Multi-rotor unmanned aerial vehicle

Abstract

The invention relates to the technical field of unmanned aerial vehicles, and discloses a multi-rotor unmanned aerial vehicle which comprises an unmanned aerial vehicle body, a brushless motor and a sensing module, a rotating shell is installed on the surface of the unmanned aerial vehicle body and is of a square hollow structure, and an opening is formed in the end, away from the unmanned aerial vehicle body, of the rotating shell; a rotating frame is installed at an opening in the upper end of the rotating shell and is of a bent structure, transverse rods are installed on the inner side faces of the two ends of the rotating frame, the two ends of each transverse rod are rotationally connected with the two ends of the rotating frame respectively, and a fixing sleeve is fixedly connected to the middle of each transverse rod. According to the unmanned aerial vehicle, a brushless motor on the unmanned aerial vehicle drives paddles to rotate, take-off and landing of the unmanned aerial vehicle are achieved, the whole unmanned aerial vehicle is supported through a supporting frame, a rotating shell is installed on the surface of the unmanned aerial vehicle, and two sets of threaded rods are driven to rotate through a transmission motor and a rotating motor in the rotating shell; and an inner gear and an outer gear are meshed on the two groups of threaded rods.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicles, and particularly to a multi-rotor unmanned aerial vehicle. Background Art

[0002] An unmanned aerial vehicle is an aircraft that does not require a pilot on board. A multi-rotor unmanned aerial vehicle is the most common type in current consumer and some industrial applications. It generates lift and controls the flight attitude by the rotation of multiple rotors. By changing the rotational speeds of the four rotors, various actions such as ascending, descending, moving forward, moving backward, and turning of the unmanned aerial vehicle can be achieved. The advantages of a multi-rotor unmanned aerial vehicle are that it can take off and land vertically, is flexible to operate, and can complete flight tasks in a relatively small space. In the field of unmanned aerial vehicles, there is a lack of a photovoltaic system, and few unmanned aerial vehicles are equipped with a photovoltaic system. From the perspective of the prior art, a photovoltaic unmanned aerial vehicle is an aircraft that applies photovoltaic power generation technology to the power system of the unmanned aerial vehicle. Its main feature is that part or all of the energy supply is realized by solar panels installed on parts such as the wings and fuselage of the unmanned aerial vehicle. However, in existing photovoltaic unmanned aerial vehicles, the photovoltaic panels are fixed and cannot be adjusted. During flight, the problem that the photovoltaic panels cannot directly face the sun exists. Moreover, in existing unmanned aerial vehicles, when subjected to external forces, the fuselage will be unstable. Usually, the high-speed rotation of the wings is used to achieve the balance of the unmanned aerial vehicle, and the problem of slow balance search speed exists. For this reason, we propose a multi-rotor unmanned aerial vehicle. Summary of the Invention

[0003] (1) Technical Problems to be Solved

[0004] Aiming at the deficiencies of the prior art, the present invention provides a multi-rotor unmanned aerial vehicle, which solves the problems that in existing unmanned aerial vehicles, the photovoltaic panels are fixed and cannot be adjusted, and the balance search speed is slow.

[0005] (2) Technical Solutions

[0006] To achieve the above object, the present invention is realized through the following technical solutions: A multi-rotor drone, including a drone main body, a brushless motor, and a sensing module. A rotating outer shell is installed on the surface of the drone main body. The rotating outer shell has a square hollow structure, and an opening is provided at one end of the rotating outer shell away from the drone main body. A rotating frame is installed at the upper opening of the rotating outer shell. The rotating frame has a bent structure, and cross bars are installed on the inner sides of both ends of the rotating frame. The two ends of the cross bar are respectively rotatably connected to the two ends of the rotating frame, and a fixed sleeve is fixedly connected to the middle position of the cross bar. One side of the fixed sleeve away from the rotating frame is provided with a connecting rod. One end of the connecting rod is fixedly connected to the fixed sleeve, and a photovoltaic panel is installed at the other end of the connecting rod. A through hole is provided at the middle position of the connecting rod, and a rotating rod is inserted into the through hole. One end of the rotating rod is placed inside the bend of the rotating frame, and the other end of the rotating rod is fixedly connected to an internal gear. One end of the rotating rod at the bent position of the rotating frame is fixedly connected to a driving wheel. A driven wheel is installed on one side of the driving wheel. The driving wheel meshes with the driven wheel, and the driven wheel is fixedly connected to the cross bar. A rotating sleeve is sleeved on the outside of the rotating rod. The rotating sleeve has a cylindrical hollow structure, and openings are provided at both ends of the rotating sleeve. One end of the rotating sleeve is fixedly connected to the outside of the through hole of the rotating frame, and the other end of the rotating sleeve is fixedly connected to an external gear.

[0007] Preferably, tooth openings are provided on the arc-shaped sides of both the internal gear and the external gear. Threaded rods are installed on the opposite sides of the internal gear and the external gear respectively. The threads of the two threaded rods are respectively meshed with the internal gear and the external gear. A rotating shaft is installed on the plane of the internal gear away from the external gear. One side of the rotating shaft is fixedly connected to the internal gear, and the other side of the rotating shaft is fixedly connected to the bottom inner wall of the rotating outer shell. The internal gear, the external gear, the rotating rod, and the rotating sleeve are all placed inside the rotating outer shell.

[0008] Preferably, one end of each of the two threaded rods is rotatably connected to the rotating outer shell, and the other end of the threaded rod passes through the rotating outer shell and is placed outside the rotating outer shell. The ends of the two threaded rods placed outside the rotating outer shell are respectively fixedly connected to a transmission motor and a rotating motor. The outer shells of the transmission motor and the rotating motor are fixedly connected to the outer wall of the rotating outer shell, and the output ends of the transmission motor and the rotating motor are respectively fixedly connected to the two threaded rods.

[0009] Preferably, a balance box is installed on one side of the drone main body away from the rotating outer shell. A support shaft is installed at one end of the balance box away from the drone main body. The support shaft has a cylindrical structure, and both ends of the support shaft are respectively fixedly connected to the inner wall of the balance box. A balance frame is rotatably connected to the support shaft.

[0010] Preferably, an opening is provided at the middle position of the balance frame. A transverse shaft is installed at the middle opening position of the balance frame. The transverse shaft is fixedly connected to the balance frame. A sleeve is sleeved outside the transverse shaft. Swing frames are fixedly connected to the arc-shaped outer walls of the two sleeves. The swing frame is in a semi-circular ring structure.

[0011] Preferably, a clamping ball is installed at the middle position of the swing frame. The swing frame, the sleeve and the clamping ball are fixedly connected and integrally formed. A turntable is installed on the side of the swing frame away from the balance frame. A clamping groove is provided on the turntable. The clamping groove is a spherical groove, and the clamping groove is clamped with the clamping ball.

[0012] Preferably, a correction motor is installed at the position of the turntable away from the clamping ball. The housing of the correction motor is fixedly connected inside the balance box, and the output end of the correction motor is fixedly connected to the turntable.

[0013] Preferably, connecting arms are rotatably connected to the positions of the balance frame near both ends. One end of the connecting arm is rotatably connected to the balance frame, and the other end of the connecting arm is rotatably connected to a slider. Two guide rails are installed inside one end of the balance box close to the drone body. The guide rails are in a cylindrical hollow structure, and an opening is provided at one end of the guide rail close to the balance frame. The two guide rails are internally slidably connected with sliders, and the diameter of one side of the opening of the guide rail is smaller than the diameter of the slider.

[0014] Preferably, a spring is installed on the side of the slider away from the connecting arm. One end of the spring is fixedly connected to the slider, and the other end of the spring is fixedly connected to the inner wall of the guide rail.

[0015] Preferably, four brushless motors are respectively installed at the positions of the drone body close to the four wings on the side. The housings of the four brushless motors are fixedly connected to the drone body, and the output ends of the brushless motors are fixedly connected with propellers. Two support frames are installed on one side of the drone body close to the balance box. A storage battery for storing electric energy is installed inside the drone body. An induction module is installed inside the balance box.

[0016] In summary, the technical effects and advantages of the present invention:

[0017] 1. The structure of the present invention is reasonable. The brushless motor on the drone drives the propeller blades to rotate, realizing the takeoff and landing of the drone. The support frame is used to support the whole drone. A rotating outer shell is installed on the surface of the drone. The transmission motor and the rotating motor inside the rotating outer shell drive two threaded rods to rotate. An internal gear and an external gear are engaged with the two threaded rods. Since the rotation of the internal gear drives the rotating rod to rotate, the rotating rod drives the driving wheel to rotate, so that the driving wheel drives the driven wheel and the cross bar to rotate, realizing the longitudinal rotation of the photovoltaic panel. The rotation of the external gear drives the rotating sleeve and the whole rotating frame to rotate, realizing the transverse rotation of the photovoltaic panel. The drone is equipped with a light sensing system, which drives the photovoltaic panel to rotate, so that the direction in the photovoltaic panel always faces the sun, improving the photovoltaic efficiency, converting light energy into electric energy, storing it inside the drone, and increasing the endurance of the drone.

[0018] 2. In the present invention, a balance box is installed at the bottom of the drone body. The induction module inside the balance box is used to detect whether the drone body loses balance due to external forces. The correction motor drives the turntable to rotate. Since the turntable is clamped with the ball, the swing frame converts the rotation of the turntable into the back-and-forth swing of the rotating frame. Since the swing frame is rotatably connected with the balance frame, the swing frame and the balance frame are combined to convert the rotation of the turntable into the longitudinal swing of the swing frame and the transverse swing of the balance frame. The combination of the guide rail, the slider and the connecting arm limits the swing distance of the balance plate. When the induction module detects that the whole loses balance due to external forces, the correction motor drives the balance frame to swing and hit the balance box, so that the whole quickly corrects the balance. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a schematic diagram of the overall structure of a multi-rotor drone of the present invention;

[0020] Figure 2 It is a schematic diagram of the overall structure of a multi-rotor drone of the present invention from another angle;

[0021] Figure 3 It is a schematic diagram of the internal structure of the rotating outer shell in a multi-rotor drone of the present invention;

[0022] Figure 4 It is a schematic cross-sectional structure diagram of the rotating rod in a multi-rotor drone of the present invention;

[0023] Figure 5 It is a schematic diagram of the internal structure of the balance box in a multi-rotor drone of the present invention;

[0024] Figure 6 It is a schematic diagram of the structure of the balance frame in a multi-rotor drone of the present invention;

[0025] Figure 7Schematic cross-sectional structure diagram of a balance frame in a multi-rotor unmanned aerial vehicle according to the present invention;

[0026] Figure 8 Schematic cross-sectional structure diagram of another angle of the balance frame in a multi-rotor unmanned aerial vehicle according to the present invention.

[0027] In the figure: 1, unmanned aerial vehicle body; 2, brushless motor; 3, propeller blade; 4, rotating housing; 5, balance box; 6, support frame; 7, photovoltaic panel; 8, drive motor; 9, threaded rod; 10, internal gear; 11, external gear; 12, rotating motor; 13, connecting rod; 14, rotating frame; 15, cross bar; 16, fixed sleeve; 17, driving wheel; 18, driven wheel; 19, rotating sleeve; 20, rotating rod; 21, rotating shaft; 22, correction motor; 23, turntable; 24, card slot; 25, card ball; 26, swing frame; 27, sleeve; 28, horizontal axis; 29, balance frame; 30, support shaft; 31, connecting arm; 32, slider; 33, guide rail; 34, spring; 35, induction module. Detailed implementation manners

[0028] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0029] Refer to Figures 1 - 8A multi-rotor UAV as shown includes a UAV body 1, a brushless motor 2, and an induction module 35. A rotating housing 4 is installed on the surface of the UAV body 1. The rotating housing 4 is of a square hollow structure, and an opening is provided at one end of the rotating housing 4 away from the UAV body 1. A rotating frame 14 is installed at the upper opening of the rotating housing 4. The rotating frame 14 is of a bent structure, and cross bars 15 are installed on the inner sides of both ends of the rotating frame 14. Both ends of the cross bar 15 are respectively rotatably connected to both ends of the rotating frame 14, and a fixed sleeve 16 is fixedly connected to the middle position of the cross bar 15. A connecting rod 13 is installed on one side of the fixed sleeve 16 away from the rotating frame 14. One end of the connecting rod 13 is fixedly connected to the fixed sleeve 16, and a photovoltaic panel 7 is installed at the other end of the connecting rod 13. A through hole is provided at the middle position of the connecting rod 13, and a rotating rod 20 is inserted through the through hole. One end of the rotating rod 20 is placed inside the bend of the rotating frame 14, and the other end of the rotating rod 20 is fixedly connected to an internal gear 10. One end of the rotating rod 20 at the bent position of the rotating frame 14 is fixedly connected to a driving wheel 17. A driven wheel 18 is installed on one side of the driving wheel 17. The driving wheel 17 meshes with the driven wheel 18, and the driven wheel 18 is fixedly connected to the cross bar 15. A rotating sleeve 19 is sleeved outside the rotating rod 20. The rotating sleeve 19 is of a cylindrical hollow structure, and openings are provided at both ends of the rotating sleeve 19. One end of the rotating sleeve 19 is fixedly connected to the outside of the through hole of the rotating frame 14, and an external gear 11 is fixedly connected to the other end of the rotating sleeve 19. Tooth openings are provided on the arc-shaped sides of both the internal gear 10 and the external gear 11. Threaded rods 9 are installed on the opposite sides of both the internal gear 10 and the external gear 11. The threads of the two threaded rods 9 mesh with the internal gear 10 and the external gear 11 respectively. A rotating shaft 21 is installed on the plane of the internal gear 10 away from the external gear 11. One side of the rotating shaft 21 is fixedly connected to the internal gear 10, and the other side of the rotating shaft 21 is fixedly connected to the bottom inner wall of the rotating housing 4. The internal gear 10, the external gear 11, the rotating rod 20, and the rotating sleeve 19 are all placed inside the rotating housing 4. One end of the two threaded rods 9 is rotatably connected to the rotating housing 4, and the other end of the threaded rod 9 passes through the rotating housing 4 and is placed outside the rotating housing 4. One ends of the two threaded rods 9 placed outside the rotating housing 4 are respectively fixedly connected to a driving motor 8 and a rotating motor 12. The housings of the driving motor 8 and the rotating motor 12 are fixedly connected to the outer wall of the rotating housing 4, and the output ends of the driving motor 8 and the rotating motor 12 are respectively fixedly connected to the two threaded rods 9. The brushless motor 2 on the UAV drives the propeller 3 to rotate to realize the takeoff and landing of the UAV. The support frame 6 is used to support the whole UAV. The rotating housing 4 is installed on the surface of the UAV. The driving motor 8 and the rotating motor 12 inside the rotating housing 4 drive the two threaded rods 9 to rotate. The internal gear 10 and the external gear 11 are meshed with the two threaded rods 9. Since the rotation of the internal gear 10 drives the rotating rod 20 to rotate, the rotating rod 20 drives the driving wheel 17 to rotate, so that the driving wheel 17 drives the driven wheel 18 and the cross bar 15 to rotate.Realize driving the photovoltaic panel 7 to rotate longitudinally. Utilize the rotation of the external gear 11 to drive the rotating sleeve 19 and the overall rotating frame 14 to rotate, so as to drive the photovoltaic panel 7 to rotate horizontally. Since the drone is equipped with a light sensing system, the light sensing system drives the photovoltaic panel 7 to rotate, ensuring that the direction of the photovoltaic panel 7 always faces the sun, improving the photovoltaic efficiency, converting light energy into electrical energy, storing it inside the drone, and increasing the endurance of the drone.

[0030] Wherein, a balance box 5 is installed on one side of the UAV body 1 away from the rotating housing 4. At one end of the inner side of the balance box 5 away from the UAV body 1, a support shaft 30 is installed. The support shaft 30 is of a cylindrical structure, and both ends of the support shaft 30 are fixedly connected to the inner wall of the balance box 5. A balance frame 29 is rotatably connected to the support shaft 30. An opening is provided at the middle position of the balance frame 29. A transverse shaft 28 is installed at the middle opening position of the balance frame 29. The transverse shaft 28 is fixedly connected to the balance frame 29. A sleeve 27 is sleeved outside the transverse shaft 28. Swing frames 26 are fixedly connected to the arc-shaped outer walls of the two sleeves 27. The swing frame 26 is of a semi-circular ring structure. A clamping ball 25 is installed at the middle position of the swing frame 26. The swing frame 26, the sleeve 27 and the clamping ball 25 are fixedly connected and integrally formed. A turntable 23 is installed on one side of the swing frame 26 away from the balance frame 29. A clamping groove 24 is provided on the turntable 23. The clamping groove 24 is a spherical groove, and the clamping groove 24 is clamped with the clamping ball 25. A correction motor 22 is installed at a position on the turntable 23 away from the clamping ball 25. The housing of the correction motor 22 is fixedly connected inside the balance box 5, and the output end of the correction motor 22 is fixedly connected to the turntable 23. Connecting arms 31 are rotatably connected to positions of the balance frame 29 close to both ends. One end of the connecting arm 31 is rotatably connected to the balance frame 29, and the other end of the connecting arm 31 is rotatably connected to a slider 32. Two guide rails 33 are installed inside one end of the balance box 5 close to the UAV body 1. The guide rails 33 are of a cylindrical hollow structure, and an opening is provided at one end of the guide rail 33 close to the balance frame 29. The slider 32 is slidably connected inside the two guide rails 33, and the diameter of one side of the opening of the guide rail 33 is smaller than the diameter of the slider 32. A spring 34 is installed on one side of the slider 32 away from the connecting arm 31. One end of the spring 34 is fixedly connected to the slider 32, and the other end of the spring 34 is fixedly connected to the inner wall of the guide rail 33. A balance box 5 is installed at the bottom end of the UAV body 1. The induction module 35 inside the balance box 5 is used to detect whether the UAV body 1 loses balance due to external forces. The correction motor 22 drives the turntable 23 to rotate. Since the turntable 23 is clamped with the clamping ball 25, the swing frame 26 converts the rotation of the turntable 23 into the back-and-forth swing of the rotating frame 14. Since the swing frame 26 is rotatably connected to the balance frame 29, the swing frame 26 and the balance frame 29 are combined to convert the rotation of the turntable 23 into the longitudinal swing of the swing frame 26 and the transverse swing of the balance frame 29. The combination of the guide rail 33, the slider 32 and the connecting arm 31 is used to limit the swing distance of the balance plate. When the induction module 35 detects that the whole loses balance due to external forces, the correction motor 22 drives the balance frame 29 to swing and hit the balance box 5, so that the whole quickly corrects the balance.

[0031] Among them, four brushless motors 2 are respectively installed on the side of the UAV body 1 close to the four groups of wings. The outer shells of the four brushless motors 2 are fixedly connected to the UAV body 1, and the output ends of the brushless motors 2 are fixedly connected with propellers 3. Two groups of support frames 6 are installed on one side of the UAV body 1 close to the balance box 5. A storage battery for storing electric energy is installed inside the UAV body 1, and an induction module 35 is installed inside the balance box 5.

[0032] The working principle of the present invention: The brushless motor 2 on the UAV drives the propeller 3 to rotate to realize the takeoff and landing of the UAV. The support frame 6 is used to support the whole UAV. A rotating outer shell 4 is installed on the surface of the UAV. The transmission motor 8 and the rotating motor 12 inside the rotating outer shell 4 drive two groups of threaded rods 9 to rotate. Two groups of internal gears 10 and external gears 11 are engaged with the two groups of threaded rods 9. Since the rotation of the internal gear 10 drives the rotating rod 20 to rotate, the rotating rod 20 drives the driving wheel 17 to rotate, so that the driving wheel 17 drives the driven wheel 18 and the cross bar 15 to rotate, realizing the longitudinal rotation of the photovoltaic panel 7. The rotation of the external gear 11 drives the rotating sleeve 19 and the whole rotating frame 14 to rotate, realizing the transverse rotation of the photovoltaic panel 7. The UAV is equipped with a light sensing system, which drives the photovoltaic panel 7 to rotate, so that the direction in the photovoltaic panel 7 always faces the sun, improving the photovoltaic efficiency, converting light energy into electric energy, storing it inside the UAV, and increasing the endurance of the UAV. A balance box 5 is installed at the bottom of the UAV body 1. The induction module 35 inside the balance box 5 is used to detect whether the UAV body 1 loses balance due to external forces. The correction motor 22 drives the turntable 23 to rotate. Since the turntable 23 is clamped with the clamping ball 25, the swing frame 26 converts the rotation of the turntable 23 into the back-and-forth swing of the rotating frame 14. Since the swing frame 26 is rotatably connected with the balance frame 29, the swing frame 26 and the balance frame 29 are combined to convert the rotation of the turntable 23 into the longitudinal swing of the swing frame 26 and the transverse swing of the balance frame 29. The combination of the guide rail 33, the slider 32 and the connecting arm 31 limits the swing distance of the balance plate. When the induction module 35 detects that the whole loses balance due to external forces, the correction motor 22 drives the balance frame 29 to swing and hit the balance box 5, so that the whole quickly corrects the balance.

[0033] All the electrical components mentioned in this article are connected to the external main controller and 220V mains, and the main controller can be a conventional known device such as a computer for control.

[0034] Finally, it should be noted that the above are only preferred embodiments of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or perform equivalent replacements for some of the technical features. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A multi-rotor drone, comprising a drone body (1), a brushless motor (2) and a sensing module (35), characterized in that: A rotating shell (4) is installed on the surface of the drone body (1). The rotating shell (4) is a square hollow structure, and an opening is provided at one end of the rotating shell (4) away from the drone body (1). A rotating frame (14) is installed at the upper opening of the rotating shell (4). The rotating frame (14) is a bent structure, and a cross bar (15) is installed on the inner side surfaces of both ends of the rotating frame (14). The two ends of the cross bar (15) are respectively rotatably connected to the two end positions of the rotating frame (14), and a fixing sleeve (16) is fixedly connected to the middle position of the cross bar (15). A connecting rod (13) is installed on the side of the fixing sleeve (16) away from the rotating frame (14). One end of the connecting rod (13) is fixedly connected to the fixing sleeve (16), and a photovoltaic panel (7) is installed at the other end of the connecting rod (13). The middle position of the connecting rod (13) is provided with a A through hole is provided in the through hole, wherein a rotating rod (20) is inserted into the through hole, one end of the rotating rod (20) is placed on the inner side of the bend of the rotating frame (14), and the other end of the rotating rod (20) is fixedly connected to the internal gear (10), one end of the rotating rod (20) placed at the bend position of the rotating frame (14) is fixedly connected to a driving wheel (17), a driven wheel (18) is installed on one side of the driving wheel (17), the driving wheel (17) is meshed with the driven wheel (18), and the driven wheel (18) is fixedly connected to the cross bar (15), a rotating sleeve (19) is sleeved on the outer side of the rotating rod (20), the rotating sleeve (19) is a cylindrical hollow structure, and openings are provided at both ends of the rotating sleeve (19), one end of the rotating sleeve (19) is fixedly connected to the outer side of the through hole of the rotating frame (14), and the other end of the rotating sleeve (19) is fixedly connected to the external gear (11).

2. A multi-rotor drone according to claim 1, characterized in that: The arc-shaped sides of the inner gear (10) and the outer gear (11) are both provided with tooth openings. Threaded rods (9) are installed on opposite sides of the inner gear (10) and the outer gear (11). The threads of the two groups of threaded rods (9) are respectively meshed with the inner gear (10) and the outer gear (11). A rotating shaft (21) is installed on a plane on a side of the inner gear (10) away from the outer gear (11). One side of the rotating shaft (21) is fixedly connected to the inner gear (10), and the other side of the rotating shaft (21) is fixedly connected to the inner wall of the bottom end of the rotating outer shell (4). The inner gear (10), the outer gear (11), the rotating rod (20) and the rotating sleeve (19) are all arranged inside the rotating outer shell (4).

3. A multi-rotor drone according to claim 2, characterized in that: One end of the two groups of threaded rods (9) is rotatably connected to the rotating housing (4), and the other end of the threaded rod (9) passes through the rotating housing (4) and is placed outside the rotating housing (4); one end of the two groups of threaded rods (9) placed outside the rotating housing (4) is respectively fixedly connected to the transmission motor (8) and the rotating motor (12); the housings of the transmission motor (8) and the rotating motor (12) are both fixedly connected to the outer wall of the rotating housing (4), and the output ends of the transmission motor (8) and the rotating motor (12) are respectively fixedly connected to the two groups of threaded rods (9).

4. A multi-rotor UAV according to claim 1, characterized in that: A balancing box (5) is installed on a side of the drone body (1) away from the rotating housing (4); a support shaft (30) is installed on an inner side of the balancing box (5) at an end away from the drone body (1); the support shaft (30) is in a cylindrical structure, and both ends of the support shaft (30) are respectively fixedly connected to the inner wall of the balancing box (5); and a balancing frame (29) is rotatably connected to the support shaft (30).

5. A multi-rotor UAV according to claim 4, characterized in that: An opening is provided in the middle of the balancing frame (29), a transverse shaft (28) is installed in the middle opening of the balancing frame (29), the transverse shaft (28) is fixedly connected to the balancing frame (29), a sleeve (27) is sleeved on the outer side of the transverse shaft (28), and a swing frame (26) is fixedly connected to the arc-shaped outer walls of two groups of the sleeves (27), and the swing frame (26) is in a semicircular ring structure.

6. A multi-rotor UAV according to claim 5, characterized in that: A locking ball (25) is installed in the middle of the swing frame (26); the swing frame (26), the sleeve (27) and the locking ball (25) are all fixedly connected and integrally formed; a turntable (23) is installed on a side of the swing frame (26) away from the balance frame (29); a locking groove (24) is provided on the turntable (23); the locking groove (24) is a spherical groove, and the locking groove (24) is locked with the locking ball (25).

7. A multi-rotor UAV according to claim 6, characterized in that: A correction motor (22) is installed at a position of the rotating disk (23) away from the stuck ball (25); a housing of the correction motor (22) is fixedly connected to the inside of the balance box (5), and an output end of the correction motor (22) is fixedly connected to the rotating disk (23).

8. A multi-rotor UAV according to claim 7, characterized in that: The balance frame (29) is rotatably connected to a connecting arm (31) near both ends, one end of the connecting arm (31) is rotatably connected to the balance frame (29), and the other end of the connecting arm (31) is rotatably connected to a slider (32), and two groups of guide rails (33) are installed inside the end of the balance box (5) near the drone body (1), the guide rails (33) are cylindrical hollow structures, and an opening is opened at one end of the guide rails (33) near the balance frame (29), the two groups of guide rails (33) are slidably connected to the slider (32), and the diameter of one side of the opening of the guide rail (33) is smaller than the diameter of the slider (32).

9. A multi-rotor UAV according to claim 8, characterized in that: A spring (34) is installed on the side of the slider (32) away from the connecting arm (31); one end of the spring (34) is fixedly connected to the slider (32), and the other end of the spring (34) is fixed to the inner wall of the guide rail (33).

10. The multi-rotor UAV according to claim 1, characterized in that: Four sets of brushless motors (2) are respectively installed on the sides of the drone body (1) near the four sets of wings, the shells of the four sets of brushless motors (2) are fixedly connected to the drone body (1), and the output ends of the brushless motors (2) are fixedly connected to the blades (3), two sets of support frames (6) are installed on one side of the drone body (1) near the balance box (5), a battery for storing electric energy is installed inside the drone body (1), and a sensing module (35) is installed inside the balance box (5).

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