CN114212238B - A high-altitude long-endurance drone with foldable and retractable wings - Google Patents

Abstract

A high-altitude long-endurance unmanned aerial vehicle with foldable and retractable wings relates to the field of aviation technology. The invention solves the problems that the existing high-altitude and long-endurance unmanned aerial vehicle has an excessively large wingspan, resulting in excessively large space during transportation and storage, high maintenance cost, and difficulty in rapid deployment. The present invention includes a fuselage, two front folding wings, two rear folding wings, two front retractable wings, two rear retractable wings, two folding tail wings, two folding propeller blades, a plurality of folding mechanisms and a plurality of retractable wings The two sides of the front end of the fuselage are symmetrically provided with a front folding wing, the outer end of the front folding wing is inserted with a front telescopic wing, and the two sides of the rear end of the top of the fuselage are symmetrically provided with a rear folding wing. The outer end of the fuselage is equipped with a rear telescopic wing, two sides of the rear of the fuselage are symmetrically provided with a folding tail, and the rear of the fuselage is symmetrically provided with two folding propeller blades. The present invention is used for high-altitude long-duration unmanned aerial vehicles.

Description

A high-altitude long-endurance UAV with foldable and retractable wings

technical field

The invention relates to the field of aviation technology, in particular to a high-altitude long-endurance unmanned aerial vehicle with foldable and retractable wings.

Background technique

Due to its good aerodynamic performance and good fuel economy, high-altitude and long-endurance UAVs are suitable for long-term reconnaissance and surveillance missions at high altitudes, and can be used as unmanned combat platforms. Human-machine has the characteristics of rapid deployment, easy maintenance, and low operating costs. However, the general high-altitude and long-endurance UAV has a long wingspan and a large wing area, which will cause the UAV to take up too much space during transportation and storage, which not only increases the difficulty of ground maintenance and transportation, but also increases the operating cost. It is also difficult to deploy quickly.

In order to solve this problem, consider adopting the method of folding and deforming the wings, so that the high-altitude and long-endurance UAV can be folded and placed in a circular launch tube, which not only occupies a small volume, is convenient for storage and transportation, but more importantly, can pass through the cannon. The high-altitude long-endurance UAV can be launched by means of shooting or high-altitude release, so that the UAV can quickly reach the designated mission area, and it can also choose to launch the UAV at the right time, which increases the tactical selectivity. However, the conventional single-wing folding method is difficult to fold a drone with a large wingspan and a large wing area into a cylindrical launcher, and the combination of multiple folding methods will take up too much space in the fuselage. Space, and the wing folding mechanism is complicated and difficult to arrange. Therefore, it is necessary to design a folding system suitable for high-altitude and long-endurance UAV wings with large wingspan.

SUMMARY OF THE INVENTION

In order to solve the problems that the existing high-altitude long-endurance UAV has an excessively large wingspan, the space occupied during transportation and storage is too large, the maintenance cost is high, and the rapid deployment is difficult. The long-endurance UAV can change the wingspan of the UAV during storage and transportation. On the premise of ensuring sufficient wing area of the UAV during high-altitude and long-endurance, it can be folded and retracted by the way of wing folding and retraction. In the circular launch tube, not only the occupied volume is reduced, it is convenient for storage and transportation, but also the UAV can be quickly deployed by artillery shooting or high-altitude drop, and the UAV can also be launched at the right time.

The technical scheme that the present invention takes for solving the above-mentioned technical problems is:

A high-altitude long-endurance unmanned aerial vehicle with foldable and retractable wings comprises a fuselage, two front folding wings, two rear folding wings, two front retractable wings, two rear retractable wings, two folding tail wings, two A folding propeller blade, a plurality of folding mechanisms and a plurality of telescopic mechanisms, a front folding wing is symmetrically arranged on both sides of the front end of the fuselage abdomen, the outer end of the front folding wing is inserted with a front telescopic wing, and the rear end of the fuselage top A rear folding wing is symmetrically arranged on both sides, a rear telescopic wing is inserted into the outer end of the rear folding wing, a folding tail is symmetrically arranged on both sides of the rear of the fuselage, and two folding propellers are symmetrically arranged at the rear of the fuselage paddle,

The front folding wing, rear folding wing and folding tail are respectively connected to the fuselage through a folding mechanism, and the folding propeller blades are connected to the fuselage through a hinge; The length direction is set, and the front folding wings are close to the belly positions on both sides of the fuselage respectively, the rear folding wings are stacked on the top of the fuselage, the folding tail wings are respectively close to both sides of the rear of the fuselage, and the propeller blades are folded. They are close to both sides of the tail of the fuselage respectively; when unfolded, the front folding wings, rear folding wings and folding propeller blades are arranged horizontally and vertically to the length of the fuselage, respectively, and the folding tails are vertically downward and vertically aligned with the fuselage. length direction setting.

Further, the folding mechanism includes a spring hook, a tension spring, a steel wire, a pulley, a round hole shaft seat, a semicircular hole shaft seat and a rotating shaft, and the spring hook, pulley, round hole shaft seat, and semicircular hole shaft seat are all fixed on the machine. On the body, the inner end of the rotating shaft is inserted into the round hole shaft seat, the outer end of the rotating shaft is inserted into the semi-circular hole shaft seat, and the rotating shaft is rotatably connected with the round hole shaft seat and the semi-circular hole shaft seat, and one end of the steel wire is fixed on the On the side wall of the rotating shaft, the other end of the steel wire is connected to one end of the tension spring after bypassing the pulley, and the other end of the spring is fixed on the spring hook, and the roots of the front folding wing, rear folding wing and folding tail are respectively folded with the corresponding The side wall of the intermediate shaft of the mechanism is fixedly connected.

Further, the folding mechanism further includes a shaft cover, which is fixed on the semi-circular hole axle seat to form a complete circular hole axle seat, which is rotatably connected with the outer end of the rotating shaft.

Further, a U-shaped groove is arranged on the side wall of the rotating shaft along the circumferential direction, and the steel wire is wound in the U-shaped groove.

Further, a wedge-shaped block is fixed on one side of the U-shaped groove, and an end of one end of the steel wire is fixed on the wedge-shaped block.

Further, a locking mechanism is provided between the folding mechanism and the fuselage, and the locking mechanism includes a lock pin, a lock pin spring and a lock pin hole, the lock pin hole is arranged on the side wall of the rotating shaft, and the lock pin is embedded on the fuselage. , the lock pin spring is fixed between the body and the lock pin, and the position of the lock pin hole is set corresponding to the position of the lock pin.

Further, in the two folding mechanisms corresponding to the rear folding wings, the rotating shaft is a hollow shaft, and the rotating shaft of the rear folding wing on the left side of the fuselage is inserted into the rotating shaft of the rear folding wing on the right side of the fuselage.

Further, the outer end surfaces of the front folding wing and the rear folding wing are respectively provided with slots, and the roots of the front telescopic wing and the rear telescopic wing are respectively inserted into the slots.

Further, the telescopic mechanism includes a linkage rope, a compression spring, a fixed rod, a sliding rod, a wire rope, a limit pin and a guide wheel, and the roots of the front telescopic wing and the rear telescopic wing are respectively fixed with one end of the linkage rope in the corresponding telescopic mechanism. , the other end of the linkage rope is connected with the fixing mechanism of the fuselage, the slot bottoms of the front folding wing and the rear folding wing slot are respectively fixed with one end of the fixing rod in the corresponding telescopic mechanism, and the other end of the fixing rod is inserted into the sliding rod. In one end, a compression spring is arranged between one end of the sliding rod and the groove bottom of the slot, the other end of the sliding rod extends to the inside of the corresponding front telescopic wing or rear telescopic wing, and the limit pin is vertically fixed on the other end of the fixed rod. Inside, there is a guide wheel on both sides of the other end of the sliding rod, one side of the root of the front telescopic wing and the rear telescopic wing are respectively fixed with one end of the wire rope in the corresponding telescopic mechanism, and the other end of the wire rope goes around the other end of the sliding rod in turn. The guide wheel on the side, the limit pin and the guide wheel on the other side of the other end of the sliding rod are fixed on the other side of the corresponding front telescopic wing or the root of the rear telescopic wing.

Further, linkage mechanisms are respectively provided between the front folding wing and the front telescopic wing and between the rear folding wing and the rear telescopic wing.

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

1. The present invention adopts the combination of wing folding and shrinking to realize the high-altitude and long-endurance drones with large wingspan and large wing area. and transport, reducing the risk of detection.

2. The high-altitude long-endurance UAV provided by the present invention can be launched by artillery shooting or high-altitude drop, which realizes the rapid deployment of the high-altitude long-endurance UAV, and can also choose to launch the UAV at a suitable time.

3. The present invention determines the direction vector of the rotation axis of the folding wing by means of coordinate conversion, and realizes that the folding wing only needs to rotate around a single axis by a certain angle from the position attached to the belly (non-horizontal state) to reach the straight working state.

4. The pair of front wings of the present invention are respectively attached to both sides of the triangular section of the abdomen of the fuselage in the folded state, which improves the space utilization rate of the circular launch tube and also increases the available space of the fuselage.

5. The present invention adopts the tandem wing layout, which can reduce the chord length of a single wing on the premise of ensuring sufficient wing area and load capacity of the UAV, thereby reducing the strength requirements of the UAV's folding structure and telescopic structure.

6. The passive wing folding and telescopic mechanism adopted in the present invention has a simple structure, high reliability, is not affected by high altitude and low temperature, and is easy to install, light in weight, easy to maintain and low in cost.

7. The wing folding mechanism of the present invention uses pulleys to change the direction of the stretching force, so that its driving components can select an appropriate installation position according to the internal space of the fuselage, reduce the requirements for installation space, and facilitate the positional layout of other components in the fuselage.

Description of drawings

Fig. 1 is the axonometric view of the overall structure when the unmanned aerial vehicle of the present invention is fully extended;

Fig. 2 is the axonometric view of the overall structure of the unmanned aerial vehicle of the present invention when the unmanned aerial vehicle folding wing unfolds the telescopic wing and does not extend;

Fig. 3 is the axonometric view of the overall structure when the UAV of the present invention is fully folded and contracted;

4 is a front view of the overall structure after the drone of the present invention is fully folded and shrunk into the launch tube 6;

Fig. 5 is A-A in Fig. 4 sectional view;

Fig. 6 is the schematic diagram of the folding mechanism in the present invention;

Fig. 7 is the top view of Fig. 6;

8 is a schematic diagram of an intermediate state in the process of folding to unfolding of the UAV folding wing of the present invention;

Fig. 9 is the front view of Fig. 8;

Figure 10 is a sectional view of the folding mechanism in the present invention;

Figure 11 is a sectional view of the locking mechanism in the present invention;

12 is a cross-sectional view of the front telescopic wing 3-a and the front folding wing 2-a when the front telescopic wing 3-a is extended in the present invention;

Fig. 13 is a partial enlarged view at B in Fig. 12;

14 is a cross-sectional view of the front telescopic wing 3-a and the front folding wing 2-a when the front telescopic wing 3-a is retracted in the present invention;

Figure 15 is a partial enlarged view at D in Figure 14;

FIG. 16 is a partial enlarged view at E in FIG. 14 .

Detailed ways

Embodiment 1: This embodiment is described with reference to FIGS. 1 to 16 . The high-altitude long-endurance UAV with foldable and retractable wings described in this embodiment includes a fuselage 1 and two front folding wings 2-a , two rear folding wings 2-b, two front retractable wings 3-a, two rear retractable wings 3-b, two folding tail wings 4, two folding propeller blades 5, multiple folding mechanisms and multiple retractable The two sides of the front part of the fuselage 1 are respectively provided with a front folding wing 2-a symmetrically, the outer end of the front folding wing 2-a is inserted with a front telescopic wing 3-a, A rear folding wing 2-b is symmetrically provided, the outer end of the rear folding wing 2-b is inserted with a rear telescopic wing 3-b, and a folding tail 4 is symmetrically arranged on both sides of the rear of the fuselage 1. The tail of 1 is symmetrically provided with two folding propeller blades 5,

The front folding wing 2-a, the rear folding wing 2-b and the folding tail wing 4 are respectively connected with the fuselage 1 through a folding mechanism, and the folding propeller blade 5 is connected with the fuselage 1 through a hinge; when folded, the front folding wing 2 -a, the rear folding wings 2-b and the folding tail 4 are arranged along the length direction of the fuselage 1, and the front folding wings 2-a are respectively close to the belly positions on both sides of the fuselage 1, and the rear folding wings 2-b are stacked Placed on the top of the fuselage 1, the folding tail 4 is close to both sides of the rear of the fuselage 1, respectively, and the folding propeller blades 5 are close to the two sides of the rear of the fuselage 1 respectively; when unfolded, the front folding wings 2-a , The rear folding wing 2-b and the folding propeller blade 5 are respectively arranged horizontally and perpendicular to the length direction of the fuselage 1, and the folding tail 4 is respectively arranged vertically downward and perpendicular to the length direction of the fuselage 1.

When unfolding, the front folding wing 2-a rotates from the position attached to the belly to a certain angle, so that the front folding wing 2-a rotates to a straight and unfolded state, and the rear folding wing 2-b rotates 90 degrees horizontally from the superimposed top of the fuselage 1. Rotate the rear folding wing 2-b to a flat unfolded state. The folding propeller blades 5 are installed at the tail of the fuselage 1, and the rear of the fuselage 1 has a built-in motor. The folding propeller blades 5 are rotated and unfolded under the driving action of the motor, and provide flight power for the drone.

The folded UAV can be loaded into the launch tube 6 . Folding the propeller blades 5 can make the drone have larger blades to provide power, and at the same time, it does not affect the drone being loaded into the launch tube 6 .

Embodiment 2: This embodiment is described with reference to FIGS. 1 to 16. The folding mechanism in this embodiment includes a spring hook 7, a tension spring 8, a steel wire 9, a pulley 10, a round hole shaft seat 11-a, a semicircular hole shaft The seat 11-b and the rotating shaft 16, the spring hook 7, the pulley 10, the round hole shaft seat 11-a, and the semi-circular hole shaft seat 11-b are all fixed on the fuselage 1, and the inner end of the rotating shaft 16 is inserted into the round hole shaft. On the seat 11-a, the outer end of the rotating shaft 16 is inserted into the semicircular hole axle seat 11-b, and the rotating shaft 16 is rotatably connected with the circular hole axle seat 11-a and the semicircular hole axle seat 11-b, and one end of the steel wire 9 is fixed. Connected to the side wall of the rotating shaft 16, the other end of the wire 9 bypasses the pulley 10 and is connected to one end of the tension spring 8, the other end of the spring 8 is fixed on the spring hook 7, the front folding wing 2-a, the rear folding The roots of the wings 2-b and the folding tail wings 4 are respectively fixed to the side walls of the corresponding folding mechanism intermediate shafts 16. Other compositions and connection methods are the same as those in the first embodiment.

In the folded state, the rotating shaft 16 is fixed in position by the folding locking mechanism in the fuselage 1, and the tension spring 8 is in a tensioned state at this time. Retract, pull the wire 9 to make the shaft 16 rotate, and then make the front folding wing 2-a, the rear folding wing 2-b, and the folding tail 4 rotate to the unfolded state. The rotating shafts are set obliquely, the rotating shafts of the rear folding wings are set vertically, and the rotating shafts of the folding tail wings are set horizontally, so that the front folding wings 2-a, rear folding wings 2-b, and folding tail wings 4 are respectively rotated and unfolded to predetermined positions.

A rubber damping device is installed at the position where the root of the front folding wing 2-a contacts the fuselage 1, so as to reduce the impact and collision vibration during the unfolding process. This device can make the wing play a limiting and fixing role when unfolding, and at the same time prevent the wing from being damaged by excessive impact force.

The extension spring 8 can be changed in position and size according to actual needs, so that it can deploy a wing with a larger mass.

Embodiment 3: This embodiment is described with reference to FIGS. 1 to 16 . The folding mechanism in this embodiment further includes a shaft cover 12 , and the shaft cover 12 is fixed on the semi-circular hole shaft seat 11 - b to form a complete circular hole The shaft seat is rotatably connected with the outer end of the rotating shaft 16 . Other compositions and connection modes are the same as those in the second embodiment.

Embodiment 4: This embodiment will be described with reference to FIGS. 1 to 16 . The side wall of the rotating shaft 16 described in this embodiment is provided with a U-shaped groove along the circumferential direction, and the steel wire 9 is wound in the U-shaped groove. Other compositions and connection modes are the same as in the third embodiment.

In this way, during the stretching process of the steel wire 9, it moves along the guide position of the U-shaped groove to prevent the steel wire 9 from sliding.

In the shaft 16 designed in this way, the steel wire 9 is wound in the groove, so that the force arm of the extension spring 8 pulling the shaft 16 to rotate is the same, ensuring that the elastic force of the extension spring 8 to pull the wing to rotate is sufficient.

Embodiment 5: This embodiment will be described with reference to FIG. 1 to FIG. 16 . The wedge block 13 is fixed on one side of the U-shaped groove in this embodiment, and the end of one end of the steel wire 9 is fixed on the wedge block 13 . Prevent the wire 9 from running. Other compositions and connection modes are the same as in the fourth embodiment.

Embodiment 6: This embodiment will be described with reference to FIG. 1 to FIG. 16 . In this embodiment, a locking mechanism is provided between the folding mechanism and the fuselage 1. The locking mechanism includes a lock pin 14, a lock pin spring 15 and a lock pin hole. The lock pin hole is arranged on the side wall of the rotating shaft 16 , the lock pin 14 is embedded on the body 1 , the lock pin spring 15 is fixed between the body 1 and the lock pin 14 , and the position of the lock pin hole is the same as that of the lock pin 14 . The location corresponds to the setting. Other compositions and connection modes are the same as those in the second embodiment.

The front wing shaft has one end face in contact with the semicircular hole shaft seat 11-b and the end face of the shaft cover 12, and there are three lock pin holes with the same diameter as the lock pin on the end face for the lock pin to be inserted. The locking pin holes on the end face are at three positions with different radii on the end face with the axis as the center of the circle, and the locking pin on the shaft seat corresponds to one of the mounting holes of the locking pin spring.

The locking mechanism designed in this way can ensure that only the lock pin on the corresponding radius of each lock pin hole can be inserted during rotation. It can prevent the wings from deploying, and can also improve the strength of the locking structure.

Embodiment 7: This embodiment will be described with reference to FIGS. 1 to 16 . Among the two folding mechanisms corresponding to the rear folding wings 2-b described in this embodiment, the rotating shaft 16 is a hollow shaft, and the left side of the fuselage 1 is rear-folded The rotating shaft 16 of the wing 2-6 is inserted into the rotating shaft 16 of the rear folding wing 2-b on the right side of the fuselage 1 . Other compositions and connection modes are the same as in the second, third, fourth, fifth or sixth embodiment.

Embodiment 8: This embodiment will be described with reference to FIGS. 1 to 16 . In this embodiment, the outer end faces of the front folding wings 2-a and the rear folding wings 2-b are respectively provided with slots, and the front telescopic wings 3-a and 2-b are respectively provided with slots. The roots of the rear telescopic wings 3-b are respectively inserted into the slots. Other compositions and connection methods are the same as those in the first embodiment.

Embodiment 9: This embodiment will be described with reference to FIGS. 1 to 16 . The telescopic mechanism in this embodiment includes a linkage rope 17 , a compression spring 18 , a fixed rod 19 , a sliding rod 20 , a wire rope 21 , a limit pin 22 and a guide wheel 23 , the roots of the front telescopic wing 3-a and the rear telescopic wing 3-b are respectively fixed with one end of the linkage rope 17 in the corresponding telescopic mechanism, and the other end of the linkage rope 17 is connected with the fixing mechanism of the fuselage 1. The front folding wing 2 -a and the bottom of the slot of the rear folding wing 2-b are respectively fixed with one end of the fixed rod 19 in the corresponding telescopic mechanism, the other end of the fixed rod 19 is inserted into one end of the sliding rod 20, and one end of the sliding rod 20 is connected with the insertion rod 20. A compression spring 18 is arranged between the groove bottoms of the grooves, the other end of the sliding rod 20 extends to the inside of the corresponding front telescopic wing 3-a or rear telescopic wing 3-b, and the limit pin 22 is vertically fixed on the fixing rod 19. Inside one end, two sides of the other end of the sliding rod 20 are respectively provided with a guide wheel 23, one side of the roots of the front telescopic wing 3-a and the rear telescopic wing 3-b are respectively fixed with one end of the wire rope 21 in the corresponding telescopic mechanism, The other end of the wire rope 21 goes around the guide wheel 23 on one side of the other end of the sliding rod 20, the limit pin 22 and the guide wheel 23 on the other side of the other end of the sliding rod 20 in turn, and then is fixed on the corresponding front telescopic wing 3-a or rear The other side of the base of the telescopic wing 3-b. Other compositions and connection modes are the same as those in the eighth embodiment.

When the fixing mechanism cuts the linkage rope 17 at a suitable timing, the telescopic motion of the front telescopic wing 3-a or the rear telescopic wing 3-b can be released.

The other end of the linkage rope 17 is connected to the fixing mechanism after passing through the groove bottom of the slot to control the extension timing of the front telescopic wing 3-a or the rear telescopic wing 3-b.

The fixing mechanism can be an explosion bolt or an explosion pin, which controls the release of the front telescopic wing 3-a or the rear telescopic wing 3-b when needed.

DETAILED DESCRIPTION OF THE EMBODIMENT 10: The present embodiment will be described with reference to FIGS. 1 to 16 , between the front folding wing 2-a and the front telescopic wing 3-a and the rear folding wing 2-b and the rear telescopic wing 3-b described in this embodiment There are linkage mechanisms between them. Other compositions and connection manners are the same as those of the specific embodiment one, two, three, four, five, six, eight or nine.

After the folded wing is unfolded to a straight state, the linkage mechanism inside the fuselage is triggered, the linkage mechanism cuts off the linkage rope, and the telescopic mechanism of the telescopic wing starts to work at the same time.

Although the invention has been described herein with reference to specific embodiments, it should be understood that these embodiments are merely illustrative of the principles and applications of the invention. It should therefore be understood that many modifications may be made to the exemplary embodiments and other arrangements can be devised without departing from the spirit and scope of the invention as defined by the appended claims. It should be understood that the features described in the various dependent claims and herein may be combined in different ways than are described in the original claims. It will also be appreciated that features described in connection with a single embodiment may be used in other described embodiments.

Claims (8)

1. The utility model provides an unmanned aerial vehicle during high altitude long endurance with collapsible flexible wing which characterized in that: comprises a machine body (1), two front folding wings (2-a), two rear folding wings (2-b), two front telescopic wings (3-a), two rear telescopic wings (3-b), two folding tail wings (4), two folding propeller blades (5), a plurality of folding mechanisms and a plurality of telescopic mechanisms, the two sides of the front end of the belly of the fuselage (1) are symmetrically provided with a front folding wing (2-a) respectively, the outer side end of the front folding wing (2-a) is inserted with a front telescopic wing (3-a), the two sides of the rear end of the top of the fuselage (1) are symmetrically provided with a rear folding wing (2-b) respectively, the outer side end of the rear folding wing (2-b) is inserted with a rear telescopic wing (3-b), the two sides of the rear part of the fuselage (1) are symmetrically provided with a folding tail wing (4) respectively, and the tail of the fuselage (1) is symmetrically provided with two folding propeller blades (5);

the front folding wing (2-a), the rear folding wing (2-b) and the folding tail wing (4) are respectively connected with the machine body (1) through a folding mechanism, and the folding propeller blade (5) is connected with the machine body (1) through a hinge; when the folding aircraft is folded, the front folding wings (2-a), the rear folding wings (2-b) and the folding tail wings (4) are arranged along the length direction of the aircraft body (1), the front folding wings (2-a) are respectively and closely attached to the ventral positions of two sides of the aircraft body (1), the rear folding wings (2-b) are stacked on the top of the aircraft body (1), the folding tail wings (4) are respectively and closely attached to two sides of the rear part of the aircraft body (1), and the folding propeller blades (5) are respectively and closely attached to two sides of the tail part of the aircraft body (1); when the foldable propeller is unfolded, the front foldable wing (2-a), the rear foldable wing (2-b) and the foldable propeller blades (5) are respectively arranged along the length direction horizontally vertical to the fuselage (1), and the foldable tail wings (4) are respectively arranged along the length direction vertically downward vertical to the fuselage (1);

the folding mechanism comprises a spring hook (7), an extension spring (8), a steel wire (9), a pulley (10), a round hole shaft seat (11-a), a semicircular hole shaft seat (11-b) and a rotating shaft (16), wherein the spring hook (7), the pulley (10), the round hole shaft seat (11-a) and the semicircular hole shaft seat (11-b) are fixedly connected on the machine body (1), the inner side end of the rotating shaft (16) is inserted on the round hole shaft seat (11-a), the outer side end of the rotating shaft (16) is inserted on the semicircular hole shaft seat (11-b), the rotating shaft (16) is rotatably connected with the round hole shaft seat (11-a) and the semicircular hole shaft seat (11-b), one end of the steel wire (9) is fixedly connected on the side wall of the rotating shaft (16), the other end of the steel wire (9) is connected with one end of the extension spring (8) after passing through the pulley (10), and the other end of the extension spring (8) is fixedly connected on the spring hook (7), the roots of the front folding wing (2-a), the rear folding wing (2-b) and the folding tail wing (4) are respectively fixedly connected with the side wall of a rotating shaft (16) in the corresponding folding mechanism;

the folding mechanism further comprises a shaft cover (12), wherein the shaft cover (12) is fixedly connected to the semicircular hole shaft seat (11-b) to form a complete circular hole shaft seat which is rotatably connected with the outer side end of the rotating shaft (16).

2. The high-altitude long-endurance unmanned aerial vehicle with foldable telescopic wings as claimed in claim 1, wherein: a U-shaped groove is formed in the side wall of the rotating shaft (16) along the circumferential direction, and the steel wire (9) is wound in the U-shaped groove.

3. The high-altitude long-endurance unmanned aerial vehicle with foldable telescopic wings as claimed in claim 2, wherein: one side in the U-shaped groove is fixedly connected with a wedge-shaped block (13), and the end part of one end of the steel wire (9) is fixedly connected to the wedge-shaped block (13).

4. The high-altitude long-endurance unmanned aerial vehicle with foldable telescopic wings as claimed in claim 1, wherein: a locking mechanism is arranged between the folding mechanism and the machine body (1), the locking mechanism comprises a lock pin (14), a lock pin spring (15) and a lock pin hole, the lock pin hole is formed in the side wall of the rotating shaft (16), the lock pin (14) is embedded in the machine body (1), the lock pin spring (15) is fixedly connected between the machine body (1) and the lock pin (14), and the position of the lock pin hole corresponds to the position of the lock pin (14).

5. A high-altitude long-endurance unmanned aerial vehicle with foldable telescopic wings according to any one of claims 2-4, wherein: in the two folding mechanisms corresponding to the rear folding wings (2-b), the rotating shaft (16) is a hollow shaft, and the rotating shaft (16) of the rear folding wing (2-b) on the left side of the machine body (1) is inserted into the rotating shaft (16) of the rear folding wing (2-b) on the right side of the machine body (1).

6. The high-altitude long-endurance unmanned aerial vehicle with foldable telescopic wings as claimed in claim 1, wherein: the outer side end faces of the front folding wing (2-a) and the rear folding wing (2-b) are respectively provided with a slot, and the roots of the front telescopic wing (3-a) and the rear telescopic wing (3-b) are respectively inserted into the slots.

7. The high-altitude long-endurance unmanned aerial vehicle with foldable telescopic wings as claimed in claim 6, wherein: the telescopic mechanism comprises a linkage rope (17), a compression spring (18), a fixed rod (19), a sliding rod (20), a steel wire rope (21), a limiting pin (22) and a guide wheel (23), the roots of a front telescopic wing (3-a) and a rear telescopic wing (3-b) are fixedly connected with one end of the linkage rope (17) in the corresponding telescopic mechanism respectively, the other end of the linkage rope (17) is connected with the fixed mechanism of the machine body (1), the slot bottoms of slots of the front folding wing (2-a) and the rear folding wing (2-b) are fixedly connected with one end of the fixed rod (19) in the corresponding telescopic mechanism respectively, the other end of the fixed rod (19) is inserted into one end of the sliding rod (20), the compression spring (18) is arranged between one end of the sliding rod (20) and the slot bottom of the slot, and the other end of the sliding rod (20) extends into the corresponding front telescopic wing (3-a) or rear telescopic wing (3-b), the limiting pin (22) is vertically and fixedly connected inside the other end of the fixed rod (19), two sides of the other end of the sliding rod (20) are respectively provided with a guide wheel (23), one side of the root of the front telescopic wing (3-a) and one side of the root of the rear telescopic wing (3-b) are respectively and fixedly connected with one end of a steel wire rope (21) in the corresponding telescopic mechanism, and the other end of the steel wire rope (21) sequentially bypasses the guide wheel (23) on one side of the other end of the sliding rod (20), the limiting pin (22) and the guide wheel (23) on the other side of the other end of the sliding rod (20) and is fixedly connected with the other side of the root of the corresponding front telescopic wing (3-a) or the rear telescopic wing (3-b).

8. A high-altitude long-endurance unmanned aerial vehicle with foldable telescopic wings according to any one of claims 1-4 and 6-7, wherein: and linkage mechanisms are respectively arranged between the front folding wing (2-a) and the front telescopic wing (3-a) and between the rear folding wing (2-b) and the rear telescopic wing (3-b).

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