Rotor wing unmanned aerial vehicle with variable shape

Abstract

The invention discloses a rotor wing unmanned aerial vehicle with a variable shape. The rotor wing unmanned aerial vehicle comprises a vehicle body frame, two vehicle arm assemblies, two electric push rods, two foot stools, two mounting rod assemblies, four motor assemblies and four propellers, and the two vehicle arm assemblies are rotatably and symmetrically arranged in the middle of the upper end of the vehicle body frame; the two electric push rods are rotatably and symmetrically arranged in the middle of the lower end of the fuselage frame and used for pushing the fuselage arm assembly, the two foot stools are rotatably and symmetrically arranged on the two sides of the lower end of the fuselage frame and used for supporting the fuselage frame, the two mounting rod assemblies are arranged on the fuselage arm assembly, and the four motor assemblies are installed at the two ends of the two mounting rod assemblies correspondingly. The propeller is installed on the motor assembly. The size and the gravity center position of the unmanned aerial vehicle are adjusted in the flight process, different flight environments are met, and the flight efficiency is improved.

Description

Technical Field

[0001] The invention belongs to the technical field of unmanned aerial vehicles, and in particular relates to a rotor-wing unmanned aerial vehicle with a variable shape. Background Art

[0002] With the continuous development of control technology and artificial intelligence technology, the application of drones in various industries is becoming more and more extensive. As an important member of the drone family, multi-rotor drones are widely used in military reconnaissance, pipeline inspection, agricultural and forestry plant protection and other fields due to their mature and stable control, high maneuverability, and flexible and adjustable flight speed.

[0003] With the continuous expansion of drone application styles and application scenarios, special mission environments such as narrow spaces, obstacles, windy weather, etc. have had a serious impact on the drone's environmental adaptability and anti-interference flight performance. During the flight of the drone, the size of the drone affects the drone's flight maneuverability, and the center of gravity of the drone affects the stability of wind-resistant flight. As a result, when the drone is working, it is necessary to use different drone equipment according to different working environments, which seriously affects work efficiency.

[0004] Therefore, in view of the above-mentioned characteristics of environmental influence and anti-interference influence, it is necessary to provide a variable-shape rotor UAV to solve the above-mentioned technical problems. Summary of the invention

[0005] In order to at least partially solve the technical problems existing in the above-mentioned prior art, the present invention provides a rotor UAV with a variable shape.

[0006] The variable-form rotor drone of the present invention comprises a fuselage frame, two arm assemblies, two electric push rods, two tripods, two mounting rod assemblies, four motor assemblies and four propellers, wherein the two arm assemblies are rotatably and symmetrically arranged in the middle of the upper end of the fuselage frame, the two electric push rods are rotatably and symmetrically arranged in the middle of the lower end of the fuselage frame for pushing the arm assemblies, the two tripods are rotatably and symmetrically arranged on both sides of the lower end of the fuselage frame for supporting the fuselage frame, the two mounting rod assemblies are arranged on the arm assemblies, the four motor assemblies are respectively mounted at both ends of the two mounting rod assemblies, and the propellers are mounted on the motor assemblies, wherein:

[0007] The fuselage frame comprises a rectangular fixed frame, four rotating connecting rods and a base mounting frame, wherein the four rotating connecting rods are respectively mounted at the four corners of the rectangular fixed frame, and the base mounting frame is arranged in the middle of the two rotating connecting rods mounted at the bottom.

[0008] Furthermore, in the above-mentioned variable-form rotor UAV, the arm assembly includes an arm frame, a first arm bearing and a second arm bearing, a first bearing groove is provided at one end of the arm frame, a second bearing groove is provided at the other end of the arm frame, a connecting groove is provided in the middle of the arm frame, the outer ring of the first arm bearing is engaged with the first bearing groove, and the outer ring of the second arm bearing is engaged with the second bearing groove.

[0009] Furthermore, in the above-mentioned variable-form rotor drone, the rotating connecting rod comprises a connecting rod and a limiting sleeve, the limiting sleeve is symmetrically sleeved at both ends of the connecting rod, one end of the limiting sleeve abuts against the rectangular fixing frame, and the two ends of the connecting rod are fixedly connected to the rectangular fixing frame by bolts;

[0010] The diameter of the connecting rod matches the inner ring of the first machine arm bearing, the connecting rod passes through the inner ring of the first machine arm bearing, and the other end of the limiting sleeve abuts against the inner ring of the first machine arm bearing;

[0011] The base mounting frame is symmetrically provided with connecting holes at both ends, and hinge holes are symmetrically provided at both ends of the base mounting frame near the outer sides of the connecting holes. The diameter of the connecting hole matches the diameter of the connecting rod. The connecting rod passes through the connecting hole, and the other end of the limiting sleeve abuts against the base mounting frame.

[0012] Furthermore, in the above-mentioned variable-shape rotor UAV, one end of the electric push rod is connected to the hinge hole through a hinge shaft, and the other end of the electric push rod is connected to the connecting groove through a hinge shaft.

[0013] Furthermore, in the above-mentioned variable-form rotor UAV, the tripod includes two linkage rods, two support rods and a reinforcement rod, one end of the two linkage rods are rotatably arranged symmetrically between the connecting rod and the rectangular frame, the linkage rod is arranged parallel to the boom frame, the reinforcement rod is arranged between the two support rods, the other ends of the two linkage rods are rotatably arranged between the support rod and the reinforcement rod respectively, the support rod is arranged parallel to the rectangular frame, and a connecting seat is arranged on the top of the support rod for connecting the mounting rod assembly.

[0014] Further, in the above-mentioned variable-form rotor UAV, the mounting rod assembly includes a rod body, a limit pin, a step gasket, an externally threaded sleeve and an internally threaded sleeve, the rod body matches the inner ring of the second arm bearing, the middle part of the rod body is embedded with the inner ring of the second arm bearing, the step gasket is symmetrically arranged on both sides of the rod body, the small end face of the step gasket abuts with the inner ring of the second arm bearing, the internally threaded sleeve and the externally threaded sleeve are symmetrically sleeved on both sides of the rod body in sequence, the internally threaded sleeve abuts with the large end face of the step gasket, the externally threaded sleeve and the internally threaded sleeve are threadedly engaged, positioning holes are arranged on both sides of the rod body near the middle part of the externally threaded sleeve, a limit hole is arranged in the middle part of the externally threaded sleeve, the positioning hole is coaxial with the limit hole, and the limit pin passes through the limit hole and is fixed to the positioning hole.

[0015] Furthermore, in the above-mentioned variable-shape rotor UAV, the connecting seat includes an arc-shaped connecting seat, an arc-shaped pressure plate, a connecting bolt and a positioning pin, the arc-shaped connecting seat is welded to the top of the support rod, the rod body is arranged between the arc-shaped connecting seat and the arc-shaped pressure plate, the arc-shaped connecting seat and the arc-shaped pressure plate on both sides are fixedly connected by the connecting bolts, a first through hole is arranged in the middle of the arc-shaped pressure plate, a second through hole is arranged on the rod body corresponding to the first through hole, and the positioning pin passes through the first through hole and is fixed to the second through hole.

[0016] Furthermore, in the above-mentioned variable-form rotor UAV, among the four motor assemblies, two of the motor assembly output shafts are symmetrically installed at the two ends of the rod body, and the other two motor assembly output shafts are symmetrically installed at the two ends of the rod body, and the four propellers are respectively installed on the four motor assembly output shafts.

[0017] Furthermore, in the above-mentioned variable-shape rotor UAV, the two electric push rods can move simultaneously or independently.

[0018] The variable-morphology rotor drone of the present invention has the following advantages and beneficial effects:

[0019] The overall structure of the present invention is simple. During flight, the center of gravity of the UAV is adjusted by synchronous movement of the electric push rod, thereby improving the stability of the UAV during wind-resistant flight. The flight attitude and size of the UAV are adjusted by independent movement of the electric push rod, effectively ensuring that the UAV is suitable for flying in a variety of environments, thereby improving work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the prior art descriptions. Obviously, the drawings in the following descriptions are only used to further understand the embodiments of the present invention and constitute a part of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work. In the drawings:

[0021] Figure 1 The figure is a schematic diagram of the overall structure of a variable-shape rotor UAV;

[0022] Figure 2 The figure is a schematic diagram of the arm structure of a variable-shape rotor UAV;

[0023] Figure 3 A schematic diagram of the base mounting frame structure of a variable-shape rotor UAV;

[0024] Figure 4 A schematic diagram of the connecting rod structure of a variable-shape rotor UAV;

[0025] Figure 5 The figure is a schematic diagram of the fuselage frame structure of a variable-shape rotor UAV;

[0026] Figure 6 A schematic diagram of the structure of a mounting rod assembly for a variable-shape rotor UAV;

[0027] Figure 7 A schematic diagram of the connecting seat structure of a variable-shape rotor UAV;

[0028] Figure 8 A schematic diagram of the structure of a motor assembly of a variable-shape rotor UAV;

[0029] Fig. 9 The figure is a schematic diagram of the flight form of a variable-form rotor UAV, where a is a schematic diagram of the electric push rod synchronously running in the descending state; b is a schematic diagram of the electric push rod independently running in the state, c is a schematic diagram of the electric push rod synchronously running in the ascending state, and d is a schematic diagram of the structure in the normal state.

[0030] Description of reference numerals:

[0031] 1: fuselage frame, 11: rectangular fixed frame, 12: rotating connecting rod, 13: connecting rod, 14: limiting sleeve, 15: base mounting frame, 16: connecting hole, 17: hinge hole;

[0032] 2: arm assembly, 21: arm frame, 22: first arm bearing, 23: second arm bearing, 24: first bearing slot, 25: second bearing slot, 26: connecting slot;

[0033] 3: Electric push rod;

[0034] 4: tripod, 41: linkage rod, 42: support rod, 43: connecting seat, 44: arc-shaped connecting seat, 45: arc-shaped pressing sheet, 46: first through hole, 47: connecting bolt, 48: positioning pin, 49: reinforcement rod;

[0035] 5: mounting rod assembly, 51: rod body, 52: positioning hole, 53: second through hole, 54: limiting pin, 55: step gasket, 56: external threaded sleeve, 57: limiting hole, 58: internal threaded sleeve;

[0036] 6: Motor assembly; 7: Propeller. DETAILED DESCRIPTION

[0037] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the specific embodiments of the present invention and the corresponding drawings. 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 making creative work are within the scope of protection of the present invention.

[0038] like Figures 1 to 8 As shown, the variable-form rotor drone of the present invention comprises a fuselage frame 1, two arm assemblies 2, two electric push rods 3, two tripods 4, two mounting rod assemblies 5, four motor assemblies 6 and four propellers 7, the two arm assemblies 2 are rotatably and symmetrically arranged at the middle of the upper end of the fuselage frame 1, the two electric push rods 3 are rotatably and symmetrically arranged at the middle of the lower end of the fuselage frame 1 for pushing the arm assemblies 2, the two tripods 4 are rotatably and symmetrically arranged at both sides of the lower end of the fuselage frame 1 for supporting the fuselage frame 1, the two mounting rod assemblies 5 are arranged on the arm assemblies 2, the four motor assemblies 6 are respectively mounted at both ends of the two mounting rod assemblies 5, and the propellers 7 are mounted on the motor assemblies 6, wherein:

[0039] The fuselage frame 1 comprises a rectangular fixed frame 11, four rotating connecting rods 12 and a base mounting frame 15. The four rotating connecting rods 12 are respectively mounted at the four corners of the rectangular fixed frame, and the base mounting frame 15 is arranged in the middle of the two rotating connecting rods 12 mounted at the bottom.

[0040] Furthermore, in the variable-form rotor UAV of the present invention, the arm assembly 2 includes an arm frame 21, a first arm bearing 22 and a second arm bearing 23. A first bearing groove 24 is provided at one end of the arm frame 21, and a second bearing groove 25 is provided at the other end of the arm frame 21. A connecting groove 26 is provided in the middle of the arm frame 21. The outer ring of the first arm bearing 22 is engaged with the first bearing groove 24, and the outer ring of the second arm bearing 23 is engaged with the second bearing groove 25, so that the two ends of the arm frame 21 can rotate through the first bearing and the second bearing.

[0041] Furthermore, in the variable-form rotor drone of the present invention, the rotating connecting rod 12 includes a connecting rod 13 and a limiting sleeve 14, the limiting sleeve 14 is symmetrically sleeved at both ends of the connecting rod 13, one end of the limiting sleeve 14 is abutted against the rectangular fixing frame, and both ends of the connecting rod 13 are fixedly connected to the rectangular fixing frame by bolts, thereby effectively ensuring the stable structure of the fuselage frame 1;

[0042] The diameter of the connecting rod 13 matches the inner ring of the first arm bearing 22, and the connecting rod 13 passes through the inner ring of the first arm bearing 22. The other end of the limiting sleeve 14 abuts against the inner ring of the first arm bearing 22, so that one end of the arm frame 21 rotates around the connecting rod 13 through the first bearing, and the arm frame 21 is axially limited by the limiting sleeve 14.

[0043] Connecting holes 16 are symmetrically provided at both ends of the base mounting frame 15, and hinge holes 17 are symmetrically provided at both ends of the base mounting frame 15 near the outside of the connecting holes 16. The diameter of the connecting hole 16 matches the diameter of the connecting rod 13. The connecting rod 13 passes through the connecting hole 16, and the other end of the limiting sleeve 14 abuts against the base mounting frame 15, thereby ensuring the installation of the base mounting frame 15. At the same time, the limiting sleeve 14 is used to limit the position, which effectively ensures that the drone arm frame 21 always maintains its original position during the deformation process to avoid displacement.

[0044] Furthermore, in the variable-form rotor UAV of the present invention, one end of the electric push rod 3 is connected to the hinge hole 17 through a hinge shaft, and the other end of the electric push rod 3 is connected to the connecting groove 26 through a hinge shaft. The electric push rod 3 has a self-locking function, wherein the electric push rod 3 is powered by the UAV power battery and the lifting operation is controlled by the UAV remote control, thereby ensuring that both ends of the electric push rod 3 can rotate and adjust according to the movement direction of the random arm 21 during operation, and at the same time, it is convenient to disassemble and replace the electric push rod 3 during maintenance.

[0045] Furthermore, in the variable-form rotor UAV of the present invention, the tripod 4 includes two linkage rods 41, two support rods 42 and a reinforcement rod 49. One end of the two linkage rods 41 is rotatably and symmetrically arranged between the connecting rod 13 and the rectangular frame. The linkage rod 41 is arranged parallel to the boom frame 21. The reinforcement rod 49 is arranged between the two support rods 42. The other ends of the two linkage rods 41 are rotatably arranged between the support rods 42 and the reinforcement rods 49 respectively. The support rods 42 are arranged parallel to the rectangular frame. A connecting seat 43 is arranged on the top of the support rod 42 for connecting the mounting rod assembly 5, so that a parallelogram is formed between the fuselage frame 1, the boom frame 21, the linkage rods 41 and the support rods 42, thereby ensuring that the mounting rod assembly 5 remains in a horizontal state during the lifting and sinking process of the boom frame 21. After landing, the fuselage frame 1 is supported by the support rods 42 to avoid damage caused by contact between the fuselage frame 1 and the ground.

[0046] Further, in the variable-form rotor drone of the present invention, the mounting rod assembly 5 includes a rod body 51, a stop pin 54, a step gasket 55, an externally threaded sleeve 56 and an internally threaded sleeve 58, the rod body 51 matches the inner ring of the second arm bearing 23, the middle part of the rod body 51 is engaged with the inner ring of the second arm bearing 23, the step gasket 55 is symmetrically arranged on both sides of the rod body 51, the small end face of the step gasket 55 abuts against the inner ring of the second arm bearing 23, and the internally threaded sleeve 58 is connected to the externally threaded sleeve 5 6 are symmetrically sleeved on both sides of the rod body 51 in sequence, the internal threaded sleeve 58 abuts against the large end surface of the step gasket 55, the external threaded sleeve 56 is threadedly engaged with the internal threaded sleeve 58, and positioning holes 52 are provided near the middle of the external threaded sleeve 56 on both sides of the rod body 51, and a limiting hole 57 is provided in the middle of the external threaded sleeve 56. The positioning hole 52 is coaxial with the limiting hole 57, and the limiting pin 54 passes through the limiting hole 57 and is fixed to the positioning hole 52, so that the other end of the robot arm can be axially positioned on the rod body 51.

[0047] Furthermore, in the variable-form rotor UAV of the present invention, the connecting seat 43 includes an arc-shaped connecting seat 44, an arc-shaped pressing plate 45, a connecting bolt 47 and a positioning pin 48. The arc-shaped connecting seat 44 is welded to the top of the support rod 42, and the rod body 51 is arranged between the arc-shaped connecting seat 44 and the arc-shaped pressing plate 45. The arc-shaped connecting seat 44 and the arc-shaped pressing plate 45 are fixedly connected on both sides by connecting bolts 47. A first through hole 46 is arranged in the middle of the arc-shaped pressing plate 45, and a second through hole 53 is arranged on the rod body 51 corresponding to the first through hole 46. The positioning pin 48 passes through the first through hole 46 and is fixed to the second through hole 53, thereby ensuring the connection between the tripod 4 and the rod body 51, ensuring that the rod body 51 will not rotate when the boom 21 is raised or lowered, and improving the safety of flight.

[0048] Furthermore, in the variable-form rotor UAV of the present invention, among the four motor assemblies 6, the output shafts of two motor assemblies 6 are symmetrically installed at the two ends of the rod body 51, and the output shafts of the other two motor assemblies 6 are symmetrically installed at the two ends of the rod body 51, and the four propellers 7 are respectively installed on the output shafts of the four motor assemblies 6, so that the propellers 7 have a height difference, thereby effectively avoiding the overlapping and collision of the propellers 7 when the boom 21 is lifted to the highest position.

[0049] Furthermore, in the variable-shape rotor UAV of the present invention, the two electric push rods 3 can move simultaneously or independently, so that the shape of the UAV can be changed. The overall volume can be reduced and the center of gravity can be adjusted by the simultaneous movement of the electric push rods, and the flight attitude can be changed by the independent movement of the electric push rods.

[0050] Specifically, Fig. 9 As shown, when performing wind-resistant flight, a simultaneous movement instruction is sent to the electric push rod 3 through the remote control, and the electric push rod 3 pushes the boom frame 21 to rise. During the rising process, one end of the boom frame 21 rotates around the connecting rod 13 through the first boom bearing 22, and the other end of the boom frame 21 rotates around the rod body 51 through the second arm bearing 23. At this time, the tripod 4 also rises with the boom frame 21, so that the support rod 42 and the rectangular frame, and the boom frame 21 and the linkage rod 41 are always kept in a parallel state. At the same time, the rod body 51 remains fixed, and the rising height of the boom frame 21 is determined according to the wind force, thereby reducing the overall width and lowering the center of gravity, effectively improving the wind-resistant flight capability;

[0051] When flying in a narrow space, the remote controller sends independent movement or simultaneous movement instructions to the electric push rods 3. At this time, the operator can control the rise and fall of the machine arm 21 through one of the electric push rods according to the characteristics of the space, or control the rise and fall of the machine arm 21 through two electric push rods at the same time, to change the shape of the UAV to pass through the narrow space, thereby improving the maneuverability of the UAV.

[0052] To sum up, compared with the prior art, the variable-form rotor UAV of the present invention has the following advantages and beneficial effects: the overall structure of the present invention is simple, and during the flight, the center of gravity position of the UAV is adjusted by the synchronous movement of the electric push rod, thereby improving the stability of the UAV during wind-resistant flight, and the flight attitude and size of the UAV are adjusted by the independent movement of the electric push rod, effectively ensuring that the UAV is suitable for flying in a variety of environments, thereby improving work efficiency.

[0053] It should be noted that, in this article, unless otherwise clearly specified and limited, the term "connection" or its synonyms should be understood in a broad sense. For example, "connection" can be a fixed connection or a detachable connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to the specific circumstances. Moreover, expressions such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. At the same time, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such a process, method, article or device. In addition, "front", "back", "left", "right", "upper" and "lower" in this article are all referenced to the placement state shown in the accompanying drawings.

[0054] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A variable-shape rotor drone. It is characterized in that The variable-shape rotor drone comprises a fuselage frame, two arm assemblies, two electric push rods, two tripods, two mounting rod assemblies, four motor assemblies and four propellers, wherein the two arm assemblies are rotatably and symmetrically arranged in the middle of the upper end of the fuselage frame, the two electric push rods are rotatably and symmetrically arranged in the middle of the lower end of the fuselage frame for pushing the arm assemblies, the two tripods are rotatably and symmetrically arranged on both sides of the lower end of the fuselage frame for supporting the fuselage frame, the two mounting rod assemblies are arranged on the arm assemblies, the four motor assemblies are respectively mounted at both ends of the two mounting rod assemblies, and the propellers are mounted on the motor assemblies, wherein: The fuselage frame comprises a rectangular fixed frame, four rotating connecting rods and a base mounting frame, wherein the four rotating connecting rods are respectively mounted at the four corners of the rectangular fixed frame, and the base mounting frame is arranged in the middle of the two rotating connecting rods mounted at the bottom.

2. The variable-shape rotor drone according to claim 1, It is characterized in that The arm assembly includes an arm frame, a first arm bearing and a second arm bearing, a first bearing groove is provided at one end of the arm frame, a second bearing groove is provided at the other end of the arm frame, a connecting groove is provided in the middle of the arm frame, an outer ring of the first arm bearing is engaged with the first bearing groove, and an outer ring of the second arm bearing is engaged with the second bearing groove.

3. The variable-shape rotor drone according to claim 2, It is characterized in that The rotating connecting rod comprises a connecting rod and a limiting sleeve, wherein the limiting sleeve is symmetrically sleeved at both ends of the connecting rod, one end of the limiting sleeve is in contact with the rectangular fixing frame, and both ends of the connecting rod are fixedly connected with the rectangular fixing frame by bolts; The diameter of the connecting rod matches the inner ring of the first machine arm bearing, the connecting rod passes through the inner ring of the first machine arm bearing, and the other end of the limiting sleeve abuts against the inner ring of the first machine arm bearing; The base mounting frame is symmetrically provided with connecting holes at both ends, and hinge holes are symmetrically provided at both ends of the base mounting frame near the outer sides of the connecting holes. The diameter of the connecting hole matches the diameter of the connecting rod. The connecting rod passes through the connecting hole, and the other end of the limiting sleeve abuts against the base mounting frame.

4. The variable-shape rotor drone according to claim 3, It is characterized in that One end of the electric push rod is connected to the hinge hole through a hinge shaft, and the other end of the electric push rod is connected to the connecting groove through a hinge shaft.

5. The variable-shape rotor drone according to claim 3, It is characterized in that The tripod includes two linkage rods, two support rods and a reinforcement rod. One end of the two linkage rods is rotatably arranged between the connecting rod and the rectangular frame, the linkage rod is arranged parallel to the boom frame, the reinforcement rod is arranged between the two support rods, and the other ends of the two linkage rods are rotatably arranged between the support rod and the reinforcement rod respectively. The support rod is arranged parallel to the rectangular frame, and a connecting seat is arranged on the top of the support rod for connecting the mounting rod assembly.

6. The variable-shape rotor drone according to claim 5, It is characterized in that The mounting rod assembly includes a rod body, a limit pin, a step gasket, an externally threaded sleeve and an internally threaded sleeve, the rod body matches the inner ring of the second arm bearing, the middle part of the rod body is embedded with the inner ring of the second arm bearing, the step gasket is symmetrically arranged on both sides of the rod body, the small end face of the step gasket abuts with the inner ring of the second arm bearing, the internally threaded sleeve and the externally threaded sleeve are symmetrically sleeved on both sides of the rod body in sequence, the internally threaded sleeve abuts with the large end face of the step gasket, the externally threaded sleeve is threadedly engaged with the internally threaded sleeve, positioning holes are arranged on both sides of the rod body near the middle part of the externally threaded sleeve, a limiting hole is arranged in the middle part of the externally threaded sleeve, the positioning hole is coaxial with the limiting hole, and the limiting pin passes through the limiting hole and is fixed to the positioning hole.

7. The variable-shape rotor drone according to claim 6, It is characterized in that The connecting seat includes an arc-shaped connecting seat, an arc-shaped pressure plate, a connecting bolt and a positioning pin. The arc-shaped connecting seat is welded to the top of the support rod, and the rod body is arranged between the arc-shaped connecting seat and the arc-shaped pressure plate. The arc-shaped connecting seat and the two sides of the arc-shaped pressure plate are fixedly connected by the connecting bolts. A first through hole is arranged in the middle of the arc-shaped pressure plate, and a second through hole is arranged on the rod body corresponding to the first through hole. The positioning pin passes through the first through hole and is fixed to the second through hole.

8. The variable-shape rotor drone according to claim 7, It is characterized in that Among the four motor assemblies, two of the motor assemblies are symmetrically installed at the two ends of the rod body in the upper direction, and the other two motor assemblies are symmetrically installed at the two ends of the rod body in the lower direction. The four propellers are respectively installed on the four motor assembly output shafts.

9. The variable-shape rotor drone according to claim 1, It is characterized in that The two electric push rods can move simultaneously or independently.

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