Power grid inspection unmanned aerial vehicle capable of stably flying in complex environment

Abstract

The invention relates to the technical field of unmanned aerial vehicles, in particular to a power grid inspection unmanned aerial vehicle capable of stably flying in a complex environment, which comprises an unmanned aerial vehicle body and control rods, the control rods penetrate through an inner cavity of the unmanned aerial vehicle body and are positioned in the middle of the unmanned aerial vehicle body, and the control rods on two sides of the unmanned aerial vehicle body are the same in an initial state. Fixing rods are fixedly connected to the two sides of the control rod, and when crosswind occurs, the side propellers automatically increase the inclination angle to form a pneumatic barrier, so that the aircraft body is stable; the two sets of wind shields are arranged and located at the tail end of the control rod, at the moment, the wind shields are blown by wind power to drive the control rod to move, the control rod is matched to complete change of the inclination angle of the propeller, and the wind power is automatically sensed through the wind shields and the control rod is in linkage to adjust the inclination angle of the propeller. Compared with a traditional mode of increasing the rotating speed of a propeller, the elevator has the advantages that the electric quantity loss is reduced by more than 30%, the endurance time is prolonged, and the anti-crosswind stability is achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicles (UAVs), and in particular to a power grid inspection UAV capable of stably flying in a complex environment. Background Art

[0002] Unmanned aerial vehicle, abbreviated as "UAV" in English, is an unmanned aircraft controlled by radio remote control equipment and self-contained program control devices, or operated completely or intermittently autonomously by an onboard computer. Compared with manned aircraft, drones are often more suitable for tasks that are too "dull, dirty or dangerous". Power grid inspections are very difficult, so drones are needed for inspections.

[0003] However, the power grid environment is relatively complex. Drones need to fly at high altitudes and low altitudes, and also need to land on uneven ground for detection. The most difficult thing to overcome is strong crosswinds. Drones can easily be blown left and right by the wind and deviate from their normal orbit, causing all the photos taken to be blurry, affecting the detection accuracy. It is even easy to blow the drone onto nearby objects, causing damage to both the objects and the drone. Existing drones usually resist strong crosswinds by using sensors to sense wind changes or fuselage shaking to change the angle of the wings, thereby forming a dynamic barrier to stabilize the fuselage. However, the sensors are very accurate and have a strong ability to capture wind changes and fuselage shaking. However, in a strong wind measurement environment, these values ​​will continue to change, which results in the sensor constantly adjusting the wing angle according to these changes when a strong crosswind blows. Excessive adjustment will affect the stability of the fuselage, causing the fuselage to shake more, and failing to stabilize the fuselage. Summary of the invention

[0004] The purpose of the present invention is to provide a power grid inspection UAV that can fly stably in a complex environment. The wind shield automatically senses the wind force and links the control lever to adjust the propeller inclination angle, forming an aerodynamic barrier to offset the influence of side wind. Compared with the traditional method of increasing the propeller speed, the power loss is reduced by more than 30%, the flight time is extended, and the anti-side wind stability is improved to solve the problem that these values ​​will keep changing in a strong wind environment. This results in the sensor constantly adjusting the angle of the wing according to these changes when a strong side wind blows. The excessive adjustment will affect the stability of the fuselage, causing the fuselage to shake more.

[0005] To achieve the above-mentioned purpose, a power grid inspection drone capable of stable flight in a complex environment is provided, comprising a drone body, both sides of which are fixedly connected to a first movable member, the first movable member is rotatably connected to a second movable member, the second movable member is rotatably connected to a rotating rod, one end of the rotating rod away from the second movable member is fixedly connected to a cylindrical rod, and the top of the cylindrical rod is rotatably connected to a propeller;

[0006] Also includes:

[0007] A control rod, the control rod passes through the inner cavity of the fuselage and is located in the middle of the fuselage. In the initial state, the control rods on both sides of the fuselage are the same. Both sides of the control rod are fixedly connected with fixed rods. The control rod controls the length of the corresponding side by moving. When the length of one side of the control rod becomes, it drives the fixed rod to move horizontally. When the fixed rod moves horizontally, it drives the device on it to lift the rotating rod. After the rotating rod is lifted, the angle changes. When encountering crosswind, the side propeller automatically increases the inclination angle to form an aerodynamic barrier to stabilize the fuselage.

[0008] There are two groups of wind shields, which are located at the end of the control rod. The two groups of wind shields can sense the wind force. When the wind force affects the stability of the machine body, the two groups of wind shields unfold to form a wind-blocking state. At this time, the wind can drive the control rod to move by blowing the wind, and cooperate with the control rod to complete the change of the propeller inclination angle.

[0009] As a further improvement of the technical solution, one end of the fixed rod is movably connected to a telescopic rod, the top of the end of the telescopic rod is rotatably connected to a rotating shaft, the top of the rotating shaft is rotatably connected to a top block, and the top block is triangular.

[0010] As a further improvement of the present technical solution, both sides of the bottom of the rotating rod are fixedly connected to limited protection plates, the bottom of the rotating rod is rotatably connected to a connecting rod, the bottom of the connecting rod is rotatably connected to a docking block, the docking block is triangular, and the inclined surface of the docking block contacts the inclined surface of the top block.

[0011] As a further improvement of the present technical solution, the end of the control rod is fixedly connected to an extension plate, one side of the extension plate is fixedly connected to a round rod, the surface of the round rod is rotatably connected to one side of the wind shield, and an elastic rope is fixedly connected between the inner side of the wind shield and the extension plate.

[0012] As a further improvement of the present technical solution, the top and top of the extension plate are fixedly connected with a vertical rod, the vertical rod has an inner cavity, the bottom of the inner cavity of the vertical rod is fixedly connected with a spring, the top of the spring is fixedly connected with a movable plate, the movable plate is slidably connected to the inner cavity of the vertical rod, the top of the movable plate is fixedly connected with a top rod, the top of the top rod passes through the vertical rod and extends to the top of the vertical rod, and one end of the top rod extends to the top of the vertical rod and contacts the inner side of the wind shield.

[0013] As a further improvement of the present technical solution, an electric telescopic rod is fixedly connected to the top of the extension plate and on one side of the vertical rod, the telescopic end of the electric telescopic rod is in contact with the inner side of the wind shield, a switch is fixedly connected to the surface of the electric telescopic rod, a sliding groove is provided on the side of the vertical rod close to the electric telescopic rod, and a sliding block is fixedly connected to the bottom of the top rod, the sliding block extends to the outside of the vertical rod through the sliding groove and is located directly above the switch.

[0014] As a further improvement of the present technical solution, a hollow groove is provided in the inner cavity of the machine body, the control rod passes through the hollow groove, a disc is fixedly connected to the surface of the control rod located in the inner cavity of the hollow groove, the surface of the disc is rough and contacts the side wall of the hollow groove, a long groove is provided in the inner cavity of the machine body, the long groove is connected to the hollow groove, a hydraulic cylinder is fixedly connected to the inner cavity of the long groove, and the telescopic end of the hydraulic cylinder can extend to the inner cavity of the hollow groove and contact the disc in an extended state.

[0015] As a further improvement of the technical solution, a support leg is fixedly connected to the bottom of the body, and a telescopic leg is movably connected to the bottom of the support leg.

[0016] Compared with the prior art, the present invention has the following beneficial effects:

[0017] 1. A power grid inspection drone that can stably fly in a complex environment. When the side wind blows toward the wind shield, the wind overcomes the resistance of the elastic rope to unfold it, driving the control rod to move to the upwind side. The control rod pushes the top block through the fixed rod and the telescopic rod. After the top block contacts the docking block, the rotating rod is forced to rotate around the first movable part, and the propeller inclination angle increases. The wind shield automatically senses the wind force and links the control rod to adjust the propeller inclination angle, forming an aerodynamic barrier to offset the influence of the side wind. Compared with the traditional method of increasing the propeller speed, the power loss is reduced by more than 30%, the flight time is extended, and the stability against side wind is improved. The wind shield is used as the windward surface to better cope with strong side winds, and the adjustment is smoother through mechanical adjustment, and no sudden changes occur, which can better stabilize the fuselage in strong winds.

[0018] 2. This is a power grid inspection drone that can fly stably in complex environments. The combination design of springs and electric telescopic rods can not only automatically trigger the inclination adjustment through wind force, but also manually intervene through switches to adapt to side wind environments of different intensities, while preventing the motor from overloading and achieving dynamic adjustment and overload protection.

[0019] 3. This power grid inspection drone can stably fly in complex environments. The retractable support legs cooperate with the hydraulic cylinder locking structure, so that the drone can stably take off and land on inclined or uneven ground, avoiding the risk of overturning due to uneven ground, and enhancing the adaptability to complex terrain. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1It is a schematic diagram of the overall structure of the present invention;

[0021] Figure 2 It is a structural schematic diagram of the propeller of the present invention;

[0022] Figure 3 It is a structural schematic diagram of the windshield of the present invention;

[0023] Figure 4 It is a structural schematic diagram of the position limiting protection plate of the present invention;

[0024] Figure 5 is a side view of a windshield of the present invention;

[0025] Figure 6 is a cross-sectional view of the vertical rod structure of the present invention;

[0026] Figure 7 is a cross-sectional view of the body of the present invention;

[0027] Figure 8 It is a schematic structural diagram of the telescopic leg of the present invention.

[0028] The meaning of each number in the figure is:

[0029] 1. Body; 2. First movable part; 3. Second movable part; 4. Rotating rod; 5. Cylindrical rod; 6. Propeller; 7. Control rod; 8. Fixed rod; 9. Telescopic rod; 10. Rotating shaft; 11. Top block; 12. Limit protection plate; 13. Connecting rod; 14. Docking block; 15. Extension plate; 16. Round rod; 17. Wind shield; 18. Vertical rod; 19. Spring; 20. Moving plate; 21. Top rod; 22. Slide; 23. Sliding block; 24. Electric telescopic rod; 25. Switch; 26. Elastic rope; 27. Support leg; 28. Telescopic leg; 29. ​​Empty slot; 30. Disc; 31. Long slot; 32. Hydraulic cylinder. DETAILED DESCRIPTION

[0030] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. 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.

[0031] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0032] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0033] See also Figure 1-Figure 3 As shown, the purpose of this embodiment is to provide a power grid inspection drone that can stably fly in a complex environment, including a drone body 1, both sides of the body 1 are fixedly connected to a first movable part 2, the first movable part 2 is rotatably connected to a second movable part 3, the second movable part 3 is rotatably connected to a rotating rod 4, the end of the rotating rod 4 away from the second movable part 3 is fixedly connected to a cylindrical rod 5, and the top of the cylindrical rod 5 is rotatably connected to a propeller 6;

[0034] Also includes:

[0035] The control rod 7 runs through the inner cavity of the body 1 and is located in the middle of the body 1. In the initial state, the control rods 7 on both sides of the body 1 are the same. Both sides of the control rod 7 are fixedly connected with fixed rods 8. The control rod 7 controls the length of the corresponding side by moving. When the length of one side of the control rod 7 becomes, it drives the fixed rod 8 to move horizontally. When the fixed rod 8 moves horizontally, it drives the device on it to lift the rotating rod 4. After the rotating rod 4 is lifted, the angle changes. When encountering crosswind, the side propeller 6 automatically increases the inclination angle to form an aerodynamic barrier to stabilize the body 1;

[0036] There are two groups of wind shields 17, which are located at the end of the control rod 7. The two groups of wind shields 17 can sense the wind force. When the wind force affects the stability of the body 1, the two groups of wind shields 17 are unfolded to form a wind-blocking state. At this time, the wind can drive the control rod 7 to move, and cooperate with the control rod 7 to complete the change of the inclination angle of the propeller 6.

[0037] like Figure 3 and Figure 4As shown, one end of the fixed rod 8 is movably connected to the telescopic rod 9, the top of the end of the telescopic rod 9 is rotatably connected to the rotating shaft 10, the top of the rotating shaft 10 is rotatably connected to the top block 11, the top block 11 is triangular, both sides of the bottom of the rotating rod 4 are fixedly connected to the limited position protection plates 12, the bottom of the rotating rod 4 is rotatably connected to the connecting rod 13, the bottom of the connecting rod 13 is rotatably connected to the docking block 14, the docking block 14 is triangular, and the inclined surface of the docking block 14 contacts the inclined surface of the top block 11.

[0038] When the side wind blows towards the wind shield 17, the wind force overcomes the resistance of the elastic rope 26 to cause it to unfold, driving the control rod 7 to move to the upwind side, and the control rod 7 pushes the top block 11 through the fixed rod 8 and the telescopic rod 9. After the top block 11 contacts the docking block 14, the rotating rod 4 is forced to rotate around the first movable part 2, and the inclination angle of the propeller 6 increases. The wind shield 17 automatically senses the wind force and links the control rod 7 to adjust the inclination angle of the propeller 6, forming an aerodynamic barrier to offset the influence of the side wind. Compared with the traditional method of increasing the rotation speed of the propeller 6, the power loss is reduced by more than 30%, and the flight time is extended.

[0039] When a side wind (such as blowing from the right side of the UAV) acts on the fuselage 1, the rear rotor (here refers to the leeward rotor) increases the angle with the horizontal plane through the tilt adjustment mechanism (the typical adjustment range is 15°-35°), forming an inclined rotor disk, and decomposing the originally vertical airflow into a horizontal component and a vertical component. The horizontal component generates aerodynamic resistance in the opposite direction of the side wind, forming a "virtual aerodynamic wall" (aerodynamic barrier).

[0040] like Figure 5 and Figure 6 As shown, the end of the control rod 7 is fixedly connected with an extension plate 15, one side of the extension plate 15 is fixedly connected with a round rod 16, the surface of the round rod 16 is rotatably connected to one side of the windshield 17, an elastic rope 26 is fixedly connected between the inner side of the windshield 17 and the extension plate 15, the top and the top of the extension plate 15 are fixedly connected with a vertical rod 18, the vertical rod 18 has an inner cavity, the bottom of the inner cavity of the vertical rod 18 is fixedly connected with a spring 19, the top of the spring 19 is fixedly connected with a moving plate 20, the moving plate 20 is slidably connected to the inner cavity of the vertical rod 18, the top of the moving plate 20 is fixedly connected with a top rod 21, the top of the top rod 21 The top passes through the vertical rod 18 and extends to the top of the vertical rod 18. One end of the top rod 21 extends to the top of the vertical rod 18 and contacts the inner side of the wind shield 17. The top of the extension plate 15 and one side of the vertical rod 18 are fixedly connected with an electric telescopic rod 24. The telescopic end of the electric telescopic rod 24 contacts the inner side of the wind shield 17. A switch 25 is fixedly connected to the surface of the electric telescopic rod 24. A slide groove 22 is provided on the side of the vertical rod 18 close to the electric telescopic rod 24. A slider 23 is fixedly connected to the bottom of the top rod 21. The slider 23 extends to the outside of the vertical rod 18 through the slide groove 22 and is located directly above the switch 25.

[0041] The extension plate 15 is rotatably connected to the windshield plate 17 through a round rod 16, and an elastic rope 26 and an electric telescopic rod 24 are arranged inside. The spring 19 in the vertical rod 18 is linked to the top rod 21, and the top rod 21 triggers the switch 25 through the slider 23 to control the electric telescopic rod 24.

[0042] When the wind force exceeds the threshold, the spring 19 is compressed to drive the top rod 21 to slide, triggering the electric telescopic rod 24 to press the windshield 17 to prevent excessive shaking; the hydraulic cylinder 32 can lock the control rod 7 to avoid structural failure under extreme wind force.

[0043] The control rod 7 runs through the middle of the body 1, and the two ends are connected to the fixed rod 8 and the telescopic rod 9. The end of the telescopic rod 9 is hinged to the top block 11 through the rotating shaft 10. A limit protection plate 12 and a connecting rod 13 are provided at the bottom of the rotating rod 4, and the connecting rod contacts the top block 11 through the docking block 14.

[0044] When the side wind blows the wind deflector 17 to unfold, the control rod 7 moves to the upwind side, and the telescopic rod 9 lifts the rotating rod 4, so that the inclination angle of the propeller 6 increases to 30 degrees, forming an aerodynamic barrier to offset the side wind.

[0045] The combined design of the spring 19 and the electric telescopic rod 24 can not only automatically trigger the tilt adjustment through wind force, but also manually intervene through the switch 25 to adapt to side wind environments of different intensities and prevent the motor from overloading.

[0046] like Figure 7 As shown, a hollow groove 29 is provided in the inner cavity of the machine body 1, and the control rod 7 passes through the hollow groove 29. A disc 30 is fixedly connected to the surface of the control rod 7 located in the inner cavity of the hollow groove 29. The surface of the disc 30 is rough and contacts the side wall of the hollow groove 29. A long groove 31 is provided in the inner cavity of the machine body 1. The long groove 31 is connected to the hollow groove 29. A hydraulic cylinder 32 is fixedly connected to the inner cavity of the long groove 31. The telescopic end of the hydraulic cylinder 32 can extend to the inner cavity of the hollow groove 29 and contact the disc 30 in the extended state.

[0047] like Figure 8 As shown, a support leg 27 is fixedly connected to the bottom of the body 1, and a telescopic leg 28 is movably connected to the bottom of the support leg 27.

[0048] The retractable legs 28 cooperate with the locking structure of the hydraulic cylinder 32 to enable the drone to take off and land stably on inclined or uneven ground, avoiding the risk of overturning due to uneven ground.

[0049] A sensor for controlling the rotation of the body 1 is arranged inside the body 1, and a rotatable camera is arranged at the bottom of the body 1. When a strong side wind occurs, the sensor can control the rotation of the body 1 so that the side of the windshield 17 of the body 1 serves as the windward side, which is convenient for angle adjustment. At the same time, the shooting angle is kept unchanged by rotating the camera.

[0050] Working principle: When the side wind blows towards the wind shield 17, the wind force overcomes the resistance of the elastic rope 26 to make it unfold, driving the control rod 7 to move toward the upwind side.

[0051] The control rod 7 pushes the top block 11 through the fixed rod 8 and the telescopic rod 9. After the top block 11 contacts the docking block 14, the rotating rod 4 is forced to rotate around the first movable member 2, and the inclination angle of the propeller 6 increases.

[0052] The tilt angle adjustment range is 0°-45°, and it automatically adapts according to the wind force, and can offset a maximum side wind of 12m / s.

[0053] Multi-level shock absorption and locking

[0054] At low wind speeds, the spring 19 supports the windshield 17 via the top rod 21 to maintain structural flexibility; when the wind speed exceeds 8 m / s, the top rod 21 triggers the electric telescopic rod 24 to tighten the windshield to enhance rigidity.

[0055] The hydraulic cylinder 32 extends under extreme wind force, clamps the disc 30 and locks the control rod 7 to prevent the structure from deforming.

[0056] Terrain adaptation and take-off and landing

[0057] During landing, the telescopic legs 28 automatically adjust their length according to the ground conditions, and the supporting legs 27 are locked by the hydraulic cylinders 32 to ensure that the fuselage is level.

[0058] Before takeoff, the hydraulic cylinder 32 is retracted, the control lever 7 is unlocked, and the propeller 6 is restored to a vertical attitude.

[0059] The above shows and describes the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited by the above embodiments. The above embodiments and descriptions are only preferred examples of the present invention and are not intended to limit the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. A power grid inspection drone capable of stable flight in a complex environment, comprising a drone body (1), characterized in that: Both sides of the machine body (1) are fixedly connected to a first movable member (2), the first movable member (2) is rotatably connected to a second movable member (3), the second movable member (3) is rotatably connected to a rotating rod (4), one end of the rotating rod (4) away from the second movable member (3) is fixedly connected to a cylindrical rod (5), and the top of the cylindrical rod (5) is rotatably connected to a propeller (6); Also includes: A control rod (7), wherein the control rod (7) penetrates the inner cavity of the body (1) and is located in the middle of the body (1). In an initial state, the control rods (7) on both sides of the body (1) are the same. Both sides of the control rod (7) are fixedly connected with fixed rods (8). The control rod (7) controls the length of the corresponding side by moving. When the length of one side of the control rod (7) becomes, it drives the fixed rod (8) to move horizontally. When the fixed rod (8) moves horizontally, it drives the device on it to lift the rotating rod (4). After the rotating rod (4) is lifted, the angle changes. When encountering a crosswind, the side propeller (6) automatically increases the inclination angle to form an aerodynamic barrier, so that the body (1) is stable; The windshield (17) is provided with two groups in total. The two groups of windshields (17) are located at the ends of the control rod (7). The two groups of windshields (17) can sense the size of the wind force. When the size of the wind force affects the stability of the machine body (1), the two groups of windshields (17) are unfolded to form a windshield state. At this time, the windshield (17) can be driven by the wind force to move the control rod (7), and the inclination angle of the propeller (6) can be changed by cooperating with the control rod (7).

2. The power grid inspection drone capable of stable flight in complex environments according to claim 1 is characterized by: One end of the fixed rod (8) is movably connected to a telescopic rod (9), the top of the end of the telescopic rod (9) is rotatably connected to a rotating shaft (10), the top of the rotating shaft (10) is rotatably connected to a top block (11), and the top block (11) is triangular.

3. The power grid inspection drone capable of stable flight in complex environments according to claim 2 is characterized in that: Both sides of the bottom of the rotating rod (4) are fixedly connected to limit protection plates (12); the bottom of the rotating rod (4) is rotatably connected to a connecting rod (13); the bottom of the connecting rod (13) is rotatably connected to a docking block (14); the docking block (14) is triangular in shape; the inclined surface of the docking block (14) contacts the inclined surface of the top block (11).

4. The power grid inspection drone capable of stable flight in complex environments according to claim 3 is characterized by: The end of the control rod (7) is fixedly connected to an extension plate (15), one side of the extension plate (15) is fixedly connected to a round rod (16), the surface of the round rod (16) is rotatably connected to one side of a windshield (17), and an elastic rope (26) is fixedly connected between the inner side of the windshield (17) and the extension plate (15).

5. The power grid inspection drone capable of stable flight in complex environments according to claim 4 is characterized in that: The top and the bottom of the extension plate (15) are both fixedly connected with a vertical rod (18), the vertical rod (18) has an inner cavity, the bottom of the inner cavity of the vertical rod (18) is fixedly connected with a spring (19), the top of the spring (19) is fixedly connected with a movable plate (20), the movable plate (20) is slidably connected with the inner cavity of the vertical rod (18), the top of the movable plate (20) is fixedly connected with a top rod (21), the top of the top rod (21) passes through the vertical rod (18) and extends to the top of the vertical rod (18), and one end of the top rod (21) extending to the top of the vertical rod (18) contacts the inner side of the windshield (17).

6. The power grid inspection drone capable of stable flight in complex environments according to claim 5 is characterized by: An electric telescopic rod (24) is fixedly connected to the top of the extension plate (15) and located on one side of the vertical rod (18); the telescopic end of the electric telescopic rod (24) contacts the inner side of the windshield (17); a switch (25) is fixedly connected to the surface of the electric telescopic rod (24); a sliding groove (22) is provided on the side of the vertical rod (18) close to the electric telescopic rod (24); a sliding block (23) is fixedly connected to the bottom of the top rod (21); the sliding block (23) extends to the outer side of the vertical rod (18) through the sliding groove (22) and is located directly above the switch (25).

7. The power grid inspection drone capable of stable flight in complex environments according to claim 1, characterized in that: The inner cavity of the machine body (1) is provided with a hollow groove (29), the control rod (7) passes through the hollow groove (29), the surface of the control rod (7) located in the inner cavity of the hollow groove (29) is fixedly connected with a disc (30), the surface of the disc (30) is rough and contacts the side wall of the hollow groove (29), the inner cavity of the machine body (1) is provided with a long groove (31), the long groove (31) is connected with the hollow groove (29), the inner cavity of the long groove (31) is fixedly connected with a hydraulic cylinder (32), and the telescopic end of the hydraulic cylinder (32) can extend into the inner cavity of the hollow groove (29) and contact the disc (30) in an extended state.

8. The power grid inspection drone capable of stable flight in complex environments according to claim 1, characterized in that: The bottom of the machine body (1) is fixedly connected to a support leg (27), and the bottom of the support leg (27) is movably connected to a telescopic leg (28).

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