阅读说明：本技术 可折叠多旋翼无人机 (Collapsible many rotor unmanned aerial vehicle ) 是由 杨超峰 于 2018-12-18 设计创作，主要内容包括：本发明属于无人机技术领域,涉及可折叠多旋翼无人机。无人机采用倾转旋翼技术,通过旋翼倾转装置控制旋翼的倾角,控制旋翼倾转的机构是一种与旋转控制器连接的旋转机构,结构简单,控制方式直接准确,可控性好。无人机通过旋翼倾转装置可以将旋翼支架、升力装置一体化地进行折叠回收,折叠方式简单、折叠后小巧,有很好的便携性和应用方便性。无人机采用倾转旋翼实现飞行控制,机身姿态不需要调整,飞行时可维持机身平稳性,保证拍摄影像的效果。(The invention belongs to the technical field of unmanned aerial vehicles, and relates to a foldable multi-rotor unmanned aerial vehicle. Unmanned aerial vehicle adopts the rotor technique of verting, through the rotor angle of the device control rotor that verts, the mechanism that the control rotor verts is a rotary mechanism who is connected with rotation controller, simple structure, and control mode is direct accurate, and the controllability is good. Unmanned aerial vehicle can fold rotor support, lift device through the rotor device of verting and retrieve integratively, and folding mode is simple, folding back small and exquisite, has fine portability and application convenience. Unmanned aerial vehicle adopts the rotor that verts to realize flight control, and the fuselage gesture does not need the adjustment, can maintain the fuselage stationarity during the flight, guarantees the effect of shooting the image.)

1. Collapsible many rotor unmanned aerial vehicle, its characterized in that includes:

a fuselage (800);

two rotor supports (500);

two lift devices (200) respectively mounted to the two rotor supports (500), the lift devices (200) including rotors (210); and

the rotor tilting device (100) is installed on the fuselage (800), the rotor tilting device (100) comprises at least three rotating mechanisms, and two rotor brackets (500) are connected to the rotating mechanisms and are folded or unfolded through the rotation of the rotating mechanisms; at least one of the rotating mechanisms is connected with a rotating controller (300) for controlling the rotating mechanism to rotate, and the rotating controller (300) controls the rotating mechanism to rotate so as to control the inclination angle of the rotor wing (210).

2. The foldable multi-rotor drone of claim 1, further comprising a yaw controller (700), the yaw controller (700) outputting a moment that causes the foldable multi-rotor drone to produce yaw motion for yaw motion control of the foldable multi-rotor drone.

3. The foldable multi-rotor drone of claim 1, wherein the rotation mechanisms are divided into a first rotation mechanism (131 a; 131b), a second rotation mechanism (132 a; 132b) and a third rotation mechanism (133 a; 133b), the rotor tilter device (100) further comprising a first interface bracket (121 a; 121 b); the first transfer support (121 a; 121b) is rotatably connected to the machine body (800) through the first rotating mechanism (131 a; 131 b); the two rotor supports (500) are respectively connected with the first adapter support (121 a; 121b) in a rotating way through the second rotating mechanism (132 a; 132b) and the third rotating mechanism (133 a; 133 b); the first rotating mechanism (131 a; 131b) is connected with a rotating controller (300);

or the rotating mechanisms are divided into a first rotating mechanism (131 e; 131f), a second rotating mechanism (132 e; 132f), a third rotating mechanism (133 e; 133f) and a fourth rotating mechanism (134 e; 134f), and the rotor tilting device (100) further comprises a first adapter bracket (121 e; 121f) and a second adapter bracket (122 e; 122 f); the first transfer bracket (121 e; 121f) is rotationally connected to the machine body (800) through the first rotating mechanism (131 e; 131 f); the second adapter bracket (122 e; 122f) is rotatably connected to the machine body (800) through the second rotating mechanism (132 e; 132 f); one of the rotor supports (500) is rotatably connected to the first adapter support (121 e; 121f) through the third rotating mechanism (133 e; 133f), and the other rotor support (500) is rotatably connected to the second adapter support (122 e; 122f) through the fourth rotating mechanism (134 e; 134 f); the first rotating mechanism (131 e; 131f) or the third rotating mechanism (133 e; 133f) is connected with a rotating controller (300); the second rotating mechanism (132 e; 132f) or the fourth rotating mechanism (134 e; 134f) is connected with a rotating controller (300);

or the rotating mechanisms are divided into a first rotating mechanism (131g), a second rotating mechanism (132g), a third rotating mechanism (133g) and a fourth rotating mechanism (134g), and the rotor tilting device (100) further comprises a first adapter bracket (121g) and a second adapter bracket (122 g); the first transfer bracket (121g) is rotatably connected to the machine body (800) through the first rotating mechanism (131 g); the second adapter bracket (122g) is rotatably connected to the first adapter bracket (121g) through the third rotating mechanism (133 g); one of the rotor supports (500) is rotatably connected to the first adapter support (121g) through the second rotating mechanism (132g), and the other rotor support (500) is rotatably connected to the second adapter support (122g) through the fourth rotating mechanism (134 g); the first rotating mechanism (131g) is connected with a rotation controller (300), and the third rotating mechanism (133g) or the fourth rotating mechanism (134g) is connected with the rotation controller (300).

4. The foldable multi-rotor drone according to claim 3, wherein the fuselage (800) comprises a first body (830), a second body (840) and a manoeuvring and rotation mechanism (850), the second body (840) being rotatably connected to the first body (830) by the manoeuvring and rotation mechanism (850), the rotor tilting device (100) being mounted to the second body (840), the manoeuvring and rotation mechanism (850) being connected to the rotation controller (300).

5. The foldable multi-rotor drone of claim 1, wherein the rotation mechanisms are divided into a first rotation mechanism (131c), a second rotation mechanism (132c), a third rotation mechanism (133c), the rotor tilter apparatus (100) further comprising a first adaptor bracket (121c), a second adaptor bracket (122 c); the first transfer bracket (121c) is rotatably connected to the machine body (800) through the first rotating mechanism (131 c); the second adapter bracket (122c) is rotatably connected to the first adapter bracket (121c) through the second rotating mechanism (132 c); one of the rotor supports (500) is fixedly connected with the second adapter support (122c), and the other rotor support (500) is rotatably connected with the second adapter support (122c) through the third rotating mechanism (133 c); a rotation controller (300) is connected to the second rotation mechanism (132 c);

or the rotating mechanisms are divided into a first rotating mechanism (131h), a second rotating mechanism (132h), a third rotating mechanism (133h) and a fourth rotating mechanism (134h), and the rotor tilting device (100) further comprises a first adapter bracket (121h), a second adapter bracket (122h) and a third adapter bracket (123 h); the first transfer support (121h) is rotatably connected to the machine body (800) through the first rotating mechanism (131 h); the second adapter bracket (122h) is rotatably connected to the first adapter bracket (121h) through the second rotating mechanism (132 h); the third adapter bracket (123h) is rotatably connected to the second adapter bracket (122h) through the third rotating mechanism (133 h); one of the rotor supports (500) is fixedly connected with the second adapter support (122h), and the other rotor support (500) is rotatably connected with the third adapter support (123h) through the fourth rotating mechanism (134 h); the second rotating mechanism (132h) is connected with a rotating controller (300); the third rotating mechanism (133h) or the fourth rotating mechanism (134h) is connected with a rotating controller (300);

or the rotating mechanisms are divided into a first rotating mechanism (131i), a second rotating mechanism (132i), a third rotating mechanism (133i) and a fourth rotating mechanism (134i), and the rotor tilting device (100) further comprises a first adapter bracket (121i) and a second adapter bracket (122 i); the first transfer bracket (121i) is rotatably connected to the machine body (800) through the first rotating mechanism (131 i); the second adapter bracket (122i) is rotatably connected to the first adapter bracket (121i) through the second rotating mechanism (132 i); the two rotor supports (500) are respectively and rotatably connected to the second adapter support (122i) through the third rotating mechanism (133i) and the fourth rotating mechanism (134 i); a rotation controller (300) is connected to the second rotation mechanism (132 i); a rotation controller (300) is connected to the third rotation mechanism (133i) or the fourth rotation mechanism (134 i);

or the rotating mechanisms are divided into a first rotating mechanism (131j), a second rotating mechanism (132j), a third rotating mechanism (133j) and a fourth rotating mechanism (134j), and the rotor tilting device (100) further comprises a first adapter bracket (121j) and a second adapter bracket (122 j); the first transfer support (121j) is rotatably connected to the machine body (800) through the first rotating mechanism (131 j); the second adapter bracket (122j) is rotatably connected to the first adapter bracket (121j) through the second rotating mechanism (132 j); one of the rotor supports (500) is rotatably connected to the second adapter support (122j) through the third rotating mechanism (133j), and the other rotor support (500) is rotatably connected to the first adapter support (121j) through the fourth rotating mechanism (134 j); the second rotation mechanism (132j) is connected to a rotation controller (300), and the fourth rotation mechanism (134j) is connected to the rotation controller (300).

6. The foldable multi-rotor drone according to claim 5, characterized in that the first rotation mechanism (131 c; 131 h; 131 i; 131j) is connected with a rotation controller (300).

7. The foldable multi-rotor drone of claim 1, wherein the rotation mechanisms are divided into a first rotation mechanism (131d), a second rotation mechanism (132d) and a third rotation mechanism (133d), the rotor tilter apparatus (100) further comprising a first adaptor bracket (121d), a second adaptor bracket (122 d); the first transfer bracket (121d) is rotatably connected to the machine body (800) through the first rotating mechanism (131 d); the second adapter bracket (122d) is rotatably connected to the first adapter bracket (121d) through the second rotating mechanism (132 d); one of the rotor supports (500) is fixedly connected with the second adapter support (122d), and the other rotor support (500) is rotatably connected with the second adapter support (122d) through the third rotating mechanism (133 d); a rotation controller (300) is connected to the first rotation mechanism (131 d);

or the rotating mechanisms are divided into a first rotating mechanism (131k), a second rotating mechanism (132k), a third rotating mechanism (133k) and a fourth rotating mechanism (134k), and the rotor tilting device (100) further comprises a first adapter bracket (121k) and a second adapter bracket (122 k); the first transfer support (121k) is rotatably connected to the machine body (800) through the first rotating mechanism (131 k); the second adapter bracket (122k) is rotatably connected to the first adapter bracket (121k) through the second rotating mechanism (132 k); the two rotor supports (500) are respectively and rotatably connected to the second adapter support (122k) through a third rotating mechanism (133k) and a fourth rotating mechanism (134 k); a rotation controller (300) is connected to the first rotation mechanism (131 k); a rotation controller (300) is connected to the third rotation mechanism (133k) or the fourth rotation mechanism (134 k);

or the rotating mechanisms are divided into a first rotating mechanism (131m), a second rotating mechanism (132m), a third rotating mechanism (133m) and a fourth rotating mechanism (134m), and the rotor tilting device (100) further comprises a first adapter bracket (121m), a second adapter bracket (122m) and a third adapter bracket (123 m); the first transfer bracket (121m) is rotatably connected to the machine body (800) through the first rotating mechanism (131 m); the second adapter bracket (122m) is rotatably connected to the first adapter bracket (121m) through the second rotating mechanism (132 m); the third adapter bracket (123m) is rotatably connected to the second adapter bracket (122m) through a third rotating mechanism (133 m); one of the rotor supports (500) is fixedly connected with the second adapter support (122m), and the other rotor support (500) is rotatably connected with the third adapter support (123m) through the fourth rotating mechanism (134 m); a rotation controller (300) is connected to the first rotation mechanism (131 m); the third rotation mechanism (133m) or the fourth rotation mechanism (134m) is connected with a rotation controller (300).

8. The foldable multi-rotor drone according to claim 7, characterized in that the second rotation mechanism (132 d; 132 k; 132m) is connected with a rotation controller (300).

9. The foldable multi-rotor drone of claim 8, characterized in that the second transit leg (122 d; 122 k; 122m) is replaced by two sub-transit legs (122o1, 122o2) and the two sub-transit legs (122o1, 122o2) are rotatably connected and rotated for folding or unfolding by means of another one of the rotation mechanisms (122o 3).

10. The foldable multi-rotor drone according to any one of claims 1 to 9, further comprising a fuselage stabilizer (600), the fuselage stabilizer (600) outputting a moment that produces a tilting movement of the fuselage (800) for maintaining the smoothness of the fuselage (800).

11. The foldable multi-rotor drone of claim 10, wherein at least one of the fuselage stabilizers (600) comprises a stabilizing guide vane (610) and a stabilizing servo controller, the stabilizing guide vane (610) is installed below the rotor (210), a moment for tilting the fuselage (800) is generated by using a downwash of the rotor (210), and the stabilizing servo controller controls the stabilizing guide vane (610) to rotate, thereby controlling the magnitude of the moment generated by the stabilizing guide vane (610).

12. The foldable multi-rotor drone of claim 11, characterized in that one surface of the stabilizing guide vane (610) is facing the downwash of the rotor (210), the pressure created on this surface by the downwash of the rotor (210) generating a moment that generates the tilting movement of the fuselage (800).

13. The foldable multi-rotor drone of claim 10, wherein at least one of the fuselage stabilizers (600) is a fan, the fan is mounted on the fuselage (800), the thrust of the fan generates a torque that causes the fuselage (800) to tilt, and the torque is adjusted by controlling the fan speed.

14. The foldable multi-rotor drone according to any one of claims 1 to 9, further comprising a rotor protection frame (400) removably or fixedly mounted on the rotor cradle (500), the rotor protection frame (400) being a hollow structure, the rotor (210) being placed inside the rotor protection frame (400), the rotor protection frame (400) being used to protect the rotor (210).

15. The foldable multi-rotor drone according to any one of claims 1 to 9, characterized in that the fuselage (800) is of L-shaped or U-shaped configuration, the lift device (200) and the rotor bracket (500) being placed in the space enclosed by the fuselage (800) by rotation of the rotation mechanism to enable folding recovery of the foldable multi-rotor drone.

Technical Field

The invention belongs to the technical field of unmanned aerial vehicles, and particularly relates to a foldable multi-rotor unmanned aerial vehicle.

Background

With the development of microelectronics and new materials, consumer-grade drones (especially helicopter-type drones) are rapidly developing. Early consumer-grade helicopter is the miniaturization of traditional helicopter, but, the swash plate structure of traditional helicopter is too complicated, the manufacturing degree of difficulty is big, the reliability is low, correspondingly, many rotor unmanned aerial vehicle's simple structure, realization are easy, the reliability is high, many rotor unmanned aerial vehicle have become the mainstream in market at present, wherein, four rotor unmanned aerial vehicle are the most important many rotor unmanned aerial vehicle type.

The core application of consumer-grade drones is self-timer. Compare in great large-scale unmanned aerial vehicle that takes photo by plane, this kind of unmanned aerial vehicle flies very low, and its main flight orbit is flying round people, and consequently naked rotor is a very big potential safety hazard. In order to avoid the rotor wing from accidentally injuring people, the ideal solution is to wrap the rotor wing with a closed protective frame, but this can bring the portability problem, and the portability is a key technical index of the self-shooting unmanned aerial vehicle. At present four rotor unmanned aerial vehicle adopt collapsible rotor to realize the portability, but if wrap up the rotor with a fixed protective frame, the protective frame is as big as the wing dish of rotor, and the total area of a plurality of protective frames will make unmanned aerial vehicle become very big, loses the portability. If adopt detachable protective frame, receive and release unmanned aerial vehicle at every turn and all need the dismouting protective frame then, this kind of mode influences the usability to the auto heterodyne unmanned aerial vehicle chance that needs high frequency to receive and release.

In addition to rotor protection problems, a problem with micro drones is the stability of the captured images. Based on many rotor unmanned aerial vehicle's flight control principle, unmanned aerial vehicle all need make pitch motion and/or roll motion under acceleration and deceleration, wind speed change or wind direction change etc. condition, for example: during forward flight, the unmanned plane lowers the head to enable the rotor wing to tilt forward to generate forward thrust; when the unmanned plane flies sideways, the unmanned plane tilts to enable the rotor wing to tilt to generate transverse thrust; when the side wind exists, the unmanned plane needs to roll to enable the rotor wing to roll to resist the wind force. In the flying process of the unmanned aerial vehicle, the pitching motion and the rolling motion are frequent and have large amplitude, and the shooting effect of the camera is seriously influenced. One simple way to solve the above problem is to use digital image anti-shaking techniques, but the digital image anti-shaking techniques have limited effectiveness. At present, the solution of the middle-high-end multi-rotor unmanned aerial vehicle is to hang a camera on a cradle head, and the cradle head rotates to offset the tilting of the fuselage so as to obtain a satisfactory image. However, the micro unmanned aerial vehicle has a light body, and compared with a heavy large unmanned aerial vehicle, the micro unmanned aerial vehicle needs to adjust a larger pitch angle or roll angle to generate enough force to complete flight attitude control.

Disclosure of Invention

The invention provides a foldable multi-rotor unmanned aerial vehicle, which aims at the problems that the safety of an exposed rotor of the rotor unmanned aerial vehicle is poor, the portability is poor after a protective frame is installed, and the body is not stable.

In order to solve the above problems, the present invention adopts the following technical solutions: there is provided a foldable multi-rotor drone comprising:

a body;

two rotor supports;

the two lifting devices are respectively arranged on the two rotor wing brackets, and each lifting device comprises a rotor wing; and

the rotor wing tilting device is arranged on the fuselage and comprises at least three rotating mechanisms, and the two rotor wing brackets are connected to the rotating mechanisms and are folded or unfolded through the rotation of the rotating mechanisms; at least one of the rotating mechanisms is connected with a rotating controller used for controlling the rotating mechanism to rotate, and the rotating controller controls the rotating mechanism to rotate so as to control the inclination angle of the rotor wing.

Compared with the prior art, the invention has the following beneficial technical effects:

unmanned aerial vehicle can fold rotor support, lift device through the rotor device of verting and retrieve integratively, and folding mode is simple, folding back small and exquisite, has fine portability and application convenience. Unmanned aerial vehicle adopts the rotor technique of verting, and the mechanism that the control rotor verted is a rotary mechanism who is connected with rotary controller, simple structure, and control mode is direct accurate, and the controllability is good. Through the rotor angle of inclination of rotor device control rotor that verts, the fuselage when unmanned aerial vehicle flies can maintain steadily, guarantees the effect of shooting the image.

Optionally, a yaw controller is included that outputs a moment that causes the foldable multi-rotor drone to produce yaw motion for yaw motion control of the foldable multi-rotor drone.

Optionally, the aircraft further comprises a fuselage stabilizer outputting a torque that generates a tilting motion of the fuselage for maintaining the smoothness of the fuselage. Fuselage stabilizer restraines the fuselage motion of verting that wind-force leads to, combines the rotor technique that verts, and the fuselage when unmanned aerial vehicle flies can maintain steadily, guarantees the effect of shooting the image.

Optionally, still including dismantling or fixed mounting the rotor on the rotor support protects the frame, rotor protection frame is hollow structure, the rotor is arranged in the inside of rotor protection frame, rotor protection frame is used for the protection the rotor. Unmanned aerial vehicle can fold rotor support, lift device and fixed mounting's rotor protective frame through the rotor device of verting and retrieve integratively, and folding mode is simple, folding back small and exquisite, has fine portability and application convenience.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.

Fig. 1(a), 1(b), and 1(c) are respectively a perspective view, a partially enlarged view, and an exploded view of a foldable multi-rotor drone provided by a first set of embodiments of the present invention;

fig. 2(a) and 2(b) are a perspective view of the foldable multi-rotor unmanned aerial vehicle shown in fig. 1 after being folded and recovered and an enlarged view of a rotor tilting device, respectively;

figure 3 is a block diagram of a rotor tilter assembly according to a second set of embodiments of the present invention;

fig. 4(a) and 4(b) are a perspective view and an enlarged view of a rotor tilting device of a foldable multi-rotor drone provided by a third group of embodiments of the present invention;

fig. 5(a) and 5(b) are a perspective view and a partial enlarged view of the foldable multi-rotor unmanned aerial vehicle shown in fig. 4 after being folded and recovered, respectively;

figure 6 is a block diagram of a rotor tilter assembly according to a fourth embodiment of the present invention;

fig. 7 is a perspective view of a foldable multi-rotor drone according to two sets of embodiments of the present invention;

fig. 8(a) and 8(b) are a perspective view and a partially enlarged view of a foldable multi-rotor drone provided by three sets of first embodiments of the present invention, respectively;

figure 9 is a structural view of a rotor tilter assembly according to three second embodiments of the invention;

figure 10 is a structural view of a rotor tilter assembly according to a third set of embodiments of the present invention;

figure 11 is a structural view of a rotor tilter assembly according to a fourth set of embodiments of the present invention;

figure 12 is a block diagram of a rotor tilter assembly according to a fifth group of embodiments of the present invention;

figure 13 is a structural view of a rotor tilter assembly according to a third group of sixth embodiments of the present invention;

figure 14 is a structural view of a rotor tilter assembly according to three seventh embodiments of the invention;

figure 15 is a structural view of a rotor tilter assembly according to an eighth three-group embodiment of the present invention;

fig. 16(a), 16(b), 16(c) are respectively a perspective view, a partially enlarged view, and an exploded view of a foldable multi-rotor drone provided by a fourth set of first embodiments of the present invention;

fig. 17(a) and 17(b) are a perspective view and a partially enlarged view of a foldable multi-rotor drone according to a fourth embodiment of the present invention;

figure 18 is a structural view of a rotor tilter assembly according to a fourth embodiment of the present invention;

Detailed Description

In order to make the technical problems, technical solutions and advantageous effects to be solved by the present invention more clearly apparent, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

In the description of the embodiments of the present invention, it should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience in describing the embodiments of the present invention and simplifying the description, but do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be construed as limiting the embodiments of the present invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.

In the embodiments of the present invention, unless otherwise explicitly specified or limited, the terms "mounted," "connected," "fixed," and the like are to be construed broadly, e.g., as being fixedly connected, detachably connected, or integrated; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. Specific meanings of the above terms in the embodiments of the present invention can be understood by those of ordinary skill in the art according to specific situations.

Referring to fig. 1 and 2, in an embodiment of the present invention, a foldable multi-rotor drone is provided, which includes a fuselage 800, two rotor supports 500, two lift devices 200, and a rotor tilting device 100. Two lift devices 200 are respectively mounted to the two rotor pylons 500, the lift devices 200 including rotors 210. The rotor tilting device 100 is installed on the fuselage 800, the rotor tilting device 100 includes at least three rotating mechanisms, and two of the rotor supports 500 are connected to the rotating mechanisms and are folded or unfolded by the rotation of the rotating mechanisms; at least one of the rotary mechanisms is connected with a rotary controller 300 for controlling the rotary mechanism to rotate, and the rotary controller 300 controls the rotary mechanism to rotate to control the inclination angle of the rotor 210.

Unmanned aerial vehicle can fold rotor support 500, lift device 200 and retrieve integratively through the rotor device of verting, and folding mode is simple, small and exquisite after folding, has fine portability and application convenience. Unmanned aerial vehicle adopts the rotor technique of verting, and the mechanism that the control rotor verted is a rotary mechanism who is connected with rotation controller 300, simple structure, and control mode is direct accurate, and the controllability is good. Through the rotor tilt device 100 control rotor 210's inclination, fuselage 800 when unmanned aerial vehicle flies can maintain steadily, guarantees the effect of shooing the image.

It should be noted that the rotating mechanism may be a shafting structure, a hinge structure, or any rotating structure capable of implementing the required functions.

The shafting structure is a rotating structure taking a bearing and a transmission shaft as main components. For example, in the first rotation mechanism 131a shown in fig. 1, a transmission shaft 1311a is provided at a middle portion of the first adaptor bracket 121a, a bearing 1312a is provided in the mounting hole of the body 800, and the first adaptor bracket 121a is rotatably coupled to the body 800 through the transmission shaft 1311a and the bearing 1312 a. It is noted that the opposite arrangement, i.e., the arrangement of the bearing at the first adaptor bracket 121a and the arrangement of the transmission shaft at the body 800, is also possible. Rotary mechanisms of shafting construction are commonly used in applications requiring high precision rotational control.

The rotation controller 300 is a mechanism capable of outputting a predetermined rotation angle. For example, the rotation controller 300 shown in fig. 1 may be a server formed by a dc motor 301 and gear sets (302, 303), the first rotation mechanism 131a is connected to the rotation controller 300, the dc motor 301 drives a driving gear 302 to rotate, the first adapter bracket 121a is fixed with a driven gear 303, and the driving gear 302 is in meshing transmission with the driven gear 303 to further drive the first adapter bracket 121a to rotate.

The hinge structure is a transmission structure which realizes the rotary connection of two structural parts by a hinge or a pin shaft. For example, the second rotating mechanism 132a shown in fig. 1, a pin is inserted through the mounting hole of the rotor bracket 500 and fixed to the first adapter bracket 121a, so that the rotor bracket 500 is rotatably connected to the first adapter bracket 121 a.

In another embodiment of the present invention, a fuselage stabilizer 600 is further provided for offsetting the tilting motion of the fuselage 800 caused by the external force, wherein the tilting motion refers to the pitching motion and the rolling motion of the fuselage 800, so as to maintain the stability of the fuselage 800 when the unmanned aerial vehicle flies, and thus the image capturing effect of the unmanned aerial vehicle is good.

In another embodiment of the present invention, the rotor wing protection frame 400 is detachably or fixedly mounted on the rotor wing bracket 500, and encloses the rotor wing 210 therein, and may be a fully enclosed hollow structure for protecting the rotor wing 210 and preventing the rotor wing 210 from hurting people.

Unmanned aerial vehicle can fold rotor support 500, lift device 200 and rotor protective frame 400 with the integration through rotor tilting device 100 and retrieve, and unmanned aerial vehicle is small and exquisite after folding, folding mode is simple. Because rotor protective frame 400 can fixed mounting, need not dismouting rotor protective frame 400 when receiving and releasing unmanned aerial vehicle at every turn, when having guaranteed rotor 210 security, still have fine portability and application convenience. Unmanned aerial vehicle adopts the rotor technique of verting, and the mechanism that control rotor 210 verts is a rotary mechanism who is connected with rotation controller 300, simple structure, and control mode is direct accurate, and the controllability is good.