A variable configuration multi-rotor drone and control method thereof

Abstract

The present invention discloses a variable configuration multi-rotor UAV and a control method thereof, which relates to the technical field of UAVs, including a telescopic mechanism, a central cabin structure, and a cantilever connected to the periphery of the central cabin structure and provided with a flying blade, the end of the cantilever being hinged to the central cabin structure, the telescopic mechanism including a sleeve assembly and a power assembly driving the sleeve assembly to axially telescope, the sleeve assembly including a plurality of coaxially sleeved guide sleeves, adjacent guide sleeves being slidably connected, the guide sleeve at one end of the sleeve assembly being connected to the central cabin structure, the guide sleeve at the other end of the sleeve assembly being hinged to one end of a connecting rod, and the other end of the connecting rod being hinged to the cantilever. In the present invention, an axially telescopic cylinder structure is connected between the connecting rod and the central cabin structure, and the cantilever is driven to contract by a pull rod, thereby ensuring that the UAV can smoothly pass through a narrow space during flight, and the cylinder structure can bear the stress generated by the uneven tension of the connecting rod, thereby ensuring the safety and stability of the UAV during flight.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicles, and in particular to a multi-rotor unmanned aerial vehicle with a variable configuration and a control method thereof. Background Art

[0002] A drone is a small, unmanned aircraft that can fly autonomously in the air and perform certain tasks. Compared with ordinary aircraft, drones have a simple structure, low cost, and are easy to manufacture and maintain. Because they are unmanned, they have a larger payload and can be equipped with more equipment or weapons. They are more efficient and reliable in completing tasks, and even if unexpected dangers occur, they will not endanger the life of the pilot. Therefore, they are widely used in various high-risk tasks.

[0003] At present, when drones need to pass through narrow areas during disaster relief or alley crossing, most of them adopt obstacle avoidance behavior to solve flight obstacles due to their low adaptability to complex flight environments. However, obstacle avoidance and detours will greatly reduce the working efficiency of drones.

[0004] The Chinese patent with the authorization announcement number CN 212423442U discloses a UAV structure with automatically foldable arms, wherein a chassis is fixedly connected to the middle of the top surface of the fuselage, a motor is fixedly connected to the inside of the chassis, the output shaft of the motor is fixedly connected to a lead screw through a coupling, the lead screw runs through the chassis and is located at one end outside the chassis and is fixedly connected to a limit plate through a bearing, a pair of guide rods are fixedly connected to the bottom surface of the limit plate and at both ends of the bearing, a slide plate is slidably connected between the four guide rods, the slide plate is threadedly connected to the lead screw, a pair of connecting rods are hinged at both ends of the slide plate through a pair of hinges, the other ends of the four connecting rods are hinged to the arms through hinges, one end of the four arms is hinged to the limit plate through a hinge, and the other ends of the four arms are fixedly connected to the wings. However, the folding of the wings in this scheme is applied in the storage stage of the UAV, and the purpose of protecting the wings is achieved by folding and fixing the wings, which is not suitable for the flight stage, and the driving structure of the wings in this scheme cannot effectively share the stress of the connecting rod on the driving structure.

[0005] The Chinese patent application publication number CN111942566A discloses an aircraft arm deployment device and method based on a gas spring and a pulley block, wherein each arm includes a movable pulley, a stopper, a force adjustment pulley, a retracting pulley and a steel wire rope, and a support arm is arranged below the hinged joint between the arm and the frame, the movable pulley is installed at the root of the arm through a pin, and the force adjustment pulley is installed at the end of the support arm through a pin, so that the axial directions of the movable pulley, the force adjustment pulley and the arm rotation axis are parallel, and the retracting pulley is installed on the retracting frame through a pin, and the axial direction is parallel to the movable pulley and the force adjustment pulley and the position is opposite, one end of the steel wire rope is fixed at the end of the gas spring telescopic rod, and the other end is passed around the retracting pulley and the movable pulley in turn, and then fixed on the frame, and the steel wire rope is pulled by the telescopic movement of the gas spring telescopic rod, and the arm movement is further driven, thereby realizing the deployment of the multi-rotor UAV arm. However, this scheme only discloses one way of deploying the arm, and cannot effectively solve the technical problem of the UAV passing through a narrow space. Summary of the invention

[0006] The purpose of the present invention is to provide a variable configuration multi-rotor UAV and a control method thereof to solve the problems existing in the above-mentioned prior art. In the present invention, an axially retractable cylindrical structure is connected between the connecting rod and the central cabin structure, and the cantilever is retracted by the pull rod, thereby ensuring that the UAV can smoothly pass through narrow spaces during flight. The cylindrical structure can bear the stress caused by the uneven tension of the connecting rod, thereby ensuring the safety and stability of the UAV during flight.

[0007] To achieve the above object, the present invention provides the following solutions:

[0008] The present invention provides a variable configuration multi-rotor unmanned aerial vehicle, comprising a telescopic mechanism, a central cabin structure, and a cantilever connected to the periphery of the central cabin structure and provided with flying blades, the end of the cantilever being hinged to the central cabin structure, the telescopic mechanism comprising a sleeve assembly and a power assembly for driving the sleeve assembly to axially telescope, the sleeve assembly comprising a plurality of coaxially sleeved guide sleeves, adjacent guide sleeves being slidably connected, the guide sleeve at one end of the sleeve assembly being connected to the central cabin structure, the guide sleeve at the other end of the sleeve assembly being hinged to one end of a connecting rod, and the other end of the connecting rod being hinged to the cantilever.

[0009] Preferably, the power assembly includes a motor and a screw rod axially connected to the output end of the motor, and the screw rod is axially inserted into the guide sleeve and threadedly connected thereto.

[0010] Preferably, the sleeve assembly includes a base and three guide sleeves, the bottom end of the outer guide sleeve is axially connected to the top end of the base, the side wall of the base is hinged to one end of the connecting rod, and the top end of the inner guide sleeve is axially connected to the bottom end of the central cabin structure.

[0011] Preferably, a first annular flange is arranged at the bottom end of the middle-layer guide sleeve, the inner side wall of the first annular flange is threadedly connected to the screw, the outer side wall of the first annular flange is fitted with the inner side wall of the outer-layer guide sleeve, a second annular flange is arranged at the bottom end of the inner-layer guide sleeve, the outer side wall of the second annular flange is fitted with the inner side wall of the middle-layer guide sleeve, and the inner side wall of the inner-layer guide sleeve is threadedly connected to the screw.

[0012] Preferably, the outer wall diameter of the middle guide sleeve is smaller than the inner wall diameter of the outer guide sleeve, and a first annular baffle for limiting the upward movement of the first annular flange is provided at the top of the outer guide sleeve, and the inner wall of the first annular baffle is in contact with the outer wall of the middle guide sleeve;

[0013] The outer wall diameter of the inner guide sleeve is smaller than the inner wall diameter of the middle guide sleeve. A second annular baffle is provided at the top of the middle guide sleeve to limit the upward movement of the second annular flange. The inner wall of the second annular baffle is in contact with the outer wall of the inner guide sleeve, and the lower surface of the second annular baffle overlaps with the upper surface of the first annular baffle.

[0014] Preferably, the cantilever includes an inclined section and a vertical end head, the inclined section is inclined downward in a direction away from the central cabin structure, the lower end of the inclined section is connected to the side wall of the vertical end head, and the top of the vertical end head is provided with the flight blade and a driving assembly for driving the flight blade.

[0015] Preferably, the cantilever also includes a horizontal section, one end of which is connected to the inclined section, the other end of which is vertically connected to the vertical end, and the length of the horizontal section is greater than the rotation radius of the flight blade.

[0016] The present invention also provides a control method for a variable configuration multi-rotor drone, comprising the following steps:

[0017] The driving assembly provides power to drive the flight blades to rotate, and the variable configuration multi-rotor UAV is driven to fly through the cooperation of several flight blades;

[0018] The power assembly provides power to drive several guide sleeves in the sleeve assembly to slide and stretch relatively in the axial direction, and the guide sleeve at one end of the sleeve assembly away from the central cabin structure drives the connecting rod in the direction away from the central cabin structure, and the connecting rod pulls the cantilever, and the cantilever relatively contracts in the direction of the central cabin structure with its end as the rotation point;

[0019] The power component provides power to drive several guide sleeves in the sleeve assembly to slide and shrink relative to each other in the axial direction. The guide sleeve at one end of the sleeve assembly away from the central cabin structure drives the connecting rod toward the central cabin structure. The connecting rod pushes the cantilever, and the cantilever is relatively extended in the direction away from the central cabin structure with its end as the rotation point.

[0020] Preferably, the screw is driven to rotate by the output end of the motor, and the plurality of guide sleeves are driven to extend and contract relative to each other in the axial direction through the threaded connection of the screw in the guide sleeve.

[0021] Compared with the prior art, the present invention has achieved the following technical effects:

[0022] (1) In the present invention, several guide sleeves in the sleeve assembly are coaxially sleeved, and adjacent guide sleeves are slidably connected to each other, that is, through the sliding connection between the sleeves with guiding function, a stable guiding and retractable cylindrical structure is formed in the sleeve assembly along the axial direction of the central cabin structure. The cylindrical structure is composed of several axially guiding guide sleeves that are coaxially sleeved and slidably connected to each other. The cylindrical structure is connected between the central cabin structure and the connecting rod. The stability of the cylindrical structure during extension and retraction makes the UAV relatively more stable during structure change, thereby improving the flight stability of the UAV; compared with the rod structure, the cylindrical structure is hollow inside and has a relatively large shear bearing capacity of the cross section. When the UAV adjusts the flight angle, the connecting rods on both sides exert different forces on the cylindrical structure, which will generate certain stress on the cylindrical structure. The cylindrical structure can bear greater stress than the rod structure, thereby ensuring the safety of the cylindrical structure during extension and retraction, and further ensuring the safety of the UAV during flight.

[0023] (2) The tilted setting of the cantilever and the relatively small angle between the connecting rod and the vertical direction in the present invention are conducive to better converting the axial force of the sleeve assembly into a rotational force on the cantilever, which is equivalent to reducing the driving force of the sleeve assembly, that is, reducing the driving force for the relative extension and retraction of the sleeve assembly, so that a smaller power motor can be used, further reducing the equipment weight of the UAV, thereby improving the flight maneuverability and flexibility of the UAV.

[0024] (3) In the present invention, the cantilever can be pulled to retract toward the center cabin structure through the relative extension between the plurality of guide sleeves through the connecting rod, and the cantilever can be pushed to extend away from the center cabin structure through the connecting rod through the relative contraction between the plurality of guide sleeves. During flight, the UAV can transform the cruising state into the retracted state so as to pass through a narrow space, and can recover from the retracted state to the cruising state, thereby ensuring the maneuverability of the UAV when encountering a narrow space and improving work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0026] Figure 1 The figure is a schematic diagram of the overall structure of the variable configuration multi-rotor UAV in the present invention;

[0027] Figure 2 For the corresponding Figure 1 A schematic diagram of the structure of the telescopic mechanism in the retracted state;

[0028] Figure 3 For the corresponding Figure 1 A schematic diagram of the structure of the telescopic mechanism contracting in the cruising state;

[0029] Among them, 1. Central cabin structure; 2. Telescopic mechanism; 3. Cantilever; 301. Inclined section; 302. Horizontal section; 303. Vertical end; 4. Connecting rod; 5. Motor; 6. Screw; 7. Outer guide sleeve; 701. First annular baffle; 8. Middle guide sleeve; 801. First annular flange; 802. Second annular baffle; 9. Inner guide sleeve; 901. Second annular flange; 10. Flight blades; 11. Base. DETAILED DESCRIPTION

[0030] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0031] The purpose of the present invention is to provide a variable configuration multi-rotor UAV and a control method thereof to solve the problems existing in the above-mentioned prior art. In the present invention, an axially retractable cylindrical structure is connected between the connecting rod and the central cabin structure, and the cantilever is retracted by the pull rod, thereby ensuring that the UAV can smoothly pass through narrow spaces during flight. The cylindrical structure can bear the stress caused by the uneven tension of the connecting rod, thereby ensuring the safety and stability of the UAV during flight.

[0032] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0033] refer to Figures 1 to 3As shown, the present invention provides a variable configuration multi-rotor UAV, comprising a telescopic mechanism, a central cabin structure 1, and a cantilever 3 connected to the periphery of the central cabin structure 1 and provided with a flying blade 10, the central cabin structure 1 being arranged at the center of the UAV for carrying avionics, power supply, sensor and other systems, at least two cantilevers 3 being evenly distributed around the central cabin structure 1, one end of the cantilever 3 being hinged to the central cabin structure 1, and the other end of the cantilever 3 being provided with a flying blade 10 for flying, the telescopic mechanism comprising a sleeve assembly and a power assembly for driving the sleeve assembly to axially telescope, the sleeve assembly comprising a plurality of coaxially sleeved guide sleeves, adjacent guide sleeves being slidably connected, the guide sleeve at one end of the sleeve assembly being connected to the central cabin structure 1, the guide sleeve at the other end of the sleeve assembly being hinged to one end of a connecting rod 4, and the other end of the connecting rod 4 being hinged to the cantilever 3, since the plurality of guide sleeves in the sleeve assembly are coaxially sleeved, And the adjacent guide sleeves are slidably connected to each other, that is, through the sliding connection between the sleeves with guiding function, a stable guiding and retractable cylindrical structure is formed in the sleeve assembly along the axial direction of the central cabin structure 1, and the cylindrical structure is composed of a plurality of coaxially sleeved and slidably connected axially guideable guide sleeves, and the cylindrical structure is connected between the central cabin structure 1 and the connecting rod 4. The stability of the cylindrical structure during extension and retraction makes the UAV relatively more stable during structure change, thereby improving the flight stability of the UAV; compared with the rod structure, the cylindrical structure is hollow inside and has a relatively large shear bearing capacity of the cross section. When the UAV adjusts the flight angle, the connecting rods 4 on both sides exert different forces on the cylindrical structure, which will generate certain stress on the cylindrical structure. The cylindrical structure can bear greater stress than the rod structure, thereby ensuring the safety of the cylindrical structure during extension and retraction, and further ensuring the safety of the UAV during flight.

[0034] Furthermore, the power assembly includes a motor 5 and a screw 6 axially connected to the output end of the motor 5. The motor 5 can be a stepping motor, or other types of motors 5 that can meet the power output of the present invention. The screw 6 is axially inserted into the guide sleeve and threadedly connected thereto. The rotation of the output end of the motor 5 drives the screw 6 to rotate. The screw 6 cooperates with the threads in the guide sleeves to achieve relative expansion and contraction between the guide sleeves. The screw 6 cooperates with the threads in the guide sleeves to drive the adjacent coaxial guide sleeves to expand and contract relative to each other. Based on the relative engagement between the threads, the screw has a certain stability when driving the guide sleeve to move axially.

[0035] Furthermore, the sleeve assembly includes a base 11 and three guide sleeves, the bottom end of the outer guide sleeve 7 is axially connected to the top end of the base 11, the side wall of the base 11 is hinged to one end of the connecting rod 4, the other end of the connecting rod 4 is hinged to the section of the arm body of the cantilever 3 close to the central cabin structure 1, and the top end of the inner guide sleeve 9 is axially connected to the bottom end of the central cabin structure 1. On the one hand, the sleeve assembly is axially connected from bottom to top through the base 11, the outer guide sleeve 7, the middle guide sleeve 8, and the inner guide sleeve 9, and the connecting rod 4 is connected to the base 11. The sleeve assembly is like a tower structure from the connection point of the connecting rod 4 to the bottom end of the central cabin structure 1, which ensures the stability between the connecting rod 4 and the central cabin structure 1. On the other hand, the hinge position of the connecting rod 4 and the sleeve assembly is as downward as possible, and the hinge position of the connecting rod 4 and the cantilever 3 is as close to the central cabin structure 1 as possible, so as to minimize the angle between the connecting rod 4 and the vertical direction, thereby making the axial movement of the sleeve assembly The generated vertical driving force can be better converted into a rotational force on the cantilever 3 by means of the connecting rod 4. The cantilever 3 includes an inclined section 301 and a vertical end 303. The inclined section 301 is inclined downward in a direction away from the central cabin structure 1. Compared with the horizontal setting of the cantilever 3 in the prior art, the connecting rod requires a smaller pulling force to start the cantilever 3 to rotate toward the central cabin structure. The lower end of the inclined section 301 is connected to the side wall of the vertical end 303. The top of the vertical end 303 is provided with a flight blade 10 and a driving assembly for driving the flight blade 10. Based on the inclined setting of the cantilever 3 and the relatively small angle between the connecting rod 4 and the vertical direction, it is beneficial to better convert the axial force of the sleeve assembly into a rotational force on the cantilever 3, which is equivalent to reducing the driving force of the sleeve assembly, that is, reducing the driving force of the relative extension and retraction of the sleeve assembly, so that a smaller power motor 5 can be used, further reducing the equipment weight of the UAV, thereby improving the flight maneuverability and flexibility of the UAV.

[0036] Furthermore, a first annular flange 801 is provided at the bottom end of the middle guide sleeve 8, the inner wall of the first annular flange 801 is threadedly connected to the screw 6, and the outer wall of the first annular flange 801 is fitted with the inner wall of the outer guide sleeve 7. By arranging the first annular flange 801 in cooperation with the screw 6 and the outer guide sleeve 7, the sliding, guiding and telescopic movement of the middle guide sleeve 8 relative to the outer guide sleeve 7 can be achieved; a second annular flange 901 is provided at the bottom end of the inner guide sleeve 9, the outer wall of the second annular flange 901 is fitted with the inner wall of the middle guide sleeve 8, and the inner wall of the inner guide sleeve 9 is threadedly connected to the screw 6. By arranging the second annular flange 901 in cooperation with the screw 6 and the middle guide sleeve 8, the sliding, guiding and telescopic movement of the inner guide sleeve 9 relative to the middle guide sleeve 8 can be achieved; the outer wall diameter of the middle guide sleeve 8 is smaller than the inner wall diameter of the outer guide sleeve 7 The outer guide sleeve 7 has an inner wall which fits the outer wall of the middle guide sleeve 8. The outer wall diameter of the inner guide sleeve 9 is smaller than the inner wall diameter of the middle guide sleeve 8. The middle guide sleeve 8 has an inner wall which fits the outer wall of the middle guide sleeve 9. The lower surface of the second annular baffle 802 overlaps with the upper surface of the first annular baffle 701. By setting the first annular baffle 701 and the second annular baffle 802, the middle guide sleeve 8 can be limited to slide out and into the outer guide sleeve 7, and the inner guide sleeve 9 can be limited to slide out of the middle guide sleeve 8, thereby ensuring the feasibility of relative contraction of several guide sleeves.

[0037] Furthermore, the cantilever 3 includes an inclined section 301 and a vertical end 303. The inclined section 301 is inclined downward in a direction away from the central cabin structure 1. The lower end of the inclined section 301 is connected to the side wall of the vertical end 303. The top of the vertical end 303 is provided with a flight blade 10 and a driving component for driving the flight blade 10. The driving component can be a spherical driving base, and the flight blade 10 is connected to the base. The flight blade 10 can adjust the rotation angle following the rotation of the driving base. The flight blade 10 and the driving component can be detachably connected at the vertical end 303.

[0038] Furthermore, the cantilever 3 also includes a horizontal section 302, one end of the horizontal section 302 is connected to the inclined section 301, and the other end of the horizontal section 302 is vertically connected to the vertical end 303. The length of the horizontal section 302 is greater than the rotation radius of the flight blade, thereby ensuring the relative interference between the flight blade and the cantilever.

[0039] The present invention also provides a control method for a variable configuration multi-rotor drone, comprising the following steps:

[0040] The driving assembly provides power to drive the flight blades to rotate, and the variable configuration multi-rotor UAV is driven to fly through the cooperation of several flight blades;

[0041] The power assembly provides power to drive several guide sleeves in the sleeve assembly to slide and stretch relatively in the axial direction, and the guide sleeve at one end of the sleeve assembly away from the central cabin structure 1 drives the connecting rod 4 in the direction away from the central cabin structure 1, and the connecting rod 4 pulls the cantilever 3, and the cantilever 3 relatively contracts toward the central cabin structure 1 with its end as the rotation point;

[0042] The power assembly provides power to drive several guide sleeves in the sleeve assembly to slide and shrink relatively in the axial direction. The guide sleeve at one end of the sleeve assembly far away from the central cabin structure 1 drives the connecting rod 4 in the direction close to the central cabin structure 1. The connecting rod 4 pushes the cantilever 3. The cantilever 3 is relatively stretched in the direction away from the central cabin structure 1 with its end as the rotation point.

[0043] The output end of the motor 5 drives the screw 6 to rotate, and the screw 6 is threadedly connected in the guide sleeve to drive the plurality of guide sleeves to extend and contract relative to each other in the axial direction.

[0044] In the present invention, through the relative extension between a plurality of guide sleeves, the cantilever 3 can be pulled to retract toward the center cabin structure 1 through the connecting rod 4, and through the relative contraction between a plurality of guide sleeves, the cantilever 3 can be pushed to extend away from the center cabin structure 1 through the connecting rod 4. During flight, the UAV can transform the cruising state into the retracted state so as to pass through a narrow space, and can recover from the retracted state to the cruising state, thereby ensuring the maneuverability of the UAV when encountering a narrow space and improving work efficiency.

[0045] Adaptive changes made according to actual needs are all within the protection scope of the present invention.

[0046] It should be noted that it is obvious to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the present invention can be implemented in other specific forms without departing from the spirit or essential features of the present invention. Therefore, the embodiments should be regarded as exemplary and non-restrictive from any point of view, and the scope of the present invention is defined by the appended claims rather than the above description, and it is intended that all changes falling within the meaning and scope of the equivalent elements of the claims are included in the present invention. Any reference numerals in the claims should not be regarded as limiting the claims involved.

Claims

1. A multi-rotor drone with a variable configuration, characterized in that: It includes a telescopic mechanism, a central cabin structure, and a cantilever connected to the periphery of the central cabin structure and provided with a flying blade, the end of the cantilever is hinged to the central cabin structure, the telescopic mechanism includes a sleeve assembly and a power assembly for driving the sleeve assembly to axially telescope, the power assembly includes a motor and a screw axially connected to the output end of the motor, the sleeve assembly includes a plurality of coaxially sleeved guide sleeves, adjacent guide sleeves are slidably connected, the guide sleeve at one end of the sleeve assembly is connected to the central cabin structure, the guide sleeve at the other end of the sleeve assembly is hinged to one end of a connecting rod, the other end of the connecting rod is hinged to the cantilever, the cantilever includes an inclined section and a vertical end head, the inclined section is inclined downward in a direction away from the central cabin structure, the lower end of the inclined section is connected to the side wall of the vertical end head, the top of the vertical end head is provided with the flying blade and a driving assembly for driving the flying blade; The cantilever further comprises a horizontal section, one end of which is connected to the inclined section, and the other end of which is vertically connected to the vertical end; The sleeve assembly includes a base and three guide sleeves, the bottom end of the outer guide sleeve is axially connected to the top end of the base, the side wall of the base is hinged to one end of the connecting rod, and the top end of the inner guide sleeve is axially connected to the bottom end of the central cabin structure; The control method of the variable configuration multi-rotor drone comprises the following steps: The driving assembly provides power to drive the flight blades to rotate, and the variable configuration multi-rotor UAV is driven to fly through the cooperation of a plurality of the flight blades; During the flight of the variable configuration multi-rotor UAV, the power assembly provides power to drive the plurality of guide sleeves in the sleeve assembly to slide and stretch relatively in the axial direction, and the guide sleeve at one end of the sleeve assembly away from the central cabin structure drives the connecting rod in a direction away from the central cabin structure, and the connecting rod pulls the cantilever, and the cantilever relatively contracts toward the direction of the central cabin structure with its end as the rotation point; During the flight of the variable configuration multi-rotor UAV, the power assembly provides power to drive several guide sleeves in the sleeve assembly to slide and shrink relative to each other in the axial direction. The guide sleeve at one end of the sleeve assembly away from the central cabin structure drives the connecting rod toward the central cabin structure, and the connecting rod pushes the cantilever. The cantilever extends relatively in the direction away from the central cabin structure with its end as the rotation point.

2. The variable configuration multi-rotor UAV according to claim 1, characterized in that: The power assembly includes a motor and a screw rod axially connected to the output end of the motor. The screw rod is axially inserted into the guide sleeve and threadedly connected to the guide sleeve.

3. The variable configuration multi-rotor UAV according to claim 1, characterized in that: A first annular flange is arranged at the bottom end of the middle guide sleeve, the inner side wall of the first annular flange is threadedly connected to the screw, the outer side wall of the first annular flange is fitted with the inner side wall of the outer guide sleeve, a second annular flange is arranged at the bottom end of the inner guide sleeve, the outer side wall of the second annular flange is fitted with the inner side wall of the middle guide sleeve, and the inner side wall of the inner guide sleeve is threadedly connected to the screw.

4. The variable configuration multi-rotor UAV according to claim 3, characterized in that: The outer wall diameter of the middle guide sleeve is smaller than the inner wall diameter of the outer guide sleeve, and a first annular baffle is provided at the top of the outer guide sleeve to limit the upward movement of the first annular flange, and the inner wall of the first annular baffle is in contact with the outer wall of the middle guide sleeve; The outer wall diameter of the inner guide sleeve is smaller than the inner wall diameter of the middle guide sleeve. A second annular baffle is provided at the top of the middle guide sleeve to limit the upward movement of the second annular flange. The inner wall of the second annular baffle is in contact with the outer wall of the inner guide sleeve, and the lower surface of the second annular baffle overlaps with the upper surface of the first annular baffle.

5. The variable configuration multi-rotor UAV according to claim 1, characterized in that: The length of the horizontal section is greater than the rotation radius of the flight blade.

6. The variable configuration multi-rotor UAV according to claim 1, characterized in that: The output end of the motor drives the screw to rotate, and the screw is connected in the guide sleeve through the thread, so as to drive the plurality of guide sleeves to extend and contract relative to each other in the axial direction.

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