An anti-collision inspection drone

Abstract

The present invention relates to the technical field of inspection drones, and in particular to an anti-collision inspection drone, comprising a drone body and four motors, wherein the driving ends of the four motors are all fixed with rotating shafts, the upper ends of the four rotating shafts are all installed with propellers, and the four motors are all movably connected to the drone body through a telescopic suspension mechanism; the telescopic suspension mechanism includes a mounting plate fixed to one end of the motor and movably sleeved on the outside of the rotating shaft, and a sleeve fixed to the drone body. The present invention movably connects the four motors to the drone body through the telescopic suspension mechanism, and at the same time, through the reversing mechanism therein and the gas tank located outside the drone body, when the drone approaches an obstacle, the propeller can be driven to move toward the position of the drone body, so that the propeller can be kept away from the obstacle when the drone as a whole does not touch the obstacle, thereby avoiding the high-speed rotating propeller 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 significantly improve inspection efficiency and reduce the risks of manual inspections. To ensure the safe flight of drones, anti-collision devices need to be installed on drones to prevent accidents caused by collisions with obstacles.

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

[0004] Based on the above search and combined with real problems, it was found that existing anti-collision drones usually have a buffer device. When the drone comes into contact with an obstacle, the buffer device is used to buffer the drone to achieve an anti-collision effect. However, this method still requires the drone to collide 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 the external force and affecting its flight posture. In addition, when the drone approaches obstacles such as hanging wires or 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 fixed with rotating shafts, the upper ends of the four rotating shafts are equipped with propellers, and the four motors are movably connected to the drone body through a telescopic suspension mechanism; the telescopic suspension mechanism includes 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 provided between the mounting plate and the rotating shaft; the reversing mechanism includes an outer cylinder fixed on 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 sliding column slidably connected to the inner side of the cavity; an air flow adjustment mechanism is provided between the outer cylinder, the cavity, the iron sliding column and the rotating shaft, and a plurality of air compression mechanisms connected to the cavity are provided at the upper end of the rotating shaft; an air tank for supplying high-pressure air to each reversing mechanism is installed on the outside 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 opened on the outside of 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 branches, one end of the transfer main pipe is connected to the 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 the 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 slides in contact with the positive conductive ring, and the negative brush slides in contact 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 on one side of the elongated airbag, and a pressure dividing plate is fixed at the end position on the other side of the elongated airbag, 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 is respectively inserted into the guide slider at a corresponding position through sliding motion.

[0013] Preferably, a recoil shift mechanism is respectively provided 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 inside 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 communication holes are provided on the outer side of each sleeve at one end close to the drone body.

[0015] Preferably, an air filling pipe communicating with the cavity is inserted into one side of the upper end of each rotating shaft, a one-way valve is provided on the inner side of each air 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 improvements, which has the following improvements and advantages compared with the existing technology:

[0017] First, the present invention movably connects the four motors to the drone body through a telescopic suspension mechanism. At the same time, through the reversing mechanism and the gas tank located outside the drone body, when the drone approaches an obstacle, the high-pressure air stored in the gas tank can flow into the inner end of the sleeve of the telescopic suspension mechanism, thereby driving the sliding rod to move toward the inside of the sleeve, thereby driving the propeller to move toward the position of the drone body. In this way, when the drone as a whole does not touch the obstacle, the propeller can be kept 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 moving 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 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 drone's flight posture, avoid the drone from losing control, and improve the drone's flight stability.

[0019] Third: The present invention uses a recoil shift mechanism. When the slide rod of the telescopic suspension mechanism moves toward the inside of the sleeve, it will drive the slide plate to move inside the sleeve, so that the connecting flow channel is first connected with the acceleration jet pipe and then with the deceleration jet pipe, so that the high-pressure air can be sprayed to one side of the obstacle first and then in the opposite direction, so as to achieve the effect of moving the drone a certain distance away from the obstacle, so that the drone as a whole can be kept away from the obstacle, avoiding the collision of the drone as a whole with the obstacle, and further improving the drone's anti-collision ability. BRIEF DESCRIPTION OF THE DRAWINGS

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

[0021] Figure 1 This is a schematic diagram of the structure of the present invention from a first perspective;

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

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

[0024] Figure 4 Schematic diagram of the internal structure of the sleeve and outer cylinder in the present invention;

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

[0026] Figure 6 It is a schematic cross-sectional view 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 This is a structural diagram of the iron sliding column in the present invention in the upper limit state;

[0029] Figure 9 This is a structural diagram of the iron column sliding column in the present invention 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 rod; 104. Slide plate; 105. Thrust spring; 106. Connecting hole; 107. Guide rod; 108. Guide slider; 201. Outer cylinder; 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 airbag; 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, clearly and completely describing the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only some embodiments of the present invention, not all embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall 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 fixed with a rotating shaft 3, the upper ends of the four rotating shafts 3 are installed with propellers 4, and the four motors 2 are 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 rod 103 slidably inserted into the inner side of the sleeve 102, and one end of the slide rod 103 is fixed with a slide plate 104 (as shown in FIG. Figure 4 As shown), 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) 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 provided 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 provided 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 outside 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 on the outer side of 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 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 the 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 post 216 is fixed to the inner top of the cavity 202 and is slidably inserted into the upper end of the iron slide post 203. The upper end of the iron slide post 203 is elastically connected to the inner top of the cavity 202 via 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 facilitate the upward movement and reset of the iron slide column 203.

[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 brush 503 and the negative brush 504 (as shown) are elastically connected to the upper end of the outer cylinder 201 Figure 3 As shown), the positive brush 503 slides and fits with the positive conductive ring 501, and the negative brush 504 slides and fits 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. 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.

[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 an elongated 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 elongated airbag 301, and a pressure dividing plate 303 is fixed to the other end of the elongated airbag 301. The length of the elongated 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, compressing the elongated airbag 303, thereby squeezing the air inside it into the inside of the cavity 202. The elastic support plate 302 will not touch the obstacle. The elastic support plate 302 can keep the elongated airbag 301 in an extended 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 passes through 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 provided between each of the four sleeves 102 and the four slides 104. 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 gas tank 5, one end of the second air inlet pipe 401 extends to the inside of the sleeve 102 and is connected to one end of the communication channel 404, the outlet end of the acceleration jet pipe 402 is directed toward the position of the propeller 4, and the outlet end of the deceleration jet pipe 403 is opposite to the outlet end of the acceleration jet pipe 402;

[0046] Through the recoil displacement mechanism, when the slide rod 103 of the telescopic suspension mechanism moves toward the inside of the sleeve 102, it will drive the slide plate 104 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 in the opposite direction, so as to achieve the effect of moving the drone a distance away from the obstacle, so that the drone as a whole can be kept away from the obstacle, avoiding the collision of the drone as a whole with the obstacle, and further improving the drone's anti-collision capability.

[0047] Furthermore, a plurality of communication holes 106 are formed on the outer side of each sleeve 102 near the end where the drone body 1 is located;

[0048] When the slide 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 world through multiple connecting holes 106, maintaining the balance of air pressure inside and outside, and preventing the slide 104 from encountering resistance when driving the slide rod 103 to move toward the inside of 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 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 provided 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 elongated 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 elongated airbag 301. When the elongated airbag 301 collides with an obstacle, the iron slide column 203 can be driven to move more sensitively.

[0051] Working principle: When the UAV is in normal flight inspection, the slide rod 103 of each telescopic suspension mechanism is fully extended under the elastic force of the thrust spring 105. At this time, the four motors 2 and the four propellers 4 are at their farthest distance. Before the UAV 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 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 the 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 drone's flight posture, avoiding the drone from losing control, and improving 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 contact position between the long strip airbag 301 and the pressure dividing plate 303 will be compressed, thereby quickly squeezing the air inside the long strip airbag 301 into 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 203 will come into contact with the obstacle, so the multiple air compression mechanisms will squeeze the air into the inside of the cavity 202 in turn. After being pressurized by the air multiple times, the iron slide 203 will move downward continuously. At the same time, the iron slide 203 stretches the tension spring 217, and the distance between the electromagnet 207 and the iron slide 203 is shortened until the electromagnetic attraction of the electromagnet 207 on the iron slide 203 is greater than the pulling force of the tension spring 217 on the iron slide 203. The electromagnet 207 will quickly attract the iron slide 203 to the lowest point. When the iron slide 203 moves down to the lowest point, its lower end just contacts the limit ring 215. After the iron slide 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 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 inside of the sleeve 102.Thus, the mounting plate 101 drives a motor 2 and a propeller 4 close to the obstacle to move toward the position of the drone body 1, so that the propeller 4 close to the obstacle can be moved away from the obstacle, which can effectively prevent the high-speed rotating propeller 4 from colliding with the obstacle and avoiding damage to the propeller 4, thereby achieving a good anti-collision effect;

[0053] As the slide 104 moves, the connecting flow channel 404 of the recoil displacement mechanism inside the slide 104 is first connected to the accelerating jet pipe 402, so that the high-pressure air inside the gas tank 5 can flow into 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 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 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. The drone moves one step away from the obstacle. As the slide 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. The outlet end of the deceleration jet pipe 403 is opposite to the outlet end of the acceleration jet pipe 402. Therefore, the airflow ejected by the deceleration jet pipe 403 can decelerate the drone and prevent the drone from continuing to move in the opposite direction, thereby achieving the effect of moving the drone a distance away from the obstacle, avoiding the drone as a whole from colliding with the obstacle, and further improving the drone's anti-collision capability.

[0054] When the drone moves away from the obstacle and reaches a safe area, the operator can control an electromagnet 207 near the obstacle through the control circuit inside the drone body 1 to temporarily cut off the power and then reconnect the power. During the power-off process, the tension spring 217 can pull the iron slide column 203 upward 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 outward 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 rod 103 to extend outward, and the slide rod 103 drives the motor 2 and the propeller 4 to extend outward and reset through the mounting plate 101, thereby restoring the drone to its original state.

[0055] The above description is intended to enable one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be readily apparent to one 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 is not limited to the embodiments shown herein but is intended to 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 equipped 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), a sleeve (102) fixed to the drone body (1), a slide rod (103) slidably inserted into the inner side of the sleeve (102) fixed to one end of the mounting plate (101), a slide plate (104) fixed to one end of the slide rod (103), and a reversing mechanism for controlling the movement of the slide rod (103) 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 air flow direction adjustment mechanism is provided 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 provided at the upper end of the rotating shaft (3); An air tank (5) for supplying air to each reversing mechanism is installed on the outside of the drone body (1); 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. 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 the first air inlet pipe (214), one end of each of the upper transfer hole (210) and the lower transfer hole (211) is connected to a transfer branch pipe (212), a transfer main pipe (213) is connected between the two transfer branch pipes (212), one end of the transfer main pipe (213) is connected to an inner end of the sleeve (102), and a limiting ring (215) is fixed on the inner side of the cavity (202) near the upper end of the electromagnet (207).

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

3. 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).

4. 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.

5. The anti-collision inspection drone according to claim 1, characterized in that: The air compression mechanism comprises an elongated 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) being fixed to one side of the elongated airbag (301), and a pressure dividing plate (303) being fixed to the other side of the elongated airbag (301) at an end position, and the length of the elongated airbag (301) is greater than the length of the propeller (4).

6. 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), and a guide rod (107) is fixed to one end of the lower side of each mounting plate (101). Each guide rod (107) penetrates and slides into the interior of the guide slider (108) at a corresponding position.

7. The anti-collision inspection drone according to claim 1, characterized in that: A recoil displacement mechanism is respectively provided 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).

8. 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).

9. The anti-collision inspection drone according to claim 1, characterized in that: An air 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 provided on the inner side of each air 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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