CN113353243B - A multifunctional unmanned aerial vehicle with self-changing wings - Google Patents

Abstract

The application discloses a self-wing-changing multifunctional unmanned aerial vehicle logistics vehicle, and belongs to the technical field of unmanned aerial vehicle transportation. The folding wing comprises a body, a folding main wing body, a telescopic winglet, an aileron, a landing gear, a rear body frame, a horizontal tail and a vertical tail, wherein the folding main wing is arranged on two sides of the body, the telescopic winglet is arranged in the folding main wing, the aileron is arranged on the downside of the telescopic winglet, the landing gear is arranged on the bottom of the body, the rear body frame is arranged on the rear body frame, the horizontal tail is connected on the rear body frame, and the vertical tail is arranged on two sides of the horizontal tail. The application has the functions of folding and extending the wing, has quick transportation and large bearing capacity, and can adapt to various transportation working conditions.

Description

A multifunctional unmanned aerial vehicle with self-changing wings

technical field

The invention relates to the technical field of unmanned aerial vehicle transportation, in particular to a self-changing wing multifunctional unmanned aerial vehicle logistics vehicle.

Background technique

With the widespread rise of online shopping, the proportion of people shopping on the Internet has risen sharply. Facing the sharply rising online purchasing power, higher requirements are put forward for the speed and accuracy of goods transportation, and the transportation capacity of goods will face huge challenges. Faced with the difficulty of transporting goods in remote areas away from cities, there is an urgent need for a logistics transport vehicle that is fast, has a large carrying capacity, and is suitable for various transport conditions.

Publication No. CN 110588981 A patent document discloses a highly stable unmanned aerial device for logistics transportation, including a main body, two support frames and two flying devices, the main body is provided with a lifting mechanism and a fixed mechanism, the lifting mechanism includes a lifting plate, a camera and two lifting components, and the lifting component includes a slideway, a telescopic frame, a guide rod, two racks, two moving blocks, two driving components and two sliding blocks , the fixing mechanism includes a connection box, a power assembly, two suction cups and two connection pipes. The unmanned aerial vehicle with high stability for logistics transportation can use the lifting mechanism to verify the identity of the picker, reducing the It reduces the probability of cargo transportation errors and improves the safety of the drone. Through the fixing mechanism, the function of fixing the cargo is realized to avoid damage caused by shaking and collision during cargo transportation. However, the carrying capacity of the unmanned aerial transport device is limited, and its function is single.

The patent document with the publication number CN 109625284 A discloses a high-efficiency unmanned aerial vehicle with stable flight for logistics distribution, including a main body, several transportation devices and several flight mechanisms. The transportation device includes an adjustment mechanism, an adjustment plate and a transportation mechanism. The adjustment mechanism includes a connecting rod, a rotating plate, a rotating assembly, and a translation assembly. The translation assembly includes a first motor, a bearing, a screw, and a translation block. The transportation mechanism includes a detection assembly, a detection plate, a lifting assembly, a lifting plate, an air pump, and several fixed assemblies. , the fixed components include cylinders, pistons, vertical plates, bottom plates and fixed units. This high-efficiency drone with stable flight for logistics distribution facilitates the loading and unloading of goods through the transportation mechanism, and facilitates the equipment to carry multiple pieces of goods for transportation at one time. Logistics distribution efficiency, not only that, by detecting the weight of the goods, the adjustment mechanism controls the position of the adjustment plate, thereby adjusting the center of gravity of the equipment to be located on the central axis of the main body, which facilitates the smooth flight of the equipment and improves the practicability of the equipment. But this invention also fails to solve the above-mentioned technical problems.

Contents of the invention

In view of this, the present invention aims at the deficiencies of the prior art, and provides a self-changing wing multi-functional unmanned aerial vehicle logistics vehicle that is fast, has a large carrying capacity, and can adapt to various transportation conditions.

In order to solve the above technical problems, the technical solution adopted by the present invention is: a self-changing wing multifunctional unmanned aerial vehicle logistics vehicle, including fuselage, folding main wing, telescopic winglet, aileron, landing gear, rear fuselage frame , horizontal tail and vertical tail, the folding main wings are arranged on both sides of the fuselage, the telescopic winglets are arranged in the folding main wings, the ailerons are arranged on the lower side of the telescopic winglets, and the bottom of the fuselage The landing gear is set, the rear fuselage frame is arranged at the rear of the fuselage, the rear fuselage frame is connected with the horizontal tail, and the vertical tail is arranged on both sides of the horizontal tail.

Further, the folding main wing includes a main wing and a folding actuator, and the folding actuator includes a first steering gear, a first transmission gear, a gear shaft, a carbon tube, a first gear, a second gear, and a wing connector The fastener is connected with the fuselage, the output shaft of the first steering gear is provided with the first transmission gear, the first transmission gear is connected to the gear shaft for transmission, and the first transmission gear is provided at both ends of the gear shaft. A gear, the carbon tube is connected to the fuselage through the fuselage connecting fastener, a second gear is arranged at both ends of the carbon tube, the first gear is connected to the second gear for transmission, and the carbon tube passes through the The wing connector is connected to the main wing.

Further, the telescopic winglet includes a telescopic actuator, a link mechanism and a plurality of wing plates, the telescopic actuator is a rack and pinion structure or a three-section rocker structure, and the link mechanism includes a plurality of X-shaped linkages. The two adjacent X-shaped connecting rods are hinged to each other, and the plurality of wing plates are evenly distributed in the plurality of X-shaped connecting rods hinged to each other. Strip holes are set on the wing plates, and the adjacent two The upper hinge point of the X-shaped connecting rod passes through the strip hole, and the lower ends of two adjacent X-shaped connecting rods are respectively hinged on both sides of the wing plate, and the two X-shaped connecting rods at both ends Rollers and positioning blocks are provided; the X-shaped connecting rod includes a first connecting rod and a second connecting rod whose middle parts are hinged to each other.

Further, the rack and pinion structure includes a second steering gear, a second transmission gear and a rack, the second transmission gear is arranged on the output shaft of the second steering gear, and the upper part of one of the rollers is provided with the The rack is connected to the second transmission gear for transmission.

Further, the three-section rocker structure includes a second steering gear, a rocker, a straight rod, a limit block and a connecting piece, and the rocker includes a first rod body and a second rod body whose ends are hinged, and the first rod body The rod body is fixedly connected to the turning-out shaft of the second steering gear, the second rod body is hinged to the straight rod, the limiting block is arranged on the wing plate, and a through hole is arranged on the limiting block, The straight rod passes through the through hole, and the end of the straight rod is connected to one of the rollers through the connecting piece.

Further, the number of the fuselage connecting fasteners is two, which are respectively arranged on both sides of the wing connecting piece, and the two ends of the gear shaft are provided with couplings, and the couplings are located on the On the outer side of the first gear, one side of the lower part of the fuselage connecting fastener is connected to the coupling, and the other side is connected to the fuselage through bolts.

Further, the horizontal tail includes a horizontal stabilizer and an elevator, and the elevator is arranged behind the horizontal stabilizer; the vertical tail includes a vertical stabilizer and a rudder, and the rudder is arranged behind the vertical stabilizer.

Further, a support reinforcement structure is provided inside the main wing, and the support reinforcement structure includes a plurality of support plates and a plurality of diamond-shaped connecting rods, and two adjacent support plates are connected by a diamond-shaped connecting rod.

Further, the landing gear includes a front landing gear and a rear landing gear, and the front landing gear includes a third steering gear, a third transmission gear, a steering link, a transmission rack, a gear fixing seat, a first landing gear seat, the first wheel and the first damping mechanism, the first wheels are arranged on both sides of the first landing gear seat, the gear fixing seat is arranged in the middle of the first landing gear seat, and the second gear fixing seat is arranged on the gear fixing seat. Three steering gears, the third transmission gear is set on the output shaft of the third steering gear, the third transmission gear is connected to the transmission rack for transmission, and both ends of the transmission rack are connected to the steering connection The two steering links are respectively connected to the two first wheels, and two first damping mechanisms are arranged on the first landing gear seat; the rear landing gear includes a second landing gear seat, a second wheel and the second damping mechanism, second wheels are arranged on both sides of the second landing gear seat, and two second shock absorbing mechanisms are arranged on the second landing gear seat; the first shock absorbing mechanism and the second shock absorbing mechanism on the same side The two shock absorbers are connected by carbon fiber tubes.

Further, the first shock absorbing mechanism and the second shock absorbing mechanism have the same structure, and both include a connecting block, a shock absorbing spring, a shock absorbing connecting rod, a shock absorbing fixing buckle, and a shock absorbing fixing shaft. The shock absorber fixed shaft, the lower end of the shock absorber fixed shaft is fixed on the landing gear seat, the shock absorber spring is sleeved on the shock absorber fixed shaft, and the shock absorber spring is set at the upper and lower ends of the shock absorber spring. As for the fixed buckle, the sides of the two shock-absorbing fixed buckles are hinged to one of the shock-absorbing connecting rods, and the two described shock-absorbing connecting rods are hinged to each other.

With the rapid development of drone technology, unmanned logistics vehicles that are applied to the field of logistics and transportation have also received widespread attention. When developing unmanned logistics vehicles, technicians in this industry usually consider improving the stability of logistics vehicles. In order to protect the safety of articles, such as the publication number CN 109795695 A Chinese patent document discloses a highly reliable unmanned aerial device for logistics, including a main body, a cargo box and four rotors, and the rotors are arranged on the main body At the top, a driving device is provided inside the main body, and the driving device is connected to the rotor drive. The vertical section of the loading box is U-shaped, and the opening of the U-shaped section of the loading box is set upwards. The shape of the carrying case is cylindrical, the carrying case is arranged vertically, the carrying case is arranged at the bottom of the main body, a buffer mechanism is arranged inside the carrying case, and two The two connecting mechanisms are respectively arranged on both sides of the carrying box. The unmanned aerial device with high reliability for logistics realizes the buffering effect on the objects through the buffer mechanism, avoiding the damage of the objects due to bumps, and improving Not only that, but also the stability of the connection between the carrying case and the main body is improved through the connection mechanism. Another example is the publication number CN 109677617 A, which discloses a stable unmanned aerial transport device for logistics distribution, which includes a main body and at least two flight mechanisms, and also includes an anti-spill mechanism and a reinforcement mechanism. The anti-splash mechanism It includes a connecting ring, a storage box, two supporting plates, two first connecting rods, two first bearing seats, two second connecting rods and two second bearing seats, and the reinforcing mechanism includes two guide rails and Two clamping assemblies, the clamping assembly includes a clamping plate, a drive unit, a sliding rod, two sliding blocks, two sliding sleeves, two transmission rods and two springs, the stable type for logistics distribution In the unmanned aerial transport device, through the anti-spill mechanism, the storage box is always in a vertical state during the shaking process of the drone, thereby reducing the chance of liquid cargo being spilled, and the two clamping plates are driven to move through the reinforcement mechanism , so that the stability of the goods is improved under the clamping action of the two clamping plates, and the probability of damage to the goods is reduced. It can be seen that the unmanned aerial vehicle logistics vehicle designed by the present application, while ensuring the stability of transportation, can also be folded or stretched, walked or flew to adapt to different transportation situations and improve the flexibility and speed of logistics. It is not easy for technicians to think of.

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

The self-changing wing multifunctional unmanned aerial vehicle logistics vehicle of the present invention is dual-purpose for land and air, can complete the transportation work under more complex working conditions, and has the function of folding and retracting wings, and has the advantages of fast execution, small aircraft placement area, and convenient transportation. Large volume, good stability, light weight and other advantages. The present invention has two postures. The first posture is when the wings are retracted. At this time, it can be used as a cargo trolley. It has a flexible steering function on the ground, and the landing gear has a shock-absorbing effect on complex road surfaces. The second attitude is when the wings are extended. At this time, it can be used as a drone. The drone adopts a fixed-wing aircraft, which has a fast transportation speed and a large transportation volume. The vertical tails are double vertical tails, and the stability is better. The present invention has three modes of unfolding, telescopic and telescopic folding, and can freely switch between different modes in the face of various situations such as large transportation volume and complex road conditions to deal with different types of transportation problems.

In addition, the folding main wing of the present invention, the folding executive mechanism adopts gear transmission connection, the gear transmission connection has the advantages of high reliability, large load capacity, precise transmission ratio, long service life, etc., and the carbon tube is driven to rotate axially through two-stage transmission , so as to realize the folding function of the wing. The gear transmission design of the present invention meets the requirements of large force on the wing root of the main folding main wing, precise folding execution, and good folding stability.

In addition, in the telescopic winglet of the present invention, the telescopic actuator drives a plurality of wing plates to move through the connecting rod mechanism, so as to realize telescopic expansion. The rocker structure; the rack and pinion structure is connected by a rack and pinion, and the steering gear is controlled by the aircraft controller to rotate axially to realize the lateral movement of the rack along the X axis, and then push the pulley to move laterally to make the internal connecting rod of the telescopic winglet Perform telescopic movement along the Y-axis. This mechanism has the advantages of simple structure, precise transmission, and fast execution speed. Rotate clockwise to drive the rocker and the straight rod to advance along the positive direction of the X-axis, and drive the rollers to perform coordinated movement, thereby causing the X-shaped connecting rod to shrink, and vice versa to expand. This mechanism is simple to implement and easy to manufacture. The telescopic winglet of the present invention presents distributed load bearing to the wing load after deployment, and has good load-bearing performance; multiple X-shaped connecting rods are used, and the telescopic distance is long; rollers are arranged at both ends of the connecting rod structure, and the telescopic execution resistance is small, which can ensure The execution of the telescopic movement is quick and there will be no stuck phenomenon. The rapidity and coherence of the telescopic movement have a great influence on the vibration of the winglet deformation. The rapidity and coherence of the telescopic movement can deform the winglet. The vibration of the wing process is reduced to a minimum, which enhances the stability during flight.

Description of drawings

Fig. 1 is a structural representation of the present invention;

Fig. 2 is a schematic diagram of the connection structure of the folding main wing, telescopic winglet and aileron of the present invention;

Fig. 3 is a structural schematic diagram of the folding main wing of the present invention;

Fig. 4 is a structural schematic diagram of the telescopic winglet of the present invention;

Fig. 5 is a partial schematic diagram of the connection between the folding main wing and the fuselage of the present invention;

Fig. 6 is the structural representation of linkage mechanism of the present invention;

Fig. 7 is a structural schematic diagram of the rack and pinion structure of the present invention;

Fig. 8 is a schematic structural view of the flat tail of the present invention;

Fig. 9 is a schematic structural view of the vertical tail of the present invention;

Fig. 10 is a schematic diagram of the connection between the linkage mechanism of the present invention and the three-section rocker structure;

Fig. 11 is a structural schematic diagram of the three-section rocker structure of the present invention;

Fig. 12 is a structural schematic diagram of the supporting and strengthening structure of the present invention;

Fig. 13 is a schematic diagram of the internal structure of the main wing of the present invention;

Fig. 14 is a schematic structural view of the front landing gear of the present invention;

Fig. 15 is a structural representation of the landing gear of the present invention;

FIG. 16 is an enlarged view of part A in FIG. 14 .

Detailed ways

In order to better understand the present invention, the content of the present invention is further clearly described below in conjunction with the examples, but the protection content of the present invention is not limited to the following examples. In the following description, numerous specific details are given in order to provide a more thorough understanding of the present invention. It will be apparent, however, to one skilled in the art that the present invention may be practiced without one or more of these details.

Embodiment one

As shown in Figures 1 to 9, a self-changing wing multifunctional UAV logistics vehicle includes a fuselage 1, a folding main wing 2, a telescopic winglet 3, an aileron 4, a landing gear 5, a rear fuselage frame 6, Horizontal tail 7 and vertical tail 8, the folding main wing 2 is arranged on both sides of the fuselage 1, the telescopic winglet 3 is arranged in the folding main wing 2, and the auxiliary winglet 3 is arranged on the lower side of the telescopic winglet 3 Wing 4, the landing gear 5 is arranged at the bottom of the fuselage 1, the rear fuselage frame 6 is arranged at the rear of the fuselage 1, the rear fuselage frame 6 is connected with the horizontal tail 7, and the horizontal tail 7 The vertical tail 8 is arranged on both sides.

The folding main wing 2 includes a main wing 21 and a folding actuator, and the folding actuator includes a first steering gear 22, a first transmission gear 23, a gear shaft 24, a carbon tube 25, a first gear 26, and a second gear 27 , the wing connecting piece 28 and the fuselage connecting fastener 29, the first transmission gear 23 is set on the output shaft of the first steering gear 22, the first transmission gear 23 is connected to the gear shaft 24 for transmission, Both ends of the gear shaft 24 are provided with the first gear 26, the carbon tube 25 is connected with the fuselage 1 through the fuselage connecting fastener 29, and the second gear is provided at both ends of the carbon tube 25. 27 , the first gear 26 is connected to the second gear 27 for transmission, and the carbon tube 25 is connected to the main wing 21 through the wing connector 28 .

The quantity of the fuselage connecting fasteners 29 is two, which are respectively arranged on both sides of the wing connecting piece 28, and the two ends of the gear shaft 24 are provided with couplings 241, and the couplings 241 are located at On the outside of the first gear 26 , one side of the bottom of the fuselage connecting fastener 29 is connected to the coupling 241 , and the other side is connected to the fuselage 1 through bolts.

The telescopic winglet 3 includes a telescopic actuator, a link mechanism and a plurality of wing plates 31, on which skins are arranged, the telescopic actuator is a rack and pinion structure, and the link mechanism includes a plurality of X-shaped connecting rods 32, two adjacent X-shaped connecting rods 32 are hinged to each other, and a plurality of wing plates 31 are evenly distributed in a plurality of X-shaped connecting rods 32 hinged to each other, and strips are arranged on the wing plates 31 shaped hole 33, the upper hinge points of two adjacent X-shaped connecting rods 32 pass through the strip-shaped hole 33, and the lower ends of adjacent two described X-shaped connecting rods 32 are respectively hinged to the wing plate On both sides of 31, the two X-shaped connecting rods 32 at both ends are provided with rollers 34 and positioning blocks 35; the X-shaped connecting rods 32 include a first connecting rod and a second connecting rod whose middle parts are hinged to each other.

The rack and pinion structure includes a second steering gear 36, a second transmission gear 37 and a rack 38, the output shaft of the second steering gear 36 is provided with the second transmission gear 37, and the upper part of one of the rollers 34 is The rack 38 is provided, and the rack 38 is connected to the second transmission gear 37 for transmission.

The horizontal tail 7 includes a horizontal stabilizer 71 and an elevator 72, and the elevator 72 is arranged on the rear side of the horizontal stabilizer 71; the vertical tail 8 includes a vertical stabilizer 81 and a rudder 82, and the rudder 82 is arranged on the rear side of the horizontal stabilizer 71. The rear side of the vertical stabilizer 81 .

According to the local coordinate system established by the UAV logistics vehicle, it is assumed that the Y axis is along the lateral direction of the wing, the X axis is perpendicular to the Y axis and parallel to the cross section of the wing, and the Z axis is perpendicular to the XY plane. The telescopic actuator controls the axial rotation of the second steering gear through the aircraft controller to realize the lateral movement of the rack along the X-axis, and then pushes the pulley to move laterally to make the internal connecting rod of the telescopic winglet perform telescopic movement along the Y-axis.

Embodiment two

As shown in Figures 10 to 11, the self-changing wing multifunctional unmanned aerial vehicle logistics vehicle of the embodiment of the present invention differs from the first embodiment in that:

The three-section rocker structure includes a second steering gear 41, a rocker 42, a straight rod 43, a limit block 44 and a connecting piece 45, and the rocker 42 includes a first rod body 421 and a second rod body 422 whose ends are hinged. , the first rod body 421 is fixedly connected to the rotating shaft of the second steering gear 41, the second rod body 422 is hinged to the straight rod 43, and the limiting block 44 is arranged on the wing plate 31 , the limiting block 44 is provided with a through hole, the straight rod 43 passes through the through hole, and the end of the straight rod 43 is connected to one of the rollers 34 through the connecting piece 45 .

The telescopic actuator is controlled by the second steering gear. The second steering gear rotates clockwise along the XZ plane, drives the rocker and the straight rod to move forward along the positive direction of the X axis, and drives the rollers to move forward in coordination, so that the X-shaped connecting rod The contraction movement occurs, and vice versa, the expansion movement can be performed. This mechanism is simple to execute and easy to make.

Embodiment Three

As shown in Figures 12 to 13, the self-changing wing multifunctional unmanned aerial vehicle logistics vehicle of the embodiment of the present invention differs from the first embodiment in that:

A support and reinforcement structure is provided inside the main wing, and the support and reinforcement structure includes a plurality of support plates 61 and a plurality of diamond-shaped connecting rods 62 , and two adjacent support plates 61 are connected by a rhombic-shaped connecting rod 62 .

Carbon fiber tubes 63 are provided through the plurality of support plates 61 .

Considering that when the telescopic winglet is deployed, the telescopic winglet will protrude from the main wing, resulting in a hollow phenomenon in the middle of the main wing, which does not meet the stability design requirements of the UAV truck. The load is evenly distributed, so that the service life of the wing is longer, so the supporting structure is adopted to make the load of the main wing evenly distributed.

Embodiment Four

As shown in Figures 14 to 16, the self-changing wing multifunctional unmanned aerial vehicle logistics vehicle of the embodiment of the present invention differs from the first embodiment in that:

The landing gear 5 includes a front landing gear and a rear landing gear, and the front landing gear includes a third steering gear 511, a third transmission gear 512, a steering link 513, a transmission rack 514, a gear holder 515, The first landing gear seat 516, the first wheel 517 and the first damping mechanism 518, the first wheels 517 are arranged on both sides of the first landing gear seat 516, the gear fixing seat 515 is arranged in the middle of the first landing gear seat 516, The third steering gear 511 is set on the gear fixing seat 515, the third transmission gear 512 is set on the output shaft of the third steering gear 511, and the third transmission gear 512 and the transmission rack 514 connected to the transmission, both ends of the transmission rack 514 are connected to the steering linkage 513, and the two steering linkages 513 are respectively connected to the two first wheels 517, and the first landing gear seat 516 is provided with two second A damping mechanism 518; the rear landing gear includes a second landing gear seat 521, a second wheel 522 and a second shock absorbing mechanism 523, and the second wheels 522 are arranged on both sides of the second landing gear seat 521, so Two second shock absorbing mechanisms 523 are arranged on the second landing gear seat 521; the first shock absorbing mechanism 518 and the second shock absorbing mechanism 523 on the same side are connected by a carbon fiber tube 524.

The first shock absorbing mechanism 518 and the second shock absorbing mechanism 523 have the same structure, and both include a connecting block 531, a shock absorbing spring 532, a shock absorbing connecting rod 533, a shock absorbing fixing buckle 534 and a shock absorbing fixing shaft 535. The shock absorbing fixed shaft 535 is arranged under the block 531, and the lower end of the shock absorbing fixed shaft 535 is fixed on the landing gear seat, and the described shock absorbing spring 532 is sleeved on the described shock absorbing fixed shaft 535. 1. The shock-absorbing fixing buckles 534 are arranged at both lower ends, and the side surfaces of the two shock-absorbing fixing buckles 534 are hinged to a described shock-absorbing connecting rod 533, and the two described shock-absorbing connecting rods 533 are hinged to each other.

At least one of the two shock-absorbing fixing buckles 535 can slide on the shock-absorbing fixing shaft 536. In the embodiment of the present invention, the upper shock-absorbing fixing buckle is fixedly connected with the connecting block, and the lower shock-absorbing fixing buckle can move up and down.

Finally, it is noted that the above embodiments are only used to illustrate the technical solution of the present invention without limitation, other modifications or equivalent replacements made by those skilled in the art to the technical solution of the present invention, as long as they do not depart from the spirit and spirit of the technical solution of the present invention All should be included in the scope of the claims of the present invention.

Claims (1)

1. The utility model provides a from multi-functional unmanned aerial vehicle commodity circulation car of variable wing which characterized in that: the folding main wing is internally provided with the telescopic winglet, the downside of the telescopic winglet is provided with the aileron, the bottom of the main body is provided with the landing gear, the rear part of the main body is provided with the rear fuselage frame, the rear fuselage frame is connected with the horizontal tail, and both sides of the horizontal tail are provided with the vertical tail;

the folding main wing comprises a main wing body and a folding executing mechanism, the folding executing mechanism comprises a first steering engine, a first transmission gear, a gear shaft, a carbon tube, a first gear, a second gear, a wing connecting piece and a main body connecting fastener, the first transmission gear is arranged on an output shaft of the first steering engine, the first transmission gear is in transmission connection with the gear shaft, the first gears are arranged at two ends of the gear shaft, the carbon tube is connected with the main body through the main body connecting fastener, the second gears are arranged at two ends of the carbon tube, the first gears are in transmission connection with the second gears, and the middle part of the carbon tube is connected with the main wing through the wing connecting piece; the number of the machine body connecting fasteners is two, the two machine body connecting fasteners are respectively arranged on two sides of the wing connecting piece, the two ends of the gear shaft are respectively provided with a shaft coupling, the shaft couplings are positioned on the outer sides of the first gears, one side of the lower part of each machine body connecting fastener is connected with the shaft couplings, and the other side of the lower part of each machine body connecting fastener is connected with the machine body through bolts;

the telescopic winglet comprises a telescopic actuating mechanism, a connecting rod mechanism and a plurality of wing plates, wherein the telescopic actuating mechanism is of a gear rack structure, the connecting rod mechanism comprises a plurality of X-shaped connecting rods, two adjacent X-shaped connecting rods are mutually hinged, the wing plates are uniformly distributed in the X-shaped connecting rods which are mutually hinged, strip-shaped holes are formed in the wing plates, upper hinge points of the two adjacent X-shaped connecting rods penetrate through the strip-shaped holes, the lower ends of the two adjacent X-shaped connecting rods are respectively hinged to two sides of the wing plates, and rollers and positioning blocks are arranged on the two X-shaped connecting rods at two ends; the X-shaped connecting rod comprises a first connecting rod and a second connecting rod, wherein the middle parts of the first connecting rod and the second connecting rod are mutually hinged; the gear rack structure comprises a second steering engine, a second transmission gear and a rack, wherein the second transmission gear is arranged on an output shaft of the second steering engine, the rack is arranged on the upper part of one roller, and the rack is connected with the second transmission gear for transmission;

the main wing is internally provided with a supporting reinforcing structure, the supporting reinforcing structure comprises a plurality of supporting plates and a plurality of diamond-shaped connecting rods, two adjacent supporting plates are connected through one diamond-shaped connecting rod, and carbon fiber tubes are arranged on the plurality of supporting plates in a penetrating manner;

the landing gear comprises a front landing gear and a rear landing gear, the front landing gear comprises a third steering engine, a third transmission gear, steering connecting rods, transmission racks, gear fixing seats, a first landing frame seat, first wheels and first damping mechanisms, the first wheels are arranged on two sides of the first landing frame seat, the gear fixing seats are arranged in the middle of the first landing frame seat, the third steering engine is arranged on the gear fixing seats, the third transmission gear is arranged on an output shaft of the third steering engine, the third transmission gear is connected with the transmission racks for transmission, the two ends of the transmission racks are connected with the steering connecting rods, the two steering connecting rods are respectively connected with the two first wheels, and the two first damping mechanisms are arranged on the first landing frame seat; the rear landing gear comprises a second landing frame seat, second wheels and second damping mechanisms, wherein the second wheels are arranged on two sides of the second landing frame seat, and the second landing frame seat is provided with the two second damping mechanisms; the first damping mechanism and the second damping mechanism which are positioned on the same side are connected through a carbon fiber tube;

the horizontal tail comprises a horizontal stabilizer and an elevator, and the elevator is arranged at the rear side of the horizontal stabilizer; the vertical fin comprises a vertical stabilizer and a rudder, and the rudder is arranged at the rear side of the vertical stabilizer;

the first damping mechanism and the second damping mechanism are identical in structure and comprise a connecting block, a damping spring, a damping connecting rod, a damping fixing buckle and a damping fixing shaft, the damping fixing shaft is arranged below the connecting block, the lower end of the damping fixing shaft is fixed on a lifting frame seat, the damping spring is sleeved on the damping fixing shaft, the upper end and the lower end of the damping spring are respectively provided with the damping fixing buckle, the side faces of the damping fixing buckles are hinged with one damping connecting rod, the two damping connecting rods are hinged with each other, and at least one of the two damping fixing buckles can slide on the damping fixing shaft.