A foldable and telescopic quadrotor aircraft

Abstract

The present invention discloses a foldable and telescopic quadrotor aircraft, comprising: a body assembly, a fixed shaft assembly and a movable shaft assembly; the body assembly includes an aircraft body, a rotary servo, a four-axis rudder disc and a cable, a rotary servo is provided on the aircraft body, the output end of the rotary servo is connected to the four-axis rudder disc, the four-axis rudder disc is connected to the cable, and the cable is connected to the movable shaft assembly; both ends of the fixed shaft assembly are respectively connected to the aircraft body and the movable shaft assembly; the movable shaft assembly includes a propeller, a motor and a shaft assembly, the propeller is connected to the motor, one end of the shaft assembly is fixedly connected to the motor, the other end is sleeved in the fixed shaft assembly and connected to the cable; under the drive of the rotary servo, the four-axis rudder disc drives the cable to tighten or release the shaft assembly, completing the contraction or extension of the shaft assembly in the fixed shaft assembly, and realizing the folding or unfolding of the propeller. The present invention has the advantages of compact structure, small installation space, stable transmission, high mechanical strength and high telescopic flexibility, etc.

Description

Technical Field

[0001] The present invention belongs to the technical field of unmanned rotorcraft, and particularly relates to a foldable and telescopic quadrotor aircraft. Background Art

[0002] A quadrotor aircraft is an aircraft with 4 propellers that are cross-shaped. A quadrotor aircraft is a small light rotorcraft with a novel layout form and a compact structure. The quadrotor aircraft mainly adjusts the propeller speed by changing the speeds of 4 motors, and controls the aircraft by changing the lift of the rotors. Since the quadrotor aircraft can take off and land vertically, hover freely, and has a light fuselage and is easy to control, it can adapt to various speeds and various flight profile routes.

[0003] Currently, the telescopic and folding mechanisms adopted by mainstream quadrotor aircraft on the market mainly have the following defects:

[0004] (1) Ordinary quadrotor telescopic structures mainly adopt a snap-on design and do not have the function of automatic telescoping of the arms.

[0005] (2) In the quadrotor telescopic structure using electric push rods, four electric push rods need to be driven additionally, and the installation space is large and it is not light enough.

[0006] (3) In the quadrotor telescopic structure using a gear-rack transmission, the installation space and processing accuracy requirements for the gear-rack mechanism are high, and the phenomenon of gear jamming is likely to occur.

[0007] (4) In the quadrotor telescopic structure using multiple motors to drive separately, the installation space occupied by the multiple motors is large, the strength requirement for the arms is high, and the arms are likely to break. Summary of the Invention

[0008] The technical problem to be solved by the present invention is to overcome the deficiencies of the prior art and provide a foldable and telescopic quadrotor aircraft with a compact structure, a small installation space, stable transmission, high mechanical strength and high telescopic flexibility.

[0009] To solve the above technical problem, the present invention adopts the following technical solutions:

[0010] A foldable and telescopic quadrotor aircraft, comprising: a body assembly, a fixed shaft assembly and a movable shaft assembly;

[0011] The body assembly includes an aircraft main body, a rotary servo, a four-axis steering wheel and a cable. A rotary servo is provided on the aircraft main body. The output end of the rotary servo is connected to the four-axis steering wheel. The four vertices of the four-axis steering wheel are respectively connected to the cable, and the cable is connected to the movable shaft assembly;

[0012] One end of the fixed shaft assembly is fixedly connected to the aircraft body, and the other end of the fixed shaft assembly is connected to the movable shaft assembly. The fixed shaft assembly is used to assist the movable shaft assembly to complete automatic extension and deployment or automatic contraction and folding.

[0013] The movable shaft assembly includes a blade, a flight motor, and a shaft assembly. The blade is connected to the output end of the flight motor. One end of the shaft assembly is fixedly connected to the flight motor. The other end of the shaft assembly is sleeved inside the fixed shaft assembly and is connected to a cable.

[0014] Driven by the rotary servo, the four-axis steering wheel drives the cable to tighten or release the shaft assembly, so as to complete the contraction or extension of the shaft assembly inside the fixed shaft assembly and realize the folding or unfolding of the blade.

[0015] As a further improvement of the present invention, the fixed shaft assembly includes a spring, a third positioning member, a first shaft, and a sandwich-structured mounting plate. One end of the mounting plate is fixedly connected to the aircraft body. The first shaft and the spring are arranged inside the mounting plate. The shaft assembly is sleeved outside the first shaft, and the spring is sleeved outside the shaft assembly. The third positioning member is arranged at the end of the first shaft and close to the aircraft body, and is used to limit the movement of the spring.

[0016] When the rotary servo rotates forward, the cable tightens the shaft assembly and compresses the spring, so as to complete the forward contraction of the shaft assembly along the first shaft to the inside of the mounting plate and realize the folding of the blade. When the rotary servo rotates backward, the cable releases the tension on the shaft assembly, and the spring extends, so as to complete the reverse extension of the shaft assembly along the first shaft to the outside of the mounting plate and realize the unfolding of the blade.

[0017] As a further improvement of the present invention, the shaft assembly includes a second shaft. One end of the second shaft is fixedly connected to the motor. The other end of the second shaft is provided with a pull rod penetrating through it. The pull rod is connected to the cable, and the pull rod is clamped at the end of the spring. The mounting plate is provided with a first slot hole, and the first shaft is provided with a second slot hole. Driven by the rotary servo, the cable drives the pull rod to slide along the first slot hole and the second slot hole, compressing or releasing the spring, so as to complete the contraction or extension of the second shaft along the first shaft and realize the folding or unfolding of the blade.

[0018] As a further improvement of the present invention, the fixed shaft assembly further includes a first positioning member and a second positioning member. The first positioning member and the second positioning member are arranged at the end of the mounting plate and far from the aircraft body. The first positioning member and the second positioning member are used to limit the movement of the second shaft.

[0019] As a further improvement of the present invention, the mounting plate includes an upper shaft plate and a lower shaft plate arranged oppositely. The upper shaft plate and the lower shaft plate are both provided with first slot holes.

[0020] As a further improvement of the present invention, the machine shaft assembly further includes a lower motor plate and an upper motor plate. The flight motor is mounted on the upper motor plate, and the lower motor plate and the upper motor plate are clamped to the end of the second machine shaft by a fixing clip.

[0021] As a further improvement of the present invention, the second machine shaft is a carbon tube.

[0022] As a further improvement of the present invention, the aircraft body includes a lower flight plate, a support beam, and an upper flight plate. The support beam is used to connect the lower flight plate and the upper flight plate to form a sandwich structure; the rotary servo is mounted on the lower flight plate.

[0023] As a further improvement of the present invention, the body assembly further includes a limiting rod. The limiting rod is mounted on the top of the upper flight plate and is used to assist in folding the propeller blades.

[0024] As a further improvement of the present invention, both the lower flight plate and the upper flight plate are carbon plates.

[0025] Compared with the prior art, the advantages of the present invention are as follows:

[0026] 1. The foldable and retractable quadrotor aircraft of the present invention forms a transmission structure of servo-cable-movable machine shaft assembly by connecting the output end of the rotary servo to the four-axis steering wheel, connecting the four vertices of the four-axis steering wheel to the cables respectively, and connecting the cables to the movable machine shaft assembly. The transmission process is simple, the installation space is small, and it does not affect the layout and installation of other components, reserving space for the installation of sensors of the quadrotor, improving the reliability of the system design; by arranging the fixed machine shaft assembly between the aircraft body and the movable machine shaft assembly, it is used to assist the movable machine shaft assembly to complete automatic extension and deployment or automatic contraction and folding, improving the smoothness of the movement of the movable machine shaft assembly; driven by a single rotary servo, the four-axis steering wheel drives the four cables to synchronously tighten or release the four groups of machine shaft assemblies, realizing the automatic retraction of the machine shafts and folding of the propeller blades and the automatic ejection of the machine shafts and deployment of the propeller blades of the quadrotor aircraft, and being able to have the characteristics of being easy to store and occupying a small space while not affecting the maneuverability and self-stabilization ability of flight in the air, and can be applied to the design of amphibious land-air robots. By installing a motion chassis at the lower part of the aircraft body, the ground movement size of the robot is effectively reduced, and the ability to pass through narrow spaces is achieved.

[0027] 2. The foldable and telescopic quadrotor aircraft of the present invention uses a mounting plate with a sandwich structure to form the main body of the fixed shaft assembly. Inside the mounting plate, the first shaft, the second shaft in the shaft assembly, and the spring are installed in a nested manner in sequence. The second shaft is connected to the cable, which has the advantages of a compact structure and convenient installation. When the rotary servo rotates forward, the cable tightens the shaft assembly and compresses the spring, completing the forward contraction of the shaft assembly along the first shaft to the inside of the mounting plate and realizing the folding of the blades. When the rotary servo rotates in the reverse direction, the cable releases the tension on the shaft assembly, and the spring extends, completing the reverse extension of the shaft assembly along the first shaft to the outside of the mounting plate and realizing the unfolding of the blades. The entire transmission process is both efficient and stable. Further, a positioning member is used to assist in limiting the axial movement of the second shaft, improving the smoothness of the contraction and extension of the second shaft along a straight line and enhancing the practicality of the quadrotor aircraft.

[0028] 3. The foldable and telescopic quadrotor aircraft of the present invention uses a carbon tube as the second shaft in the movable shaft assembly, and the second shaft serves as the main load-bearing component, increasing the stiffness and strength of the load-bearing arm. It has the characteristics of high strength, high hardness, and high stiffness, is not easily broken or damaged, has a simple installation method, and is easy to operate.

[0029] 4. The foldable and telescopic quadrotor aircraft of the present invention uses a double-layer carbon plate to form a sandwich-type aircraft body, ensuring that the shaft plane of the quadrotor aircraft is parallel to the horizontal plane, reducing the installation difficulty. At the same time, the sandwich structure of the double-layer carbon plate ensures motion limitation when the circular carbon tube shaft extends and contracts, improving the reliability of the shaft in axial movement. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 It is a schematic structural principle diagram of the foldable and telescopic quadrotor aircraft of the present invention.

[0031] Figure 2 It is a schematic structural principle diagram of the aircraft body assembly in the present invention.

[0032] Figure 3 It is a schematic structural principle diagram of the shaft positioning assembly in the present invention.

[0033] Figure 4 It is a schematic structural principle diagram of the movable shaft assembly in the present invention.

[0034] Figure 5 It is a schematic structural principle diagram of the quadrotor aircraft in the contracted and folded state in the present invention.

[0035] Figure 6 It is a schematic structural principle diagram of the quadrotor aircraft in the extended and unfolded state in the present invention.

[0036] Legend Explanation: 10, airframe assembly; 11, lower flight board; 12, rotary servo; 13, support beam; 14, four-axis rudder disc; 15, cable; 16, upper flight board; 17, limit rod; 20, fixed shaft assembly; 21, first positioning member; 22, upper shaft board; 23, second positioning member; 24, lower shaft board; 25, spring; 26, third positioning member; 27, first shaft; 28, first slot; 29, second slot; 30, movable shaft assembly; 31, blade; 32, flight motor; 33, lower motor board; 34, upper motor board; 35, fixed clamp; 36, second shaft; 37, pull rod. Detailed Implementation Manner

[0037] The present invention will be further described below in conjunction with the accompanying drawings of the specification and specific preferred embodiments, but the protection scope of the present invention is not limited thereby.

[0038] Embodiment

[0039] As Figures 1 to 6 shown, the foldable and telescopic quadrotor aircraft of the present invention includes: an airframe assembly 10, a fixed shaft assembly 20, and a movable shaft assembly 30.

[0040] The airframe assembly 10 includes an aircraft body, a rotary servo 12, a four-axis rudder disc 14, and a cable 15. The rotary servo 12 is provided on the aircraft body. The output end of the rotary servo 12 is connected to the four-axis rudder disc 14. The four vertices of the four-axis rudder disc 14 are respectively connected to the cable 15, and the cable 15 is connected to the movable shaft assembly 30.

[0041] One end of the fixed shaft assembly 20 is fixedly connected to the aircraft body, and the other end of the fixed shaft assembly 20 is connected to the movable shaft assembly 30. The fixed shaft assembly 20 is used to assist the movable shaft assembly 30 to complete automatic extension and deployment or automatic contraction and folding.

[0042] The movable shaft assembly 30 includes a blade 31, a flight motor 32, and a shaft assembly. The blade 31 is connected to the output end of the flight motor 32. One end of the shaft assembly is fixedly connected to the flight motor 32. The other end of the shaft assembly is slidably sleeved in the fixed shaft assembly 20 and is connected to the cable 15.

[0043] Driven by the rotary servo 12, the four-axis rudder disc 14 drives the cable 15 to tighten or release the shaft assembly, so as to complete the contraction or extension of the shaft assembly in the fixed shaft assembly 20 and realize the folding or unfolding of the blade 31. By adopting the connection and transmission mode of servo - rudder disc - cable, with a four-axis rudder disc outputting torque, under the drive of a single servo, the synchronous telescopic movement of the four axes of the aircraft is realized.

[0044] It can be understood that the rotary servo 12 is a motor that can rotate to a desired angle value according to an angle control command and has the ability of self-locking and self-holding.

[0045] In this embodiment, by connecting the output end of the rotary servo 12 to the four-axis rudder disc 14, the four vertices of the four-axis rudder disc 14 are respectively connected to the cables 15, and the cables 15 are connected to the movable shaft assembly 30, forming a transmission structure of the servo-cable-movable shaft assembly, which solves the defects brought by the buckle design in the ordinary quadrotor structure, realizes the automatic extension and contraction of the machine shaft, and has a simple transmission process, a small installation space, and does not affect the layout and installation of other components, reserving space for the installation of the sensors of the quadrotor, and improving the reliability of the system design. By arranging the fixed shaft assembly 20 between the aircraft body and the movable shaft assembly 30, it is used to assist the movable shaft assembly 30 to complete automatic extension and deployment or automatic contraction and folding, improving the smoothness of the movement of the movable shaft assembly 30. Driven by a single rotary servo 12, the four-axis rudder disc 14 drives the four cables 15 to synchronously tighten or release the four groups of shaft assemblies, realizing the automatic retraction of the machine shaft - blade folding and the automatic ejection of the machine shaft - blade deployment of the quadrotor aircraft, and being able to have the characteristics of easy storage and small occupied space without affecting the maneuverability and self-stabilization ability of flight in the air, and can be applied to the design of amphibious land-air robots. By installing a motion chassis at the lower part of the aircraft body, the ground movement size of the robot is effectively reduced, and it has the ability to pass through narrow spaces.

[0046] As Figure 3 shown, in this embodiment, the fixed shaft assembly 20 includes a spring 25, a third positioning member 26, a first shaft 27, and a sandwich-structured mounting plate. One end of the mounting plate is fixedly connected to the aircraft body. The first shaft 27 and the spring 25 are arranged inside the mounting plate. The shaft assembly is sleeved outside the first shaft 27, and the spring 25 is sleeved outside the shaft assembly; the third positioning member 26 is arranged at the end of the first shaft 27 and close to the aircraft body, and is used to limit the movement of the spring 25. Specifically, the third positioning member 26 has two functions. One is to serve as one end extrusion surface for compressing the spring 25 to ensure the storage of elastic potential energy, and the other is to be used to realize the linear limit movement of the pull rod on the movable shaft assembly. Therefore, a long cylinder design is adopted and a slot is opened in the middle to assist in realizing the telescopic movement.

[0047] When the rotary servo 12 rotates forward, the cable 15 tightens the shaft assembly, compressing the spring 25, so as to complete the forward contraction of the shaft assembly along the first shaft 27 to the inside of the mounting plate and realize the folding of the blade 31, as Figure 5 shown. When the rotary servo 12 rotates in the reverse direction, the cable 15 releases the tension on the shaft assembly, and the spring 25 extends, so as to complete the reverse extension of the shaft assembly along the first shaft 27 to the outside of the mounting plate and realize the deployment of the blade 31, asFigure 6 as shown

[0048] In this embodiment, the machine shaft assembly includes a second machine shaft 36. One end of the second machine shaft 36 is fixedly connected to the flight motor 32. A pull rod 37 is provided through the other end of the second machine shaft 36. The pull rod 37 is connected to the cable 15, and the pull rod 37 is clamped at the end of the spring 25. The pull rod 37 is connected to the cable 15. Through the torque output of the rotary servo 12, the axial linear motion of the movable machine shaft assembly 30 is realized. A first slot hole 28 is provided on the mounting plate, and a second slot hole 29 is provided on the first machine shaft 27. During installation, the first slot hole 28 and the second slot hole 29 are kept flush. Driven by the rotary servo 12, the cable 15 drives the pull rod 37 to slide along the first slot hole 28 and the second slot hole 29, compressing or releasing the spring 25, so as to complete the contraction or extension of the second machine shaft 36 along the first machine shaft 27, and realize the folding or unfolding of the blade 31. The quadrotor aircraft of this embodiment has the characteristics of automatically extending the second machine shaft 36 by using the elastic potential energy of the spring 25, and the characteristics of automatically folding and unfolding the blade 31 by using the inertia of the flight motor and the linear motion of the folding blade along the axial direction of the machine shaft. It can be understood that in other embodiments, an electric push rod and a multi-motor transmission method can also be used to realize the self-extension and contraction of the machine shaft.

[0049] In this embodiment, the fixed machine shaft assembly 20 further includes a first positioning member 21 and a second positioning member 23. The first positioning member 21 and the second positioning member 23 are arranged at the end of the mounting plate and away from the aircraft body. The first positioning member 21 and the second positioning member 23 are used to limit the movement of the second machine shaft 36. Further, circular holes with a diameter of 18 mm are opened in the middle of the first positioning member 21 and the second positioning member 23 to limit the circumferential positioning of the second machine shaft 36 in the movable machine shaft assembly and prevent it from swinging up and down.

[0050] In this embodiment, the mounting plate includes an upper machine shaft plate 22 and a lower machine shaft plate 24 arranged opposite to each other. First slot holes 28 are provided on both the upper machine shaft plate 22 and the lower machine shaft plate 24 to limit the axial movement of the pull rod 37 on the movable machine shaft assembly 30. It can be understood that the axial movement refers to the movement along the direction of the second machine shaft 36 or the rotation center axis of the machine shaft.

[0051] As Figure 4 shown, in this embodiment, the machine shaft assembly further includes a lower motor plate 33 and an upper motor plate 34. The flight motor 32 is installed on the upper motor plate 34. The lower motor plate 33 and the upper motor plate 34 are clamped at the end of the second machine shaft 36 by a fixing clip 35.

[0052] In this embodiment, the second shaft 36 is a carbon tube. By using a carbon tube as the second shaft 36 in the movable shaft assembly 30, and the second shaft 36 being the main load-bearing component, the stiffness and strength of the force-bearing arm are increased, and it has the characteristics of high strength, high hardness, and high stiffness, and is not easily broken or damaged, and the installation method is simple and easy to operate.

[0053] As Figure 1 shown, in this embodiment, the aircraft body includes a flight lower plate 11, a support beam 13, and a flight upper plate 16. The support beam 13 is used to connect the flight lower plate 11 and the flight upper plate 16 to form a sandwich structure; the rotary servo 12 is installed on the flight lower plate 11. Further, both the flight lower plate 11 and the flight upper plate 16 are carbon plates. By using a double-layer carbon plate to form the sandwich-type aircraft body, it ensures that the shaft plane of the quadcopter is parallel to the horizontal plane, reducing the installation difficulty; at the same time, the sandwich structure of the double-layer carbon plate ensures motion limitation when the circular carbon tube shaft expands and contracts, improving the reliability of the shaft in axial motion.

[0054] As Figure 1 shown, in this embodiment, the body assembly 10 further includes a limiting rod 17. The limiting rod 17 is installed on the top of the flight upper plate 16 and is used to assist in folding the propeller blade 31. During the contraction process of the second shaft 36, by using the low-speed rotation of the flight motor 32, the propeller blade 31 strikes the limiting rod 17 on the flight upper plate 16 to realize the automatic folding of the folding propeller, thereby reducing the overall storage size of the aircraft.

[0055] Specifically, the flight upper plate 16, the flight lower plate 11, and the flight support beam 13 are fixedly connected by bolts to form the main structure of the quadcopter. A square hole is opened in the middle of the flight lower plate 11 for installing the rotary servo 12. The upper end of the rotary servo 12 is fixedly connected to the four-axis steering wheel 14 by bolts to realize coaxial rotation. The four-axis steering wheel 14 is respectively connected to 4 cables 15. The servo outputs torque, and through the rotation of the four-axis steering wheel 14, the cable 15 is pulled to move. The distal end of the cable 15 is connected to the movable shaft assembly 30, thereby realizing the contraction function of the shaft. At the same time, 4 limiting rods 17 are fixedly connected to the flight upper plate 16 by bolt assemblies. When the movable shaft assembly contracts towards the main structure, the propeller blade 31 collides with the limiting rod 17, and the folding of the propeller blade 31 is realized by using inertia.

[0056] The function ultimately achieved by the quadcopter of this embodiment is to be able to achieve automatic extension and retraction of the machine shaft, and automatic expansion and folding of the blades. The following is a detailed introduction to the functional implementation scheme: First, the machine shaft retraction-blade folding function. When the flight motor 32 of the quadcopter is in low-speed rotation, the rotary servo 12 is driven to rotate 90 degrees clockwise. The rotation of the quadcopter steering wheel 14 pulls the cable 15 to achieve linear motion. The cable 15 is fixedly connected to the pull rod 37. The pull rod 37 moves inward (close to the direction of the aircraft body) along the first slot 28 of the machine shaft upper plate 22 and the machine shaft lower plate 24 and the second slot 29 of the first machine shaft 27. The pull rod 37 drives the movable machine shaft assembly 30 to move inward to achieve the retraction of the machine shaft; at the same time, the machine shaft moves toward the inside of the body, causing the blade 31 to collide with the blade limit rod 17 installed on the flight upper plate 16. Due to the existence of inertia, the two blades 31 are folded and gathered on one side of the blade limit rod 17, as shown in FIG. Figure 5 The second is the extension of the machine shaft - blade deployment function, which drives the rotary servo 12 to rotate counterclockwise 90 degrees, releasing the elastic potential energy of the spring 25 caused by the previous contraction of the machine shaft, and the movable machine shaft assembly 30 moves outward along the first slot 28 to achieve the extension of the machine shaft. At the same time, the flight motor 32 is driven to rotate, and the rotation inertia is used to realize the deployment of the blades 31, entering the air motion mode, and the deployment shape is as shown. Figure 6 shown.

[0057] Furthermore, the transmission process of the quadcopter of the present embodiment is divided into two levels: ① contraction-blade folding process: a high-torque servo is installed on the bottom plate of the double-layer carbon plate. On the one hand, the servo drives the steering wheel, which is connected to the cable. The rotation of the steering wheel drives the cable to tighten, drives the pull rod to move, and makes the machine shaft move along the axial direction to realize the contraction of the machine shaft. At this time, the spring installed in the middle of the machine shaft is in a compressed state; on the other hand, when the flight motor is in a low-speed rotation state, the machine shaft contracts so that the flight blades collide with the limit rods on the carbon plate, thereby realizing the automatic folding of the blades; ② machine shaft extension-blade deployment process: the servo rotates in the opposite direction, releases the elastic potential energy of the compression spring, pops out the machine shaft, and then completes the extension of the four machine shafts; before the quadcopter takes off, the four flight motors are driven to rotate, and the inertia is used to achieve the full deployment of the four folding blades for normal flight.

[0058] Although the present invention is disclosed above in preferred embodiments, it is not intended to limit the present invention. Any person skilled in the art can make many possible changes and modifications to the technical solution of the present invention by using the methods and technical content disclosed above, or modify it into equivalent embodiments with equivalent changes, without departing from the spirit and technical solution of the present invention. Therefore, any simple modification, equivalent replacement, equivalent change and modification made to the above embodiments based on the technical essence of the present invention without departing from the technical solution of the present invention still fall within the scope of protection of the technical solution of the present invention.

Claims

1. A foldable and telescopic quadrotor aircraft, characterized in that, Comprising: a body component (10), a fixed shaft component (20), and a movable shaft component (30); The body component (10) includes an aircraft body, a rotary servo (12), a quad-axis steering wheel (14), and a cable (15). The aircraft body is provided with a rotary servo (12). The output end of the rotary servo (12) is connected to the quad-axis steering wheel (14). The four vertices of the quad-axis steering wheel (14) are respectively connected to the cable (15). The cable (15) is connected to the movable shaft component (30); One end of the fixed shaft component (20) is fixedly connected to the aircraft body, and the other end of the fixed shaft component (20) is connected to the movable shaft component (30). The fixed shaft component (20) is used to assist the movable shaft component (30) to complete automatic extension and deployment or automatic contraction and folding; The movable shaft component (30) includes a blade (31), a flight motor (32), and a shaft component. The blade (31) is connected to the output end of the flight motor (32). One end of the shaft component is fixedly connected to the flight motor (32), and the other end of the shaft component is sleeved inside the fixed shaft component (20) and connected to the cable (15); Driven by the rotary servo (12), the quad-axis steering wheel (14) drives the cable (15) to tighten or release the shaft component, so as to complete the contraction or extension of the shaft component inside the fixed shaft component (20) and realize the folding or unfolding of the blade (31).

2. The foldable and telescopic quadrotor aircraft according to claim 1, characterized in that, The fixed shaft component (20) includes a spring (25), a third positioning member (26), a first shaft (27), and a mounting plate with a sandwich structure. One end of the mounting plate is fixedly connected to the aircraft body. The first shaft (27) and the spring (25) are arranged inside the mounting plate. The shaft component is sleeved outside the first shaft (27), and the spring (25) is sleeved outside the shaft component; The third positioning member (26) is arranged at the end of the first shaft (27) and close to the aircraft body, and is used to limit the movement of the spring (25); When the rotary servo (12) rotates forward, the cable (15) tightens the shaft component and compresses the spring (25), so as to complete the forward contraction of the shaft component along the first shaft (27) to the inside of the mounting plate and realize the folding of the blade (31); when the rotary servo (12) rotates backward, the cable (15) releases the tension on the shaft component, and the spring (25) extends, so as to complete the reverse extension of the shaft component along the first shaft (27) to the outside of the mounting plate and realize the unfolding of the blade (31).

3. The foldable and telescopic quadrotor aircraft according to claim 2, characterized in that, The machine shaft assembly includes a second machine shaft (36). One end of the second machine shaft (36) is fixedly connected to the motor (32). A pull rod (37) is provided through the other end of the second machine shaft (36). The pull rod (37) is connected to the cable (15), and the pull rod (37) is clamped at the end of the spring (25). The mounting plate is provided with a first slot hole (28), and the first machine shaft (27) is provided with a second slot hole (29). Driven by the rotary servo (12), the cable (15) drives the pull rod (37) to slide along the first slot hole (28) and the second slot hole (29) to compress or release the spring (25), so as to complete the contraction or extension of the second machine shaft (36) along the first machine shaft (27), and realize the folding or unfolding of the blade (31).

4. The foldable and telescopic quadrotor aircraft according to claim 3, wherein, The fixed machine shaft assembly (20) further includes a first positioning member (21) and a second positioning member (23). The first positioning member (21) and the second positioning member (23) are arranged at the end of the mounting plate and are far away from the aircraft body. The first positioning member (21) and the second positioning member (23) are used to limit the movement of the second machine shaft (36).

5. The foldable and telescopic quadrotor aircraft according to claim 2, wherein, The mounting plate includes an upper machine shaft plate (22) and a lower machine shaft plate (24) arranged oppositely. The upper machine shaft plate (22) and the lower machine shaft plate (24) are both provided with a first slot hole (28).

6. The foldable and telescopic quadrotor aircraft according to claim 3, wherein The machine shaft assembly further includes a lower motor plate (33) and an upper motor plate (34). The flight motor (32) is installed on the upper motor plate (34). The lower motor plate (33) and the upper motor plate (34) are clamped at the end of the second machine shaft (36) by a fixing clip (35).

7. The foldable and telescopic quadrotor aircraft according to claim 3, wherein, The second machine shaft (36) is a carbon tube.

8. The foldable and telescopic quadrotor aircraft according to any one of claims 1 to 7, characterized in that, The aircraft body includes a lower flight plate (11), a support beam (13) and an upper flight plate (16). The support beam (13) is used to connect the lower flight plate (11) and the upper flight plate (16) to form a sandwich structure. The rotary servo (12) is installed on the lower flight plate (11).

9. The foldable and telescopic quadrotor aircraft according to claim 8, characterized in that, Both the lower flight plate (11) and the upper flight plate (16) are carbon plates.

10. The foldable and telescopic quadrotor aircraft according to claim 8, characterized in that, The body assembly (10) further includes a limiting rod (17). The limiting rod (17) is installed on the top of the upper flight plate (16) and is used to assist the folding of the blade (31).

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