Unmanned aerial vehicle with load separation and inhabitation functions

Abstract

The utility model discloses an unmanned aerial vehicle with load separation and inhabitation functions, and belongs to the technical field of unmanned aerial vehicles. Comprising an unmanned aerial vehicle body, an adsorption device arranged on one side of the unmanned aerial vehicle body in the horizontal direction, and a load fixing and separating device arranged below the middle of the unmanned aerial vehicle. A lower end connecting plate of the adsorption device of the unmanned aerial vehicle is connected with an adhesion plate through a hinge mechanism, the lower end connecting plate is allowed to rotate relative to the adhesion plate in the vertical direction, an upper end connecting plate and the lower end connecting plate are connected with the adhesion plate through buckle structures correspondingly, and the buckle mechanisms have a locking state and an unlocking state. When the unmanned aerial vehicle inhabits and adsorbs the unmanned aerial vehicle, extra power loss is not needed, motion control variables are relatively few, and stable inhabitation for a longer time can be achieved through posture conversion. The unmanned aerial vehicle can inhabit on the target wall surface together with the load through the adsorption device, the unmanned aerial vehicle can also be separated from the load, and the load is independently left on the target surface to independently execute a task.

Description

Technical Field

[0001] The utility model belongs to the technical field of unmanned aerial vehicles, and in particular relates to a rotary-wing unmanned aerial vehicle with load separation and perching functions. Background Art

[0002] With the advancement and development of drone technology, drones are being used in more and more scenarios, and the demand for drones is growing. Many scenarios require special drones with special functions. Limited by the development of battery technology, the current drones generally have a short flight time, and they generate a lot of noise during flight, making them easy to be exposed during the mission. Drones with habitable technology will play an increasingly important role in the fields of monitoring and long-term flight.

[0003] Drones equipped with different payload modules can achieve different functions, such as directional casting, listening, monitoring, etc. The drone and payload module can be separated from the payload according to the working mode requirements, which can realize the drone carrying the payload and perching at the target location together, or the payload can perch at the target location and the drone can return.

[0004] The existing solutions for habitable drones mainly use claw adsorption, magnetic adsorption, negative pressure adsorption, top bionic adsorption, etc. Each solution has its own very limited application scenarios, and negative pressure adsorption also consumes the battery power of the drone. At the same time, the existing solutions only mention the habitation of the drone body, and do not mention the design of carrying and separating the payload, and cannot simultaneously realize the carrying and separation of the payload and the habitation of the drone or the payload.

[0005] Invention patent 201810616768.X discloses a bionic robot adsorption device and method of negative pressure and static electricity composite. The device includes three layers of electrostatic film, elastic film, and elastic pressure plate arranged in sequence. The elastic film provides flexibility and support for the entire adsorption device; an electrostatic generating module, a one-way valve body, a connecting pipe, and a vacuum pump are arranged on one side of the elastic pressure plate, and a suction cup is arranged on one side of the electrostatic film; the suction cup is arranged in the center of the electrostatic film, and the bottom of the suction cup is fixed on the elastic pressure plate, and the bottom of the suction cup is connected to one end of the connecting pipe through a one-way valve body, and the other end of the connecting pipe is connected to the vacuum pump. The magnetic adsorption device proposed by the invention device is only effective on the surface of ferromagnetic materials. The adsorption device requires a vacuum pump and an air pipeline to provide negative pressure. The device is heavy and requires additional energy loss.

[0006] Invention patent 201911158340.6 discloses a ceiling perching mechanism for a rotary-wing UAV, including a rotary-wing UAV and a perching component, the perching component including an unlocking mechanism and a flexible adhesive component, and the unlocking mechanism is fixed to the rotary-wing UAV. The rotary-wing UAV can adhere to and stay on the ceiling through the flexible adhesive component carried by the perching component, thereby extending the endurance of the rotary-wing UAV and improving the ability of the rotary-wing UAV to perform tasks such as high-altitude fixed-point observation and shooting; when the rotary-wing UAV needs to return, the rotary-wing UAV outputs a control signal to the unlocking mechanism, unlocks and separates the flexible adhesive component from the unlocking mechanism, and the rotary-wing UAV flies off the ceiling together with the unlocking mechanism. The ceiling perching mechanism of the rotary-wing UAV has a simple structure and a small size, and has low requirements on the load capacity of the rotary-wing UAV. The power consumption and noise in the perching state are very low, the endurance time is long, and the concealment is strong. This invention is only suitable for top surface adsorption, and the side cannot be adsorbed and perched. Utility Model Content

[0007] The utility model proposes a UAV with load separation and perching functions. The adsorption device is designed based on the principle of bionic adsorption. It can be firmly adsorbed on conventional building walls (ceramic tiles, wooden doors, cement, marble, glass surfaces and other building material walls), and can satisfy the requirement that the UAV can be adsorbed and stay on the wall or wall, thereby realizing the switching of UAV flight-adsorption-load separation multi-mode operation.

[0008] According to one embodiment of the utility model, a drone with load separation and perching functions is provided, including a drone body, an adsorption device arranged on one side of the drone body in the horizontal direction, and a load fixing and separation device arranged below the drone body.

[0009] In other embodiments, the adsorption device includes an upper connecting plate fixedly connected to the drone body, a bottom mounting frame fixedly connected to the load fixing and separation device, an adhesive material, an adhesive plate, a lower connecting plate and a connecting rod, the lower end of the lower connecting plate is connected to the adhesion plate by a hinge mechanism, allowing the lower connecting plate to rotate relative to the adhesion plate in a vertical direction; the upper ends of the upper connecting plate and the lower connecting plate are respectively connected to the adhesion plate by a snap structure, and the snap mechanism has a locked state and an unlocked state.

[0010] In other embodiments, when the adsorption device of the drone is adsorbed on the surface of an object and the drone is not stopped, the buckle mechanism is in a locked state, and the plane where the drone body is located is perpendicular to the surface of the object; in the locked state, when the drone body stops power, the lower end connecting plate of the drone body rotates relative to the adhesion plate under the action of its own weight, and the buckle mechanism switches to an unlocked state, so that the plane where the drone body is located is in a vertical plane.

[0011] In other embodiments, snap grooves are respectively arranged on the upper and lower parts of the adhesive plate, which are connected to the snap heads of the upper connecting plate and the lower connecting plate and are locked by the snap structure. When the drone body rotates under its own weight, the snap structure can be unlocked.

[0012] In other embodiments, the adsorption device further includes a reinforcing plate, and the connecting rod and the reinforcing plate are fixed together; one end of the connecting rod is fixed together with the lower end connecting plate; and the other end of the connecting rod is fixed together with the load fixing and separation device.

[0013] In other embodiments, the front-end adhesive material is arranged at the front end of the adhesive plate, has adhesive properties, and can be adhered to the surface to be adsorbed.

[0014] In other embodiments, the load fixing and separation device is arranged below the middle position of the UAV, and includes a bracket plate fixedly connected to the UAV body, a slotted pin shaft, a spring, a left clamp, a right clamp, a linear servo, a guide rod bracket, and a servo fixing bracket. The left clamp is fixed to the bracket plate on the left side through the slotted pin shaft and the spring; the right clamp is fixed to the bracket plate on the right side through the slotted pin shaft and the spring. The left clamp and the right clamp can rotate relative to the bracket plate. The linear servo and the guide rod bracket are distributed on both sides of the load fixing and separation device, and the push rod of the linear servo extends or retracts through the guide bracket hole of the guide rod.

[0015] In other embodiments, before the left clamp and the right clamp are rotated to the horizontal initial position, the load is placed in the middle of the left clamp and the right clamp. When the left clamp and the right clamp are rotated to the horizontal position, the push rod of the linear servo extends out and is inserted into the fixing holes of the left clamp and the right clamp to lock the left clamp and the right clamp in the horizontal position. At this time, the spring is in a compressed state, and the load fixing and separating device is in a horizontal locking state. When the push rod of the linear servo is switched from the extended state to the retracted state, the push rod of the linear servo is retracted from the fixing holes of the left clamp and the right clamp, and the left clamp and the right clamp are rotated to a vertical position under the elastic force of the spring. At this time, the load is separated from the middle of the left clamp and the right clamp under the action of its own weight, and the load fixing and separating device is in a vertical separation state.

[0016] In other embodiments, the drone body further includes a visual device, which is disposed above the front end of the drone body and is used to collect image information near the adsorption device.

[0017] In other embodiments, the drone body also includes a battery mounting bracket and a battery, wherein the legs of the mounting bracket are fixedly connected above the middle of the drone body to avoid the propeller movement space of the drone body; and the battery is placed in the internal cavity of the battery mounting bracket.

[0018] The bionic adsorption device proposed in the utility model does not need to provide additional power and energy, can be adaptively adsorbed on uneven surfaces, and is equipped with a buffering and shock-absorbing device to reduce the impact vibration during adsorption. After the adsorption is completed, the drone can automatically change its posture, with the center of gravity closer to the wall, and the adsorption is more stable.

[0019] The utility model proposes a drone with load separation and perching functions. The drone carries a load with a specific function and can perform a specific function together with a load module. The drone can perch on the target wall together with the load through an adsorption device. At the same time, the drone can also be separated from the load, and the drone returns or flies to perform other tasks, leaving the load alone on the target surface to perform tasks independently.

[0020] Compared with the prior art, the drone of the utility model can be smaller in size and weight, has no power loss, has relatively fewer motion control variables, and has higher system reliability.

[0021] The utility model has the following beneficial effects: when realizing perching adsorption, the utility model does not require additional power loss, has relatively few motion control variables, and can realize stable perching for a longer period of time through posture conversion.

[0022] The unmanned aerial vehicle proposed in the utility model is equipped with an adsorption device and a load fixing and separating device, and can realize three habitat states through changes in posture and mechanism to meet the working requirements of different working conditions.

[0023] Other features and advantages of the present invention will become apparent from the following detailed description of exemplary embodiments of the present invention with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of the present invention. The illustrative embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation on the present invention.

[0025] In the attached picture:

[0026] Figure 1 It is a schematic top view of the overall structure of a drone with load separation and perching functions according to an embodiment of the utility model;

[0027] Figure 2It is a side view schematic diagram of the overall structure of a drone with load separation and perching functions (half-section view of the battery box cover) according to an embodiment of the utility model;

[0028] Figure 3 It is a schematic diagram of the front view of the adsorption device structure according to an embodiment of the utility model;

[0029] Figure 4 It is a schematic diagram of a top view of the structure of an adsorption device according to an embodiment of the utility model;

[0030] Figure 5 It is a schematic diagram of the axonometric view of the adsorption device structure according to an embodiment of the utility model;

[0031] Figure 6 It is a schematic diagram of the closing of the clamping jaws of the load fixing and separating device structure according to an embodiment of the utility model;

[0032] Figure 7 A schematic diagram of the load fixing and separation device structure with the jaws opened according to an embodiment of the utility model;

[0033] Figure 8 A schematic diagram of the structure of a UAV with load separation and perching functions in a first perching state;

[0034] Fig. 9 A schematic diagram of the structure of a UAV with load separation and perching functions in a second perching state;

[0035] Fig.10 The diagram is a structural diagram of a UAV with load separation and perching functions in the third perching state. DETAILED DESCRIPTION

[0036] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. The following description of at least one exemplary embodiment is actually only illustrative and is by no means intended to limit the utility model and its application or use.

[0037] The "horizontal direction" in the following text of the utility model refers to the plane where the rotors are located when the drone is hovering. The "vertical direction" refers to the plane orthogonal to the horizontal direction, for example, the plane where the wall of the vertical wall that the drone is attached to when it is perched is located. "Inside" and "outside" are relative to the drone body.

[0038] like Figure 1 , Figure 2As shown, a UAV with load separation and perching functions includes a UAV body, an adsorption device arranged on one side of the UAV body in the horizontal direction, and a load fixing and separation device arranged in the middle and lower part of the UAV body.

[0039] The UAV in the present invention mainly refers to a multi-rotor UAV, that is, a UAV with two or more rotor shafts, which drives the rotors through the rotation of the motor on each shaft, thereby generating lift thrust. By changing the relative speed between different rotors, the magnitude of the single-axis propulsion force can be changed, thereby controlling the trajectory of the aircraft.

[0040] exist Figure 1 , Figure 2 In the example shown, the drone is a quad-rotor drone, and the quad-rotors are arranged symmetrically in an X shape. The drone body includes a frame 1, a rotor 2, a drive motor 3 coaxially mounted with the rotor 2, and a battery 4 fixed on the frame 1 for providing energy to the drone system including the drive motor, control system, etc. Exemplarily, the battery 4 is arranged in a battery holder 5 fixedly or detachably connected to the frame 1, and the battery holder 5 is arranged in the upper center of the frame 1.

[0041] The battery holder 5 is fixedly connected to the middle and upper part of the drone body to avoid the propeller movement space of the drone body. The battery is placed in the internal cavity of the battery holder 5 to achieve the function of quick replacement.

[0042] As an example, the frame 1 and the rotor 2 of the drone body are made of carbon fiber materials to ensure that the drone body is low in weight and has high strength. The control system is arranged inside the frame cavity in the middle of the drone.

[0043] The adsorption device 7 in the present invention is a bionic adsorption device, which is the main component of the drone habitat and is arranged at the front position of the drone body. It can be understood that for a rotary-wing drone, especially a quad-rotor drone, since it is usually a symmetrical structure and can move in any direction, such as upward, downward, left, right, forward, or backward, in the present invention, the "front position" of the drone body refers to the position on one side of the horizontal forward direction of the drone body.

[0044] In other embodiments, the drone body further includes a visual device 6, which is disposed above the front end of the drone body and is used to collect image information near the adsorption device. The video or image information collected by the visual acquisition device is sent to the drone control system, which calculates and analyzes the video or image information to obtain parameters such as the motor speed adjustment of the drone flight and sends them to the drone, and the drone performs the corresponding action.

[0045] Figure 3 , Figure 4, Figure 5 Schematic diagram of the structure of the adsorption device according to an embodiment of the utility model, as shown in Figure 3 , Figure 4 , Figure 5 As shown, the adsorption device 7 includes an upper connecting plate 73 fixed to the drone body, a bottom mounting frame 77 fixedly connected to the load fixing and separation device, an adhesive material 71, an adhesive plate 72, a lower connecting plate 74, a connecting rod 75, and a reinforcing plate 76; wherein, the lower connecting plate 74 is designed to be a U-shaped structure, the upper end is locked with the adhesive plate 72 by a snap buckle, and the lower end is hinged to the adhesive plate 72, allowing the lower connecting plate 74 to rotate relative to the adhesive plate 72 in a vertical direction; wherein, the upper connecting plate 73 and the lower connecting plate 74 are respectively locked with the adhesive plate 72 by a snap buckle structure, and the snap buckle mechanism has a locked state and an unlocked state.

[0046] In this embodiment, the adhesive plate 72 is a rigid-flexible coupling component made of two materials, with hard plastic embedded inside and flexible rubber material covered outside. It has both rigidity and certain flexibility.

[0047] The upper connecting plate 73 and the lower connecting plate 74 are made of plastic material, which has a certain deformation ability, and has a certain strength and rigidity. The upper connecting plate 73 is installed on the frame of the drone body through fasteners such as screws. The lower connecting plate has a limited structure at one end close to the connecting rod 75, and is fixed by a fastening component, such as a screw.

[0048] When the adsorption device of the drone is adsorbed on the surface of an object and the drone is not stopped, the buckle mechanisms on the upper connecting plate 73, the lower connecting plate 74 and the adhesive plate 72 are in a locked state, and the plane where the drone body is located is perpendicular to the surface of the object. In the locked state, when the drone body stops power, the lower connecting plate 74 rotates relative to the adhesive plate 72 under the action of its own weight, and the buckle mechanism switches to an unlocked state, so that the plane where the drone body is located is in a vertical plane.

[0049] In some embodiments, snap grooves are arranged on the upper and lower parts of the adhesive plate 72, respectively, which are connected to the snap heads of the upper connecting plate 73 and the lower connecting plate 74, and are locked by the snap structure. When the drone body rotates under its own weight, the snap structure can be unlocked.

[0050] In some embodiments, the connecting rod 75 and the reinforcing plate 76 are fixed together by screws, gluing or other fixing methods; one end of the connecting rod 75 and the lower end connecting plate 74 are provided with a limiting structure and fixed together by screws; the other end of the connecting rod 75 is fixed together with the load fixing and separation device 8.

[0051] As an example, the connecting rod 75 and the reinforcing plate 76 are made of carbon fiber material to ensure high strength and large load-bearing capacity while being light in weight.

[0052] In some embodiments, the front-end adhesive material 71 is arranged at the front end of the adhesive plate 72 and has adhesive properties, and can be adhered to the surface to be adsorbed.

[0053] Figure 6 , Figure 7 The load fixing and separation device is a schematic diagram of the structure of the load fixing and separation device according to an embodiment of the utility model. As shown in the figure, the load fixing and separation device is arranged below the middle position of the drone, and includes a bracket plate 81 fixedly connected to the drone body, a slotted pin shaft 82, a spring 83, a left clamping claw 84, a right clamping claw 85, a linear servo 86, a guide rod bracket 87, a servo fixing frame 89, and a load 88.

[0054] In some embodiments, the bracket plate 81 is fixed together with the lower middle part of the drone body so that the load fixing and separation device is fixedly connected to the drone body. Screws or other connecting parts can be used for fixing.

[0055] In some embodiments, the left clamping jaw 84 is fixed to the left bracket plate 81 through a slotted pin 82 and a spring 83 ; the right clamping jaw 85 is fixed to the right bracket plate 81 through a slotted pin 82 and a spring 82 .

[0056] In some embodiments, the linear servo 86 and the guide rod bracket 87 are distributed on both sides of the load fixing and separating device 8 , and the push rod of the linear servo 86 extends out or retracts through the guide hole of the guide rod bracket 87 .

[0057] In some embodiments, the left clamping jaw 84 and the right clamping jaw 85 can rotate relative to the bracket plate 81. Before the left clamping jaw 84 and the right clamping jaw 85 rotate to the horizontal initial position, the load 88 is placed between the left clamping jaw 84 and the right clamping jaw 85. When the left clamping jaw 84 and the right clamping jaw 85 rotate to the horizontal position, the push rod of the linear servo 86 extends and is inserted into the fixing holes of the left clamping jaw 84 and the right clamping jaw 85, locking the left clamping jaw 84 and the right clamping jaw 85 in the horizontal position. At this time, the spring 83 is in a compressed state, and the load fixing and separating device 8 is in a horizontal locking state. When the push rod of the linear servo 86 switches from the extended state to the retracted state, the push rod of the linear servo 86 retracts from the fixing holes of the left clamp 84 and the right clamp 85, and the left clamp 84 and the right clamp 85 rotate to a vertical position under the elastic force of the spring 83. At this time, the load is separated from the middle of the left clamp 84 and the right clamp 85 under the action of its own weight, and the load fixing and separation device is in a vertical separation state.

[0058] Figure 8The schematic diagram of the structure of a drone with load separation and perching functions in the first perching state. When the drone is in the flying state, the buckle mechanism is in the locked state, the drone flies forward, and after the adsorption device contacts the wall, it is adsorbed on the surface of the wall. The drone provides a pressing force forward, and the adsorption device is tightly attached to the surface of the wall. Among them, when the adsorption device 7 of the drone is adsorbed on the surface of an object and the drone is not stopped, the buckle mechanism is in the locked state, and the rotation of the lower end connecting plate 74 relative to the adhesive plate 72 is prevented, so that the rotor drone is in the first perching state. When the drone only needs to be in the perching state (first perching state) for a short time, it can maintain the current state for perching.

[0059] Fig. 9 The schematic diagram of the structure of a drone with load separation and perching functions in the second perching state. In the first perching state, the buckle is in a locked state. After the adsorption is stable, the propeller of the drone gradually reduces the speed until it stops. Under the action of the drone's own weight, the lower end connecting plate 74 rotates relative to the adhesion plate 72, and the buckle mechanism switches to an unlocked state. The drone body rotates to a predetermined position relative to the adhesion plate 72, so that the drone is in the second perching state and the attitude change is completed. After the attitude change, the overall center of gravity of the drone body is closer to the wall. At this time, the overall overturning moment of the drone is smaller, making the adsorption more stable.

[0060] In particular, the adsorption device structure of the present embodiment is fixed and locked in the form of a snap-on. If other methods are used, such as magnetic locking or elastic pin locking, similar functions can also be achieved.

[0061] Fig.10 The schematic diagram of the structure of a drone with load separation and perching functions in the third perching state. When the drone needs to return and the load is independently placed on the target wall, the load fixing and separation device can separate the load, and the drone body returns, and the load and the adsorption device perch on the surface of the object, so that the drone is in the third perching state.

[0062] The load separation device, if using other mechanical structures such as pneumatic grippers or electric grippers, can also achieve similar functions.

[0063] The utility model proposes a drone with load separation and perching functions. The drone carries a load with a specific function and can perform a specific function together with a load module. The drone can perch on the target wall together with the load through an adsorption device. At the same time, the drone can also be separated from the load, and the drone returns or flies to perform other tasks, leaving the load alone on the target surface to perform tasks independently.

[0064] The utility model proposes a drone with load separation and perching functions, which can be adaptively adsorbed on uneven surfaces without providing additional power and energy, and is equipped with a buffering and shock-absorbing device to reduce the impact vibration during adsorption. After the adsorption is completed, the drone can automatically change its posture, with the center of gravity closer to the wall, and the adsorption is more stable.

[0065] The UAV body and the payload device of the utility model are adsorbed by the same adsorption device, which can realize the attachment of the UAV body and the payload device. Compared with the solution of independent adsorption of the UAV and the payload, the overall volume and weight of the solution proposed by the utility model can be smaller. The UAV rotor does not work for a long time when it is perched, there is no additional power loss, the motion control variables are relatively small, and the system reliability is high.

[0066] The above embodiments are only used to illustrate the technical solution of the utility model rather than to limit it. Although the utility model is described in detail with reference to the preferred embodiments, ordinary technicians in the field should understand that the specific implementation method of the utility model can still be modified or some technical features can be replaced by equivalents; without departing from the spirit of the technical solution of the utility model, they should all be included in the scope of the technical solution for which protection is requested in the utility model.

Claims

1. A drone with load separation and perching functions, comprising a drone body, characterized in that: It also includes an adsorption device arranged on one side of the drone body in the horizontal direction and a load fixing and separation device arranged below the drone body; The adsorption device comprises an upper connecting plate fixedly connected to the drone body, a bottom mounting frame fixedly connected to the load fixing and separating device, an adhesive material, an adhesive plate, a lower connecting plate and a connecting rod, wherein the lower end of the lower connecting plate is connected to the adhesive plate by a hinge mechanism, allowing the lower connecting plate to rotate relative to the adhesive plate in a vertical direction; the upper ends of the upper connecting plate and the lower connecting plate are respectively connected to the adhesive plate by a buckle structure, and the buckle mechanism has a locked state and an unlocked state; The load fixing and separating device is arranged below the middle position of the UAV, and includes a bracket plate fixedly connected to the UAV body, a slotted pin shaft, a spring, a left clamp, a right clamp, a linear servo, a guide rod bracket, and a servo fixing bracket. The left clamp is fixed to the bracket plate on the left side through the slotted pin shaft and the spring; the right clamp is fixed to the bracket plate on the right side through the slotted pin shaft and the spring. The left clamp and the right clamp can rotate relative to the bracket plate. The linear servo and the guide rod bracket are distributed on both sides of the load fixing and separating device. The push rod of the linear servo extends or retracts through the guide bracket hole of the guide rod.

2. The drone according to claim 1, characterized in that: When the adsorption device of the drone is adsorbed on the surface of an object and the drone is not stopped, the buckle mechanism is in a locked state, and the plane where the drone body is located is perpendicular to the surface of the object; in the locked state, when the power of the drone body stops, the lower end connecting plate of the drone body rotates relative to the adhesion plate under the action of its own weight, and the buckle mechanism switches to an unlocked state, so that the plane where the drone body is located is in a vertical plane.

3. The drone according to claim 1, characterized in that: The upper and lower parts of the adhesive plate are respectively provided with buckle grooves, which are connected with the buckle heads of the upper connecting plate and the lower connecting plate and are locked by the buckle structure. When the drone body rotates under its own weight, the buckle structure can be unlocked.

4. The drone according to claim 1, characterized in that: The adsorption device also includes a reinforcing plate, the connecting rod and the reinforcing plate are fixed together; one end of the connecting rod is fixed together with the lower end connecting plate; the other end of the connecting rod is fixed together with the load fixing and separating device.

5. The drone according to claim 1, characterized in that: The front-end adhesive material is arranged at the front end of the adhesive plate, has adhesive properties, and can be adhered to the surface to be adsorbed.

6. The drone according to claim 1, characterized in that: Before the left clamp and the right clamp are rotated to the horizontal initial position, the load is placed in the middle of the left clamp and the right clamp. When the left clamp and the right clamp are rotated to the horizontal position, the push rod of the linear servo extends out and is inserted into the fixing holes of the left clamp and the right clamp to lock the left clamp and the right clamp in the horizontal position. At this time, the spring is in a compressed state, and the load fixing and separating device is in a horizontal locking state. When the push rod of the linear servo is switched from the extended state to the retracted state, the push rod of the linear servo is retracted from the fixing holes of the left clamp and the right clamp, and the left clamp and the right clamp are rotated to a vertical position under the elastic force of the spring. At this time, the load is separated from the middle of the left clamp and the right clamp under the action of its own weight, and the load fixing and separating device is in a vertical separation state.

7. The drone according to claim 1, characterized in that: The drone body also includes a visual device, which is arranged above the front end of the drone body and is used to collect image information near the adsorption device.

8. The drone according to claim 1, characterized in that: The drone body also includes a battery fixing frame and a battery, wherein the legs of the fixing frame are fixedly connected above the middle of the drone body to avoid the propeller movement space of the drone body; the battery is placed in the internal cavity of the battery fixing frame.

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