Sensor attitude adjusting device

Abstract

The invention relates to the technical field of sensors, and discloses a sensor attitude adjusting device, which comprises a bottom cover, an attitude adjusting mechanism and a self-adaptive clamping mechanism, the self-adaptive clamping mechanism comprises a mounting cylinder and a clamping assembly, the clamping assembly comprises a fixed disc, a clamping rod, a limiting shaft, a rolling shaft, a rotating disc and a driving unit, the rotating disc is rotationally assembled in the fixed disc around the axial direction of the fixed disc, the clamping rod is fixedly connected with the limiting shaft and the rolling shaft, the clamping rod is provided with an elastic positioning block, and the rotating disc is provided with a limiting groove; the limiting shaft penetrates through the limiting groove, the fixed disc is provided with an arc-shaped sliding groove, and the rolling shaft penetrates through the arc-shaped sliding groove; the driving unit is in transmission connection with the rotating disc. The driving unit can push the rotating disc to rotate, the elastic positioning blocks on the clamping rods can be close to or away from each other, the distance between the elastic positioning blocks is changed, the elastic positioning blocks can clamp sensors of different specifications and sizes, it is guaranteed that the positions of the sensors are stable and do not deviate, and the detection stability of the sensors is improved.

Description

Technical Field

[0001] This invention relates to the field of sensor technology, and in particular to a sensor attitude adjustment device. Background Technology

[0002] Fiber optic electric field sensors for insulator degradation detection determine whether an insulator has deteriorated by sensing changes in the electric field distribution around it. The core function of an insulator is to isolate high-voltage electricity from the grounding terminal. Under normal operating conditions, the surrounding electric field distribution is stable and conforms to theoretical calculations. When an insulator deteriorates (e.g., surface contamination, internal cracks, aging of the insulating material), its insulation performance decreases. This directly leads to distortions in the originally stable electric field distribution (e.g., abnormally high electric field strength, shift in distribution area). The task of the fiber optic electric field sensor is to capture these electric field distortions, convert them into analyzable signals, and then deduce the degree of insulator degradation.

[0003] In the inspection of deteriorated insulators, fiber optic electric field sensors are typically mounted on the underside of a drone. This mounting method combines the advantages of both, perfectly matching the complex scenarios of high altitude, high voltage, and strong electromagnetic fields in power line inspections, and efficiently completing the electric field inspection tasks for power equipment such as insulators and transmission lines. On the one hand, the fiber optic electric field sensor itself has ultra-high detection sensitivity, which can accurately capture the minute electric field distortions generated when insulators deteriorate (such as surface contamination, internal cracks, and decreased insulation performance). Its sensitivity is significantly better than some traditional methods such as infrared detection and leakage current detection. On the other hand, the flexibility and mobility of drones provide an ideal mobile inspection platform for sensors. They can carry sensors to overcome terrain and spatial limitations, get close to insulators and other inspection targets, minimize environmental interference, and further improve the accuracy and reliability of electric field signal acquisition. Drones have enabled inspection coverage of mountainous areas, river crossings, and other areas that are difficult for humans to reach, effectively solving the pain points of traditional insulator deterioration detection, such as difficulty in access, susceptibility to interference, and low sensitivity, and significantly improving the efficiency and accuracy of power equipment condition inspections.

[0004] However, existing fiber optic electric field sensors are mounted on the lower part of drones, and their position is fixed. During inspection operations, if it is necessary to adjust the sensor's detection position or angle, it can often only be achieved indirectly by controlling the entire drone to change its flight direction and hovering attitude. This places high demands on the drone operators' drone operation skills, and even slight drone movements can cause the sensor to deviate from its optimal detection attitude, affecting data accuracy. Furthermore, in complex inspection environments such as high-voltage lines and densely packed towers, drones need to adjust their direction in confined spaces. Operators must not only precisely control the drone to avoid collisions but also simultaneously ensure that the sensor is aligned with the detection target, greatly increasing operational complexity and inspection time.

[0005] Patent CN222164254U discloses an angle adjustment device for a laser sensor, including a base, a rotating component on the base, a first angle adjustment component on the rotating component, which can drive the first angle adjustment component to rotate horizontally, a second angle adjustment component on the first angle adjustment component, the first angle adjustment component can drive the second angle adjustment component to rotate, the rotation surface of the second angle adjustment component is perpendicular to the rotation surface of the first angle adjustment component, the second angle adjustment component is provided with a mounting base for mounting the laser sensor, the second angle adjustment component can drive the mounting base to rotate, the base is provided with a level, and vertically adjustable support members are provided at the four corners of the base.

[0006] Existing angle adjustment devices use multiple angle adjustment components to adjust the sensor in three directions, improving the sensor's adjustment freedom and flexibility. However, sensors come in various specifications, with different external diameters and dimensions. When clamped and fixed, the sensor may shift, affecting its detection stability. Summary of the Invention

[0007] The purpose of this invention is to provide a sensor attitude adjustment device to solve the problem of affecting detection stability when the angle adjustment device clamps sensors of different specifications in the prior art.

[0008] To achieve the above objectives, the present invention provides a sensor attitude adjustment device, including a bottom cover, an attitude adjustment mechanism, and an adaptive clamping mechanism. The bottom cover is used to be fixedly connected to a UAV, the attitude adjustment mechanism is fixedly connected to the bottom cover, and the adaptive clamping mechanism is connected to the attitude adjustment mechanism. The attitude adjustment mechanism is used to adjust the angle of the adaptive clamping mechanism. The adaptive clamping mechanism includes a mounting cylinder and a clamping assembly disposed within the mounting cylinder. The mounting cylinder is fixedly connected to the attitude adjustment mechanism. The clamping assembly includes a fixed disk, clamping rods, a limiting shaft, a rolling shaft, a rotating disk, and a drive unit. The fixed disk is fixedly connected to the mounting cylinder. The rotating disk is rotatably mounted within the fixed disk about the axial direction of the fixed disk. Multiple clamping rods are spaced apart about the axial direction of the rotating disk. Each clamping rod is fixedly connected to the limiting shaft and the rolling shaft. The rolling shaft is located on the side of the limiting shaft away from the central axis of the rotating disk. Each clamping rod has an elastic positioning block on the side away from the rolling shaft. The rotating disk has a limiting groove extending along the axial direction of the rotating disk. The limiting shaft passes through the limiting groove. The fixed disk has an arc-shaped sliding groove, and the rolling shaft passes through the arc-shaped sliding groove. The drive unit is connected to the rotary disk to drive the rotary disk to rotate. During the rotation stroke, the rotary disk has a first state in which it drives each clamping rod to rotate around the limiting axis so that the elastic positioning blocks of each clamping rod move away from each other, and a second state in which it drives each clamping rod to rotate around the limiting axis so that the elastic positioning blocks of each clamping rod move closer to each other.

[0009] Preferably, the drive unit includes a pull rod, a push rod, a first spring, a miniature electric cylinder, a telescopic rod, and a sleeve rod. The pull rod and the push rod are both fixedly connected to the rotating disk. The fixed disk has a radially penetrating first annular groove and a positioning groove, both of which extend circumferentially along the fixed disk. The pull rod passes through the first annular groove, the push rod passes through the positioning groove, and the sleeve rod is sleeved on the outside of the telescopic rod. One end of the telescopic rod is connected to the push rod. The output end of the miniature electric cylinder passes through the sleeve rod and abuts against the telescopic rod. The first spring is connected between the pull rod and the fixed disk. The miniature electric cylinder and the first spring can respectively drive the rotating disk to rotate in opposite directions.

[0010] Preferably, the clamping assembly further includes a support column, which is fixedly disposed in the first annular groove and fixedly connected to the fixed plate, and the first spring is hooked to the support column.

[0011] Preferably, multiple pull rods are spaced apart along the circumference of the rotating disk, and multiple first annular grooves are spaced apart along the circumference of the fixed disk and correspond one-to-one with the pull rods. Each first annular groove is provided with a support column and a first spring.

[0012] Preferably, the adaptive clamping mechanism further includes a housing and a sealing cover fixedly connected to the housing. The housing is fixedly connected to the mounting cylinder. The housing has a through groove, and the push rod portion passes through the groove. The miniature electric cylinder, the sleeve rod, and the telescopic rod are all located inside the housing.

[0013] Preferably, the attitude adjustment mechanism includes a support plate, a mounting shell, a drive motor, a rotating disk, a support frame, a connecting disk, a bearing, a connecting rod, and a servo motor. The support plate is fixedly connected to the bottom cover. The mounting shell is located on the side of the support plate near the bottom cover and is fixedly connected to the support plate. The drive motor is fixedly connected to the mounting shell. The rotating disk is fixedly connected to the support frame. The drive motor is driven by the rotating disk to drive the rotating disk to rotate around the vertical direction. The support frame has a U-shaped structure. The connecting plate is fixedly connected to the support frame. The bearing is rotatably assembled inside the connecting plate. The connecting rod is fixedly connected to the bearing and the mounting cylinder. The servo motor is fixedly assembled on the side of the support frame away from the connecting plate. The servo motor is driven by the connecting rod to drive the connecting rod to rotate around the horizontal direction.

[0014] Preferably, the rotating disk is fixedly connected to a connecting shaft, and the drive motor is driven by a meshing worm gear and worm shaft. The worm gear is fixedly connected to the connecting shaft, and the worm shaft is driven by the drive motor.

[0015] Preferably, the sensor attitude adjustment device further includes a buffer mechanism, which is located on the side of the bottom cover away from the attitude adjustment mechanism, and the buffer mechanism is detachably connected between the bottom cover and the UAV.

[0016] Preferably, the buffer mechanism includes a base plate, a top plate, a buffer airbag, and a mounting bracket. The base plate is fixedly connected to the bottom cover, the buffer airbag is fixedly connected between the base plate and the top plate, and the mounting bracket is fixedly disposed on the side of the top plate away from the buffer airbag. The mounting bracket is used to connect with the drone. The buffer airbag is also provided with an air inlet pipe and an air outlet pipe. Both the air inlet pipe and the air outlet pipe are provided with a one-way valve and a sealing valve. The sealing valve is disposed at the opening of the air inlet pipe and the air outlet pipe.

[0017] Preferably, the buffer mechanism further includes a damping rod and a return spring. The damping rod is fixedly connected between the top plate and the bottom plate, and the return spring is sleeved on the outside of the damping rod. The return spring is press-fitted between the top plate and the bottom plate.

[0018] Compared with the prior art, the sensor attitude adjustment device of this invention has the following advantages: the rotary disk of the adaptive clamping mechanism is rotatably assembled in the fixed disk, and the driving unit can drive the rotary disk to rotate and reciprocate between the first state and the second state. When the rotary disk rotates, it can drive the clamping rod to move synchronously. Since the limiting shaft fixed to the clamping rod passes through the limiting groove of the rotary disk, and the rolling shaft passes through the arc-shaped slide groove of the fixed disk, the arc-shaped slide groove restricts the movement trajectory of the rolling shaft, thereby applying a force to the clamping rod to rotate around the limiting shaft. The elastic positioning blocks on the clamping rod can move closer or further away from each other, changing the distance between each elastic positioning block. The elastic positioning blocks can clamp sensors of different specifications and sizes, ensuring that the sensor position is stable and does not shift, thus improving the detection stability of the sensor. Attached Figure Description

[0019] Figure 1This is an exploded structural diagram of the sensor attitude adjustment device of the present invention; Figure 2 This is a schematic diagram of the sensor attitude adjustment device of the present invention; Figure 3 This is a schematic diagram of the worm gear structure of the sensor attitude adjustment device of the present invention; Figure 4 This is a schematic diagram of the mounting cylinder structure of the sensor attitude adjustment device of the present invention; Figure 5 This is a schematic diagram of the fixed disk structure of the sensor attitude adjustment device of the present invention; Figure 6 This is a schematic diagram of the rotating disk structure of the sensor attitude adjustment device of the present invention; Figure 7 This is a schematic cross-sectional view of the fixed disk structure of the sensor attitude adjustment device of the present invention; Figure 8 This is a schematic diagram of the micro electric cylinder structure of the sensor attitude adjustment device of the present invention; Figure 9 This is a schematic diagram of the buffer mechanism structure of the sensor attitude adjustment device of the present invention; Figure 10 This is a schematic cross-sectional view of the air inlet pipe of the sensor attitude adjustment device of the present invention. Figure 11 This is a schematic cross-sectional view of the air outlet pipe of the sensor attitude adjustment device of the present invention.

[0020] In the diagram, 1. Bottom cover; 2. Attitude adjustment mechanism; 201. Support plate; 202. Mounting shell; 203. Worm gear; 204. Worm; 205. Drive motor; 206. Connecting shaft; 207. Rotating disk; 208. Support frame; 209. Connecting disk; 210. Bearing; 211. Connecting rod; 212. Servo motor; 3. Adaptive clamping mechanism; 301. Mounting cylinder; 302. Shell; 303. Groove; 304. Sealing cover; 305. Fixed disk; 306. Arc-shaped slide; 307. Rotating disk; 308. First annular groove; 309. Support column; 310. Positioning groove, 311, pull rod, 312, push rod, 313, first spring, 314, clamping rod, 315, limiting shaft, 316, elastic positioning block, 317, telescopic rod, 318, sleeve rod, 319, miniature electric cylinder, 320, rolling shaft, 321, limiting groove, 4, buffer mechanism, 401, base plate, 402, buffer airbag, 403, top plate, 404, air inlet pipe, 405, air outlet pipe, 406, damping rod, 407, return spring, 408, mounting bracket, 409, one-way valve, 410, sealing valve, 5, controller, 6, reinforcing rib, 7, heat dissipation groove. Detailed Implementation

[0021] The specific embodiments of the present invention will be described in further detail below with reference to the accompanying drawings and examples. The following examples are for illustrative purposes only and are not intended to limit the scope of the invention.

[0022] A preferred embodiment of the sensor attitude adjustment device of the present invention, such as... Figures 1 to 11 As shown, the sensor attitude adjustment device includes a bottom cover 1, an attitude adjustment mechanism 2, and an adaptive clamping mechanism 3. The bottom cover 1 is used to fix the device to the UAV. The attitude adjustment mechanism 2 is fixedly connected to the bottom cover 1. The adaptive clamping mechanism 3 is connected to the attitude adjustment mechanism 2. The adaptive clamping mechanism 3 is used to clamp and fix the sensor. The attitude adjustment mechanism 2 is used to adjust the angle of the adaptive clamping mechanism 3, thereby adjusting the angle of the sensor.

[0023] Please see Figure 1 and Figure 2 A reinforcing rib 6 is provided on the side of the bottom cover 1 away from the attitude adjustment mechanism 2. Heat dissipation grooves 7 are provided on both the left and right sides of the outer surface of the bottom cover 1, and a filter screen is fixedly connected to the inner wall of the heat dissipation groove 7. A controller 5 is also installed on the side of the bottom cover 1 close to the attitude adjustment mechanism 2. The controller 5 is fixedly connected to the reinforcing rib 6 to ensure the installation strength of the controller 5.

[0024] The reinforcing rib 6 is located on the side of the bottom cover 1 away from the attitude adjustment mechanism 2, which can enhance the structural strength of the bottom cover 1 and prevent the bottom cover 1 from deforming due to the weight of the upper mechanism or external force. The heat dissipation grooves 7 are opened on both sides of the outer surface of the bottom cover 1, which can dissipate the heat generated by the controller 5 and other equipment inside the bottom cover 1 during operation. The internal filter screen can prevent dust from entering the device.

[0025] Please see Figure 1 , Figure 4 , Figure 5 , Figure 6 , Figure 7 and Figure 8 The adaptive clamping mechanism 3 includes a mounting cylinder 301 and a clamping assembly. The mounting cylinder 301 is fixedly connected to the attitude adjustment mechanism 2. The clamping assembly is disposed inside the mounting cylinder 301 and is used to clamp and fix the sensor. The attitude adjustment mechanism 2 adjusts the angle of the clamping assembly and the sensor by adjusting the angle of the mounting cylinder 301. In this embodiment, there are two clamping assemblies, which are spaced apart along the axial direction of the mounting cylinder 301. In other embodiments, there may be three, four, or even only one clamping assembly.

[0026] Please see Figure 5 and Figure 6The clamping assembly includes a fixed disk 305, a clamping rod 314, a limiting shaft 315, a rolling shaft 320, a rotating disk 307, and a drive unit. The fixed disk 305 is fixedly installed inside the mounting cylinder 301, and the rotating disk 307 is rotatably assembled inside the fixed disk 305 around its axial direction. The rotating disk 307 is inserted into the fixed disk 305 along its axial direction, and the outer peripheral wall of the rotating disk 307 is guided by the inner side wall of the fixed disk 305, providing a stable rotational support point for the rotating disk 307 and ensuring that the rotating disk 307 can rotate smoothly around its center.

[0027] Multiple clamping rods 314 are spaced apart axially around the rotating disk 307. Each clamping rod 314 is fixedly connected to a limiting shaft 315 and a rolling shaft 320. In this embodiment, there are three clamping rods 314, which are evenly distributed on the rotating disk 307. One end of each clamping rod 314 is close to the center of the rotating disk 307, and the other end is close to the outer peripheral wall of the rotating disk 307. The three clamping rods 314 cooperate with each other, and the end close to the center of the rotating disk 307 can clamp the sensor together in three directions.

[0028] The rolling shaft 320 is located on the side of the limiting shaft 315 away from the central axis of the rotating disk 307. Both the limiting shaft 315 and the rolling shaft 320 are perpendicular to the clamping rod 314. An elastic positioning block 316 is also provided on the side of the clamping rod 314 away from the rolling shaft 320. With the direction closer to the center of the rotating disk 307 as the inside and the direction farther from the center of the rotating disk 307 as the outside, the rolling shaft 320 is fixedly installed at the outer end of the clamping rod 314, and the elastic positioning block 316 is fixedly installed at the inner end of the clamping rod 314. The limiting shaft 315 is located between the rolling shaft 320 and the elastic positioning block 316. When the clamping rod 314 clamps and fixes the sensor, the elastic positioning block 316 directly contacts the sensor surface. The elastic positioning block 316 can elastically deform, preventing scratches on the sensor housing during clamping. In this embodiment, the elastic positioning block 316 is made of rubber. Rubber is soft and non-slip, which not only prevents scratches on the sensor housing during clamping but also increases friction with the sensor, preventing the sensor from sliding during adjustment.

[0029] The rotating disk 307 is provided with a limiting groove 321 extending axially along the rotating disk 307. A limiting shaft 315 passes through the limiting groove 321. The fixed disk 305 is provided with an arc-shaped sliding groove 306. A rolling shaft 320 passes through the arc-shaped sliding groove 306 axially along the fixed disk 305. The limiting groove 321 has a limiting effect on the limiting shaft 315, so that the limiting shaft 315 can only rotate within the limiting groove 321. The groove wall of the arc-shaped sliding groove 306 has a guiding effect on the rolling shaft 320, so that the rolling shaft 320 can move along the extension direction of the arc-shaped sliding groove 306. The rolling shaft 320 itself can rotate circumferentially. When the clamping rod 314 swings, the rolling shaft 320 rolls into contact with the groove wall of the arc-shaped sliding groove 306. The two are in rolling friction, which reduces the resistance when the clamping rod 314 moves.

[0030] An arc-shaped groove 306 is provided on the fixed plate 305 to provide a dedicated motion track and installation reference for the clamping rod 314, while also limiting the range of movement of the clamping rod 314. The arc-shaped groove 306 restricts the movement of the rolling shaft 320 at one end of the clamping rod 314, ensuring it can only slide along the arc-shaped path. The rotating plate 307 drives the individual clamping rods 314 to rotate, ensuring that multiple clamping rods 314 synchronously converge towards the center of the mounting cylinder 301 or synchronously open outwards, preventing individual clamping rods 314 from shifting, thereby achieving uniform force application and stable clamping of the sensor.

[0031] The drive unit is connected to the rotary disk 307 to drive the rotary disk 307 to rotate. During the rotation stroke, the rotary disk 307 has a first state in which it drives each clamping rod 314 to rotate around the limiting shaft 315 so that the elastic positioning blocks 316 of each clamping rod 314 move away from each other, and a second state in which it drives each clamping rod 314 to rotate around the limiting shaft 315 so that the elastic positioning blocks 316 of each clamping rod 314 move closer to each other.

[0032] When the rotating disk 307 rotates, the clamping rod 314 is hinged to the upper end of the rotating disk 307 by the limiting shaft 315, and the outer end of the clamping rod 314 rolls in contact with the inside of the arc-shaped slide groove 306 through the rolling shaft 320. Therefore, when the rotating disk 307 rotates, it will drive the clamping rod 314 to rotate synchronously. When the rotating disk 307 rotates clockwise, the rolling shaft 320 drives the outer end of the clamping rod 314 to move towards the inner side of the arc-shaped slide groove 306. Under the guidance of the rolling shaft 320, the clamping rod 314 rotates around the limiting shaft 315 and moves away from the central axis of the fixed disk 305, thereby causing the elastic positioning blocks 316 on the clamping rod 314 to move away from each other. At this time, the rotating disk 307 is in the first state. When the rotating disk 307 rotates counterclockwise, the rolling shaft 320 drives the outer end of the clamping rod 314 to move towards the outer side of the arc-shaped slide groove 306. Under the guidance of the rolling shaft 320, the clamping rod 314 rotates around the limiting shaft 315 and moves towards the central axis of the fixed disk 305, thereby causing the elastic positioning blocks 316 on the clamping rod 314 to move closer to each other. At this time, the rotating disk 307 is in the second state.

[0033] The adaptive clamping mechanism 3 of the sensor attitude adjustment device has a rotating disk 307 rotatably mounted inside a fixed disk 305. The drive unit can push the rotating disk 307 to rotate and reciprocate between the first state and the second state. When the rotating disk 307 rotates, it can drive the clamping rod 314 to move synchronously. Since the limiting shaft 315 fixed to the clamping rod 314 passes through the limiting groove 321 of the rotating disk 307, and the rolling shaft 320 passes through the arc-shaped slide groove 306 of the fixed disk 305, the arc-shaped slide groove 306 restricts the movement trajectory of the rolling shaft 320, thereby applying a force to the clamping rod 314 to rotate around the limiting shaft 315. The elastic positioning blocks 316 on the clamping rod 314 can move closer or further away from each other, changing the distance between each elastic positioning block 316. The elastic positioning blocks 316 can clamp sensors of different sizes, ensuring that the sensor position is stable and does not shift, thus improving the detection stability of the sensor.

[0034] Preferably, the drive unit includes a pull rod 311, a push rod 312, a first spring 313, a miniature electric cylinder 319, a telescopic rod 317, and a sleeve rod 318. The pull rod 311 and the push rod 312 are both fixedly connected to the rotating disk 307. The fixed disk 305 is provided with a radially penetrating first annular groove 308 and a positioning groove 310. The first annular groove 308 and the positioning groove 310 both extend circumferentially along the fixed disk 305. The pull rod 311 passes through the first annular groove 308, the push rod 312 passes through the positioning groove 310, and the sleeve rod 318 is sleeved on the outside of the telescopic rod 317. One end of the telescopic rod 317 is connected to the push rod 312. The output end of the miniature electric cylinder 319 passes through the sleeve rod 318 and abuts against the telescopic rod 317. The first spring 313 is connected between the pull rod 311 and the fixed disk 305. The miniature electric cylinder 319 and the first spring 313 can drive the rotating disk 307 to rotate in opposite directions respectively.

[0035] Please see Figure 4 , Figure 5 , Figure 7 and Figure 8 The miniature electric cylinder 319 and the first spring 313 provide power for the rotation of the rotating disk 307. The output end of the miniature electric cylinder 319 pushes the push rod 312 to move. The push rod 312 swings in the positioning groove 310 and drives the rotating disk 307 to rotate against the elastic force of the first spring 313. At this time, the first spring 313 stores elastic force. When the output end of the miniature electric cylinder 319 moves backward in the sleeve rod 318, the telescopic rod 317 loses its thrust, the elastic force of the first spring 313 is released, and the pull rod 311 swings in the first annular groove 308. The pull rod 311 drives the rotating disk 307 to rotate.

[0036] The output end of the miniature electric cylinder 319 abuts against the telescopic rod 317. The sleeve 318 compensates for the positional difference between the output end and the telescopic rod 317, and guides the movement of the telescopic rod 317. When clamping sensors of different sizes, the telescopic rod 317 moves backward to different positions. After the output end of the miniature electric cylinder 319 retracts, it is inserted into the sleeve 318. The sleeve 318 remains connected to the telescopic rod 317, making it suitable for clamping sensors of different specifications and sizes.

[0037] In this embodiment, the first annular groove 308 and the positioning groove 310 are spaced apart along the circumference of the fixed plate 305. The first annular groove 308 provides a dedicated movement track and installation reference for the pull rod 311, restricting the pull rod 311 to move only in the annular direction, and avoiding the pull rod 311 from deviating, which would cause the first spring 313 to have an inconsistent stretching range, and thus cause the clamping rod 314 to move asynchronously.

[0038] The miniature cylinder and the first spring 313 are mechanically linked to drive the rotating disk 307 to move between the first and second states. (See also...) Figure 5 and Figure 6When it is necessary to clamp the sensor, the controller 5 sends a command to the miniature electric cylinder 319, and its output end extends to push the telescopic rod 317 forward along the guide direction of the sleeve rod 318. The telescopic rod 317 transmits the thrust to the push rod 312, causing the push rod 312 to move along the limited trajectory of the positioning groove 310, thereby pushing the rotating disk 307 to rotate clockwise around the center of the fixed disk 305. At the same time, the pull rod 311 connected to the rotating disk 307 slides in the first annular groove 308, and the other pull rods 311 on the rotating disk 307 also move synchronously in the corresponding first annular groove 308, realizing the linkage of all pull rods 311. The other end of the pull rod 311 is connected to the first spring 313 to form an elastic linkage structure. The pull rod 311 pulls the first spring 313 to stretch it. When the rotating disk 307 rotates clockwise, the clamping rod 314 is hinged to the upper end of the rotating disk 307 by the limiting shaft 315, and one end of the clamping rod 314 rolls against the inside of the arc-shaped groove 306 through the rolling shaft 320. Therefore, when the rotating disk 307 rotates clockwise, it will drive the clamping rod 314 to rotate clockwise. When the clamping rod 314 rotates, the rolling shaft 320 drives one end of the clamping rod 314 to move towards the inside of the arc-shaped groove 306. Under the guidance of the rolling shaft 320, the clamping rod 314 rotates around the limiting shaft 315 and moves away from the central axis of the fixed disk 305, thereby opening the clamping rod 314. The elastic positioning blocks 316 on each clamping rod 314 move away from each other, and the rotating disk 307 is in the first state.

[0039] Please see Figure 5 and Figure 6 When the clamping rod 314 needs to be closed, the output end of the miniature electric cylinder 319 retracts, and the push rod 312 loses its thrust. At this time, the first spring 313 pulls the pull rod 311 in the opposite direction through its own tensile elasticity, causing the rotating disk 307 to rotate counterclockwise. The rotating disk 307 then drives the clamping rod 314 to move through the limiting shaft 315. At the same time, the rolling shaft 320 at one end of the clamping rod 314 drives one end of the clamping rod 314 to move outward of the arc-shaped slide groove 306, so that multiple clamping rods 314 move towards the center inside the fixed disk 305. The elastic positioning blocks 316 on each clamping rod 314 move closer to each other, and finally complete the automatic clamping and fixing of the sensor.

[0040] Preferably, the clamping assembly further includes a support column 309, which is fixedly disposed in the first annular groove 308 and fixedly connected to the fixed plate 305, and the first spring 313 is hooked and engaged with the support column 309.

[0041] Please see Figure 6 and Figure 7 The support column 309 provides a hook for the first spring 313, and also facilitates the disassembly, assembly, and maintenance of the first spring 313. In other embodiments, a hanging hole can also be provided on the fixing plate 305, and the first spring 313 can be hooked into the hanging hole.

[0042] Preferably, multiple pull rods 311 are spaced apart along the circumference of the rotating disk 307, and multiple first annular grooves 308 are spaced apart along the circumference of the fixed disk 305 and correspond one-to-one with the pull rods 311. Each first annular groove 308 is provided with a support column 309 and a first spring 313.

[0043] Multiple pull rods 311 and first annular grooves 308 are spaced apart along the circumference of the fixed disk 305. First springs 313 and support columns 309 are correspondingly arranged with pull rods 311. Increasing the number of pull rods 311 and first springs 313 increases the clamping force of the clamping rod 314 when clamping the sensor, ensuring stability during sensor operation. Furthermore, multiple pull rods 311, support columns 309, and first springs 313 are spaced apart, with each first spring 313 applying an elastic force to the rotating disk 307, ensuring force balance on the rotating disk 307.

[0044] Preferably, the adaptive clamping mechanism 3 further includes a housing 302 and a sealing cover 304 fixedly connected to the housing 302. The housing 302 is fixedly connected to the mounting cylinder 301. The housing 302 is provided with a through groove 303. The push rod 312 is partially inserted into the groove 303. The miniature electric cylinder 319, the sleeve rod 318, and the telescopic rod 317 are all located inside the housing 302.

[0045] Please see Figure 3 The housing 302, which is fixedly connected to the outer surface of the mounting cylinder 301, provides installation space for components such as the push rod 312, telescopic rod 317, miniature electric cylinder 319, and sleeve rod 318, while protecting the internal parts from the influence of the external environment. The groove 303 provides space for the movement of the push rod 312, preventing interference between the push rod 312 and the housing 302 when it drives the pull rod 311, ensuring smooth clamping action. The sealing cover 304 can seal the housing 302 to prevent dust and impurities from entering the interior of the housing 302 and affecting the movement accuracy of components such as the push rod 312 and telescopic rod 317.

[0046] Preferably, the attitude adjustment mechanism 2 includes a support plate 201, a mounting shell 202, a drive motor 205, a rotating disk 207, a support frame 208, a connecting disk 209, a bearing 210, a connecting rod 211, and a servo motor 212. The support plate 201 is fixedly connected to the bottom cover 1. The mounting shell 202 is located on the side of the support plate 201 near the bottom cover 1 and is fixedly connected to the support plate 201. The drive motor 205 is fixedly connected to the mounting shell 202. The rotating disk 207 is fixedly connected to the support frame 208. 205 is connected to the rotating disk 207 to drive the rotating disk 207 to rotate in the vertical direction; the support frame 208 has a U-shaped structure, the connecting disk 209 is fixedly connected to the support frame 208, the connecting disk 209 is rotatably assembled with a bearing 210, the connecting rod 211 is fixedly connected to the shaft 206 and the mounting cylinder 301, the servo motor 212 is fixedly assembled on the side of the support frame 208 away from the connecting disk 209, and the servo motor 212 is connected to the connecting rod 211 to drive the connecting rod 211 to rotate in the horizontal direction.

[0047] Please see Figure 1 , Figure 2 , Figure 3 and Figure 4 In this embodiment, the lower end of the support plate 201 is bolted to the upper end of the bottom cover 1, and the lower end of the support plate 201 is bolted to the mounting shell 202. The drive motor 205 is installed inside the mounting shell 202 and is electrically connected to the controller 5. The controller 5 can transmit action signals to the drive motor 205 to control and adjust the action state of the drive motor 205. The upper end of the rotating disk 207 is bolted to the support frame 208. The connecting disks 209 are fixedly installed on opposite sides of the inner wall of the support frame 208. The inner walls of the two connecting disks 209 are fixedly connected to the bearings 210. The inner walls of the bearings 210 are fixedly connected to the connecting rods 211. The other end of the connecting rods 211 is fixedly connected to the mounting cylinder 301.

[0048] The servo motor 212 is detachably connected to the support frame 208. The output end of the servo motor 212 passes through one side of the support frame 208 and is engaged inside the connecting rod 211 to drive the connecting rod 211 to rotate. The support frame 208 is manufactured using a one-piece molding process, and the bending angle in the middle of the U-shaped support frame 208 is 90°-120°. The rotation center axis of the rotating disk 207 is perpendicular to the rotation center axis of the connecting rod 211. The drive motor 205 drives the rotating disk 207 to rotate, which in turn drives the support frame 208 to rotate. The servo motor 212 drives the connecting rod 211 to rotate, which in turn drives the mounting cylinder 301 to rotate, thus realizing the attitude adjustment of the sensor. In this embodiment, the rotation center axes of the rotating disk 207, the connecting rod 211, and the mounting cylinder 301 are perpendicular to each other, which enables three-dimensional angle adjustment of the sensor.

[0049] The support frame 208 provides mounting support for the connecting plate 209, bearing 210, and connecting rod 211. It also serves as the mounting carrier for the servo motor 212. Its U-shaped structure adapts to the space requirements for sensor pitch adjustment. The one-piece molding process enhances the structural strength of the support frame 208 and prevents deformation during adjustment. Furthermore, the bending angle of the support frame 208 is 90°-120°. This angle range ensures that the sensor can cover a large detection angle during pitch adjustment without causing mechanical interference due to excessive angle, thus meeting the actual needs of insulator inspection.

[0050] Preferably, the rotating disk 207 is fixedly connected to the connecting shaft 206, and the drive motor 205 is connected to the connecting shaft 206 by a meshing worm wheel 203 and worm 204. The worm wheel 203 is fixedly connected to the connecting shaft 206, and the worm 204 is connected to the drive motor 205.

[0051] Please see Figure 3 In this embodiment, the worm gear 203 is rotatably mounted on the inner bottom wall of the mounting housing 202, and the worm 204, which meshes with the worm gear 203, rotates on the mounting housing 202. The output end of the drive motor 205 passes through one side of the mounting housing 202 and is inserted into the inner wall of the worm 204. The inner wall of the middle part of the worm gear 203 is engaged with the connecting shaft 206, and the rotating disk 207 is rotatably connected to the inner wall of the upper end of the support plate 201. The rotating disk 207, the connecting shaft 206, and the worm gear 203 are arranged on the same axis, and the upper end of the connecting shaft 206 is detachably connected to the inner wall of the middle part of the rotating disk 207.

[0052] The mounting housing 202 provides a closed mounting space for the worm gear 203 and worm 204, preventing external dust and rainwater from affecting the transmission components, and also fixing the mounting position of the drive motor 205. In use, the attitude adjustment mechanism 2 generates power through the drive motor 205 to drive the worm 204 to rotate. Through the meshing of the worm gear 203 and worm 204, the horizontal rotational motion of the worm 204 is converted into its own vertical axis rotational motion, which in turn drives the rotating disk 207 to rotate via the connecting shaft 206. Furthermore, the self-locking characteristics of the worm gear 203 and worm 204 prevent the rotating disk 207 from rotating on its own when there is no power, ensuring the stability of the adjusted attitude.

[0053] Preferably, the sensor attitude adjustment device further includes a buffer mechanism 4, which is located on the side of the bottom cover 1 away from the attitude adjustment mechanism 2, and the buffer mechanism 4 is detachably connected between the bottom cover 1 and the UAV.

[0054] Please see Figure 1 and Figure 2 The buffer mechanism 4 is connected between the bottom cover 1 and the drone. The buffer structure can absorb the vibration generated during the flight of the drone, avoid the vibration from being transmitted to the sensor and causing deviation in the detection data, and improve the detection accuracy and stability of the sensor.

[0055] Preferably, the buffer mechanism 4 includes a base plate 401, a top plate 403, a buffer airbag 402, and a mounting bracket 408. The base plate 401 is fixedly connected to the bottom cover 1. The buffer airbag 402 is fixedly connected between the base plate 401 and the top plate 403. The mounting bracket 408 is fixedly installed on the side of the top plate 403 away from the buffer airbag 402. The mounting bracket 408 is used to connect with the drone. The buffer airbag 402 is also provided with an air inlet pipe 404 and an air outlet pipe 405. Both the air inlet pipe 404 and the air outlet pipe 405 are provided with a one-way valve 409 and a sealing valve 410. The sealing valve 410 is located at the opening of the air inlet pipe 404 and the air outlet pipe 405.

[0056] Please see Figure 9 , Figure 10 and Figure 11 In this embodiment, the base plate 401 and top plate 403 provide mounting positions for the buffer airbag 402. The mounting bracket 408 is used to fix the buffer mechanism 4 to the drone. The mounting bracket 408 is a connecting component between the buffer mechanism 4 and the drone; one end is fixed to the top plate 403, and the other end is detachably connected to the lower end of the drone, thus achieving the installation and fixation of the entire device. The air inlet pipe 404 and air outlet pipe 405 are both fixedly connected to the upper end of the top plate 403. The lower ends of the air inlet pipe 404 and air outlet pipe 405 penetrate the top plate 403 and extend into the interior of the buffer airbag 402. A sealing valve 410 is fixedly installed on the inner wall of the top end of the air inlet pipe 404 and air outlet pipe 405. The sealing valve 410 is made of elastic rubber, and the buffer airbag 402 is made of nitrile rubber. The wall thickness of the buffer airbag 402 is 1.5-2 mm.

[0057] The upper end of the base plate 401 is connected to the buffer airbag 402, bearing the weight of the buffer airbag 402, the top plate 403, and the upper components. It achieves overall positioning through cooperation with the mounting bracket 408. The buffer airbag 402 absorbs impact energy through the compression and expansion of its internal gas. When the mechanism is subjected to vibration or minor impact, the buffer airbag 402 can buffer the impact force, preventing the sensor from deviating from its detection posture or being damaged due to vibration. Furthermore, the buffer airbag 402 is made of nitrile rubber, which has good oil resistance, wear resistance, and elasticity, adapting to oil stains and friction in outdoor inspection environments and extending the airbag's service life.

[0058] The wall thickness of the airbag 402 is 1.5-2mm. This wall thickness ensures that the airbag 402 has sufficient elasticity to achieve the cushioning effect, while avoiding the airbag being easily damaged due to excessive thinness, or the airbag being affected by excessive thickness. The top plate 403 connects the airbag 402 to the mounting bracket 408, transferring the weight of the mounting bracket 408 and the upper components to the airbag 402. It also serves as the mounting carrier for the air inlet pipe 404 and the air outlet pipe 405. The air inlet pipe 404 is used to inflate the airbag 402, while the air outlet pipe 405 can expel some of the gas after the airbag 402 is impacted, thereby absorbing the impact force.

[0059] Both the inlet pipe 404 and the outlet pipe 405 are equipped with one-way valves 409. The one-way valve 409 inside the inlet pipe 404 only allows gas to enter the buffer airbag 402, preventing gas in the buffer airbag 402 from leaking out of the inlet pipe 404. The one-way valve 409 inside the outlet pipe 405 only allows gas to exit the buffer airbag 402, preventing external gas from entering from the outlet pipe 405, and ensuring stable air pressure inside the buffer airbag 402.

[0060] The sealing valve 410 is installed at the top of the air inlet pipe 404 and the air outlet pipe 405. Made of elastic rubber, it automatically closes when there is no inflation or deflation operation, further sealing the pipe openings to prevent gas leakage and simultaneously blocking dust from entering the air passage. The sealing valve 410 is made of elastic rubber, utilizing the elasticity of the rubber to achieve automatic closure, ensuring a sealing effect while avoiding the possibility that an overly hard material would prevent the valve from opening and closing flexibly, thus affecting inflation or deflation efficiency.

[0061] Preferably, the buffer mechanism 4 further includes a damping rod 406 and a return spring 407. The damping rod 406 is fixedly connected between the top plate 403 and the bottom plate 401, and the return spring 407 is sleeved on the outside of the damping rod 406. The return spring 407 is pressed and assembled between the top plate 403 and the bottom plate 401.

[0062] Please see Figure 9The upper end of the damping rod 406 is detachably connected to the lower end of the top plate 403, and the return spring 407 is sleeved on the outer surface of the damping rod 406. The damping rod 406 and the return spring 407 work together to absorb some of the vibration energy through the extension and retraction of the damping rod 406, reducing the vibration amplitude and frequency of the buffer mechanism 4, preventing the buffer airbag 402 from repeatedly bouncing due to high-frequency vibration, and enhancing buffer stability. The return spring 407 assists in buffering through its own elastic deformation. When the buffer mechanism 4 is subjected to downward pressure, the return spring 407 compresses; after the pressure disappears, the return spring 407 rebounds, causing the top plate 403 to return to its original position. Simultaneously, the return spring 407 enhances the supporting force of the buffer mechanism 4. When causing the top plate 403 to return to its original position, it can also pull the buffer airbag 402 to return to its original position, causing it to move upwards, thereby generating suction. This suction draws in external air through the air intake pipe 404, replenishing the air consumed by the buffer airbag 402 during vibration absorption.

[0063] In this embodiment, the return spring 407 is made of stainless steel with a spring constant of 5-10 N / mm. Stainless steel has good corrosion resistance and can withstand the humid and dusty outdoor inspection environment, preventing rust from affecting its elasticity. Simultaneously, the spring constant of 5-10 N / mm allows the return spring 407 to have sufficient supporting force to bear the weight of the mechanism, while also producing appropriate deformation to assist in cushioning, avoiding insufficient cushioning due to excessive elasticity or unstable support due to insufficient elasticity.

[0064] The working process of the sensor attitude adjustment device of the present invention is as follows: Connect the device to the lower end of the drone via the mounting bracket 408, ensuring a secure installation. Connect the controller 5 to the external device. When the controller 5 is started, it performs a self-test to confirm that all actuators respond normally and that the attitude adjustment mechanism 2 and the adaptive clamping mechanism 3 are in their initial reset state.

[0065] The operator sends an opening command for the clamping rod 314 to the controller 5 via an external control device. The controller 5 outputs an electrical signal to the micro electric cylinder 319, and the output end of the micro electric cylinder 319 extends, pushing the telescopic rod 317 to move forward along the guide direction of the sleeve rod 318. The telescopic rod 317 transmits the thrust to the push rod 312, and the push rod 312 moves along the trajectory defined by the positioning groove 310, pushing the rotating disk 307 to rotate clockwise. At the same time, the pull rod 311 connected to the rotating disk 307 also rotates clockwise in the first annular groove 308. The rotating disk 307 drives the clamping rod 314 to rotate synchronously through the limiting shaft 315. The rolling shaft 320 at the end of the clamping rod 314 moves along the arc-shaped sliding groove 306 into the interior of the fixed disk 305, so that multiple clamping rods 314 open synchronously to form a space to accommodate the sensor. During this process, the pull rod 311 pulls the first spring 313 to stretch and store elastic potential energy.

[0066] The operator places the fiber optic electric field sensor into the space opened by the clamping rod 314, ensuring that the sensor axis is basically aligned with the axis of the mounting cylinder 301. The controller 5 sends a clamping and fixing command, the output end of the miniature electric cylinder 319 retracts, the push rod 312 loses its thrust, the first spring 313 releases its elastic potential energy, pulling the pull rod 311 to slide in the opposite direction, causing the rotating disk 307 to rotate counterclockwise. The rotating disk 307 drives the clamping rod 314 to rotate through the limiting shaft 315. The rolling shaft 320 at the end of the clamping rod 314 moves along the inside of the arc-shaped sliding groove 306 until the elastic positioning block 316 at the end of the clamping rod 314 is tightly attached to the sensor surface, achieving uniform clamping force. The elastic positioning block 316 uses its own anti-slip properties to prevent the sensor from sliding, while avoiding scratching the sensor shell during clamping.

[0067] During use, the operator sends a horizontal angle adjustment command to the controller 5 according to the insulator detection position requirements. The controller 5 outputs an electrical signal to the drive motor 205, which starts and drives the worm 204 to rotate. The worm 204 meshes with the worm wheel 203, converting the horizontal rotation of the worm 204 into the vertical rotation of the worm wheel 203. The worm wheel 203 drives the rotating disk 207 to rotate synchronously through the centrally clamped connecting shaft 206. The support frame 208 and the adaptive clamping mechanism 3 on the upper end of the rotating disk 207 rotate horizontally accordingly. When the target angle is reached, the controller 5 sends a stop command, and the drive motor 205 stops. Utilizing the self-locking characteristics of the worm wheel 203 and worm 204, the rotating disk 207 will not rotate on its own, and the sensor remains stably at the target horizontal angle.

[0068] Based on the insulator's height and tilt angle, controller 5 sends a pitch adjustment command. Controller 5 outputs an electrical signal to servo motor 212, which starts and drives connecting rod 211 to rotate. Connecting rod 211 is rotatably connected to connecting plate 209 via bearing 210. During rotation, it directly drives the adaptive clamping mechanism 3 to pitch around the axis of connecting rod 211. Servo motor 212 has high-precision control characteristics. When it reaches the target pitch angle, controller 5 sends a stop command, locking servo motor 212, and the sensor stably maintains the target pitch attitude.

[0069] When the inspection environment is a complex scene such as a high-voltage line with dense towers, the controller 5 can send horizontal and pitch adjustment commands at the same time, and drive the motor 205 and the servo motor 212 to work together, so that the sensor can complete the pitch adjustment while rotating horizontally, quickly aligning with the detection target, without having to control the drone to adjust its attitude in a confined space.

[0070] The slight vibrations generated by the drone's flight are transmitted to the top plate 403 through the mounting bracket 408. The top plate 403 compresses the buffer airbag 402 and the return spring 407. The buffer airbag 402 absorbs part of the vibration energy through internal gas compression. The return spring 407 synchronously elastically deforms to assist in buffering. The damping rod 406 slows down the vibration frequency and prevents the vibration from being transmitted to the sensor, which would cause deviations in the detection data.

[0071] In summary, this invention provides a sensor attitude adjustment device. The adaptive clamping mechanism's rotating disk is mounted within a fixed disk. The drive unit can push the rotating disk to rotate, reciprocating between a first state and a second state. When the rotating disk rotates, it drives the clamping rod to move synchronously. Since the limiting shaft fixed to the clamping rod passes through the limiting groove of the rotating disk, and the rolling shaft passes through the arc-shaped groove of the fixed disk, the arc-shaped groove restricts the movement trajectory of the rolling shaft, thereby applying a force to the clamping rod rotating around the limiting shaft. The elastic positioning blocks on the clamping rod can move closer or further apart, changing the distance between them. The elastic positioning blocks can clamp sensors of different sizes, ensuring stable sensor position without displacement and improving sensor detection stability.

[0072] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and substitutions can be made without departing from the technical principles of the present invention, and these improvements and substitutions should also be considered within the scope of protection of the present invention.

Claims

1. A sensor attitude adjustment device, characterized in that, It includes a bottom cover (1), an attitude adjustment mechanism (2) and an adaptive clamping mechanism (3). The bottom cover (1) is used to be fixedly connected to the UAV. The attitude adjustment mechanism (2) is fixedly connected to the bottom cover (1). The adaptive clamping mechanism (3) is connected to the attitude adjustment mechanism (2). The attitude adjustment mechanism (2) is used to adjust the angle of the adaptive clamping mechanism (3). The adaptive clamping mechanism (3) includes a mounting cylinder (301) and a clamping assembly disposed within the mounting cylinder (301). The mounting cylinder (301) is fixedly connected to the attitude adjustment mechanism (2). The clamping assembly includes a fixed disk (305), clamping rods (314), a limiting shaft (315), a rolling shaft (320), a rotating disk (307), and a drive unit. The fixed disk (305) is fixedly connected to the mounting cylinder (301). The rotating disk (307) is rotatably mounted within the fixed disk (305) around the axial direction of the fixed disk (305). Multiple clamping rods (314) are spaced apart around the axial direction of the rotating disk (307). Each clamping rod (314) is fixedly connected to the limiting shaft (315) and the rolling shaft (320). The rolling shaft (320) is located on the side of the limiting shaft (315) away from the central axis of the rotating disk (307). Each clamping rod (314) is provided with an elastic positioning block (316) on the side away from the rolling shaft (320). The rotating disk (307) is provided with a limiting groove (321) extending along the axial direction of the rotating disk (307). The limiting shaft (315) passes through the limiting groove (321). The fixed disk (305) is provided with an arc-shaped sliding groove (306). The rolling shaft (320) passes through the arc-shaped sliding groove (306). The drive unit is connected to the rotary disk (307) to drive the rotary disk (307) to rotate. During the rotation stroke, the rotary disk (307) has a first state in which it drives each clamping rod (314) to rotate around the limiting shaft (315) so that the elastic positioning blocks (316) of each clamping rod (314) move away from each other, and a second state in which it drives each clamping rod (314) to rotate around the limiting shaft (315) so that the elastic positioning blocks (316) of each clamping rod (314) move closer to each other.

2. The sensor attitude adjustment device according to claim 1, characterized in that, The drive unit includes a pull rod (311), a push rod (312), a first spring (313), a miniature electric cylinder (319), a telescopic rod (317), and a sleeve rod (318). The pull rod (311) and the push rod (312) are both fixedly connected to the rotating disk (307). The fixed disk (305) has a radially penetrating first annular groove (308) and a positioning groove (310). The first annular groove (308) and the positioning groove (310) both extend circumferentially along the fixed disk (305). The pull rod (311) passes through the first annular groove (308). The push rod (312) passes through the positioning groove (310), the sleeve rod (318) is sleeved on the outside of the telescopic rod (317), one end of the telescopic rod (317) is connected to the push rod (312), the output end of the micro electric cylinder (319) passes through the sleeve rod (318) and abuts against the telescopic rod (317), the first spring (313) is connected between the pull rod (311) and the fixed plate (305), and the micro electric cylinder (319) and the first spring (313) can drive the rotating plate (307) to rotate in opposite directions respectively.

3. The sensor attitude adjustment device according to claim 2, characterized in that, The clamping assembly further includes a support column (309), which is fixedly disposed in the first annular groove (308) and fixedly connected to the fixed plate (305), and the first spring (313) is hooked and engaged with the support column (309).

4. The sensor attitude adjustment device according to claim 3, characterized in that, The pull rod (311) is provided in multiple intervals along the circumference of the rotating disk (307), and the first annular groove (308) is provided in multiple intervals along the circumference of the fixed disk (305) and corresponds to the pull rod (311) one by one. Each first annular groove (308) is provided with a support column (309) and the first spring (313).

5. The sensor attitude adjustment device according to claim 2, characterized in that, The adaptive clamping mechanism (3) further includes a housing (302) and a sealing cover (304) fixedly connected to the housing (302). The housing (302) is fixedly connected to the mounting cylinder (301). The housing (302) is provided with a through groove (303). The push rod (312) is partially inserted into the groove (303). The miniature electric cylinder (319), the sleeve rod (318), and the telescopic rod (317) are all located inside the housing (302).

6. The sensor attitude adjustment device according to any one of claims 1-5, characterized in that, The attitude adjustment mechanism (2) includes a support plate (201), a mounting shell (202), a drive motor (205), a rotating disk (207), a support frame (208), a connecting disk (209), a bearing (210), a connecting rod (211), and a servo motor (212). The support plate (201) is fixedly connected to the bottom cover (1). The mounting shell (202) is located on the side of the support plate (201) near the bottom cover (1) and is fixedly connected to the support plate (201). The drive motor (205) is fixedly connected to the mounting shell (202). The rotating disk (207) is fixedly connected to the support frame (208). The drive motor (205) is connected to the rotating disk (207) in a transmission connection to drive the rotating disk (207) to rotate in a vertical direction. The support frame (208) has a U-shaped structure. The connecting plate (209) is fixedly connected to the support frame (208). The bearing (210) is rotatably assembled inside the connecting plate (209). The connecting rod (211) is fixedly connected to the bearing (210) and the mounting cylinder (301). The servo motor (212) is fixedly assembled on the side of the support frame (208) away from the connecting plate (209). The servo motor (212) is connected to the connecting rod (211) to drive the connecting rod (211) to rotate around the horizontal direction.

7. The sensor attitude adjustment device according to claim 6, characterized in that, The rotating disk (207) is fixedly connected to a connecting shaft (206). The drive motor (205) and the connecting shaft (206) are connected by a meshing worm wheel (203) and worm (204). The worm wheel (203) is fixedly connected to the connecting shaft (206), and the worm (204) is connected to the drive motor (205).

8. The sensor attitude adjustment device according to any one of claims 1-5, characterized in that, The sensor attitude adjustment device also includes a buffer mechanism (4), which is located on the side of the bottom cover (1) away from the attitude adjustment mechanism (2) and is detachably connected between the bottom cover (1) and the UAV.

9. The sensor attitude adjustment device according to claim 8, characterized in that, The buffer mechanism (4) includes a base plate (401), a top plate (403), a buffer airbag (402), and a mounting bracket (408). The base plate (401) is fixedly connected to the bottom cover (1). The buffer airbag (402) is fixedly connected between the base plate (401) and the top plate (403). The mounting bracket (408) is fixedly disposed on the side of the top plate (403) away from the buffer airbag (402). The mounting bracket (408) is used to connect with the drone. The buffer airbag (402) is also provided with an air inlet pipe (404) and an air outlet pipe (405). Both the air inlet pipe (404) and the air outlet pipe (405) are provided with a one-way valve (409) and a sealing valve (410). The sealing valve (410) is disposed at the opening of the air inlet pipe (404) and the air outlet pipe (405).

10. The sensor attitude adjustment device according to claim 9, characterized in that, The buffer mechanism (4) further includes a damping rod (406) and a return spring (407). The damping rod (406) is fixedly connected between the top plate (403) and the bottom plate (401). The return spring (407) is sleeved on the outside of the damping rod (406) and is press-fitted between the top plate (403) and the bottom plate (401).

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