CN115140305B

CN115140305B - Lithology intelligent recognition flying robot

Info

Publication number: CN115140305B
Application number: CN202211068027.5A
Authority: CN
Inventors: 王永志; 孟祥卉; 王嘉翔
Original assignee: Jilin University
Current assignee: Jilin University
Priority date: 2022-09-02
Filing date: 2022-09-02
Publication date: 2022-11-08
Anticipated expiration: 2042-09-02
Also published as: CN115140305A

Abstract

The invention relates to the technical field of unmanned aerial vehicles, in particular to a lithology intelligent recognition flying robot which comprises a top plate, a mounting rod and a camera, wherein the lower end surface of the top plate is symmetrically and fixedly connected with a support rod, the front end surface of a mounting frame is provided with a U-shaped groove in a penetrating mode, the outer wall of a rope is fixedly connected with a sliding plate, the rear end surface of the mounting frame is in sliding connection with the sliding plate, and the lower end surface of a flat plate is uniformly and fixedly connected with a base through a second spring telescopic rod.

Description

Lithology intelligent recognition flying robot

Technical Field

The invention relates to the technical field of unmanned aerial vehicles, in particular to a lithology intelligent recognition flying robot.

Background

The intelligent lithology identification flying robot is used for identifying the lithology of a mountain land by matching a high-density camera with an unmanned aerial vehicle, the intelligent lithology identification is based on big data, cloud computing and deep learning technologies, a rock and mine intelligent identification tool is developed, the quick identification of nearly 70 important common rock and mineral images can be realized, the rock and mineral identification can be conveniently identified by social public science and geography knowledge and geological personnel, and the working efficiency of the geological personnel is improved.

When the existing lithology intelligent recognition flying robot is in contact with the surface of a mountain to shoot and establish lithology recognition, the flying robot is prone to toppling and standing due to the fact that the surface of the mountain is uneven, subsequent flying and lithology recognition is affected, dust is prone to adhering to the outer wall of a camera of the existing lithology intelligent recognition flying robot when the existing lithology intelligent recognition flying robot is used for shooting for a long time, and errors or recognition errors occur in lithology recognition if untimely cleaning is not carried out before the existing lithology intelligent recognition flying robot is used.

Disclosure of Invention

Technical problem to be solved

Aiming at the defects of the prior art, the invention provides a lithology intelligent recognition flying robot, which solves the problems that when the existing lithology intelligent recognition flying robot contacts the surface of a mountain to decorate and recognize lithology, the flying robot is easy to topple and stand up due to the uneven surface of the mountain, so that the subsequent flight and lithology recognition is influenced, dust is easy to adhere to the outer wall of a camera of the recognition flying robot when the recognition flying robot is used for shooting for a long time, and errors or recognition errors occur in lithology recognition if the recognition is not timely cleaned before the use.

(II) technical scheme

In order to realize the purpose, the invention is realized by the following technical scheme: the utility model provides a lithology intelligent recognition flying robot, includes roof, installation pole, camera, the lower terminal surface symmetry fixedly connected with bracing piece of roof, the inner chamber wall of bracing piece has the supporting leg through spout cooperation sliding block sliding connection, the inner chamber wall of bracing piece passes through the up end fixed connection of supporting spring with the supporting leg, the inner wall of bracing piece rotates respectively and is connected with pivot and transmission shaft, the outer wall transmission of pivot and transmission shaft is connected with the belt, the outer wall and the belt outer wall fixed connection of sliding block, two the one end fixedly connected with that the pivot is close to each other is dull and stereotyped, the lower terminal surface fixedly connected with installing frame of roof, the lower terminal surface of installing frame runs through to peg graft there is the installation pole, the lower terminal surface fixedly connected with camera of installing pole, spacing clamp opening mechanism is installed to the lower terminal surface of roof, the rear end face fixedly connected with winding post of installing frame, the outer wall winding of winding post has the rope, the rope is kept away from the one end and transmission shaft outer wall fixed connection of winding post, the preceding terminal surface of installing frame runs through and has seted up U type groove, the outer wall fixedly connected with slide of rope, the outer wall of installing frame, the back terminal surface and slide sliding plate are connected with the telescopic link through the second spring.

Preferably, the groove wall of the U-shaped groove is slidably connected with a sliding shaft, the lower part of the sliding plate is fixedly connected with a telescopic pull rod, and the front end face of the sliding shaft is fixedly connected with the rear end face of the telescopic pull rod.

Preferably, the front end face of the telescopic pull rod is inserted with a cleaning cotton roller, the winding column penetrates through the outer wall of one end of the front end face of the mounting frame and is wound with a clockwork spring, and one end, far away from the winding column, of the clockwork spring is fixedly connected with the front end face of the mounting frame.

Preferably, the limiting clamping and opening mechanism comprises a worm wheel and a worm, the lower end face of the top plate is rotatably connected with the worm wheel, and the outer wall of the worm wheel is meshed with the worm.

Preferably, the lower end face of the worm wheel is symmetrically provided with arc-shaped grooves, the groove walls of the arc-shaped grooves are connected with sliding columns in a sliding mode, the lower end face of the top plate is connected with the sliding columns in a sliding mode through sliding grooves, and arc-shaped pads are fixedly connected to the lower end face of the sliding columns.

Preferably, the jack has been seted up to the outer wall of installation pole, the inner wall of arc pad all links firmly the connection and inserts the post, the up end of roof is connected with the battery apron through lug cooperation round pin axle rotation.

Preferably, the outer wall cover of round pin axle is equipped with the torsional spring, the one end and the lug outer wall fixed connection of torsional spring, the other end and the round pin axle fixed connection of torsional spring, the up end fixedly connected with first spring telescopic link of roof.

Preferably, the right end of the first spring telescopic rod is fixedly connected with an L-shaped plate, and the outer wall of the worm is fixedly connected with a cam.

Preferably, the right side wall of the L-shaped plate is fixedly connected with an insertion rod, a round hole is formed in the front end face of the battery cover plate, and the insertion rod is inserted into the round hole.

(III) advantageous effects

The lithology intelligent recognition flying robot provided by the invention has the following beneficial effects:

1. the intelligent lithologic identification flying robot comprises a high-density camera, a support leg, a support spring, a sliding block, a belt, a transmission shaft, a rotating shaft, a flat plate, a second spring telescopic rod, a foot pad and the ground, wherein the high-density camera is used for automatically shooting and automatically identifying lithologic characteristics, the identification result is returned and displayed on the control end for storing data, when the flying robot needs to stand on steep ground to shoot pictures, the support leg can slide upwards on the inner wall of the support bar through the sliding block and compress the support spring to shrink, the sliding block can pull the belt to transmit when sliding, the rotating shaft and the transmission shaft synchronously rotate, the flat plate is driven to rotate downwards, the flat plate, the second spring telescopic rod and the foot pad can be supported on the ground, if the foot pad can push the second spring telescopic rod to shrink on the uneven ground, the support spring resets and pushes the support leg to slide downwards when the flying robot flies up, the sliding block can drive the belt to rotate backwards again, the flat plate can be upwards and stored between the two support bars, the support area of the whole intelligent lithologic identification flying robot and the ground can be expanded to improve stability, the ground can also stand on the uneven ground to identify the uneven ground, the situation that the mountainous region cannot stand stably is avoided, and the situation that the mountainous region can be adapted to toppled over can be used;

2. the intelligent lithologic recognition flying robot can pull a rope to wind to drive a winding column to rotate and pull a clockwork spring to contract when a transmission shaft rotates, so that the rope and a sliding plate on the outer wall of the rope slide rightwards along a sliding groove, and further the telescopic pull rod is pulled to move rightwards synchronously;

3. the intelligent lithologic identification flying robot can be used for holding a worm to rotate when a camera needs to be installed or detached, so that the worm is meshed with a worm wheel to rotate, when the worm wheel rotates, an arc-shaped groove on the lower end face of the worm wheel extrudes four sliding columns to slide away from each other, so that an arc-shaped pad and an inserting column are driven to separate from each other, then an installing rod on the upper portion of the camera is inserted into the upper portion of an installing frame, at the moment, the worm rotates reversely to drive the worm wheel to rotate, the arc-shaped groove rotates reversely to extrude the sliding columns and the arc-shaped pad to approach each other, so that the inserting column is inserted into a corresponding inserting hole in the outer wall of the installing rod, the outer wall of the installing rod can be clamped and limited by the arc-shaped pad, the camera is effectively limited and installed, the operation is simple, the camera can be installed or detached quickly, the maintenance and the inspection of the camera are facilitated, and the convenience in installation and detachment is improved;

4. this lithology intelligent recognition flying robot, can drive the cam rotation when rotating the worm, can push up when the cam rotates to the left side and move L template and slide left and compress first spring telescopic link, make the inserted bar break away from in the round hole of battery apron, the torsional spring that receives the compression originally this moment just can reset the resilience, thereby it opens with battery apron upwards to drive round pin axle and rotate, alright whether appear the swell or install insecure phenomenon with observing the inside battery of roof when dismantling the camera, the trouble of the artifical battery apron of opening has been reduced, also avoided the battery to install insecure phenomenon that leads to the fact flying robot to cut off the power supply to fall, be convenient for when outdoor gold rock discernment simultaneously, it increases work efficiency and identification range to be convenient for swiftly change the battery.

Drawings

FIG. 1 is a schematic perspective view of the present invention;

FIG. 2 is an enlarged view of area A of FIG. 1;

FIG. 3 is a schematic view of the support spring and support leg mounting structure of the present invention;

FIG. 4 is an enlarged view of the area B in FIG. 3 according to the present invention;

FIG. 5 is a rear view of the overall mounting arrangement of the present invention;

FIG. 6 is a partial sectional view of the mounting bar of the present invention;

FIG. 7 is an enlarged view of the area C of FIG. 6 according to the present invention;

FIG. 8 is a schematic view of a worm gear and worm mounting arrangement of the present invention;

FIG. 9 is a schematic view of the right-hand overall mounting arrangement of the present invention;

FIG. 10 is an enlarged view of the area D in FIG. 9 according to the present invention;

FIG. 11 is an enlarged view of area E in FIG. 9 according to the present invention.

In the figure: 1. a top plate; 2. a support bar; 3. supporting legs; 4. a support spring; 5. a rotating shaft; 6. a flat plate; 7. a belt; 8. a limiting clamping opening mechanism; 81. a worm gear; 82. a worm; 83. an arc-shaped slot; 84. a traveler; 85. an arc-shaped pad; 86. inserting a column; 87. a battery cover plate; 88. a pin shaft; 89. a torsion spring; 810. a cam; 811. an L-shaped plate; 812. a first spring telescopic rod; 813. a rod is inserted; 9. installing a frame; 10. mounting a rod; 11. a camera; 12. a second spring telescopic rod; 13. a foot pad; 14. a slider; 15. a drive shaft; 16. winding the column; 17. a rope; 18. a U-shaped groove; 19. a slide plate; 20. a sliding shaft; 21. a telescopic pull rod; 22. cleaning a cotton roller; 23. a clockwork spring.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, belong to the protection scope of the present invention.

The invention provides a technical scheme that:

example one

Please refer to fig. 1 to 4, a lithology intelligent recognition flying robot, including roof 1, installation rod 10, camera 11, lower terminal surface symmetry fixedly connected with bracing piece 2 of roof 1, the inner chamber wall of bracing piece 2 has supporting leg 3 through the 14 sliding connection of spout cooperation sliding block, the inner chamber wall of bracing piece 2 passes through supporting spring 4 and supporting leg 3's up end fixed connection, the inner wall of bracing piece 2 rotates respectively and is connected with pivot 5 and transmission shaft 15, pivot 5 is connected with belt 7 with the outer wall transmission of transmission shaft 15, the outer wall of sliding block 14 and belt 7 outer wall fixed connection, the one end fixedly connected with flat 6 that two pivot 5 are close to each other, the lower terminal surface fixedly connected with installing frame 9 of roof 1, the lower terminal surface of installing frame 9 runs through grafting has installation rod 10, the lower terminal surface fixedly connected with camera 11 of installation rod 10, the lower terminal surface of roof 1 installs spacing clamp opening mechanism 8, the rear end fixedly connected with winding post 16 of installing frame 9, the outer wall winding post 16 of winding post 16 twines has rope 17, the one end of rope 17 is kept away from winding post 16 and outer wall fixed connection has the slider 13, the even lower extreme sliding connection of the slider of the fixed connection of the slider 12 of the slider 13 of the fixed connection of the lower extreme of the slider of spring pad.

The during operation, through bracing piece 2, supporting leg 3, supporting spring 4, pivot 5, flat board 6, belt 7, second spring telescopic link 12, pad foot 13, sliding block 14 and transmission shaft 15's cooperation, at first flying robot passes through high density camera 11 automatic shooting and carries out the automatic identification of lithology, later return the discernment result and show and carry out data storage on the control end, when flying robot need stand and take the picture on the precipitous ground in ground, supporting leg 3 can upwards slide and compress supporting spring 4 shrink at bracing piece 2 inner wall through sliding block 14 this moment, can stimulate belt 7 to carry out the transmission when sliding block 14 slides, make pivot 5 and transmission shaft 15 take place the rotation in step, and then drive flat board 6 and rotate downwards, can let flat board 6, second spring telescopic link 12 and pad foot 13 support with ground, if pad foot 13 can push up second spring telescopic link 12 shrink when unevenness ground, and supporting spring 4 resets when flying robot flies the supporting leg and pushes up and moves 3 and slides downwards, can let sliding block 14 drive belt 7 and drive, can take in place flat board 6 upwards to rotate two bracing pieces 2, can not only can the identification of the mountain region ground and the unevenness the ground of the unable ground of discernment of the identification of walking again and stand and the unevenness and the ground and can also the adaptation of the mountain region to have not enough improved the smooth ground and have more.

Example two

Referring to fig. 3 to 7, a sliding shaft 20 is slidably connected to a groove wall of the u-shaped groove 18, a telescopic pull rod 21 is fixedly connected to a lower portion of the sliding plate 19, a front end surface of the sliding shaft 20 is fixedly connected to a rear end surface of the telescopic pull rod 21, a cleaning cotton roller 22 is inserted into a front end surface of the telescopic pull rod 21, a spiral spring 23 is wound on an outer wall of the winding column 16 penetrating through one end of the front end surface of the mounting frame 9, and one end of the spiral spring 23 far away from the winding column 16 is fixedly connected to the front end surface of the mounting frame 9.

When the robot works, through the matching of the mounting frame 9, the sliding block 14, the transmission shaft 15, the winding column 16, the rope 17, the U-shaped groove 18, the sliding plate 19, the sliding shaft 20, the telescopic pull rod 21, the cleaning cotton roller 22 and the clockwork spring 23, when the transmission shaft 15 rotates, the rope 17 is pulled to wind to drive the winding column 16 to rotate and pull the clockwork spring 23 to contract, so that the rope 17 and the sliding plate 19 on the outer wall of the rope 17 slide rightwards along the sliding groove, and then the telescopic pull rod 21 synchronously moves rightwards, at the moment, the lower end of the telescopic pull rod 21 is connected with the U-shaped groove 18 through the sliding shaft 20 in a sliding manner, so that the telescopic pull rod 21 slides downwards under the pulling of the sliding shaft 20 while sliding rightwards, the cleaning cotton roller 22 can clean and clean according to the outer wall of the camera 11, and when the flat plate 6 retracts to drive the transmission shaft 15 to reversely rotate and loosen the rope 17, at the clockwork spring 23 resets and drives the winding column 16 to rotate again to reset, and then the lower part of the camera 11 is cleaned again, so that dust can be wiped when the dust is prevented from the adult robot 11 from causing lithology and the intelligent recognition errors of the flying robot, and the flying robot can be recognized, and the accuracy of the flying robot can be improved.

EXAMPLE III

Referring to fig. 7 and 8, the limiting clamping opening mechanism 8 includes a worm wheel 81 and a worm 82, the lower end surface of the top plate 1 is rotatably connected with the worm wheel 81, the outer wall of the worm wheel 81 is meshed with the worm 82, the lower end surface of the worm wheel 81 is symmetrically provided with arc-shaped grooves 83, the groove walls of the arc-shaped grooves 83 are slidably connected with sliding posts 84, the lower end surface of the top plate 1 is slidably connected with the sliding posts 84 through sliding grooves, the lower end surface of the sliding posts 84 is fixedly connected with arc-shaped pads 85, the outer wall of the installation rod 10 is provided with insertion holes, the inner walls of the arc-shaped pads 85 are fixedly connected with insertion posts 86, and the upper end surface of the top plate 1 is rotatably connected with a battery cover plate 87 through a lug matching pin shaft 88.

In operation, through spacing clamping opening mechanism 8, worm wheel 81, worm 82, arc-shaped groove 83, traveller 84, arc-shaped pad 85, insert the cooperation of post 86 and jack, can hold worm 82 and rotate when needing to install or dismantle camera 11, make its meshing worm wheel 81 take place to rotate, arc-shaped groove 83 of its lower terminal surface can extrude four travellers 84 and slide each other and keep away from when worm wheel 81 rotates, and then drive arc-shaped pad 85 and insert post 86 and keep away from each other, later insert the upper portion of installing frame 9 with installation pole 10 on camera 11 upper portion, the contrarotation worm 82 drives worm wheel 81 and rotates this moment, just can let arc-shaped groove 83 contrarotation extrude traveller 84 and arc-shaped pad 85 and be close to each other, make post 86 insert in the corresponding jack of installation pole 10 outer wall, also can let arc-shaped pad 85 carry out the centre gripping spacing with the outer wall of installation pole 10, thereby effectively carry out spacing installation with camera 11, its easy operation can install or dismantle camera 11 fast, be favorable to maintenance and inspection to camera 11, the convenience of installation and dismantlement has been improved.

Example four

Referring to fig. 9 to 11, a torsion spring 89 is sleeved on an outer wall of a pin 88, one end of the torsion spring 89 is fixedly connected with an outer wall of a lug, the other end of the torsion spring 89 is fixedly connected with the pin 88, an upper end surface of the top plate 1 is fixedly connected with a first spring telescopic rod 812, a right end of the first spring telescopic rod 812 is fixedly connected with an L-shaped plate 811, an outer wall of the worm 82 is fixedly connected with a cam 810, a right side wall of the L-shaped plate 811 is fixedly connected with an inserted link 813, a front end surface of the battery cover plate 87 is provided with a circular hole, and the inserted link 813 is inserted into the circular hole.

During operation, through battery apron 87, round pin axle 88, torsional spring 89, cam 810, L template 811, the cooperation of first spring telescopic link 812 and inserted bar 813, can drive cam 810 and rotate when rotating worm 82, can push up L template 811 and slide and compress first spring telescopic link 812 left when cam 810 rotates to the left side, make inserted bar 813 break away from in battery apron 87's the round hole, the torsional spring 89 that originally received the compression at this moment just can reset the resilience, thereby it opens to drive round pin axle 88 and battery apron 87 upwards rotation, alright whether appear bulging or the insecure phenomenon of installation in observing the battery of roof 1 inside when dismantling camera 11, the trouble of battery apron 87 is opened in the manual work has been reduced, also avoided the battery to lead to the fact the phenomenon that flying robot outage falls in the installation insecure, be convenient for when outdoor gold rock discernment simultaneously, be convenient for swiftly change battery and increase work efficiency and identification range.

The working principle is that firstly, the flying robot automatically shoots through the high-density camera 11 and automatically identifies lithology, then the identification result is returned and displayed on the control end for data storage, when the flying robot needs to stand on steep ground to shoot pictures, at the moment, the support leg 3 slides upwards on the inner wall of the support rod 2 through the sliding block 14 and compresses the support spring 4 to shrink, the sliding block 14 pulls the belt 7 to transmit when sliding, so that the rotating shaft 5 and the transmission shaft 15 synchronously rotate, further the flat plate 6 is driven to rotate downwards, the flat plate 6, the second spring telescopic rod 12 and the pad foot 13 can be supported with the ground, if the pad foot 13 pushes the second spring telescopic rod 12 to shrink when the uneven ground is in the flying process, the support spring 4 resets and pushes the support leg 3 to slide downwards when the flying robot flies up, the sliding block 14 drives the belt 7 to rotate upwards again, the flat plate 6 can be stored between the two support rods 2 in the upward rotating mode, the whole lithology intelligent identification flying robot and the support area of the uneven ground can be enlarged, the stability can be improved, the ground can also be stood on the uneven ground for identification, the phenomenon that the mountain land can be avoided, and the mountain land can not be stably used in different mountain lands;

when the transmission shaft 15 rotates, the rope 17 is pulled to wind to drive the winding post 16 to rotate and the clockwork spring 23 to contract, so that the rope 17 and a sliding plate 19 on the outer wall of the rope 17 are pulled to slide rightwards along a sliding groove, the telescopic pull rod 21 is further pulled to move rightwards synchronously, at the moment, the lower end of the telescopic pull rod 21 is in sliding connection with the U-shaped groove 18 through the sliding shaft 20, the telescopic pull rod 21 is pulled to slide downwards while sliding rightwards, the cleaning cotton roller 22 can be cleaned and cleaned according to the outer wall of the camera 11, and when the flat plate 6 is retracted to drive the transmission shaft 15 to rotate reversely and loosen the rope 17, the clockwork spring 23 resets and rebounds to drive the winding post 16 to rotate again to reset, so that the lower part of the camera 11 is cleaned again, dust can be cleaned and cleaned during take-off, errors caused by the fact that the flying robot performs lithologic intelligent identification due to the dust shielding of the camera 11 are avoided, and the accuracy of the lithologic identification of the flying robot is improved;

when the camera 11 needs to be installed or disassembled, the worm 82 can be held by hand to rotate, so that the worm gear 81 is meshed with the worm gear to rotate, when the worm gear 81 rotates, the arc-shaped groove 83 on the lower end face of the worm gear 81 extrudes the four sliding columns 84 to slide away from each other, so as to drive the arc-shaped pad 85 to separate from the inserting column 86, then the installation rod 10 on the upper portion of the camera 11 is inserted into the upper portion of the installation frame 9, at the moment, the worm 82 reversely rotates to drive the worm gear 81 to rotate, the arc-shaped groove 83 reversely rotates to extrude the sliding columns 84 and the arc-shaped pad 85 to approach each other, so that the inserting column 86 is inserted into the corresponding inserting hole in the outer wall of the installation rod 10, and the arc-shaped pad 85 can clamp and limit the outer wall of the installation rod 10, so that the camera 11 is effectively limited and installed, the operation of the camera 11 can be quickly installed or disassembled, the maintenance and the inspection of the camera 11 are facilitated, and the convenience of installation and disassembly is improved;

can drive cam 810 and rotate in rotating worm 82, can push up when cam 810 rotates to the left side and move L template 811 and slide left and compress first spring telescopic link 812, make inserted bar 813 break away from in battery apron 87's the round hole, the torsional spring 89 that receives the compression originally this moment just can reset and kick-back, thereby it opens with battery apron 87 upwards to drive round pin axle 88, alright whether appear the swell or install insecure phenomenon in observing the battery of roof 1 inside when dismantling camera 11, the trouble of the artifical battery apron 87 of opening has been reduced, the battery has also been avoided installing insecure phenomenon that causes flying robot outage to fall.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims

1. The utility model provides a lithology intelligent recognition flying robot, includes roof (1), installation pole (10) and camera (11), its characterized in that: the lower end face of the top plate (1) is symmetrically and fixedly connected with a supporting rod (2), the inner cavity wall of the supporting rod (2) is slidably connected with supporting legs (3) through a sliding groove matched sliding block (14), the inner cavity wall of the supporting rod (2) is fixedly connected with the upper end face of the supporting legs (3) through a supporting spring (4), the inner wall of the supporting rod (2) is respectively and rotatably connected with a rotating shaft (5) and a transmission shaft (15), the rotating shaft (5) is in transmission connection with a belt (7) through the outer wall of the transmission shaft (15), the outer wall of the sliding block (14) is fixedly connected with the outer wall of the belt (7), two ends, close to each other, of the rotating shaft (5) are fixedly connected with a flat plate (6), the lower end face of the top plate (1) is fixedly connected with a mounting frame (9), the lower end face of the mounting frame (9) is in through insertion connection with a mounting rod (10), the lower end face of the mounting rod (10) is fixedly connected with a camera (11), the lower end face of the top plate (1) is provided with a limiting clamping opening mechanism (8), the rear end face of the mounting frame (9) is fixedly connected with a winding column (16), the outer wall of the winding column (16) is connected with a rope winding column (17), and one end face of the rope winding column (17) is connected with a rope winding column (17), a U-shaped groove (18) is formed in the front end face of the mounting frame (9) in a penetrating mode, a sliding plate (19) is fixedly connected to the outer wall of the rope (17), the rear end face of the mounting frame (9) is connected with the sliding plate (19) in a sliding mode, and the lower end face of the flat plate (6) is uniformly and fixedly connected with a pad foot (13) through a second spring telescopic rod (12);

the groove wall of the U-shaped groove (18) is connected with a sliding shaft (20) in a sliding mode, the lower portion of the sliding plate (19) is fixedly connected with a telescopic pull rod (21), and the front end face of the sliding shaft (20) is fixedly connected with the rear end face of the telescopic pull rod (21);

the cleaning cotton roller (22) is inserted into the front end face of the telescopic pull rod (21), the winding column (16) penetrates through the outer wall of one end of the front end face of the mounting frame (9) and is wound with the clockwork spring (23), and one end, far away from the winding column (16), of the clockwork spring (23) is fixedly connected with the front end face of the mounting frame (9).

2. The lithology intelligent recognition flying robot of claim 1, wherein: spacing clamping opening mechanism (8) include worm wheel (81), worm (82), the lower terminal surface of roof (1) rotates and is connected with worm wheel (81), the outer wall meshing of worm wheel (81) has worm (82).

3. The lithology intelligent recognition flying robot of claim 2, wherein: arc-shaped grooves (83) are symmetrically formed in the lower end face of the worm wheel (81), the groove walls of the arc-shaped grooves (83) are connected with sliding columns (84) in a sliding mode, the lower end face of the top plate (1) is connected with the sliding columns (84) in a sliding mode through sliding grooves, and arc-shaped pads (85) are fixedly connected to the lower end face of the sliding columns (84).

4. The lithology intelligent recognition flying robot of claim 3, wherein: the jack has been seted up to the outer wall of installation pole (10), the inner wall of arc pad (85) all links firmly and connects inserted column (86), the up end of roof (1) is connected with battery apron (87) through lug cooperation round pin axle (88) rotation.

5. The lithology intelligent recognition flying robot of claim 4, wherein: the outer wall cover of round pin axle (88) is equipped with torsional spring (89), the one end and the lug outer wall fixed connection of torsional spring (89), the other end and round pin axle (88) fixed connection of torsional spring (89), the up end fixedly connected with first spring telescopic link (812) of roof (1).

6. The lithology intelligent recognition flying robot of claim 5, wherein: the right end of the first spring telescopic rod (812) is fixedly connected with an L-shaped plate (811), and the outer wall of the worm (82) is fixedly connected with a cam (810).

7. The lithology intelligent recognition flying robot of claim 6, wherein: the right side wall fixedly connected with inserted bar (813) of L template (811), the round hole has been seted up to the preceding terminal surface of battery apron (87), inserted bar (813) are pegged graft mutually with the round hole.