Anti-collision inspection unmanned aerial vehicle

Abstract

The invention relates to the technical field of inspection unmanned aerial vehicles, in particular to an anti-collision inspection unmanned aerial vehicle which comprises an unmanned aerial vehicle body and four motors, rotating shafts are fixed to the driving ends of the four motors, propellers are installed at the upper ends of the four rotating shafts, and the four motors are movably connected with the unmanned aerial vehicle body through telescopic suspension mechanisms; the telescopic suspension mechanism comprises a mounting plate fixed to one end of the motor and movably arranged on the outer side of the rotating shaft in a sleeving mode, and a sleeve fixed to the unmanned aerial vehicle body. The four motors are movably connected with the unmanned aerial vehicle body through the telescopic suspension mechanism, and meanwhile, when the unmanned aerial vehicle gets close to an obstacle, propellers can be driven to move towards the unmanned aerial vehicle body through a reversing mechanism and a gas tank located on the outer side of the unmanned aerial vehicle body; therefore, when the whole unmanned aerial vehicle is not in contact with the obstacle, the propeller can be far away from the obstacle, and the high-speed rotating propeller is prevented from colliding with the obstacle.

Description

Technical Field

[0001] The present invention relates to the technical field of inspection drones, and in particular to an anti-collision inspection drone. Background Art

[0002] With the development of drone technology, the use of drones in power line inspections can greatly improve inspection efficiency and reduce the risk of manual inspections. In order to ensure the safe flight of drones, it is necessary to install anti-collision devices on drones to prevent accidents caused by collisions between drones and obstacles.

[0003] After searching, a Chinese patent with publication number: CN215043759U discloses an anti-collision aerial photography UAV, including a fuselage main body, wing rods uniformly arranged around the fuselage main body along the circumferential direction, and spiral wings. An elastic buffer frame is coaxially slidably arranged at the end of the wing rod away from the fuselage main body, and arc-shaped anti-collision rods are rotatably arranged on both sides of the elastic buffer frame. A laser distance sensor is arranged at one end of the elastic buffer frame away from the wing rod; a pop-up device is arranged between the connecting end of the arc-shaped anti-collision rod and the side of the elastic buffer frame, and a locking device is also arranged on the side of the elastic buffer frame, and the free end of the arc-shaped anti-collision rod is arranged corresponding to the locking end of the locking device.

[0004] Based on the above search and combined with actual problems, it is found that existing anti-collision drones usually have a buffer device. When the drone contacts an obstacle, the buffer device is used to buffer and achieve an anti-collision effect. However, this method still requires that the drone collides with the obstacle to play a certain buffering role, and cannot actively move away from the obstacle. Even if there is a certain buffering effect, the obstacle will still exert a certain reaction force on the drone, causing the drone to be affected by external force and affecting its flight posture. In addition, when the drone approaches obstacles such as suspended wires or tree branches, the buffer device cannot play a buffering role, and the obstacle is easily hit by the high-speed rotating propeller, causing damage to the propeller. Summary of the invention

[0005] The purpose of the present invention is to provide an anti-collision inspection drone to solve the problems raised in the above background technology.

[0006] The technical solution of the present invention is: an anti-collision inspection drone, comprising a drone body and four motors, the driving ends of the four motors are all fixed with rotating shafts, the upper ends of the four rotating shafts are all equipped with propellers, and the four motors are all movably connected to the drone body through a telescopic suspension mechanism; the telescopic suspension mechanism comprises a mounting plate fixed to one end of the motor and movably sleeved on the outside of the rotating shaft, a sleeve fixed to the drone body, one end of the mounting plate is fixed with a sliding rod slidably inserted into the inner side of the sleeve, and one end of the sliding rod is fixed with A slide plate is slidably adapted to the inner side of the sleeve, and a reversing mechanism for controlling the movement of the slide rod is arranged between the mounting plate and the rotating shaft; the reversing mechanism comprises an outer cylinder fixed to the upper side of the mounting plate and movably sleeved on the outer side of the rotating shaft, a cavity opened inside the rotating shaft and an iron slide column slidably connected to the inner side of the cavity, an airflow adjustment mechanism is arranged between the outer cylinder, the cavity, the iron slide column and the rotating shaft, and a plurality of air compression mechanisms connected to the cavity are arranged at the upper end of the rotating shaft; an air tank for supplying high-pressure air to each reversing mechanism is installed on the outer side of the drone body.

[0007] Preferably, the airflow direction adjustment mechanism includes a direct current channel opened inside the iron slide column, a plurality of upper air grooves and lower air grooves arranged vertically and opened outside the rotating shaft, an electromagnet installed at the bottom end of the inner side of the cavity, exhaust holes and air inlet holes opened on one side of the outer cylinder and arranged vertically, and upper transfer holes and lower transfer holes opened on the other side thereof and arranged vertically, the electromagnet is electrically connected to the control circuit of the drone body through a conductive structure, the air inlet is connected to the gas tank through a first air inlet pipe, one end of the upper transfer hole and the lower transfer hole are connected to a transfer branch pipe, a transfer main pipe is connected between the two transfer branch pipes, one end of the transfer main pipe is connected to an inner end of the sleeve, and a limiting ring is fixed on the inner side of the cavity near the upper end of the electromagnet.

[0008] Preferably, one end of the slide plate is elastically connected to an inner end of the sleeve via a thrust spring.

[0009] Preferably, a limiting guide column slidably inserted into the upper end of the iron sliding column is fixed to the inner top of the cavity, and the upper end of the iron sliding column is elastically connected to the inner top of the cavity through a tension spring.

[0010] Preferably, the conductive structure includes a positive conductive ring and a negative conductive ring fixed on the outside of the rotating shaft, and a positive brush and a negative brush elastically connected to the upper end of the outer cylinder, the positive brush slidingly fits with the positive conductive ring, the negative brush slidingly fits with the negative conductive ring, the positive conductive ring and the negative conductive ring are electrically connected to the positive and negative poles of the electromagnet respectively, and the positive brush and the negative brush are electrically connected to the positive and negative poles of the power supply in the control circuit of the drone body respectively.

[0011] Preferably, the air compression mechanism includes an elongated airbag connected to one side of the upper end of the rotating shaft and communicated with the cavity, an elastic support plate is fixed to one side of the elongated airbag, and a pressure dividing plate is fixed to the other side of the elongated airbag at the end position, and the length of the elongated airbag is greater than the length of the propeller.

[0012] Preferably, a guide slider is fixed to one end of the lower side of each sleeve, a guide rod is fixed to one end of the lower side of each mounting plate, and each guide rod passes through and is slidably inserted into the interior of the guide slider at a corresponding position.

[0013] Preferably, a recoil shift mechanism is respectively arranged between the four sleeves and the four slides, and the recoil shift mechanism includes an accelerating jet pipe and a decelerating jet pipe symmetrically inserted on the upper side of the sleeve, a connecting flow channel opened inside the slide, and a second air inlet pipe connected to the gas tank, one end of the second air inlet pipe extends to the inner side of the sleeve and is connected to one end of the connecting flow channel, the air outlet end of the accelerating jet pipe faces the position of the propeller, and the air outlet end of the decelerating jet pipe is opposite to the air outlet end of the accelerating jet pipe.

[0014] Preferably, a plurality of connecting holes are provided on the outer side of each sleeve near the end where the drone body is located.

[0015] Preferably, a gas filling pipe connected to the cavity is inserted into one side of the upper end of each rotating shaft, a one-way valve is arranged on the inner side of each gas filling pipe, and the conducting direction of each one-way valve points to the inner side of the cavity.

[0016] The present invention provides an anti-collision inspection drone through improvement, which has the following improvements and advantages compared with the prior art:

[0017] First, the present invention flexibly connects four motors with the drone body through a telescopic suspension mechanism, and at the same time, through a reversing mechanism therein and a gas tank located outside the drone body, when the drone approaches an obstacle, high-pressure air stored in the gas tank can flow into one end of the inner side of the sleeve of the telescopic suspension mechanism, thereby driving the sliding rod to move toward the inner side of the sleeve, thereby driving the propeller to move toward the position of the drone body, so that when the drone as a whole does not touch the obstacle, the propeller can be moved away from the obstacle, avoiding the collision of the high-speed rotating propeller with the obstacle, avoiding damage to the propeller, and achieving a good anti-collision effect.

[0018] Secondly, the present invention uses multiple air compression mechanisms in the reversing mechanism, and the air compression mechanism can rotate synchronously with the propeller, so that it can contact the obstacle earlier, thereby timely triggering the movement of the iron slide column in the reversing mechanism, thereby changing the air flow direction, allowing the air to quickly flow into the inner side of the sleeve of the telescopic suspension mechanism, and keeping the propeller away from the obstacle. At the same time, when the elongated airbag contacts the obstacle, the pressure divider plate located on one side of the elongated airbag disperses and transmits the impact force to one side of the elongated airbag. Since the elongated airbag and the elastic support plate are both flexible, when the elongated airbag is subjected to the transmitted impact force, the elongated airbag and the elastic support plate will bend and deform, thereby playing a role of unloading force, preventing the impact force from being transmitted to the drone body, and playing a good buffering role. Therefore, it can avoid the impact force from being transmitted to the drone to affect the flight posture of the drone, avoid the drone from losing control, and improve the flight stability of the drone.

[0019] Thirdly, the present invention uses a recoil displacement mechanism, and while the slide bar of the telescopic suspension mechanism moves toward the inside of the sleeve, it drives the slide plate to move inside the sleeve, so that the connecting flow channel is first connected with the accelerating jet pipe and then with the decelerating jet pipe, so that the high-pressure air can be first sprayed to one side of the obstacle and then sprayed in the opposite direction, so as to achieve the effect of moving the UAV a certain distance away from the obstacle, so that the UAV as a whole is away from the obstacle, avoiding the collision of the UAV as a whole with the obstacle, and further improving the anti-collision capability of the UAV. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0021] Figure 1 It is a schematic diagram of the structure of the present invention from a first viewing angle;

[0022] Figure 2 It is a schematic diagram of the structure of the second viewing angle of the present invention;

[0023] Figure 3 For the present invention Figure 1 A schematic diagram of the enlarged structure at A in the middle;

[0024] Figure 4 It is a schematic diagram of the internal structure of the sleeve and the outer cylinder in the present invention;

[0025] Figure 5 For the present invention Figure 4 A schematic diagram of the enlarged structure at B in the middle;

[0026] Figure 6 It is a cross-sectional structural schematic diagram of the telescopic suspension mechanism and the reversing mechanism in the present invention;

[0027] Figure 7 For the present invention Figure 6 Schematic diagram of the enlarged structure at C in the middle;

[0028] Figure 8 It is a structural schematic diagram of the iron sliding column in the present invention being located at the upper limit position;

[0029] Fig. 9 It is a structural schematic diagram of the iron column sliding column in the present invention being in the lower limit state.

[0030] Reference numerals:

[0031] 1. UAV body; 2. Motor; 3. Rotating shaft; 4. Propeller; 5. Gas tank; 6. Gas filling pipe; 101. Mounting plate; 102. Sleeve; 103. Slide bar; 104. Slide plate; 105. Thrust spring; 106. Connecting hole; 107. Guide rod; 108. Guide slide block; 201. Outer tube; 202. Cavity; 203. Iron slide column; 204. Direct current channel; 205. Upper air groove; 206. Lower air groove; 207. Electromagnet; 208. Exhaust hole; 209. Inlet hole; 210. Upper transfer hole; 211, lower transfer hole; 212, transfer branch pipe; 213, transfer main pipe; 214, first air intake pipe; 215, limiting ring; 216, limiting guide column; 217, tension spring; 301, long strip air bag; 302, elastic support plate; 303, pressure divider plate; 401, second air intake pipe; 402, acceleration jet pipe; 403, deceleration jet pipe; 404, connecting flow channel; 501, positive conductive ring; 502, negative conductive ring; 503, positive brush; 504, negative brush. DETAILED DESCRIPTION

[0032] The present invention is described in detail below, and the technical solutions in the embodiments of the present invention are clearly and completely described. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0033] The present invention provides an anti-collision inspection drone through improvement. The technical solution of the present invention is:

[0034] like Figures 1 to 9As shown, an embodiment of the present invention provides an anti-collision inspection drone, including a drone body 1 and four motors 2, the driving ends of the four motors 2 are all fixed with a rotating shaft 3, the upper ends of the four rotating shafts 3 are all installed with propellers 4, and the four motors 2 are all movably connected to the drone body 1 through a telescopic suspension mechanism; the telescopic suspension mechanism includes a mounting plate 101 fixed to one end of the motor 2 and movably sleeved on the outside of the rotating shaft 3, a sleeve 102 fixed to the drone body 1, one end of the mounting plate 101 is fixed with a slide bar 103 slidably inserted in the inner side of the sleeve 102, and one end of the slide bar 103 is fixed with a slide plate 104 (such as Figure 4 As shown in FIG. 1 , one end of the slide plate 104 is elastically connected to the inner end of the sleeve 102 through a thrust spring 105, and a reversing mechanism for controlling the movement of the slide rod 103 is provided between the mounting plate 101 and the rotating shaft 3; the reversing mechanism includes an outer cylinder 201 fixed to the upper side of the mounting plate 101 and movably sleeved on the outer side of the rotating shaft 3, a cavity 202 (as shown in FIG. 1 ) opened inside the rotating shaft 3 Figure 7 As shown in the figure, an iron sliding column 203 is slidably connected to the inner side of the cavity 202, an air flow redirecting mechanism is arranged between the outer cylinder 201, the cavity 202, the iron sliding column 203 and the rotating shaft 3, and a plurality of air compression mechanisms connected to the cavity 202 are arranged on the upper end of the rotating shaft 3; an air tank 5 for supplying high-pressure air to each reversing mechanism is installed on the outer side of the drone body 1.

[0035] Furthermore, the airflow direction adjustment mechanism includes a direct current channel 204 provided inside the iron slide column 203, a plurality of upper air grooves 205 and lower air grooves 206 provided outside the rotating shaft 3 and arranged vertically, an electromagnet 207 installed at the bottom end of the inner side of the cavity 202, an exhaust hole 208 and an air inlet hole 209 provided on one side of the outer cylinder 201 and arranged vertically, and an upper transfer hole 210 and a lower transfer hole 211 provided on the other side thereof and arranged vertically. The electromagnet 207 is electrically conductive. The structure is electrically connected to the control circuit of the drone body 1, the air inlet 209 is connected to the gas tank 5 through the first air inlet pipe 214, one end of the upper transfer hole 210 and the lower transfer hole 211 are connected to a transfer branch pipe 212, and a transfer main pipe 213 is connected between the two transfer branches 212, one end of the transfer main pipe 213 is connected to the inner end of the sleeve 102, and a limit ring 215 (such as Figure 7 shown);

[0036] Through the airflow direction adjustment mechanism, when the rotating air compression mechanism collides with an obstacle, the flow direction of the high-pressure air in the gas tank 5 can be quickly changed, so that the high-pressure air quickly flows into the inner end of the sleeve 102, thereby driving the slide rod 103 to move toward the inside of the sleeve 102, thereby driving the motor 2 and propeller 4 close to the obstacle away from the obstacle.

[0037] Furthermore, a limiting guide column 216 is fixed to the inner top of the cavity 202 and is slidably inserted into the upper end of the iron sliding column 203. The upper end of the iron sliding column 203 is elastically connected to the inner top of the cavity 202 through a tension spring 217.

[0038] The limiting guide column 216 prevents the iron slide column 203 from rotating, so that the two ends of the direct current channel 204 inside the iron slide column 203 can be aligned with the upper air groove 205 and the lower air groove 206, and the iron slide column 203 is exerted with tension by the tension spring 217, so as to drive the iron slide column 203 to move up and reset.

[0039] Furthermore, the conductive structure includes a positive conductive ring 501 and a negative conductive ring 502 (such as Figure 5 As shown), the positive electrode brush 503 and the negative electrode brush 504 (as shown) elastically connected to the upper end of the outer cylinder 201 Figure 3 As shown), the positive electrode brush 503 is slidably fitted with the positive electrode conductive ring 501, the negative electrode brush 504 is slidably fitted with the negative electrode conductive ring 502, the positive electrode conductive ring 501 and the negative electrode conductive ring 502 are electrically connected to the positive and negative electrodes of the electromagnet 207 respectively, and the positive electrode brush 503 and the negative electrode brush 504 are electrically connected to the positive and negative electrodes of the power supply in the control circuit of the drone body 1 respectively;

[0040] The positive conductive ring 501 and the negative conductive ring 502 of the conductive structure rotate synchronously with the rotating shaft 3. While rotating, the positive conductive ring 501 and the negative conductive ring 502 can maintain contact with the positive brush 503 and the negative brush 504 respectively, so that the current can be stably transmitted to the electromagnet 207.

[0041] Furthermore, the air compression mechanism includes a long strip airbag 301 connected to one side of the upper end of the rotating shaft 3 and communicating with the cavity 202, an elastic support plate 302 is fixed to one side of the long strip airbag 301, and a pressure dividing plate 303 is fixed to the other side of the long strip airbag 301 at the end position, and the length of the long strip airbag 301 is greater than the length of the propeller 4;

[0042] When the elongated airbag 301 rotates and touches an obstacle, the pressure divider plate 303 first contacts the obstacle and compresses the elongated airbag 303, thereby squeezing the air inside it into the inside of the cavity 202. The elastic support plate 302 will not contact the obstacle. The elastic support plate 302 can keep the elongated airbag 301 in a straight state, so that the elongated airbag 301 can contact the obstacle before the propeller 4.

[0043] Furthermore, a guide slider 108 is fixed to one end of the lower side of each sleeve 102, and a guide rod 107 is fixed to one end of the lower side of each mounting plate 101. Each guide rod 107 penetrates the guide slider 108 slidably inserted in the corresponding position.

[0044] Through the sliding cooperation between the guide rod 107 and the guide slider 108, when the slide rod 103 slides inside the sleeve 102, the slide rod 103 can be prevented from rotating, so that the rotating shaft 3 can always maintain a vertical angle, ensuring the overall flight stability of the drone.

[0045] Furthermore, a recoil displacement mechanism is respectively provided between the four sleeves 102 and the four slides 104, and the recoil displacement mechanism includes an accelerating jet pipe 402 and a decelerating jet pipe 403 symmetrically inserted on the upper side of the sleeve 102, and a connecting flow channel 404 (such as Figure 6 As shown) and a second air inlet pipe 401 connected to the air tank 5, one end of the second air inlet pipe 401 extends to the inner side of the sleeve 102 and is connected to one end of the connecting flow channel 404, the air outlet end of the accelerating jet pipe 402 faces the position where the propeller 4 is located, and the air outlet end of the decelerating jet pipe 403 is opposite to the air outlet end of the accelerating jet pipe 402;

[0046] Through the recoil displacement mechanism, when the slide bar 103 of the telescopic suspension mechanism moves toward the inside of the sleeve 102, the slide plate 104 will be driven to move inside the sleeve 102, so that the connecting flow channel 404 is first connected with the acceleration jet pipe 402 and then with the deceleration jet pipe 403, so that the high-pressure air can be sprayed to one side of the obstacle first and then sprayed in the opposite direction, so as to achieve the effect of moving the UAV away from the obstacle for a distance, so that the UAV as a whole is away from the obstacle, avoiding the collision of the UAV as a whole with the obstacle, and further improving the anti-collision ability of the UAV.

[0047] Furthermore, a plurality of communication holes 106 are provided on the outer side of each sleeve 102 close to the end of the drone body 1;

[0048] When the slide plate 104 moves inside the sleeve 102, the end of the inner side of the sleeve 102 away from the slide rod 103 is connected to the outside through multiple connecting holes 106, so as to keep the air pressure balance inside and outside, and prevent the slide plate 104 from encountering resistance when driving the slide rod 103 to move inside the sleeve 102, thereby affecting the speed of the motor 2 and the propeller 4 away from obstacles.

[0049] Furthermore, a gas filling pipe 6 connected to the cavity 202 is inserted into one side of the upper end of each rotating shaft 3, and a one-way valve is arranged on the inner side of each gas filling pipe 6, and the conducting direction of each one-way valve points to the inner side of the cavity 202;

[0050] Air can be filled into the cavity 202 and the long strip airbag 301 of the air compression mechanism through the air filling pipe 6, so that a higher air pressure is maintained in the cavity 202 and the long strip airbag 301. When the long strip airbag 301 collides with an obstacle, the iron slide column 203 can be driven to move more sensitively.

[0051] Working principle: When the drone is flying normally for inspection, the slide bar 103 of each telescopic suspension mechanism is fully extended under the elastic force of the thrust spring 105. At this time, the distance between the four motors 2 and the four propellers 4 is the farthest. Before the drone takes off, high-pressure air is filled into the inner side of the gas tank 5;

[0052] During flight, when any propeller 4 approaches a vertical or suspended strip obstacle, such as a suspended wire or tree branch, the driving end of the motor 2 drives the shaft 3 and the propeller 4 to rotate at high speed, and the shaft 3 drives the multiple air compressors at the upper end to rotate synchronously with the propeller 4. The length of the elongated airbag 301 of the air compressor is greater than the length of the propeller 4, so the elongated airbag 301 can contact the obstacle earlier, wherein the pressure dividing plate 303 is located on the side where the elongated airbag 301 rotates, so the pressure dividing plate 303 collides with the obstacle first, and the pressure dividing plate 303 disperses the impact force and transmits it to one side of the elongated airbag 301. Since the elongated airbag 301 and the elastic support plate 302 are both flexible, when the elongated airbag 301 is affected When the impact force is transmitted, the long strip airbag 301 and the elastic support plate 302 will bend and deform, thereby playing a role of unloading force, preventing the impact force from being transmitted to the drone body 1, and playing a good buffering role. Therefore, it can avoid the impact force from being transmitted to the drone and affecting the flight posture of the drone, avoid the drone from losing control, and improve the flight stability of the drone. At the same time, when the pressure dividing plate 303 disperses and transmits the impact force to the long strip airbag 301, the position where the long strip airbag 301 contacts the pressure dividing plate 303 will be compressed, thereby quickly squeezing the air inside the long strip airbag 301 into the inside of the cavity 202 of the reversing mechanism, and the high-speed inflowing air applies a downward thrust to the iron slide column 203. The pressure dividing plates 303 of multiple air compression mechanisms are The iron slide column 203 will contact with the obstacle, so the multiple air compression mechanisms will squeeze the air into the inner side of the cavity 202 in turn. After being pressurized by the air for multiple times, the iron slide column 203 will move downward continuously. At the same time, the iron slide column 203 stretches the tension spring 217, and the distance between the electromagnet 207 and the iron slide column 203 is shortened until the electromagnetic suction force of the electromagnet 207 on the iron slide column 203 is greater than the pulling force of the tension spring 217 on the iron slide column 203. The electromagnet 207 will quickly attract the iron slide column 203 to the lowest point. When the iron slide column 203 moves down to the lowest point, its lower end just contacts with the limit ring 215. After the iron slide column 203 moves down to the lowest point, the direct current channel 204 inside it connects the air inlet 209 with the lower transfer hole 211, and the upper transfer hole 21 0 and the exhaust hole 208 are blocked. When the rotating shaft 3 rotates at a high speed, the multiple upper air grooves 205 can always be connected with the exhaust hole 208 and the upper transfer hole 210, and the multiple lower air grooves 206 can always be connected with the air inlet hole 209 and the lower transfer hole 211. Therefore, the high-pressure air inside the gas tank 5 can flow into a transfer branch pipe 212 below through the first air inlet pipe 214, the air inlet hole 209, the lower air grooves 206, the straight channel 204, and the lower transfer hole 211, and then flow into the inner end of the sleeve 102 through the transfer main pipe 213. The inflowing air pushes the slide plate 104 to move toward the end where the connecting hole 106 is located, and compresses the thrust spring 105. The slide plate 104 also drives the slide bar 103 to move toward the inner side of the sleeve 102.Thus, the motor 2 and the propeller 4 near the obstacle are driven to move toward the position of the drone body 1 through the mounting plate 101, so that the propeller 4 near the obstacle can be kept away from the obstacle, and the high-speed rotating propeller 4 can be well prevented from colliding with the obstacle, thereby avoiding damage to the propeller 4 and achieving a good anti-collision effect;

[0053] When the slide plate 104 moves, the connecting flow channel 404 of the recoil displacement mechanism inside the slide plate 104 is first connected with the accelerating jet pipe 402, so that the high-pressure air inside the gas tank 5 can flow into the inside of the connecting flow channel 404 through the second air inlet pipe 401, and then be quickly ejected through the port of the accelerating jet pipe 402. Since the air outlet end of the accelerating jet pipe 402 is directed toward the position where the propeller 4 is located, the airflow ejected at high speed from the air outlet end of the accelerating jet pipe 402 generates a recoil effect, which can push the drone as a whole to move in a direction away from obstacles, so that the drone as a whole can move forward. One step away from the obstacle, as the slide plate 104 continues to move, when the connecting flow channel 404 is connected to the deceleration jet pipe 403, the high-speed airflow is ejected outward through the outlet end of the deceleration jet pipe 403, and the outlet end of the deceleration jet pipe 403 is opposite to the outlet end of the acceleration jet pipe 402, so the airflow ejected by the deceleration jet pipe 403 can decelerate the UAV and prevent the UAV from continuously moving in the opposite direction, thereby achieving the effect of moving the UAV away from the obstacle for a distance, avoiding the collision of the UAV as a whole with the obstacle, and further improving the anti-collision capability of the UAV;

[0054] When the UAV moves away from the obstacle to a safe area, the operator can control an electromagnet 207 near the obstacle to be temporarily powered off and then reconnected through the control circuit inside the UAV body 1. During the power-off process, the tension spring 217 can pull the iron slide column 203 to move up and reset, so that the direct current channel 204 connects the exhaust hole 208 and the upper transfer hole 210, and blocks the air inlet 209 and the lower transfer hole 211. At this time, under the action of the thrust spring 105, the slide plate 104 is pushed to move in the opposite direction. At the same time, when the slide plate 104 moves in the opposite direction, the air at one end of the inner side of the sleeve 102 can be pressed into the inner side of the transfer main pipe 213, and then discharged outwardly through an upper transfer branch pipe 212, the upper transfer hole 210, the direct current channel 204, the upper air groove 205, and the exhaust hole 208. At the same time, the slide plate 104 pushes the slide bar 103 to extend outward, and the slide bar 103 drives the motor 2 and the propeller 4 to extend outward and reset through the mounting plate 101, thereby restoring the UAV to its original state.

[0055] The above description enables those skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. An anti-collision inspection drone, comprising a drone body (1) and four motors (2), wherein the driving ends of the four motors (2) are all fixed with rotating shafts (3), and the upper ends of the four rotating shafts (3) are all installed with propellers (4), characterized in that: The four motors (2) are all movably connected to the drone body (1) via a telescopic suspension mechanism; The telescopic suspension mechanism comprises a mounting plate (101) fixed to one end of the motor (2), and a sleeve (102) fixed to the drone body (1); a slide bar (103) slidably inserted inside the sleeve (102) is fixed to one end of the mounting plate (101); a slide plate (104) is fixed to one end of the slide bar (103); and a reversing mechanism for controlling the movement of the slide bar (103) is provided between the mounting plate (101) and the rotating shaft (3); The reversing mechanism comprises an outer cylinder (201) fixed on the upper side of the mounting plate (101), a cavity (202) opened inside the rotating shaft (3), and an iron sliding column (203) slidably connected to the inner side of the cavity (202); an airflow direction adjustment mechanism is arranged between the outer cylinder (201), the cavity (202), the iron sliding column (203), and the rotating shaft (3); and a plurality of air compression mechanisms are arranged at the upper end of the rotating shaft (3); An air tank (5) for conveying air to each reversing mechanism is installed on the outer side of the drone body (1).

2. The anti-collision inspection drone according to claim 1, characterized in that: The airflow direction adjustment mechanism comprises a direct current channel (204) provided inside the iron slide column (203), a plurality of upper air grooves (205) and lower air grooves (206) provided outside the rotating shaft (3) and arranged vertically, an electromagnet (207) installed at the bottom end of the inner side of the cavity (202), an exhaust hole (208) and an air inlet hole (209) provided on one side of the outer cylinder (201) and arranged vertically, and an upper transfer hole (210) and a lower transfer hole (211) provided on the other side thereof and arranged vertically, wherein the electromagnet (207) is connected to the drone via a conductive structure. The control circuit of the body (1) is electrically connected, the air inlet (209) is connected to the gas tank (5) through a first air inlet pipe (214), one end of the upper transfer hole (210) and the lower transfer hole (211) are both connected to transfer branches (212), a transfer main pipe (213) is connected between the two transfer branches (212), one end of the transfer main pipe (213) is connected to an inner end of the sleeve (102), and a limit ring (215) is fixed on the inner side of the cavity (202) near the upper end of the electromagnet (207).

3. The anti-collision inspection drone according to claim 1, characterized in that: One end of the slide plate (104) is elastically connected to an inner end of the sleeve (102) via a thrust spring (105).

4. The anti-collision inspection drone according to claim 2, characterized in that: A limiting guide column (216) is fixed to the inner top of the cavity (202) and is slidably inserted into the upper end of the iron sliding column (203). The upper end of the iron sliding column (203) is elastically connected to the inner top of the cavity (202) via a tension spring (217).

5. The anti-collision inspection drone according to claim 2, characterized in that: The conductive structure comprises a positive conductive ring (501) and a negative conductive ring (502) fixed on the outside of the rotating shaft (3), and a positive brush (503) and a negative brush (504) elastically connected to the upper end of the outer cylinder (201); the positive brush (503) is slidably fitted with the positive conductive ring (501); the negative brush (504) is slidably fitted with the negative conductive ring (502); the positive conductive ring (501) and the negative conductive ring (502) are electrically connected to the positive and negative poles of the electromagnet (207) respectively; and the positive brush (503) and the negative brush (504) are electrically connected to the positive and negative poles of the power supply in the control circuit of the drone body (1) respectively.

6. The anti-collision inspection drone according to claim 1, characterized in that: The air compression mechanism comprises a long strip airbag (301) connected to one side of the upper end of the rotating shaft (3) and communicated with the cavity (202); an elastic support plate (302) is fixed to one side of the long strip airbag (301); and a pressure dividing plate (303) is fixed to the other side of the long strip airbag (301) at the end position; the length of the long strip airbag (301) is greater than the length of the propeller (4).

7. The anti-collision inspection drone according to claim 1, characterized in that: A guide slider (108) is fixed to one end of the lower side of each sleeve (102), a guide rod (107) is fixed to one end of the lower side of each mounting plate (101), and each guide rod (107) penetrates through the inside of a guide slider (108) slidably inserted in a corresponding position.

8. The anti-collision inspection drone according to claim 1, characterized in that: A recoil displacement mechanism is respectively arranged between the four sleeves (102) and the four slides (104), and the recoil displacement mechanism comprises an accelerating jet pipe (402) and a decelerating jet pipe (403) symmetrically inserted on the upper side of the sleeve (102), a connecting flow channel (404) opened inside the slide (104), and a second air inlet pipe (401) connected to the gas tank (5), one end of the second air inlet pipe (401) extends to the inner side of the sleeve (102) and is connected to one end of the connecting flow channel (404), the air outlet end of the accelerating jet pipe (402) faces the position where the propeller (4) is located, and the air outlet end of the decelerating jet pipe (403) is opposite to the air outlet end of the accelerating jet pipe (402).

9. The anti-collision inspection drone according to claim 1, characterized in that: A plurality of communication holes (106) are provided on the outer side of each sleeve (102) at one end close to the drone body (1).

10. The anti-collision inspection drone according to claim 1, characterized in that: A gas filling pipe (6) communicating with the cavity (202) is inserted into one side of the upper end of each rotating shaft (3), and a one-way valve is arranged on the inner side of each gas filling pipe (6), and the conducting direction of each one-way valve points to the inner side of the cavity (202).

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