A power line patrol unmanned aerial vehicle's pulley type line patrol structure

Abstract

This invention discloses a pulley-type power line inspection structure for a power line inspection drone, relating to the field of drone technology. It includes a carrier plate, a pulley drive mechanism, a pulley mechanism, a clamping and adjusting mechanism, and an auxiliary wheel mechanism. The pulley drive mechanism outputs power and transmits it to the pulley mechanism to drive its movement. The pulley mechanism cooperates with the cable, receiving power from the pulley drive mechanism and completing the sliding operation along the cable. The clamping and adjusting mechanism is closable on both sides of the pulley mechanism and is driven by a single power source to achieve bidirectional synchronous opening and closing. The auxiliary wheel mechanism is connected to the clamping and adjusting mechanism and opens and closes synchronously with it. This invention has a reasonable layout, compact structure, and reduced weight. During operation, it allows the drone to be stably mounted on the cable for sliding inspection, fundamentally avoiding the risk of propeller collisions with the cable and significantly improving operational safety. Simultaneously, the multi-pulley linkage and auxiliary wheel support ensure smooth sliding and better adaptability to different cable conditions.

Description

Technical Field

[0001] This invention relates to the field of unmanned aerial vehicle (UAV) technology, and in particular to a pulley-type power line inspection structure for a power line inspection UAV. Background Technology

[0002] With the continuous expansion of the power grid and the significant increase in the number of equipment, the operation and maintenance of transmission and distribution lines, in particular, face increasingly severe challenges. Since transmission lines typically traverse vast geographical areas, the impact of damage and debris on the power system is receiving increasing attention. Therefore, how to efficiently and accurately detect abnormal conditions on transmission lines has become one of the most important issues that urgently needs to be addressed in current power system maintenance.

[0003] Currently, power line inspections are mostly conducted using drones, which reduces manual inspections, lowers the risks during personnel inspections, and improves inspection efficiency. However, due to the large spans and complex wiring of cables, traditional drone inspections involve continuous flight, resulting in high energy consumption and the risk of propellers colliding with cables during flight, causing damage. This leads to collisions, missed inspections, and incorrect inspections, and also places high demands on the drone's endurance. Existing drone inspection methods, in terms of efficiency, safety, detection accuracy, and operating costs, are insufficient to fully meet the practical needs of modern power systems for long-distance, complex terrain power line inspections.

[0004] Therefore, how to develop a pulley-type inspection structure for power line inspection drones, enabling them to perform inspection operations while gliding on cables and ensuring stability and reliability during movement, has become a technical challenge that urgently needs to be solved by those skilled in the art. Summary of the Invention

[0005] The purpose of this invention is to provide a pulley-type power line inspection structure for a power line inspection drone. Through the pulley mechanism and the clamping and adjusting mechanism, the drone can be stably connected to the cable, enabling the drone to glide and inspect the cable, thus solving the problems of cable damage caused by rotor rotation and collision during the flight of ordinary drones and poor endurance.

[0006] To solve the above-mentioned technical problems, the present invention adopts the following technical solution: This invention discloses a pulley-type power line inspection structure for a power line inspection drone, comprising a carrier plate, a pulley drive mechanism, a pulley mechanism, a clamping and adjusting mechanism, and an auxiliary wheel mechanism. The pulley drive mechanism is installed on one side of the carrier plate, and the pulley mechanism is installed on the other side of the carrier plate. The pulley drive mechanism outputs power and transmits it to the pulley mechanism to drive its movement. The pulley mechanism cooperates with the cable, receiving the power from the pulley drive mechanism and completing the sliding operation along the cable, while also bearing part of the drone's weight. The clamping and adjusting mechanism is closable on both sides of the pulley mechanism, and the clamping and adjusting mechanism is driven by a single power source to complete bidirectional synchronous opening and closing, and cooperates with the pulley mechanism to clamp the cable. The auxiliary wheel mechanism is connected to the clamping and adjusting mechanism and opens and closes synchronously with the clamping and adjusting mechanism, cooperating with the pulley mechanism to form a cable clamping and support structure.

[0007] Preferably, the pulley mechanism includes a bracket, pulleys, and parallel connecting rods. The bracket is fixedly connected to the carrier plate, the pulleys are rotatably mounted on the bracket, and multiple parallel connecting rods are alternately rotatably connected to the outer sides of adjacent pulleys, with the connection points located at non-central positions. One of the pulleys is drive-connected to the pulley drive mechanism.

[0008] Preferably, the upper end of the bracket is provided with a threaded hole, and the bolt passes through the mounting hole of the carrier plate and is screwed into the threaded hole of the bracket for fastening; the rotational connection between the parallel connecting rod and the pulley is made of pin hinge.

[0009] Preferably, the pulley drive mechanism includes a first motor, a driving pulley, a driven pulley, and a synchronous belt. The first motor is positioned and connected to a fixed frame, which is used to connect to the fuselage of the UAV. The driving pulley is mounted on the output shaft of the first motor. The driving pulley is driven and connected to the driven pulley via the synchronous belt. The driven pulley is driven and connected to one of the pulleys in the pulley mechanism.

[0010] Preferably, the clamping adjustment mechanism includes a second motor for single drive, a transmission assembly, and a clamping execution assembly. The transmission assembly includes a bevel gear pair and a double-ended lead screw. The output shaft of the second motor is connected to the double-ended lead screw via the bevel gear pair. The double-ended lead screw has threads with opposite directions at both ends. The clamping execution assembly is movably mounted at both ends of the double-ended lead screw. When the double-ended lead screw rotates, it drives the clamping execution assembly to move closer or separate synchronously in both directions.

[0011] Preferably, the bevel gear pair includes a driving bevel gear and a driven bevel gear that mesh with each other. The driving bevel gear is mounted on the output shaft of the second motor. The double-ended lead screw is mounted on the carrier plate through a lead screw support. The middle section of the double-ended lead screw is a smooth rod with a set screw hole. The driven bevel gear is fixed to the smooth rod section of the double-ended lead screw by a set screw. The clamping actuator includes a slider, a linear slide rail, a lead screw nut, a slider and clamping plate connector, a connector plate, and a clamping plate. The linear slide rail is fixed to the carrier plate by bolts. There are two lead screw nuts, which are respectively screwed into the threaded sections at both ends of a double-ended lead screw. The slider is slidably assembled on the linear slide rail. The lead screw nut is fixedly connected to the slider and clamping plate connector. The slider and clamping plate connector is simultaneously fixed to the slider and the clamping plate. The connector plate connects the front and rear sets of slider and clamping plate connectors, so that the slider and the clamping plate move horizontally together or apart synchronously.

[0012] Preferably, the carrier plate is connected to the drone body via multiple aluminum pillars, and the linear slide rails are in two sets and symmetrically installed on the carrier plate. Each set of linear slide rails is equipped with a matching slider. The carrier plate has a displacement limiting rectangular cutout, and the horizontal displacement stroke of the slider, the slider and the clamping plate connector is limited by the side wall of the displacement limiting rectangular cutout.

[0013] Preferably, the mounting holes of the linear slide rail, the mounting holes of the carrier plate, and the threaded holes on the bracket are coaxially aligned. After the bolts are sequentially passed through the mounting holes of the linear slide rail and the carrier plate, they are screwed into the threaded holes of the bracket to securely connect the three components.

[0014] Preferably, the auxiliary wheel mechanism includes an auxiliary wheel connecting plate and an auxiliary wheel. The auxiliary wheel is fixedly connected to the clamping and adjusting mechanism through the auxiliary wheel connecting plate, and the auxiliary wheel and the pulley are arranged opposite to each other to form a cable clamping space.

[0015] Preferably, two clamping plates are symmetrically arranged, and the clamping plates are provided with structural hollows, driven pulley hollows, and auxiliary wheel mounting through holes; the auxiliary wheels are hollow frustum-shaped and are staggered on the pair of clamping plates.

[0016] Compared with the prior art, the beneficial technical effects of the present invention are as follows: This invention, through the cooperation of a pulley mechanism and a clamping and adjusting mechanism, enables a drone to be stably mounted on and glide along cables for inspection, eliminating the need for propeller flight throughout the entire process. This design fundamentally avoids the risk of propellers colliding with cables during traditional drone inspections, effectively preventing line damage and significantly improving the safety of inspection operations.

[0017] The clamping and adjusting mechanism of this invention employs a double-ended lead screw coupled with a single motor drive, achieving synchronous bidirectional movement of the clamping plates through threads with opposite directions at both ends. This design eliminates the redundant transmission structure required for traditional bidirectional motion, simplifying the mechanical structure and reducing the overall weight while achieving precise clamping, thus contributing to the lightweight design of UAVs.

[0018] In use, the drone is attached to a cable and driven by a pulley mechanism to glide along the cable. During this process, the drone's propellers can completely stop rotating, avoiding continuous energy consumption during flight inspections. Simultaneously, the cable bears part of the drone's weight, and the auxiliary wheel mechanism provides support and protection, further reducing power requirements. Through these synergistic effects, this invention significantly reduces energy consumption during inspections and effectively extends the drone's operating time.

[0019] The pulley mechanism of this invention achieves multi-pulley linkage through parallel connecting rods, ensuring synchronous rotation of all pulleys and making the drone's gliding on cables smoother. The clamping adjustment mechanism can drive the clamping plate to flexibly adjust the clamping distance. Combined with the structural design of the frustum-shaped auxiliary wheel, it can stably clamp cables of different diameters, enhancing the equipment's adaptability to different line conditions. The auxiliary wheel provides lateral support during clamping, further enhancing gliding stability while effectively protecting the cable.

[0020] The double-ended lead screw of this invention has a self-locking characteristic, which can maintain a stable clamping state for a long time after clamping the cable, avoiding the clamping loosening due to vibration or external force during the gliding of the drone, and ensuring the continuous reliability and operational safety of the inspection process.

[0021] This invention provides a pulley-type cable inspection structure for a cable inspection drone, which allows the drone to be stably mounted on the cable for inspection, fundamentally avoiding the risk of propeller collision with the cable and significantly improving operational safety. The clamping and adjustment mechanism adopts a double-ended lead screw and a single motor drive, which simplifies the structure and reduces weight. The multi-pulley linkage and auxiliary wheel support ensure smooth gliding and can better adapt to different cable working conditions. Attached Figure Description

[0022] The present invention will be further described below with reference to the accompanying drawings.

[0023] Figure 1 This is a schematic diagram of the overall structure of the pulley-type power line inspection drone of the present invention; Figure 2 This is a schematic diagram of the pulley mechanism and drive pulley mechanism of the present invention; Figure 3 This is a schematic diagram of the clamping and adjusting mechanism and the auxiliary wheel mechanism of the present invention.

[0024] Explanation of reference numerals in the attached drawings: 1. Carrier plate; 2. Aluminum column; 3. Slider; 4. Linear slide rail; 5. Lead screw nut; 6. Lead screw support seat; 7. Double-ended lead screw; 8. Slider and clamping plate connector; 9. Connecting plate; 10. Bracket; 11. Cable; 12. Pulley; 13. Auxiliary wheel; 14. Clamping plate; 15. Driven pulley; 16. Driving pulley; 17. First motor; 18. Fixing frame; 19. Second motor; 20. Driving bevel gear; 21. Driven bevel gear; 22. Parallel connecting rod; 23. Synchronous belt; 24. Auxiliary wheel connecting plate. Detailed Implementation

[0025] To make the technical problems to be solved, the technical solutions, and the beneficial effects of the present invention clearer, the present 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 only used to explain the present invention and are not intended to limit the present invention.

[0026] like Figure 1-3 As shown, a pulley-type power line inspection structure for a power line inspection drone includes a carrier plate 1, a pulley drive mechanism, a pulley mechanism, a clamping and adjusting mechanism, and an auxiliary wheel mechanism. The pulley drive mechanism is installed on one side of the carrier plate 1, and the pulley mechanism is installed on the other side of the carrier plate 1. The pulley drive mechanism outputs power and transmits it to the pulley mechanism to drive its movement. The pulley mechanism cooperates with the cable, receiving the power from the pulley drive mechanism and completing the sliding operation along the cable 11, while also bearing part of the drone's weight. The clamping and adjusting mechanism is closable on both sides of the pulley mechanism, and the clamping and adjusting mechanism is driven by a single power source to complete bidirectional synchronous opening and closing, and cooperates with the pulley mechanism to clamp the cable. The auxiliary wheel mechanism is connected to the clamping and adjusting mechanism and opens and closes synchronously with the clamping and adjusting mechanism, cooperating with the pulley mechanism to form a cable clamping and support structure, realizing the stable sliding of the drone along the cable and protecting the cable.

[0027] Specifically, such as Figure 2 As shown, the pulley mechanism includes a bracket 10, pulleys 12, and parallel connecting rods 22. The bracket 10 is fixedly connected to the carrier plate 1. The pulleys 12 are rotatably mounted on the bracket 10. Multiple parallel connecting rods 22 are alternately rotatably connected to the outer sides of adjacent pulleys 12, with the connection points located at non-central positions. The parallel connecting rods 22 enable each pulley 12 to have power (similar to the connecting rods of a train wheel assembly), thereby realizing the active gliding function of the UAV on the cable. One of the pulleys 12 is connected to the pulley drive mechanism. Specifically, the upper end of the bracket 10 has a threaded hole, and bolts pass through the mounting holes of the carrier plate 1 and are screwed into the threaded hole of the bracket 10 for fastening. The rotatable connection between the parallel connecting rods 22 and the pulleys 12 is a pin hinge.

[0028] The pulley drive mechanism includes a first motor 17, a driving pulley 16, a driven pulley 15, and a synchronous belt 23. The first motor 17 is positioned and connected to a fixed frame 18, which is used to connect to the fuselage of the UAV. The driving pulley 16 is mounted on the output shaft of the first motor 17. The driving pulley 16 is connected to the driven pulley 15 via the synchronous belt 23. The driven pulley 15 is connected to one of the pulleys 12 of the pulley mechanism.

[0029] In one specific embodiment, three pulleys 12 are provided. The outer circumference of each pulley has a groove for engaging with the cable. They are rotatably mounted within a U-shaped bracket 10 via a connecting shaft. Two parallel connecting rods 22 are alternately rotatably connected to the outer sides of two adjacent pulleys 12. One pulley 12 at one end is coaxially connected to the driven pulley 15. During operation, the first motor 17 starts, the driving pulley 16 rotates, and through the synchronous belt 23, drives the driven pulley 15 and the connected pulley 12 to rotate simultaneously. The parallel connecting rods 22 then provide power to each pulley 12, enabling the UAV to actively glide on the cable 11 and complete the inspection operation. The pulley mechanism of this invention achieves multi-pulley linkage through parallel connecting rods, ensuring synchronous rotation of each pulley and making the UAV's glide on the cable smoother. Furthermore, this process does not require reliance on propeller flight throughout, fundamentally avoiding the risk of propeller rotation colliding with the cable in traditional UAV inspections, effectively preventing line damage and significantly improving the safety of inspection operations.

[0030] Specifically, the clamping adjustment mechanism includes a second motor 19 for single-drive operation, a transmission assembly, and a clamping execution assembly. The transmission assembly includes a bevel gear pair and a double-ended lead screw 7. The output shaft of the second motor 19 is connected to the double-ended lead screw 7 via the bevel gear pair. The double-ended lead screw 7 has threads with opposite directions of rotation at both ends. The clamping execution assembly is movably mounted at both ends of the double-ended lead screw 7. When the double-ended lead screw 7 rotates, it drives the clamping execution assembly to move closer or further apart synchronously in both directions. Specifically, the double-ended lead screw preferably uses a trapezoidal thread with a thread helix angle smaller than the equivalent friction angle, possessing self-locking characteristics.

[0031] The bevel gear pair includes a driving bevel gear 20 and a driven bevel gear 21 that mesh with each other. The driving bevel gear 20 is mounted on the output shaft of the second motor 19. The double-ended lead screw 7 is mounted on the carrier plate 1 via a lead screw support 6. The middle section of the double-ended lead screw 7 is a smooth rod with a set screw hole. The driven bevel gear 21 is fixed to the smooth rod section of the double-ended lead screw 7 via a set screw. The clamping and actuating assembly includes a slider 3, a linear slide rail 4, a lead screw nut 5, a slider and clamping plate connector 8, a connector connecting plate 9, and... The clamping plate 14, the linear slide rail 4 is fixed to the carrier plate 1 by bolts, the screw nut 5 consists of two parts and is respectively screwed into the threaded sections of the two ends of the double-ended screw 7, the slider 3 is slidably assembled on the linear slide rail 4, the screw nut 5 is fixedly connected to the slider and clamping plate connecting piece 8, and the slider and clamping plate connecting piece 8 is simultaneously fixed to the slider 3 and the clamping plate 14; the connecting plate 9 connects the front and rear sets of slider and clamping plate connecting pieces 8, so that the slider 3 and the clamping plate 14 move horizontally together or apart synchronously.

[0032] Specifically, the clamping and adjusting mechanism employs a double-ended lead screw driven by a single motor, achieving synchronous bidirectional movement of the clamping plates through threads with opposite directions at both ends. This design eliminates the redundant transmission structure required for traditional bidirectional motion, simplifying the mechanical structure and reducing the overall weight while achieving precise clamping, thus contributing to the lightweight design of the drone. Furthermore, due to the self-locking property of the double-ended lead screw 7, the clamping and adjusting mechanism can maintain a precise clamping state after clamping the cable, preventing the drone from becoming loose during gliding.

[0033] Specifically, the carrier plate 1 is connected to the drone fuselage via multiple aluminum pillars 2. Two sets of linear slide rails 4 are symmetrically installed on the carrier plate 1, with each set equipped with a matching slider 3. The carrier plate 1 has a displacement-limiting rectangular cutout, and the horizontal displacement of the slider 3, the slider, and the clamping plate connector 8 is limited by the sidewall of the displacement-limiting rectangular cutout. The mounting holes of the linear slide rails 4, the carrier plate 1, and the threaded holes on the bracket 10 are coaxially aligned. Bolts are sequentially passed through the mounting holes of the linear slide rails 4 and the carrier plate 1 and then screwed into the threaded holes of the bracket 10, securing the three together.

[0034] The auxiliary wheel mechanism includes an auxiliary wheel connecting plate 24 and an auxiliary wheel 13. The auxiliary wheel 13 is fixedly connected to the clamping plate 14 of the clamping and adjusting mechanism through the auxiliary wheel connecting plate 24, and the auxiliary wheel 13 and the pulley 12 are arranged opposite to each other to form a cable clamping space.

[0035] Specifically, there are two symmetrical clamping plates 14. The clamping plates 14 are provided with structural cutouts, driven pulley cutouts, and auxiliary wheel mounting through holes. The auxiliary wheels 13 are hollow frustum-shaped and are staggered on the pair of clamping plates 14. This staggered distribution allows the auxiliary wheels to support the cable from both sides, enhancing clamping stability and preventing the cable from coming off. At the same time, with the adjustable clamping plates 14, cables of different diameters can be clamped, making the UAV suitable for cable inspection operations of more specifications.

[0036] Specifically, the clamping adjustment mechanism can drive the clamping plates to flexibly adjust the clamping distance. Combined with the frustum-shaped auxiliary wheels, this structure can stably clamp cables of different diameters, enhancing the equipment's adaptability to various line conditions. The auxiliary wheels provide lateral support during clamping, further enhancing sliding stability and effectively protecting the cables.

[0037] The process of using this invention is as follows: Specifically, during the inspection, the drone hovers on the target cable 11, driving the second motor 19 to rotate. The bevel gear pair meshes and transmits the rotational power to the double-ended lead screw 7. The rotation of the double-ended lead screw 7 causes the two lead screw nuts 5 at both ends to move in opposite directions. The two sets of sliders 3 separate within the limit range of the carrier plate 1, and finally the clamping plate 14 separates. The drone descends and the cable enters the pulley mechanism. Then, the second motor 19 is driven to reverse, causing the clamping plate 14 to close. The auxiliary wheel mechanism installed on the clamping plate 14 clamps the cable with the pulley mechanism. The first motor 17 is driven, and the rotational power of the first motor 17 is transmitted to the driven pulley 15 connected to the pulley 12 through the synchronous belt 23. The pulley group is connected to each other through the parallel connecting rod 22. The power transmitted by the drive pulley mechanism drives the pulley group through the parallel connecting rod 22, so that each pulley 12 has power. At the same time, the drone propellers stop rotating, and finally the drone achieves stable gliding on the cable.

[0038] This invention features a reasonable layout and ingenious design, enabling drones to glide and inspect cables, fundamentally avoiding the risk of propellers colliding with cables and significantly improving operational safety. At the same time, the multi-pulley linkage and auxiliary wheel support ensure smooth gliding and can better adapt to different cable working conditions.

[0039] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus.

[0040] The embodiments described above are merely preferred embodiments of the present invention and are not intended to limit the scope of the present invention. Various modifications and improvements made by those skilled in the art to the technical solutions of the present invention without departing from the spirit of the present invention should fall within the protection scope defined by the claims of the present invention.

Claims

1. A pulley-type power line inspection structure for a power line inspection drone, characterized in that: The system includes a carrier plate (1), a pulley drive mechanism, a pulley mechanism, a clamping and adjusting mechanism, and an auxiliary wheel mechanism. The pulley drive mechanism is installed on one side of the carrier plate (1), and the pulley mechanism is installed on the other side of the carrier plate (1). The pulley drive mechanism outputs power and transmits it to the pulley mechanism to drive its movement. The pulley mechanism cooperates with the cable, receives the power of the pulley drive mechanism, and completes the sliding operation along the cable, while also bearing part of the weight of the UAV. The clamping and adjusting mechanism is openable and closable on both sides of the pulley mechanism, and the clamping and adjusting mechanism is driven by a single power source to complete bidirectional synchronous opening and closing, and cooperates with the pulley mechanism to clamp the cable. The auxiliary wheel mechanism is connected to the clamping and adjusting mechanism and opens and closes synchronously with the clamping and adjusting mechanism, and cooperates with the pulley mechanism to form a cable clamping and support structure.

2. The pulley-type power line inspection structure of the power line inspection drone according to claim 1, characterized in that: The pulley mechanism includes a bracket (10), a pulley (12) and parallel connecting rods (22). The bracket (10) is fixedly connected to the carrier plate (1). The pulley (12) is rotatably mounted on the bracket (10). Multiple parallel connecting rods (22) are alternately rotatably connected to the outside of adjacent pulleys (12), and the connection is located at a non-central position. One of the pulleys (12) is connected to the pulley drive mechanism.

3. The pulley-type power line inspection structure of the power line inspection drone according to claim 2, characterized in that: The upper end of the bracket (10) is provided with a threaded hole. After the bolt passes through the mounting hole of the carrier plate (1), it is screwed into the threaded hole of the bracket (10) for fastening. The rotational connection between the parallel connecting rod (22) and the pulley (12) is made of pin hinge.

4. The pulley-type power line inspection structure of the power line inspection drone according to claim 2, characterized in that: The pulley drive mechanism includes a first motor (17), a driving pulley (16), a driven pulley (15), and a synchronous belt (23). The first motor (17) is positioned and connected to a fixed frame (18), which is used to connect to the fuselage of the UAV. The driving pulley (16) is mounted on the output shaft of the first motor (17). The driving pulley (16) is connected to the driven pulley (15) via the synchronous belt (23). The driven pulley (15) is connected to one of the pulleys (12) of the pulley mechanism.

5. The pulley-type power line inspection structure of the power line inspection drone according to claim 1, characterized in that: The clamping adjustment mechanism includes a second motor (19) for single drive, a transmission assembly and a clamping execution assembly. The transmission assembly includes a bevel gear pair and a double-ended lead screw (7). The output shaft of the second motor (19) is connected to the double-ended lead screw (7) through the bevel gear pair. The double-ended lead screw (7) has threads with opposite directions at both ends. The clamping execution assembly is movably installed at both ends of the double-ended lead screw (7). When the double-ended lead screw (7) rotates, it drives the clamping execution assembly to move closer or separate synchronously in both directions.

6. The pulley-type power line inspection structure of the power line inspection drone according to claim 5, characterized in that: The bevel gear pair includes a driving bevel gear (20) and a driven bevel gear (21) that mesh with each other. The driving bevel gear (20) is mounted on the output shaft of the second motor (19). The double-ended lead screw (7) is mounted on the carrier plate (1) through the lead screw support seat (6). The middle section of the double-ended lead screw (7) is a smooth rod with a set screw hole. The driven bevel gear (21) is fixed to the smooth rod section of the double-ended lead screw (7) by a set screw. The clamping execution assembly includes a slider (3), a linear slide rail (4), a lead screw nut (5), a slider and clamping plate connector (8), a connector connecting plate (9), and a clamping plate (14). The linear slide rail (4) is fixed to the carrier plate (1) by bolts. There are two lead screw nuts (5), which are respectively screwed into the threaded sections at both ends of the double-ended lead screw (7). The slider (3) is slidably assembled on the linear slide rail (4). The lead screw nut (5) is fixedly connected to the slider and clamping plate connector (8). The slider and clamping plate connector (8) is simultaneously fixed to the slider (3) and the clamping plate (14). The connector connecting plate (9) connects the front and rear sets of slider and clamping plate connectors (8), so that the slider (3) and the clamping plate (14) move horizontally together or apart synchronously.

7. The pulley-type power line inspection structure of the power line inspection drone according to claim 6, characterized in that: The carrier plate (1) is connected to the drone body through multiple aluminum pillars (2). The linear slide rails (4) are in two sets and are symmetrically installed on the carrier plate (1). Each set of linear slide rails (4) is equipped with a matching slider (3). The carrier plate (1) has a displacement limiting rectangular cutout. The horizontal displacement stroke of the slider (3), the slider and the clamping plate connector (8) is limited by the side wall of the displacement limiting rectangular cutout.

8. The pulley-type power line inspection structure of the power line inspection drone according to claim 6, characterized in that: The mounting holes of the linear slide rail (4), the mounting holes of the carrier plate (1), and the threaded holes on the bracket (10) are coaxially aligned. After the bolts are sequentially inserted through the mounting holes of the linear slide rail (4) and the carrier plate (1), they are screwed into the threaded holes of the bracket (10) to secure the three together.

9. The pulley-type power line inspection structure of the power line inspection drone according to claim 1, characterized in that: The auxiliary wheel mechanism includes an auxiliary wheel connecting plate (24) and an auxiliary wheel (13). The auxiliary wheel (13) is fixedly connected to the clamping plate (14) of the clamping adjustment mechanism through the auxiliary wheel connecting plate (24), and the auxiliary wheel (13) and the pulley (12) are arranged opposite to each other to form a cable clamping space.

10. The pulley-type power line inspection structure of the power line inspection drone according to claim 9, characterized in that: Two clamping plates (14) are symmetrically arranged. The clamping plates (14) are provided with structural hollowing, driven pulley hollowing and auxiliary wheel mounting through holes. The auxiliary wheels (13) are hollow frustum shapes and are staggered on the pair of clamping plates (14).

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