Flight attitude adjusting device and unmanned aerial vehicle

Abstract

The invention relates to a flight attitude adjusting device and an unmanned aerial vehicle, the flight attitude adjusting device comprises a first servo motor, an output shaft of the first servo motor is fixedly connected with a mounting seat, the mounting seat is rotatably connected with two first rotating shafts, the two first rotating shafts transversely extend, and one end of each first rotating shaft penetrates through the side wall of the mounting seat; the ends, away from the mounting base, of the two first rotating shafts are fixedly connected with propeller blades, angle adjusting assemblies are mounted between the two propeller blades and the mounting base correspondingly, and the two angle adjusting assemblies are used for adjusting the inclination angles between the two propeller blades and the horizontal plane correspondingly. The invention aims at providing the flight attitude adjusting device and the unmanned aerial vehicle to solve the problems that in the prior art, the attitude control of the unmanned aerial vehicle is realized by further adjusting the rotating speed of propeller blades by adjusting the rotating speed of a motor, the adjustable range is relatively small and the unmanned aerial vehicle is easy to collide with obstacles in a complex and changeable environment.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicles, and in particular to a flight attitude adjustment device and an unmanned aerial vehicle. Background Art

[0002] UAVs are easily disturbed by external environmental factors during flight, resulting in unstable flight attitude and even safety accidents. Therefore, UAVs need a UAV attitude adjustment device to adjust the flight attitude of the UAV during flight.

[0003] The existing attitude control of UAVs mainly relies on the software algorithm in the flight control system, which adjusts the motor speed and further adjusts the propeller blade speed to achieve attitude control of UAVs. However, in the face of complex and changing environments, the above method has a small adjustable range and is prone to collision with obstacles. Summary of the invention

[0004] In view of this, the purpose of the present invention is to provide a flight attitude adjustment device and a UAV, so as to solve the problem that in the prior art, the attitude control of the UAV is achieved by adjusting the motor speed and further adjusting the propeller blade speed, but when facing a complex and changeable environment, the adjustable range is small and it is easy to collide with obstacles.

[0005] The present invention is achieved through the following technical solutions:

[0006] A flight attitude adjustment device comprises a first servo motor, an output shaft of the first servo motor is fixedly connected to a mounting seat, the mounting seat is rotatably connected to two first rotating shafts, the two first rotating shafts extend laterally and one end passes through the side wall of the mounting seat, the two first rotating shafts are fixedly connected to propeller blades at one end away from the mounting seat, an angle adjustment component is installed between the two propeller blades and the mounting seat, and the two angle adjustment components are respectively used to adjust the inclination angle between the two propeller blades and the horizontal plane.

[0007] Furthermore, a groove is provided in the mounting seat, and the ends of the two first rotating shafts away from the propeller blades are fixedly connected to the first bevel gear, and the two first bevel gears are both located in the groove; the angle adjustment assembly includes a second rotating shaft located in the groove, the second rotating shaft extends vertically and is rotatably connected to the mounting seat, the second rotating shaft is fixedly connected to a second bevel gear meshing with the two first bevel gears, and the mounting seat is fixedly connected to a driving assembly, and the driving assembly is transmission-connected to the second rotating shaft.

[0008] Furthermore, the driving assembly includes a second servo motor fixedly mounted on the mounting seat, and an output shaft of the second servo motor is fixedly connected to an upper end of the second rotating shaft.

[0009] Furthermore, the ends of the two propeller blades away from the mounting seat are open and hollow inside, the two propeller blades are slidably connected with a slide, the ends of the two slides close to the mounting seat are fixedly connected with a pull rope, the two first rotating shafts are hollow, the two pull ropes pass through the corresponding first rotating shafts respectively and are wrapped around the second rotating shaft, and elastic support components are installed between the two propeller blades and the corresponding slides. When the elastic support components are naturally stretched, the ends of the two slides close to the mounting seat are respectively located at the ends of the corresponding propeller blades away from the mounting seat.

[0010] Furthermore, the elastic support assembly includes a spring, both ends of which are respectively against the side walls of the corresponding slide and the corresponding propeller blade. When the spring is in a naturally stretched state, the ends of the two slides close to the mounting seat are respectively located at the ends of the corresponding propeller blade away from the mounting seat.

[0011] Furthermore, guide rods are fixedly connected to the side walls of the two propeller blades, and sliding grooves adapted to the corresponding guide rods are opened on the two slides. The two guide rods are respectively slidably connected to the corresponding sliding grooves, and the spring is sleeved on the corresponding guide rods.

[0012] Furthermore, two limiting rings are fixedly connected to the second rotating shaft, and the two limiting rings are respectively located on both sides of the two pull ropes.

[0013] A drone comprises a plurality of flight attitude adjustment devices as claimed in claim 1 and a frame, wherein a plurality of extension arms are mounted on the frame, the plurality of extension arms is equal in number to the plurality of flight attitude adjustment devices, and the plurality of flight attitude adjustment devices are respectively mounted on corresponding extension arms.

[0014] Furthermore, a plurality of the extension arms are slidably connected with counterweight blocks, a plurality of the extension arms are installed with transmission components, and the plurality of transmission components are opposite to the plurality of counterweight blocks one by one and are transmission-connected with the corresponding counterweight blocks.

[0015] Furthermore, each of the plurality of transmission assemblies comprises an electric push rod fixedly mounted on the extension arm, and an output end of the electric push rod is fixedly connected to a counterweight block.

[0016] The beneficial effects of the present invention are:

[0017] The flight attitude adjustment device and the drone use a controller to control the distance sensor to detect the distance between the drone and the obstacle. When the controller determines that the distance between the drone and the obstacle is less than the set distance, the controller controls the output shaft of the first servo motor to rotate, and the two angle adjustment components respectively rotate the two first rotating shafts to adjust the inclination angle between the two propeller blades and the horizontal plane. Increasing the inclination angle will increase the lift, but at the same time increase the resistance; reducing the inclination angle will do the opposite. Adjusting the inclination angle between the two propeller blades and the horizontal plane can speed up the vertical take-off and landing speed of the drone and the attitude adjustment during flight, and increase the probability of the drone avoiding obstacles when facing complex and changing environments.

[0018] Other advantages, objectives and features of the present invention will be described in the following description to some extent, and to some extent, will be obvious to those skilled in the art based on the following examination and study, or can be taught from the practice of the present invention. The objectives and other advantages of the present invention can be realized and obtained through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 A three-dimensional diagram of the flight attitude adjustment device of the present invention;

[0020] Figure 2 An exploded view of the flight attitude adjustment device of the present invention;

[0021] Figure 3 It is a structural schematic diagram of the flight attitude adjustment device of the present invention;

[0022] Figure 4 For the present invention Figure 3 A partial enlarged view of the middle A;

[0023] Figure 5 For the present invention Figure 3 A partial enlarged view of point B in the middle;

[0024] Figure 6 The three-dimensional image of the drone of the present invention Figure 1 ;

[0025] Figure 7 The three-dimensional image of the drone of the present invention Figure 2 .

[0026] In the figure:

[0027] 1. First servo motor; 2. Mounting seat; 3. First rotating shaft; 4. Propeller blade; 5. Groove; 6. First bevel gear; 7. Second rotating shaft; 8. Second bevel gear; 9. Second servo motor; 10. Slide; 11. Pull rope; 12. Spring; 13. Guide rod; 14. Slide; 15. Limiting ring; 16. Frame; 17. Extension arm; 18. Counterweight; 19. Electric push rod. DETAILED DESCRIPTION

[0028] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.

[0029] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention claimed for protection, but merely represents selected embodiments of the present invention. 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.

[0030] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0031] In the above description of the present invention, it should be noted that the terms "one side", "the other side", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship in which the product of the invention is usually placed when in use, which is only for the convenience of describing the present invention and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", etc. are only used to distinguish the description, and cannot be understood as indicating or implying relative importance.

[0032] In addition, the term "same" does not mean that the parts must be absolutely the same, but slight differences are allowed. The term "vertical" only means that the positional relationship between the parts is more vertical than "parallel", and does not mean that the structure must be completely vertical, but can be slightly tilted.

[0033] See also Figure 1-5The present invention provides a technical solution: a flight attitude adjustment device, comprising a first servo motor 1, a mounting seat 2 is fixedly connected to the output shaft of the first servo motor 1, two first rotating shafts 3 are rotatably connected to the mounting seat 2, the two first rotating shafts 3 extend laterally and one end passes through the side wall of the mounting seat 2, the two first rotating shafts 3 are fixedly connected to the ends away from the mounting seat 2 with propeller blades 4, and angle adjustment components are installed between the two propeller blades 4 and the mounting seat 2, and the two angle adjustment components are respectively used to adjust the inclination angles between the two propeller blades 4 and the horizontal plane.

[0034] In this scheme: it also includes a controller and a distance sensor, and the first servo motor 1 and the distance sensor are electrically connected to the controller; the distance sensor is controlled by the controller to detect the distance between the drone and the obstacle. When the controller determines that the distance between the drone and the obstacle is less than the set distance, the output shaft of the first servo motor 1 is controlled by the controller to rotate, and the two first rotating shafts 3 are respectively rotated by the two angle adjustment components to adjust the inclination angle between the two propeller blades 4 and the horizontal plane. Increasing the inclination angle will increase the lift, but at the same time increase the resistance; reducing the inclination angle is the opposite. Adjusting the inclination angle between the two propeller blades 4 and the horizontal plane can speed up the vertical take-off and landing speed of the drone and the attitude adjustment during flight, and increase the probability of the drone avoiding obstacles when facing complex and changing environments.

[0035] In this embodiment: a groove 5 is opened in the mounting base 2, and the ends of the two first rotating shafts 3 away from the propeller blades 4 are fixedly connected to the first bevel gear 6, and the two first bevel gears 6 are both located in the groove 5; the angle adjustment assembly includes a second rotating shaft 7 located in the groove 5, the second rotating shaft 7 extends vertically and is rotatably connected to the mounting base 2, and the second rotating shaft 7 is fixedly connected to the second bevel gear 8 meshing with the two first bevel gears 6, and the mounting base 2 is fixedly connected to a driving assembly, and the driving assembly is transmission-connected to the second rotating shaft 7.

[0036] In this scheme: by opening a groove 5 in the mounting base 2, the ends of the two first rotating shafts 3 away from the propeller blades 4 are fixedly connected to the first bevel gear 6, and the two first bevel gears 6 are both located in the groove 5; the angle adjustment component includes a second rotating shaft 7 located in the groove 5, the second rotating shaft 7 extends vertically and is rotatably connected to the mounting base 2, the second rotating shaft 7 is fixedly connected to the second bevel gear 8 meshing with the two first bevel gears 6, the mounting base 2 is fixedly connected to the driving component, and the driving component is transmission-connected to the second rotating shaft 7.

[0037] The second rotating shaft 7 is rotated clockwise by the driving component, driving the second bevel gear 8 to rotate clockwise. Among the two first bevel gears 6 meshing with the second bevel gear 8, one of the first bevel gears 6 rotates clockwise, driving the corresponding first rotating shaft 3 and propeller blades 4 to rotate clockwise, and the other bevel gear rotates counterclockwise, driving the corresponding first rotating shaft 3 and propeller blades 4 to rotate counterclockwise, thereby increasing the inclination angle between the propeller blades 4 and the horizontal plane and increasing the lift.

[0038] The second rotating shaft 7 is rotated counterclockwise by the driving component to drive the second bevel gear 8 to rotate counterclockwise. Among the two first bevel gears 6 meshing with the second bevel gear 8, one of the first bevel gears 6 rotates counterclockwise to drive the corresponding first rotating shaft 3 and propeller blade 4 to rotate counterclockwise, and the other bevel gear rotates clockwise to drive the corresponding first rotating shaft 3 and propeller blade 4 to rotate clockwise, thereby reducing the inclination angle between the propeller blade 4 and the horizontal plane and reducing the resistance.

[0039] In this embodiment, the driving assembly includes a second servo motor 9 fixedly mounted on the mounting base 2 , and an output shaft of the second servo motor 9 is fixedly connected to an upper end of the second rotating shaft 7 .

[0040] In this solution: the second servo motor 9 is electrically connected to the controller, and the controller controls the output shaft of the second servo motor 9 to rotate the second rotating shaft 7 clockwise, driving the second bevel gear 8 to rotate clockwise. Among the two first bevel gears 6 meshing with the second bevel gear 8, one of the first bevel gears 6 rotates clockwise, driving the corresponding first rotating shaft 3 and propeller blades 4 to rotate clockwise, and the other bevel gear rotates counterclockwise, driving the corresponding first rotating shaft 3 and propeller blades 4 to rotate counterclockwise, thereby increasing the inclination angle between the propeller blades 4 and the horizontal plane and increasing the lift.

[0041] The controller controls the output shaft of the second servo motor 9 to rotate the second rotating shaft 7 counterclockwise, driving the second bevel gear 8 to rotate counterclockwise. Among the two first bevel gears 6 meshing with the second bevel gear 8, one of the first bevel gears 6 rotates counterclockwise, driving the corresponding first rotating shaft 3 and propeller blades 4 to rotate counterclockwise, and the other bevel gear rotates clockwise, driving the corresponding first rotating shaft 3 and propeller blades 4 to rotate clockwise, thereby reducing the inclination angle between the propeller blades 4 and the horizontal plane and reducing the resistance.

[0042] In this embodiment: the ends of the two propeller blades 4 away from the mounting seat 2 are both open and hollow inside, the two propeller blades 4 are slidably connected with a slide 10, the ends of the two slides 10 close to the mounting seat 2 are fixedly connected with a pull rope 11, the two first rotating shafts 3 are hollow, the two pull ropes 11 respectively pass through the corresponding first rotating shafts 3 and are wound around the second rotating shaft 7, and an elastic support component is installed between the two propeller blades 4 and the corresponding slide 10. When the elastic support component is in a naturally stretched state, the ends of the two slides 10 close to the mounting seat 2 are respectively located at the ends of the corresponding propeller blades 4 away from the mounting seat 2.

[0043] In the present scheme: by setting the ends of the two propeller blades 4 away from the mounting seat 2 to be open and hollow inside, the two propeller blades 4 are slidably connected to the slide 10, the ends of the two slides 10 close to the mounting seat 2 are fixedly connected to the pull rope 11, the two first rotating shafts 3 are hollow, the two pull ropes 11 respectively pass through the corresponding first rotating shafts 3 and are wound around the second rotating shaft 7, and elastic support components are installed between the two propeller blades 4 and the corresponding slides 10. When the elastic support components are in a naturally stretched state, the ends of the two slides 10 close to the mounting seat 2 are respectively located at the ends of the corresponding propeller blades 4 away from the mounting seat 2.

[0044] When the second rotating shaft 7 rotates clockwise, the two pull ropes 11 are loosened, and the two sliders are respectively moved away from the mounting seat 2 under the elastic force of the corresponding elastic support components. The length of the two propeller blades 4 and the corresponding sliding plate 10 is increased, which can increase the area swept by them, thereby generating greater lift at the same rotation speed.

[0045] When the second rotating shaft 7 rotates counterclockwise, the two pull ropes 11 are tightened and wound around the second rotating shaft 7, and the two sliders are respectively moved closer to the mounting seat 2 under the pulling force of the corresponding pull ropes 11. The lengths of the two propeller blades 4 and the corresponding slides 10 are shortened, and the resistance can be smaller at the same speed.

[0046] In this embodiment: the elastic support assembly includes a spring 12, and the two ends of the spring 12 are respectively against the side walls of the corresponding slide 10 and the corresponding propeller blade 4. When the spring 12 is in a naturally stretched state, the ends of the two slides 10 close to the mounting seat 2 are respectively located at the ends of the corresponding propeller blade 4 away from the mounting seat 2.

[0047] In this solution, when the second rotating shaft 7 rotates clockwise, the two pull ropes 11 are loosened, and the two sliders are moved away from the mounting seat 2 under the elastic force of the corresponding springs 12. The length of the two propeller blades 4 and the corresponding slides 10 is increased, which can increase the area they sweep, thereby generating greater lift at the same speed.

[0048] When the second rotating shaft 7 rotates counterclockwise, the two pull ropes 11 are tightened and wound around the second rotating shaft 7, and the two sliders are respectively moved closer to the mounting seat 2 under the pulling force of the corresponding pull ropes 11. The lengths of the two propeller blades 4 and the corresponding slides 10 are shortened, and the resistance can be smaller at the same speed.

[0049] In this embodiment: guide rods 13 are fixedly connected to the side walls of the two propeller blades 4, and sliding grooves 14 adapted to the corresponding guide rods 13 are opened on the two slides 10. The two guide rods 13 are respectively slidably connected to the corresponding sliding grooves 14, and the springs 12 are sleeved on the corresponding guide rods 13.

[0050] In this solution, guide rods 13 are fixedly connected to the side walls of the two propeller blades 4, and the two slides 10 are provided with slide grooves 14 adapted to the corresponding guide rods 13. The two guide rods 13 are respectively slidably connected to the corresponding slide grooves 14, and the spring 12 is sleeved on the corresponding guide rod 13. The moving direction of the spring 12 is guided.

[0051] In this embodiment, two limiting rings 15 are fixedly connected to the second rotating shaft 7 , and the two limiting rings 15 are respectively located on both sides of the two pull ropes 11 .

[0052] In this solution, two limiting rings 15 are fixedly connected to the second rotating shaft 7, and the two limiting rings 15 are respectively located on both sides of the two pull ropes 11. This prevents the two pull ropes 11 from being messy when being tightened and wound around the second rotating shaft 7, and avoids knotting.

[0053] See also Figure 6-7 The present invention provides a technical solution: an unmanned aerial vehicle, comprising a plurality of flight attitude adjustment devices as described in claim 1 and a frame 16, wherein a plurality of extension arms 17 are mounted on the frame 16, the number of the plurality of extension arms 17 and the number of the plurality of flight attitude adjustment devices are equal, and the plurality of flight attitude adjustment devices are respectively mounted on corresponding extension arms 17.

[0054] In this solution: by installing multiple flight attitude adjustment devices on multiple extension arms 17, multiple extension arms 17 are fixedly installed on the frame 16, there are multiple distance sensors, which are installed on multiple extension arms 17, and the controller controls multiple distance sensors to detect the distance between the drone and the obstacle. When the controller determines that the distance between the drone and the obstacle is less than the set distance, the controller controls the flight attitude adjustment device to adjust the flight attitude of the drone. The flight attitude adjustment device can speed up the vertical take-off and landing of the drone and the attitude adjustment during flight, and increase the probability of the drone avoiding obstacles when facing complex and changing environments.

[0055] In this embodiment: a plurality of the extension arms 17 are all slidably connected with counterweight blocks 18 , a transmission assembly is installed on the plurality of the extension arms 17 , the plurality of the transmission assemblies are opposite to the plurality of counterweight blocks 18 one by one, and are transmission-connected with the corresponding counterweight blocks 18 .

[0056] In this solution, the counterweights 18 are slidably connected to the plurality of extension arms 17, and transmission components are installed on the plurality of extension arms 17. The plurality of transmission components are opposite to the plurality of counterweights 18 one by one, and are transmission-connected to the corresponding counterweights 18. When the drone is about to hit an obstacle or lose balance, the controller controls the corresponding transmission component to push the corresponding counterweight 18, so that the drone maintains dynamic balance and flight attitude adjustment under external influences.

[0057] In this embodiment, the plurality of transmission assemblies all include an electric push rod 19 fixedly mounted on the extension arm 17 , and the output end of the electric push rod 19 is fixedly connected to the counterweight 18 .

[0058] In this solution, the plurality of transmission components include an electric push rod 19 fixedly mounted on the extension arm 17, and the output end of the electric push rod 19 is fixedly connected to the counterweight 18. The electric push rod 19 is electrically connected to the controller. When the drone is about to hit an obstacle or lose balance, the controller controls the corresponding electric push rod 19 to push the corresponding counterweight 18, so that the drone maintains dynamic balance and flight attitude adjustment under external influences.

[0059] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solution of the present invention can be modified or replaced by equivalents without departing from the purpose and scope of the technical solution of the present invention, which should be included in the scope of the claims of the present invention.

Claims

1. A flight attitude adjustment device, comprising a first servo motor (1), wherein a mounting seat (2) is fixedly connected to an output shaft of the first servo motor (1), characterized in that: Two first rotating shafts (3) are rotatably connected to the mounting seat (2), the two first rotating shafts (3) extend transversely and one end of the two first rotating shafts (3) penetrates the side wall of the mounting seat (2), and the ends of the two first rotating shafts (3) away from the mounting seat (2) are fixedly connected to propeller blades (4), and angle adjustment components are installed between the two propeller blades (4) and the mounting seat (2), and the two angle adjustment components are respectively used to adjust the inclination angle between the two propeller blades (4) and the horizontal plane.

2. The flight attitude adjustment device according to claim 1, characterized in that: A groove (5) is provided in the mounting seat (2); one end of the two first rotating shafts (3) away from the propeller blades (4) is fixedly connected to a first bevel gear (6); the two first bevel gears (6) are both located in the groove (5); the angle adjustment component comprises a second rotating shaft (7) located in the groove (5); the second rotating shaft (7) extends vertically and is rotatably connected to the mounting seat (2); a second bevel gear (8) meshing with the two first bevel gears (6) is fixedly connected to the second rotating shaft (7); a driving component is fixedly connected to the mounting seat (2); the driving component is transmission-connected to the second rotating shaft (7).

3. The flight attitude adjustment device according to claim 2, characterized in that: The driving assembly comprises a second servo motor (9) fixedly mounted on the mounting seat (2), and an output shaft of the second servo motor (9) is fixedly connected to the upper end of the second rotating shaft (7).

4. The flight attitude adjustment device according to claim 2, characterized in that: The ends of the two propeller blades (4) away from the mounting seat (2) are both open and hollow inside, the two propeller blades (4) are slidably connected with a slide plate (10), the ends of the two slide plates (10) close to the mounting seat (2) are fixedly connected with a pull rope (11), the two first rotating shafts (3) are hollow, the two pull ropes (11) respectively pass through the corresponding first rotating shafts (3) and are wound around the second rotating shaft (7), and elastic support components are installed between the two propeller blades (4) and the corresponding slide plates (10), and when the elastic support components are in a naturally stretched state, the ends of the two slide plates (10) close to the mounting seat (2) are respectively located at the ends of the corresponding propeller blades (4) away from the mounting seat (2).

5. The flight attitude adjustment device according to claim 4, characterized in that: The elastic support assembly comprises a spring (12), the two ends of which are respectively against the side walls of the corresponding slide (10) and the corresponding propeller blade (4); when the spring (12) is in a naturally extended state, the ends of the two slides (10) close to the mounting seat (2) are respectively located at the ends of the corresponding propeller blade (4) away from the mounting seat (2).

6. The flight attitude adjustment device according to claim 5, characterized in that: The side walls of the two propeller blades (4) are fixedly connected with guide rods (13), the two slide plates (10) are provided with slide grooves (14) adapted to the corresponding guide rods (13), the two guide rods (13) are respectively slidably connected in the corresponding slide grooves (14), and the spring (12) is sleeved on the corresponding guide rods (13).

7. The flight attitude adjustment device according to claim 4, characterized in that: Two limiting rings (15) are fixedly connected to the second rotating shaft (7), and the two limiting rings (15) are respectively located on both sides of the two pull ropes (11).

8. An unmanned aerial vehicle, comprising a plurality of flight attitude adjustment devices as claimed in claim 1 and a frame (16), wherein a plurality of extension arms (17) are mounted on the frame (16), the plurality of extension arms (17) and the plurality of flight attitude adjustment devices are equal in number, and the plurality of flight attitude adjustment devices are respectively mounted on corresponding extension arms (17).

9. The drone according to claim 8, characterized in that: The plurality of extension arms (17) are all slidably connected with a counterweight block (18), and the plurality of extension arms (17) are all equipped with a transmission assembly. The plurality of transmission assemblies are opposite to the plurality of counterweight blocks (18) one by one and are transmission-connected with the corresponding counterweight blocks (18).

10. The drone according to claim 9, characterized in that: The plurality of transmission assemblies each comprise an electric push rod (19) fixedly mounted on an extension arm (17), and an output end of the electric push rod (19) is fixedly connected to a counterweight block (18).

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