CN213083494U

CN213083494U - Unmanned plane

Info

Publication number: CN213083494U
Application number: CN202021687956.0U
Authority: CN
Inventors: 刘全
Original assignee: Beijing Jingdong Qianshi Technology Co Ltd
Current assignee: Beijing Jingdong Qianshi Technology Co Ltd
Priority date: 2020-08-13
Filing date: 2020-08-13
Publication date: 2021-04-30
Anticipated expiration: 2030-08-13

Abstract

The present disclosure provides an unmanned aerial vehicle, including: a body; the rotor assemblies are arranged at intervals along the circumferential direction of the fuselage; the connecting assemblies are in one-to-one correspondence with the rotor wing assemblies, each connecting assembly is arranged between each rotor wing assembly and the aircraft body, each connecting assembly comprises a first connecting piece and a second connecting piece which are spaced from each other, two ends of each first connecting piece are respectively pivoted with the aircraft body and the rotor wing assemblies, two ends of each second connecting piece are respectively pivoted with the aircraft body and the rotor wing assemblies, and four pivoting points are sequentially connected to form a parallelogram; and the driving assemblies drive the rotor assemblies to translate simultaneously in the direction towards the fuselage or the direction away from the fuselage, and the translation distances of the rotor assemblies are the same.

Description

Unmanned plane

Technical Field

The present disclosure relates to the field of aircraft technology, and more particularly, to an unmanned aerial vehicle.

Background

Along with the continuous progress and development of the unmanned aerial vehicle technology, the unmanned aerial vehicle obstacle avoidance technology is more and more valued as the guarantee of safe flight of the unmanned aerial vehicle. Obstacle avoidance of the unmanned aerial vehicle often involves deformation of the unmanned aerial vehicle. At present, unmanned aerial vehicle warp mainly through wing deformation and change wheel base two kinds of modes. Wherein, unmanned aerial vehicle changes the wheel base and can change unmanned aerial vehicle's flight resistance when realizing keeping away the barrier, is favorable to improving flight efficiency.

In the course of implementing the disclosed concept, the inventors found that there are at least the following problems in the prior art:

in the mode that changes the wheel base at current unmanned aerial vehicle, can adjust in the broad range in order to guarantee the wheel base, generally can adopt the rotor to slide on the horn or the horn establishes to the telescopic mode, but these two kinds of modes need set up the slide on the horn, have the clearance between sliding part and the slide that the rotor is connected, lead to the horn to take place to vibrate easily.

SUMMERY OF THE UTILITY MODEL

In view of this, this disclosure provides an unmanned aerial vehicle that adjustable wheel base and cooperation are closely difficult for taking place the vibration.

According to an embodiment of the present disclosure, a drive assembly includes: a drive source; the driving source drives the first transmission piece to move in the plane of the parallelogram; and the first end of the second transmission piece is pivoted with the first transmission piece, and the second end of the second transmission piece is pivoted with one of the rotor assembly, the first connecting piece and the second connecting piece.

According to the embodiment of the disclosure, the second end of the second transmission member is pivoted with the first connection member or the second connection member, the first transmission member is one, the second transmission members are multiple, the multiple second transmission members are in one-to-one correspondence with the multiple connection members, the first transmission member moves along the central line of the whole formed by the multiple rotor assemblies, the pivoting positions of the first end of each second transmission member and the first transmission member are in the same plane perpendicular to the central line, and the pivoting positions of the second end of each second transmission member and each connection member are the same.

According to the embodiment of the present disclosure, the driving assembly further includes a third transmission member, the third transmission member is in transmission fit with the first transmission member, the driving source drives the third transmission member to rotate, and the third transmission member drives the first transmission member to move.

According to the embodiment of the disclosure, the third transmission member is a screw rod, the first transmission member is sleeved on the screw rod, and the first transmission member is provided with an internal thread matched with the external thread of the screw rod.

According to the embodiment of the disclosure, the screw rod is arranged on the first mounting seat and the second mounting seat in a penetrating mode, and the first transmission piece is located between the first mounting seat and the second mounting seat.

According to an embodiment of the present disclosure, each rotor assembly includes: a rigid member pivotally connected to the first and second connectors; at least one rotor structure disposed on the rigid member.

According to an embodiment of the present disclosure, each rotor assembly includes a plurality of rotor structures, the rigid member includes: the rotor wing structures are respectively arranged on the plurality of horn arms; and the third connecting piece is connected among the plurality of the machine arms.

According to an embodiment of the present disclosure, each rotor assembly comprises two rotor structures, each rigid member comprises two arms, one of the two rotor structures is arranged in one of the two arms by a first shaft, the other of the two rotor structures is arranged in the other of the two arms by a second shaft, and an extension of the first shaft and an extension of the second shaft coincide.

According to the embodiment of the disclosure, the two ends of the first connecting piece are pivoted with the airframe and the rotor wing assembly, the two ends of the second connecting piece are pivoted with the airframe and the rotor wing assembly, and a parallelogram can be formed after the four pivoting points are connected. The driving assembly drives the rotor assembly to translate relative to the fuselage, so that the wheelbase of the unmanned aerial vehicle can be adjusted. The translation of above-mentioned a plurality of rotor subassemblies needs synchronous to the distance of translation is the same, thereby guarantees that unmanned aerial vehicle can stably fly. In addition, adopt the connected mode of pin joint between first connecting piece, second connecting piece, fuselage and the rotor subassembly, the connected mode of pin joint is inseparabler for current slide and sliding part's connected mode cooperation, is difficult for taking place the vibration. Because the structural design is adopted, the translation of each rotor wing assembly is realized, and the parts are matched more closely, so that the problem that the unmanned aerial vehicle vibrates easily due to the change of the wheel base is solved at least partially, and the effect that the vibration is not easy to occur when the wheel base is adjusted is further achieved.

Drawings

The above and other objects, features and advantages of the present disclosure will become more apparent from the following description of embodiments of the present disclosure with reference to the accompanying drawings, in which:

fig. 1 is a schematic structural view of a drive assembly of a drone in accordance with an embodiment of the present disclosure in cooperation with a rotor assembly and a connection assembly;

FIG. 2 is an exploded schematic view of the drive assembly of FIG. 1 in cooperation with a rotor assembly and a coupling assembly;

fig. 3 is a schematic structural view of the drone of fig. 1 with a plurality of rotor assemblies in a deployed state; and

fig. 4 is a schematic structural view of the drone of fig. 1 with a plurality of rotor assemblies in a retracted state.

It is noted that the drawings are not necessarily to scale and are merely illustrative in nature and not intended to obscure the reader.

Description of reference numerals:

11. a first connecting member; 12. a second connecting member; 21. a drive source; 22. a first transmission member; 23. a second transmission member; 24. a third transmission member; 31. a first mounting seat; 32. a second mounting seat; 41. a rigid member; 411. a horn; 412. a third connecting member; 42. a rotor structure; 421. a rotor; 422. an electric motor.

Detailed Description

Hereinafter, embodiments of the present disclosure will be described with reference to the accompanying drawings. It should be understood that the description is illustrative only and is not intended to limit the scope of the present disclosure. In the following detailed description, for purposes of explanation, numerous specific details are set forth in order to provide a thorough understanding of the embodiments of the disclosure. It may be evident, however, that one or more embodiments may be practiced without these specific details. Moreover, in the following description, descriptions of well-known structures and techniques are omitted so as to not unnecessarily obscure the concepts of the present disclosure.

All terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art unless otherwise defined. It is noted that the terms used herein should be interpreted as having a meaning that is consistent with the context of this specification and should not be interpreted in an idealized or overly formal sense.

If the description "first", "second", etc. is referred to throughout, the description of "first", "second", etc. is used only for distinguishing similar objects, and is not to be construed as indicating or implying a relative importance, order or number of technical features indicated, it being understood that the data described in "first", "second", etc. may be interchanged where appropriate. If "and/or" is presented throughout, it is meant to include three juxtapositions, exemplified by "A and/or B" and including either scheme A, or scheme B, or schemes in which both A and B are satisfied. Furthermore, spatially relative terms, such as "above," "below," "top," "bottom," and the like, may be used herein for ease of description to describe one element or feature's spatial relationship to another element or feature as illustrated in the figures, and should be understood to encompass different orientations in use or operation in addition to the orientation depicted in the figures.

fig. 3 and 4 are schematic structural views of the whole of the drone of fig. 1, wherein fig. 3 shows a deployed state of a plurality of rotor assemblies of the drone, and fig. 4 shows a retracted state of the plurality of rotor assemblies of the drone.

As shown in fig. 1 to 4, the drone of the present embodiment includes a fuselage (not shown in the drawings), four rotor assemblies, four connecting assemblies, and one driving assembly. Four rotor assemblies set up along the circumference direction interval of fuselage. The four connecting assemblies correspond to the four rotor assemblies one by one. Each connection assembly is disposed between each rotor assembly and the fuselage. Each of the connecting members includes a first connecting member 11 and a second connecting member 12 spaced apart from each other. The two ends of the first connecting piece 11 are respectively pivoted with the fuselage and the rotor wing assembly. The two ends of the second connecting piece 12 are respectively pivoted with the fuselage and the rotor assembly. The four pivot points are connected in sequence to form a parallelogram. The driving assembly is in driving connection with the connecting assembly. Under the drive of the drive assembly, the connecting assembly moves to drive the rotor wing assembly to translate along the direction towards the fuselage or translate along the direction deviating from the fuselage.

The fuselage is considered as a fixed arrangement, as the two ends of the first connecting piece 11 are pivoted with the fuselage and the rotor assembly, and the two ends of the second connecting piece 12 are pivoted with the fuselage and the rotor assembly. The four pivot points can form a parallelogram after being connected, and no matter how the rotor wing assembly, the first connecting piece 11 and the second connecting piece 12 move, a connecting line between two pivot points on the rotor wing assembly and a connecting line between two pivot points on the fuselage are always parallel, namely, the rotor wing assembly translates relative to the fuselage, so that the adjustment of the wheelbase of the unmanned aerial vehicle is realized.

Specifically, as shown in fig. 3 and 4, during the translational motion, the overall attitude of the rotor assembly is unchanged, only changing the position relative to the fuselage. When unmanned aerial vehicle need keep away the barrier, each rotor subassembly is simultaneously along the direction translation towards the fuselage to the distance of each rotor subassembly translation is the same, and four rotor subassemblies of unmanned aerial vehicle become the shrink state by expansion state, and four rotor subassemblies are close to each other, and the unmanned aerial vehicle wheel base reduces. When each rotor subassembly of unmanned aerial vehicle was simultaneously along the direction translation that deviates from the fuselage, four rotor subassemblies of unmanned aerial vehicle become the expansion state by the contraction state, and the unmanned aerial vehicle wheel base increases. The translation of the four rotor wing assemblies needs to be synchronous, and the translation distances are the same, so that the unmanned aerial vehicle can stably fly.

In addition, the first connecting piece 11, the second connecting piece 12, the fuselage and the rotor assembly are connected in a pivoted mode, and the pivoted connection mode is more close to the connection mode matching of the existing slide way and the existing sliding part, is not easy to vibrate, and is simple in structure and easy to realize.

It should be noted that the wheelbase of the drone refers to the distance between the rotating shafts of the motors 422 in the two rotor assemblies at opposite angles, and "pivot" refers to the relative rotation of the two components around the same rotating shaft.

In this embodiment, the number of rotor assemblies and connecting assemblies is four, and certainly, the number of rotor assemblies and connecting assemblies is not limited to four, and in other embodiments not shown in the drawings, the number of rotor assemblies and connecting assemblies may be selected as needed, and the number of rotor assemblies and connecting assemblies may be the same, for example, six rotor assemblies and connecting assemblies, eight rotor assemblies, and the like. In addition, in the present embodiment, each connecting assembly includes one first connecting member 11 and one second connecting member 12, of course, the number of the first connecting members 11 and the second connecting members 12 is not limited thereto, and in other embodiments, the specific number may be selected according to needs.

As shown in fig. 1 to 4, in the unmanned aerial vehicle of the present embodiment, the driving assembly includes a driving source 21, a first transmission member 22, and a second transmission member 23. The driving source 21 drives the first transmission member 22 to move in the plane of the parallelogram and along a direction parallel to the line connecting the two pivot points of the body. The first end of the second transmission member 23 is pivotally connected to the first transmission member 22, and the second end of the second transmission member 23 is pivotally connected to the second connection member 12, so that a certain degree of freedom is provided between the two ends of the second transmission member 23 and the first transmission member 22, and between the two ends of the second transmission member 23 and the second connection member 12.

When the first transmission member 22 moves, the second transmission member 23 rotates while moving, and the second end of the second transmission member 23 pulls or pushes the second connection member 12, thereby driving the second connection member 12 to rotate. Since the rotor assembly, the first link 11 and the second link 12 act synchronously, when the second link 12 rotates, the first link 11 rotates and the rotor assembly translates therewith. The first transmission member 22 moves and drives the rotor assembly, the first connecting member 11 and the second connecting member 12 to move through the second transmission member 23, so that the driving mode is simple and the operation and the control are convenient.

The drive unit drives any one of the rotor assembly, the first link 11 and the second link 12, and the three can move synchronously with respect to the fuselage. Therefore, the second end of the second transmission member 23 is not limited to be pivotally connected to the second connection member 12, and in other embodiments not shown in the drawings, the second end of the second transmission member may also be pivotally connected to the first connection member; or when the moving direction of the first transmission piece is not parallel to the direction of the connecting line of the two pivot points of the fuselage, the moving direction of the first transmission piece is reasonably designed, and the second end of the second transmission piece can be pivoted with the rotor wing assembly. The first transmission member 22 is not limited to move along a direction parallel to a connecting line of two pivot points on the body, and in other embodiments, the first transmission member can move along any direction in a plane of the parallelogram, as long as the rotor assembly, the first connecting member or the second connecting member can be smoothly driven to move.

In addition, the specific form of the driving assembly is not limited to this, and in other embodiments not shown in the drawings, the driving assembly may be other structures capable of driving the rotor assembly, the first connecting member or the second connecting member. For example, the driving assembly includes a driving source for driving rotation, an output shaft of the driving source is directly connected to a rotating shaft of a pivot point of the first connecting member or the second connecting member, and the rotating shaft is fixedly connected to the first connecting member or the second connecting member, so that the driving source directly drives the first connecting member or the second connecting member to rotate.

As shown in fig. 3 and 4, in the unmanned aerial vehicle of the present embodiment, there are one first transmission member 22 and four second transmission members 23. The four second transmission members 23 correspond to the four connecting assemblies one by one. The first transmission member 22 moves along the centerline of the whole formed by the four rotor assemblies. The first end of each second transmission member 23 and the pivot joint position of the first transmission member are in the same plane perpendicular to the center line, and the second end of each second transmission member 23 and the pivot joint position of each connecting assembly are the same. The four second transmission parts 23 are driven to synchronously move through the movement of one first transmission part 22, and the movement tracks are the same, so that the four rotor wing assemblies translate simultaneously and the final translation distances are the same.

Of course, the manner of achieving synchronization between the rotor assemblies is not limited to this, and in other embodiments not shown in the drawings, a plurality of driving assemblies may be provided, each driving assembly being configured to drive one rotor assembly in a translational motion, and the plurality of driving assemblies being controlled by the controller to achieve synchronization of the translational motions of the rotor assemblies.

As shown in fig. 1 to 4, in the unmanned aerial vehicle of the present embodiment, the driving assembly further includes a third transmission member 24. The third transmission member 24 is in driving engagement with the first transmission member 22. The driving source 21 drives the third transmission member 24 to rotate, and the third transmission member 24 drives the first transmission member 22 to move linearly. The above structure can convert the rotation into linear movement, and the driving source 21 drives the third transmission member 24 to rotate, so that the driving is more convenient.

In this embodiment, the third transmission member 24 is a lead screw, which extends along the central line of the whole formed by the four rotor assemblies, and is not displaced along the direction. The first transmission member 22 is sleeved on the lead screw. The first transmission member 22 has an internal thread that mates with the external thread of the lead screw. The driving source 21 is connected in the one end of lead screw, and the driving source 21 drive lead screw rotates to through the first transmission piece 22 of external screw thread and the cooperation drive of internal thread along the lead screw reciprocate, simple structure, the manufacturing of being convenient for.

The specific engagement method of the first transmission member 22 and the third transmission member 24 is not limited to this, and in another embodiment not shown in the drawings, another method capable of converting rotational motion into linear motion may be used. For example, the third transmission member is a gear, and the first transmission member is a rack engaged with the gear.

As shown in fig. 1 and 2, in the unmanned aerial vehicle of the present embodiment, the unmanned aerial vehicle further includes a first mount 31 and a second mount 32. The first mounting seat 31 and the second mounting seat 32 are both fixedly connected with the body. The first connecting member 11 is pivotally connected to the first mounting seat 31. The second connecting member 12 is pivotally connected to the second mounting base 32. The lead screw is arranged on the first mounting seat 31 and the second mounting seat 32 in a penetrating mode. The first and second mounting

seats

31 and 32 can support the screw. Can set up rolling bearing between lead screw and first mount pad 31, the second mount pad 32 to be convenient for the rotation of lead screw, also can set up limit structure in lead screw and first mount pad 31, the complex position of second mount pad 32, in order to prevent that the lead screw from taking place the displacement along its extending direction.

In this embodiment, the second transmission member 23 is located between the first mounting seat 31 and the second mounting seat 32, and the first mounting seat 31 and the second mounting seat 32 can limit the movement stroke of the second transmission member 23. The first mounting base 31, the second mounting base 32 and the first transmission member 22 are all provided with four pairs of convex plates, and a pivoting groove is formed between each pair of convex plates. The corresponding ends of the first connecting piece 11, the second connecting piece 12 and the second transmission piece 23 are respectively inserted into the pivoting grooves for connection.

In other embodiments, only one of the first and second mounting seats may be provided, and the first and second mounting seats may not be in contact with the screw. For example, the screw is located at the inner midpoint of the machine body, and the first mounting seat and the second mounting seat are arranged on the outer wall of the machine body.

As shown in fig. 1 and 2, in the drone of the present embodiment, the rotor assembly comprises a rigid member 41 and two rotor structures 42. The rigid member 41 is pivotally connected to the first link 11 and the second link 12. Two rotor structures 42 are provided on the rigid member 41. Each rotor structure 42 includes a rotor 421 and a motor 422 drivingly connected thereto. Wherein, the rigid member can be regarded as fixed connection among all the parts in the rigid member. The rigid member 41 is an installation platform of the rotor wing structure 42, and the rigid member 41 can translate through the cooperation of the first connecting piece 11 and the second connecting piece 12 with the rigid member 41, so that the rotor wing structure 42 is driven to translate, the first connecting piece 11 and the second connecting piece 12 are prevented from being in direct contact with the rotor wing structure 42, the connection is facilitated, and the anti-vibration effect is favorably improved.

As shown in fig. 1 and 2, in the unmanned aerial vehicle of the present embodiment, the rigid member 41 includes two horn 411 and a third connecting member 412, the two horn 411 are provided, the two rotor structures 42 are respectively provided on the two horn 411, and the third connecting member 412 is connected between the plurality of horns 411, so as to connect the two horns 411 as a whole. The structure of the rigid member 41 can perform its function and also reduce the weight and the influence on the airflow near the rotor 421. Of course, the specific number of rotor structures 42 is not limited thereto, and in other embodiments not shown in the drawings, the number of rotor structures may be one or more than three, and the number of arms needs to be the same as the number of rotor structures. In addition, the specific structure of the rigid member 41 is not limited thereto, and in other embodiments, the rigid member may have another structure, for example, the rigid member is a rigid rod, two ends of the rigid rod are pivotally connected to the first connecting member and the second connecting member, and two rotor structures are connected to the ends of the rigid rod and avoid the pivoting point.

As shown in fig. 1, each rotor assembly includes, for example, two rotor structures 42. The two rotor structures 42 are arranged, for example, one above the other. Each rigid member 41 includes, for example, two horn arms 411, and the two horn arms 411 are disposed, for example, one above the other. For example, each horn 411 has one end connected to rotor structure 42 and the other end connected to third link 412.

Wherein one of the two rotor structures 42 is arranged on one of the two arms 411 via a first axis and the other of the two rotor structures 42 is arranged on the other of the two arms 411 via a second axis, the extension of the first axis and the extension of the second axis coinciding. In other words, two rotor structures 42 are coaxially mounted up and down on horn 411.

Wherein one rotor structure 42 is rotatable about a first axis relative to one horn 411 and the other rotor structure 42 is rotatable about a second axis relative to the other horn 411. Specifically, one rotor 421 may be driven by one motor 422 to rotate about a first axis relative to one horn 411, and the other rotor 421 may be driven by the other motor 422 to rotate about a second axis relative to the other horn 411.

As shown in fig. 1 and 2, in the unmanned aerial vehicle of the present embodiment, the first connecting member 11, the second connecting member 12, the third connecting member 412, and the second transmission member 23 are rod-shaped, and after the first connecting member 11, the second connecting member 12, the third connecting member 412, the first mounting seat 31, and the second mounting seat 32 are connected, the first connecting member 11, the second connecting member 12, and the third connecting member 412 form a parallelogram mechanism with the screw rod.

When the unmanned aerial vehicle needs to keep away the barrier, driving source 21 drives the lead screw and rotates to drive first driving piece 22 and reciprocate, and then drive parallelogram mechanism's second connecting piece 12 through second driving piece 23 and rotate, make rigid member 41 and rotor structure 42 take place the translation, change unmanned aerial vehicle's wheel base, simple structure easily realizes.

Those skilled in the art will appreciate that various combinations and/or combinations of features recited in the various embodiments and/or claims of the present disclosure can be made, even if such combinations or combinations are not expressly recited in the present disclosure. In particular, various combinations and/or combinations of the features recited in the various embodiments and/or claims of the present disclosure may be made without departing from the spirit or teaching of the present disclosure. All such combinations and/or associations are within the scope of the present disclosure.

The embodiments of the present disclosure have been described above. However, these examples are for illustrative purposes only and are not intended to limit the scope of the present disclosure. Although the embodiments are described separately above, this does not mean that the measures in the embodiments cannot be used in advantageous combination. The scope of the disclosure is defined by the appended claims and equivalents thereof. Various alternatives and modifications can be devised by those skilled in the art without departing from the scope of the present disclosure, and such alternatives and modifications are intended to be within the scope of the present disclosure.

Claims

1. An unmanned aerial vehicle, comprising:

a body;

a plurality of rotor assemblies arranged at intervals along the circumferential direction of the fuselage;

the connecting assemblies are in one-to-one correspondence with the rotor wing assemblies, each connecting assembly is arranged between each rotor wing assembly and the aircraft body, each connecting assembly comprises a first connecting piece (11) and a second connecting piece (12) which are mutually spaced, two ends of each first connecting piece (11) are respectively pivoted with the aircraft body and the rotor wing assemblies, two ends of each second connecting piece (12) are respectively pivoted with the aircraft body and the rotor wing assemblies, and four pivoting points are sequentially connected to form a parallelogram;

the driving assembly drives each rotor assembly to translate simultaneously in a direction towards the fuselage or a direction away from the fuselage, and the translation distances of the rotor assemblies are the same.

2. The drone of claim 1, wherein:

the drive assembly includes:

a drive source (21);

a first transmission piece (22), wherein the driving source (21) drives the first transmission piece (22) to move in the plane of the parallelogram;

the first end of the second transmission piece (23) is pivoted with the first transmission piece (22), and the second end of the second transmission piece (23) is pivoted with one of the rotor wing assembly, the first connecting piece (11) and the second connecting piece (12).

3. A drone according to claim 2, characterized in that:

the second end of the second transmission piece (23) is pivoted with the first connecting piece (11) or the second connecting piece (12), the number of the first transmission pieces (22) is one, the number of the second transmission pieces (23) is multiple, the multiple second transmission pieces (23) correspond to the multiple connecting pieces one by one, the first transmission piece (22) moves along the integral central line formed by the multiple rotor wing assemblies, the pivoting positions of the first end of each second transmission piece (23) and the first transmission piece are in the same plane perpendicular to the central line, and the second end of each second transmission piece (23) is the same as the pivoting position of each connecting piece.

4. A drone according to claim 3, characterised in that:

the driving assembly further comprises a third transmission piece (24), the third transmission piece (24) is in transmission fit with the first transmission piece (22), the driving source (21) drives the third transmission piece (24) to rotate, and the third transmission piece (24) drives the first transmission piece (22) to move.

5. A drone according to claim 4, characterized in that:

the third transmission part (24) is a lead screw, the first transmission part (22) is sleeved on the lead screw, and the first transmission part (22) is provided with an internal thread matched with the external thread of the lead screw.

6. The drone of claim 5, further comprising:

first mount pad (31) and second mount pad (32), all with fuselage fixed connection, first connecting piece (11) with first mount pad (31) pin joint, second connecting piece (12) with second mount pad (32) pin joint, the lead screw is worn to establish first mount pad (31) and/or on second mount pad (32).

7. A drone according to claim 6, characterised in that:

the screw rod penetrates through the first mounting base (31) and the second mounting base (32), and the first transmission piece (22) is located between the first mounting base (31) and the second mounting base (32).

8. The drone of claim 1, further comprising:

the first mounting seat (31) is fixedly connected with the machine body, and the first connecting piece (11) is pivoted with the first mounting seat (31); and/or

The second mounting seat (32) is fixedly connected with the machine body, and the second connecting piece (12) is pivoted with the second mounting seat (32).

9. The drone of claim 1, wherein:

each said rotor assembly comprising:

a rigid member (41) pivotally connected to the first link (11) and the second link (12);

at least one rotor structure (42) disposed on the rigid member (41).

10. A drone according to claim 9, characterized in that:

each rotor assembly comprising a plurality of said rotor structures (42), said rigid member (41) comprising:

a plurality of horn (411), a plurality of said rotor structures (42) being respectively disposed on a plurality of said horn (411);

and a third connecting member (412) connected between the plurality of arms (411).

11. A drone according to claim 10, characterised in that:

each rotor assembly comprises two rotor structures (42);

each rigid member (41) comprises two of said horn (411);

one of the two rotor structures (42) is arranged in one of the two arms (411) through a first shaft, the other of the two rotor structures (42) is arranged in the other of the two arms (411) through a second shaft, and the extension lines of the first shaft and the second shaft are overlapped.