A multi-rotor drone with tilted arms

Abstract

The invention relates to the technical field of unmanned aerial vehicles, and discloses a multi-rotor unmanned aerial vehicle with tilted aircraft arms, comprising a body and a plurality of rotors, wherein a side wall of the body is rotatably connected to a plurality of aircraft arms, and the number of the aircraft arms is equal to the number of the rotors, the rotors are fixedly connected to the aircraft arms, and an adjusting mechanism is arranged in the body, the adjusting mechanism is used to adjust the tilt angle of the aircraft arms, and the tilt angle of the aircraft arms can be adjusted by the adjusting mechanism. When the unmanned aerial vehicle flies forward, the aircraft arms and the rotors are tilted by the adjusting mechanism, so that the aircraft arms and the rotors are tilted forward, instead of the aircraft body tilting forward. The tilting of the rotors can change the vertical component and the horizontal component of the lift force, and reduce the pitch angle of the aircraft body, so that the tilt angle of the aircraft body is smaller, the windward surface of the aircraft body is smaller, and the wind resistance of the unmanned aerial vehicle flying forward is effectively reduced, thereby improving the flight efficiency, and solving the problem that the windward surface of the unmanned aerial vehicle is too large when the unmanned aerial vehicle moves forward, resulting in excessive wind resistance and reduced flight efficiency.

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 tilted arms. Background Art

[0002] Multi-rotor UAVs, especially quad-rotor UAVs, have been widely used due to their simple structure, easy control and flexible flight capabilities. During the flight, the UAV can complete various flight maneuvers by adjusting the speed of different vertical motors separately, which facilitates the multiple controls of the UAV.

[0003] When the UAV needs to move forward and backward, the operator needs to adjust the speed of the motor on one side of the UAV so that the speed of the motor on that side is greater than that of the motor on the other side. The UAV first tilts to a certain extent, so that the rotor pull produces a horizontal component, thereby realizing the forward flight of the UAV. When existing UAVs fly forward, the fuselage of the UAV will tilt forward with a large forward tilt, resulting in an increase in the windward surface of the UAV and greater resistance when the UAV moves forward, which will lead to reduced flight efficiency.

[0004] To this end, the present invention provides a multi-rotor UAV with tilted arms. Summary of the invention

[0005] In order to make up for the deficiencies of the prior art, at least one technical problem raised in the background technology is solved.

[0006] The present invention provides a multi-rotor UAV with tilted arms, comprising a body and a plurality of rotors, wherein the side wall of the body is rotatably connected to a plurality of arms, and the number of the arms is equal to the number of the rotors, the rotors are fixedly connected to the arms, an adjustment mechanism is arranged in the body, the adjustment mechanism is used to adjust the tilt angle of the arms forward and backward, a limiting mechanism 1 and a limiting mechanism 3 are also arranged in the body, the limiting mechanism 1 is used to limit the arms in a tilted state, and the limiting mechanism 3 is used to limit the arms in a vertical state.

[0007] Through the above scheme, the inclination angle of the arm can be adjusted through the adjustment mechanism. When the UAV flies forward, the arm and the rotor are tilted through the adjustment mechanism, so that the arm and the rotor are tilted forward, instead of the fuselage tilting forward. The rotor tilting can change the vertical component and horizontal component of the lift, and reduce the pitch angle of the fuselage, so that the inclination angle of the fuselage is smaller, and the windward surface of the fuselage is smaller, which effectively reduces the wind resistance of the UAV flying forward, thereby improving the flight efficiency, and solving the problem that the windward surface of the traditional UAV is too large when the UAV is moving forward, resulting in excessive wind resistance and reduced flight efficiency.

[0008] Preferably, the adjustment mechanism includes a motor fixedly connected to the top wall of the body, the output end of the motor is fixedly connected to a rotating shaft, and the rotating shaft is arranged inside the body, the rotating shaft is integrally formed from top to bottom and has a plurality of worms, a rotating rod is also arranged in the body, and both ends of the rotating rod are fixedly connected to the machine arm, a worm wheel is fixedly connected to the rotating rod, and the worm wheel is meshingly connected to the worm.

[0009] Through the above scheme, the inclination angle of the arm and the rotor is adjusted through the adjustment mechanism, and the rotor itself is actively tilted (that is, the angle of attack of the rotor is adjusted), which will change the direction and size of the lift of each rotor. By tilting the rotor, the relative angle between the rotor and the air is actually changed, which directly affects the direction of the lift. When the rotor is actively tilted, the vertical component and horizontal component of the lift can be changed. For example, by tilting the rotor, the direction of the lift can be biased to the rear, reducing the pitch angle of the fuselage, thereby reducing the windward surface and reducing air resistance. The tilting of the rotor can effectively reduce the pitch angle of the drone (the angle of the nose upward), thereby making the drone's posture more stable and reducing the air resistance caused by the tilt of the fuselage.

[0010] Preferably, the limiting mechanism 1 includes a rotating cylinder rotatably arranged on the side wall of the machine body, the rotating cylinder is arranged concentrically with the machine arm, a connecting rod 1 is fixedly connected to the side wall of the rotating cylinder, a limiting mechanism 2 is arranged on the connecting rod 1, the limiting mechanism 2 is used to limit the connecting rod 1, the side wall of the machine body is provided with a through groove, the connecting rod 1 is fixedly connected to a connecting column, and the connecting column is fixedly connected to a sealing plate, the sealing plate is arranged inside the machine body, and the sealing plate contacts the inner wall of the machine body, the side wall of the sealing plate is fixedly connected to a fixing plate, a connecting ring is fixedly connected to the machine arm, and the side wall of the connecting ring is fixedly connected to a mounting rod, magnet 2 and magnet 1 are respectively fixedly connected between the opposite surfaces of the mounting rod and the fixing plate, and magnet 1 and magnet 2 are attracted to each other, and the length of the sealing plate is greater than the length of the through groove.

[0011] Through the above scheme, the sealing plate can block the through groove to prevent external debris from entering, which is conducive to the cleanliness of the interior of the machine body. The rotation of the arm will drive the installation rod to rotate, and the second magnet on the side of the installation rod will attract the first magnet on the side of the fixed plate, thereby limiting the installation rod and the arm, and the tilt state of the arm can be maintained.

[0012] Preferably, the limiting mechanism three includes a fixed block fixedly connected to the side wall of the sealing plate, a plurality of slots are opened on the side of the fixed block, and a plurality of blocks are fixedly connected to the side of the mounting rod away from the fixed plate, and the blocks and the slots are mutually engaged, so that the fixed block and the mounting rod are installed together through the blocks and the slots.

[0013] Through the above solution, the mounting rod is rotated to a vertical state and fits with the fixed block. At this time, the card block and the card slot will be engaged, thereby limiting the vertical state of the mounting rod and the arm. In this state, the drone can be easily lifted and lowered.

[0014] Preferably, the second limiting mechanism includes a mounting block fixedly connected to a side of a connecting rod, the mounting block is provided with a threaded rod, the threaded rod passes through the mounting block and is threadedly connected to the mounting block, the bottom end of the threaded rod is fixedly connected to the limiting block, and the side of the body is provided with anti-slip grooves.

[0015] Through the above scheme, the threaded rod is rotated to drive the limit block to move and contact the anti-slip groove, and static friction is formed between the limit block and the anti-slip groove, so that the connecting rod 1 will not be easily moved by external force, thereby limiting the connecting rod 1 and the fixed plate, and the static friction formed between the limit block and the anti-slip groove is difficult to resist the force of the motor driving the rotating shaft and the worm to rotate. When the rotor needs to rotate, the motor is driven, and the motor drives the rotating shaft and the worm to rotate, thereby driving the worm wheel to rotate, and the rotation of the worm wheel causes the rotating rod and the machine arm to rotate.

[0016] Preferably, a scale is provided on the side wall of the machine body, and the scale is arranged concentrically with the machine arm.

[0017] Through the above solution, the position of the connecting rod 1 can be clearly observed through the scale.

[0018] Preferably, the plurality of machine arms are distributed in a rectangular shape, and a connecting rod 2 is fixedly connected between every two fixing plates in the horizontal direction.

[0019] Through the above scheme, the connecting rod 1 on the same side can be rotated together through the connecting rod 2, and the rotors on the other two sides can be rotated at one time.

[0020] Preferably, the opening angle of one side of the through slot is 335 degrees, and the opening angle of the other side of the through slot is 5 degrees.

[0021] Through the above solution, the inclination angles of the arm 12 and the rotor 3 can be regulated by the openings on both sides of the through slot, so as to avoid the UAV rolling due to excessive inclination angle.

[0022] Preferably, a pointer is fixedly connected to one side wall of the connecting rod, the pointer is perpendicular to the one side wall of the connecting rod, and the pointer points to a scale line of the scale.

[0023] Preferably, an infrared transmitter is fixedly mounted on the side wall of the machine body, and the output end of the infrared transmitter faces vertically downward; an infrared receiver is fixedly mounted on the outer wall of the rotating cylinder, and the infrared receiver is arranged directly below the infrared transmitter.

[0024] Through the above solution, a controller is set inside the drone, and an ARM architecture chip is installed in the controller. When the drone moves forward, the adjustment mechanism changes the rotor angle and tilts the rotor forward. At this time, a pair of connecting rods blocks the infrared rays. At this time, the infrared receiver no longer receives infrared rays. The infrared receiver transmits a pulse signal to the controller, which can record the actual number of times the rotor angle changes, which is convenient for the user to compare at the control terminal.

[0025] The beneficial effects of the present invention are as follows: the multi-rotor UAV with tilted arms described in the present invention can adjust the inclination angle of the arms through an adjusting mechanism. When the UAV flies forward, the arms and rotors are tilted through the adjusting mechanism, so that the arms and rotors are tilted forward, instead of the fuselage tilting forward. The tilting of the rotors can change the vertical and horizontal components of the lift, reduce the pitch angle of the fuselage, thereby making the inclination angle of the fuselage smaller and the windward surface of the fuselage smaller, effectively reducing the wind resistance of the UAV flying forward, thereby improving the flight efficiency.

[0026] The multi-rotor UAV with tilted arms described in the present invention can limit the adjusted arms through a limiting mechanism, so that the arms and rotors can maintain a forward tilted state, and to a certain extent can resist factors such as airflow that cause the arms and rotors to recover, and prevent the arms and rotors from being easily rotated from the forward tilted state due to airflow factors. The arms and rotors can always maintain a tilted state, which is beneficial to the forward flight of the UAV.

[0027] The multi-rotor UAV with tilted arms described in the present invention can limit the vertical arms and rotors through a second limiting mechanism, and the second limiting mechanism can keep the arms and rotors vertical. When the arms and rotors are kept vertical, it is beneficial for the UAV to fly upward or downward. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 is a top cross-sectional view of the present invention;

[0029] Figure 2 It is a structural schematic diagram of the worm and the worm wheel in the present invention;

[0030] Figure 3 is a front cross-sectional view of the present invention;

[0031] Figure 4 is a side view of the body of the present invention;

[0032] Figure 5 It is the side view in the body of the present invention Figure 1 ;

[0033] Figure 6 Schematic diagram of the structure of the limiting mechanism of the present invention Figure 1 ;

[0034] Figure 7 It is a structural schematic diagram of the fixing block of the present invention;

[0035] Figure 8 Schematic diagram of the structure of the limiting mechanism of the present invention Figure 2 ;

[0036] Fig. 9 The present invention Figure 3 The enlarged view of point A in the middle;

[0037] Fig.10 It is the side view in the body of the present invention Figure 2 .

[0038] Description of reference numerals:

[0039] 1. Machine body; 2. Adjustment mechanism; 21. Motor; 22. Rotating shaft; 23. Worm; 24. Worm wheel; 25. Rotating rod; 3. Rotor; 4. Limiting mechanism 1; 41. Rotating cylinder; 42. Connecting rod 1; 43. Through groove; 44. Closing plate; 45. Fixing plate; 46. Magnet 1; 47. Magnet 2; 48. Connecting column; 5. Limiting mechanism 2; 51. Anti-skid pattern; 52. Mounting block; 53. Threaded rod; 54. Limiting block; 6. Limiting mechanism 3; 61. Fixing block; 62. Block; 63. Slot; 7. Connecting ring; 8. Mounting rod; 9. Scale; 10. Pointer; 11. Connecting rod 2; 12. Machine arm; 13. Infrared transmitter; 14. Infrared receiver. DETAILED DESCRIPTION

[0040] The subject matter described herein will now be discussed with reference to example embodiments. It should be understood that the discussion of these embodiments is only to enable those skilled in the art to better understand and implement the subject matter described herein, and the functions and arrangements of the elements discussed may be changed without departing from the scope of protection of the contents of this specification. Each example may omit, replace or add various processes or components as needed. In addition, the features described relative to some examples may also be combined in other examples. Example

[0041] like Figures 1 to 10 As shown, a multi-rotor drone with tilted arms according to an embodiment of the present invention is shown. Figure 1 , Figure 2 , Figure 3, including a body 1 and a plurality of rotors 3, the side wall of the body 1 is rotatably connected to a plurality of arms 12, and the number of the arms 12 is equal to the number of the rotors 3, the rotors 3 are fixedly connected to the arms 12, an adjusting mechanism 2 is arranged in the body 1, the adjusting mechanism 2 is used to adjust the inclination angle of the arms 12 front and back, the adjusting mechanism 2 includes a motor 21 fixedly connected to the top wall of the body 1, the output end of the motor 21 is fixedly connected to a rotating shaft 22, and the rotating shaft 22 is arranged inside the body 1, the rotating shaft 22 is integrally formed from top to bottom and has a plurality of worms 23, a rotating rod 25 is also arranged in the body 1, and both ends of the rotating rod 25 are fixedly connected to the arms 12, a worm wheel 24 is fixedly connected to the rotating rod 25, and the worm wheel 24 is meshed with the worm 23, a limiting mechanism 1 4 and a limiting mechanism 3 6 are also arranged in the body 1, the limiting mechanism 1 4 is used to limit the arms 12 in a tilted state, and the limiting mechanism 3 6 is used to limit the arms 12 in a vertical state.

[0042] Specifically, the drive motor 21 drives the rotating shaft 22 and the worm 23 to rotate, thereby driving the worm wheel 24 to rotate. The rotation of the worm wheel 24 then rotates the rotating rod 25 and the arm 12. The rotation of the arm 12 can cause the rotor 3 to have an inclination angle. When the angle of the rotor 3 is slightly tilted, the vertical component and horizontal component of the lift can be changed, and the pitch angle of the fuselage can be reduced, so that the inclination angle of the fuselage is smaller and the windward surface of the fuselage is smaller, that is, the part in contact with the air in the flight direction will become relatively smaller, effectively reducing the wind resistance of the drone flying forward, thereby improving the flight efficiency, and solving the problem that the windward surface of the drone is too large when the traditional drone is moving forward, resulting in excessive wind resistance and reduced flight efficiency.

[0043] Please pay attention to Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 8 , Fig. 9The limiting mechanism 4 includes a rotating cylinder 41 rotatably arranged on the side wall of the body 1, the rotating cylinder 41 is concentrically arranged with the machine arm 12, a connecting rod 42 is fixedly connected to the side wall of the rotating cylinder 41, a scale 9 is arranged on the side wall of the body 1, and the scale 9 is concentrically arranged with the machine arm 12, a pointer 10 is fixedly connected to the side wall of the connecting rod 42, the pointer 10 is perpendicular to the side wall of the connecting rod 42, and the pointer 10 points to the scale line of the scale 9, and the rotation angle of the connecting rod 42 can be intuitively displayed by the pointer 10 and the scale 9. The opening angle of one side of the through slot 43 is 335 degrees, and the opening angle of the other side of the through slot 43 is 5 degrees. The side wall of the body 1 is provided with a through slot 43, the connecting rod 42 is fixedly connected to a connecting column 48, and the connecting column 48 is fixedly connected to a sealing plate 44, the sealing plate 44 is arranged inside the body 1, and the sealing plate 44 abuts against the inner wall of the body 1, and the length of the sealing plate 44 is large The sealing plate 44 is used to block the through slot 43 to prevent foreign matter from entering the interior of the machine body 1 through the through slot 43, which is conducive to keeping the interior of the machine body 1 clean and tidy. A fixing plate 45 is fixedly connected to the side wall of the sealing plate 44. The fixing plate 45 and the connecting rod 1 42 are in the same horizontal direction. Rotating the connecting rod 1 42 rotates the fixing plate 45. A connecting ring 7 is fixedly connected to the machine arm 12, and a mounting rod 8 is fixedly connected to the side wall of the connecting ring 7. A magnet 2 47 and a magnet 1 46 are respectively fixedly connected between the opposite surfaces of the mounting rod 8 and the fixing plate 45, and the magnet 1 46 and the magnet 2 47 are attracted to each other. A plurality of machine arms 12 are distributed in a rectangular shape, and a connecting rod 2 11 is fixedly connected between every two fixing plates 45 in the horizontal direction. The connecting rod 2 11 can drive the fixing plates 45 in the same horizontal direction to rotate together with the connecting rod 1 42, thereby reducing the number of times the connecting rod 1 42 needs to be rotated.

[0044] Specifically, the arm 12 rotates under the action of the adjustment mechanism 2, so that the magnet 2 47 on the side of the mounting rod 8 is attracted to the magnet 1 46 on the side of the fixing plate 45, thereby limiting the mounting rod 8 and the arm 12, so that the arm 12 and the rotor 3 can be kept in a forward tilted state, and to a certain extent can resist factors such as airflow that cause the arm 12 and the rotor 3 to recover, and prevent the arm 12 and the rotor 3 from easily rotating from the forward tilted state due to airflow factors. The arm 12 and the rotor 3 can always maintain a tilted state, which is beneficial to the forward flight of the drone. The inclination angle range of the arm 12 can be 5-20 degrees.

[0045] Please pay attention to Figure 4 , Fig. 9 A limiting mechanism 25 is provided on the connecting rod 1 42, and the limiting mechanism 25 is used to limit the connecting rod 1 42. The limiting mechanism 25 includes a mounting block 52 fixedly connected to the side of the connecting rod 1 42, and a threaded rod 53 is provided on the mounting block 52. The threaded rod 53 passes through the mounting block 52 and is threadedly connected to the mounting block 52. The bottom end of the threaded rod 53 is fixedly connected to the limiting block 54, and the side of the body 1 is provided with an anti-slip pattern 51.

[0046] Specifically, the threaded rod 53 is rotated to drive the limit block 54 to move and contact the anti-slip groove 51, and static friction is formed between the limit block 54 and the anti-slip groove 51, so that the connecting rod 42 will not be easily moved by external force, thereby limiting the connecting rod 42 and the fixing plate 45.

[0047] Please pay attention to Figure 5 , Fig.10 The limiting mechanism 3 6 includes a fixed block 61 fixedly connected to the side wall of the sealing plate 44, and a plurality of slots 63 are provided on the side of the fixed block 61. A plurality of blocks 62 are fixedly connected to the side of the mounting rod 8 away from the fixed plate 45, and the blocks 62 and the slots 63 are mutually engaged.

[0048] Specifically, when the machine arm 12 rotates in the opposite direction with the adjustment mechanism 2 and remains vertical, the mounting rod 8 fits with the fixing block 61 , and the clamping block 62 is clamped with the clamping slot 63 , thereby limiting the vertical state of the mounting rod 8 and the machine arm 12 .

[0049] Please pay attention to Figure 4 An infrared transmitter 13 is fixedly mounted on the side wall of the machine body 1 , and the output end of the infrared transmitter 13 is vertically downward. An infrared receiver 14 is fixedly mounted on the outer wall of the rotating cylinder 41 , and the infrared receiver 14 is arranged directly below the infrared transmitter 13 .

[0050] Specifically, a controller is provided inside the drone, and an ARM architecture chip is provided inside the controller. When the drone is ascending or descending without adjusting the angle of the rotor 3, the infrared receiver 14 receives the infrared rays emitted by the infrared transmitter 13 directly above. When the drone moves forward, the adjustment mechanism 2 changes the angle of the rotor 3, causing the rotor 3 to tilt forward, that is, the connecting rod 42 is at Figure 4 The connecting rod 42 is rotated clockwise, and the infrared ray is blocked by the connecting rod 42. The infrared receiver 14 no longer receives the infrared ray. The infrared receiver 14 transmits a pulse signal to the controller, and then can record the actual number of times the angle of the rotor 3 changes, which is convenient for the user to compare at the control terminal, and can be used to detect whether the angle adjustment of the rotor 3 is effective and the actual number of times it is effective.

[0051] How it works

[0052] When forward flight is required:

[0053] The connecting rod 42 is rotated in advance to an angle of 11 degrees, that is, 349 degrees on the scale 9, and then the threaded rod 53 is rotated to drive the limit block 54 to move and contact the anti-skid pattern 51. Static friction is formed between the limit block 54 and the anti-skid pattern 51, so that the connecting rod 42 will not be easily moved by external force, and then the connecting rod 42 and the fixing plate 45 are limited. Then the driving motor 21 drives the rotating shaft 22 and the worm 23 to rotate, so that the worm wheel 24 can be driven to rotate, and the worm wheel 24 rotates to make the rotating shaft 22 and the worm 23 rotate. The rod 25 and the arm 12 rotate, and the rotation of the arm 12 can cause the rotor 3 to have an inclination angle. The rotation of the arm 12 will drive the mounting rod 8 to rotate, and the magnet 2 47 on the side of the mounting rod 8 will attract the magnet 1 46 on the side of the fixing plate 45, thereby limiting the mounting rod 8 and the arm 12, and the tilted state of the arm 12 is maintained. At this time, the output power of the two rotors 3 on one diagonal line remains unchanged, and the output power of the two rotors 3 on the other diagonal line is changed, one increases and the other decreases, thereby realizing the forward flight of the UAV.

[0054] The arm 12 of this case tilts forward 11 degrees. When the fuselage is horizontal, the forward flying speed is about 7 meters per second. For the same drone with no tilt angle of the arm 12, when flying at 7 meters per second, the fuselage needs to tilt forward 11 degrees. When the fastest forward flying speed of the drone is 20 meters per second, the maximum tilt angle of the flight is about 35 degrees. The fuselage of the drone in this case only needs to tilt forward 24 degrees at the maximum flight speed, which effectively reduces the wind resistance of the drone flying forward.

[0055] The drone is provided with a controller, and the controller is provided with an ARM architecture chip. When the drone is ascending or descending without adjusting the angle of the rotor 3, the infrared receiver 14 receives the infrared rays emitted by the infrared transmitter 13 directly above. When the drone moves forward, the adjustment mechanism 2 changes the angle of the rotor 3, causing the rotor 3 to tilt forward, that is, the connecting rod 42 is in the Figure 4 The connecting rod 42 is rotated clockwise, and the infrared ray is blocked by the connecting rod 42. The infrared receiver 14 no longer receives the infrared ray. The infrared receiver 14 transmits a pulse signal to the controller, and then can record the actual number of times the angle of the rotor 3 changes, which is convenient for the user to compare at the control terminal, and can be used to detect whether the angle adjustment of the rotor 3 is effective and the actual number of times it is effective.

[0056] The inclination angle of the arm and the rotor is adjusted through the adjustment mechanism. The rotor itself is actively tilted (that is, the angle of attack of the rotor is adjusted), which will change the direction and size of the lift of each rotor. By tilting the rotor, the relative angle between the rotor and the air is actually changed, which directly affects the direction of the lift. When the rotor is actively tilted, the vertical and horizontal components of the lift can be changed. For example, by tilting the rotor, the direction of the lift can be biased to the rear, reducing the pitch angle of the fuselage, thereby reducing the windward surface and reducing air resistance. The tilt of the rotor can effectively reduce the pitch angle of the drone (the angle of the nose upward), thereby making the drone's posture more stable and reducing the air resistance caused by the tilt of the fuselage.

[0057] When lifting is required:

[0058] The motor 21 is driven in reverse to move the mounting rod 8 away from the fixing plate 45. The mounting rod 8 is rotated to a vertical state and fits with the fixing block 61. At this time, the block 62 and the slot 63 are engaged, thereby limiting the vertical state of the mounting rod 8 and the arm 12, so that the rotor 3 changes from an inclined state to a vertical state. At this time, the output power of the rotor 3 is increased to enable it to rise, otherwise it will fall.

[0059] An example of the present specific implementation mode is described above, but the present embodiment is not limited to the above-mentioned specific implementation mode, which is merely illustrative and not restrictive. A person skilled in the art may make many forms inspired by the present embodiment, all of which are protected by the present embodiment.

Claims

1. A multi-rotor drone with tilted arms, characterized in that: It comprises a body (1) and a plurality of rotors (3), wherein the side wall of the body (1) is rotatably connected to a plurality of arms (12), and the number of the arms (12) is equal to the number of the rotors (3), and the rotors (3) are fixedly connected to the arms (12); An adjusting mechanism (2) is arranged in the machine body (1), and the adjusting mechanism (2) is used to adjust the front and rear inclination angle of the machine arm (12). A limiting mechanism (4) and a limiting mechanism (6) are also arranged in the machine body (1), and the limiting mechanism (4) is used to limit the machine arm (12) in an inclined state, and the limiting mechanism (6) is used to limit the machine arm (12) in a vertical state. The limiting mechanism 1 (4) comprises a rotating cylinder (41) rotatably arranged on the side wall of the machine body (1), the rotating cylinder (41) being arranged concentrically with the machine arm (12), the side wall of the rotating cylinder (41) being fixedly connected with a connecting rod 1 (42), the connecting rod 1 (42) being provided with a limiting mechanism 2 (5), the limiting mechanism 2 (5) being used for limiting the connecting rod 1 (42), the side wall of the machine body (1) being provided with a through groove (43), the connecting rod 1 (42) being fixedly connected with a connecting column (48), and the connecting column (48) being fixedly connected with a sealing plate (44) The sealing plate (44) is arranged inside the machine body (1), and the sealing plate (44) contacts the inner wall of the machine body (1); a fixing plate (45) is fixedly connected to the side wall of the sealing plate (44); a connecting ring (7) is fixedly connected to the machine arm (12), and a mounting rod (8) is fixedly connected to the side wall of the connecting ring (7); a second magnet (47) and a first magnet (46) are respectively fixedly connected between the opposite surfaces of the mounting rod (8) and the fixing plate (45), and the first magnet (46) and the second magnet (47) are attracted to each other; the length of the sealing plate (44) is greater than the length of the through slot (43).

2. A multi-rotor drone with tilted arms according to claim 1, characterized in that: The regulating mechanism (2) comprises a motor (21) fixedly connected to the top wall of the machine body (1); the output end of the motor (21) is fixedly connected to a rotating shaft (22), and the rotating shaft (22) is arranged inside the machine body (1); the rotating shaft (22) is integrally formed from top to bottom and has a plurality of worms (23); a rotating rod (25) is also arranged inside the machine body (1), and both ends of the rotating rod (25) are fixedly connected to the machine arm (12); a worm wheel (24) is fixedly connected to the rotating rod (25), and the worm wheel (24) is meshingly connected to the worm (23).

3. The multi-rotor drone with tilted arms according to claim 1, characterized in that: The limiting mechanism three (6) comprises a fixed block (61) fixedly connected to the side wall of the sealing plate (44), a plurality of slots (63) being provided on the side of the fixed block (61), a plurality of blocks (62) being fixedly connected to the side of the mounting rod (8) away from the fixed plate (45), and the blocks (62) and the slots (63) being mutually engaged.

4. The multi-rotor drone with tilted arms according to claim 1, characterized in that: The second limiting mechanism (5) comprises a mounting block (52) fixedly connected to the side of the first connecting rod (42), a threaded rod (53) being arranged on the mounting block (52), the threaded rod (53) passing through the mounting block (52) and being threadedly connected to the mounting block (52), the bottom end of the threaded rod (53) being fixedly connected to the limiting block (54), and the side of the machine body (1) being provided with anti-slip grooves (51).

5. The multi-rotor UAV with tilted arms according to claim 1, characterized in that: A scale (9) is provided on the side wall of the machine body (1), and the scale (9) is arranged concentrically with the machine arm (12).

6. The multi-rotor drone with tilted arms according to claim 1, characterized in that: The plurality of machine arms (12) are distributed in a rectangular shape, and a second connecting rod (11) is fixedly connected between each two fixing plates (45) in the horizontal direction.

7. The multi-rotor UAV with tilted arms according to claim 5, characterized in that: The opening angle of one side of the through slot (43) is 335 degrees, and the opening angle of the other side of the through slot (43) is 5 degrees.

8. The multi-rotor UAV with tilted arms according to claim 5, characterized in that: A pointer (10) is fixedly connected to the side wall of the connecting rod (42), the pointer (10) is perpendicular to the side wall of the connecting rod (42), and the pointer (10) points to the scale line of the scale gauge (9).

9. The multi-rotor drone with tilted arms according to claim 1, characterized in that: An infrared transmitter (13) is fixedly mounted on the side wall of the machine body (1), with the output end of the infrared transmitter (13) facing vertically downward; an infrared receiver (14) is fixedly mounted on the outer wall of the rotating cylinder (41), and the infrared receiver (14) is arranged directly below the infrared transmitter (13).

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