Paddle collecting device of multi-rotor unmanned aerial vehicle

Abstract

The utility model provides a propeller collecting device of a multi-rotor unmanned aerial vehicle. The propeller collecting device comprises a nest body, and at least one pair of centering mechanisms is arranged on the upper surface of the nest body. The nest body is connected with a top door, and the top door is connected to the nest body in an openable and closable mode. A paddle shifting plate is arranged on the inner side surface of the top door. After the unmanned aerial vehicle lands on the parking apron, the unmanned aerial vehicle can be stored in the small nest body, the size of the nest body is reduced, the space utilization rate of the nest body is improved, the paddle stirring plates can prevent the paddles and the top door from forming dead angles, damage to the paddles is avoided, and safe storage of the unmanned aerial vehicle is guaranteed.

Description

Technical Field

[0001] The utility model belongs to the technical field of unmanned aerial vehicles (UAVs), and in particular relates to a propeller retracting device for a multi-rotor UAV. Background Art

[0002] A multi-rotor drone is a specialized unmanned aerial vehicle (UAV) with three or more rotor shafts. Each rotor shaft is equipped with an electric motor and propeller. By varying the rotational speed of each rotor, lift control and attitude adjustment are achieved, ultimately achieving flight control. Multi-rotor drones are widely used in both civilian and professional fields due to their simple design, ease of operation, and high reliability. Unmanned drone nests serve as a base for the automated storage and maintenance of drones. Smaller and lighter nests not only facilitate nest site selection and temperature control, but also expand application scenarios. To ensure that drones can fit into smaller nests, the propellers must be retracted after landing. During this retraction process, the propeller blade tips can potentially hit the side of the top door, creating a dead zone for retraction and causing the propellers to become stuck. Continuing to close the top door can break the propellers or even damage the drone.

[0003] Therefore, the above problems need to be solved urgently. Utility Model Content

[0004] Purpose of the utility model: In order to overcome the above shortcomings, the utility model provides a propeller retraction device for a multi-rotor UAV, which can store the UAV into a small machine nest, reduce the space occupied by the machine nest, improve the portability of the machine nest, and avoid the problem of blade damage during the storage of the UAV.

[0005] Technical solution: In order to achieve the above-mentioned purpose, the utility model provides a propeller retracting device for a multi-rotor UAV, including a nest body, a nest body, and at least one pair of centering mechanisms provided on the upper surface of the nest body. The nest body is connected to a top door, which is openably and closably connected to the nest body. A paddle plate is provided on the inner side of the top door. During the closing process of the top door, the paddle plate moves the propeller blades of the UAV to retract. During use, the UAV lands on the upper surface of the nest body, the propeller blades of the UAV are foldable, and at least one pair of centering mechanisms centers the UAV. During the closing process of the top door, the paddle plate contacts the propeller blades of the UAV, and the propeller blades slide and retract along the paddle plate until the top door is completely closed, completing the propeller retraction action and storing the UAV in the nest. The utility model can store the UAV into a smaller nest body after the UAV lands on the helipad, thereby reducing the volume of the nest body and improving the space utilization rate of the nest body. The paddle plate can avoid the formation of dead angles between the propeller blades and the internal corners of the top door, which may cause damage to the propeller blades, thereby ensuring the safe storage of the UAV.

[0006] Furthermore, the propeller retraction device of the multi-rotor drone mentioned above includes at least one set of driving devices, which are connected to the side of the nest. The top door includes a first top door and a second top door, and the first top door is connected to one side of the nest through a set of driving devices. The second top door is connected to the side of the nest away from the first top door through a set of driving devices, and the driving devices drive the first top door and the second top door to move horizontally respectively. When the first top door and the second top door are closed, a shell with an open lower end is formed. When the first top door and the second top door are closed, the angle relative to the nest remains unchanged. The driving devices drive the first top door and the second top door to move closer to the middle respectively, and the paddle plates arranged on the inner sides of the first top door and the second top door push the blades to move. The blades slide along the paddle plates until the first top door and the second top door are completely closed, and the propeller retraction is completed.

[0007] Furthermore, in the propeller retraction device of the multi-rotor drone described above, the first top door and the second top door respectively include a connecting plate, and the two ends of the connecting plate are respectively connected to a side plate in an integral manner. The paddle plate is arc-shaped when viewed from above, and one end of the paddle plate is connected to the side plate away from the end of the connecting plate, and the end of the paddle plate away from the side plate is connected to the middle part of the connecting plate. The paddle plates are arranged corresponding to the propellers of the drone. During the closing process of the first and second top doors, the paddle plate connected to one end of the connecting plate first contacts one of the propeller blades of the drone, and the propeller blade of the drone slides and retracts along the arc-shaped paddle plate. The arc-shaped paddle plate can ensure that the propeller blade contacts the paddle plate from any angle, and the propeller blade will not be stuck, thereby preventing the propeller blade from being stuck and breaking, and preventing damage to the drone.

[0008] Furthermore, in the propeller retraction device of the above-mentioned multi-rotor UAV, elastic members are respectively connected to the opposite sides of the openings of the first top door and the second top door, and the elastic members and the paddle plates are correspondingly arranged. When the first top door and the second top door are closed, the elastic member contacts the UAV blades. When the UAV lands on the top surface of the nest body and the first top door and the second top door are closed to retract the propellers, since the first top door and the second top door must have a certain wall thickness in order to ensure sufficient mechanical strength, when the relative opening side walls contact the propellers, the propellers will get stuck and cannot be folded and retracted. When the first top door and the second top door are closed, when the propellers are at an angle of contact with the side walls of the openings of the first top door and the second top door, the elastic member first contacts the UAV blades, and the elastic member is pushed by the propellers to bend and deform toward the outside of the top door. The propellers slide along the elastic member and begin to retract the propellers. The elastic member guides the propellers to slide to the paddle retracting plate to complete the retraction of the propellers. For example, when the first and second top doors are closed, a dead angle forms between the propeller blades and the elastic member, causing the elastic member to deform and bend. As the elastic member bends, the dead angle is eliminated, allowing the propeller blades to slide along the surface of the elastic member and begin to retract. The propeller blades then slide to the paddle plate, causing the elastic member to recover. Ultimately, the first and second top doors are fully closed, completing the retraction process. Alternatively, the elastic member bends until sufficient elastic potential energy accumulates, pushing the propeller blades to retract. The elastic member is a flexible plate.

[0009] Furthermore, in the above-mentioned multi-rotor drone's paddle retracting device, the elastic member includes an integrally arranged connecting portion and a paddle retracting portion, the connecting portion is connected to the inner side wall of the paddle plate, the paddle retracting portion provided on the first top door extends toward the second top door, and the paddle retracting portion provided on the second top door extends toward the first top door, the paddle retracting portion and the drone's blades are arranged correspondingly, and the paddle retracting portion is arranged in the air. The paddle retracting portion extends out of the first top door and the second top door respectively, and when the blade is at an angle of contact with the side walls of the openings of the first and second top doors, it is ensured that the elastic member can contact the blade before the first and second top doors, and the elastic member first shifts the drone's blades and guides the blades to contact the paddle plate, eliminating the possibility of the blades getting stuck and damaged.

[0010] Furthermore, in the propeller retracting device of the multi-rotor drone, the driving device includes a swing arm, with a first synchronous wheel and a second synchronous wheel connected to both ends of the swing arm, respectively. The first synchronous wheel is fixedly connected to the top door, and the second synchronous wheel is fixedly connected to the nest body. The swing arm is connected to one end of the second synchronous wheel and is driven by a motor, and the motor shaft of the motor passes through the center hole of the second synchronous wheel and is driven by the swing arm. A synchronous belt is wound around the first and second synchronous wheels. During the process of the driving device driving the first and second top doors to close, the motor drives the swing arm to rotate around the motor shaft. Since the second synchronous wheel is fixed to the nest body and does not rotate, and since the first and second synchronous wheels are connected by a synchronous belt, the first synchronous wheel does not rotate relative to the second synchronous wheel. As the swing arm swings, the first synchronous wheel moves without rotating, ensuring that the first and second top doors translate, and then the paddle plate translates, and the top doors are smoothly closed and the propellers are retracted.

[0011] Furthermore, in the propeller retracting device of the above-mentioned multi-rotor UAV, in order to ensure synchronous driving of the driving device, a synchronous shaft is passed through the two second synchronous wheels respectively provided in a group of driving devices, and the two second synchronous wheels respectively provided in a group of driving devices are synchronously connected.

[0012] Furthermore, in the propeller retraction device of the multi-rotor drone described above, the centering mechanism includes at least one pair of centering rods, which are slidably connected to a slide rail provided in the nest body. At least one pair of drive belts are provided inside the nest body, and the drive belts are respectively provided at both ends of the centering rods. The drive belts are wound around two drive wheels, and the drive belts include an upper belt portion located above the drive wheels and a lower belt portion located below the drive wheels. The pair of centering rods are respectively connected to the upper belt portion and the lower belt portion. The drive belts drive the pair of centering rods to separate and combine. The drive wheels are connected to a motor. The motor drives the drive belt to rotate via the drive wheel, and the upper belt portion of the drive belt drives the centering rod connected to the upper belt portion to move to one side. Since the movement direction of the lower belt portion is opposite to that of the upper belt portion, the lower belt portion drives the centering rod connected to the lower belt portion to move to the other side. The centering rods move synchronously in opposite directions, achieving synchronous separation or synchronous convergence, thereby achieving the centering and storage of the drone.

[0013] Furthermore, in the propeller retraction device of the multi-rotor drone, a pair of centering mechanisms are arranged in a cross pattern. A pair of centering rods are each equipped with a charging head, which is connected to the center of each rod. Each of the centering rods, each equipped with a charging head, has a stopper at one end, which limits the centering rod. The stopper is connected to the top surface of the nest and is arranged in a horizontal J-shape, with the hooks of the two stoppers mirrored relative to each other. This cross-shaped arrangement of the centering mechanisms enables the drone to be moved to the center of the nest.

[0014] Furthermore, in the propeller retracting device of the multi-rotor UAV, a monitoring device is fixed on the top door, and the monitoring device includes: an anemometer, a camera and a rain sensor.

[0015] It can be seen from the above technical solution that the utility model has the following beneficial effects: the propeller retraction device of the multi-rotor UAV of the utility model can retract the UAV into a smaller nest after the UAV lands on the helipad, thereby reducing the volume of the nest and improving the space utilization of the nest. The paddle plate can avoid the formation of a dead angle between the propeller blade and the inner wall corner of the top door, causing damage to the propeller blade, and ensure the safe storage of the UAV. The arc-shaped paddle plate can ensure that when the propeller blade contacts the paddle plate from any angle, the propeller blade will not be stuck on the side wall of the paddle plate, thereby avoiding the propeller blade from being stuck and broken, and avoiding damage to the UAV. An elastic member is provided to replace the contact between the side wall of the top door opening and the propeller blade, guiding the propeller blade and the paddle plate to contact, eliminating the possibility of the propeller blade being stuck and damaged, and ensuring the smooth closing and retraction of the propeller blade. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 This is a schematic diagram of the structure of the propeller retracting device of the multi-rotor UAV of the present invention;

[0017] Figure 2 This is a top view of the propeller retracting device of the multi-rotor UAV of the present invention;

[0018] Figure 3 Schematic diagram of the structure of the first top door;

[0019] Figure 4 is a schematic structural diagram of the driving device;

[0020] Figure 5 Schematic diagram of the centering mechanism structure.

[0021] In the figure: 1. nest body, 2. top door, 221. connecting plate, 222. side plate, 23. driving device, 231. swing arm, 232. first synchronous wheel, 233. second synchronous wheel, 24. elastic member, 241. connecting part, 242. paddle retracting part, 3. centering mechanism, 31. centering rod, 32. driving belt, upper belt part 321, 322, lower belt part, 33. driving wheel, 34. slide rail, 35. charging head, 36. limiting member, 4. paddle board, 5. monitoring equipment. DETAILED DESCRIPTION

[0022] Example 1

[0023] like Figure 1 The propeller retraction device of a multi-rotor UAV shown in the figure includes a nest 1, and the nest 1 is provided with at least one pair of centering mechanisms 3 on the upper surface of the nest 1. The nest 1 is connected to a top door 2, and the top door 2 is openably and closably connected to the nest 1. A paddle plate 4 is provided on the inner side of the top door 2. During the closing process of the top door 2, the paddle plate 4 moves the propeller blades of the UAV to retract. The top door 2 is provided with a monitoring device 5, and the above-mentioned monitoring device 5 includes: an anemometer, a camera and a rain sensor. During use, the UAV lands on the upper surface of the nest 1. The propeller blades of the UAV are foldable. The upper surface of the nest 1 is equivalent to the helipad. Since the propeller blades of the UAV are open and extend out of the helipad, the area occupied by the UAV is larger than the upper surface of the nest 1. In order to store the UAV in the top door 2, the propellers of the UAV need to be retracted. In addition, due to accuracy issues, the UAV is not in the center of the upper surface of the nest 1. At this time, at least one pair of centering mechanisms 3 need to be started first to center the UAV, and then the top door 2 is closed to retract the propellers. Specifically, during the closing process of the top door 2, the propeller blades of the drone at the four corners first contact the paddle board 4. As the top door 2 closes, the propeller blades slide and fold along the paddle board 4 until the top door 2 is completely closed, completing the paddle folding action, and the drone is also stored in the nest.

[0024] like Figure 2 The multi-rotor drone's propeller retraction mechanism includes at least one set of drive devices 23 connected to the side of the nest 1. The top door 2 includes a first top door 21 and a second top door 22. The first top door 21 is connected to one side of the nest 1 via a set of drive devices 23. The second top door 22 is connected to the side of the nest 1 away from the first top door 21 via a set of drive devices 23. The drive devices 23 drive the first and second top doors 21, 22 to move in translation, respectively. When closed, the first and second top doors 21, 22 form a housing with an open bottom. When closed, the first and second top doors 21, 22 maintain their angles relative to the nest 1. The driving device 23 drives the first top door 21 and the second top door 22 to move closer to the middle respectively. The process of the first top door 21 and the second top door 22 moving closer is also the process of the drone blades retracting. The blades need to slide along the paddle board 4 set on the inner side of the first top door 21 and the second top door 22 to retract. The paddle board 4 also bears the reverse force of the blades. In order to ensure the stability of the paddle board 4, the angles of the first top door 21 and the second top door 22 relative to the nest body 1 remain unchanged when closed until the first top door 21 and the second top door 22 are completely closed.

[0025] like Figure 3The paddle retracting device of the multi-rotor drone shown in the figure has a first top door 21 and a second top door 22, each including a connecting plate 221, with side plates 222 integrally connected to both ends of the connecting plate 221. The paddle plate 4 is arc-shaped when viewed from above, with one end of the paddle plate 4 connected to the end of the side plate 222 away from the connecting plate 221, and the end of the paddle plate 4 away from the side plate 222 connected to the middle of the connecting plate 221. The paddle plate 4 is arranged corresponding to the drone's propellers. The first top door 21 and the second top door 22 are respectively connected to the opposite sides of the elastic member 24, which is an elastic soft plate, and the elastic member 24 and the paddle plate 4 are arranged correspondingly. The elastic member 24 includes an integrally arranged connecting portion 241 and a paddle retracting portion 242. The connecting portion 241 is connected to the inner wall of the paddle plate 4. The paddle retracting portion 242 provided on the first top door 21 extends toward the second top door 22. The paddle retracting portion 242 provided on the second top door 22 extends toward the first top door 21. The paddle retracting portion 242 is arranged corresponding to the drone's blades and is suspended. When the drone lands on the top surface of the nest 1 and the first and second top doors 21 and 22 are closed to retract the paddles, since the first and second top doors 21 and 22 necessarily require a certain wall thickness to ensure sufficient mechanical strength, the side walls of the openings have a certain thickness. When the top doors contact the side walls of the openings and the paddles, the paddles will become stuck and unable to be folded and retracted. Continuing to close the first and second top doors 21 and 22 will cause the paddles to break or even damage the drone. When the drone lands on the helipad on the upper surface of the nest 1 and is already centered, the drone's blades extend out of the helipad, and during the closing process of the first top door 21 and the second top door 22, the following situations occur: In most cases, the drone's blades contact the paddle plate 4 and slide along the curved paddle plate 4, and the paddle plate 4 guides the blades to complete the retraction of the paddles. In this case, since the paddle plate 4 is curved, the blades and the paddle plate 4 are always in contact at an angle, and there will be no paddle corners. In another case, the angle of contact between the paddle plate 4 and the side wall of the opening of the top door 2. In this case, the elastic member 24 provided will come into contact with the blades, and the blades push the elastic member 24 to deform and bend. The blades slide along the elastic member and begin to retract the paddles. The elastic member guides the blades to slide to the paddle plate to complete the retraction of the paddles. Since the elastic member can bend, that is, the angle formed by the blades and the elastic member can change, there will be no dead angle for retraction, and the retraction of the paddles can be completed smoothly. If the blade abuts against the outer wall of the elastic member, causing the blade to become stuck, the elastic member will deform and bend as the top door closes. At this time, the angle of the outer wall of the elastic member changes, and the dead angle of the retraction is eliminated. Or, the elastic member accumulates sufficient elastic potential energy to push the blade to move, and the retraction begins. Finally, when the first top door 21 and the second top door 22 are closed, the retraction is complete.

[0026] like Figure 4The propeller retraction device of the multi-rotor drone shown in the figure has a drive device 23 comprising a swing arm 231, with a first synchronous pulley 232 and a second synchronous pulley 233 connected to each end. The first synchronous pulley 232 is fixedly connected to the top door 2, and the second synchronous pulley 233 is fixedly connected to the nest body 1. The swing arm 231 is connected to one end of the second synchronous pulley 233 and is in driving connection with the motor. The motor shaft of the motor passes through the center hole of the second synchronous pulley 233 and is in driving connection with the swing arm 231. A synchronous belt 234 is wound around the first and second synchronous pulleys 232, 233. To ensure synchronous drive of the drive devices 23, a synchronous shaft is passed through the two second synchronous pulleys 233 of a set of drive devices 23, and the two second synchronous pulleys 233 of a set of drive devices 23 are synchronously connected. When the driving device 23 drives the first top door 21 and the second top door 22 to close, the motor drives the swing arm 231 to rotate around the motor shaft. Since the second synchronous wheel 233 is fixed to the nest body 1 and does not rotate, the first synchronous wheel 232 and the second synchronous wheel 233 are connected by a synchronous belt 234. The first synchronous wheel 232 does not rotate relative to the second synchronous wheel 233. As the swing arm 231 swings, the first synchronous wheel 232 moves without rotating. This ensures that the angle between the top door 2 and the nest body 1 remains unchanged during the closing process, ensuring that the top door 2 closes smoothly.

[0027] like Figure 5 The rotor retracting device of the multi-rotor drone shown in the figure has a centering mechanism 3 comprising at least one pair of centering rods 31, which are slidably connected to slide rails 34 provided on the nest 1. Inside the nest 1, there is at least one pair of drive belts 32, which are respectively provided at both ends of the centering rods 31 and wound around two drive wheels 33. The drive belts 32 include an upper belt portion 321 located above the drive wheels 33 and a lower belt portion 322 located below the drive wheels 33. The pair of centering rods 31 are respectively connected to the upper belt portion 321 and the lower belt portion 322. The drive belts 32 drive the pair of centering rods 31 to open and close. The drive wheels 33 are connected to a motor. The motor drives the driving belt 32 to rotate through the driving wheel 33, and the upper belt portion 321 of the driving belt 32 drives the centering rod 31 connected to the upper belt portion 32 to move to one side. Since the moving direction of the lower belt portion 322 is opposite to the moving direction of the upper belt portion 321, the lower belt portion 322 drives the centering rod 31 connected to the lower belt portion 322 to move to the other side. The two centering rods 31 move synchronously to opposite squares respectively to achieve synchronous separation, or synchronous approach, so as to realize the centering and storage of the drone. A pair of centering mechanisms 3 are arranged in a cross shape. A pair of centering rods 31 are respectively provided with a charging head 35, and the charging head 35 is respectively connected to the middle of the centering rod 31. A pair of centering rods 31 with charging heads 35 are respectively provided with a limiter 36 at one end (see Figure 1), the limiting member 36 forms a limit on the centering rod 31, the limiting member 36 is connected to the top surface of the nest 1, the limiting member 36 is set to a horizontal J-shape, and the hooks of the two limiting members 36 are mirror-imaged relative to each other. A pair of centering mechanisms 3 arranged in a cross shape can move the drone to the middle of the nest 1. The drone's feet are two parallel cylinders. When the drone stops, the drone's feet and the centering rod 31 with a charging head land in parallel, and the centering rod 31 with a charging head returns to the center. The centering rod 31 is limited by the limiting member 36 and does not squeeze the drone's feet. Then, another pair of centering mechanisms 3 arranged in a cross shape are started to center the drone, and the centering mechanism 3 squeezes and fixes the drone's feet. At this time, the charging head 35 contacts the charging port on the drone's feet to charge the drone.

[0028] The above embodiments are illustrative and intended to illustrate the technical concepts and features of the present invention so that those skilled in the art can understand the present invention and implement it accordingly. They are not intended to limit the scope of protection of the present invention. Any equivalent changes or modifications based on the spirit of the present invention shall be included within the scope of protection of the present invention.

Claims

1. A propeller retracting device for a multi-rotor drone, characterized by: The invention comprises a nest body (1), wherein the nest body (1) is provided with at least one pair of centering mechanisms (3) on the upper surface of the nest body (1); the nest body (1) is connected to a top door (2), and the top door (2) is connected to the nest body (1) in an openable and closable manner; a paddle plate (4) is provided on the inner side surface of the top door (2); and when the top door (2) is closed, the paddle plate (4) moves the blades of the drone to retract the blades.

2. The propeller retracting device for a multi-rotor UAV according to claim 1, characterized in that: The invention comprises at least one set of driving devices (23), wherein the driving devices (23) are connected to the side of the nest body (1); the top door (2) comprises a first top door (21) and a second top door (22), wherein the first top door (21) is driven and connected to one side of the nest body (1) by a set of driving devices (23); and the second top door (22) is driven and connected to a side of the nest body (1) away from the first top door (21) by a set of driving devices (23). The driving devices (23) respectively drive the first top door (21) and the second top door (22) to move in translation, and when the first top door (21) and the second top door (22) are closed, they form a shell with an open lower end, and when the first top door (21) and the second top door (22) are closed, the angles of the first top door (21) and the second top door (22) relative to the nest body (1) remain unchanged.

3. The propeller retracting device of a multi-rotor UAV according to claim 2, characterized in that: The first top door (21) and the second top door (22) respectively include a connecting plate (221), and the two ends of the connecting plate (221) are respectively connected to the side plate (222) as a whole. The paddle plate (4) is arc-shaped when viewed from above, and one end of the paddle plate (4) is connected to the end of the side plate (222) away from the connecting plate (221), and the end of the paddle plate (4) away from the side plate (222) is connected to the middle of the connecting plate (221). The paddle plate (4) corresponds to the propeller setting of the drone.

4. The propeller retracting device for a multi-rotor UAV according to claim 2, characterized in that: Elastic members (24) are respectively connected to opposite sides of the openings of the first top door (21) and the second top door (22), and the elastic members (24) and the paddle plates (4) are correspondingly arranged; when the first top door (21) and the second top door (22) are closed, the elastic members (24) and the drone blades are in contact.

5. The propeller retracting device for a multi-rotor UAV according to claim 4, characterized in that: The elastic member (24) includes a connecting portion (241) and a paddle retracting portion (242) that are integrally arranged. The connecting portion (241) is connected to the inner side wall of the paddle plate (4). The paddle retracting portion (242) provided on the first top door (21) extends toward the second top door (22). The paddle retracting portion (242) provided on the second top door (22) extends toward the first top door (21). The paddle retracting portion (242) is suspended.

6. The propeller retracting device for a multi-rotor UAV according to claim 2, characterized in that: The driving device (23) comprises a swing arm (231), with two ends of the swing arm (231) respectively connected to a first synchronous wheel (232) and a second synchronous wheel (233), the first synchronous wheel (232) being fixedly connected to the top door (2), and the second synchronous wheel (233) being fixedly connected to the nest body (1), the swing arm (231) being connected to one end of the second synchronous wheel (233) and being driven by a motor, the motor shaft of the motor passing through a center hole of the second synchronous wheel (233) and being driven by the swing arm (231); and a synchronous belt (234) being wound around the first synchronous wheel (232) and the second synchronous wheel (233).

7. The propeller retracting device for a multi-rotor UAV according to claim 6, characterized in that: A synchronous shaft is passed through the two second synchronous wheels (233) respectively provided in one set of the driving devices (23), and the two second synchronous wheels (233) respectively provided in one set of the driving devices (23) are synchronously connected.

8. The propeller retracting device for a multi-rotor UAV according to claim 1, characterized in that: The centering mechanism (3) comprises at least one pair of centering rods (31), the centering rods (31) being slidably connected to a slide rail (34) provided in the nest (1), at least one pair of driving belts (32) being provided inside the nest (1), the driving belts (32) being respectively provided at both ends of the centering rods (31), the driving belts (32) being wound around two driving wheels (33), the driving belts (32) comprising an upper belt portion (321) located on the upper side of the driving wheel (33), and a lower belt portion (322) located on the lower side of the driving wheel (33), the pair of centering rods (31) being respectively connected to the upper belt portion (321) and the lower belt portion (322); the driving belts (32) driving the pair of centering rods (31) to separate and combine; the driving wheel (33) is drivingly connected to a motor.

9. The propeller retracting device for a multi-rotor UAV according to claim 8, characterized in that: A pair of the centering mechanisms (3) are arranged in a cross-like manner; a pair of the centering rods (31) are respectively provided with charging heads (35), and the charging heads (35) are respectively connected to the middle of the centering rods (31); a pair of the centering rods (31) provided with the charging heads (35) are respectively provided with limiting members (36) at one end, and the limiting members (36) form a limit for the centering rods (31), and the limiting members (36) are connected to the top surface of the nest (1), and the limiting members (36) are arranged in a J-shape in a horizontal state, and the hooks of the two limiting members (36) are arranged in a mirror-image manner relative to each other.

10. The propeller retracting device for a multi-rotor UAV according to claim 1, characterized in that: The top door (2) is provided with a monitoring device (5), and the monitoring device (5) includes: an anemometer, a camera, and a rain sensor.

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