A highly reliable plant drone-assisted pruning device

Abstract

A high-reliability plant drone-assisted pruning comprises a base, a cylinder is fixedly mounted on the base, a No. 1 telescopic cylinder is slidably inserted in the cylinder, a No. 2 telescopic rod is slidably inserted in the No. 1 telescopic cylinder, an air pump is fixedly connected to the lower part of the cylinder, a generator is fixedly mounted on the upper surface of the base, a top rod is fixedly mounted on the upper end of the No. 2 telescopic rod, a mounting block is fixedly mounted on the center of the lower surface of the top rod, a radio receiver is fixedly mounted on the lower end of the mounting block, a rotating frame is slidably and rotatably mounted outside the mounting block, a slide rail is fixedly mounted on the lower part of the rotating frame, a slider is slidably mounted on the slide rail, a winding roller is mounted on the slider, a power line is wound on the winding roller, a drone body is connected to the lower end of the power line, the drone body is electrically connected to the power line, a radio transmitter is mounted on the upper end of the drone body, a mounting frame is fixedly and detachably mounted in the middle of the lower surface of the drone, a power motor is fixedly mounted on the mounting frame, and the power motor is transmitted to a tool assembly through a transmission member.

Description

Technical Field

[0001] The invention relates to the technical field of plant pruning drones, and in particular to a high-reliability plant pruning drone auxiliary pruning device. Background Art

[0002] In the garden, gardeners often use pruning tools to prune plants to keep the appearance of flowers, plants and trees of a certain appreciation value. The pruning tools on the market now have single functions. When pruning tall plants with special shapes such as cartoon characters, gardeners need to climb up a ladder to do the pruning. Since there may be a depression in the middle of the plant, the gardener needs to tilt his body in the air to prune the depression. The pruning operation is not only time-consuming and laborious, but also has low work efficiency and the risk of falling from a high altitude.

[0003] In the prior art, the patent with the patent authorization publication number CN211152875U provides a technical solution, including a drone, a control box is arranged at the bottom of the drone, a motor is arranged at the bottom of the control box, a driving gear is installed on the output shaft of the motor, a rotating shaft is rotatably installed at the bottom of the control box, a passive gear and a swing rod are fixedly installed on the rotating shaft, the driving gear is meshed with the passive gear, a first mounting frame is arranged at the bottom of the swing rod, a first cutting device is installed on the first mounting frame, a fixed end of a second telescopic rod is vertically arranged at the side of the swing rod, a second mounting frame is vertically arranged at the movable end of the second telescopic rod, and a second cutting device is installed on the second mounting frame. The device can replace the gardener to achieve high-altitude pruning work through the drone, and complete the special-shaped pruning of tall plants conveniently and quickly, saving time and effort, and having high pruning efficiency, without the risk of people falling from high altitude.

[0004] The above technical solution solves the problems raised in the above background technology to a certain extent, but its structural design is relatively complicated and requires many control elements. In addition, during use, the movement of the pruning mechanism causes the overall center of gravity of the drone to shift, making it inconvenient for the drone to control its flight posture. In addition, its design requires the drone to rely on its flight control to rotate itself and then control the direction of the pruning structure toward the plant. The control method is relatively complicated, which greatly increases the manufacturing cost of the drone and the difficulty of actual use, and is not conducive to promotion and implementation.

[0005] Therefore, a high-reliability plant pruning drone that solves the above problems is needed. Summary of the invention

[0006] The purpose of the present invention is to provide a highly reliable plant pruning drone in order to overcome the deficiencies of the prior art, in particular a device capable of automatically pruning plants into an arc-shaped surface.

[0007] In order to achieve the above-mentioned purpose, the technical solution adopted by the present invention is: a high-reliability plant drone-assisted pruning, characterized in that it includes a base, a cylinder is fixedly installed on the base, a No. 1 telescopic cylinder is slidably inserted in the cylinder, a No. 2 telescopic rod is slidably inserted in the No. 1 telescopic cylinder, an air pump is fixedly connected to the lower part of the cylinder, a generator is fixedly installed on the upper surface of the base, a top rod is fixedly installed on the upper end of the No. 2 telescopic rod, a mounting block is fixedly installed on the center of the lower surface of the top rod, a radio receiver is fixedly installed on the lower end of the mounting block, a rotating frame is slidably and rotatably mounted on the outer side of the mounting block, a slide rail is fixedly installed on the lower part of the rotating frame, a slider is slidably mounted on the slide rail, a winding roller is installed on the slider, a power line is wound on the winding roller, a drone body is connected to the lower end of the power line, the drone body is electrically connected to the power line, a radio transmitter is installed on the upper end of the drone body, a mounting frame is fixedly and detachably installed in the middle of the lower surface of the drone, a power motor is fixedly installed on the mounting frame, and the power motor is transmitted to the tool assembly through a transmission member;

[0008] The upper end of the drone body is connected to the power transmission line through an extension rod;

[0009] A fixing frame is fixedly installed at the lower part of the mounting frame, and the power motor and the tool assembly are fixed on the mounting frame through the fixing frame; the power motor and the tool assembly are fixed on a deflection shaft provided on the mounting frame.

[0010] Furthermore, the tool assembly includes an inner blade and an outer blade, wherein the inner blade and the outer blade are straight blades or arc-shaped blade structures parallel to each other; the outer blade and the inner blade are respectively connected to rotate through a transmission device.

[0011] Further, the transmission device structure is as follows: a No. 1 bevel gear is fixedly installed at the lower end of the power shaft of the power motor, an inner shaft is fixedly installed at the lower end of the No. 1 bevel gear, a No. 2 bevel gear is rotatably mounted on the inner shaft, an intermediate bevel gear is rotatably mounted on the fixed frame, the intermediate bevel gear is engaged with the No. 1 bevel gear and the No. 2 bevel gear, a coaxial sleeve is fixedly installed at the lower end of the No. 2 bevel gear, the coaxial sleeve can be rotatably mounted on the inner shaft, a plurality of upper rotating rods are fixedly installed at the lower part of the coaxial sleeve, a plurality of lower rotating rods are fixedly installed at the lower end of the inner shaft, inner blades are fixedly installed at both ends of the lower rotating rods, and outer blades are fixedly installed at both ends of the upper rotating rods.

[0012] Furthermore, an output shaft is fixedly installed on the output end of the power motor, a slot is opened on the output shaft, an upper friction plate is slidably mounted on the output shaft, a spring is fixedly connected to the upper surface of the upper friction plate, the upper end of the spring is fixedly connected to the output shaft, a temperature sensor is fixedly installed on the fixed frame, the sensing end of the temperature sensor faces the upper friction plate, a power shaft is rotatably inserted on the fixed frame, a lower friction plate is fixedly installed on the upper end of the power shaft, and the lower friction plate fits tightly with the upper friction plate.

[0013] Furthermore, the specific connection method between the winding roller and the slider is: the slider is embedded with a power cable electrically connected to the generator, a rotating joint is fixedly installed on the front surface of the sliding block, the rotating joint is electrically connected to the power cable, a winding roller is connected to the rotating joint, a threading hole is opened on the winding roller, the transmission line is electrically connected to the rotating joint through the threading hole and is wound around the winding roller, a fixed axis is fixedly installed in the middle of the outer surface of the winding roller, a spring is mounted outside the fixed axis, a power chamber is connected to the outside of the spring, and the power chamber is fixedly connected to the slider, and the spring can hinder the rotation of the winding roller when the winding roller rotates passively, providing a restoring force for the rotation, and when the winding roller is not rotated by the pull of the transmission line, the winding roller can resume rotation under the action of the spring and then wind the transmission line back.

[0014] Beneficial effect: UAV-assisted pruning equipment for pruning tall plants is used for shaping; the shearing surface formed by the tool can be adjusted at a fixed or deflected angle at the same time, so as to use the fixed trajectory of the UAV to control the cutting of the required arc. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0016] Figure 2 : Enlarged view of the drone’s main body;

[0017] Figure 3 Enlarged view of the power motor part;

[0018] Figure 4 Figure 3 A magnified view of part A;

[0019] Figure 5 Bottom view of the upper rotating rod;

[0020] Figure 6 Bottom view of the lower rotating rod;

[0021] Figure 7 Cross-sectional view of the upper friction plate;

[0022] Figure 8 Enlarged view of the winding roller part;

[0023] Fig. 9 Side view of the winding roller;

[0024] Fig.10 Schematic diagram of the workflow;

[0025] Fig.11 Control relationship diagram;

[0026] Fig.12 A traction control process (source of set trimming shape). DETAILED DESCRIPTION

[0027] In the figure: 1. Base, 2. Cylinder, 3. No. 1 telescopic cylinder, 4. No. 2 telescopic rod, 5. Air pump, 6. Generator, 7. Top rod, 8. Mounting block, 9. Radio receiver, 10. Rotating frame, 11. Slide rail, 12. Slider, 13. Winding roller, 14. Transmission line, 15. UAV body, 16. Radio transmitter, 17. Mounting frame, 18. Power motor, 19. Outer blade, 20. Inner blade, 21. Extension rod, 22. Buzzer, 23 Fixed rod, 24. Output Shaft, 25. Slot, 26. Upper friction plate, 27. Spring, 28. Fixed bracket, 29. Temperature sensor, 30. Power shaft, 31. Lower friction plate, 32. No. 1 bevel gear, 33. Inner shaft, 34. No. 2 bevel gear, 35. Middle bevel gear, 36. Coaxial sleeve, 37. Upper rotating rod, 38. Lower rotating rod, 39. Power cable, 40. Rotary joint, 41. Winding roller, 42. Fixed shaft, 43. Spring, 44. Power chamber, 45. Displacement sensor, 46. Threading hole.

[0028] As shown in the figure, a high-reliability plant drone-assisted pruning includes a base 1, a cylinder 2 is fixedly installed on the base 1, a No. 1 telescopic cylinder 3 is slidably inserted in the cylinder 2, a No. 2 telescopic rod 4 is slidably inserted in the No. 1 telescopic cylinder 3, an air pump 5 is fixedly connected to the lower part of the cylinder 2, a generator 6 is fixedly installed on the upper surface of the base 1, a top rod 7 is fixedly installed on the upper end of the No. 2 telescopic rod 4, a mounting block 8 is fixedly installed at the center of the lower surface of the top rod 7, a radio receiver 9 is fixedly installed at the lower end of the mounting block 8, and a rotating frame 10 is slidably and rotatably mounted on the outer side of the mounting block 8. A slide rail 11 is fixedly installed at the lower part of 10, a slider 12 is slidably mounted on the slide rail 11, a winding roller 13 is installed on the slider 12, a power line 14 is wound around the winding roller 13, a drone body 15 is connected to the lower end of the power line, the drone body 15 is electrically connected to the power line, a radio transmitter 16 is installed at the upper end of the drone body 15, a mounting frame 17 is fixedly and detachably installed in the middle of the lower surface of the drone body 15, a power motor 18 is fixedly installed on the mounting frame 17, and the power motor 18 is connected to an outer blade 19 and an inner blade 20 through a series of transmissions;

[0029] The upper end of the drone body 18 is connected to the power transmission line 14 via an extension rod 21;

[0030] A buzzer 22 is fixedly mounted on the mounting frame 17 .

[0031] There is no need to add a deflection axis, and an arc-shaped blade (external blade) can be used, which means there is no need to change the direction of the cutting structure to minimize the movement of the drone.

[0032] This can be achieved by using an arc blade (the outer blade is an arc). All angles within the range of an arc tangent can be used, so there is no need to tilt the cutting structure. When cutting the arc of the bottom surface of the plant, the upper part of the arc blade contacts the lower part of the branch for cutting. When cutting the arc of the upper surface of the plant, the lower part of the arc contacts the upper part of the branch. These can be controlled by the program to reproduce the trajectory parameters calculated by the previous teaching or program. The arc blade does not need to change the direction of the cutting structure to minimize the movement of the drone. If a deflection mechanism is added, the direction of deflection must be adjusted during deflection, and the control becomes complicated. This work can be achieved by using an arc blade. All angles within the range of an arc tangent can be used, so there is no need to tilt the cutting structure. The double arc blade may have poor reliability when working, because the shear torque of the outer blade will be much larger, and the arc blade is prone to deformation.

[0033] The rotation of the lower rotating rod drives the inner blade to rotate, the coaxial sleeve drives the upper rotating rod to rotate, and the rotation of the upper rotating rod drives the outer blade to rotate. The reverse rotation of the inner and outer blades forms a shearing motion. At the same time, the reverse rotation offsets the reaction of the rotation on the drone, thereby avoiding affecting the stability of the drone's flight attitude.

[0034] The lower part of the mounting frame 17 is fixed or the fixing frame 23 is installed through a rotating shaft, and the power motor 18 is fixed to the mounting frame 17 through the fixing frame. That is, adding a rotating shaft to the mounting frame 17 at the position of the buzzer is also an embodiment, so that the inner and outer blades are both straight blades (through-length blades) and the shearing effect is better when rotating. A deflection shaft is provided on the mounting frame, and the tool assembly is fixed on the deflection shaft. The required arc is cut out by using the fixed trajectory control of the drone (which can be programmed). The deflection shaft is deflected at a fixed number of gears (several angles), which will also have a good arc shearing effect on the plant. If a deflection shaft is added and the angle of a deflection shaft is fixed, the control program is not very complicated.

[0035] An output shaft 24 is fixedly installed on the output end of the power motor 18, a card slot 25 is opened on the output shaft 24, an upper friction plate 26 is slidably sleeved on the output shaft 24, a spring 27 is fixedly connected to the upper surface of the upper friction plate 26, and the upper end of the spring 27 is fixedly connected to the output shaft 24, a temperature sensor 29 is fixedly installed on the fixed frame 28, and the sensing end of the temperature sensor 29 faces the upper friction plate 26. A power shaft 30 is rotatably inserted on the fixed frame 28, and a lower friction plate 31 is fixedly installed on the upper end of the power shaft 30, and the lower friction plate 31 is tightly fitted with the upper friction plate 26, and a No. 1 bevel gear 3 is fixedly installed on the lower end of the power shaft 30 2. An inner shaft 33 is fixedly mounted on the lower end of the No. 1 bevel gear 32, and a No. 2 bevel gear 34 is rotatably mounted on the inner shaft 33. An intermediate bevel gear 35 is rotatably mounted on the fixed frame 28. The intermediate bevel gear 35 engages with the No. 1 bevel gear 32 and the No. 2 bevel gear 34. A coaxial sleeve 36 is fixedly mounted on the lower end of the No. 2 bevel gear 34. The coaxial sleeve 36 is rotatably mounted on the inner shaft 33. A plurality of upper rotating rods 37 are fixedly mounted on the lower part of the coaxial sleeve 36. A plurality of lower rotating rods 38 are fixedly mounted on the lower end of the inner shaft 33. Inner blades 20 are fixedly mounted on both ends of the lower rotating rods 38, and outer blades 19 are fixedly mounted on both ends of the upper rotating rods 37.

[0036] The inner blade 20 and the outer blade 19 are arc-shaped blade structures parallel to each other;

[0037] The specific connection between the winding roller 13 and the slider 12 is as follows:

[0038] The slider 12 is embedded with a power cable 39 electrically connected to the generator 6. A rotary joint 40 is fixedly installed on the front surface of the slider 12. The rotary joint 40 is electrically connected to the power cable 39. A winding roller 41 is connected to the rotary joint 40. The winding roller 41 is provided with a threading hole 46. The transmission line 14 is electrically connected to the rotary joint 40 through the threading hole 46 and is wound around the winding roller 41. A fixed shaft 42 is fixedly installed in the middle of the outer surface of the winding roller 41. A spring 43 is sheathed on the fixed shaft 42. A power chamber 44 is connected to the outside of the spring 43. The power chamber 44 is fixedly connected to the slider 12. The spring 43 can hinder the winding roller 41 from rotating when it is passively rotating, and provide a restoring force for rotation. When the winding roller 41 is not pulled and rotated by the transmission line 14, the winding roller 41 can resume rotation under the action of the spring 43 and then wind the transmission line 14 back.

[0039] Working process (two modes are available, mode one is mainly used for pruning branches, mode two is mainly used for pruning green belts, etc.):

[0040] When working, the drone is first transported to the work site, and then the air pump 5 is used to inflate the cylinder so that the No. 1 telescopic cylinder 3 and the No. 2 telescopic rod 4 in the cylinder rise, thereby driving the top rod 7 to rise. The pull rope displacement sensor 45 can determine the rising height of the top rod 7. The rising height of the top rod 7 is higher than the height of the plant to be pruned.

[0041] Mode 1:

[0042] By manually or automatically controlling the flight of the drone body, the drone body 15 drives the mounting frame 17 to move, and the staff can input the parameters of the plants to be pruned, such as height and diameter, and then select the style to be pruned (using the corresponding computer software to generate the model and the optimal path, such as MATLAB or drone-specific software such as plant protection pilots), or according to Fig.12 A traction control process is given. During the flight, the drone body always maintains a horizontal state. When working, the power motor 18 rotates to drive the output shaft 24 to rotate, and then the output shaft drives the upper friction plate 26 to rotate through the slot 25. The upper friction plate 26 drives the lower friction plate 31 to rotate by friction under the action of the spring 27. The lower friction plate 31 rotates to drive the power shaft 30 to rotate. The power shaft 30 rotates to drive the No. 1 bevel gear 32 to rotate. The No. 1 bevel gear 32 rotates to drive the middle bevel gear 35 to rotate. The middle bevel gear 35 rotates to drive the No. 2 bevel gear 34 to rotate in the opposite direction relative to the No. 1 bevel gear 32. Then the No. 1 bevel gear 32 drives the inner shaft 33 to rotate. The No. 2 bevel gear 34 drives the coaxial sleeve 36 to rotate. The inner shaft 33 rotates to drive the lower rotating rod 38 to rotate. The lower rotating rod 38 rotates to drive the inner blade 20 to rotate. The coaxial sleeve 36 drives the upper rotating rod 37 to rotate. The upper rotating rod 37 rotates to drive the outer blade 19 to rotate. The reverse rotation of the inner and outer plates 20 forms a shearing motion. At the same time, the reverse rotation offsets the reaction of the rotation to the drone, thereby avoiding affecting the stability of the drone's flight attitude.

[0043] Through the cooperation of the inner blade 20 and the outer blade 19, the drone body on the frame flies around the plant, thereby achieving the pruning of the plant. During the pruning process, the movement of the drone body 15 drives the power transmission line 14, and then pulls the slider to move on the slide rail 11, and the rotating frame can passively rotate with the flight of the drone body 15. The generator is connected through the power transmission line 14 and the power cable, and then the generator 6 is used to directly power the flight and power motor 18 of the drone. For example, a mobile power source (such as a KW-level gasoline generator) is used to generate electricity, which solves the problem that the existing drone pruning only solves the pruning problem in concept, but the drone power supply is far from sufficient to provide pruning power in actual production and use;

[0044] Through the cooperation of the radio transmitter 16 and the radio receiver 9, the height and position of the drone body 15 can be determined by judging the radio reception direction and reception time, thereby facilitating the flight attitude control of the drone body 15, and the height of the radio receiver is further quantified through the pull-wire displacement sensor 45, thereby further improving the accuracy of flight control and facilitating the automatic pruning of plants by using the drone through remote control.

[0045] Among them, the upper friction plate 30 and the lower friction plate 31 cooperate with each other. When the inner blade 20 and the outer blade 19 are stuck by branches or debris, friction displacement will occur between the friction plates, thereby preventing the power motor 18 from burning out due to sudden stop. When the friction plate is overheated by friction, the temperature sensor 29 senses the temperature, and the upper computer determines that the temperature is too high, thereby controlling the power motor 18 to stop working, and the buzzer 22 issues a sound warning.

[0046] 4 is the deflection axis of the mounting frame, and the tool assembly is fixed on the deflection axis. The fixed trajectory of the drone is used to control the cutting of the required arc.

[0047] Mode 2:

[0048] By adding a moving device, such as a crawler trolley, to the base of this device (the remaining steps are roughly the same as mode 1), when working, first through the set program, the drone flight 15 drives the trimming mechanism on the drone to trim an arc in the vertical direction, and then the crawler trolley moves forward a distance, which is equal to the trimming width of the trimming mechanism. This width can be obtained according to the specifications of the trimming mechanism and actual work experience, and then the drone moves synchronously by the same length, and then the drone starts to execute the next flight trajectory, and so on. Through the accumulation of multiple flight trajectories, a long arc surface can be trimmed, and then a long strip of green belt can be trimmed. Compared with the green belt trimming device in the prior art, this drone can trim different shapes at different positions, which solves the problem that the existing green belt trimming device can only trim a fixed square or arc-shaped single shape. Moreover, the problem of the same shape at each position enriches the trimming style and reduces the intensity of manual labor.

[0049] The present invention can also use the arc blade (outer blade 19) to achieve arc trimming, and all angles of a tangent range of an arc can be used; the cutting structure does not need to be tilted. When cutting the bottom surface, the upper part of the arc contacts the lower part of the branch, and when cutting the surface, the lower part of the arc contacts the upper part of the branch. These can be controlled by the program to reproduce the trajectory parameters of the flight axis of the drone according to the previous teaching or calculated by the program.

Claims

1. A highly reliable plant drone-assisted pruning device, characterized in that: The invention comprises a base, wherein a cylinder is fixedly installed on the base, a No. 1 telescopic cylinder is slidably inserted in the cylinder, a No. 2 telescopic rod is slidably inserted in the No. 1 telescopic cylinder, an air pump is fixedly connected to the lower part of the cylinder, a generator is fixedly installed on the upper surface of the base, a top rod is fixedly installed on the upper end of the No. 2 telescopic rod, a mounting block is fixedly installed on the center of the lower surface of the top rod, a radio receiver is fixedly installed on the lower end of the mounting block, a rotating frame is slidably and rotatably mounted outside the mounting block, a slide rail is fixedly installed at the lower part of the rotating frame, a slider is slidably mounted on the slide rail, a winding roller is installed on the slider, a power transmission line is wound on the winding roller, a drone body is connected to the lower end of the power transmission line, the drone body is electrically connected to the power transmission line, a radio transmitter is installed on the upper end of the drone body, a mounting frame is fixedly and detachably installed in the middle of the lower surface of the drone, a power motor is fixedly installed on the mounting frame, and the power motor is transmitted to the tool assembly through a transmission member; the upper end of the drone body is connected to the power transmission line through an extension rod; A fixing frame is fixedly installed at the lower part of the mounting frame, and the power motor and the tool assembly are fixed on the mounting frame through the fixing frame; the power motor and the tool assembly are fixed on a deflection shaft provided on the mounting frame; The tool assembly comprises an inner blade and an outer blade, wherein the inner blade and the outer blade are arc-shaped blade structures parallel to each other; the outer blade and the inner blade are respectively connected to rotate through a transmission device; and the reverse rotation of the inner and outer blades forms a shearing motion.

2. The drone-assisted pruning device according to claim 1, characterized in that: The transmission device structure is as follows: a No. 1 bevel gear is fixedly installed at the lower end of the power shaft of the power motor, an inner shaft is fixedly installed at the lower end of the No. 1 bevel gear, a No. 2 bevel gear is rotatably mounted on the inner shaft, an intermediate bevel gear is rotatably mounted on the fixed frame, the intermediate bevel gear is engaged with the No. 1 bevel gear and the No. 2 bevel gear, a coaxial sleeve is fixedly installed at the lower end of the No. 2 bevel gear, the coaxial sleeve can be rotatably mounted on the inner shaft, a plurality of upper rotating rods are fixedly installed at the lower part of the coaxial sleeve, a plurality of lower rotating rods are fixedly installed at the lower end of the inner shaft, inner blades are fixedly installed at both ends of the lower rotating rods, and outer blades are fixedly installed at both ends of the upper rotating rods.

3. The drone-assisted pruning device according to claim 1, characterized in that: The deflection axis is deflected at several fixed gears, i.e., several angles.

4. The drone-assisted pruning device according to claim 1, characterized in that: An output shaft is fixedly installed on the output end of the power motor, a slot is opened on the output shaft, an upper friction plate is slidably mounted on the output shaft, a spring is fixedly connected to the upper surface of the upper friction plate, the upper end of the spring is fixedly connected to the output shaft, a temperature sensor is fixedly installed on the fixed frame, the sensing end of the temperature sensor faces the upper friction plate, a power shaft is rotatably inserted on the fixed frame, a lower friction plate is fixedly installed on the upper end of the power shaft, and the lower friction plate fits tightly with the upper friction plate.

5. The drone-assisted pruning device according to claim 1, characterized in that: The specific connection method between the winding roller and the slider is: the slider is embedded with a power cable electrically connected to the generator, a rotating joint is fixedly installed on the front surface of the sliding block, the rotating joint is electrically connected to the power cable, a winding roller is connected to the rotating joint, a threading hole is opened on the winding roller, the transmission line is electrically connected to the rotating joint through the threading hole and is wound around the winding roller, a fixed axis is fixedly installed in the middle of the outer surface of the winding roller, a spring is mounted outside the fixed axis, a power chamber is connected to the outside of the spring, and the power chamber is fixedly connected to the slider, and the spring can hinder the rotation of the winding roller when the winding roller rotates passively, providing a restoring force for the rotation, and when the winding roller is not rotated by the pull of the transmission line, the winding roller can resume rotation under the action of the spring and then wind the transmission line back.

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