connecting member (45), so as to realize the folding and unfolding of the wing, and the folding mechanism of the wing on the other side is symmetrically distributed.

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