Unmanned aerial vehicle threading rod capable of swinging at multiple angles and automatically fusing pulling rope

Abstract

The embodiment of the utility model is suitable for the technical field of power equipment, and provides a multi-angle swinging unmanned aerial vehicle threading rod capable of automatically fusing a traction rope, which comprises a holder camera assembly, a multi-angle swinging assembly, a connecting rod assembly and an automatic fusing traction wire assembly, the holder camera assembly is arranged on a rotary holder of the multi-angle swing assembly; the automatic fusing pull wire assembly is connected to the multi-angle swinging assembly through the connecting rod assembly; the multi-angle swing assembly is used for adjusting the alignment angle of the holder camera assembly on the rotating holder and driving the connecting rod assembly to synchronously adjust the spatial position of the automatic fusing pull wire assembly. Through driving of the coding motor in the multi-angle swing assembly, multi-angle swing of the tail portion of the threading rod of the unmanned aerial vehicle can be achieved, fine adjustment of the attitude in the air is achieved through the wire hanging rod structure of the swing head, and therefore the threading precision is improved, and the pulling rope can be automatically fused under the condition that it is found that the pulling rope is stuck.

Description

Technical Field

[0001] This application belongs to the field of power equipment technology, and in particular relates to a drone-mounted pole with an automatic fuse-breaking traction rope that swings at multiple angles. Background Technology

[0002] Existing drone cable threading solutions use rigid cable-hanging poles or directly suspend the drone from a hanger, primarily consisting of the cable-hanging pole and the drone itself. While the rigid cable-hanging pole and drone combination solves the problem of propeller airflow interference when directly attaching the drone to the tether, and the structure is relatively simple, there is a significant drawback: connecting the rigid cable-hanging pole to the drone increases the swing amplitude of the tether, leading to reduced threading accuracy. Furthermore, traditional cable-hanging poles cannot actively disconnect the tether when it gets stuck, increasing the risk of the drone falling. Utility Model Content

[0003] In view of this, the embodiments of this application provide a drone threading pole with multi-angle swing and automatic melting of the traction rope, in order to solve the problem that the current drone threading pole uses a rigid hanging pole, which, after being connected to the drone, is equivalent to increasing the swing amplitude of the traction rope. This not only leads to a decrease in threading accuracy, but also causes the drone to fall risk when the traditional hanging pole encounters a situation where the traction rope is stuck and cannot actively disconnect the traction rope.

[0004] This application provides a drone cable threading rod for a multi-angle swinging automatic traction rope, including a gimbal camera assembly, a multi-angle swinging assembly, a connecting rod assembly, and an automatic traction rope assembly; wherein, the gimbal camera assembly is mounted on the rotating gimbal of the multi-angle swinging assembly; the automatic traction rope assembly is connected to the multi-angle swinging assembly via the connecting rod assembly; the multi-angle swinging assembly is used to adjust the alignment angle of the gimbal camera assembly on the rotating gimbal, and to drive the connecting rod assembly to synchronously adjust the spatial position of the automatic traction rope assembly; the automatic traction rope assembly is used to thread the traction rope to the rope-to-threading device or to automatically detach the traction rope.

[0005] In some embodiments, the multi-angle swing assembly includes a rotating gimbal holder, a rotating gimbal, a cable hook fixing bracket, a first drive module, a second drive module, and a third conical tooth; the first drive module is disposed on one side of the cable hook fixing bracket, and the first conical tooth in the first drive module meshes with one end of the third conical tooth; the second drive module is disposed on the other side of the cable hook fixing bracket and faces the first drive module, and the second conical tooth in the second drive module meshes with the other end of the third conical tooth; both ends of the rotating gimbal holder are movably connected to the cable hook fixing bracket; the third conical tooth is movably connected to the inner wall of the rotating gimbal holder, and the rotation axis of the third conical tooth passes through the rotating gimbal holder; the rotating gimbal is sleeved on the rotation axis of the third conical tooth.

[0006] In some embodiments, the first drive module includes a first encoder motor, a first synchronous belt drive pulley, a first synchronous belt driven pulley, a first synchronous belt, and a first conical tooth; the first encoder motor is fixed to one side of the hanging rod fixing bracket, and the rotation shaft of the first encoder motor passes through the hanging rod fixing bracket; the first synchronous belt drive pulley is sleeved on the rotation shaft of the first encoder motor; the first synchronous belt driven pulley is sleeved on the first rotation shaft of the hanging rod fixing bracket; the two ends of the first synchronous belt are respectively sleeved on the first synchronous belt drive pulley and the first synchronous belt driven pulley; the first conical tooth is sleeved on the rotation shaft of the first synchronous belt driven pulley.

[0007] In some embodiments, the second drive module includes a second encoder motor, a second synchronous belt drive pulley, a second synchronous belt driven pulley, a second synchronous belt, and a second conical tooth; the second encoder motor is fixed to the other side of the hanging rod fixing bracket, and the rotation shaft of the second encoder motor passes through the hanging rod fixing bracket; the second synchronous belt drive pulley is sleeved on the rotation shaft of the second encoder motor; the second synchronous belt driven pulley is sleeved on the second rotation shaft of the hanging rod fixing bracket; the two ends of the second synchronous belt are respectively sleeved on the second synchronous belt drive pulley and the second synchronous belt driven pulley; the second conical tooth is sleeved on the rotation shaft of the second synchronous belt driven pulley.

[0008] In some embodiments, the rotating gimbal holder includes a first longitudinal portion, a transverse portion, and a second longitudinal portion; the first longitudinal portion and the second longitudinal portion are respectively perpendicularly disposed at both ends of the transverse portion, and the first longitudinal portion and the second longitudinal portion are disposed facing each other.

[0009] In some embodiments, the hanging pole fixing bracket includes a first bracket portion, a second bracket portion, and a third bracket portion; the first bracket portion and the third bracket portion are respectively perpendicularly disposed at both ends of the second bracket portion, and the first bracket portion and the third bracket portion are arranged facing each other.

[0010] In some embodiments, the first support portion is connected to the inner wall of the first longitudinal portion, and the third support portion is connected to the inner wall of the second longitudinal portion; the third conical tooth is connected to the inner wall of the transverse portion.

[0011] In some embodiments, the axis of the first conical tooth and the axis of the second conical tooth are on the same straight line, and the axis of the third conical tooth is perpendicular to the axis of the first conical tooth.

[0012] In some embodiments, the linkage assembly includes a first linkage and a second linkage; one end of the first linkage is connected to the multi-angle swing assembly, and the other end of the first linkage is connected to the automatic fuse traction line assembly; one end of the second linkage is connected to the multi-angle swing assembly, and the other end of the second linkage is connected to the automatic fuse traction line assembly; the first linkage and the second linkage are parallel to each other.

[0013] In some embodiments, the automatic fuse-breaking traction line assembly includes an automatic working platform, an automatic working platform encoder motor, a transmission belt, a lead screw and nut module, a wire hanging platform, a fuse-breaking platform, and a fuse wire; the first end face of the automatic working platform is connected to the connecting rod assembly; one end of the lead screw and nut module is movably connected to the automatic working platform; both the wire hanging platform and the fuse-breaking platform are connected to the automatic working platform via a connecting rod assembly; the automatic working platform encoder motor is disposed on the first end face of the automatic working platform, and the rotating shaft of the automatic working platform encoder motor passes through the automatic working platform; both ends of the transmission belt are respectively sleeved on the rotating shaft of the automatic working platform encoder motor and the lead screw and nut module; both ends of the fuse wire are connected to the end face of the wire hanging platform away from the lead screw and nut module.

[0014] The beneficial effects of the multi-angle swing automatic traction rope drone threading pole provided in this application are as follows: Compared with the prior art, the multi-angle swing automatic traction rope drone threading pole of this application adopts rigid hanging pole extension technology, which effectively solves the problem of interference from propeller airflow when directly hanging the traction rope; through the drive of the coded motor in the multi-angle swing component, the tail of the drone threading pole can swing at multiple angles, and then the hanging pole structure of the swing head can achieve fine adjustment of the aerial attitude, thereby improving the accuracy of threading; by using the gimbal camera to capture the precise position of the wire-laying pulley on the power tower, the multi-angle swing component can guide the automatic traction rope assembly to align with the direction of the hanging point in real time; when the pilot finds that the traction rope is stuck, the automatic traction rope assembly can be used to melt and cut the traction rope to disconnect it from the drone. Attached Figure Description

[0015] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments or the prior art will be briefly introduced below.

[0016] Figure 1 This is a schematic diagram of the structure of a drone threading rod with a multi-angle swing automatic melting traction rope provided in an embodiment of this application;

[0017] Figure 2 This is another structural schematic diagram of a drone threading pole with a multi-angle swing automatic melting traction rope provided in an embodiment of this application;

[0018] Figure 3 This is a schematic diagram of the structure of a multi-angle swing component in a drone wiring pole for automatically melting and disconnecting a traction rope, provided in an embodiment of this application.

[0019] Figure 4 This is another structural schematic diagram of the multi-angle swing component in a drone wiring pole for a multi-angle swing automatic fuse-breaking traction rope provided in an embodiment of this application;

[0020] Figure 5 This is a schematic diagram of the automatic traction line assembly in a drone wiring pole for a multi-angle swing automatic traction line according to an embodiment of this application. Detailed Implementation

[0021] In the following description, specific details such as particular system architectures and techniques are set forth for illustrative purposes and not for limitation, in order to provide a thorough understanding of the embodiments of this application. However, those skilled in the art will understand that this application may also be implemented in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, apparatuses, circuits, and methods have been omitted so as not to obscure the description of this application with unnecessary detail.

[0022] It should also be understood that the term “and / or” as used in this application specification and the appended claims means any combination of one or more of the associated listed items and all possible combinations, and includes such combinations.

[0023] It should be noted that when a component is referred to as being "fixed to" or "set on" another component, it can be directly on or indirectly on that other component. When a component is referred to as being "connected to" another component, it can be directly connected to or indirectly connected to that other component.

[0024] It should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "longitudinal", "lateral", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0025] Furthermore, in the description of this application and the appended claims, the terms "first," "second," "third," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0026] References to "one embodiment" or "some embodiments" in this specification mean that one or more embodiments of this application include a specific feature, structure, or characteristic described in connection with that embodiment. Therefore, the phrases "in some embodiments," "in some embodiments," "in other embodiments," "in still other embodiments," etc., appearing in different parts of this specification do not necessarily refer to the same embodiment, but rather mean "one or more, but not all, embodiments," unless otherwise specifically emphasized. The terms "comprising," "including," "having," and variations thereof mean "including but not limited to," unless otherwise specifically emphasized. "A plurality" means two or more.

[0027] The technical solution of this application will be described below through specific embodiments.

[0028] Please refer to the following at the same time Figures 1-2 ,in Figure 1 This is a schematic diagram of the structure of a drone threading rod with a multi-angle swing automatic melting traction rope provided in an embodiment of this application; Figure 2 This is another structural schematic diagram of a drone wiring pole with a multi-angle swing automatic melting traction rope provided in an embodiment of this application. (See attached diagram.) Figures 1-2As shown, the drone cable threading rod for the multi-angle swing automatic traction rope includes: a gimbal camera assembly 100, a multi-angle swing assembly 200, a connecting rod assembly 300, and an automatic traction rope assembly 400; wherein, the gimbal camera assembly 100 is mounted on the rotating gimbal 220 of the multi-angle swing assembly 200; the automatic traction rope assembly 400 is connected to the multi-angle swing assembly 200 via the connecting rod assembly 300; the multi-angle swing assembly 200 is used to adjust the alignment angle of the gimbal camera assembly 100 on the rotating gimbal 220, and to drive the connecting rod assembly 300 to simultaneously adjust the spatial position of the automatic traction rope assembly 400; the automatic traction rope assembly 400 is used to thread the traction rope to the rope-to-threading device or to automatically detach the traction rope.

[0029] In this embodiment, the drone wiring pole using the multi-angle swing automatic fuse traction rope can be used with a drone. Specifically, the drone wiring pole with the multi-angle swing automatic fuse traction rope is installed on the drone's mount, and the traction rope is suspended from the automatic fuse traction rope assembly 400. The subsequent workflow is as follows:

[0030] 1) The pilot flies the drone with the drone cable rod carrying the multi-angle swing automatic fuse traction rope to the designated position; at this time, the multi-angle swing component 200 and the gimbal camera component 100 are both in the initial position;

[0031] 2) If a rope-threading device is pre-deployed and installed at a designated location, such as a wire-laying pulley on a power tower, the drone wire-threading pole of the multi-angle swing automatic fuse traction rope on the drone will search for the signal of the wire-laying pulley (also known as a smart pulley) and establish communication; at this time, the gimbal camera component 100 begins to search for the feature points of the wire-laying pulley, and the multi-angle swing component 200 communicates with the wire-laying pulley, so that the pilot can further control the drone to slowly approach the wire-laying pulley;

[0032] 3) The multi-angle swing component 200 aligns with the trolley and drives the automatic fuse traction line component 400 to complete the line hanging step; specifically, the pan-tilt camera component 100 first finds the transmission signal of the location of the line hanging trolley, and then the multi-angle swing component 200 swings the automatic fuse traction line component 400 to the target position of the line hanging trolley according to the transmission signal, and finally hangs the traction rope of the automatic fuse traction line component 400 into the line hanging wheel of the line hanging trolley;

[0033] 4) After the drone threading pole with the multi-angle swing automatic fuse traction rope completes the rope threading operation on the laying pulley, a completion command is issued to the drone threading pole with the multi-angle swing automatic fuse traction rope. The drone pilot receives the prompt through the control interface and then operates the drone to fly to the laying pulley on the next power tower to perform the rope threading operation.

[0034] It should be noted that during the process of threading the line onto the cable release trolley using the drone's threading rod with the multi-angle swing automatic traction rope, the traction rope may get stuck. If the gimbal camera assembly 100 detects that the traction rope is stuck, it will prompt the pilot whether to activate the automatic traction rope detachment function of the automatic traction rope detachment assembly 400. If the pilot confirms that the automatic traction rope detachment function of the automatic traction rope detachment assembly 400 is activated, the traction rope will automatically detach, and the drone will fly back to the pilot's position to stand by after the traction rope is detached.

[0035] It is evident that the UAV wiring pole with multi-angle swing automatic melting of the traction rope described in this application has the following beneficial effects:

[0036] A1) The rigid hanging pole extension technology effectively solves the problem of interference from the blade airflow when directly hanging the traction rope;

[0037] A2) Driven by the coded motor in the multi-angle swing assembly, the tail of the drone's threading rod can swing at multiple angles, and then the hanging rod structure of the swing head can achieve fine adjustment of the aerial attitude, thereby improving the accuracy of threading.

[0038] A3) Using a PTZ camera to capture the precise position of the wire-laying pulley on the power tower, the multi-angle swing component can guide the automatic fuse traction wire component to align with the wire hanging point in real time.

[0039] A4) When the pilot discovers that the tow rope is stuck, the automatic fuse tow rope assembly can be used to fuse the tow rope to disconnect it from the drone.

[0040] In some embodiments, such as Figures 1-4As shown, the multi-angle swing assembly 200 includes a rotating gimbal holder 210, a rotating gimbal 220, a hanging rod fixing bracket 230, a first drive module 240, a second drive module 250, and a third conical tooth 260; the first drive module 240 is disposed on one side of the hanging rod fixing bracket 230, and the first conical tooth 245 in the first drive module 240 meshes with one end of the third conical tooth 260; the second drive module 250 is disposed on the other side of the hanging rod fixing bracket 230 and meshes with one end of the third conical tooth 260. The first drive module 240 is directly opposite, and the second conical tooth 255 in the second drive module 250 meshes with the other end of the third conical tooth 260; the two ends of the rotating gimbal holder 210 are movably connected to the hanging rod fixing bracket 230; the third conical tooth 260 is movably connected to the inner wall of the rotating gimbal holder 210, and the rotation shaft of the third conical tooth 260 passes through the rotating gimbal holder 210; the rotating gimbal 220 is sleeved on the rotation shaft of the third conical tooth 260.

[0041] In this embodiment, in order to drive the rotation of the rotating gimbal 220 and the pitch swing of the hanging rod fixing bracket 230, the first conical tooth 245 of the first drive module 240 and the second conical tooth 255 of the second drive module 250 can be made to mesh with the two ends of the third conical tooth 260 respectively. When the first drive module 240 drives the first conical tooth 245 and the second drive module 250 drives the second conical tooth 255 to rotate in the same direction (since the first drive module 240 and the second drive module 250 are set facing each other, one of the two drive modules rotates clockwise and the other rotates counterclockwise, which is considered to be rotating in the same direction), the three conical teeth are interlocked by the same force. At this time, the drive device (such as the encoder motor) in the first drive module 240 and the second drive module 250 can drive the hanging rod fixing bracket 230 to achieve pitch swing. When the first drive module 240 drives the first conical tooth 245 and the second drive module 250 drives the second conical tooth 255 to rotate in opposite directions (since the first drive module 240 and the second drive module 250 are positioned opposite each other, if two of the two drive modules rotate clockwise or both rotate counterclockwise, it is considered as rotating in opposite directions), the three conical teeth mesh with each other to achieve the rotation of the rotating gimbal 220. It can be seen that by driving the drive modules in the multi-angle swing assembly, the tail of the UAV's wire-threading rod can swing at multiple angles, and then the wire-hanging rod structure of the swing head can achieve fine adjustment of the aerial attitude, thereby improving the accuracy of wire threading.

[0042] In some embodiments, such as Figures 1-4As shown, the first drive module 240 includes a first encoder motor 241, a first synchronous belt drive pulley 242, a first synchronous belt driven pulley 243, a first synchronous belt 244, and a first conical tooth 245. The first encoder motor 241 is fixed to one side of the hanging rod fixing bracket 230, and the rotation shaft of the first encoder motor 241 passes through the hanging rod fixing bracket 230. The first synchronous belt drive pulley 242 is sleeved on the rotation shaft of the first encoder motor 241. The first synchronous belt driven pulley 243 is sleeved on the first rotation shaft (not shown) of the hanging rod fixing bracket 230. The two ends of the first synchronous belt 244 are respectively sleeved on the first synchronous belt drive pulley 243 and the first synchronous belt driven pulley 243. The first conical tooth 245 is sleeved on the rotation shaft of the first synchronous belt driven pulley 244.

[0043] In this embodiment, the core driving component of the first driving module 240 adopts a transmission structure of driving pulleys and synchronous belts. When the first encoder motor 241 rotates, the first synchronous belt drive pulley 242, the first synchronous belt driven pulley 243, and the first synchronous belt 244 work together to drive the rotation of the first bevel gear 245. By controlling the rotation direction of the first encoder motor, the rotation direction of the first bevel gear can be controlled synchronously and flexibly.

[0044] In some embodiments, such as Figures 1-4 As shown, the second drive module 250 includes a second encoder motor 251, a second synchronous belt drive pulley 252, a second synchronous belt driven pulley 253, a second synchronous belt 254, and a second conical tooth 255. The second encoder motor 251 is fixed to the other side of the hanging rod fixing bracket 230, and the rotation shaft of the second encoder motor 251 passes through the hanging rod fixing bracket 230. The second synchronous belt drive pulley 252 is sleeved on the rotation shaft of the second encoder motor 251. The second synchronous belt driven pulley 253 is sleeved on the second rotation shaft of the hanging rod fixing bracket 230. The two ends of the second synchronous belt 254 are respectively sleeved on the second synchronous belt drive pulley 252 and the second synchronous belt driven pulley 253. The second conical tooth 255 is sleeved on the rotation shaft of the second synchronous belt driven pulley 253.

[0045] In this embodiment, the second drive module 250 serves as a mirror-symmetric structure of the first drive module 240 on the hanging pole fixing bracket 230. As the core drive component of the second drive module 250, it employs a transmission structure of driving pulleys and synchronous belts. When the second encoder motor 251 rotates, the rotation of the second bevel gear 255 is driven by the coordinated transmission between the second synchronous belt drive pulley 252, the second synchronous belt driven pulley 253, and the second synchronous belt 254. By controlling the rotation direction of the second encoder motor, the rotation direction of the second bevel gear can be controlled synchronously and flexibly.

[0046] In some embodiments, such as Figures 1-4 As shown, the rotating gimbal holder 210 includes a first longitudinal portion 211, a transverse portion 212, and a second longitudinal portion 213; the first longitudinal portion 211 and the second longitudinal portion 213 are respectively perpendicularly disposed at both ends of the transverse portion 212, and the first longitudinal portion 211 and the second longitudinal portion 212 are disposed facing each other.

[0047] In this embodiment, the rotating gimbal holder 210 can be considered as a U-shaped structure. A rotating shaft (which can be integrally formed with the first rotating shaft in a specific implementation) is also provided on the outer wall of the first longitudinal portion 211 to rotatably connect with the connecting rod assembly 300. Similarly, another rotating shaft (which can be integrally formed with the second rotating shaft in a specific implementation) is also provided on the outer wall of the second longitudinal portion 213 to rotatably connect with the connecting rod assembly 300. When the first synchronous belt driven pulley 243 rotates, it drives the first rotating shaft to rotate; when the second synchronous belt driven pulley 253 rotates, it drives the second rotating shaft to rotate, thereby driving the connecting rod assembly 300 to rotate. Furthermore, the third conical tooth 260 is movably connected to the inner wall of the transverse portion 212, so that the third conical tooth is located within the groove structure of the U-shaped structure.

[0048] In some embodiments, such as Figures 1-4 As shown, the hanging pole fixing bracket 230 includes a first bracket part 231, a second bracket part 232 and a third bracket part 233; the first bracket part 231 and the third bracket part 233 are respectively perpendicularly disposed at both ends of the second bracket part 232, and the first bracket part 231 and the third bracket part 232 are arranged facing each other.

[0049] In this embodiment, the hanging pole fixing bracket 230 can also be considered as a U-shaped structure. A first synchronous belt driven pulley 243 is rotatably connected to the inner wall of the first bracket portion 231, and similarly, a second synchronous belt driven pulley 253 is rotatably connected to the inner wall of the third bracket portion 233. Simultaneously, the first encoding motor 241 is fixed to the outer wall of the first bracket portion 231, and the second encoding motor 251 is fixed to the outer wall of the third bracket portion 233. This structure allows for the efficient use of space to fix multiple transmission devices and ensures the meshing relationship between the transmission devices.

[0050] In some embodiments, such as Figures 1-4 As shown, the first support portion 231 is connected to the inner wall of the first longitudinal portion 211, and the third support portion 233 is connected to the inner wall of the second longitudinal portion 213; the third conical tooth 260 is connected to the inner wall of the transverse portion 211.

[0051] In this embodiment, its opening is directly opposite to the opening of the rotating gimbal holder 210, and the length of the second support portion 232 is less than the length of the transverse portion 212, thus achieving the effect that the opening end of the rotating gimbal holder 210 covers the opening end of the hanging rod fixing bracket 230. Furthermore, the first conical tooth 245 and the second conical tooth 255 are respectively connected to the first synchronous belt driven pulley 243 and the second synchronous belt driven pulley 253, so that the first conical tooth 245 and the second conical tooth 255 are located within the groove structure of the U-shaped structure and can mesh with the third conical tooth.

[0052] In some embodiments, such as Figures 1-4 As shown, the axis of the first conical tooth 245 and the axis of the second conical tooth 255 are on the same straight line, and the axis of the third conical tooth 260 is perpendicular to the axis of the first conical tooth 245.

[0053] In this embodiment, since the first conical tooth 245 and the second conical tooth 255 are arranged facing each other, for better transmission effect, the first conical tooth 245 and the second conical tooth 255 with identical size, shape and model can be used. After they are installed, it is ensured that the axis of the first conical tooth 245 and the axis of the second conical tooth 255 are on the same straight line. Furthermore, to drive the rotation of the gimbal, the axis of the third conical tooth 260 must be perpendicular to the axis of the first conical tooth 245. Thus, when the first conical tooth 245 rotates clockwise and the second conical tooth 255 rotates counterclockwise, or when the first conical tooth 245 rotates counterclockwise and the second conical tooth 255 rotates clockwise, the third conical tooth 260 can be driven to rotate, thereby driving the rotation of the gimbal.

[0054] In some embodiments, such as Figures 1-2As shown, the linkage assembly 300 includes a first linkage 310 and a second linkage 320; one end of the first linkage 310 is connected to the multi-angle swing assembly 200, and the other end of the first linkage 310 is connected to the automatic fuse traction line assembly 400; one end of the second linkage 320 is connected to the multi-angle swing assembly 200, and the other end of the second linkage 320 is connected to the automatic fuse traction line assembly 400; the first linkage 310 and the second linkage 320 are parallel to each other.

[0055] In this embodiment, a parallel four-bar structure is formed by the first link 310, the second link 320, the multi-angle swing assembly 200, and the automatic fuse traction line assembly 400. Utilizing the principle that if one surface of the parallel four-bar is fixed, the opposing surface remains parallel to the fixed surface, the automatic fuse traction line assembly 400 maintains parallelism with the rotating gimbal holder during multi-angle movements, ultimately ensuring that the hanging end of the automatic fuse traction line assembly 400 maintains a unidirectional movement posture. Specifically, the link assembly 300 further includes a third link 330, the other end of which is connected to the automatic fuse traction line assembly 400; one end of the second link 330 is connected to the multi-angle swing assembly 200. If we take a plane that is perpendicular to the automatic fuse traction line assembly 400 for each of the first link 310, the second link 320 and the third link 330 respectively as a reference plane, the projections of the first link 310, the second link 320 and the third link 330 on the reference plane are distributed in three regions. If we consider the above three regions as a vertex, the above three vertices form a triangle shape.

[0056] In some embodiments, such as Figure 1 , Figure 2 and Figure 5 As shown, the automatic fuse-breaking traction line assembly 400 includes an automatic working platform 410, an automatic working platform encoder motor 420, a transmission belt 430, a lead screw and nut module 440, a line hanging platform 450, a fuse-breaking platform 460, and a fuse wire 470; the first end face of the automatic working platform 410 is connected to the connecting rod assembly 300; one end of the lead screw and nut module 440 is movably connected to the automatic working platform 410; the line hanging platform 450 and the fuse-breaking platform 460 are both connected by a connecting rod assembly 411. The automatic operation platform 410 is connected to the automatic operation platform 410; the automatic operation platform encoder motor 420 is located on the first end face of the automatic operation platform 410, and the rotating shaft of the automatic operation platform encoder motor 420 passes through the automatic operation platform 410; the two ends of the transmission belt 430 are respectively sleeved on the rotating shaft of the automatic operation platform encoder motor 420 and the lead screw nut module 440; the two ends of the fuse 460 are connected to the end face of the hanging platform 450 away from the lead screw nut module 440.

[0057] In this embodiment, during the process of threading the line onto the cable-laying trolley using the drone's threading rod with the multi-angle swinging automatic traction rope, the traction rope may become stuck. If the gimbal camera assembly 100 detects this stuck situation, it will prompt the pilot to activate the automatic traction rope severing function of the automatic traction rope severing assembly 400. If the pilot confirms activation, the traction rope will automatically sever, and the drone will fly back to the pilot's location to stand by after the traction rope is released. When the automatic traction rope severing function of the automatic traction rope severing assembly 400 is activated, the automatic operation platform encoder motor 420 rotates, which is then transmitted to the lead screw on the lead screw nut module 440 via the transmission belt 430. The nut fitted on the lead screw can then move linearly along the lead screw, for example, moving close to the fuse 460 and pressing against the fuse 460 to contact the traction rope and sever it.

[0058] As can be seen, the multi-angle swing automatic traction rope drone threading pole of this application adopts rigid hanging pole extension technology, which effectively solves the problem of interference from propeller airflow when directly attaching the traction rope; through the drive of the coded motor in the multi-angle swing assembly, the tail of the drone threading pole can swing at multiple angles, and then the hanging pole structure of the swing head can achieve fine adjustment of the aerial attitude, thereby improving the accuracy of threading; by using the gimbal camera to capture the precise position of the wire-laying pulley on the power tower, the multi-angle swing assembly can guide the automatic traction rope attachment assembly to align with the hanging point in real time; when the pilot finds that the traction rope is stuck, the automatic traction rope attachment assembly can be used to melt and cut the traction rope to disconnect it from the drone.

[0059] The embodiments described above are only used to illustrate the technical solutions of this application, and are not intended to limit it. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application, and should all be included within the protection scope of this application.

Claims

1. A multi-angle swing automatic fusing tow rope unmanned aerial vehicle threading pole, characterized in that, The device includes a gimbal camera assembly, a multi-angle swing assembly, a linkage assembly, and an automatic fuse-breaking traction line assembly. The gimbal camera assembly is mounted on the rotating gimbal of the multi-angle swing assembly. The automatic fuse-breaking traction line assembly is connected to the multi-angle swing assembly via the linkage assembly. The multi-angle swing assembly adjusts the alignment angle of the gimbal camera assembly on the rotating gimbal and drives the linkage assembly to simultaneously adjust the spatial position of the automatic fuse-breaking traction line assembly. The automatic fuse-breaking traction line assembly is used to thread a traction rope to a threading device or to automatically fuse the traction rope.

2. The multi-angle swing automatic fusing tow rope of the unmanned threading pole according to claim 1, characterized in that, The multi-angle swing assembly includes a rotating gimbal holder, a rotating gimbal, a cable hook fixing bracket, a first drive module, a second drive module, and a third conical tooth. The first drive module is located on one side of the cable hook fixing bracket, and the first conical tooth in the first drive module meshes with one end of the third conical tooth. The second drive module is located on the other side of the cable hook fixing bracket and faces the first drive module, and the second conical tooth in the second drive module meshes with the other end of the third conical tooth. The two ends of the rotating gimbal holder are movably connected to the cable hook fixing bracket. The third conical tooth is movably connected to the inner wall of the rotating gimbal holder, and the rotation axis of the third conical tooth passes through the rotating gimbal holder. The rotating gimbal is sleeved on the rotation axis of the third conical tooth.

3. The UAV cable threading pole with multi-angle swing automatic melting traction rope according to claim 2, characterized in that, The first drive module includes a first encoder motor, a first synchronous belt drive pulley, a first synchronous belt driven pulley, a first synchronous belt, and a first conical tooth; the first encoder motor is fixed to one side of the hanging rod fixing bracket, and the rotation shaft of the first encoder motor passes through the hanging rod fixing bracket; the first synchronous belt drive pulley is sleeved on the rotation shaft of the first encoder motor; the first synchronous belt driven pulley is sleeved on the first rotation shaft of the hanging rod fixing bracket; the two ends of the first synchronous belt are respectively sleeved on the first synchronous belt drive pulley and the first synchronous belt driven pulley; the first conical tooth is sleeved on the rotation shaft of the first synchronous belt driven pulley.

4. The UAV cable threading pole with multi-angle swing automatic melting traction rope according to claim 2, characterized in that, The second drive module includes a second encoder motor, a second synchronous belt drive pulley, a second synchronous belt driven pulley, a second synchronous belt, and a second conical tooth. The second encoder motor is fixed to the other side of the hanging rod fixing bracket, and the rotating shaft of the second encoder motor passes through the hanging rod fixing bracket. The second synchronous belt drive pulley is sleeved on the rotating shaft of the second encoder motor. The second synchronous belt driven pulley is sleeved on the second rotating shaft of the hanging rod fixing bracket. The two ends of the second synchronous belt are respectively sleeved on the second synchronous belt drive pulley and the second synchronous belt driven pulley. The second conical tooth is sleeved on the rotating shaft of the second synchronous belt driven pulley.

5. The UAV cable threading pole with multi-angle swing automatic melting traction rope according to claim 2, characterized in that, The rotating gimbal holder includes a first longitudinal section, a transverse section, and a second longitudinal section; the first longitudinal section and the second longitudinal section are respectively perpendicularly disposed at both ends of the transverse section, and the first longitudinal section and the second longitudinal section are arranged facing each other.

6. The UAV cable threading pole with multi-angle swing automatic melting traction rope according to claim 5, characterized in that, The hanging pole fixing bracket includes a first bracket part, a second bracket part, and a third bracket part; the first bracket part and the third bracket part are respectively perpendicularly arranged at both ends of the second bracket part, and the first bracket part and the third bracket part are arranged facing each other.

7. The UAV cable threading pole with multi-angle swing automatic melting traction rope according to claim 6, characterized in that, The first support portion is connected to the inner wall of the first longitudinal portion, and the third support portion is connected to the inner wall of the second longitudinal portion; the third conical tooth is connected to the inner wall of the transverse portion.

8. The UAV cable threading pole with multi-angle swing automatic melting traction rope according to any one of claims 2-7, characterized in that, The axis of the first conical tooth and the axis of the second conical tooth are on the same straight line, and the axis of the third conical tooth is perpendicular to the axis of the first conical tooth.

9. The UAV cable threading pole with multi-angle swing automatic melting traction rope according to claim 1, characterized in that, The linkage assembly includes a first linkage and a second linkage; one end of the first linkage is connected to the multi-angle swing assembly, and the other end of the first linkage is connected to the automatic fuse traction line assembly; one end of the second linkage is connected to the multi-angle swing assembly, and the other end of the second linkage is connected to the automatic fuse traction line assembly; the first linkage and the second linkage are parallel to each other.

10. The UAV cable threading pole with multi-angle swing automatic melting traction rope according to claim 1, characterized in that, The automatic fuse-breaking traction line assembly includes an automatic working platform, an automatic working platform encoder motor, a transmission belt, a lead screw and nut module, a wire hanging platform, a fuse-breaking platform, and a fuse wire. The first end face of the automatic working platform is connected to the connecting rod assembly. One end of the lead screw and nut module is movably connected to the automatic working platform. The wire hanging platform and the fuse-breaking platform are both connected to the automatic working platform via a connecting rod assembly. The automatic working platform encoder motor is located on the first end face of the automatic working platform, and the rotating shaft of the automatic working platform encoder motor passes through the automatic working platform. The two ends of the transmission belt are respectively sleeved on the rotating shaft of the automatic working platform encoder motor and the lead screw and nut module. The two ends of the fuse wire are both connected to the end face of the wire hanging platform away from the lead screw and nut module.

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