An inspection unmanned aerial vehicle
The new pod folding structure utilizes a combination of drive shaft, crank, and slide rod to achieve automatic folding of the pod, solving the problems of easy damage and high energy consumption of existing inspection drone pods, extending the flight time, and reducing maintenance difficulty.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- HONEYCOMB AEROSPACE TECH (BEIJING) CO LTD
- Filing Date
- 2023-12-08
- Publication Date
- 2026-07-31
AI Technical Summary
Existing inspection drone pods are easily damaged during transportation and handling, and the existing folding structures are complex, costly, and difficult to maintain, which shortens the drone's flight time.
A novel pod folding structure is adopted, which uses a combination of drive shaft, crank, slide bar and L-shaped swing arm to realize the automatic folding and unfolding of the pod, reducing energy consumption and lowering energy demand.
It achieves low-energy folding of the pod, extends the drone's endurance, avoids the servo motor burning out due to prolonged power supply, and simplifies the maintenance process.
Smart Images
Figure CN117485618B_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of unmanned aerial vehicles (UAVs), and more particularly to an inspection UAV. Background Technology
[0002] Currently, some inspection flight missions present challenges for traditional aircraft, such as difficult takeoff and landing and complex flight environments. The HC-526E inspection UAV adopts a VTOL composite vertical takeoff and landing structure, combining the characteristics of fixed-wing and rotary-wing aircraft. During the takeoff phase, it adopts a rotary-wing takeoff mode, with four rotors providing lift. Once the aircraft reaches a certain altitude, the tail thrust is activated, and the aircraft switches to traditional fixed-wing flight mode.
[0003] In existing technologies, the drone pod is located below the drone's fuselage, with the camera lens mounted on it. During transportation or handling, the pod and lens are susceptible to damage from impacts with other objects, and the lens is also vulnerable to damage from direct sunlight. Although some pods on the market can be folded to avoid damage, the folding structure is complex and requires additional electronic control devices for operation, which is not only costly but also difficult to maintain, shortening the drone's flight time. Summary of the Invention
[0004] In view of this, an inspection drone is proposed to reduce the energy consumption required during the pod folding process, which reduces costs and extends the drone's endurance.
[0005] This application provides an inspection drone, including a cabin, a pod, a bracket, a drive shaft, a crank, a slide bar, and an L-shaped swing arm. A camera is mounted on the lower end of the pod, which is located directly below the hatch at the bottom of the cabin. The bracket is fixed inside the hatch. The drive shaft is rotatably connected to the bracket. One end of the drive shaft is fixedly connected to one end of the crank, and the other end of the drive shaft is connected to a servo motor. The slide bar is fixedly connected to the other end of the crank. The bracket is provided with an arc-shaped slide rail, and one end of the L-shaped swing arm is provided with a linear slide rail. The slide bar is slidably connected to both the arc-shaped slide rail and the linear slide rail. The arc-shaped slide rail is arranged around the drive shaft, and the linear slide rail is arranged in a direction perpendicular to the drive shaft. The pod is fixedly connected below the other end of the L-shaped swing arm. The turning point of the L-shaped swing arm is rotatably connected to the bracket, and the center of rotation of the L-shaped swing arm relative to the bracket is located on the extension line of the linear slide rail. The upper end of the arc-shaped slide rail is on the same horizontal plane as the drive shaft, and the lower end of the arc-shaped slide rail is on the same vertical plane as the drive shaft. After the L-shaped swing arm rotates 90 degrees upward relative to the bracket, the pod retracts from the hatch into the cabin. After the L-shaped swing arm rotates 90 degrees downward relative to the bracket, the pod extends from the hatch into the lower part of the cabin. When the slide rod is at the upper end of the arc-shaped slide rail, it locks the L-shaped swing arm to rotate upwards, and the linear slide rail is in a vertical state. When the slide rod is at the lower end of the arc-shaped slide rail, it locks the L-shaped swing arm to rotate downwards, and the linear slide rail is in a horizontal state. The crank drives the L-shaped swing arm to rotate relative to the bracket to release the lock. The crank drives the L-shaped swing arm to rotate upwards relative to the bracket to return the pod to the cabin. Under the action of its own weight and the weight of the pod, the L-shaped swing arm rotates downwards relative to the bracket to exit the cabin.
[0006] In some embodiments of the aforementioned inspection drone, both the arc-shaped slide rail and the linear slide rail are grooves, and the slide rod is simultaneously inserted into the arc-shaped slide rail and the linear slide rail. The outer side of the slide rod is slidably connected to the inner side of the arc-shaped slide rail and the linear slide rail, respectively.
[0007] In some embodiments of the aforementioned inspection drone, the L-shaped swing arm includes an active swing arm and a driven swing arm. One end of the active swing arm is vertically and fixedly connected to one end of the driven swing arm. The linear slide rail is arranged on the active swing arm in a direction parallel to the active swing arm. The pod is fixedly connected to the lower surface of the driven swing arm. A rotating shaft is fixedly connected to the bracket. The rotating shaft is arranged parallel to the drive shaft. The end of the L-shaped swing arm where the active swing arm and the driven swing arm are connected to each other is rotatably connected to the rotating shaft. The rotating shaft is located on the extension line of the linear slide rail.
[0008] In some embodiments of the aforementioned inspection drone, the length of the active pendulum is less than the length of the driven pendulum.
[0009] In some embodiments of the above-mentioned inspection drone, the inspection drone further includes a first torsion spring, which is arranged around the rotating shaft. One end of the first torsion spring is fixedly connected to the bracket, and the other end of the first torsion spring is fixedly connected to the L-shaped swing arm. When the L-shaped swing arm rotates downward, the elastic potential energy of the first torsion spring increases.
[0010] In some embodiments of the above-mentioned inspection drone, the inspection drone further includes a second torsion spring. The second torsion spring is arranged around the drive shaft. One end of the second torsion spring is fixedly connected to the bracket, and the other end of the second torsion spring is fixedly connected to the crank. When the L-shaped swing arm rotates downward, it drives the crank to rotate upward, thereby increasing the elastic potential energy of the second torsion spring.
[0011] In some embodiments of the aforementioned inspection drone, the linear slide rail passes through the L-shaped swing arm, the arc-shaped slide rail passes through the crank, and axial limiting blocks are fixedly connected to both ends of the slide arm. The L-shaped swing arm and the bracket are sandwiched between the two axial limiting blocks.
[0012] In some embodiments of the aforementioned inspection drone, the cross-sectional shapes of the linear slide rail and the arc slide rail are V-shaped with opposite orientations. The slide rod includes a first screw, a first slider, a second screw, a second slider, and a third screw arranged coaxially in sequence. One of the axial limiting blocks is threadedly connected to the first screw, and the other axial limiting block is threadedly connected to the third screw. The first screw, the first slider, and the second screw are fixedly connected in sequence. The second slider is fixedly connected to the third screw. The first slider is located inside the linear slide rail, and the second slider is located inside the arc slide rail. The two ends of the second screw are located inside the linear slide rail and the arc slide rail, respectively. A screw hole is provided at the center of the end of the second slider near the first slider. The end of the second screw away from the first slider is threadedly connected to the second slider through the screw hole. The end of the third screw away from the second screw is fixedly connected to the crank. Both the first slider and the second slider are frustum-shaped. The slope of the side of the first slider is twice the V-angle of the linear slide rail, and the slope of the side of the second slider is twice the V-angle of the arc slide rail. The axial length of the first slider is less than the axial length of the linear slide rail, and the minimum diameter of the first slider is greater than the minimum width of the linear slide rail. The axial length of the second slider is less than the axial length of the arc slide rail, and the minimum diameter of the second slider is greater than the minimum width of the arc slide rail.
[0013] In some embodiments of the above-mentioned inspection drone, a fixing plate is fixedly connected to the lower end of the bracket. The fixing plate is horizontally set and fixedly connected to the bottom surface of the cabin. When the L-shaped swing arm is rotated downwards until the driven swing arm is in a horizontal state, the height of the lower surface of the driven swing arm is greater than the height of the upper surface of the fixing plate.
[0014] In some embodiments of the aforementioned inspection drone, when the L-shaped swing arm rotates downwards until the driven swing arm is in a horizontal state, the torque generated by the first torsion spring force acting on the rotation center of the L-shaped swing arm is equal to the torque of the driven swing arm and the weight of the pod acting on the center of the rotating shaft.
[0015] The beneficial effects of this invention are: When the slide bar slides to the upper end of the curved slide rail, the rotation of the L-shaped rocker arm will exert a lateral force on the slide bar. Since the crank is in a horizontal position at this time, the rotation of the L-shaped rocker arm is locked. When the pod needs to be retracted, the servo motor drives the crank to rotate downwards. After the slide bar slides down a short distance, the L-shaped rocker arm can be unlocked and rotate upwards. When the slide bar slides to the lower end of the curved slide rail, the rotation of the L-shaped rocker arm will exert a vertical force on the slide bar. Since the crank is in a vertical position at this time, the rotation of the L-shaped rocker arm is locked. When the pod needs to be extended, the servo motor only needs to drive the crank... After the handle is rotated upward a short distance, the L-shaped lever is unlocked and can automatically rotate downward under its own weight and the weight of the pod. Thus, the entire drive process consists of only two parts: the first part is unlocking, which only requires the drive shaft to rotate a small angle; the second part is driving the L-shaped lever to rotate upward. After the L-shaped lever is unlocked, its downward rotation can be completed automatically without energy consumption. The servo does not participate in maintaining the locked state, nor does it participate in the downward rotation of the L-shaped lever after unlocking. This not only reduces energy consumption and extends the endurance, but also prevents the servo from burning out due to prolonged power supply. Attached Figure Description
[0016] The accompanying drawings, which are included in and form part of this specification, illustrate exemplary embodiments, features, and aspects of this application together with the specification and serve to explain the principles of this application.
[0017] Figure 1 This is a schematic diagram of the structure of the inspection drone in the embodiments of this application; Figure 2 This is a schematic diagram of the pod in the extended state in an embodiment of this application; Figure 3 This is a schematic diagram of the pod's structure during the recovery process in an embodiment of this application; Figure 4 This is a schematic diagram of the structure after the pod is recovered into the cabin in an embodiment of this application; Figure 5 This is a schematic diagram of the connection between the torsion spring, the L-shaped rocker arm, and the bracket in an embodiment of this application; Figure 6 This is a schematic diagram of the structure of the slide bar and slide rail in the embodiments of this application; Figure 7 This is a schematic diagram of the connection between the slide rod and the slide rail in another embodiment of this application.
[0018] Explanation of reference numerals in the attached figures 100. Cabin; 102. Pod; 104. Bracket; 106. Drive shaft; 108. Crank; 110. Slide rod; 112. L-shaped rocker arm; 114. Arc-shaped slide rail; 116. Linear slide rail; 118. Active rocker arm; 120. Driven rocker arm; 122. Rotating shaft; 124. First torsion spring; 126. Second torsion spring; 128. First screw; 130. First slider; 132. Second screw; 134. Second slider; 136. Third screw; 138. Screw hole; 140. Fixing plate; 142. Axial limiting block. Detailed Implementation
[0019] Various exemplary embodiments, features, and aspects of this application will now be described in detail with reference to the accompanying drawings. The same reference numerals in the drawings denote elements that have the same or similar functions. Although various aspects of embodiments are shown in the drawings, they are not necessarily drawn to scale unless specifically indicated otherwise. The term "exemplary" as used herein means "serving as an example, embodiment, or illustration." Any embodiment illustrated herein as "exemplary" is not necessarily to be construed as superior to or better than other embodiments. Furthermore, for the purpose of better illustrating this application, those skilled in the art will understand that numerous specific details are set forth in the various embodiments described below. This application can be practiced without certain specific details. In some embodiments, methods, means, and elements well known to those skilled in the art are not described in detail in order to highlight the spirit of this application.
[0020] Combination Figures 1 to 4As shown, this application embodiment provides an inspection drone, including a cabin 100, a pod 102, a bracket 104, a drive shaft 106, a crank 108, a slide bar 110, and an L-shaped swing arm 112. A camera is mounted on the lower end of the pod 102, which is located directly below the hatch at the bottom of the cabin 100. The bracket 104 is fixed inside the hatch. The drive shaft 106 is rotatably connected to the bracket 104. One end of the drive shaft 106 is fixedly connected to one end of the crank 108, and the other end of the drive shaft 106 is connected to a servo motor. The slide bar 110 is connected to the crank 108... The other end is fixedly connected, and the bracket 104 is provided with an arc-shaped slide rail 114. One end of the L-shaped swing rod 112 is provided with a linear slide rail 116. The slide rod 110 is slidably connected to both the arc-shaped slide rail 114 and the linear slide rail 116. The arc-shaped slide rail 114 is arranged around the drive shaft 106, and the linear slide rail 116 is arranged in a direction perpendicular to the drive shaft 106. The pod 102 is fixedly connected to the lower end of the other end of the L-shaped swing rod 112. The turning point of the L-shaped swing rod 112 is rotatably connected to the bracket 104. The center of rotation of the L-shaped swing rod 112 relative to the bracket 104 is located at... On the extension line of the linear slide rail 116; the upper end of the arc-shaped slide rail 114 is on the same horizontal plane as the drive shaft 106, and the lower end of the arc-shaped slide rail 114 is on the same vertical plane as the drive shaft 106. After the L-shaped swing arm 112 rotates upward 90 degrees relative to the bracket 104, the pod 102 retracts from the hatch into the cabin 100. After the L-shaped swing arm 112 rotates downward 90 degrees relative to the bracket 104, the pod 102 extends from the hatch into the lower part of the cabin 100. When the slide rod 110 is at the upper end of the arc-shaped slide rail 114, the slide rod 110 relative to the L-shaped swing arm 112... When the upward rotation locks the linear slide rail 116, the slide rod 110 is at the lower end of the arc-shaped slide rail 114. The slide rod 110 locks the L-shaped swing rod 112 by rotating it downward. The linear slide rail 116 is in a horizontal state. The crank 108 drives the L-shaped swing rod 112 to rotate relative to the support 104 to release the lock. The crank 108 drives the L-shaped swing rod 112 to rotate upward relative to the support 104 to return the pod 102 to the cabin. Under the action of its own weight and the weight of the pod 102, the L-shaped swing rod 112 rotates downward relative to the support 104 to exit the cabin.
[0021] When the slide bar 110 slides to the upper end of the arc-shaped slide rail 114, the rotation of the L-shaped rocker arm 112 will exert a left-right force on the slide bar 110. Since the crank 108 is in a horizontal position at this time, it locks the rotation of the L-shaped rocker arm 112. When the pod 102 needs to be retracted, the servo drives the crank 108 to rotate downwards. After the slide bar 110 slides down a short distance, the L-shaped rocker arm 112 can be unlocked and rotate upwards. When the slide bar 110 slides to the lower end of the arc-shaped slide rail 114, the rotation of the L-shaped rocker arm 112 will exert a right-right force on the slide bar 110. Since the crank 108 is in a vertical position at this time, it locks the rotation of the L-shaped rocker arm 112. When the pod 102 needs to be retracted... When the pod 102 is engaged, the servo only needs to drive the crank 108 to rotate upward a short distance. After the L-shaped rocker arm 112 is unlocked, it can automatically rotate downward under the weight of itself and the pod 102. Thus, the entire driving process consists of only two parts. The first part is unlocking, which only requires the drive shaft 106 to rotate a small angle. The second part is driving the L-shaped rocker arm 112 to rotate upward. After the L-shaped rocker arm 112 is unlocked, its downward rotation can be completed automatically without energy consumption. The servo does not participate in maintaining the locked state, nor does it participate in the downward rotation of the L-shaped rocker arm 112 after unlocking. This not only reduces energy consumption and extends the endurance, but also prevents the servo from burning out due to prolonged power supply.
[0022] In some exemplary embodiments of the above embodiments, both the arc-shaped slide rail 114 and the linear slide rail 116 are sliding grooves, and the slide rod 110 is simultaneously inserted into the arc-shaped slide rail 114 and the linear slide rail 116. The outer side of the slide rod 110 is slidably connected to the inner side of the arc-shaped slide rail 114 and the linear slide rail 116, respectively.
[0023] In some exemplary embodiments of the above embodiments, the L-shaped rocker arm 112 includes an active rocker arm 118 and a driven rocker arm 120. One end of the active rocker arm 118 is vertically and fixedly connected to one end of the driven rocker arm 120. A linear slide rail 116 is arranged on the active rocker arm 118 in a direction parallel to the active rocker arm 118. The pod 102 is fixedly connected to the lower surface of the driven rocker arm 120. A rotating shaft 122 is fixedly connected to the bracket 104. The rotating shaft 122 is arranged parallel to the drive shaft 106. The end of the L-shaped rocker arm 112 that is connected to the active rocker arm 118 and the driven rocker arm 120 is rotatably connected to the rotating shaft 122. The rotating shaft 122 is located on the extension line of the linear slide rail 116.
[0024] In some exemplary embodiments of the above embodiments, the length of the active pendulum 118 is less than the length of the driven pendulum 120.
[0025] During the downward rotation of the L-shaped rocker arm 112, the driven rocker arm 120 has a longer lever arm, enabling it to rotate downwards more quickly and improving reliability. Optionally, in some embodiments, the length of the active rocker arm 118 is greater than the length of the driven rocker arm 120 to achieve better energy-saving effects.
[0026] Combination Figure 5 As shown, in some exemplary embodiments of the above embodiments, the inspection drone also includes a first torsion spring 124. The first torsion spring 124 is arranged around the rotating shaft 122. One end of the first torsion spring 124 is fixedly connected to the bracket 104, and the other end of the first torsion spring 124 is fixedly connected to the L-shaped swing arm 112. When the L-shaped swing arm 112 rotates downward, the elastic potential energy of the first torsion spring 124 increases.
[0027] When the slide bar 110 slides to the upper end of the arc-shaped slide rail 114, the elastic potential energy of the first torsion spring 124 reaches its maximum value. At this time, it tends to rotate the L-shaped rocker arm 112 upward. However, since the L-shaped rocker arm 112 is locked at this time, it cannot rotate automatically. It needs to wait for the crank 108 to rotate downward to release the lock. After the lock is released, the crank 108 needs to continue to rotate downward to drive the L-shaped rocker arm 112 to rotate upward. During this process, the first torsion spring 124 gradually releases its elastic potential energy, which can reduce the torque output by the drive shaft 106 to the crank 108 and achieve a better energy-saving effect.
[0028] In some exemplary embodiments of the above embodiments, the inspection drone also includes a second torsion spring 126. The second torsion spring 126 is arranged around the drive shaft 106. One end of the second torsion spring 126 is fixedly connected to the bracket 104, and the other end of the second torsion spring 126 is fixedly connected to the crank 108. When the L-shaped swing arm 112 rotates downward, it drives the crank 108 to rotate upward, thereby increasing the elastic potential energy of the second torsion spring 126.
[0029] This implementation is theoretically infeasible (ignoring frictional resistance). However, in practical applications, due to the friction between the mating surfaces of the components, when the slide bar 110 is at the upper end of the arc-shaped slide rail 114, the torque applied by the second torsion spring 126 to the crank 108 is insufficient to make the crank 108 rotate downward automatically and will not unlock automatically. Moreover, when the servo motor does not drive the crank 108 to rotate downward, the crank 108 is also in a locked state. Therefore, a stable locked state can be maintained. After the drive shaft 106 drives the crank 108 to rotate downward to unlock, the first torsion spring 124 and the second torsion spring 126 simultaneously release elastic potential energy, which can further reduce the torque output by the servo motor to the drive shaft 106 and achieve better energy-saving effect.
[0030] Combination Figure 6As shown, in some exemplary embodiments of the above embodiments, the linear slide rail 116 passes through the L-shaped rocker arm 112, the arc-shaped slide rail 114 passes through the crank 108, and the two ends of the slide rod 110 are respectively fixedly connected to the axial limiting blocks 142. The L-shaped rocker arm 112 and the bracket 104 are sandwiched between the two axial limiting blocks 142.
[0031] Combination Figure 7 As shown, in some exemplary embodiments of the above examples, the cross-sectional shapes of the linear slide rail 116 and the arc slide rail 114 are V-shaped with opposite orientations. The slide rod 110 includes a first screw 128, a first slider 130, a second screw 132, a second slider 134, and a third screw 136 arranged coaxially in sequence. One axial limiting block 142 is threadedly connected to the first screw 128, and the other axial limiting block 142 is threadedly connected to the third screw 136. The first screw 128, the first slider 130, and the second screw 132 are fixedly connected in sequence, and the second slider 134 is fixedly connected to the third screw 136. The first slider 130 is located inside the linear slide rail 116, and the second slider 134 is located inside the arc slide rail 114. The two ends of the second screw 132 are located inside the linear slide rail 116 and the arc slide rail 114, respectively. The second slider 134 is close to... The first slider 130 has a screw hole 138 at the center of one end. The end of the second screw 132 away from the first slider 130 is threadedly connected to the second slider 134 through the screw hole 138. The end of the third screw 136 away from the second screw 132 is fixedly connected to the crank 108. The first slider 130 and the second slider 134 are both frustum-shaped. Twice the slope of the side of the first slider 130 is equal to the V-angle of the linear slide rail 116. Twice the slope of the side of the second slider 134 is equal to the V-angle of the arc slide rail 114. The axial length of the first slider 130 is less than the axial length of the linear slide rail 116. The minimum diameter of the first slider 130 is greater than the minimum width of the linear slide rail 116. The axial length of the second slider 134 is less than the axial length of the arc slide rail 114. The minimum diameter of the second slider 134 is greater than the minimum width of the arc slide rail 114.
[0032] The first screw 128 and the second screw 132 can adjust the axial distance through the threaded engagement of the third screw 136 with the screw hole 138, thereby adjusting the distance of the first slider 130 extending into the linear slide rail 116 and the distance of the second slider 134 extending into the arc slide rail 114, so that the slide rod 110 maintains a tight contact with the linear slide rail 116 and the arc slide rail 114, improving the stability of the locked state.
[0033] In some exemplary embodiments of the above embodiments, a fixing plate 140 is fixedly connected to the lower end of the bracket 104. The fixing plate 140 is horizontally arranged and fixedly connected to the bottom surface of the cabin 100. When the L-shaped swing arm 112 is rotated downwards until the driven swing arm 120 is in a horizontal state, the height of the lower surface of the driven swing arm 120 is greater than the height of the upper surface of the fixing plate 140.
[0034] Combination Figure 5 As shown, in some exemplary embodiments of the above embodiments, when the L-shaped rocker arm 112 rotates downwards until the driven rocker arm 120 is in a horizontal state, the torque generated by the elastic force of the first torsion spring 124 acting on the rotation center of the L-shaped rocker arm 112 is equal to the torque of the weight of the driven rocker arm 120 and the pod 102 acting on the center of the rotating shaft 122.
[0035] When the slide bar 110 is at the upper end of the arc-shaped slide rail 114, the torque applied by the second torsion spring 126 to the crank 108 is balanced with the frictional resistance of the crank 108. If the servo motor has a locking effect on the crank 108, the torque applied by the second torsion spring 126 to the crank 108 can be even greater. However, the torque applied by the second torsion spring 126 to the crank 108 is never enough to drive the unlocking on its own. When the servo motor outputs a small torque to the drive shaft 106, it can drive the unlocking and rotate the L-shaped rocker arm 112 upward, so that the torque output by the servo motor to the drive shaft 106 is at its minimum, achieving a better energy-saving effect.
[0036] In this application, "top," "bottom," "left," and "right" refer to the view orientation in the accompanying drawings, such as... Figure 2 The arrows indicating the direction are shown in the middle.
[0037] The various embodiments of this application have been described above. These descriptions are exemplary and not exhaustive, nor are they limited to the disclosed embodiments. Many modifications and variations will be apparent to those skilled in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is chosen to best explain the principles, practical application, or improvement of the technology in the market, or to enable others skilled in the art to understand the embodiments disclosed herein.
Claims
1. A patrol unmanned aerial vehicle, characterized in that, The system includes a nacelle (100), a pod (102), a bracket (104), a drive shaft (106), a crank (108), a slide bar (110), and an L-shaped swing arm (112). A camera is mounted on the lower end of the pod (102), which is located directly below the hatch at the bottom of the nacelle (100). The bracket (104) is fixed inside the hatch. The drive shaft (106) is rotatably connected to the bracket (104). One end of the drive shaft (106) is fixedly connected to one end of the crank (108), and the other end of the drive shaft (106) is connected to a servo motor. The slide bar (110) is fixedly connected to the other end of the crank (108). The bracket (104) is equipped with... An arc-shaped slide rail (114) is provided at one end of the L-shaped swing rod (112) and a straight slide rail (116). The slide rod (110) is slidably connected to both the arc-shaped slide rail (114) and the straight slide rail (116). The arc-shaped slide rail (114) is arranged around the drive shaft (106). The straight slide rail (116) is arranged in a direction perpendicular to the drive shaft (106). The pod (102) is fixedly connected to the other end of the L-shaped swing rod (112). The turning point of the L-shaped swing rod (112) is rotatably connected to the bracket (104). The center of rotation of the L-shaped swing rod (112) relative to the bracket (104) is located on the extension line of the straight slide rail (116). The upper end of the arc-shaped slide rail (114) is on the same horizontal plane as the drive shaft (106), and the lower end of the arc-shaped slide rail (114) is on the same vertical plane as the drive shaft (106). After the L-shaped swing arm (112) rotates upward 90 degrees relative to the bracket (104), the pod (102) retracts from the hatch into the cabin (100). After the L-shaped swing arm (112) rotates downward 90 degrees relative to the bracket (104), the pod (102) extends from the hatch into the lower part of the cabin (100). When the slide rod (110) is at the upper end of the arc-shaped slide rail (114), the slide rod (110) locks the L-shaped swing rod (112) to rotate upward, and the linear slide rail (116) is in a vertical state. When the slide rod (110) is at the lower end of the arc-shaped slide rail (114), the slide rod (110) locks the L-shaped swing rod (112) to rotate downward, and the linear slide rail (116) is in a horizontal state. The crank (108) drives the L-shaped swing rod (112) to rotate relative to the bracket (104) to release the lock. The crank (108) drives the L-shaped swing rod (112) to rotate upward relative to the bracket (104) to make the pod (102) return to the pod. Under the action of its own weight and the weight of the pod (102), the L-shaped swing rod (112) rotates downward relative to the bracket (104) to make the pod (102) exit the pod. Both the arc-shaped slide rail (114) and the linear slide rail (116) are sliding grooves. The slide rod (110) is inserted into both the arc-shaped slide rail (114) and the linear slide rail (116). The outer side of the slide rod (110) is slidably connected to the inner side of the arc-shaped slide rail (114) and the linear slide rail (116), respectively. The L-shaped rocker arm (112) includes an active rocker arm (118) and a driven rocker arm (120). One end of the active rocker arm (118) is vertically fixedly connected to one end of the driven rocker arm (120). The linear slide rail (116) is arranged on the active rocker arm (118) in a direction parallel to the active rocker arm (118). The pod (102) is fixedly connected to the lower surface of the driven rocker arm (120). A rotating shaft (122) is fixedly connected to the bracket (104). The rotating shaft (122) is arranged parallel to the drive shaft (106). The L-shaped rocker arm (112) is rotatably connected to the rotating shaft (122) at the end where the active rocker arm (118) and the driven rocker arm (120) are connected to each other. The rotating shaft (122) is located on the extension line of the linear slide rail (116). The inspection drone also includes a first torsion spring (124), which is arranged around the rotating shaft (122). One end of the first torsion spring (124) is fixedly connected to the bracket (104), and the other end of the first torsion spring (124) is fixedly connected to the L-shaped swing arm (112). When the L-shaped swing arm (112) rotates downward, the elastic potential energy of the first torsion spring (124) increases.
2. The inspection drone of claim 1, wherein, The length of the active pendulum (118) is less than the length of the driven pendulum (120).
3. The inspection drone of claim 1, wherein, The inspection drone also includes a second torsion spring (126), which is arranged around the drive shaft (106). One end of the second torsion spring (126) is fixedly connected to the bracket (104), and the other end of the second torsion spring (126) is fixedly connected to the crank (108). When the L-shaped swing arm (112) rotates downward, it drives the crank (108) to rotate upward, thereby increasing the elastic potential energy of the second torsion spring (126).
4. The inspection drone according to claim 1, characterized in that, The linear slide rail (116) passes through the L-shaped rocker arm (112), the arc-shaped slide rail (114) passes through the crank (108), and the two ends of the slide rod (110) are respectively fixedly connected to axial limiting blocks (142). The L-shaped rocker arm (112) and the bracket (104) are sandwiched between the two axial limiting blocks (142).
5. The inspection drone of claim 4, wherein, The linear slide rail (116) and the arc-shaped slide rail (114) have V-shaped cross-sections facing opposite directions. The slide rod (110) includes a first screw (128), a first slider (130), a second screw (132), a second slider (134), and a third screw (136) arranged coaxially in sequence. One of the axial limiting blocks (142) is threadedly connected to the first screw (128), and the other axial limiting block (142) is threadedly connected to the third screw (136). The first screw (128), the first slider (130), and the second screw (132) are fixedly connected in sequence, and the second slider (134) is fixedly connected to the third screw (136). Next, the first slider (130) is located inside the linear slide rail (116), the second slider (134) is located inside the arc slide rail (114), the two ends of the second screw (132) are located inside the linear slide rail (116) and the arc slide rail (114) respectively, the second slider (134) has a screw hole (138) at the center of one end near the first slider (130), the second screw (132) is threaded to the second slider (134) through the screw hole (138) at one end away from the first slider (130), and the third screw (136) is fixedly connected to the crank (108) at one end away from the second screw (132). Both the first slider (130) and the second slider (134) are frustum-shaped. The slope of the side of the first slider (130) is twice the V-angle of the linear slide rail (116), and the slope of the side of the second slider (134) is twice the V-angle of the arc slide rail (114). The axial length of the first slider (130) is less than the axial length of the linear slide rail (116). The minimum diameter of the first slider (130) is greater than the minimum width of the linear slide rail (116). The axial length of the second slider (134) is less than the axial length of the arc slide rail (114). The minimum diameter of the second slider (134) is greater than the minimum width of the arc slide rail (114).
6. The inspection drone of claim 1, wherein, The lower end of the bracket (104) is fixedly connected to a fixing plate (140). The fixing plate (140) is horizontally set and fixedly connected to the bottom surface of the cabin (100). When the L-shaped swing arm (112) is rotated downwards until the driven swing arm (120) is in a horizontal state, the height of the lower surface of the driven swing arm (120) is greater than the height of the upper surface of the fixing plate (140).
7. The inspection drone of claim 1, wherein, When the L-shaped swing arm (112) rotates downwards until the driven swing arm (120) is in a horizontal state, the torque generated by the elastic force of the first torsion spring (124) acting on the rotation center of the L-shaped swing arm (112) is equal to the torque of the weight of the driven swing arm (120) and the pod (102) acting on the center of the rotating shaft (122).