A patrol robot for small integrated pipe corridors

Abstract

The present invention relates to the field of inspection robots and discloses an inspection robot for a small integrated pipeline corridor. The inspection robot comprises a body and auxiliary support arms and walking arms arranged on the upper and lower sides of the body. The walking arms and the auxiliary support arms are arranged in an array, and the walking arms and the auxiliary support arms are both bent structures. The walking arms and the auxiliary support arms are respectively arranged in the pipeline corridor. By arranging 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 pipeline corridor. This design enables the robot to adjust the postures of the walking arms and the auxiliary support arms to achieve lateral avoidance or crossing over obstacles when encountering obstacles, instead of being stuck because the legs cannot swing sideways like traditional robots. The walking arms and the auxiliary support arms with bent structures can better adapt to the complex pipeline and line layout inside the integrated pipeline corridor, providing higher maneuverability and flexibility.

Description

Technical Field

[0001] The present invention relates to the field of inspection robots, in particular to an inspection robot for a small integrated pipe gallery. Background Art

[0002] An integrated utility corridor is a structure and ancillary facilities built underground in a city to accommodate two or more types of urban engineering pipelines, with interior space sufficient for human traffic. These structures include trunk, branch, and small-scale integrated utility corridors. Urban engineering pipelines are municipal utility pipelines within a city, such as water supply, rainwater, sewage, recycled water, natural gas, heat, electricity, and telecommunications, that meet living and production needs. While existing integrated utility corridors connect to sewage pipes, they are unable to effectively collect and direct water and wastewater when ruptured or leaked.

[0003] In addition, when inspecting the safety of integrated pipeline corridors, although robots are selected to conduct in-depth inspections inside the integrated pipeline corridors, since four-limbed robots usually rely on the swinging and extension of their legs to achieve movement, their legs are designed to swing sideways, but the connection ends are all rigidly connected. This structural limitation makes it difficult for the robot to cross obstacles by side avoidance or flexibly adjusting the leg posture when encountering pipes and lines in the integrated pipeline corridor. The robot's legs may get stuck, making it unable to move forward. Summary of the Invention

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

[0005] The technical solution adopted by the present invention to solve its technical problem is:

[0006] A patrol robot for a small integrated pipe gallery is applied to the small integrated pipe gallery. The patrol robot is arranged in the small integrated pipe gallery. The patrol robot comprises a body and auxiliary support arms and a walking arm arranged on the upper and lower sides of the body. The walking arm and the auxiliary support arm are both arranged in an array, and both the walking arm and the auxiliary support arm are bent structures. The walking arm and the auxiliary support arm are respectively arranged against the inner side of the passage.

[0007] The walking arm includes a movable arm body, a motor, a walking wheel, and a 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 motor. A forked connecting button with a V-shaped structure is installed on the back of the motor. The driving cylinder is movably installed on the lower side of the fuselage. The motor is connected to the fuselage through one end of the forked connecting button, and the other end of the forked connecting button is connected to the output shaft of the driving cylinder, so that the walking wheel is driven to swing vertically toward the outside of the fuselage through the driving cylinder.

[0008] The walking wheel is installed on the output shaft of motor 2, and motor 2 is arranged through the lower end of the movable arm body. A gap is set between motor 2 and the lower arm, and the gap is filled with a snap-fit ​​filling airbag. The cross-section of the snap-fit ​​filling airbag is a C-shaped structure, and both ends of the snap-fit ​​filling airbag are snap-fitted and fixed to the outer surface of the lower arm.

[0009] A preferred technical solution is that an opening is provided at the lower end of the lower arm, through which the power supply motor 2 passes. The opening is a flared structure, with the large-diameter end facing the travel wheel. A snap-fit ​​filling airbag is abutted against the surface of the opening, and the side of the snap-fit ​​filling airbag close to the opening surface is inclined. The wall thickness of the snap-fit ​​filling airbag gradually increases from the end away from the travel wheel to the end close to the travel wheel. When the driving cylinder 1 drives the travel wheel to swing vertically toward the outside of the fuselage and the travel wheel abuts against the channel surface, the motor 2 is forced to squeeze the snap-fit ​​filling airbag.

[0010] A movable connecting seat is further provided on the outer side of one end of the motor 2 away from the walking wheel, and the motor 2 is fixed to the surface of the lower arm through the movable connecting seat.

[0011] A preferred technical solution, the movable connecting seat is a flared structure, the large-diameter end of the movable connecting seat is facing and fixed to the surface of the lower arm, the second motor is connected to the small-diameter end of the movable connecting seat, the inner side of the movable connecting seat and the adjacent surface of the motor 2 circumference do not abut against the second motor, there is a movable gap between the movable connecting seat and the second motor, the movable gap is flared, and the large-diameter end of the gap is set toward the walking wheel. When the second motor is subjected to force, it swings with the small-diameter end of the movable connecting seat as the fulcrum, and squeezes the surface of the snap-fit ​​filling airbag in the same direction as the swinging direction.

[0012] A preferred technical solution, the movable arm body includes an upper arm, a lower arm, a second driving cylinder, a limit 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 driven to bend by the second driving cylinder, the limit plates are symmetrically arranged on both sides of the connection end between the upper arm and the lower arm, the limit plates are fixed to the surface of the lower arm, and there is a gap between the limit plates and the upper arm;

[0013] A buckle plate is provided on the surface of the upper arm and the lower arm near the limit plate. The two buckle plates are connected by an elastic recovery belt. When the driving cylinder 2 drives the upper arm and the lower arm to swing, the elastic recovery belt is pulled by the two buckle plates.

[0014] A preferred technical solution, the auxiliary support arm includes a support arm 1, a support arm 2 and a support block, the support arm 1 and the support arm 2 are hinged, the support block is fixed to the surface of the support arm 2, and the support arm 1 is abutted against the upper surface of the support block, the end of the support arm 1 is provided with a block, and the support arm 2 is fixed to the surface of the fuselage through a bearing seat;

[0015] 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 C-shaped structures. The openings of the two support block monomers are both facing the side away from the deformable rubber plate, and the two support block monomers are staggered. When the support arm is forced to swing downward, it squeezes the support block monomer on the upper side and causes the deformable rubber plate to be deformed by the force.

[0016] The middle surface of the deformable rubber plate bulges toward the connecting end of the first support arm and the second support arm.

[0017] Compared with the existing technology, this technical solution has the following advantages:

[0018] The robot is equipped with auxiliary support arms and walking arms on the upper and lower sides, enabling it to move flexibly in the narrow passages of small integrated pipeline corridors. This design allows the robot to adjust the posture of the walking arms and auxiliary support arms when encountering obstacles to achieve side avoidance or crossing obstacles, instead of getting stuck like traditional robots because their legs cannot swing sideways. The curved structure of the walking arms and auxiliary support arms can better adapt to the complex pipeline and line layout inside the integrated pipeline corridor, providing higher maneuverability and flexibility. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The present invention will be further described below with reference to the accompanying drawings and examples.

[0020] Figure 1 Schematic diagram of the inspection robot.

[0021] Figure 2 Schematic diagram of the side view of the walking arm.

[0022] Figure 3 Schematic diagram of the movable arm body.

[0023] Figure 4 It is a three-dimensional schematic diagram of the movable arm body.

[0024] Figure 5 This is a schematic diagram of the decomposition of the movable arm body.

[0025] Figure 6 It is a three-dimensional schematic diagram of the traveling wheel.

[0026] Figure 7 It is a schematic diagram of the planar structure of the walking wheel.

[0027] Figure 8 Schematic diagram of the movable connection seat.

[0028] Figure 9 This is a schematic diagram of motor 2, a movable connecting seat, and a snap-on filling airbag.

[0029] Figure 10 Schematic diagram of the auxiliary support arm.

[0030] Figure 11 Schematic diagram of the support block.

[0031] In the picture:

[0032] Body 1, walking arm 2, movable arm body 21, motor 22, walking wheel 23, driving cylinder 24;

[0033] Upper arm 211, lower arm 212, driving cylinder 213, limiting plate 214, elastic recovery belt 215;

[0034] Forked connecting button 221;

[0035] Motor 231, movable connection seat 232, snap-fit ​​filling airbag 233;

[0036] Auxiliary support arm 3;

[0037] Support arm 1 31 , stop block 311 , support arm 2 32 , bearing seat 321 , support block 33 , support block unit 331 , and deformable rubber plate 332 . DETAILED DESCRIPTION

[0038] like Figures 1 to 11 As shown, the present invention proposes a patrol robot for a small integrated pipe gallery, which is applied to the pipe gallery. The patrol robot is arranged in the small integrated pipe gallery. The patrol robot includes a body 1 and auxiliary support arms 3 and walking arms 2 arranged on the upper and lower sides of the body 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 are respectively arranged in the pipe gallery.

[0039] The walking arm 2 includes a movable arm body 21, a motor 22, a walking wheel 23 and a driving cylinder 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 22. A forked connecting button 221 with a V-shaped structure is installed on the back of the motor 22. The driving cylinder 24 is movably installed on the lower side of the fuselage 1. The motor 22 is connected to the fuselage 1 through one end of the forked connecting button 221, and the other end of the forked connecting button 221 is connected to the driving cylinder 24. 4 is connected to the output shaft of the motor 23 so as to drive the walking wheel 23 to swing vertically toward the outside of the fuselage 1 through the driving cylinder 1 24; the walking wheel 23 is installed on the output shaft of the motor 231, and the motor 231 is arranged through the lower end of the movable arm body 21. A gap is provided between the motor 231 and the lower arm 212, and the gap is filled with a snap-fit ​​filling airbag 233. The cross-section of the snap-fit ​​filling airbag 233 is a C-shaped structure, and both ends of the snap-fit ​​filling airbag 233 are snap-fitted and fixed to the outer surface of the lower arm 212.

[0040] First, the robot is equipped with auxiliary support arms 3 and walking arms 2 on the upper and lower sides, so that it can move flexibly in the narrow passages of small integrated pipe corridors. This design allows the robot to adjust the posture of the walking arm 2 and the auxiliary support arm 3 when encountering an obstacle, and it will not be stuck like traditional robots because the legs cannot swing sideways. The walking arm 2 and the auxiliary support arm 3 with a bent structure can better adapt to the complex pipeline and line layout inside the integrated pipe corridor, providing higher maneuverability and flexibility. Secondly, the design of the walking arm 2 further enhances the adaptability and avoidance ability of the robot. The walking wheel 23 is driven by motor 2 231 and vertically swings by driving cylinder 1 24. This design not only allows the robot to walk smoothly in the pipe corridor, but also can drive the walking wheel 23 to swing vertically toward the outside of the fuselage 1 by driving cylinder 1 24, so that it can quickly adjust the walking posture and avoidance when encountering an obstacle.

[0041] In addition, a gap is provided between the second motor 231 and the lower arm 212, and is filled with a snap-fit ​​filling airbag 233. This design can act as a buffer during the robot's walking process, reducing the impact caused by uneven road surfaces or collisions. At the same time, when avoiding, the elastic structure of the snap-fit ​​filling airbag 233 can further optimize the robot's posture adjustment, enabling it to more flexibly cope with complex environments. Moreover, due to the C-shaped cross-sectional structure of the snap-fit ​​filling airbag 233, an elastic buffer area is formed between the walking wheel 23 and the lower arm 212. This design can effectively absorb and disperse the impact force from the ground during the robot's walking process, reducing mechanical damage caused by uneven road surfaces or collisions. Compared with the traditional rigid connection method, the elastic buffering function of the snap-fit ​​filling airbag can significantly reduce the wear of the walking wheel 23 and the second motor 231, thereby extending the service life of the equipment.

[0042] At the same time, the elastic structure of the snap-fit ​​filling airbag enables it to adapt to ground of different shapes and textures. In a small integrated pipeline corridor, the ground may be uneven or partially deformed. The snap-fit ​​filling airbag 233 can automatically adjust its shape and pressure according to the actual conditions of the ground, thereby maintaining good contact between the walking wheel 23 and the ground, ensuring the stability and walking efficiency of the robot.

[0043] A preferred technical solution is that an opening is provided at the lower end of the lower arm 212, through which the power supply motor 231 passes. The opening is a flared structure, with the large-diameter end facing the running wheel 23. A snap-fit ​​filling airbag 233 is abutted against the surface of the opening, and the side of the snap-fit ​​filling airbag 233 close to the opening surface is inclined. The wall thickness of the snap-fit ​​filling airbag 233 gradually increases from the end away from the running wheel 23 to the end close to the running wheel 23. When the driving cylinder 1 24 drives the running wheel 23 to swing vertically toward the outside of the fuselage 1 and the running wheel 23 abuts against the inner surface of the pipe gallery, the motor 231 is forced to squeeze the snap-fit ​​filling airbag 233.

[0044] The wall thickness of the snap-fit ​​filling airbag 233 gradually increases from the end away from the running wheel 23 to the end close to the running wheel 23. This design enables the snap-fit ​​filling airbag 233 to provide a nonlinear buffering effect when subjected to force. When the motor 2 231 is forced to squeeze the snap-fit ​​filling airbag 233, the thick end of the snap-fit ​​filling airbag 233 can withstand greater pressure, thereby effectively dispersing the impact force and protecting the running wheel 23 and the motor 2 231 from damage. This buffering function is particularly important during the robot's walking process, especially when the ground is uneven or there are obstacles in a small integrated pipeline corridor, which can significantly reduce equipment wear and failure rate.

[0045] The side of the snap-fit ​​filling airbag 233 closest to the opening surface is inclined. This design not only increases the contact area between the snap-fit ​​filling airbag 233 and the opening surface, but also enhances the structural stability of the entire walking arm 2. The inclined structure allows the snap-fit ​​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 properties of the snap-fit ​​filling airbag 233 enable it to adapt to ground surfaces of different shapes and textures. Even if the ground is locally deformed or uneven within a small integrated pipeline corridor, the snap-fit ​​filling airbag 233 can automatically adjust its shape to maintain good contact between the walking wheel 23 and the ground. When the driving cylinder 1 24 drives the walking wheel 23 to swing vertically toward the outside of the fuselage 1, the snap-fit ​​filling airbag 233 can provide additional space for movement. The elasticity of the snap-fit ​​filling airbag 233 allows the walking wheel 23 to adjust its posture more flexibly during the swinging process, thereby achieving more efficient avoidance. This design enables the robot to quickly adjust the position of the running wheel 23 through the elastic deformation of the snap-fit ​​filling airbag 233 when encountering an obstacle, thereby avoiding collision with the obstacle.

[0046] The outer side of the end of the second motor 231 away from the walking wheel 23 is further provided with a movable connecting seat 232, and the second motor 231 is fixed to the surface of the lower arm 212 through the movable connecting seat 232, and the movable connecting seat 232 is a flared structure, and the large-diameter end of the movable connecting seat 232 faces and is fixed to the surface of the lower arm 212, and the second motor 231 is connected to the small-diameter end of the movable connecting seat 232, and the adjacent surface of the inner side of the movable connecting seat 232 and the circumference of the second motor 231 does not abut against the second motor 231, and there is a movable gap between the movable connecting seat 232 and the second motor 231, which is in a flared shape, and the large-diameter end of the gap is set toward the walking wheel 23, and when the second motor 231 is subjected to force, it swings with the small-diameter end of the movable connecting seat 232 as a fulcrum, and squeezes the surface of the snap-fit ​​filling airbag 233 in the same direction as the swinging direction;

[0047] The design of the movable connecting seat 232 allows the motor 231 to swing with the small-caliber end as the fulcrum when it is under force. This design enables the motor 231 to respond quickly and make fine adjustments when encountering obstacles or needing to adjust the posture of the walking wheel 23. Compared with the traditional rigid connection method, this swinging ability significantly improves the flexibility of the robot in narrow spaces, making it easier to cross or avoid obstacles. When the motor 231 is forced to swing, it squeezes the surface of the snap-fit ​​filling airbag 233 in the same direction as the swinging direction. The elastic structure of the airbag can absorb the impact force generated during the swinging process, thereby protecting the motor 231 and the walking wheel 23 from direct impact. This buffering mechanism not only extends the service life of the equipment, but also improves the operating stability of the robot in complex environments.

[0048] Furthermore, the movable arm body 21 includes an upper arm 211, a lower arm 212, a second driving cylinder 213, a limit plate 214 and an elastic recovery belt 215. The upper arm 211 and the lower arm 212 are hinged at their ends, and the upper arm 211 and the lower arm 212 are driven to bend by the second driving cylinder 213. The limit plates 214 are symmetrically arranged on both sides of the connection end of the upper arm 211 and the lower arm 212. The limit plates 214 are fixed to the surface of the lower arm 212, and there is a gap between the limit plates 214 and the upper arm 211. A buckle plate is provided on the surface of the upper arm 211 and the lower arm 212 near the limit plate 214. The two buckle plates are connected by an elastic recovery belt 215. When the second driving cylinder 213 drives the upper arm 211 and the lower arm 212 to swing, the elastic recovery belt 215 is pulled by the two buckle plates.

[0049] The movable arm body 21 realizes flexible bending and resetting functions through the articulated connection of the upper arm 211 and the lower arm 212, as well as the precise drive of the driving cylinder 213. This design not only ensures the efficient movement of the walking arm 2 in complex environments, but also further improves the stability and reliability of the structure through the synergistic effect of the limit plate 214 and the elastic recovery belt 215. The limit plate 214 provides precise guidance for the movement of the upper arm 211 to prevent excessive swinging, while the elastic recovery belt 215 is automatically reset by pulling the buckle plate under the action of the driving cylinder 213, reducing the complexity of the mechanical reset device and improving the durability and response speed of the system. This compact and efficient design allows the robot to adjust its posture more flexibly and quickly avoid obstacles in narrow small integrated pipeline corridors, while reducing the impact caused by rapid movement or terrain changes, further optimizing the dynamic performance and service life of the robot.

[0050] Furthermore, the auxiliary support arm 3 includes a support arm 1 31, a support arm 2 32 and a support block 33. The support arm 1 31 and the support arm 2 32 are hinged. The support block 33 is fixed to the surface of the support arm 2 32, and the support arm 1 31 is abutted against the upper surface of the support block 33. A stop block 311 is provided at the end of the support arm 1 31, and the support arm 2 32 is fixed to the surface of the fuselage 1 through a bearing seat 321.

[0051] 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 C-shaped. The openings of the two support block monomers 331 are both facing the side away from the deformable rubber plate 332, and the two support block monomers 331 are staggered. When the support arm 1 31 is forced to swing downward, the support block monomer 331 on the upper side is squeezed and the deformable rubber plate 332 is deformed by the force. The middle surface of the deformable rubber plate 332 bulges toward the connecting end of the support arm 1 31 and the support arm 2 32.

[0052] As shown above, the structural design of auxiliary support arm 3 can provide additional support when the robot is walking or encountering uneven terrain, ensuring the robot's stability in narrow passages. When support arm 1 31 is forced to swing downward, it can squeeze the upper support block monomer 331, which in turn causes the deformable rubber plate 332 to deform under the force, with its central surface bulging toward the connection between support arm 1 31 and support arm 2 32. This deformation not only buffers the force applied to support arm 1 31, but also provides reverse support through the elastic restoring force of the rubber plate, enhancing the robot's grip and stability on complex terrain.

[0053] Furthermore, the elastic properties of the deformable rubber plate 332 enable the support block 33 to automatically adjust its deformation according to the unevenness of the ground, thereby providing stable support for the robot under different terrain conditions. This is because various irregular surfaces and obstacles may exist inside the integrated pipeline corridor, and the auxiliary support arm 3 can effectively reduce the risk of the robot shaking or overturning due to uneven ground. When the robot needs to cross obstacles or pass through narrow spaces, the support arm 1 31 can swing flexibly, and the elastic deformation of the deformable rubber plate 332 ensures that the support arm 1 31 always maintains good contact with the support block 33 during the swing process, thereby providing continuous support for the robot. This design not only improves the robot's flexibility, but also enhances its adaptability and reliability in complex environments.

[0054] The above description is merely a preferred embodiment of the present invention and therefore cannot be used to limit the scope of the present invention. In other words, equivalent changes and modifications made according to the scope of the present invention and the contents of the specification should still fall within the scope of the present invention.

Claims

1. A patrol robot for a small integrated pipe gallery, the patrol robot being arranged in the pipe gallery, characterized in that: The inspection robot includes a fuselage and auxiliary support arms and walking arms arranged on the upper and lower sides of the fuselage, wherein the walking arms and the auxiliary support arms are 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 are respectively arranged against the inner side of the channel; The walking arm includes a movable arm body, a motor, a walking wheel, and a 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 motor. A forked connecting button with a V-shaped structure is installed on the back of the motor. The driving cylinder is movably installed on the lower side of the fuselage. The motor is connected to the fuselage through one end of the forked connecting button, and the other end of the forked connecting button is connected to the output shaft of the driving cylinder, so that the walking wheel is driven to swing vertically toward the outside of the fuselage through the driving cylinder. The walking wheel is mounted on the output shaft of a second motor, which is arranged through the lower end of the movable arm body. A gap is provided between the second motor and the lower arm, and the gap is filled with a snap-fit ​​filling airbag. The cross-section of the snap-fit ​​filling airbag is a C-shaped structure, and both ends of the snap-fit ​​filling airbag are snap-fitted and fixed to the outer surface of the lower arm. An opening is provided at the lower end of the lower arm, through which the power supply motor 2 passes. The opening is a flared structure, with the large-diameter end facing the travel wheel. A snap-fit ​​filling airbag is abutted against the surface of the opening, and the side of the snap-fit ​​filling airbag close to the opening surface is inclined. The wall thickness of the snap-fit ​​filling airbag gradually increases from the end away from the travel wheel to the end close to the travel wheel. When the driving cylinder 1 drives the travel wheel to swing vertically toward the outside of the fuselage and the travel wheel abuts against the channel surface, the motor 2 is forced to squeeze the snap-fit ​​filling airbag. A movable connecting seat is further provided on the outer side of one end of the motor 2 away from the walking wheel, and the motor 2 is fixed to the surface of the lower arm through the movable connecting seat.

2. A patrol robot for a small integrated pipe gallery according to claim 1, characterized in that: The movable connecting seat is a flared structure, with the large-diameter end of the movable connecting seat facing and fixed to the surface of the lower arm, and the second motor is connected to the small-diameter end of the movable connecting seat. The inner side of the movable connecting seat and the adjacent surface of the second motor circumference do not abut against the second motor. There is a movable gap between the movable connecting seat and the second motor, and the movable gap is flared. The large-diameter end of the gap is set toward the walking wheel. When the second motor is subjected to force, it swings with the small-diameter end of the movable connecting seat as the fulcrum, and squeezes the surface of the snap-fit ​​filling airbag in the same direction as the swinging direction.

3. The inspection robot for a small integrated pipe gallery according to claim 2, characterized in that: The movable arm body includes an upper arm, a lower arm, a second driving cylinder, a limit 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 driven to bend by the second driving cylinder. The limit plates are symmetrically arranged on both sides of the connection end between the upper arm and the lower arm. The limit plates are fixed to the surface of the lower arm, and there is a gap between the limit plates and the upper arm. A buckle plate is provided on the surface of the upper arm and the lower arm near the limit plate. The two buckle plates are connected by an elastic recovery belt. When the driving cylinder 2 drives the upper arm and the lower arm to swing, the elastic recovery belt is pulled by the two buckle plates.

4. The inspection robot for a small integrated pipe gallery according to claim 2, characterized in that: The auxiliary support arm includes a support arm 1, a support arm 2 and a support block. The support arm 1 is hinged to the support arm 2. The support block is fixed to the surface of the support arm 2, and the support arm 1 is abutted against the upper surface of the support block. The end of the support arm 1 is provided with a block. The support arm 2 is fixed to 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 C-shaped structures. The openings of the two support block monomers are both facing the side away from the deformable rubber plate, and the two support block monomers are staggered. When the support arm is forced to swing downward, it squeezes the support block monomer on the upper side and causes the deformable rubber plate to be deformed by the force. The middle surface of the deformable rubber plate bulges toward the connecting end of the first support arm and the second support arm.

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