Industrial unmanned aerial vehicle control device suitable for indoor space

Abstract

The invention relates to the technical field of unmanned aerial vehicle control equipment, in particular to an industrial unmanned aerial vehicle control device suitable for indoor space, which comprises a transmission device for supporting, alignment clamping seats arranged at four corners of the lower end surface of the transmission device, and spring clamping shafts fixedly arranged at the centers of the lower end surfaces of the alignment clamping seats. A supporting base is fixedly arranged at the center of the lower end face of the spring clamping shaft. When deviation correction is controlled, a gear motor can drive a guide device and a counterweight sliding block to quickly and accurately face the side inclination direction, then a stepping motor can drive the counterweight sliding block to laterally move through a connecting lead screw under the control of an external control system according to the side inclination amount of the unmanned aerial vehicle, and therefore the gravity position in the side inclination direction of the unmanned aerial vehicle is measured; therefore, the unmanned aerial vehicle can be quickly recovered from the side-tipping state, and the stability of the equipment for controlling the operation of the unmanned aerial vehicle is effectively improved.

Description

Technical Field

[0001] The present invention relates to the technical field of industrial drone equipment, in particular to an industrial drone control device suitable for indoor spaces. Background Art

[0002] Industrial drones are a type of civilian drones that are precise, efficient, and convenient. They can quickly cover large areas and perform various tasks, such as aerial photography, mapping, and monitoring, greatly improving work efficiency. Compared with traditional manual or ground equipment, drones can complete tasks faster, reducing time and labor costs.

[0003] For example, an indoor anti-collision industrial inspection drone with Chinese patent publication number CN110217400A includes a drone body card seat (7) and a protective cover transmission device (2) located outside the body, wherein the protective cover transmission device (2) is composed of a cylinder and an upper arc sphere and a lower arc sphere located at both ends of the cylinder, and the protective cover transmission device (2) is used to reduce the impact force on the drone when the drone collides with the outside world; the flight of the drone body card seat (7) is controlled by a ground station. The drone of the present invention can fly in a complex indoor environment, carry visible light / infrared and other equipment, take photos and videos, and replace traditional personnel to realize drone inspection, thereby reducing the safety risk of manual inspection in a complex environment, improving work efficiency, and reducing inspection costs.

[0004] Although the drone in the above patent has a certain indoor anti-collision function, the above anti-collision device is only a rigid protective iron frame. When the drone collides while flying indoors, the rigid protective structure is likely to transmit the collision force directly to the inside of the drone, which can easily cause damage to electronic components. In addition, the above drone equipment is not convenient for adjusting and controlling the drone after the tilt, which can easily cause the drone to lose balance and fall after the collision, reducing the protection performance of the drone. Therefore, a device is needed to improve the above problem. Summary of the invention

[0005] In view of the problems in the prior art, the present invention provides an industrial drone control device suitable for indoor spaces.

[0006] The technical solution adopted by the present invention to solve the technical problem is: an industrial drone control device suitable for indoor space, comprising a transmission device for support, wherein alignment seats are arranged at the four corners of the lower end surface of the transmission device, a spring clamping shaft is fixedly arranged at the center of the lower end surface of the alignment clamping seat, and a support base is fixedly arranged at the center of the lower end surface of the spring clamping shaft.

[0007] Four sets of flying devices are equidistantly elastically slidably connected to the upper portion of the inner end surface of the transmission device, and a gravity control device for control is fixedly arranged at the center of the lower end surface of the transmission device;

[0008] The flying device includes a fixed slide for support, a second bevel gear is rotatably clamped at the rear part of the inner end surface of the fixed slide, and a fixed slide groove is opened at the center of the inner end surface of the second bevel gear, a first bevel gear is rotatably clamped at the top of the inner end surface of the fixed slide, and a spring retaining ring is fixedly arranged at the center of the front end surface of the fixed slide, a positioning swivel seat is arranged on the upper end surface of the fixed slide, and three groups of guide seats are equidistantly arranged on the side end surfaces of the positioning swivel seat, and protective devices are slidably clamped on the inner end surfaces of the three groups of guide seats, a transmission guide shaft is fixedly arranged on the inner end surface of the first bevel gear, and transmission blades are equidistantly arranged on the top of the side end surfaces of the transmission guide shaft.

[0009] Specifically, the transmission device includes an unmanned aerial vehicle frame, an active bevel gear is rotatably connected at the center of the inner end surface of the unmanned aerial vehicle frame, and four groups of unmanned aerial vehicle arms are equidistantly arranged on the side end surface of the unmanned aerial vehicle frame, and limited position rotating seats are arranged at the intersections of the four groups of unmanned aerial vehicle arms and the unmanned aerial vehicle frame, and a transmission card shaft is rotatably connected at the inner end surface of the limited position rotating seat, and a driven bevel gear is arranged at the inner end head of the transmission card shaft, a cover card plate is fixedly arranged on the upper end surface of the unmanned aerial vehicle frame, and guide grooves are opened at the four corners of the inner end surface of the cover card plate, a motor card seat is fixedly arranged at the center of the upper end surface of the cover card plate, and a servo motor is fixedly connected to the inner end surface of the motor card seat;

[0010] The output end of the servo motor synchronously drives the four groups of driven bevel gears to mesh and rotate through the active bevel gear, and the driven bevel gear synchronously drives the four groups of transmission shafts to rotate inside the drone arm.

[0011] Specifically, the protective device includes an alignment slide, a buffer spring is fixedly arranged on the rear end surface of the alignment slide, a buffer support arm for support is arranged on the upper end surface of the alignment slide, and an anti-collision guardrail for protection is arranged on the top of the buffer support arm;

[0012] When the alignment slide seat slides inside the drone frame, the buffer spring performs elastic buffering on the anti-collision guardrail.

[0013] Specifically, the gravity control device includes a fixed card seat, the inner end surface of the fixed card seat is fixedly connected with a reduction motor, a guide device is fixedly arranged at the output end of the reduction motor, the outer end surface of the guide device is rotatably connected with an annular guide rail, and a fixed rotation groove is provided on the inner end surface of the annular guide rail, and four groups of supporting card plates are equidistantly arranged on the upper end surface of the annular guide rail, a stepper motor is arranged near the middle of the inner end surface of the guide device, and a connecting screw is arranged at the output end of the stepper motor, and the inner end surface of the guide device is threadedly connected with a counterweight slider through the connecting screw;

[0014] The reduction motor drives the guide device to rotate and regulate inside the fixed base and the annular guide rail, and the stepper motor drives the counterweight slider to move the counterweight laterally through the connecting screw. The stepper motor can drive the counterweight slider to move laterally through the connecting screw, so that the counterweight slider can quickly adjust the overall counterweight of the drone through the gravity of the body, thereby preventing the drone from falling due to gravity imbalance after a collision.

[0015] Specifically, the guiding device includes a limit rotating plate, a limit sliding block is symmetrically arranged at the center of the side end surface of the limit rotating plate, and a guide rotating seat is fixedly arranged at the center of the upper end surface of the limit rotating plate, and a connecting clamp is fixedly arranged on the inner end surface of the guide rotating seat.

[0016] Specifically, the fixed slide is slidably engaged with the inner end surface of the drone frame through the guide groove, and the rear part of the spring clamp is fixedly connected to the inner wall of the drone frame. The spring clamp can provide sufficient elastic force for buffering for the subsequent sliding limit of the fixed slide inside the drone frame, thereby improving the stability of the sliding and buffering of the fixed slide inside the drone frame.

[0017] Specifically, the second bevel gear is meshed with the first bevel gear, and the second bevel gear is slidably engaged with the transmission shaft through the fixed slide groove. When the fixed slide slides inside the drone frame, due to the sliding limit of the fixed slide groove and the transmission shaft, the second bevel gear can maintain a continuous power supply during transmission, thereby improving the stability of the transmission.

[0018] Specifically, the anti-collision guardrail is adapted to the guide card seat through the alignment slide and then slidably clamped on the outer end surface of the positioning rotating seat, and the buffer spring is fixedly connected to the inner wall of the guide card seat. The anti-collision guardrail can perform all-round protection operations on the outside of the high-speed rotating transmission blade. At the same time, the sliding adaptation of the alignment slide and the guide card seat can provide sufficient guiding foundation for the subsequent elastic sliding displacement of the anti-collision guardrail through the buffer spring, thereby ensuring stability through buffering.

[0019] Specifically, the limit slider is adapted to the fixed rotation groove, and the guide device is adapted to the fixed rotation groove through the limit slider and then rotatably clamped inside the annular guide rail, the guide rotating seat is rotatably clamped inside the fixed clamping seat, and the counterweight slider is slidably clamped with the limit rotating plate. The limit slider can provide sufficient limiting basis for the limit rotating plate to rotate inside the annular guide rail, thereby improving the stability of subsequent rotation.

[0020] Specifically, the outer end surfaces of the drone frame are fixedly provided with a docking socket for docking, and the outer end surfaces of the four groups of the docking sockets are provided with side panels, and the outer end surfaces of the side panels are provided with rubber protective rings for protection. The rubber protective rings are made of a protective elastic material, preferably rubber, which can effectively improve the protection of the side of the drone frame, and at the same time prevent external rigid materials from directly colliding with the drone frame, thereby improving the protectiveness of the drone exterior.

[0021] Beneficial effects of the present invention:

[0022] First, the present invention provides all-round protection for the outside of the transmission blades by elastically protecting the outside of each group of transmission blades with three groups of anti-collision guardrails when the UAV is under flight control, and the fixed slide can provide secondary protection and buffering for the impact force of the anti-collision guardrails through the spring retaining ring, thereby maximizing the protection of the equipment against the operation of the transmission blades. At the same time, the sliding limit of the fixed slide groove and the transmission clamp shaft ensures that when the transmission blades undergo relative displacement inside the UAV frame, the power of the transmission blades remains continuous, thereby controlling the stability and continuity of the UAV operation.

[0023] Second, when the present invention is performing control correction, the reduction motor can drive the guide device and the counterweight slider to move quickly and accurately in the roll direction. Then, under the control of the external control system, the stepper motor can drive the counterweight slider to move sideways through the connecting screw according to the roll amount of the UAV, thereby adjusting the gravity position in the roll direction of the UAV, thereby quickly restoring the UAV from the roll state, effectively improving the stability of the equipment's control over the UAV's operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The present invention is further described below in conjunction with the accompanying drawings and embodiments.

[0025] Figure 1 It is a side view of the main body of the present invention;

[0026] Figure 2 It is a schematic diagram of the structure of the main body in the present invention;

[0027] Figure 3 It is a front view of the present invention;

[0028] Figure 4It is a cross-sectional view along AA in the present invention;

[0029] Figure 5 It is a disassembled diagram of the transmission device in the present invention;

[0030] Figure 6 It is a partial enlarged view of location I in the present invention;

[0031] Figure 7 It is a structural schematic diagram of the transmission device in the present invention;

[0032] Figure 8 It is a schematic diagram of the structure of the flying device in the present invention;

[0033] Fig. 9 is a side view of the flying device of the present invention;

[0034] Fig.10 It is a schematic diagram of the structure of the protective device in the present invention;

[0035] Fig.11 This is a disassembled diagram of the gravity control device of the present invention;

[0036] Fig.12 It is a structural schematic diagram of the gravity control device in the present invention;

[0037] Fig.13 It is a structural schematic diagram of the guide device in the present invention;

[0038] Fig.14 It is a structural schematic diagram of the second embodiment of the main body in the present invention.

[0039] In the figure: 1-alignment card seat, 2-transmission device, 3-flight device, 4-gravity control device, 5-spring clamping shaft, 6-support base, 7-clamping seat, 8-side plate, 9-rubber protective ring, 21-covering card plate, 22-motor card seat, 23-guide slide, 24-servo motor, 25-limiting swivel seat, 26-transmission card shaft, 27-UAV frame, 28-UAV arm, 29-active bevel gear, 210-driven bevel gear, 31-transmission blade, 32-protective device, 33-transmission guide shaft, 34-first bevel gear, 35-second Bevel gear, 36-fixed slide, 37-spring snap ring, 38-positioning swivel, 39-guide card seat, 310-fixed slide groove, 321-buffer spring, 322-alignment slide, 323-buffer support arm, 324-anti-collision guardrail, 41-fixed card seat, 42-reduction motor, 43-guide device, 44-support card plate, 45-fixed swivel, 46-annular guide rail, 47-stepping motor, 48-counterweight slider, 49-connecting screw rod, 431-guide swivel, 432-connecting card plate, 433-limit slider, 434-limit swivel plate. DETAILED DESCRIPTION

[0040] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present application.

[0041] The present invention is further described below in conjunction with the accompanying drawings.

[0042] Example 1

[0043] like Figure 1 , Figure 2 , Figure 3 and Figure 4 As shown, an industrial drone control device suitable for indoor space of the present invention comprises a transmission device 2 for support, an alignment card seat 1 is arranged at each of the four corners of the lower end surface of the transmission device 2, a spring clamping shaft 5 is fixedly arranged at the center of the lower end surface of the alignment card seat 1, and a support base 6 is fixedly arranged at the center of the lower end surface of the spring clamping shaft 5.

[0044] Four sets of flying devices 3 are equidistantly elastically slidably connected to the upper part of the inner end surface of the transmission device 2, and a gravity control device 4 for control is fixedly arranged at the center of the lower end surface of the transmission device 2;

[0045] like Figure 8 and Fig. 9 The flying device 3 includes a fixed slide 36 for support, a second bevel gear 35 is rotatably engaged at the rear of the inner end surface of the fixed slide 36, and a fixed slide groove 310 is provided at the center of the inner end surface of the second bevel gear 35, a first bevel gear 34 is rotatably engaged at the top of the inner end surface of the fixed slide 36, and a spring snap ring 37 is fixedly provided at the center of the front end surface of the fixed slide 36, a positioning rotating seat 38 is provided on the upper end surface of the fixed slide 36, and three groups of guide seats 39 are equidistantly provided on the side end surface of the positioning rotating seat 38, and the inner end surfaces of the three groups of guide seats 39 are all slidably engaged with protective devices 32, and the three groups of protective devices 32 can comprehensively improve the protection of the transmission blades 31, prevent subsequent external collisions from hindering the operation of the transmission blades 31, and improve the stability of the UAV flight;

[0046] A transmission guide shaft 33 is fixedly disposed on the inner end surface of the first bevel gear 34 , and transmission blades 31 are equidistantly disposed on the top of the side end surface of the transmission guide shaft 33 , which can effectively improve the flight stability of the UAV.

[0047] like Figure 5 , Figure 6 and Figure 7 The transmission device 2 includes an unmanned aerial vehicle frame 27, an active bevel gear 29 is rotatably connected at the center of the inner end surface of the unmanned aerial vehicle frame 27, and four groups of unmanned aerial vehicle arms 28 are equidistantly arranged on the side end surface of the unmanned aerial vehicle frame 27, and a limited position rotating seat 25 is arranged at the junction of the four groups of unmanned aerial vehicle arms 28 and the unmanned aerial vehicle frame 27, and a transmission card shaft 26 is rotatably connected at the inner end surface of the limited position rotating seat 25, and a driven bevel gear 210 is arranged at the inner end head of the transmission card shaft 26, a cover card plate 21 is fixedly arranged on the upper end surface of the unmanned aerial vehicle frame 27, and guide grooves 23 are opened at the four corners of the inner end surface of the cover card plate 21, a motor card seat 22 is fixedly arranged at the center of the upper end surface of the cover card plate 21, and a servo motor 24 is fixedly connected to the inner end surface of the motor card seat 22;

[0048] The output end of the servo motor 24 synchronously drives four sets of driven bevel gears 210 to mesh and rotate through the active bevel gear 29, and the driven bevel gears 210 synchronously drive four sets of transmission shafts 26 to rotate inside the drone arm 28.

[0049] like Fig.10 The protection device 32 includes an alignment slide 322, a buffer spring 321 is fixedly arranged on the rear end surface of the alignment slide 322, and a buffer support arm 323 for support is arranged on the upper end surface of the alignment slide 322, and an anti-collision guardrail 324 for protection is arranged on the top of the buffer support arm 323;

[0050] When the alignment slide 322 slides inside the drone rack 27 , the buffer spring 321 performs elastic buffering on the anti-collision guardrail 324 .

[0051] like Fig.11 and Fig.12 The gravity control device 4 includes a fixed card seat 41, the inner end surface of the fixed card seat 41 is fixedly connected with a reduction motor 42, and a guide device 43 is fixedly arranged at the output end of the reduction motor 42, and the outer end surface of the guide device 43 is rotatably connected with an annular guide rail 46, and a fixed rotation groove 45 is opened on the inner end surface of the annular guide rail 46, and four groups of supporting card plates 44 are equidistantly arranged on the upper end surface of the annular guide rail 46, and a stepping motor 47 is arranged near the middle of the inner end surface of the guide device 43, and a connecting screw rod 49 is arranged at the output end of the stepping motor 47, and the inner end surface of the guide device 43 is threadedly connected with a counterweight slider 48 through the connecting screw rod 49;

[0052] The reduction motor 42 drives the guide device 43 to rotate and adjust inside the fixed base 41 and the annular guide rail 46, and the stepper motor 47 drives the counterweight slider 48 to move the counterweight laterally through the connecting screw 49;

[0053] The stepper motor 47 can drive the counterweight slider 48 to move sideways through the connecting screw 49, so that the counterweight slider 48 can quickly adjust the overall counterweight of the drone through the gravity of the main body to prevent the drone from falling due to gravity imbalance after collision.

[0054] like Fig.13 The guide device 43 includes a limit rotating plate 434, a limit sliding block 433 is symmetrically arranged at the center of the side end surface of the limit rotating plate 434, and a guide rotating seat 431 is fixedly arranged at the center of the upper end surface of the limit rotating plate 434, and a connecting clamping plate 432 is fixedly arranged on the inner end surface of the guide rotating seat 431.

[0055] like Figure 5 and Figure 8 The fixed slide 36 is slidably engaged with the inner end surface of the drone frame 27 through the guide groove 23, and the rear part of the spring clamp 37 is fixedly connected to the inner wall of the drone frame 27. The spring clamp 37 can provide sufficient elastic force for buffering for the subsequent sliding limit of the fixed slide 36 inside the drone frame 27, thereby improving the stability of the sliding and buffering of the fixed slide 36 inside the drone frame 27.

[0056] like Figure 7 and Fig. 9 The second bevel gear 35 is meshedly connected with the first bevel gear 34, and the second bevel gear 35 is slidably engaged with the transmission card shaft 26 through the fixed slide groove 310. When the fixed slide seat 36 slides inside the unmanned aerial vehicle frame 27, due to the sliding limit of the fixed slide groove 310 and the transmission card shaft 26, the second bevel gear 35 can maintain a continuous power supply during transmission, thereby improving the stability of the transmission.

[0057] like Fig. 9 and Fig.10 The anti-collision guardrail 324 is adapted to the guide card seat 39 through the alignment slide 322 and then slidably clamped on the outer end surface of the positioning rotating seat 38, and the buffer spring 321 is fixedly connected to the inner wall of the guide card seat 39. The anti-collision guardrail 324 can perform all-round protection operations on the outside of the high-speed rotating transmission blade 31. At the same time, the sliding adaptation of the alignment slide 322 and the guide card seat 39 can provide sufficient guiding foundation for the subsequent elastic sliding displacement of the anti-collision guardrail 324 through the buffer spring 321, thereby ensuring stability through buffering.

[0058] like Fig.11 and Fig.13The limit slider 433 is adapted to the fixed rotation groove 45, and the guide device 43 is adapted to the fixed rotation groove 45 through the limit slider 433 and then rotated and clamped inside the annular guide rail 46, the guide rotating seat 431 is rotated and clamped inside the fixed clamping seat 41, and the counterweight slider 48 is slidably clamped with the limit rotating plate 434. The limit slider 433 can provide sufficient limiting basis for the limit rotating plate 434 to rotate inside the annular guide rail 46, thereby improving the stability of subsequent rotation.

[0059] When the drone is used indoors, the staff can start the servo motor 24 through the external control device, and the servo motor 24 can drive the active bevel gear 29 at the bottom to rotate. Figure 6 When the active bevel gear 29 is rotating, it can synchronously drive the four sets of driven bevel gears 210 to rotate. When the four sets of driven bevel gears 210 are rotating, they can synchronously drive the four sets of transmission card shafts 26 to rotate at high speed. At this time, the transmission card shaft 26 can drive the second bevel gear 35 to rotate at high speed through the fixed slide groove 310. At the same time, the second bevel gear 35 can mesh with the first bevel gear 34, thereby driving the transmission guide shaft 33 to rotate at high speed. The four sets of transmission guide shafts 33 can synchronously drive the transmission blades 31 to rotate at high speed, thereby providing sufficient lift for the drone frame 27, thereby driving the drone to start flying.

[0060] like Figure 8 If the drone collides with a rigid object such as a wall while flying indoors, the multiple groups of anti-collision guardrails 324 located outside the transmission blade 31 can first contact the wall, and then the anti-collision guardrails 324 drive the buffer arm 323 and the alignment slide 322 to slide elastically inside the guide seat 39 under the action of the impact force. At this time, the buffer spring 321 can perform a full-scale buffering operation on the impact force received by the anti-collision guardrail 324, and at the same time, the anti-collision guardrail 324 can perform a full-scale protective operation on the outside of the transmission blade 31. To prevent the impact from affecting the rotation of the transmission blade 31, if the impact force is too large, the anti-collision guardrail 324 can drive the fixed slide 36 to move toward the center of the drone as a whole through the alignment slide 322, and the fixed slide 36 can perform secondary buffering of the impact force through the spring retaining ring 37. At the same time, since the second bevel gear 35 performs sliding and limiting transmission with the transmission clamp shaft 26 through the fixed slide groove 310, when the fixed slide 36 moves inside the drone frame 27, the transmission blade 31 can still maintain high-speed operation to prevent the drone from losing power.

[0061] When controlling the impact deviation direction of the drone, Fig.11At this time, the reduction motor 42 can adaptively adjust the counterweight of the drone according to the offset of the drone after the collision. When one side of the drone is tilted, the reduction motor 42 can drive the guide device 43 to make the counterweight slider 48 quickly move toward the tilted side. At the same time, the stepper motor 47 can drive the counterweight slider 48 to slide on the upper part of the guide device 43 through the connecting screw 49, so that the drone can quickly maintain and restore the balance of the body when receiving the impact force, thereby improving the stability of the body flight control.

[0062] Example 2

[0063] On the basis of Example 1, Fig.14 As shown, the outer end faces of the drone frame 27 are fixedly provided with a docking socket 7, and the outer end faces of the four groups of docking sockets 7 are provided with a side plate 8, and the outer end faces of the side plates 8 are provided with a rubber protective ring 9 for protection.

[0064] When implementing this embodiment, when the drone collides with indoor rigid equipment or walls, the anti-collision guardrail 324 and the fixed slide 36 can perform double buffering through the buffer spring 321 and the spring clamp 37 respectively. At the same time, the rubber guard ring 9 is made of elastic rubber material, which can provide all-round protection for the side of the drone frame 27 of the drone, preventing the subsequent side deviation of the drone frame 27 from directly contacting rigid objects, thereby allowing the impact force to be directly transmitted to the inside of the drone frame 27, affecting the protectiveness of the drone flight.

[0065] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. An industrial drone control device suitable for indoor space, comprising a transmission device (2) for supporting, a positioning card seat (1) is arranged at each of the four corners of the lower end surface of the transmission device (2), a spring clamping shaft (5) is fixedly arranged at the center of the lower end surface of the positioning card seat (1), and a support base (6) is fixedly arranged at the center of the lower end surface of the spring clamping shaft (5), characterized in that: Four groups of flying devices (3) are equidistantly elastically slidably engaged at the upper portion of the inner end surface of the transmission device (2), and a gravity control device (4) for control is fixedly arranged at the center of the lower end surface of the transmission device (2); The flying device (3) comprises a fixed slide seat (36) for supporting, a second bevel gear (35) is rotatably engaged at the rear of the inner end surface of the fixed slide seat (36), and a fixed slide groove (310) is provided at the center of the inner end surface of the second bevel gear (35), a first bevel gear (34) is rotatably engaged at the top of the inner end surface of the fixed slide seat (36), and a spring snap ring (310) is fixedly provided at the center of the front end surface of the fixed slide seat (36). 7), a positioning rotating seat (38) is arranged on the upper end surface of the fixed slide seat (36), and three groups of guide clamping seats (39) are arranged equidistantly on the side end surface of the positioning rotating seat (38), and the inner end surfaces of the three groups of guide clamping seats (39) are all slidably engaged with protective devices (32), and a transmission guide shaft (33) is fixedly arranged on the inner end surface of the first bevel gear (34), and transmission blades (31) are arranged equidistantly on the top of the side end surface of the transmission guide shaft (33).

2. The industrial drone control device suitable for indoor space according to claim 1, characterized in that: The transmission device (2) comprises an unmanned aerial vehicle frame (27), an active bevel gear (29) is rotatably engaged at the center of the inner end surface of the unmanned aerial vehicle frame (27), four groups of unmanned aerial vehicle arms (28) are equidistantly arranged at the side end surface of the unmanned aerial vehicle frame (27), a limited position rotating seat (25) is arranged at the junction of the four groups of unmanned aerial vehicle arms (28) and the unmanned aerial vehicle frame (27), and a transmission card shaft (26) is rotatably engaged at the inner end surface of the limited position rotating seat (25) , a driven bevel gear (210) is arranged at the inner end of the transmission card shaft (26), a cover card plate (21) is fixedly arranged on the upper end surface of the unmanned frame (27), and guide grooves (23) are provided at the four corners of the inner end surface of the cover card plate (21), a motor card seat (22) is fixedly arranged at the center of the upper end surface of the cover card plate (21), and a servo motor (24) is fixedly connected to the inner end surface of the motor card seat (22); The output end of the servo motor (24) can synchronously drive the four groups of driven bevel gears (210) to mesh and rotate through the active bevel gear (29), and the driven bevel gear (210) can synchronously drive the four groups of transmission shafts (26) to rotate inside the drone arm (28).

3. The industrial drone control device suitable for indoor space according to claim 2, characterized in that: The protective device (32) comprises an alignment slide (322), a buffer spring (321) is fixedly arranged on the rear end surface of the alignment slide (322), a buffer support arm (323) for support is arranged on the upper end surface of the alignment slide (322), and an anti-collision guardrail (324) for protection is arranged on the top of the buffer support arm (323).

4. The industrial drone control device suitable for indoor space according to claim 3, characterized in that: The gravity control device (4) comprises a fixed card seat (41), the inner end surface of the fixed card seat (41) is fixedly connected with a reduction motor (42), a guide device (43) is fixedly arranged at the output end of the reduction motor (42), the outer end surface of the guide device (43) is rotatably connected with an annular guide rail (46), and a fixed rotation groove (45) is provided on the inner end surface of the annular guide rail (46), and four groups of support card plates (44) are equidistantly arranged on the upper end surface of the annular guide rail (46), a stepping motor (47) is arranged near the middle of the inner end surface of the guide device (43), and a connecting screw (49) is arranged at the output end of the stepping motor (47), and the inner end surface of the guide device (43) is threadedly connected with a counterweight slider (48) through the connecting screw (49); The reduction motor (42) can drive the guide device (43) to rotate inside the fixed base (41) and the annular guide rail (46), and the stepping motor (47) can drive the counterweight slider (48) to move laterally via the connecting screw rod (49).

5. The industrial drone control device suitable for indoor space according to claim 4, characterized in that: The guide device (43) comprises a limit rotating plate (434), a limit sliding block (433) is symmetrically arranged at the center of the side end surface of the limit rotating plate (434), and a guide rotating seat (431) is fixedly arranged at the center of the upper end surface of the limit rotating plate (434), and a connecting clamping plate (432) is fixedly arranged on the inner end surface of the guide rotating seat (431).

6. The industrial drone control device suitable for indoor space according to claim 5, characterized in that: The fixed slide seat (36) is slidably engaged with the inner end surface of the unmanned aerial vehicle frame (27) through the guide slide groove (23), and the rear part of the spring clamp ring (37) is fixedly connected to the inner wall of the unmanned aerial vehicle frame (27).

7. The industrial drone control device suitable for indoor space according to claim 5, characterized in that: The second bevel gear (35) is meshingly connected with the first bevel gear (34), and the second bevel gear (35) is slidably engaged with the transmission clamping shaft (26) through the fixed sliding groove (310).

8. The industrial drone control device suitable for indoor space according to claim 5, characterized in that: The anti-collision guardrail (324) is matched with the guide holder (39) via the alignment slide seat (322), and the buffer spring (321) is fixedly connected to the inner wall of the guide holder (39).

9. The industrial drone control device suitable for indoor space according to claim 5, characterized in that: The limiting slider (433) is matched with the fixed rotating groove (45), the guiding device (43) is matched with the fixed rotating groove (45) through the limiting slider (433), the guiding rotating seat (431) is clamped with the fixed clamping seat (41), and the counterweight slider (48) is clamped with the limiting rotating plate (434).

10. The industrial drone control device suitable for indoor space according to claim 9, characterized in that: The outer end surface of the unmanned aerial vehicle frame (27) is provided with a card seat (7) for docking, the outer end surfaces of the four groups of card seats (7) are provided with side panels (8), and the outer end surfaces of the side panels (8) are provided with a rubber protective ring (9).

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