Inspection robot for small comprehensive pipe gallery

Abstract

The invention relates to the field of inspection robots, and discloses an inspection robot for a small comprehensive pipe gallery, the inspection robot comprises a machine body, auxiliary supporting arms and walking arms, the auxiliary supporting arms and the walking arms are arranged on the upper side and the lower side of the machine body, the walking arms and the auxiliary supporting arms are arranged in an array mode, and the walking arms and the auxiliary supporting arms are of bent structures; the walking arm and the auxiliary supporting arms abut against the interior of the pipe gallery correspondingly, the robot can flexibly move in a narrow channel of the small comprehensive pipe gallery by arranging the auxiliary supporting arms and the walking arms on the upper side and the lower side, and by means of the design, when the robot encounters an obstacle, the robot can flexibly move in the narrow channel of the small comprehensive pipe gallery by adjusting the postures of the walking arms and the auxiliary supporting arms; compared with the prior art, lateral avoiding or obstacle crossing is achieved, the situation that legs of a traditional robot cannot swing laterally and are clamped is avoided, the walking arms and the auxiliary supporting arms of the bent structures can better adapt to complex pipeline and line layout in the comprehensive pipe gallery, and higher maneuverability and flexibility are provided.

Description

Technical Field

[0001] The present invention relates to the field of inspection robots, and specifically to an inspection robot for a small-scale utility tunnel. Background Art

[0002] A utility tunnel is a structure and its ancillary facilities built underground in a city to accommodate two or more types of urban engineering pipelines, and its internal space can meet the passage of personnel, including three types: main utility tunnels, branch utility tunnels, and small-scale utility tunnels. Urban engineering pipelines refer to municipal public pipelines such as water supply, rainwater, sewage, reclaimed water, natural gas, heat, electricity, and communication within the city to meet the needs of life and production. Although the existing utility tunnels are connected to sewage pipes, when cracks or leaks occur, they cannot effectively collect and guide the discharge of water flow and dirt.

[0003] In addition, when inspecting the safety of utility tunnels, although robots are selected to enter the interior of the utility tunnels for inspection, since four-legged robots usually rely on the swinging and telescoping of their legs to move, although their leg designs can swing laterally, the connection ends are all rigid connections. This structural limitation makes it difficult for the robots to avoid obstacles laterally or flexibly adjust the leg postures when encountering pipelines and lines in the utility tunnels, and the robot legs may get stuck, resulting in the inability to move forward. Summary of the Invention

[0004] The present invention provides an inspection robot for a small-scale utility tunnel, which overcomes the deficiencies described in the background art.

[0005] The technical solution adopted by the present invention to solve its technical problems is as follows: An inspection robot for a small-scale utility tunnel, applied to the small-scale utility tunnel described above. The inspection robot is arranged in the small-scale utility tunnel and includes a fuselage, and auxiliary support arms and walking arms arranged on both the upper and lower sides of the fuselage. The walking arms and the auxiliary support arms are both arranged in an array, and both the walking arms and the auxiliary support arms are bent structures, and the walking arms and the auxiliary support arms respectively abut against the inner side of the passage; The walking arm includes a movable arm body, a motor 1, a walking wheel, and a driving cylinder 1. The walking wheel is installed at the lower end of the movable arm body. The movable arm body is connected to the output shaft of the motor 1. A bifurcated connection button in a V-shaped structure is installed on the back of the motor 1. The driving cylinder 1 is movably installed on the lower side of the fuselage. One end of the bifurcated connection button is connected to the fuselage, and the other end of the bifurcated connection button is connected to the output shaft of the driving cylinder 1 to drive the walking wheel to swing vertically outward from the fuselage through the driving cylinder 1; The walking wheel is installed on the output shaft of a second motor. The second motor is arranged through the lower end of the movable arm body. There is a gap between the second motor and the lower arm, and the gap is filled with a snap-in filling airbag. The cross-section of the snap-in filling airbag is in a C-shaped structure, and both ends of the snap-in filling airbag are snap-fastened and fixed on the outer surface of the lower arm.

[0006] In a preferred technical solution, an opening for the second motor to pass through is provided at the lower end of the lower arm. The opening is in a flared structure, and the large-diameter end faces the walking wheel. The snap-in filling airbag abuts against the surface of the opening, and the side of the snap-in filling airbag close to the opening surface is in an inclined structure. The wall thickness of the snap-in filling airbag gradually increases from the end far away from the walking wheel to the end close to the walking wheel. When the first driving cylinder drives the walking wheel to swing vertically towards the outside of the fuselage and the walking wheel abuts against the channel surface, the second motor is forced to squeeze the snap-in filling airbag. An activity connection seat is further arranged on the outer side of the end of the second motor far away from the walking wheel. The second motor is fixed to the surface of the lower arm through the activity connection seat.

[0007] In a preferred technical solution, the activity connection seat is in a flared structure. The large-diameter end of the activity connection seat faces and is fixed to the surface of the lower arm. The second motor is connected to the small-diameter end of the activity connection seat. The adjacent surface between the inner side of the activity connection seat and the circumferential surface of the second motor does not abut against the second motor. There is an activity gap between the activity connection seat and the second motor. The activity gap is in a flared shape, and the large-diameter end of the gap faces the walking wheel. When the second motor is stressed, it swings with the small-diameter end of the activity connection seat as a fulcrum and squeezes the surface of the snap-in filling airbag in the same swinging direction.

[0008] In a preferred technical solution, the movable arm body includes an upper arm, a lower arm, a second driving cylinder, a limiting plate and an elastic restoring belt. The ends of the upper arm and the lower arm are hinged, and the upper arm and the lower arm are bent by the second driving cylinder. The limiting plates are symmetrically arranged on both sides of the connection end of the upper arm and the lower arm. The limiting plates are fixed to the surface of the lower arm, and there is a gap between the limiting plates and the upper arm. A buckle plate is arranged on the surfaces of the upper arm and the lower arm close to the limiting plate. The two buckle plates are connected by an elastic restoring belt. When the second driving cylinder drives the upper arm and the lower arm to swing, the elastic restoring belt is pulled through the two buckle plates.

[0009] In a preferred technical solution, the auxiliary support arm includes a first support arm, a second support arm and a support block. The first support arm and the second support arm are hinged. The support block is fixed to the surface of the second support arm, and the first support arm abuts against the upper surface of the support block. An abutting block is arranged at the end of the first support arm. The second support arm is fixed to the surface of the fuselage through a bearing seat. The support block includes a deformable rubber plate and support block monomers disposed at the upper and lower ends of the deformable rubber plate. The support block monomers are in a C-shaped structure, and the openings of the two support block monomers both face away from the deformable rubber plate, and the two support block monomers are arranged staggeredly. When the first support arm is stressed and swings downward, it presses the support block monomer on the upper side and causes the deformable rubber plate to be stressed and deformed; The middle surface of the deformable rubber plate bulges toward the connection end of the first support arm and the second support arm.

[0010] Compared with the prior art, this technical solution has the following advantages: By providing the auxiliary support arms and the walking arms on the upper and lower sides, the robot can move flexibly in the narrow passage of the small integrated pipe gallery. This design enables the robot to adjust the postures of the walking arms and the auxiliary support arms to achieve lateral avoidance or obstacle crossing when encountering obstacles, instead of being stuck like traditional robots due to the inability of the legs to swing laterally. The walking arms and the auxiliary support arms with a bent structure can better adapt to the complex pipeline and line layout inside the integrated pipe gallery, providing higher mobility and flexibility. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] The present invention will be further described below with reference to the drawings and embodiments.

[0012] Figure 1 It is a schematic diagram of an inspection robot.

[0013] Figure 2 It is a side view schematic diagram of the walking arm.

[0014] Figure 3 It is a schematic diagram of the movable arm body.

[0015] Figure 4 It is a three-dimensional schematic diagram of the movable arm body.

[0016] Figure 5 It is an exploded schematic diagram of the movable arm body.

[0017] Figure 6 It is a three-dimensional schematic diagram of the walking wheel.

[0018] Figure 7 It is a planar structure schematic diagram of the walking wheel.

[0019] Figure 8 It is a schematic diagram of the movable connection seat.

[0020] Figure 9 It is a schematic diagram of the second motor, the movable connection seat and the snap-in filling airbag.

[0021] Figure 10 It is a schematic diagram of the auxiliary support arm.

[0022] Figure 11 Schematic diagram of the support block

[0023] In the figure: Airframe 1, walking arm 2, movable arm body 21, motor 1 22, walking wheel 23, driving cylinder 1 24; Upper arm 211, lower arm 212, driving cylinder 2 213, limit plate 214, elastic recovery belt 215; Forked connection button 221; Motor 2 231, movable connection seat 232, snap-in filling airbag 233; Auxiliary support arm 3; Support arm 1 31, abutting block 311, support arm 2 32, bearing seat 321, support block 33, support block monomer 331, deformable rubber plate 332. Specific implementation mode

[0024] As Figures 1 to 11 shown, a small integrated pipe gallery inspection robot is proposed in the present invention, which is applied to the pipe gallery. The inspection robot is arranged in the small integrated pipe gallery. The inspection robot includes an airframe 1 and auxiliary support arms 3 and walking arms 2 arranged on the upper and lower sides of the airframe 1. The walking arms 2 and the auxiliary support arms 3 are both arranged in an array, and both the walking arms 2 and the auxiliary support arms 3 are bent structures. The walking arms 2 and the auxiliary support arms 3 respectively abut against the inside of the pipe gallery; The walking arm 2 includes a movable arm body 21, a motor 1 22, a walking wheel 23 and a driving cylinder 1 24. The walking wheel 23 is installed at the lower end of the movable arm body 21. The movable arm body 21 is connected to the output shaft of the motor 1 22. A forked connection button 221 with a V-shaped structure is installed on the back of the motor 1 22. The driving cylinder 1 24 is movably installed on the lower side of the airframe 1. One end of the forked connection button 221 of the motor 1 22 is connected to the airframe 1, and the other end of the forked connection button 221 is connected to the output shaft of the driving cylinder 1 24 to drive the walking wheel 23 to swing vertically outward from the airframe 1 through the driving cylinder 1 24; The walking wheel 23 is installed on the output shaft of a motor 2 231. The motor 2 231 is arranged through the lower end of the movable arm body 21. There is a gap between the motor 2 231 and the lower arm 212. The gap is filled with a snap-in filling airbag 233. The cross-section of the snap-in filling airbag 233 is in a C-shaped structure, and both ends of the snap-in filling airbag 233 are snap-fitted and fixed on the outer surface of the lower arm 212.

[0025] First, the robot is equipped with auxiliary support arms 3 and walking arms 2 on its upper and lower sides, enabling it to move flexibly in the narrow passages of small integrated pipe galleries. This design allows the robot to adjust the postures of the walking arms 2 and the auxiliary support arms 3 when encountering obstacles, achieving lateral avoidance or obstacle crossing, instead of being stuck like traditional robots due to the inability of their legs to swing laterally. The walking arms 2 and the auxiliary support arms 3 with a bent structure can better adapt to the complex pipeline and cable layouts inside the integrated pipe gallery, providing higher mobility and flexibility. Secondly, the design of the walking arms 2 further enhances the adaptability and avoidance ability of the robot. The walking wheels 23 are driven by the second motor 231 and can achieve vertical swing through the first driving cylinder 24. This design not only allows the robot to walk smoothly in the pipe gallery but also enables the walking wheels 23 to swing vertically towards the outside of the fuselage 1 through the drive of the first driving cylinder 24, so as to quickly adjust the walking posture when encountering obstacles and achieve avoidance.

[0026] In addition, a gap is provided between the second motor 231 and the lower arm 212 and filled with a snap - in filling airbag 233. This design can play a buffering role during the walking process of the robot, reducing the impact caused by uneven road surfaces or collisions. At the same time, during avoidance, the elastic structure of the snap - in filling airbag 233 can further optimize the posture adjustment of the robot, enabling it to respond more flexibly to complex environments. Moreover, due to the C - shaped cross - section structure of the snap - in filling airbag 233, an elastic buffer area is formed between the walking wheels 23 and the lower arm 212. This design can effectively absorb and disperse the impact force from the ground during the walking process of the robot, reducing mechanical damage caused by uneven road surfaces or collisions. Compared with the traditional rigid connection method, the elastic buffering function of the snap - in filling airbag can significantly reduce the wear of the walking wheels 23 and the second motor 231 and extend the service life of the equipment; Meanwhile, the elastic structure of the snap - in filling airbag enables it to adapt to ground surfaces of different shapes and textures. In small integrated pipe galleries, the ground may be uneven or have local deformations. The snap - in filling airbag 233 can automatically adjust its shape and pressure according to the actual situation of the ground, thus maintaining good contact between the walking wheels 23 and the ground and ensuring the stability and walking efficiency of the robot.

[0027] In a preferred technical solution, an opening through which the second motor 231 passes is provided at the lower end of the lower arm 212. The opening has a flared structure, with the large-diameter end facing the traveling wheel 23. The snap-in filling airbag 233 is abutted against the surface of the opening, and the side of the snap-in filling airbag 233 close to the opening surface has an inclined structure. The wall thickness of the snap-in filling airbag 233 gradually increases from the end far from the traveling wheel 23 to the end close to the traveling wheel 23. When the first driving cylinder 24 drives the traveling wheel 23 to swing vertically outward from the fuselage 1 and the traveling wheel 23 abuts against the inner surface of the pipe gallery, the second motor 231 is forced to squeeze the snap-in filling airbag 233. The wall thickness of the snap-in filling airbag 233 gradually increases from the end far from the traveling wheel 23 to the end close to the traveling wheel 23. This design enables the snap-in filling airbag 233 to provide a non-linear buffering effect when subjected to force. When the second motor 231 is forced to squeeze the snap-in filling airbag 233, the thick end of the snap-in filling airbag 233 can withstand greater pressure, thereby effectively dispersing the impact force and protecting the traveling wheel 23 and the second motor 231 from damage. This buffering function is particularly important during the robot's walking process, especially when the ground in the small integrated pipe gallery is uneven or there are obstacles, which can significantly reduce the wear and failure rate of the equipment.

[0028] The side of the snap-in filling airbag 233 close to the opening surface has an inclined structure. This design not only increases the contact area between the snap-in filling airbag 233 and the opening surface but also enhances the structural stability of the entire walking arm 2. The inclined structure enables the snap-in filling airbag 233 to better conform to the opening surface when subjected to force, thereby providing more stable support during the robot's walking process. In addition, the elastic characteristics of the snap-in filling airbag 233 enable it to adapt to different shapes and textures of the ground. Even when encountering locally deformed or uneven ground in the small integrated pipe gallery, the snap-in filling airbag 233 can automatically adjust its shape to maintain good contact between the traveling wheel 23 and the ground. And when the first driving cylinder 24 drives the traveling wheel 23 to swing vertically outward from the fuselage 1, the snap-in filling airbag 233 can provide additional movement space. The elasticity of the snap-in filling airbag 233 enables the traveling wheel 23 to more flexibly adjust its posture during the swinging process, thereby achieving more efficient avoidance. This design enables the robot to quickly adjust the position of the traveling wheel 23 through the elastic deformation of the snap-in filling airbag 233 when encountering obstacles, avoiding collisions with the obstacles.

[0029] On the outer side of the end of the second motor 231 away from the traveling wheel 23, a movable connection seat 232 is further provided. The second motor 231 is fixed to the surface of the lower arm 212 through the movable connection seat 232. And the movable connection seat 232 is of a flared structure. The large-diameter end of the movable connection seat 232 faces and is fixed to the surface of the lower arm 212. The second motor 231 is connected to the small-diameter end of the movable connection seat 232. The adjacent surface between the inner side of the movable connection seat 232 and the circumferential surface of the second motor 231 does not abut against the second motor 231. There is a movable gap between the movable connection seat 232 and the second motor 231. This movable gap is of a flared shape. The large-diameter end of this gap faces the traveling wheel 23. When the second motor 231 is stressed, it swings with the small-diameter end of the movable connection seat 232 as the fulcrum, and presses the surface of the snap-in filling airbag 233 in the same swinging direction; The design of the movable connection seat 232 allows the second motor 231 to swing with the small-diameter end as the fulcrum when stressed. This design enables the second motor 231 to quickly respond and make fine adjustments when encountering obstacles or when the attitude of the traveling wheel 23 needs to be adjusted. Compared with the traditional rigid connection method, this swinging ability significantly improves the flexibility of the robot in narrow spaces, enabling it to more easily cross or avoid obstacles. When the second motor 231 swings under stress, it presses the surface of the snap-in filling airbag 233 in the same swinging direction. The elastic structure of the airbag can absorb the impact force generated during the swinging process, thereby protecting the second motor 231 and the traveling wheel 23 from direct impact. This buffering mechanism not only extends the service life of the device but also improves the running stability of the robot in complex environments.

[0030] Furthermore, the movable arm body 21 includes an upper arm 211, a lower arm 212, a second driving cylinder 213, a limiting plate 214, and an elastic restoring belt 215. The end of the upper arm 211 is hinged to the end of the lower arm 212, and the upper arm 211 and the lower arm 212 are driven to bend through the second driving cylinder 213. The limiting plates 214 are symmetrically arranged on both sides of the connection end of the upper arm 211 and the lower arm 212. The limiting plates 214 are fixed to the surface of the lower arm 212, and there is a gap between the limiting plates 214 and the upper arm 211; A buckle plate is provided on the surfaces of the upper arm 211 and the lower arm 212 near the limiting plate 214. The two buckle plates are connected by an elastic restoring belt 215. When the second driving cylinder 213 drives the upper arm 211 and the lower arm 212 to swing, the elastic restoring belt 215 is pulled through the two buckle plates; The movable arm body 21 realizes flexible bending and reset functions through the articulated connection of the upper arm 211 and the lower arm 212, as well as the precise drive of the second driving cylinder 213. This design not only ensures the efficient movement of the walking arm 2 in complex environments, but also further improves the structural stability and reliability through the synergistic effect of the limiting plate 214 and the elastic recovery belt 215. The limiting plate 214 provides precise guidance for the movement of the upper arm 211 to prevent excessive swinging, while the elastic recovery belt 215 realizes automatic reset under the action of the second driving cylinder 213 through the pulling of the buckle plate, reducing the complexity of the mechanical reset device and improving the durability and response speed of the system. This compact and efficient design enables the robot to more flexibly adjust its posture in a narrow small integrated pipe gallery, quickly avoid obstacles, and at the same time reduce the impact caused by rapid movement or terrain changes, further optimizing the dynamic performance and service life of the robot.

[0031] Furthermore, the auxiliary support arm 3 includes a first support arm 31, a second support arm 32, and a support block 33. The first support arm 31 is articulated with the second support arm 32. The support block 33 is fixed on the surface of the second support arm 32, and the first support arm 31 abuts against the upper surface of the support block 33. An abutting block 311 is provided at the end of the first support arm 31. The second support arm 32 is fixed on the surface of the fuselage 1 through a bearing seat 321. The support block 33 includes a deformable rubber plate 332 and support block monomers 331 arranged at the upper and lower ends of the deformable rubber plate 332. The support block monomers 331 are in a C-shaped structure. The openings of the two support block monomers 331 both face away from the deformable rubber plate 332, and the two support block monomers 331 are arranged staggeredly. When the first support arm 31 is stressed and swings downward, it squeezes the upper support block monomer 331 and causes the deformable rubber plate 332 to be stressed and deformed. The middle surface of the deformable rubber plate 332 bulges toward the connection end of the first support arm 31 and the second support arm 32.

[0032] As shown above, the structural design of the auxiliary support arm 3 can provide additional supporting force when the robot is walking or encounters uneven ground, ensuring the stability of the robot in a narrow passage. When the first support arm 31 is stressed and swings downward, it can squeeze the upper support block monomer 331, thereby causing the deformable rubber plate 332 to be stressed and deformed. The middle surface thereof bulges toward the connection end of the first support arm 31 and the second support arm 32. This deformation can not only buffer the force on the first support arm 31, but also provide a reverse support through the elastic restoring force of the rubber plate, enhancing the grip and stability of the robot on complex terrains.

[0033] Moreover, the elastic characteristics of the deformable rubber plate 332 enable the support block 33 to automatically adjust the degree of deformation according to the unevenness of the ground, thereby providing stable support for the robot under different terrain conditions. Since there may be various irregular surfaces and obstacles inside the integrated pipe gallery, the auxiliary support arm 3 can effectively reduce the risk of shaking or overturning of the robot caused by the uneven ground. When the robot needs to cross obstacles or pass through narrow spaces, the first support arm 31 can swing flexibly, and the elastic deformation of the deformable rubber plate 332 can ensure that the first support arm 31 always maintains good contact with the support block 33 during the swinging process, thereby providing continuous support force for the robot. This design not only improves the flexibility of the robot but also enhances its adaptability and reliability in complex environments.

[0034] The above is only a preferred embodiment of the present invention, and thus the scope of implementation of the present invention cannot be limited thereby. That is, equivalent changes and modifications made according to the scope of the present invention patent and the content of the specification should still fall within the scope covered by the present invention.

Claims

1. An inspection robot for a small integrated utility tunnel, the inspection robot is arranged in the utility tunnel, and is characterized in that, The inspection robot includes a fuselage, as well as auxiliary support arms and walking arms arranged on both the upper and lower sides of the fuselage. The walking arms and the auxiliary support arms are both arranged in an array, and both the walking arms and the auxiliary support arms are bent structures. The walking arms and the auxiliary support arms respectively abut against the inner side of the passage; The walking arm includes a movable arm body, a first motor, a walking wheel, and a first driving cylinder. The walking wheel is installed at the lower end of the movable arm body. The movable arm body is connected to the output shaft of the first motor. A bifurcated connection button in a V-shaped structure is installed on the back of the first motor. The first driving cylinder is movably installed on the lower side of the fuselage. One end of the bifurcated connection button is connected to the fuselage, and the other end of the bifurcated connection button is connected to the output shaft of the first driving cylinder, so as to drive the walking wheel to swing vertically outward from the fuselage through the first driving cylinder; The walking wheel is installed on the output shaft of a second motor. The second motor passes through the lower end of the movable arm body. There is a gap between the second motor and the lower arm. The gap is filled with a snap-in filling airbag. The cross-section of the snap-in filling airbag is in a C-shaped structure. Both ends of the snap-in filling airbag are snap-fixed on the outer surface of the lower arm.

2. The inspection robot for a small integrated pipe gallery according to claim 1, characterized in that An opening for the second motor to pass through is provided at the lower end of the lower arm. The opening is in a flared structure, and the large-diameter end faces the walking wheel. The snap-in filling airbag abuts against the surface of the opening, and the side of the snap-in filling airbag close to the opening surface is in an inclined structure. The wall thickness of the snap-in filling airbag gradually increases from the end far from the walking wheel to the end close to the walking wheel. When the first driving cylinder drives the walking wheel to swing vertically outward from the fuselage and the walking wheel abuts against the surface of the passage, the second motor is forced to squeeze the snap-in filling airbag; An activity connection seat is further provided on the outer side of the end of the second motor far from the walking wheel. The second motor is fixed to the surface of the lower arm through the activity connection seat.

3. The inspection robot for a small integrated pipe gallery according to claim 2, characterized in that, The activity connection seat is in a flared structure. The large-diameter end of the activity connection seat faces and is fixed to the surface of the lower arm. The second motor is connected to the small-diameter end of the activity connection seat. The adjacent surface between the inner side of the activity connection seat and the peripheral surface of the second motor does not abut against the second motor. There is an activity gap between the activity connection seat and the second motor. The activity gap is in a flared shape, and the large-diameter end of the gap faces the walking wheel. When the second motor is stressed, it swings with the small-diameter end of the activity connection seat as a fulcrum and squeezes the surface of the snap-in filling airbag in the same direction as the swinging direction.

4. The inspection robot for a small integrated pipe gallery according to claim 2, wherein, The movable arm body includes an upper arm, a lower arm, a second driving cylinder, a limiting plate, and an elastic recovery belt. The ends of the upper arm and the lower arm are hinged, and the upper arm and the lower arm are bent by the second driving cylinder. The limiting plates are symmetrically arranged on both sides of the connection end of the upper arm and the lower arm. The limiting plates are fixed to the surface of the lower arm, and there is a gap between the limiting plates and the upper arm; A buckle plate is provided on the surfaces of the upper arm and the lower arm close to the limiting plate. The two buckle plates are connected by an elastic recovery belt. When the second driving cylinder drives the upper arm and the lower arm to swing, the elastic recovery belt is pulled by the two buckle plates.

5. The inspection robot for a small integrated pipe gallery according to claim 2, characterized in that, The auxiliary support arm includes a first support arm, a second support arm, and a support block. The first support arm is hinged to the second support arm. The support block is fixed on the surface of the second support arm, and the first support arm abuts against the upper surface of the support block. An abutting block is arranged at the end of the first support arm, and the second support arm is fixed on the surface of the fuselage through a bearing seat; The support block includes a deformable rubber plate and support block monomers arranged at the upper and lower ends of the deformable rubber plate. The support block monomers are in a C-shaped structure. The openings of the two support block monomers both face away from the deformable rubber plate, and the two support block monomers are arranged staggeredly. When the first support arm is forced to swing downward, it squeezes the support block monomer on the upper side and causes the deformable rubber plate to deform under force; The middle surface of the deformable rubber plate bulges toward the connection end of the first support arm and the second support arm.

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