阅读说明：本技术 一种适应复杂环境的电网巡检无人机 (Power grid inspection unmanned aerial vehicle adapting to complex environment ) 是由 徐盛 王和忠 张希 温积群 王绍荃 于 2021-09-02 设计创作，主要内容包括：本发明涉及一种适应复杂环境的电网巡检无人机,包括机身、若干机臂、机翼、支撑脚以及PLC控制器,所述若干机臂均连接机身且设有连接机翼的机翼端,机臂还设有可移动至机翼端侧面的防护板,机翼端的端面设有激光测障传感器,机身设有带缓冲柱的防撞条,缓冲柱连接有报警器；所述支撑脚连接设置在机身底部,包括缓冲座、橡胶滚轮以及防滑块；所述PLC控制器信号连接机臂、机翼、激光测障传感器以及报警器；实现了防撞条缓冲保护机身免受障碍物的撞击,及时报警使机翼规避障碍物,抬升防护板阻挡或推开障碍物,缓冲座以及橡胶滚轮消除无人机降落时的冲力,防滑块与地面接触阻止无人机滑动,保护无人机安全,保证无人机巡检作业能正常进行。(The invention relates to a power grid inspection unmanned aerial vehicle suitable for complex environment, which comprises a body, a plurality of machine arms, wings, supporting legs and a PLC (programmable logic controller), wherein the plurality of machine arms are all connected with the body and provided with wing ends connected with the wings; the supporting legs are connected and arranged at the bottom of the machine body and comprise buffer seats, rubber rollers and anti-skidding blocks; the PLC is in signal connection with the horn, the wing, the laser obstacle measuring sensor and the alarm; realized crashproof strip buffer protection fuselage and avoided the striking of barrier, in time reported to the police and made the wing avoid the barrier, the lifting guard plate blocks or pushes away the barrier, impulsive force when cushion socket and rubber roller eliminate unmanned aerial vehicle descending, and non slipping spur and ground contact prevent that unmanned aerial vehicle slides, protection unmanned aerial vehicle safety, guarantee that unmanned aerial vehicle patrols and examines the operation and can normally go on.)

1. The utility model provides an unmanned aerial vehicle is patrolled and examined to adaptation complex environment's electric wire netting, includes fuselage (1), a plurality of horn (2), wing (3), supporting legs (5) and PLC controller, its characterized in that: the one end of a plurality of horn (2) all connects the other end that sets up on fuselage (1) top and horn (2) and is equipped with wing end (4), and this a plurality of horn (2) all are equipped with and retreat slot (21), rotor seat (22), guide rail (23), guard plate (24) and electronic folding arm (25), retreat slot (21) set up the top surface at wing end (4), and this retreat slot (21) in-connection is equipped with supporting spring (211), rotor seat (22) card is located and is done movably connected in retreat slot (21), rotor seat (22) is connected to the one end of supporting spring (211), wing (3) are connected the top that sets up at rotor seat (22), guide rail (23) are along the fixed bottom surface that sets up at wing end (4) of horn (2) axis direction, and the terminal surface of perk to wing end (4) is upwards followed to the pitch arc to the one end of this guide rail (23), the guide rail (23) is further connected with a moving seat capable of moving along the guide rail (23), the protection plate (24) is rotatably connected and arranged on the moving seat, the electric folding arm (25) is connected and arranged at one end, close to the machine body (1), of the guide rail (23), one end of the electric folding arm (25) is hinged to the bottom surface of the moving seat, a pressing plate (221) is further arranged on the side surface of the rotor seat (22), the pressing plate (221) extends out of the top end surface of the wing end (4), and a laser obstacle measuring sensor is fixedly arranged on the end surface of the wing end (4); the anti-collision device is characterized in that the machine body (1) is provided with a plurality of anti-collision strips (11) and an alarm in a connected mode, the anti-collision strips (11) are all provided with buffer columns (12) in a connected mode, one ends of the buffer columns (12) are all connected with the machine body (1), the alarm is electrically connected with a plurality of triggers, and the triggers are respectively arranged on different buffer columns (12) in a connected mode; the supporting legs (5) are connected and arranged at the bottom of the machine body (1), each supporting leg (5) comprises a buffer seat (51), a rubber roller (52) and an anti-skid block (53), a transverse supporting shaft (511) is fixedly arranged at the bottom of the buffer seat, the rubber roller (52) is sleeved on the outer side of the transverse supporting shaft (511), a roller bearing is arranged at the axis of the rubber roller (52), and the anti-skid block (53) is detachably connected and arranged on the side surface of the rubber roller (52); the PLC is in signal connection with the wings (3), the electric folding arms (25), the laser obstacle measuring sensor and the alarm.

2. The power grid inspection unmanned aerial vehicle suitable for complex environment of claim 1, wherein: the movable seat comprises a steering seat (231) and a push-pull seat (232), the steering seat (231) is close to one end of the guide rail (23) which is tilted, the push-pull seat (232) is connected with an extension rod (233), the top surface of the protection plate (24) is provided with a pair of hinged seats (241), and the pair of hinged seats (241) are respectively hinged to one ends, far away from the push-pull seat (232), of the steering seat (231) and the extension rod (233); the electric folding arm (25) comprises a fixed base (251), a first push-pull rod (252) and a second push-pull rod (253), the fixed base (251) is fixedly connected with a guide rail (23), two ends of the first push-pull rod (252) are respectively hinged with one end of the fixed base (251) and one end of the second push-pull rod (253), the hinged parts of the two ends of the first push-pull rod (252) are respectively connected with a rotating motor, and the other end of the second push-pull rod (253) is hinged with the side face of the push-pull seat (232).

3. The power grid inspection unmanned aerial vehicle suitable for complex environment of claim 1, wherein: the aircraft wing (3) comprises a bearing seat (31), a rotor motor (32), a plurality of connecting rods (33) and metal pull rods (34) with the number corresponding to that of the connecting rods (33), wherein the rotor motor (32) is fixedly arranged on the rotor seat (22), the rotor motor (32) is connected with a rotating shaft (321) in the vertical direction for matching and linkage, the top end of the rotating shaft (321) is fixedly connected with the bottom surface of the bearing seat (31), a suction cavity and a plurality of pull rod holes (311) are arranged in the bearing seat (31), one ends of the connecting rods (33) are all connected to the side surface of the bearing seat (31), the other ends of the connecting rods (33) are provided with damping hinges in the horizontal direction, and the damping hinges are all connected with rotor blades (331); the pull rod holes (311) are respectively and correspondingly arranged above different connecting rods (33), a limiting ring (313) is fixedly arranged at the opening of each pull rod hole (311), and an electromagnet (314) is fixedly arranged in the suction cavity; one end of the metal pull rod (34) is inserted into the pull rod hole (311) and is provided with a limit block (341) corresponding to the limit ring (313), the other end of the metal pull rod (34) is provided with a first pull ring hole (342) and a pull ring (343), the rotor blade (331) is provided with a second pull ring hole (333), and the pull ring (343) penetrates through the first pull ring hole (342) and the second pull ring hole (333) to be connected with the metal pull rod (34) and the rotor blade (331); the hole bottom of the pull rod hole (311) is further connected with a return spring (315), the return spring (315) is sleeved on the metal pull rod (34) and connected with the limiting block (341), and the return spring (315) is a non-magnetic spring.

4. The power grid inspection unmanned aerial vehicle suitable for complex environment of claim 1, wherein: the buffer column (12) comprises a first buffer rod (121), a second buffer rod (122) and a buffer spring, one end of the first buffer rod (121) is provided with a contraction hole along the axis of the first buffer rod, one end of the second buffer rod (122) and the buffer spring are inserted into the contraction hole, and the buffer spring is connected and arranged between the hole bottom of the contraction hole and the second buffer rod (122); the trigger is provided with a metal ring and a metal contact in an electric connection mode, the metal ring is fixedly sleeved on the outer peripheral surface of the second buffer rod (122), and the metal contact is connected and arranged on the inner wall of the shrinkage hole.

5. The power grid inspection unmanned aerial vehicle suitable for complex environment of claim 1, wherein: fuselage (1) still is equipped with a plurality of elastic strip (13), and this a plurality of elastic strip (13) link to each other with a plurality of anticollision strip (11) are crisscross to form the anticollision ring, anticollision strip (11) and elastic strip (13) are arc structure and arc center just to the fuselage.

6. The power grid inspection unmanned aerial vehicle suitable for complex environment of claim 1, wherein: the projections of the plurality of anti-collision strips (11) and the wings (3) on the horizontal plane are staggered.

7. The power grid inspection unmanned aerial vehicle suitable for complex environment of claim 1, wherein: the anti-skid block (53) is provided with a plurality of threaded holes with the same number and anti-skid nails (531), each anti-skid nail (531) comprises a nail head (532), a protection baffle plate (533) and a threaded column (534), the nail head (532) and the threaded column (534) are respectively and fixedly arranged on two sides of the protection baffle plate (533), the threaded column (534) is adaptive to the threaded holes, and a nut-shaped screwing block (535) is further arranged at the joint of the protection baffle plate (533) and the nail head (532).

8. The power grid inspection unmanned aerial vehicle suitable for complex environment of claim 1, wherein: the buffer seat (51) comprises a bottom plate (512) and a pair of opening and closing feet (513), a plurality of connecting holes are formed in the bottom surface of the machine body, internal threads are formed in the connecting holes, through holes (514) corresponding to the positions of the connecting holes and bolts are formed in the bottom plate (512), the bolts penetrate through the through holes (514) and are screwed with the internal threads of the connecting holes to connect the machine body (1) and the bottom plate (512), the top ends of the pair of opening and closing feet (513) are hinged to the bottom surface of the bottom plate (512), and the bottom ends of the pair of opening and closing feet (513) are connected with transverse supporting shafts (511); an elastic buffer member (515) is further connected between the opening and closing feet (513), and the elastic buffer member (515) comprises a spring and an elastic buffer lacing.

Technical Field

The invention belongs to the technical field of unmanned aerial vehicles, and particularly relates to a power grid inspection unmanned aerial vehicle suitable for complex environments.

Background

The power line inspection is the core work of managing the power line, and through a series of fine tours, the power line is inspected, the problem is found in time, hidden danger is eliminated, the life and the production power consumption of people are guaranteed, the development of unmanned aerial vehicle technology in recent years meets the requirements of a power grid on informatization and automation, and the unmanned aerial vehicle is used for inspection, so that the trend is reached. But many operation environment are complicated when the electric wire netting is patrolled and examined, and unmanned aerial vehicle's accurate control is more difficult, and unmanned aerial vehicle anticollision means is comparatively simple for current electric wire netting is patrolled and examined, usually at rotor side fixed stop, both can't in time discover the barrier, the rotor can still be crossed to the baffle when hitting the branch, lead to the rotor to rotate and receive the influence, the slip turnover appears easily when soft ground descends simultaneously, cause unmanned aerial vehicle to damage, influence the normal expansion of operation. Therefore, the power grid inspection unmanned aerial vehicle which can timely react and protect barriers or terrains and is suitable for complex environments is designed to be a technical problem which needs to be solved urgently.

Disclosure of Invention

The invention provides a power grid inspection unmanned aerial vehicle suitable for complex environments to solve the problems.

The invention discloses a power grid inspection unmanned aerial vehicle suitable for complex environment, which comprises a vehicle body, a plurality of arms, wings, supporting legs and a PLC (programmable logic controller), wherein one ends of the arms are connected and arranged at the top end of the vehicle body, the other ends of the arms are provided with wing ends, the arms are provided with retreating grooves, rotor seats, guide rails, protective plates and electric folding arms, the retreating grooves are formed in the top surfaces of the wing ends, supporting springs are connected and arranged in the retreating grooves, the rotor seats are clamped in the retreating grooves and movably connected, one ends of the supporting springs are connected with the rotor seats, the wings are connected and arranged at the top ends of the rotor seats, the guide rails are fixedly arranged on the bottom surfaces of the wing ends along the axis direction of the arms, one ends of the guide rails are upwards tilted to the end surfaces of the wing ends along arc lines, the guide rails are also connected and provided with moving seats capable of moving along the guide rails, the protective plates are rotatably connected and arranged on the moving seats, the electric folding arm is connected to one end, close to the machine body, of the guide rail, one end of the electric folding arm is hinged to the bottom surface of the movable seat, a pressing plate is further arranged on the side surface of the rotor seat and extends out of the top end of the end surface of the wing end, and a laser obstacle measuring sensor is fixedly arranged on the end surface of the wing end; the alarm is electrically connected with a plurality of triggers, and the triggers are respectively connected and arranged on different buffer columns; the supporting legs are connected and arranged at the bottom of the machine body and comprise a buffer seat, a rubber roller and an anti-skid block, a transverse supporting shaft is fixedly arranged at the bottom of the buffer seat, the rubber roller is sleeved outside the transverse supporting shaft, a roller bearing is arranged at the axis of the rubber roller, and the anti-skid block is detachably connected and arranged on the side surface of the rubber roller; the PLC is in signal connection with the wings, the electric folding arms, the laser obstacle measuring sensor and the alarm.

After the method is adopted, when the unmanned aerial vehicle collides with the barrier, the unmanned aerial vehicle is prevented from directly colliding with the barrier through the anti-collision strip connected to the machine body, the anti-collision strip is buffered by the buffer column, impact force transmitted by the anti-collision strip is eliminated, and the alarm is triggered; when a laser obstacle measuring sensor at the wing end detects an obstacle or an alarm is triggered, an electric folding arm is started to unfold, the electric folding arm pushes a moving seat to move to a tilting part along a guide rail, a protection plate connected with the moving seat is lifted upwards to block the wing end and the wings, a pressing plate is pushed in the lifting process of the protection plate, the rotor seat is made to move close to a fuselage along a retreat groove, the distance between the wings and the obstacle is kept when collision occurs, and the unmanned aerial vehicle can be pushed to leave the obstacle by the aid of the lifting acting force when the protection plate is contacted with the obstacle; when the protective plate meets branches, the branches can be pulled away when the top end of the protective plate is lifted, and the situation that the branches cross the protective plate from the side to hook the wings after directly hitting the branches is avoided; when the unmanned aerial vehicle lands on soft ground, the buffer seat is matched with the rubber roller wheel to slide so as to reduce impact force generated by the landing of the unmanned aerial vehicle, so that the unmanned aerial vehicle can be more stable and avoid overturning, the anti-skid block rotates along with the rubber roller wheel and then contacts with the ground to brake the rubber roller wheel, and the unmanned aerial vehicle is helped to stop sliding; realized crashproof strip connection cushion post protection fuselage and avoided the striking of barrier and trigger the alarm, the alarm combines laser to measure the barrier sensor and can in time send out the police dispatch newspaper, be convenient for avoid colliding the barrier to the wing in advance, when unable avoiding the barrier, can block the barrier through the lifting guard plate, the lifting in-process both promoted the clamp plate and made the wing be close to the fuselage, can push away or dial the barrier through the contact again, prevent that the barrier from crossing the guard plate from the side, the cushion socket can reduce the impact force that produces when unmanned aerial vehicle descends, and slide through the rubber gyro wheel and eliminate remaining power, the non slipping spur and the ground contact of rubber gyro wheel rotation messenger side, help unmanned aerial vehicle brakes, protection unmanned aerial vehicle does not receive the damage at flight or the in-process of taking off and landing, guarantee that unmanned aerial vehicle patrols and examines the operation and can normally go on.

As a further improvement of the invention, the moving seat comprises a steering seat and a push-pull seat, the steering seat is close to one end of the guide rail which is tilted, the push-pull seat is connected with an extension rod, the top surface of the protection plate is provided with a pair of hinged seats, and the hinged seats are respectively hinged with the steering seat and one end of the extension rod, which is far away from the push-pull seat; the electric folding arm comprises a fixed base, a first push-pull rod and a second push-pull rod, the fixed base is fixedly connected with a guide rail, two ends of the first push-pull rod are respectively hinged with one end of the fixed base and one end of the second push-pull rod, the hinged parts of the two ends of the first push-pull rod are respectively connected with a rotating motor, and the other end of the second push-pull rod is hinged to the side face of the push-pull seat.

After the method is adopted, the first push-pull rod and the second push-pull rod are rotated by starting the rotating motor, the push-pull seat and the protection plate are pushed to move to the wing end along the guide rail while the electric folding arm is unfolded, the steering seat moves to the end face of the wing end along the tilted end of the guide rail, the protection plate lifts up to shield the wing for protection, the lower end of the protection plate is supported by the extension rod on the push-pull seat, the protection plate is prevented from being pushed back along the guide rail due to the collision of obstacles, and the bearing capacity of the protection plate is improved; the extension rod can also reduce the length required by the electric folding arm, and the possibility of collision in the unfolding process of the electric folding arm is reduced.

As a further improvement of the invention, the wing comprises a bearing seat, a rotor motor, a plurality of connecting rods and metal pull rods, the number of the metal pull rods corresponds to that of the connecting rods, the rotor motor is fixedly arranged on the rotor seat, the rotor motor is connected with a rotating shaft along the vertical direction for matching and linkage, the top end of the rotating shaft is fixedly connected with the bottom surface of the bearing seat, a suction cavity and a plurality of pull rod holes are arranged in the bearing seat, one end of each connecting rod is connected and arranged on the side surface of the bearing seat, the other end of each connecting rod is provided with a damping hinge along the horizontal direction, and each damping hinge is connected and provided with a rotor blade; the pull rod holes are respectively and correspondingly arranged above different connecting rods, limiting rings are fixedly arranged at the openings of the pull rod holes, and electromagnets are fixedly arranged in the suction cavities; one end of the metal pull rod is inserted into the pull rod hole and is provided with a limiting block corresponding to the limiting ring, the other end of the metal pull rod is provided with a first pull ring hole and a pull ring, the rotor blade is provided with a second pull ring hole, and the pull ring penetrates through the first pull ring hole and the second pull ring hole to be connected with the metal pull rod and the rotor blade; the hole bottom of the pull rod hole is further connected with a return spring, the return spring is sleeved on the metal pull rod and connected with a limiting block, and the return spring is a non-magnetic spring.

After the method is adopted, when a branch crosses a protection plate to hook a wing, the metal pull rod is further pulled into the pull rod hole and extrudes the reset spring by starting the electromagnet, the first pull ring hole at the other end of the metal pull rod pulls the pull ring, the pull ring pulls the second pull ring hole, the rotor blade rotates upwards around the damping hinge and is staggered with the branch, so that the unmanned aerial vehicle can fly reversely and separate from the branch, the electromagnet is closed after separation, the reset spring pushes the metal pull rod to reset, and the rotor blade rotates back to the original position; the limiting ring on the pull rod hole is matched with the limiting block on the metal pull rod, so that the metal pull rod is prevented from falling out of the pull rod hole, the situation that the pull ring cannot lift the rotor blade is avoided, the rotor blade is turned downwards, and the unmanned aerial vehicle cannot continue flying.

As a further improvement of the invention, the buffer column comprises a first buffer rod, a second buffer rod and a buffer spring, wherein one end of the first buffer rod is provided with a contraction hole along the axis of the first buffer rod, one end of the second buffer rod and the buffer spring are inserted into the contraction hole, and the buffer spring is connected and arranged between the hole bottom of the contraction hole and the second buffer rod; the trigger is provided with a metal ring and a metal contact in an electric connection mode, the metal ring is fixedly sleeved on the outer peripheral surface of the second buffer rod, and the metal contact is arranged on the inner wall of the shrinkage hole in a connection mode.

After the method is adopted, the second buffer rod moves into the contraction hole and extrudes the buffer spring, so that the impact generated when the collision avoidance strip hits an obstacle is eliminated, and the machine body is protected from being damaged; meanwhile, the metal ring moves along with the second buffer rod and is in contact with a metal contact in the shrinkage hole, so that the trigger forms a loop, the alarm is triggered to give an alarm, and the wings are protected from obstacles.

As a further improvement of the invention, the machine body is also provided with a plurality of elastic strips, the elastic strips and the plurality of anti-collision strips are connected in a staggered manner to form an anti-collision ring, the anti-collision strips and the elastic strips are both arc-shaped structures, and arc centers are opposite to the machine body.

By adopting the method, the elastic strips and the anti-collision strips are connected in a staggered manner to form the anti-collision ring, when the anti-collision ring hits a barrier, the elastic strips pull the anti-collision strips to prevent the anti-collision strips from being collided askew, so that the situation that the anti-collision strips cannot block the barrier is avoided, and the alarm function is protected from being influenced; through setting up crashproof strip and elastic strip into the arc, improved the two shock resistance, the elastic strip is crooked protection crashproof strip to the arc center more easily and is not hit askewly.

As a further improvement of the invention, the positions of the plurality of crash strips and the projections of the wings on the horizontal plane are staggered.

After the method is adopted, the positions of the plurality of anti-collision strips and the positions of the projections of the wings on the horizontal plane are staggered, when the obstacle is in the blind area of the laser obstacle-measuring sensor, the anti-collision strips can contact the obstacle in advance and send an alarm through the alarm, and the protection plate is lifted to protect the wings.

As a further improvement of the invention, the anti-skid block is provided with a plurality of threaded holes and anti-skid nails with the same quantity, each anti-skid nail comprises a nail head, a protective separation blade and a threaded column, the nail head and the threaded column are respectively and fixedly arranged on two sides of the protective separation blade, the threaded column is matched with the threaded hole, and a nut-shaped screwing block is further arranged at the joint of the protective separation blade and the nail head.

After the method is adopted, the anti-skid nails are screwed into the threaded holes, when the unmanned aerial vehicle lands on the gravel ground, the anti-skid blocks rotate along with the rubber rollers to contact the ground, and the anti-skid nails can be screwed into the ground to prevent the rubber rollers from continuing to rotate; can shelter from the screw hole through the protection separation blade, prevent that the screw hole from intaking corrosion screw thread post and can't twist out the antiskid ribbed tile, move the piece through twisting of nut form and be convenient for use current instrument and carry out the dismouting to the antiskid ribbed tile, saved the time and the energy of searching for the instrument in addition.

As a further improvement of the invention, the buffer seat comprises a bottom plate and a pair of opening and closing legs, the bottom surface of the machine body is provided with a plurality of connecting holes, the connecting holes are provided with internal threads, the bottom plate is provided with through holes and bolts corresponding to the positions of the connecting holes, the bolts penetrate through the through holes and are screwed with the internal threads of the connecting holes to connect the machine body and the bottom plate, the top ends of the pair of opening and closing legs are hinged to the bottom surface of the bottom plate, and the bottom ends of the pair of opening and closing legs are connected with transverse supporting shafts; still connect between the switching foot and be equipped with elastic buffer spare, this elastic buffer spare includes spring and elastic buffer frenulum.

After adopting above-mentioned method, through bolted connection cushion socket and fuselage, be convenient for pull down the cushion socket and accomodate, it is articulated with the bottom plate through the top of the foot that opens and shuts, the foot that opens and shuts when unmanned aerial vehicle descends rotates to the outside and absorbs the dive power to tensile elastic buffer spare prevents through elastic buffer spare that the foot that opens and shuts rotates excessively, avoids the foot that opens and shuts to appear damaging.

Drawings

Fig. 1 is a schematic structural diagram of the present invention.

Fig. 2 is a schematic view of the structure of the horn.

Fig. 3 is a schematic cross-sectional view of the wing tip.

Fig. 4 is a schematic view of the supporting foot structure.

Figure 5 shows a schematic view of the tab portion a.

Fig. 6 is a schematic structural view of a tie rod hole portion B.

Fig. 7 shows a schematic view of the cleat configuration.

1-fuselage, 2-fuselage, 3-wing, 4-wing tip, 5-support foot, 21-escape slot, 22-rotor seat, 23-guide rail, 24-fender, 25-electric folding arm, 211-support spring, 221-pressure plate, 11-bumper strip, 12-bumper post, 51-bumper seat, 52-rubber roller, 53-anti-skid block, 511-transverse support shaft, 231-steering seat, 232-push-pull seat, 233-extension rod, 241-hinge seat, 251-fixed base, 252-first push-pull rod, 253-second push-pull rod, 31-bearing seat, 32-rotor motor, 33-connecting rod, 34-metal pull rod, 321-rotating shaft, 311-pull rod hole, 331-rotor blade, 313-a limiting ring, 314-an electromagnet, 341-a limiting block, 342-a first pull ring hole, 343-a pull ring, 333-a second pull ring hole, 315-a return spring, 121-a first buffer rod, 122-a second buffer rod, 13-an elastic strip, 531-an anti-skid nail, 532-a nail head, 533-a protective blocking sheet, 534-a threaded column, 535-a screwing block, 512-a bottom plate, 513-an opening and closing foot, 514-a through hole and 515-an elastic buffer piece.

Detailed Description

As shown in fig. 1-7, an unmanned aerial vehicle for power grid inspection adapted to a complex environment includes a body 1, a plurality of arms 2, wings 3, support legs 5 and a PLC controller, wherein one end of each of the plurality of arms 2 is connected to the top end of the body 1, the other end of each of the plurality of arms 2 is provided with a wing end 4, each of the plurality of arms 2 is provided with a retreat groove 21, a rotor base 22, a guide rail 23, a guard plate 24 and an electric folding arm 25, the retreat groove 21 is arranged on the top surface of the wing end 4, a support spring 211 is connected to the retreat groove 21, the rotor base 22 is clamped in the retreat groove 21 for movable connection, one end of the support spring 211 is connected to the rotor base 22, the wings 3 are connected to the top end of the rotor base 22, the guide rail 23 is fixed to the bottom surface of the wing end 4 along the axial direction of the arm 2, one end of the guide rail 23 is tilted to the end surface of the wing end 4 along an upward arc line, the guide rail 23 is further connected with a moving seat which can move along the guide rail 23, the protection plate 24 is rotatably connected with the moving seat, the electric folding arm 25 is connected with one end of the guide rail 23 close to the machine body 1, one end of the electric folding arm 25 is hinged to the bottom surface of the moving seat, the side surface of the rotor base 22 is further provided with a pressing plate 221, the pressing plate 221 extends out of the top end of the end surface of the wing end 4, and the end surface of the wing end 4 is fixedly provided with a laser obstacle-measuring sensor; the anti-collision device is characterized in that the machine body is provided with a plurality of anti-collision strips 11 and an alarm, the anti-collision strips 11 are all connected with buffer columns 12, one ends of the buffer columns 12 are all connected with the machine body, the alarm is electrically connected with a plurality of triggers, and the triggers are respectively connected to different buffer columns 12; the supporting foot 5 is connected and arranged at the bottom of the machine body 1, the supporting foot 5 comprises a buffer seat 51, a rubber roller 52 and an anti-skid block 53, a transverse supporting shaft 511 is fixedly arranged at the bottom of the buffer seat 51, the rubber roller 52 is sleeved at the outer side of the transverse supporting shaft 511, a roller bearing is arranged at the axis of the rubber roller 52, and the anti-skid block 53 is detachably connected and arranged at the side surface of the rubber roller 52; the PLC is in signal connection with the wing 3, the electric folding arm 25, the laser obstacle measuring sensor and the alarm.

When the unmanned aerial vehicle collides with an obstacle, the unmanned aerial vehicle is prevented from directly colliding with the obstacle through the anti-collision strip 11 connected to the vehicle body 1, the buffer column 12 buffers the anti-collision strip 11, impact force transmitted from the anti-collision strip 11 is eliminated, and an alarm is triggered; when a laser obstacle measuring sensor of the wing end 4 detects an obstacle or an alarm is triggered, the electric folding arm 25 is started to unfold, the electric folding arm 25 pushes the moving seat to move to the tilting part along the guide rail 23, the protection plate 24 connected with the moving seat is lifted upwards to block the wing end 4 and the wing 3, the pressing plate 221 is pushed in the lifting process of the protection plate 24, the rotor seat 22 is enabled to move close to the fuselage 1 along the retreat groove 21, the distance between the wing 3 and the obstacle is kept when collision occurs, and the protection plate 24 can push the unmanned aerial vehicle to leave the obstacle by the lifted acting force when contacting the obstacle; when the branches meet, the branches can be pulled away when the top end of the protection plate 24 is lifted, so that the situation that the branches cross the protection plate 24 from the side to hook the wings after directly hitting the branches is avoided; when the unmanned aerial vehicle lands on soft ground, the buffer seat 51 is matched with the rubber roller 52 to slide so as to reduce impact force generated by the landing of the unmanned aerial vehicle, so that the unmanned aerial vehicle can be more stable and avoid overturning, and the anti-skid block 53 rotates along with the rubber roller 52 and then contacts with the ground to brake the rubber roller 52 and help the unmanned aerial vehicle stop sliding; realized crashproof strip 11 and connected buffer post 12 protection fuselage 1 and avoided the striking of barrier and trigger the alarm, the alarm combines laser to survey the barrier sensor and can in time send out the police dispatch newspaper, be convenient for avoid colliding the barrier to the wing in advance, when unable avoiding the barrier, can block the barrier through lifting guard plate 25, the lifting in-process both promoted clamp plate 221 and made wing 3 be close to fuselage 1, can push away or dial the barrier through the contact again, prevent that the barrier from crossing guard plate 25 from the side, buffer seat 51 can reduce the impact force that produces when unmanned aerial vehicle descends, and slide through rubber gyro wheel 52 and eliminate surplus power, rubber gyro wheel 52 rotates the non slipping spur 53 and the ground contact that makes the side, help unmanned aerial vehicle brakes, protect unmanned aerial vehicle not damaged at flight or the in-process of taking off and land, guarantee to patrol and examine unmanned aerial vehicle operation and normally go on.

The moving seat comprises a steering seat 231 and a push-pull seat 232, the steering seat 231 is close to one end of the guide rail 23 which is tilted, the push-pull seat 232 is connected with an extension rod 233, the top surface of the protection plate 24 is provided with a pair of hinged seats 241, and the pair of hinged seats 241 are respectively hinged with one ends of the steering seat 231 and the extension rod 233 far away from the push-pull seat 232; the electric folding arm 25 comprises a fixed base 251, a first push-pull rod 252 and a second push-pull rod 253, the fixed base 251 is fixedly connected with the guide rail 23, two ends of the first push-pull rod 252 are respectively hinged with one end of the fixed base 251 and one end of the second push-pull rod 253, the hinged parts of the two ends of the first push-pull rod 252 are respectively connected with a rotating motor, and the other end of the second push-pull rod 253 is hinged with the side surface of the push-pull seat 232.

The first push-pull rod 252 and the second push-pull rod 253 are rotated by starting the rotating motor, the electric folding arm 25 is unfolded, the push-pull seat 232 and the protection plate 24 are pushed to move towards the wing end 4 along the guide rail 23, the turning seat 231 moves to the end surface of the wing end 4 along the tilted end of the guide rail 23, the protection plate 24 lifts up to shield the wing 3 for protection, the lower end of the protection plate 24 is supported by the extension rod 233 on the push-pull seat 232, the protection plate 24 is prevented from being pushed back along the guide rail due to the collision of obstacles, and the bearing capacity of the protection plate 24 is improved; the extension rod 233 can also reduce the length of the electric folding arm 25, and reduce the possibility of collision during the unfolding process of the electric folding arm 25.

The airfoil 3 comprises a bearing seat 31, a rotor motor 32, a plurality of connecting rods 33 and metal pull rods 34 with the number corresponding to that of the connecting rods 33, wherein the rotor motor 32 is fixedly arranged on the rotor seat 22, the rotor motor 32 is connected with a rotating shaft 321 along the vertical direction for matching and linkage, the top end of the rotating shaft 321 is fixedly connected with the bottom surface of the bearing seat 31, a suction cavity and a plurality of pull rod holes 311 are arranged in the bearing seat 31, one end of each connecting rod 33 is connected with the side surface of the bearing seat 31, the other end of each connecting rod 33 is provided with a damping hinge along the horizontal direction, and each damping hinge is connected with a rotor blade 334; the pull rod holes 311 are respectively and correspondingly arranged above different connecting rods 33, a limiting ring 313 is fixedly arranged at the opening of each pull rod hole 311, and an electromagnet 314 is fixedly arranged in the suction cavity; one end of the metal pull rod 34 is inserted into the pull rod hole 311 and is provided with a limit block 341 corresponding to the limit ring 313, the other end of the metal pull rod 34 is provided with a first pull ring hole 342 and a pull ring 343, the rotor blade 331 is provided with a second pull ring hole 333, and the pull ring 343 passes through the first pull ring hole 342 and the second pull ring hole 33 to connect the metal pull rod 34 and the rotor blade 331; the hole bottom of the pull rod hole 311 is further connected with a return spring 315, the return spring 315 is sleeved on the metal pull rod 34 and connected with the limit block 341, and the return spring 315 is a non-magnetic spring.

When a branch crosses the protective plate 24 to hook the wing 3, the electromagnet 314 is started, the metal pull rod 34 is further pulled into the pull rod hole 311 and extrudes the return spring 315, the first pull ring hole 342 at the other end of the metal pull rod 34 pulls the pull ring 343, the pull ring 343 pulls the second pull ring hole 333, the rotor blade 331 rotates upwards around the damping hinge and is staggered with the branch, the unmanned aerial vehicle can fly reversely and is separated from the branch, the electromagnet 314 is closed after separation, the return spring 315 pushes the metal pull rod 34 to return, and the rotor blade 331 returns to the original position; the limiting ring 313 on the pull rod hole 311 is matched with the limiting block 341 on the metal pull rod 34, so that the metal pull rod 34 is prevented from falling out of the pull rod hole 311, and the problem that the pull ring 343 cannot lift the rotor blade 331, so that the rotor blade 331 turns downwards and the unmanned aerial vehicle cannot continue flying is avoided.

The buffer column 12 comprises a first buffer rod 121, a second buffer rod 122 and a buffer spring, wherein one end of the first buffer rod 121 is provided with a contraction hole along the axis of the first buffer rod, one end of the second buffer rod 122 and the buffer spring are inserted into the contraction hole, and the buffer spring is connected and arranged between the bottom of the contraction hole and the second buffer rod 122; the trigger is provided with a metal ring and a metal contact in an electric connection manner, the metal ring is fixedly sleeved on the peripheral surface of the second buffer rod 122, and the metal contact is connected and arranged on the inner wall of the shrinkage hole.

The second buffer rod 122 moves into the contraction hole and extrudes the buffer spring, so that the impact generated when the anti-collision strip 11 collides with an obstacle is eliminated, and the machine body 1 is protected from being damaged; meanwhile, the metal ring moves along with the second buffer rod 122 and contacts with a metal contact in the shrinkage hole, so that the trigger forms a loop, the alarm is triggered to give an alarm, and the wing 3 is protected from obstacles.

The fuselage 1 still is equipped with a plurality of elastic strips 13, and these a plurality of elastic strips 13 and a plurality of anticollision strip 11 are crisscross to be linked to each other and form the anticollision ring, anticollision strip 11 and elastic strip 13 are arc structure and the arc center is just to the fuselage.

The elastic strips 13 are connected with the anti-collision strips 11 in a staggered mode to form anti-collision rings, when the anti-collision rings hit a barrier, the elastic strips 13 deform to pull the anti-collision strips 11 to prevent the anti-collision strips 11 from being collided askew, the situation that the anti-collision strips 11 cannot block the barrier is avoided, and the alarm function is protected from being influenced; through setting up crashproof strip 11 and elastic strip 13 into the arc, improved the two shock resistance, elastic strip 13 is crooked protection crashproof strip 11 to the arc center more easily and is not hit askewly.

The positions of the plurality of crash strips 11 and the projections of the wings 3 on the horizontal plane are staggered.

Through setting up a plurality of anticollision strips 11 and wing 3 projection and crossing in the position of horizontal plane, when the barrier was in the blind area of laser survey barrier sensor, anticollision strip 11 can contact the barrier in advance and send the police dispatch newspaper through the alarm, lifts up guard plate 24 and protects wing 3.

The anti-skid block 53 is provided with a plurality of threaded holes and anti-skid nails 531, the number of the threaded holes is the same as that of the anti-skid nails 53, each anti-skid nail 531 comprises a nail head 532, a protective blocking piece 533 and a threaded column 534, the nail heads 532 and the threaded columns 534 are respectively and fixedly arranged on two sides of the protective blocking pieces 533, the threaded columns 534 are matched with the threaded holes, and nut-shaped screwing blocks 535 are further arranged at the connecting positions of the protective blocking pieces 533 and the nail heads 532.

By screwing the anti-skid nails 531 into the threaded holes, when the unmanned aerial vehicle lands on the gravel ground, the anti-skid blocks 53 rotate along with the rubber rollers 52 to contact the ground, and the anti-skid nails 531 can be nailed into the ground to prevent the rubber rollers 52 from continuing to rotate; can shelter from the screw hole through protection separation blade 533, prevent that the screw hole from intaking corrosion screw thread post 534 and can't twist out cleat 531, twist through the nut form piece 535 and be convenient for use current instrument and carry out the dismouting to cleat 531, saved the time and the energy of looking for the instrument in addition.

The buffer seat 51 comprises a bottom plate 512 and a pair of opening and closing feet 513, a plurality of connecting holes are formed in the bottom surface of the machine body 1, internal threads are formed in the connecting holes, through holes 514 and bolts corresponding to the connecting holes are formed in the bottom plate 512, the bolts penetrate through the through holes and are screwed with the internal threads of the connecting holes to connect the machine body 1 and the bottom plate 512, the top ends of the pair of opening and closing feet 513 are hinged to the bottom surface of the bottom plate 512, and the bottom ends of the pair of opening and closing feet 513 are connected with transverse supporting shafts 511; an elastic buffer member 515 is further connected between the opening and closing legs 513, and the elastic buffer member 515 comprises a spring and an elastic buffer lace.

Through bolted connection buffering seat 51 and fuselage 1, be convenient for pull down buffering seat 51 and accomodate, it is articulated with bottom plate 512 through the top of opening and shutting foot 513, the foot 513 that opens and shuts when unmanned aerial vehicle descends rotates to the outside and absorbs the dive power to tensile elastomeric buffer 515, the elasticity through elastomeric buffer 515 prevents that opening and shutting foot 513 from rotating excessively, avoids opening and shutting foot 513 and appears damaging.