Unmanned aerial vehicle attitude dynamic adjusting device for drainage pipeline detection
The mechanical structure of the rotor and attitude adjustment unit solves the problem of attitude loss during UAV inspection of drainage pipes, enabling rapid response and precise attitude adjustment, thus improving operational reliability and accuracy.
Patent Information
- Application Number
- CN202512052784.3
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-12-31
- Publication Date
- 2026-03-17
- Estimated Expiration
- Not applicable · inactive patent
AI Technical Summary
During the inspection of drainage pipes, drones suffer from attitude loss and uneven rotor lift due to the complex airflow environment inside the pipes. Traditional electronic speed control equipment also experiences response delays and frequent failures under complex operating conditions.
The device employs a combination of a rotor arm, an attitude adjustment unit, and a speed vector control unit. By adjusting the rotor speed and the position of the counterweight ball through a mechanical structure, dynamic attitude balance and lift compensation are achieved.
Rapidly adjust rotor speed to suppress fuselage roll or pitch, precisely match local airflow disturbances in the duct, and improve operational reliability and accuracy.
Smart Images
Figure CN121671933A_ABST
Abstract
Description
Technical Field
[0001] This invention belongs to the field of unmanned aerial vehicle (UAV) monitoring technology, specifically relating to a dynamic attitude adjustment device for UAVs used in drainage pipeline inspection. Background Technology
[0002] The core value of industrial-grade anti-collision drones: They adapt to the complex and harsh environment inside pipelines, completing inspection tasks safely, efficiently, and accurately. Their anti-collision design effectively solves the pain point of collisions with narrow obstacles in pipelines. In addition, their environmentally adaptable design can specifically address special working conditions such as wetness and corrosion, which cannot be replaced by ordinary drones or crawling robots. When anti-collision drones are implemented inside pipelines, the airflow at the bends of the pipeline exhibits a state of high velocity on the outside and low velocity on the inside due to centrifugal effect; the airflow at the ramp exhibits a state of high velocity at the top and low velocity at the bottom due to gravity stratification. Consequently, there are significant differences in the flow velocity at different rotors of the drone. These differences directly lead to uneven lift of each rotor, causing the resultant lift center of the drone to deviate from the designed center of gravity from the predetermined area. In addition, the airflow direction inside the duct (especially in special locations such as bends or ramps) changes abruptly from the parallel axial direction to the tangential direction, altering the angle with the rotor's rotation plane. This reduces the vertical balance component of lift while increasing the horizontal interference component. The aforementioned imbalance in the horizontal component will directly generate additional torque, forcing the fuselage to roll or pitch, further causing the UAV's actual center of gravity to shift. Meanwhile, traditional electronic speed control equipment cannot effectively adapt to complex pipeline conditions during implementation, exhibiting response defects. In particular, complex environments such as high humidity and dust in pipelines can easily lead to adverse phenomena such as moisture-induced short circuits on the electronic speed controller circuit board and dust accumulation causing heat dissipation, reducing response speed or even causing direct failure. Furthermore, electronic speed control relies on the electronic link of "signal acquisition, algorithm processing, and current regulation." Even when working normally, there is a basic value of response delay, which cannot match the millisecond-level center of gravity fluctuations caused by airflow or debris, easily resulting in adjustment lag and exacerbating attitude loss of control. Summary of the Invention
[0003] To solve the above problems, the present invention adopts the following technical solution: a dynamic attitude adjustment device for a drone used for drainage pipe inspection, including a rotor arm, a drive unit is provided on one side of the rotor arm, an attitude adjustment unit is provided on the other side of the rotor arm, and a velocity vector control unit is provided on the side of the attitude adjustment unit near the rotor arm. The velocity vector control unit includes: The drive gear is located on the side of the rotating arm closest to gravity. Angle brackets are symmetrically arranged on one side of the drive gear; The transmission rod is rotatably mounted between the two corner brackets in the same group; The driven gear is snapped onto the outer wall of one end of the transmission rod, and meshes with the driving gear. The cam is snapped onto the middle position of the outer wall of the transmission rod. The panels are arranged in groups of four, in pairs facing each other, and symmetrically positioned on the side of the transmission rod away from gravity. The spring-loaded rod is slidably snapped between two panels in the same group; The corner bead, or ball joint, is installed on the end of the spring top rod that is away from gravity.
[0004] Preferably, the transmission rod has two hanging plates on the side away from gravity, which are symmetrically distributed. The two hanging plates in the same group are rotatably fitted with a support rod. Both ends of the support rod have a support ring snapped onto the outer wall. A helical spring sleeved on the outer wall of the support rod is snapped onto the support ring and the hanging plate. A rocker plate with a sliding engagement with a bead is snapped onto the middle of the outer wall of the support rod. A wedge plate is snapped onto the side of the spring rod away from the transmission rod and closer to gravity.
[0005] Preferably, a movable seat is provided between the hanging plate and the transmission rod. A corner post that cooperates with the wedge plate is snapped onto the end face of the movable seat away from the transmission rod. An electric telescopic rod is snapped onto the end face of the movable seat near the hanging plate. A telescopic double connecting rod is snapped onto the movable end of the electric telescopic rod. A shaft plate is snapped onto the end of the telescopic double connecting rod away from the electric telescopic rod. A space compartment that is snapped onto the outer wall of the shaft plate is slidably fitted with the movable seat. A spring limiter that is slidably fitted with the space compartment is plugged into and slidably fitted onto the end face of the shaft plate. A positive electrode plate is snapped onto the outer wall of the shaft section of the spring limiter near the electric telescopic rod. A negative electrode plate is snapped onto the inner wall of the space compartment near the electric telescopic rod.
[0006] Preferably, the central area of the four rotating arms is provided with a body, and the body and the rotating arms are detachably installed by bolts. A base is snapped onto the middle position of the end face of the body near the gravity side. An angle plate is snapped onto the end of the rotating arm away from the body. There are two angle plates, which are arranged vertically. A flexible anti-collision frame is provided on the outside of the body. The flexible anti-collision frame is detachably snapped onto the angle plates and the body by bolts. A triangular plate is snapped onto the two angle plates in the same group.
[0007] Preferably, the attitude balancing unit includes: The dustproof compartment is snap-fitted onto the end face of the triangular plate near the gravity side, and is also snap-fitted into the rotating arm for assembly. The take-up compartment is snapped onto the end face of the dustproof compartment near the machine body, and the take-up compartment is connected to the dustproof compartment; Gravity wheels are installed between the vertical sections of the inner wall of the dustproof chamber via a rotating shaft. The cable is positioned in the very center of the dustproof compartment. The gravity ball is snapped onto the end of the cable furthest from the gravity wheel. The traction wheels are mounted on the end of the winding bin near the dustproof bin via a rotating shaft, and are distributed symmetrically. The limit wheel is mounted on the end of the winding bin near the dustproof bin via a rotating shaft, and is centrally symmetrical with respect to the axial direction of the two traction wheels; The winding reel is mounted on the end of the winding chamber near the dustproof chamber via a rotating shaft and a torsion spring. The pulley is slidably mounted on the end of the winding bin away from the dustproof bin via a rotating shaft.
[0008] Preferably, a traction belt is slidably installed between the outer wall of the gravity wheel, the traction wheel, the limiting wheel, the pulley, and the winding wheel in the same group. Furthermore, the end of the traction belt near the dustproof chamber is snapped into the cable. An angle plate is snapped into the middle of the end face of the traction belt on the side away from gravity in the dustproof chamber area. A ball stick is snapped into the end face of the angle plate away from the traction belt. A corner rod is positioned opposite the ball stick on the side away from the angle plate, and the outer wall of the corner rod has a groove that mates with the ball stick. Additionally, the outer wall of the corner rod near the winding chamber is... The drive gears are snapped together. An angled bracket is installed on the side of the angle rod facing away from the ball rod. A guide rail is snapped onto the side of the angled bracket facing away from the angle rod. The side of the guide rail facing away from the angled bracket is snapped onto the angled bracket. In addition, a through groove is opened on the surface of the guide rail to supply the rotation of the wedge plate or cam. A slotted frame is snapped onto the side of the guide rail facing away from the angled bracket and is fitted with the inner wall of the horizontal section of the dustproof compartment. In addition, the inner wall of the vertical section of the slotted frame is snapped onto the panel, and the inner wall of the horizontal section of the slotted frame is snapped onto the hanging plate.
[0009] Preferably, the winding bin is fitted with a compensation bin connected to the dustproof bin on the end face near the rotating arm, and the compensation bin is fitted with the machine base on the end face near the machine body. A support is fitted inside the compensation bin on the end face near the dustproof bin. A lead screw that is rotatably fitted to the support is fitted to the end face of the angle rod near the winding bin. An end seat that is slidably fitted to the inner wall of the compensation bin is threaded on the outer wall of the end face of the lead screw away from the dustproof bin. A guide wheel is rotatably fitted to the inner wall of the compensation bin away from the dustproof bin via a rotating shaft. A wire rope is installed between the outer wall of the guide wheel and the end seat. A counterweight ball is fitted to the end of the wire rope away from the end seat.
[0010] Preferably, a bridge joint is symmetrically snapped onto the outer wall of the pulley away from the dustproof bin. A telescopic rod is snapped onto the end of the bridge joint away from the pulley axis. An ear plate, which is snapped onto the inner wall of the winding bin, is slidably snapped onto the middle position of the outer wall of the telescopic rod. A bushing is slidably snapped onto the end of the telescopic rod away from the pulley. A return spring sleeved on the outer wall of the telescopic rod is snapped onto the bushing and the ear plate. The two bushings in the same group are snapped onto the end faces away from the pulley and are snapped onto the inner wall of the winding bin. A cross ball joint is snapped onto the inner wall of the vertical section of the dustproof bin. A ball bearing is rolled onto the inner wall of the cross ball joint.
[0011] Preferably, the driving unit includes: The motor mount is snapped onto the end of the rotary arm furthest from the machine body. The brushless motor is snap-fitted onto the end face of the motor mount that is away from gravity. The shaft disc is snapped onto the end face of the brushless motor away from the motor base. The blade box is snap-fitted onto the end face of the shaft disk away from the motor base and is rotatably fitted with the output end of the brushless motor. The sun gear is snapped onto the outer wall of the brushless motor output end and located inside the blade box; The rotor is mounted in the middle of the blade box, away from the brushless motor, by means of a rotating shaft plug-in connection, and the rotating shaft connected to the rotor extends into the dustproof chamber. The planetary gears are snap-fitted onto the outer wall of the rotor shaft section and mesh with the sun gear. Angle tube is snapped between the blade box and the triangular plate and is coaxially set with the rotor shaft section; The connecting arc seat is snapped into place between the corner tube and the outer wall of the motor base.
[0012] The dynamic mechanical adjustment method for the attitude of UAVs used in pipeline inspection employs the aforementioned dynamic attitude adjustment device for drainage pipeline inspection to implement balance adjustment. The specific steps are as follows: S1: First, the gravity ball controls the cable to move towards the side closer to gravity under the support and guidance of the gravity wheel (when one end of the drone tilts towards the side of gravity, it is definitely the outside; conversely, when the other end "tilts" away from gravity, the winding wheel, under the elastic action of the return spring, drives the cable in the opposite direction to pull the gravity ball towards the gravity wheel, which is the displacement). At the same time, under the synchronous action of the traction belt, the corner plate controls the relative movement between the ball and the outer wall of the corner rod in the snake groove, until the end seat, under the dual action of the screw screw helical tangential and the compensation chamber support and guidance, controls the steel wire rope to drive the counterweight ball to move a predetermined distance to the gravity side (changing the relative distance between the counterweight ball and the guide wheel, changing the center of gravity position), so as to adaptably balance the center of gravity position of the UAV in the current state. S2: Next, through the rotational synchronicity between the driving gear and the angle rod, the driven gear is synchronously engaged, changing the relative interaction depth between the cam and the spring push rod (providing a stable support environment to the spring push rod through the panel). Subsequently, through the sliding fit between the angle ball and the rocker plate, the "warping degree" between the rocker plate and the support rod is changed, and the vertical distance of the support rod near the cam axis is less than the vertical distance between the support rod and the center line of the wedge plate. When the rocker plate makes a "small curvature" change, the relative interaction depth between the wedge plate and the angle rod is significantly expressed, and the range-extended rapid expression spring limiter and rotor main shaft are in relative contact. S3: Finally, through the directional meshing between the ball rod and the outer wall snake groove of the corner rod, the driving gear meshes with the driven gear in the opposite direction, relatively restoring the relative contact depth between the cam and the spring push rod, re-correcting the "levelness" of the rocker plate, relatively releasing the relative action depth between the wedge plate and the corner post, reducing the interaction force between the spring limiter and the outer wall of the rotor main shaft (reducing the extra torque, correspondingly increasing the rotor speed, thereby changing the relative lift of the rotor in different areas); Furthermore, during shutdown maintenance, the relative contact between the positive and negative electrodes is used to determine whether the relative force between the spring limiter and the rotor main shaft is within a predetermined value. If not, the electric telescopic rod controls the telescopic double linkage to move the shaft plate closer to the rotor main shaft under the support and guidance of the empty compartment. This changes the elastic compression of the spring limiter's own spring, compensating for the wear between the spring limiter and the outer wall of the rotor main shaft (the spring limiter's own spring is located on the outer wall of the shaft end between the shaft plate and the spring limiter).
[0013] The present invention has the following beneficial effects: 1. This invention utilizes the geometric constraint characteristics of the snake groove on the outer wall of the angle rod, the differential speed expression between the driving gear and the driven gear, the mechanical benefit amplification between the cam and the spring ball, and the stroke amplification transmission mechanism based on the lever principle between the rocker and the support plate. Specifically, when the horizontal component of the airflow generates an additional torque, the driving gear drives the cam in conjunction with the driven gear. Through the "small curvature change" of the rocker, and with the force amplification effect of the wedge plate (the lever amplification ratio formed by the vertical distance difference between the two ends of the support rod), the contact pressure between the spring limiter and the rotor shaft (the contact pressure corresponds to the drag torque) is significantly changed. Since the rotor speed is inversely proportional to the drag torque, the rotor speed is quickly adjusted when the drag torque is changed. By utilizing the nonlinear relationship between the rotor speed and lift, dynamic compensation of mechanical lift is achieved, instantly offsetting the horizontal interference torque and suppressing fuselage roll or pitch tilt.
[0014] 2. This invention adjusts the elastic compression of the spring by using an electric telescopic rod, which can compensate for the loss of preload caused by long-term contact wear between the spring limiter and the rotor shaft, ensuring stable output of resistance torque, thereby maintaining the accuracy of rotor speed regulation, that is, realizing wear adaptive compensation and improving the reliability of the corresponding components throughout their entire life cycle.
[0015] 3. This invention increases the vertical distance between the inner counterweight ball and the rotor arm by moving the inner counterweight ball towards the gravity side. This increases the moment of the counterweight ball's line of action relative to the fuselage center, thereby compensating for the loss of lift and restoring the lift torque of the rotor arm to balance with the gravitational torque. This corrects the tilt attitude of the outer (or inner) side. Furthermore, since the airflow disturbance in the duct is localized (e.g., only the rotor of a certain rotor arm is affected by the airflow of a bend or slope), the independent control of the inner or outer counterweight ball can achieve local torque-assisted compensation and balance adjustment of a single cantilever arm. This avoids the interference of global adjustment on the attitude of undisturbed rotor arms, accurately matches the local airflow disturbance in the duct, and forms a locally unbalanced height-adaptive environment. Attached Figure Description
[0016] Figure 1 This is a schematic diagram of the overall structure of the present invention.
[0017] Figure 2 This is an appendix to the present invention. Figure 1 A bottom view of the structure.
[0018] Figure 3 This is an appendix to the present invention. Figure 1 A three-dimensional view of the partial structure of the single cantilever area.
[0019] Figure 4 This is a three-dimensional cross-sectional view of the internal structure of the dustproof chamber, winding chamber, and compensation chamber of the present invention.
[0020] Figure 5 This is a planar view of the driving unit of the present invention.
[0021] Figure 6 This is a three-dimensional view of a partial cross-sectional structure of the attitude balancing unit of the present invention.
[0022] Figure 7 This is a partial plan view of the internal structure of the winding chamber and compensation chamber of the present invention.
[0023] Figure 8 This is a partial structural plan view of the velocity vector control unit of the present invention.
[0024] Figure 9 This is an appendix to the present invention. Figure 8 A plan view from another perspective.
[0025] Figure 10 This is a three-dimensional view of the movable base and its partial structure of the present invention.
[0026] Figure 11 This is a plan view of the internal structure of the empty compartment of the present invention.
[0027] The diagram labels are: 1. Rotary arm; 2. Drive unit; 3. Attitude balancing unit; 4. Velocity vector control unit. 11. Fuselage; 12. Base; 13. Angle plate; 14. Flexible anti-collision frame; 15. Triangle plate; 21. Motor mount; 22. Brushless motor; 23. Shaft disc; 24. Blade box; 25. Sun gear; 26. Rotor; 27. Planetary gears; 28. Angle tube; 29. Connecting arc mount; 31. Dustproof bin; 32. Rewinding bin; 33. Gravity wheel; 34. Cable; 35. Gravity ball; 36. Traction wheel; 37. Limit wheel; 38. Rewinding wheel; 39. Pulley; 311. Traction belt; 312. Angle plate; 313. Cue stick; 314. Angle rod; 315. Angle seat; 316. Guide rail; 317. Gripping frame; 321. Compensation chamber; 322. Support; 323. Lead screw; 324. End seat; 325. Guide wheel; 326. Wire rope; 327. Counterweight ball; 331. Bridge joint; 332. Telescopic rod; 333. Ear plate; 334. Bushing; 335. Return spring; 336. Positioning component; 337. Cross ball joint; 338. Ball bearing; 41. Driving gear; 42. Angle joint bracket; 43. Transmission rod; 44. Driven gear; 45. Cam; 46. Panel; 47. Spring push rod; 48. Angle ball; 411. Hanging plate; 412. Support rod; 413. Support ring; 414. Torsion spring; 415. Rocker; 416. Wedge plate; 421. Movable seat; 422. Angle post; 423. Electric telescopic rod; 424. Telescopic double connecting rod; 425. Shaft plate; 426. Empty compartment; 427. Spring speed limiter; 428. Positive electrode plate; 429. Negative electrode plate. Detailed Implementation
[0028] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.
[0029] It should be noted that the terms "vertical," "horizontal," "left," "right," and similar expressions used in this article are for illustrative purposes only and do not represent the only possible implementation.
[0030] The specific implementation of the present invention will be described in detail below with reference to specific embodiments.
[0031] Reference Figure 1 and Figure 4It is known that the UAV attitude dynamic adjustment device used for drainage pipe inspection includes a rotor 1, a drive unit 2 is provided on one side of the rotor 1, an attitude adjustment unit is provided on the other side of the rotor 1, and a velocity vector control unit 4 is provided on the side of the attitude adjustment unit near the rotor 1. Reference Figure 1 , Figure 2 and Figure 3 It is known that the four rotating arms 1 are provided with a body 11 in the middle area, and the body 11 and the rotating arms 1 are detachably installed by bolts. The body 11 is fitted with a base 12 at the middle position of the end face near the gravity side. The rotating arms 1 are fitted with two corner plates 13 at the end away from the body 11, and they are arranged vertically. The body 11 is provided with a flexible anti-collision frame 14, and the flexible anti-collision frame 14 is detachably fitted with the corner plates 13 and the body 11 by bolts. The two corner plates 13 in the same group are fitted with a triangular plate 15. Reference Figure 3 , Figure 4 and Figure 5 It is known that the drive unit 2 includes: a motor base 21, which is snapped onto the end of the rotating arm 1 away from the body 11; a brushless motor 22, which is snapped onto the end face of the motor base 21 away from gravity; a shaft disk 23, which is snapped onto the end face of the brushless motor 22 away from the motor base 21; a blade box 24, which is snapped onto the end face of the shaft disk 23 away from the motor base 21 and is rotatably fitted with the output end of the brushless motor 22; and a sun gear 25, which is snapped onto the outer wall of the output end of the brushless motor 22 and located on the blade. Inside the housing 24; the rotor 26 is mounted in the middle of the end of the propeller housing 24 away from the brushless motor 22 via a rotating shaft plug-in connection, and the rotating shaft connected to the rotor 26 extends into the dustproof chamber 31; the planetary gear 27 is snapped onto the outer wall of the shaft section of the rotor 26 and meshes with the sun gear 25; the angle tube 28 is snapped onto the space between the propeller housing 24 and the triangular plate 15 and is coaxial with the shaft section of the rotor 26; the connecting arc seat 29 is snapped onto the space between the angle tube 28 and the outer wall of the motor base 21.
[0032] Simplified operating procedures for a drone to perform inspections inside a pipeline from start to finish: S1: At the pipe inlet, the rotating arm 1, the triangular plate 15 and the flexible anti-collision frame 14 are assembled with the body 11 by bolts. Then, the flexible anti-collision frame 14 is unfolded and fixed by the corner plate 13 and the triangular plate 15. The waterproof endoscope is hung at a suitable position on the body 11. S2: Start the brushless motor 22, so that under the stable support of the motor mount 21, it controls the relative meshing between the sun gear 25 and the planet gear 27, thereby driving the rotor 26 to rotate at a predetermined speed (providing the sun gear 25 and planet gear 27 with the external environment through the blade box 24; and providing the rotor 26 shaft section with the external environment through the corner tube 28). S3: After completing the inspection of the target section of the pipeline, control the drone to return to the entrance area along the original path, and turn off the brushless motor 22 after reaching the entrance, remove the rotating arm 1 and the flexible anti-collision frame 14, take out the equipment and store it. Shaft disc 23: The transmission connector between the brushless motor 22 and the blade box 24, which transmits the motor torque to the blade box 24 and seals the motor output end to prevent dust and moisture in the pipeline from entering the motor; Connecting arc plate: As a reinforcing rib between corner tube 28 and motor base 21, it further strengthens the overall structural rigidity of drive unit 2 and suppresses vibration when rotor 26 rotates at high speed; Flexible anti-collision frame 14: It belongs to the buffer protection layer covering the outside of the fuselage 11. Its components are usually carbon fiber composite tubes combined with EVA buffer layer, which are used to absorb impact energy when colliding inside the tube and protect the fuselage 11 as a whole.
[0033] Reference Figure 2 , Figure 3 , Figure 4 and Figure 6 It can be seen that the attitude balancing unit 3 includes: a dustproof chamber 31, which is snapped onto the end face of the triangular plate 15 near the gravity side and is snapped onto the rotating arm 1; a winding chamber 32, which is snapped onto the end face of the dustproof chamber 31 near the machine body 11 and is connected to the dustproof chamber 31; a gravity wheel 33, which is rotatably mounted on the inner wall of the vertical section inside the dustproof chamber 31 via a rotating shaft; a cable 34, which is located at the center of the dustproof chamber 31; and a gravity ball 35, which is snapped onto the cable 34 away from the gravity side. One end of the force wheel 33; the traction wheel 36, which is rotatably mounted on the end of the winding chamber 32 near the dustproof chamber 31 via a rotating shaft, and is symmetrically distributed; the limit wheel 37, which is rotatably mounted on the end of the winding chamber 32 near the dustproof chamber 31 via a rotating shaft, and is centrally symmetrical with respect to the axial direction of the two traction wheels 36; the winding wheel 38, which is rotatably mounted on the end of the winding chamber 32 near the dustproof chamber 31 via a rotating shaft and a torsion spring 414; and the pulley 39, which is slidably mounted on the end of the winding chamber 32 away from the dustproof chamber 31 via a rotating shaft. Reference Figure 4 , Figure 6 and Figure 8It is known that a traction belt 311 is slidably installed between the outer wall of the gravity wheel 33, the traction wheel 36, the limiting wheel 37, the pulley 39, and the winding wheel 38 in the same group. In addition, the traction belt 311 is snapped to the cable 34 at one end near the dustproof chamber 31. An angle plate 312 is snapped to the middle of the end face of the traction belt 311 on the side away from gravity in the dustproof chamber 31 area. A ball rod 313 is snapped to the end face of the angle plate 312 away from the traction belt 311. An angle rod 314 is set opposite to the side of the ball rod 313 away from the angle plate 312. The outer wall of the angle rod 314 is provided with a serrated groove that cooperates with the ball rod 313. In addition, the outer wall of the angle rod 314 near the winding chamber 32 is snapped to the drive gear 41. Angle rod 314 is rotatably fitted with an angle seat 315 on the side facing away from the ball rod 313. Angle seat 315 is snapped onto a guide rail 316 on the side facing away from the angle rod 314. The side of guide rail 316 near the angle seat 315 is snapped onto the angle bracket 42. In addition, the surface of guide rail 316 has a through groove for supplying the wedge plate 416 or cam 45 to rotate. An inlet frame 317 is snapped onto the side of guide rail 316 facing away from the angle seat 315 and is snapped onto the inner wall of the horizontal section of dustproof chamber 31. In addition, the inner wall of the vertical section of inlet frame 317 is snapped onto the panel 46, and the inner wall of the horizontal section of inlet frame 317 is snapped onto the hanging plate 411. Reference Figure 3 , Figure 6 and Figure 7 It is known that the winding chamber 32 is fitted with a compensation chamber 321 connected to the dustproof chamber 31 on the end face of the winding chamber 32 near the rotating arm 1, and the compensation chamber 321 is fitted with the machine base 12 on the end face of the machine body 11. A support 322 is fitted inside the end of the compensation chamber 321 near the dustproof chamber 31. A lead screw 323 is fitted with the support 322 at the end of the angle rod 314 near the winding chamber 32. An end seat 324 is fitted with the inner wall of the lead screw 323 away from the dustproof chamber 31 and is slidably fitted with the inner wall of the compensation chamber 321. A guide wheel 325 is fitted to the inner wall of the compensation chamber 321 away from the dustproof chamber 31 through a rotating shaft. A wire rope 326 is installed between the outer wall of the guide wheel 325 and the end seat 324. A counterweight ball 327 is fitted to the end of the wire rope 326 away from the end seat 324. Reference Figure 4 and Figure 7It can be seen that the pulley 39 is symmetrically fitted with a bridge joint 331 on the outer wall of the end away from the dustproof chamber 31. The bridge joint 331 is fitted with a telescopic rod 332 on the end away from the axis of the pulley 39. The telescopic rod 332 is slidably fitted with an ear plate 333 on the middle position of its outer wall, which is fitted with the inner wall of the winding chamber 32. The telescopic rod 332 is slidably fitted with a bushing 334 on the end away from the pulley 39. The bushing 334 and the ear plate 333 are fitted together with a return spring 335 sleeved on the outer wall of the telescopic rod 332. The two bushings 334 in the same group are fitted together with a positioning piece 336 on the end face away from the pulley 39, which is fitted with the inner wall of the winding chamber 32. The inner walls of the vertical section of the dustproof chamber 31 are fitted together with a cross ball head 337. The inner wall of the cross ball head 337 is fitted with a ball bearing 338 in a rolling fit.
[0034] Pre-context: When external airflow causes differences in lift across different rotor zones of a drone; Explanation of two different expressions for gravity sphere 35: 1. Insufficient lift in a localized area of the drone causes the fuselage 11 to tilt towards the side with insufficient lift. At this time, the gravity ball 35 (current area) deflects outward relative to the direction of gravity towards the fuselage 11. During this process, the gravity ball 35 overcomes the elastic potential energy of the return spring 335, and drives the traction belt 311 through the cable 34 under the joint support and guidance of the gravity wheel 33, the traction wheel 36 and the winding wheel 38 (the limit wheel 37 further stabilizes the movement accuracy and standardization of the traction belt 311). The drag pulley 39, under the further stable guidance of the winding chamber 32, drives the telescopic rod 332 to slide between the bushing 334 and the positioning component 336 to a predetermined degree (the return spring 335 provides the return source power to the telescopic rod 332, and at the same time, through its elastic properties, it provides a stable tension force to the traction belt 311). The bridge joint 331 and the positioning component 336 provide a stable support environment for the telescopic rod 332. It should be noted that when the drone is in a horizontally balanced state, the gravity ball 35 and the return spring 335 are in a relatively balanced state (i.e., even a "small" component force disturbance will disrupt the aforementioned balance state). Second, due to the local lift imbalance of the UAV, with insufficient lift on one side and increased lift on the other side, the gravity ball 35 on that side is tilted towards the fuselage 11 relative to scenario one. At this time, the direction of the component force of the gravity ball 35 changes, and a local "redundancy" appears between the cable 34 and the traction belt 311, which in turn causes the traction belt 311 to control the cable 34 in the opposite direction. Under the elastic recovery action of the reset spring 335, the winding wheel 38 performs "reverse relative recovery" of the traction belt 311. Thus, the two significant differences in the state of the gravity ball 35 when the UAV is partially unbalanced are distinguished. Cross ball head 337 and ball 338: The ball 338 reduces the friction between the cable 34 and the cross ball head 337, improving the service life. At the same time, the cross ball head 337 adjusts the swing limit distance, avoids collision with the inner wall of the dustproof chamber 31, and improves the relative sensing accuracy of the gravity ball 35. The counterweight ball 327 is supported by different counterweights in the two aforementioned states: Scenario 1: Gravity ball 35 pulls cable 34. At this time, traction belt 311 controls angle plate 312 to move to a predetermined depth (determined by the degree of inclination) towards gravity wheel 33. During this process, ball rod 313 and the outer wall snake groove of angle rod 314 generate relative movement, continuously changing the current angle of angle rod 314. Angle rod 314 controls screw 323 under the joint support of compensation chamber 321 and support 322, causing end seat 324 to shorten the vertical distance between it and guide wheel 325. At this time, counterweight ball 327 moves away from fuselage 11 in a "dropping" manner "relative to gravity direction", thereby increasing the vertical distance between it and rotating arm 1, so that the moment of gravity action line of counterweight ball 327 relative to the center of fuselage 11 increases, thereby compensating for the loss of lift, and restoring the lift torque of rotating arm 1 to balance the gravity torque, correcting the tilt attitude of the outer (or inner) side. Conversely, in scenario two: the take-up wheel 38 pulls the traction belt 311 in the opposite direction, the ball rod 313 moves in the opposite direction to the outer wall snake groove of the angle rod 314, the angle rod 314 controls the lead screw 323 to reverse, the distance between the end seat 324 and the guide wheel 325 increases, the torque of the counterweight ball 327 and the fuselage 11 is reduced, the local lift imbalance is balanced, and the current attitude of the UAV is quickly stabilized. Corner seat 315, guide rail 316, and mouth support 317: provide stable support to corner bar 314 and increase the fitting accuracy between it and cue 313.
[0035] Reference Figure 8 and Figure 9 It is known that the speed vector control unit 4 includes: a driving gear 41, which is disposed on the side of the rotating arm 1 near the gravity; angle brackets 42, which are symmetrically disposed on one side of the driving gear 41; a transmission rod 43, which is rotatably mounted between two angle brackets 42 in the same group; a driven gear 44, which is snapped onto the outer wall of one end of the transmission rod 43 and meshes with the driving gear 41; a cam 45, which is snapped onto the middle position of the outer wall of the transmission rod 43; panels 46, which are arranged in groups of four, distributed in pairs opposite each other, and symmetrically disposed on the side of the transmission rod 43 away from the gravity; a spring push rod 47, which is slidably snapped onto the two panels 46 in the same group; and a ball joint 48, which is ball-jointed onto the end of the spring push rod 47 away from the gravity. Reference Figure 8 and Figure 9It is known that there are two hanging plates 411 on the side of the transmission rod 43 away from the gravity, and they are symmetrically distributed. The two hanging plates 411 in the same group are rotatably fitted with a support rod 412. The outer walls of both ends of the support rod 412 are fitted with support rings 413. The support rings 413 and the hanging plates 411 are fitted with a helical spring sleeved on the outer wall of the support rod 412. The middle position of the outer wall of the support rod 412 is fitted with a rocker plate 415 that is slidably fitted with a bead 48. The spring ball rod 313 on the side away from the transmission rod 43 is fitted with a wedge plate 416 on the side closer to the gravity. Reference Figure 9 , Figure 10 and Figure 11 It is known that a movable seat 421 is provided between the hanging plate 411 and the transmission rod 43. A corner post 422 that cooperates with the wedge plate 416 is snapped onto the end face of the movable seat 421 away from the transmission rod 43. An electric telescopic rod 423 is snapped onto the end face of the movable seat 421 near the hanging plate 411. A telescopic double connecting rod 424 is snapped onto the movable end of the electric telescopic rod 423. A shaft plate 425 is snapped onto the end of the telescopic double connecting rod 424 away from the electric telescopic rod 423. A vacant compartment 426 that is snapped onto the outer wall of the shaft plate 425 is slidably snapped onto the outer wall of the shaft plate 425. A spring limiter that is slidably snapped onto the end face of the shaft plate 425 is inserted into the shaft plate 425. A positive electrode plate 428 is snapped onto the outer wall of the shaft section of the spring limiter near the electric telescopic rod 423. A negative electrode plate 429 is snapped onto the inner wall of the end of the vacant compartment 426 near the electric telescopic rod 423.
[0036] The process of reducing the relative force between the spring limiter and the outer wall of the 26th shaft section of the rotor (corresponding to the aforementioned scenario one): First, under the stable support of the angle bracket 42, the transmission rod 43 continuously provides the driven gear 44 with a relatively stable meshing environment relative to the driving gear 41. At the same time, by differentiating the diameter difference between the driving gear 41 and the driven gear 44 (the diameter of the driving gear 41 is larger than the diameter of the driven gear 44), the expression of the relative action between the angle rod 314 and the ball rod 313 is further enhanced, highlighting the relative action relationship between the cam 45 and the spring push rod 47 (providing a stable action environment and rigid support to the spring push rod 47 through the panel 46). Next, under the action of the spring push rod 47, the corner bead 48 (on the side closer to the transmission rod 43) lifts one side of the rocker plate 415, causing the other side of the rocker plate 415 to move towards the side closer to gravity, thereby squeezing the corner bead 48 on the other side. Under the support of the panel 46, the spring push rod 47 on the other side drives the wedge plate 416 and the corner post 422 to generate relative movement, thereby changing the relative displacement relationship between the movable seat 421 and the guide rail 316. During this process, the hanging plate 411 provides a stable working environment to the support rod 412 (and in specific implementation, the hanging plate 411 is relatively close to the transmission rod 43, thereby changing the relative length between the two ends of the rocker plate 415 and the axis of the support rod 412, increasing the leverage ratio, further extending the relative motion degree between the range-extending feedback rod 314 and the ball rod 313, and expanding the response bandwidth). At the same time, the elastic properties of the support ring 413 and the coil spring itself provide a restoring driving force to the rocker plate 415, ensuring the restoring ability of the rocker plate 415 under different states, and effectively improving the relative motion stability between the rocker plate 415 and the corner bead 48. Finally, by controlling the empty compartment 426 through the movable seat 421, the spring limiter is moved away from the axis of the rotor 26 shaft segment, thereby reducing the relative torque between the spring limiter and the rotor 26 shaft segment, reducing the degree of additional torque transmission of the spring limiter to the rotor 26 shaft segment, relatively increasing the relative rotational speed of the rotor 26 in the current area, compensating for insufficient lift, and balancing local imbalance. Furthermore, during this process, the relative contact relationship between the positive electrode 428 and the negative electrode 429 is used to determine whether the relative contact force between the current spring limiter and the outer wall of the rotor 26 shaft section is at a predetermined value. Simultaneously, when the positive electrode 428 and the negative electrode 429 are disconnected, during non-operational periods, the electric telescopic rod 423 controls the telescopic double linkage 424 to drive the shaft plate 425 under the stable support and guidance of the empty compartment 426, changing the initial compression force between the shaft plate 425 and the spring limiter, recalibrating the initial relative preload between the spring limiter and the outer wall of the rotor 26 shaft section, compensating for the wear generated between the rotor 26 shaft section and the spring limiter under long-term action (in addition, in specific implementation, the spring limiter itself will also experience the problem of elastic variable decay of its own spring under long-term action), accurately determining the relative force between the spring limiter and the outer wall of the rotor 26 shaft section, precisely controlling the additional torque transmission of the spring limiter to the rotor 26 shaft section, improving the real-time rapid response of the spring limiter to the speed of the rotor 26, that is, avoiding the interference and delay problems of traditional electronic systems through a purely mechanical linkage response structure; Conversely, in the second scenario, the principle of the first scenario is similarly applied to reverse the relative force between the spring limiter and the outer wall of the rotor 26 shaft section (increasing the relative force), thereby reducing the relative rotational speed of the rotor 26 in the current area (i.e., below the preset speed).
[0037] The working principle of the UAV attitude dynamic adjustment device for drainage pipe inspection provided by this invention is as follows: First step: First, the gravity ball 35 controls the cable 34 to move the traction belt 311 towards the side closer to gravity under the support and guidance of the gravity wheel 33 (when one end of the UAV tilts towards the side of gravity, it is definitely the outside; conversely, the other end "tilts" away from the side of gravity. At this time, under the elastic action of the return spring 335, the winding wheel 38 drives the cable 34 in the opposite direction to pull the gravity ball 35 towards the gravity wheel 33, that is, to position it). At the same time, under the synchronous action of the traction belt 311, the angle plate 312 controls the relative movement between the ball rod 313 and the outer wall of the angle rod 314 in the serpentine groove, until the end seat 324, under the dual action of the helical tangential of the lead screw 323 and the support and guidance of the compensation chamber 321, controls the steel wire rope 326 to drive the counterweight ball 327 to move a predetermined distance to the side of gravity (changing the relative distance between the counterweight ball 327 and the guide wheel 325, changing the center of gravity position), thereby adaptably balancing the center of gravity position of the UAV in the current state; Step 2: Next, through the rotational synchronicity between the driving gear 41 and the angle rod 314, the driven gear 44 is synchronously engaged, changing the relative working depth between the cam 45 and the spring push rod 47 (providing a stable support environment to the spring push rod 47 through the panel 46). Subsequently, through the sliding fit between the angle ball 48 and the rocker plate 415, the "warping degree" between the rocker plate 415 and the support rod 412 is changed, and the vertical distance of the end of the support rod 412 near the axis of the cam 45 is less than the vertical distance between the support rod 412 and the center line of the wedge plate 416, so that when the rocker plate 415 makes a "small curvature" change, the relative working depth between the wedge plate 416 and the angle column 422 is significantly expressed, and the range-extended rapid expression spring limiter and the main shaft of the rotor 26 are in relative contact. Step 3: Finally, through the directional meshing between the ball rod 313 and the outer wall snake groove of the angle rod 314, the driving gear 41 is forced to mesh with the driven gear 44 in the opposite direction, relatively restoring the relative contact depth between the cam 45 and the spring push rod 47, recorrecting the "levelness" of the rocker plate 415, relatively releasing the relative action depth between the wedge plate 416 and the angle post 422, reducing the interaction force between the spring limiter and the outer wall of the rotor 26 main shaft (reducing the extra torque, correspondingly increasing the rotational speed of the rotor 26, thereby changing the relative lift of the rotor 26 in different areas). Furthermore, during shutdown maintenance, the relative contact between the positive and negative electrode plates 429 is used to determine whether the relative force between the spring limiter and the main shaft of the rotor 26 is within a predetermined value under the current state. If not, the electric telescopic rod 423 controls the telescopic double connecting rod 424 to drive the shaft plate 425 to move closer to the main shaft of the rotor 26 under the support and guidance of the empty compartment 426. This changes the elastic compression of the spring limiter itself and compensates for the wear between the spring limiter and the outer wall of the main shaft of the rotor 26 (the spring limiter itself is located on the outer wall of the shaft end between the shaft plate 425 and the spring limiter).
[0038] The circuits and controls involved in this invention are all existing technologies and will not be described in detail here.
[0039] The above are merely embodiments of the present invention and do not limit the scope of the patent. Any equivalent structural or procedural transformations made based on the description and drawings of the present invention, or direct or indirect applications in other related technical fields, are similarly included within the scope of patent protection of the present invention.
Claims
1. A device for dynamically adjusting the attitude of a UAV for sewer inspection, comprising four rotating arms (1) arranged in a circumferential direction, characterized in that: The rotating arm (1) is provided with a driving unit (2) on one side, and a posture adjusting unit on the other side, wherein the posture adjusting unit is provided with a speed vector control unit (4) close to one side of the rotating arm (1); The speed vector control unit (4) comprises: A driving gear (41) is arranged on the side of the rotating arm (1) close to gravity; An angular joint (42) is symmetrically arranged on one side of the driving gear (41); A transmission rod (43) is rotatably installed between two angular joints (42) in the same group; A driven gear (44) is clamped and installed on the outer wall of one end of the transmission rod (43), and the driven gear (44) is engaged with the driving gear (41); A cam (45) is clamped and installed on the outer wall of the transmission rod (43) at the middle position; A panel (46) is arranged in a symmetric manner on the side of the transmission rod (43) away from gravity, and four panels are arranged in two groups; A spring top rod (47) is slidably clamped and installed between two panels (46) in the same group; An angular bead (48) is ball-hinged and installed on the end of the spring top rod (47) away from gravity.
2. The apparatus for dynamic adjustment of the attitude of the UAV for sewer inspection according to claim 1, characterized in that: The transmission rod (43) is provided with a hanging plate (411) on the side away from gravity, and two hanging plates are symmetrically distributed, and a support rod (412) is rotatably and cooperatively installed between two hanging plates (411) in the same group, a support ring (413) is clamped and installed on the outer wall of both ends of the support rod (412), a helical spring is cooperatively clamped and installed between the support ring (413) and the hanging plate (411) and is sleeved on the outer wall of the support rod (412), a rocker plate (415) is clamped and installed on the outer wall of the support rod (412) at the middle position and is slidably clamped and assembled with the angular bead (48), and the spring ball rod (313) away from the transmission rod (43) is clamped and installed on the side close to gravity and is clamped and installed with a wedge plate (416).
3. The apparatus for dynamic adjustment of the attitude of the UAV for sewer inspection according to claim 2, characterized in that: An active seat (421) is arranged between the hanging plate (411) and the transmission rod (43), an angular column (422) is clamped and installed on the end face of the active seat (421) away from the transmission rod (43) and cooperatively assembled with the wedge plate (416), an electric telescopic rod (423) is clamped and installed on the end face of the active seat (421) close to the hanging plate (411), a telescopic double connecting rod (424) is clamped and installed on the active end of the electric telescopic rod (423), an axle plate (425) is cooperatively clamped and installed on one end of the telescopic double connecting rod (424) away from the electric telescopic rod (423), a vacancy bin (426) is slidably clamped and assembled on the outer wall of the axle plate (425) and is clamped and installed with the active seat (421), a spring limiter is slidably clamped and installed on the end face of the axle plate (425) and is slidably assembled with the vacancy bin (426), a positive plate (428) is clamped and installed on the outer wall of the shaft segment of the spring limiter close to the electric telescopic rod (423), and a negative plate (429) is clamped and installed on the inner wall of one end of the vacancy bin (426) close to the electric telescopic rod (423).
4. The apparatus for dynamic adjustment of the attitude of the UAV for sewer inspection according to claim 3, characterized in that: The middle regions of the four rotating arms (1) are provided with a fuselage (11), and the fuselage (11) and the rotating arms (1) are detachably installed by bolts; the fuselage (11) is provided with a machine base (12) at the middle position of the end face close to the gravity side; the rotating arms (1) are provided with angle plates (13) at the ends away from the fuselage (11), the number of the angle plates (13) is two, and the angle plates (13) are distributed in a vertical position; the fuselage (11) is provided with a flexible anti-collision frame (14) outside, and the flexible anti-collision frame (14) is detachably and clippingly installed with the angle plates (13) and the fuselage (11) by bolts; and the two angle plates (13) in the same group are clippingly provided with a triangular plate (15) between them.
5. The apparatus for dynamic adjustment of the attitude of the UAV for sewer inspection according to claim 4, characterized in that: The posture balancing unit (3) comprises: A dustproof bin (31) is clippingly installed at the end face close to the gravity side of the triangular plate (15), and is clippingly and cooperatively assembled between the rotating arms (1); A winding bin (32) is clippingly installed at the end face close to the fuselage (11) of the dustproof bin (31), and the winding bin (32) is connected with the dustproof bin (31); A gravity wheel (33) is rotatably and cooperatively installed between the vertical inner walls of the dustproof bin (31) by a rotating shaft; A cable (34) is arranged at the center position of the dustproof bin (31); A gravity ball (35) is clippingly installed at the end of the cable (34) away from the gravity wheel (33); A traction wheel (36) is rotatably and cooperatively installed at the end of the winding bin (32) close to the dustproof bin (31) by a rotating shaft, and is symmetrically distributed; A limiting wheel (37) is rotatably installed at the end of the winding bin (32) close to the dustproof bin (31) by a rotating shaft, and is centrally symmetric compared with the axial direction of the two traction wheels (36); A winding wheel (38) is rotatably and cooperatively installed at the end of the winding bin (32) close to the dustproof bin (31) by a rotating shaft and a torsion spring (414); A pulley (39) is slidingly and clippingly installed at the end of the winding bin (32) away from the dustproof bin (31) by a rotating shaft.
6. The apparatus for dynamic adjustment of the attitude of the UAV for sewer inspection according to claim 5, characterized in that: The traction belt (311) is jointly and slidingly installed between the outer wall of the gravity wheel (33), the traction wheel (36), the limiting wheel (37), the pulley (39) and the winding wheel (38) of the same group, in addition, the traction belt (311) is clamped and installed between the cable (34) close to one end of the dustproof bin (31), the angle plate (312) is clamped and installed at the middle position of the end face of the dustproof bin (31) away from the gravity side, the ball rod (313) is clamped and installed on the end face of the side of the angle plate (312) away from the traction belt (311), the angle rod (314) is provided opposite to the side of the angle plate (312) away from the ball rod (313), and the outer wall of the angle rod (314) is provided with a snake groove matched with the ball rod (313), in addition, the angle rod (314) is clamped and installed between the outer wall of the end close to the winding bin (32) and the driving gear (41), the angle seat (315) is rotatably and cooperatively installed on the end face of the side of the angle rod (314) away from the ball rod (313), the guide rail (316) is clamped and installed on the end face of the side of the angle seat (315) away from the angle rod (314), and the guide rail (316) is clamped and installed between the angle joint frame (42) and the end face of the side of the angle seat (315) close to the angle seat (315), in addition, the guide rail (316) is provided with a through groove for the rotation of the wedge plate (416) or the cam (45), the U-shaped frame (317) clamped and installed on the inner wall of the horizontal section of the dustproof bin (31) is clamped and installed on the end face of the side of the guide rail (316) away from the angle seat (315), in addition, the vertical section of the inner wall of the U-shaped frame (317) is clamped and installed between the panel (46), and the horizontal section of the inner wall of the U-shaped frame (317) is clamped and installed between the hanging plate (411).
7. The apparatus for dynamic adjustment of the attitude of the UAV for sewer inspection according to claim 6, characterized in that: The winding bin (32) is clamped and installed on the end face of the side close to the rotary arm (1), the compensation bin (321) is communicated with the dustproof bin (31), the compensation bin (32) is clamped and installed between the end face of the side close to the machine body (11) and the machine base, the support (322) is clamped and installed inside the end of the compensation bin (321) close to the dustproof bin (31), the lead screw (323) clamped and installed on the end of the compensation bin (321) close to the winding bin (32) is rotatably and cooperatively installed with the support (322), the end seat (324) is threadedly and cooperatively installed on the outer wall of the end of the lead screw (323) away from the dustproof bin (31), the inner wall of the end of the compensation bin (321) away from the dustproof bin (31) is rotatably and cooperatively installed with the guide wheel (325), the steel wire rope (326) is jointly installed between the outer wall of the guide wheel (325) and the end seat (324), and the counterweight ball (327) is clamped and installed on the end of the steel wire rope (326) away from the end seat (324).
8. The apparatus for dynamic adjustment of the attitude of the UAV for sewer inspection according to claim 5, characterized in that: The pulley (39) is symmetrically connected to the outer wall of the dustproof bin (31) at one end, and the bridge joint (331) is connected to the outer wall of the pulley (39) at one end away from the axis, the telescopic rod (332) is connected to the outer wall of the bridge joint (331) at one end away from the pulley (39), the ear plate (333) is connected to the inner wall of the winding bin (32) at the middle position of the outer wall of the telescopic rod (332), the shaft sleeve (334) is connected to the outer wall of the telescopic rod (332) at one end away from the pulley (39), the reset spring (335) is connected to the outer wall of the telescopic rod (332) between the shaft sleeve (334) and the ear plate (333), the positioning member (336) is connected to the inner wall of the winding bin (32) between the two shaft sleeves (334) away from the pulley (39), the cross ball head (337) is connected to the inner wall of the dustproof bin (31) between the vertical sections, and the rolling ball (338) is connected to the inner wall of the cross ball head (337).
9. The apparatus for dynamic adjustment of the attitude of the UAV for sewer inspection according to claim 5, characterized in that: The driving unit (2) comprises: The motor seat (21) is connected to the outer wall of the motor seat (21) at one end away from the motor seat (21). The brushless motor (22) is connected to the outer wall of the motor seat (21) at one end away from the motor seat (21). The shaft disc (23) is connected to the outer wall of the motor seat (21) at one end away from the motor seat (21). The paddle box (24) is connected to the outer wall of the motor seat (21) at one end away from the motor seat (21), and the paddle box (24) is connected to the output end of the brushless motor (22). The sun gear (25) is connected to the output end of the brushless motor (22) at one end away from the motor seat (21), and the sun gear (25) is located inside the paddle box (24). The rotor (26) is connected to the outer wall of the motor seat (21) at one end away from the motor seat (21), and the rotor (26) is connected to the output end of the brushless motor (22). The planet wheel (27) is connected to the outer wall of the motor seat (21) at one end away from the motor seat (21), and the planet wheel (27) is connected to the output end of the brushless motor (22). The angle pipe (28) is connected to the outer wall of the motor seat (21) at one end away from the motor seat (21), and the angle pipe (28) is connected to the output end of the brushless motor (22). The connecting arc seat (29) is connected to the outer wall of the motor seat (21) at one end away from the motor seat (21), and the connecting arc seat (29) is connected to the output end of the brushless motor (22).