Patrol flying robot

Abstract

The invention discloses an inspection flying robot, and relates to the technical field of inspection robots, the inspection flying robot comprises a machine body assembly and a power assembly, the machine body assembly comprises a machine body and an adsorption mechanism arranged on the machine body; the power assembly comprises a rotating part and a driving blade, the rotating part is rotationally arranged on the machine body, and an arc-shaped flow guide face is arranged on one side of the driving blade and faces the bottom of the machine body. The adsorption mechanism can be adsorbed on the wind power blade, the arc-shaped flow guide face of the driving blade faces the machine body and faces downwards, at the moment, when the driving blade rotates at a high speed, airflow can drive the inspection flying robot to move towards the wind power blade, so that the adsorption mechanism is more tightly attached to the wind power blade, and the inspection flying robot is not prone to falling off.

Description

Technical Field

[0001] The present invention relates to the technical field of inspection robots, and in particular to an inspection flying robot. Background Art

[0002] As the global energy structure transformation accelerates, the proportion of wind turbine wind power generation as a clean energy in my country's transportation energy system continues to increase. The blades of wind turbines are relatively long, usually reaching tens of meters. Since the blades are easily damaged by wind all year round, they need to be frequently inspected for damage. In order to improve the efficiency of inspection, drones are usually used to approach the blades to take pictures to detect the damage of the blades.

[0003] The prior art with announcement number CN116923581A discloses a wall-climbing robot for wind turbine blade inspection, including a fuselage and a plurality of mechanical legs for adjusting the climbing position of the fuselage; wherein the fuselage is provided with an image acquisition unit, a controller, and a power supply; wherein the mechanical legs are provided with a plurality of servos for adjusting and controlling walking, wherein an adsorption unit is provided at the lower end of the mechanical legs. In this application, the wall-climbing robot is used to inspect and maintain the surface of the blade, which can effectively protect human life safety and shorten the inspection time; at the same time, a relatively compact six-legged wall-climbing robot structure is adopted, and a vacuum suction cup that can better adapt to the curved surface of the wind turbine blade is installed, thereby improving the adsorption stability of the wall-climbing robot, reducing the difficulty and cost of manufacturing large-scale inspection equipment, and having high economy.

[0004] However, the existing detection robot still has defects. For example, it is only adsorbed on the surface of the wind turbine blade by a vacuum suction cup. When the wind turbine blade rotates for a long time, the detection robot is easy to fall off the blade under the influence of strong wind force. Summary of the invention

[0005] The purpose of the present invention is to overcome the above-mentioned technical deficiencies and propose a patrol flying robot to solve the technical problem that the patrol robot in the prior art is only adsorbed on the surface of the wind turbine blade by a vacuum suction cup, and the wind turbine blade rotates for a long time, and the inspection robot is easily fallen off the blade under the influence of strong wind force.

[0006] In order to achieve the above technical objectives, the present invention adopts the following technical solutions: The present invention provides an inspection flying robot, comprising: A machine body assembly, comprising a machine body and a suction mechanism disposed on the machine body; and The power assembly comprises a rotating member and a driving blade, wherein the rotating member is rotatably arranged on the machine body, and one side of the driving blade has an arc-shaped guide surface, and the arc-shaped guide surface faces the bottom of the machine body.

[0007] In some embodiments, the power assembly further includes a driving mechanism, which is arranged on the rotating member and connected to the driving blade. The driving mechanism can drive the driving blade to flip, so that the arc-shaped guiding surface of the driving blade flips and switches between facing and facing away from the body.

[0008] In some embodiments, the rotating member includes a rotating shaft and a convex seat arranged radially around the rotating shaft. The driving mechanism includes a motor and a driving rod. The driving rod is connected to the driving blade. The motor is arranged on the convex seat and connected to the driving rod. The motor can drive the driving rod to reciprocally flip.

[0009] In some embodiments, the motor has a clamping groove, the driving blade has a clamping portion and is connected to the driving rod through the clamping portion. The driving rod can be telescopic to drive the clamping portion to be clamped or disengaged from the clamping groove. When the clamping portion is disengaged from the clamping groove, the driving rod can drive the driving blade to flip.

[0010] In some embodiments, the power assembly further includes an angle adjustment mechanism. The driving mechanism is arranged on the angle adjustment mechanism. The angle adjustment mechanism is connected to the body and rotatably arranged on the convex seat.

[0011] In some embodiments, the angle adjustment mechanism includes an angle adjustment cylinder, a rotating frame and a rotating rod. The rotating frame is arranged on the rotating rod and connected to the driving mechanism. The rotating rod is rotatably connected to the convex seat. The angle adjustment mechanism is arranged on the body and connected to the rotating frame.

[0012] In some embodiments, the adsorption mechanism includes a rotating arm unit and a suction cup. One end of the rotating arm unit is rotatably connected to the body, and the other end is connected to the suction cup.

[0013] In some embodiments, the rotating arm unit includes a first rotating arm and a second rotating arm. One end of the first rotating arm is rotatably arranged on the body, and the other end is rotatably connected to one end of the second rotating arm. The other end of the second rotating arm is connected to the suction cup.

[0014] In some embodiments, the rotating arm unit further includes a third rotating arm. One end of the third rotating arm is rotatably connected to the body, and the other end is rotatably connected to the first rotating arm. The rotation axis of the third rotating arm and the body is perpendicular to the rotation axis of the third rotating arm and the first rotating arm. The rotation axis of the first rotating arm and the second rotating arm is parallel to the rotation axis of the first rotating arm and the third rotating arm.

[0015] In some embodiments, the adsorption mechanism further includes an auxiliary aircraft and an auxiliary blade. The auxiliary blade is rotatably arranged on the second rotating arm. The auxiliary aircraft is arranged on the second rotating arm and connected to the auxiliary blade.

[0016] Compared with the prior art, the inspection flying robot provided by the present invention has an adsorption mechanism that can be vacuum adsorbed on the wind turbine blade, driving the arc-shaped guide surface of the blade to face downward towards the body. At this time, when the driving blade rotates at a high speed, the airflow can drive the inspection flying robot towards the wind turbine blade, so that the adsorption mechanism is more closely attached to the wind turbine blade, and the inspection flying robot is not easily detached from the wind turbine blade. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 is a schematic structural diagram of the inspection flying robot provided by an embodiment of the present invention; Figure 2 is a schematic structural diagram of the driving blade provided by an embodiment of the present invention; Figure 3 is a schematic structural diagram when the clamping portion of the driving blade provided by an embodiment of the present invention is located inside the card slot of the motor; Figure 4 is a schematic structural diagram when the clamping portion of the driving blade provided by an embodiment of the present invention extends out of the card slot of the motor; Figure 5 is a schematic structural diagram of the power assembly provided by an embodiment of the present invention; Figure 6 is Figure 5 an enlarged schematic view of part A in Figure 7 is a schematic structural diagram of the swing arm unit provided by an embodiment of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0018] In order to make the objectives, technical solutions and advantages of the present invention clearer and more understandable, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0019] In order to solve the technical problem in the prior art that the inspection robot is only adsorbed on the surface of the wind turbine blade through a vacuum suction cup, and during the long-term rotation of the wind turbine blade, the inspection robot is easily detached from the blade under the influence of a large wind force, the present invention provides an inspection flying robot, which can enable the driving blade of the inspection flying robot to drive the airflow to press the inspection flying robot during rotation, so that the inspection flying robot is more closely adsorbed on the wind turbine blade and is not easily detached.

[0020] Please refer to Figure 1 and Figure 2 , Figure 11 is a schematic diagram of the structure of an inspection flying robot 100 in an embodiment of the present invention. The inspection flying robot 100 includes a body component 1 and a power component 2. The body component 1 includes a body 11 and an adsorption mechanism 12 disposed on the body 11. The power component 2 includes a rotating member 21, a driving mechanism 22 and a plurality of driving blades 23. The rotating member 21 is rotatably disposed on the body 11. The plurality of driving blades 23 are disposed around the circumference of the rotating member 21. One side of the driving blade 23 has an arc-shaped guide surface 231. The driving mechanism 22 is disposed on the rotating member 21 and connected to the driving blade 23. The number of the driving mechanisms 22 is consistent with the number of the driving blades 23, both of which are multiple. The multiple driving mechanisms 22 are correspondingly connected to the multiple driving blades 23. The driving mechanism 22 can drive the corresponding driving blades 23 to rotate so that the arc-shaped guide surface of the driving blade 23 can be flipped and switched between facing and facing away from the body 11.

[0021] In this embodiment, the body 11 has a driving source (not shown in the figure) inside, the driving source is connected to the rotating member 21 to drive the rotating member 21 to rotate at high speed, and multiple driving blades 23 are arranged around the circumference of the rotating member 21, so that the rotating member 21 can drive the multiple driving blades 23 to rotate at high speed when rotating at high speed. The upper and lower airflow differences created by the driving blades can drive the inspection flying robot 100 to rise and take off or press down the inspection flying robot 100.

[0022] When the inspection flight robot 100 needs to fly, the driving mechanism 22 can be used to control the driving blades 23 to flip so that the arc-shaped guide surface 231 faces upwards and is facing away from the body 11. When the driving blades 23 rotate at high speed, they can drive the inspection flight robot 100 to rise and take off through the airflow pressure difference. When the inspection flight robot 100 needs to be tightly attached to the wind turbine blade, the driving mechanism 22 can be used to control the driving blades 23 to flip so that the arc-shaped guide surface 231 faces downwards and is facing the body 11. When the driving blades 23 rotate at high speed, they can drive the inspection flight robot 100 to move toward the wind turbine blade through the airflow pressure difference. It can also be understood as moving toward the bottom of the inspection flight robot 100. The adsorption mechanism 12 is arranged at the bottom of the body 11, so that the inspection flight robot 100 can press the adsorption mechanism 12, so that the adsorption mechanism 12 is more tightly attached to the wind turbine blade and is not easy to fall off.

[0023] In other embodiments, the driving mechanism 22 may not be provided, and only the arc-shaped guide surfaces 231 of the plurality of driving blades 23 are provided toward the bottom of the body 11, and the plurality of driving blades 23 can drive the inspection flight robot 100 to press against the adsorption mechanism 12 when rotating at high speed. The inspection flight robot 100 of this embodiment cannot fly autonomously to detach from the wind turbine blade, and the inspection flight robot 100 can be placed into the wind turbine blade manually.

[0024] In one embodiment, see Figure 3 andFigure 4 The rotating member 21 includes a rotating shaft 211 and a convex seat 212 arranged radially around the rotating shaft 211. The driving mechanism 22 includes a motor 221 and a driving rod 222. The driving rod 222 is connected to the driving blade 23. The motor 221 is arranged on the convex seat 212 and connected to the driving rod 222. The motor 221 can drive the driving rod 222 to reciprocally flip. In this embodiment, a control board is arranged inside the body 11. The motor 221 is electrically connected to the control board, and the control board is wirelessly connected to the control terminal. The staff can hold the control terminal to control the motor 221, so that the motor 221 drives the driving rod 222 to reciprocally flip within a range of 180°, thereby the driving rod 222 drives the driving blade 23 to reciprocally flip, and switches between two states of facing the body 11 and facing away from the body 11. In addition, the number of the driving mechanisms 22 is equal to the number of the driving blades 23. Each driving mechanism 22 is connected to the corresponding driving blade 23 and is used to drive the corresponding driving blade 23 to flip to switch the state. Multiple motors 221 are connected to the same control board. The staff usually controls the flipping of multiple driving blades 23 simultaneously using the control terminal, and the arc-shaped guiding surfaces 231 of the multiple driving blades 23 all face the same direction. When the multiple driving blades 23 all face away from the body 11, the multiple driving blades 23 can drive the body 11 to rise when rotating at high speed; when the multiple driving blades 23 all face the body 11, the multiple driving blades 23 can drive the body 11 to move downward when rotating at high speed. When the adsorption mechanism 12 on the body 11 adsorbs to the wind power blade, the body 11 can move towards the adsorption mechanism 12, driving the adsorption mechanism 12 to press against the wind power blade, and can maintain a closer adsorption with the wind power blade.

[0025] In one embodiment, please refer to Figure 3 and Figure 4, the motor 221 has a card slot 223, the driving blade 23 has a clamping portion 232 and is connected to the driving rod 222 through the clamping portion 232. The driving rod 222 can be telescoped to drive the clamping portion 232 to be clamped or disengaged from the card slot 223. When the clamping portion 232 is disengaged from the card slot 223, the driving rod 222 can drive the driving blade 23 to flip. In this embodiment, the driving rod 222 can not only drive the driving blade 23 to flip but also be telescoped to drive the driving blade 23 to approach or move away from the motor 221. When it is necessary to flip the driving blade 23, the motor 221 first controls the driving rod 222 to extend. The driving rod 222 drives the clamping portion 232 of the driving blade 23 to completely disengage from the card slot 223. At this time, the clamping portion 232 is not restricted by the card slot 223. Then the motor 221 controls the driving rod 222 to rotate 180°. The driving rod 222 then drives the driving blade 23 to rotate to the target position. Then the motor 221 controls the driving rod 222 to retract. The driving rod 222 drives the clamping portion 232 to slide back into the card slot 223 again to re-clamp the clamping portion 232 and restrict the flipping of the driving blade 23. It should be emphasized that each time the motor 221 drives the driving blade 23 to rotate, it reciprocally flips by 180°. This can accurately control the state of the driving blade 23. In addition, it is also convenient for the driving blade 23 to re-engage with the card slot 223 after flipping.

[0026] In one embodiment, please refer to Figure 5 and Figure 6 , the power assembly 2 further includes an angle adjustment mechanism 24. The driving mechanism 22 is disposed on the angle adjustment mechanism 24. The angle adjustment mechanism 24 is connected to the body 11 and is rotatably disposed on the convex seat 212. In this embodiment, the angle adjustment mechanism 24 can rotate at a small angle relative to the convex seat 212, and the rotation axis of the rotation is parallel to the length extension direction of the driving blade 23, so as to facilitate the small-range adjustment of the flipping angle of the driving blade 23, thereby adjusting the magnitude of the airflow difference generated by the driving blade 23. For example, when the arc-shaped guide surface 231 of the driving blade 23 is flatter, the upper and lower airflow differences generated by the driving blade 23 during high-speed rotation are smaller, and the lift force on the body 11 is smaller. This situation is usually applicable to the case where the body 11 slowly descends. When the inclination angle of the arc-shaped guide surface 231 of the driving blade 23 is larger, the upper and lower airflow differences generated by the driving blade 23 during high-speed rotation are larger, and the lift force on the body 11 is larger. This situation is usually applicable to the case where the body 11 needs to quickly rise.

[0027] In one embodiment, please refer to Figure 5 and Figure 6, the angle adjustment mechanism 24 includes an angle adjustment cylinder 241, a rotating frame 242, and a rotating rod 243. The rotating frame 242 is provided on the rotating rod 243 and connected to the driving mechanism 22. The rotating rod 243 is rotatably connected to the convex seat 212. The angle adjustment mechanism 24 is provided on the machine body 11 and connected to the rotating frame 242. In this embodiment, the angle adjustment cylinder 241 is wirelessly connected to the control terminal through a control board. The staff can control the telescopic movement of the angle adjustment cylinder 241 through the control terminal, so that the angle adjustment cylinder 241 drives the rotating frame 242 to rotate, the rotating frame 242 drives the rotating rod 243 to rotate, and the rotation axis of the rotating rod 243 coincides with the rotation axis of the driving blade 23 to flip. Therefore, when the rotating rod 243 rotates, it can drive the driving blade 23 to flip at a small angle to adjust the air flow difference generated by the driving blade 23 during high-speed rotation.

[0028] In one embodiment, please refer to Figure 6 , the power assembly 2 further includes a stopper 25. The stopper 25 is located on the other side of the rotating rod 243 away from the angle adjustment cylinder 241. The two ends of the stopper 25 are respectively rotatably connected to the convex seat 212 and the rotating frame 242. In this embodiment, the stopper 25 is mainly used to hold the driving blade 23. When the angle adjustment mechanism 24 drives the driving blade 23 to flip and rotate at a small angle, the stopper 25 can rotate following the driving blade 23. The stopper 25 does not limit the rotation of the driving blade 23, but mainly plays a certain supporting and guiding role for the driving blade 23, so that the driving blade 23 can move along a specific direction.

[0029] In one embodiment, please refer to Figure 1 and Figure 7 , the adsorption mechanism 12 includes a rotating arm unit 121 and a suction cup 122. One end of the rotating arm unit 121 is rotatably connected to the machine body 11, and the other end is connected to the suction cup 122. In this embodiment, the suction cup 122 is rotatably provided on the machine body 11 through the rotating arm unit 121, so that the suction cup 122 can rotate relative to the machine body 11 to facilitate adjusting its position and can be compatible with the adsorption of wind power blades of different shapes.

[0030] Further, please refer to Figure 7, the swing arm unit 121 includes a first swing arm 123 and a second swing arm 124. One end of the first swing arm 123 is rotatably arranged on the machine body 11, and the other end is rotatably connected to one end of the second swing arm 124. The other end of the second swing arm 124 is connected to the suction cup 122. In this embodiment, the rotation axis of the first swing arm 123 rotating relative to the machine body 11 and the rotation axis of the first swing arm 123 rotating relative to the second swing arm 124 are parallel to each other. The first swing arm 123 can be rotated relative to the machine body 11, and / or the first swing arm 123 and the second swing arm 124 can be rotated relative to each other, both of which can drive the suction cup 122 to rotate to adjust the position of the suction cup 122. In this embodiment, the position of the suction cup 122 is adjusted by the rotation of the two swing arms. The movable space of the suction cup 122 is relatively large, which is convenient for adsorbing wind power blades.

[0031] In one embodiment, please refer to Figure 7 , the swing arm unit further includes a third swing arm 125. One end of the third swing arm 125 is rotatably connected to the machine body 11, and the other end is rotatably connected to the first swing arm 123. The rotation axis of the third swing arm 125 and the machine body 11 is perpendicular to the rotation axis of the third swing arm 125 and the first swing arm 123. The rotation axis of the first swing arm 123 and the second swing arm 124 is parallel to the rotation axis of the first swing arm 123 and the third swing arm 125. In this embodiment, by increasing the third swing arm 125, the movable space of the suction cup 122 is further increased, so that the suction cup 122 has a higher degree of freedom and is more convenient for adsorbing wind power blades. In addition, it should be emphasized that servo motors are provided at the rotation points of each swing arm and at the rotation point of the swing arm and the machine body 11. The servo motors are connected to the control board and connected to the control terminal through the control board. The staff can control the operation of the servo motors by operating the control terminal, so that the servo motors drive the corresponding swing arms to rotate, thereby adjusting the position of the suction cup 122.

[0032] In one embodiment, please refer to Figure 7 , the adsorption mechanism 12 further includes an auxiliary aircraft 126 and an auxiliary blade 127. The auxiliary blade 127 is rotatably arranged on the second swing arm 124. The auxiliary aircraft 126 is arranged on the second swing arm 124 and connected to the auxiliary blade 127. In this embodiment, the auxiliary aircraft 126 is used to drive the auxiliary blade 127 to rotate at a high speed, so as to facilitate the inspection flying robot 100 to adjust its direction during flight. In addition, it can provide a certain amount of power for the inspection flying robot 100 to assist its flight. In addition, the auxiliary blade 127 is arranged adjacent to the suction cup 122. When the auxiliary blade 127 rotates at a high speed, it can also drive the respective swing arms to rotate relative to each other to adjust the position of the suction cup 122, further improving the degree of freedom of the suction cup 122.

[0033] A plurality of suction cups 122 are all connected with a pressure relief valve (not shown in the figure) through an air pipe. The pressure relief valve is connected to a control board and can be controlled to open or close through a control terminal. When the pressure relief valve is closed, the suction cup 122 can adsorb on the wind power blade when pressing against it. When the pressure relief valve is opened, the suction cup 122 can break the vacuum so that the suction cup 122 can easily disengage from the wind power blade. The pressure relief valves of each adsorption mechanism 12 can be controlled individually. For example, when the inspection flying robot 100 adsorbs on the wind power blade, the pressure relief valve of a certain adsorption mechanism 12 can be controlled to open and break the vacuum alone. By rotating the auxiliary blade 127 and the respective servos of the adsorption mechanism 12, the movement of the corresponding suction cup 122 is controlled so that the suction cup 122 reaches a new position. And so on, each adsorption mechanism 12 is adjusted, thereby driving the inspection flying robot 100 to walk on the wind power blade to facilitate the detection of multiple parts of the wind power blade.

[0034] In one embodiment, please refer to Figure 1 , the inspection flying robot 100 further includes an ultrasonic rangefinder 3 and two infrared cameras 4 provided on the body 11. The two infrared cameras 4 are provided on both sides of the ultrasonic rangefinder 3. When the inspection flying robot 100 adsorbs on the wind power blade, the ultrasonic rangefinder 3 can send ultrasonic waves to the wind power blade to facilitate the detection of flaws in the wind power blade. All the information detected by the ultrasonic rangefinder 3 on the wind power blade will be wirelessly sent to the control terminal through the control board. The staff can view the damage information of the wind power blade through the control terminal to facilitate subsequent timely repair measures for the wind power blade. The infrared camera 4 can emit infrared rays to the wind power blade and detect flaws in the wind power blade through the infrared thermal imaging principle. The infrared camera 4 can wirelessly send the detection information of the wind power blade to the control terminal through the control board. The staff can view the damage information of the wind power blade through the control terminal.

[0035] For a better understanding of the present invention, the following is a detailed description of the technical solution of the present invention in conjunction with Figures 1 to 7 : The adsorption mechanism 12 of the inspection flying robot 100 provided by the present invention can be vacuum-adsorbed on the wind power blade. The driving mechanism 22 drives the driving blade 23 to flip so that the arc-shaped guiding surface 231 of the driving blade 23 faces downward with respect to the body. At this time, when the multiple driving blades 23 rotate at a high speed, the airflow can drive the inspection flying robot 100 towards the wind power blade, so that the adsorption mechanism 12 is more closely attached to the wind power blade, and the inspection flying robot 100 is not easily detached from the wind power blade and can stably detect the wind power blade.

[0036] The specific embodiments of the present invention described above do not constitute a limitation to the protection scope of the present invention. Any other corresponding changes and deformations made according to the technical concept of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. A patrol flying robot, characterized in that: include: A machine body assembly, comprising a machine body and a suction mechanism disposed on the machine body; and The power assembly comprises a rotating member and a driving blade, wherein the rotating member is rotatably arranged on the machine body, and one side of the driving blade has an arc-shaped guide surface, and the arc-shaped guide surface faces the bottom of the machine body.

2. The inspection flying robot according to claim 1, characterized in that: The power assembly also includes a driving mechanism, which is arranged on the rotating member and connected to the driving blade. The driving mechanism can drive the driving blade to flip so that the arc-shaped guide surface of the driving blade flips and switches between facing toward and facing away from the machine body.

3. The inspection flying robot according to claim 2, characterized in that: The rotating member includes a rotating shaft and a convex seat radially arranged around the rotating shaft. The driving mechanism includes a motor and a driving rod. The driving rod is connected to the driving blade. The motor is arranged on the convex seat and connected to the driving rod. The motor can drive the driving rod to flip back and forth.

4. The inspection flying robot according to claim 3, characterized in that: The motor has a slot, the driving blade has a clamping portion and is connected to the driving rod via the clamping portion, the driving rod can be extended and retracted to drive the clamping portion to engage with or disengage from the slot, and when the clamping portion disengages from the slot, the driving rod can drive the driving blade to flip.

5. The inspection flying robot according to claim 3, characterized in that: The power assembly further comprises an angle adjustment mechanism, the driving mechanism is arranged on the angle adjustment mechanism, and the angle adjustment mechanism is connected to the machine body and rotatably arranged on the convex seat.

6. The inspection flying robot according to claim 5, characterized in that: The angle adjustment mechanism comprises an angle adjustment cylinder, a rotating frame and a rotating rod. The rotating frame is arranged on the rotating rod and connected to the driving mechanism. The rotating rod is rotatably connected to the convex seat. The angle adjustment mechanism is arranged on the machine body and connected to the rotating frame.

7. The inspection flying robot according to claim 1, characterized in that: The adsorption mechanism comprises a rotating arm unit and a suction cup. One end of the rotating arm unit is rotatably connected to the machine body, and the other end is connected to the suction cup.

8. The inspection flying robot according to claim 7, characterized in that: The rotating arm unit includes a first rotating arm and a second rotating arm. One end of the first rotating arm is rotatably arranged on the machine body, and the other end is rotatably connected to one end of the second rotating arm. The other end of the second rotating arm is connected to the suction cup.

9. The inspection flying robot according to claim 8, characterized in that: The pivot arm unit also includes a third pivot arm, one end of the third pivot arm is rotatably connected to the machine body, and the other end is rotatably connected to the first pivot arm, the rotation axis of the third pivot arm and the machine body is perpendicular to the rotation axis of the third pivot arm and the first pivot arm, and the rotation axis of the first pivot arm and the second pivot arm is parallel to the rotation axis of the first pivot arm and the third pivot arm.

10. The inspection flying robot according to claim 8, characterized in that: The adsorption mechanism further comprises an auxiliary aircraft and an auxiliary blade. The auxiliary blade is rotatably arranged on the second rotating arm. The auxiliary aircraft is arranged on the second rotating arm and connected to the auxiliary blade.

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