Towing device and drone system

Abstract

The application discloses a traction device and a UAV system, and provides the traction device arranged on a UAV and used for providing a traction force for a connected target object. The traction device comprises a sleeve, a traction rope, a first connecting plate, a second connecting plate, a pressing plate adjusting assembly and a fixing assembly. The traction rope is wound around the sleeve, the pressing plate adjusting assembly is arranged on the sleeve to fix the traction rope, and the fixing assembly is used for fixing the pressing plate adjusting assembly, so that the traction rope is fixed in multiple points on the sleeve, stress concentration is effectively dispersed, vibration resistance and overload resistance are improved, and the practicality of the traction device is improved.

Description

Technical Field

[0001] This application relates to the field of unmanned aerial vehicle (UAV) technology, and in particular to a traction device and UAV system. Background Technology

[0002] Traditional mechanical tethering devices for paraglider-guided drones (with a core spring-loaded pin and latch structure) suffer from three structural defects: First, during drone maneuvers or turbulent conditions, high-frequency vibrations of the tether cause continuous impacts between the latch and the latch, leading to cumulative plastic deformation of the locking spring and increasing the risk of unexpected release. Second, sudden changes in paraglider attitude can cause transient overloads in the tether tension, easily inducing buckling failure in the stress concentration area at the root of the latch; existing rigid structures lack overload protection mechanisms. Third, when the tether tension is too low, the latch's gravitational torque will overcome the spring preload, causing gradual slippage under tilted conditions. These systemic failures pose significant safety hazards to traditional mechanical tethers in dynamic flight environments. Utility Model Content

[0003] To address the aforementioned technical problems, this application provides a traction device mounted on a drone for providing traction force to a connected target object; the traction device includes:

[0004] A sleeve and a traction rope, wherein the sleeve is mounted on the drone, one end of the traction rope is wrapped around the side wall of the sleeve, and the other end of the traction rope is connected to the target object;

[0005] A first connecting plate and a second connecting plate are sleeved on the sleeve, and the first connecting plate and the second connecting plate are arranged in parallel and spaced apart.

[0006] A pressure plate adjustment assembly is rotatably mounted on the first connecting plate. The pressure plate adjustment assembly is used to cover the sleeve to fix the traction rope.

[0007] A fixing component is provided, the first end of which passes through the second connecting plate. The fixing component has a slot on the side near the sleeve. When the pressure plate adjusting component is placed on the sleeve, the end of the pressure plate adjusting component away from the first connecting plate is located in the slot. The fixing component is used to fix the pressure plate adjusting component.

[0008] The pressure plate adjustment assembly includes a connector, a pressure plate, and a control lever;

[0009] One end of the connector is rotatably connected to the first connecting plate, and the other end of the connector abuts against the fixing component;

[0010] The first end of the control lever is rotatably disposed on the side of the connector away from the sleeve, the pressure plate is located on the side of the connector close to the sleeve, and the pressure plate is hinged to the first end of the control lever through a connecting rod, wherein the connecting rod passes through the connector;

[0011] The control lever is used to rotate relative to the connector to drive the pressure plate to move closer to the sleeve via the connecting rod, thereby fixing the traction rope.

[0012] The pressure plate adjustment assembly further includes a fixed slider, which is slidably disposed on the control lever. When the pressure plate is placed on the sleeve, the control lever and the connector form a fixing groove, and one end of the fixed slider is disposed in the fixing groove to fix the control lever.

[0013] The sleeve has a rough area, which is correspondingly arranged with the pressure plate adjustment assembly.

[0014] The traction device further includes a mounting housing, which is mounted on the side of the second connecting plate away from the first connecting plate, and the mounting housing and the second connecting plate form a receiving cavity, with the fixing component at least partially located within the receiving cavity;

[0015] The fixing component includes a latch and a first spring. The first end of the latch passes through the second connecting plate, the second end of the latch is located in the receiving cavity, the first spring is located in the receiving cavity, the first spring is sleeved on the latch, and the first end of the first spring abuts against the latch, and the second end of the first spring abuts against the inner wall of the mounting housing.

[0016] The locking tongue has a slot on the side near the sleeve at its first end, and a guide surface on the side away from the sleeve at its first end.

[0017] The fixed assembly further includes an actuator and a steering arm, which are located within the accommodating cavity;

[0018] A through groove is formed on the latch, one end of the steering arm is connected to the actuator, and the other end of the steering arm is located in the through groove. The actuator is used to drive the steering arm to rotate, so as to drive the latch to compress the first spring.

[0019] The traction device further includes an angle detection component, which is arranged at intervals with the pressure plate adjustment component along the circumference of the sleeve, and the angle detection component is disposed between the first connecting plate and the second connecting plate.

[0020] The traction rope is threaded through the angle detection component, which is used to detect the angle change data of the traction rope.

[0021] The angle detection component includes a first rotating shaft connector, a second rotating shaft connector, and an angle detection component. One end of the first rotating shaft connector is rotatably connected to the first connecting plate, and the other end of the first rotating shaft connector is rotatably connected to the second connecting plate.

[0022] The second rotating shaft connector is rotatably mounted on the first rotating shaft connector, and the traction rope is threaded through the second rotating shaft connector. The first rotating shaft connector is rotatably mounted around a first rotating shaft, and the second rotating shaft connector is rotatably mounted around a second rotating shaft. The first rotating shaft and the second rotating shaft are perpendicular to each other.

[0023] The angle detection component is disposed on the side of the first connecting plate away from the second connecting plate, and the angle detection component is used to detect the rotation angle data of the first rotating shaft connector and the second rotating shaft connector.

[0024] The angle detection component further includes a limiting plate and a second spring. One end of the limiting plate is connected to the first connecting plate, and the other end of the limiting plate is connected to the second connecting plate. The limiting plate is positioned away from the sleeve relative to the first rotating shaft connector.

[0025] One end of the second spring abuts against the second rotating shaft connector, and the other end of the second spring abuts against the limiting plate. The second spring and the second rotating shaft connector are coaxially arranged.

[0026] To address the aforementioned technical problems, this application also provides an unmanned aerial vehicle (UAV) system, including a UAV, a control device, and a traction device as described above. The control device is connected to both the traction device and the UAV. The control device is used to receive rotation angle data fed back by the traction device and control the operation of the UAV based on the rotation angle data.

[0027] The beneficial effects of this application are as follows: Unlike existing technologies, the traction device provided in this application is mounted on a drone and used to provide traction force to a connected target object. The traction device includes a sleeve, a traction rope, a first connecting plate, a second connecting plate, a pressure plate adjusting assembly, and a fixing assembly. The sleeve is mounted on the drone, with one end of the traction rope wrapped around the side wall of the sleeve and the other end connected to the target object. The first and second connecting plates are sleeved on the sleeve and are arranged parallel to each other at intervals. The pressure plate adjusting assembly is rotatably mounted on the first connecting plate and is used to cover the sleeve to fix the traction rope. The first end of the fixing assembly passes through the second connecting plate, and the side of the fixing assembly near the sleeve has a slot. When the pressure plate adjusting assembly is covered on the sleeve, the end of the pressure plate adjusting assembly away from the first connecting plate is located in the slot, and the fixing assembly is used to fix the pressure plate adjusting assembly. By winding the traction rope around the sleeve and then fixing the traction rope with the pressure plate adjustment assembly, the traction rope is fixed at multiple points on the sleeve. This effectively disperses the force, avoids local stress concentration, improves vibration resistance and overload resistance, and enhances the practicality of the traction device. Attached Figure Description

[0028] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0029] in:

[0030] Figure 1 This is a schematic diagram of the structure of an embodiment of the traction device of this application;

[0031] Figure 2 yes Figure 1 A schematic diagram of the exploded structure of the traction device.

[0032] Reference numerals: 1. Traction device; 11. Sleeve; 12. Traction rope; 13. First connecting plate; 14. Second connecting plate; 15. Pressure plate adjusting assembly; 151. Connector; 152. Pressure plate; 153. Control lever; 154. Fixed slider; 16. Fixing assembly; 161. Locking tongue; 1611. Through groove; 162. First spring; 163. Actuator; 164. Steering arm; 1641. Servo disc; 1642. Unlocking rocker arm; 165. Limit nut; 17. Mounting housing; 18. Angle detection assembly; 181. First shaft connector; 182. Second shaft connector; 183. Angle detection component; 184. Limit plate; 185. Second spring; 186. Mounting plate; 19. Sliding bushing; 20. Coupling; 21. Extension rod. Detailed Implementation

[0033] The embodiments of this application will now be described in detail with reference to the accompanying drawings.

[0034] In the following description, specific details such as particular system architectures, interfaces, and technologies are presented for illustrative purposes rather than for limiting purposes, in order to provide a thorough understanding of this application.

[0035] In this application, the reference to "embodiment" means that a specific feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0036] In this application, the term "and / or" is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent three cases: A alone, A and B simultaneously, and B alone. Additionally, the character " / " generally indicates that the preceding and following related objects are in an "or" relationship. Furthermore, "many" in this application means two or more. Moreover, the term "at least one" in this application means any combination of at least two of any one or more of a plurality of objects. For example, including at least one of A, B, and C can mean including any one or more elements selected from the set consisting of A, B, and C. Furthermore, the terms "first," "second," and "third" in this application are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features.

[0037] Please see Figure 1 and Figure 2 , Figure 1 This is a schematic diagram of the structure of an embodiment of the traction device of this application. Figure 2 yes Figure 1 An exploded structural diagram of the traction device. The traction device 1 provided in this embodiment is installed on a drone and is used to provide traction force to a connected target object, wherein the target object can be a paraglider. The drone is then connected to the paraglider through the traction device, realizing the paraglider-traction drone technology.

[0038] The traction device 1 includes a sleeve 11, a traction rope 12, a first connecting plate 13, a second connecting plate 14, a pressure plate adjustment assembly 15, and a fixing assembly 16.

[0039] A sleeve 11 is mounted on a drone. In one embodiment, the sleeve 11 can be a component of the drone. One end of a traction rope 12 is wrapped around the side wall of the sleeve 11, and the other end of the traction rope 12 is connected to the target object. A first connecting plate 13 and a second connecting plate 14 are fitted onto the sleeve 11, and the first connecting plate 13 and the second connecting plate 14 are arranged parallel and spaced apart. A pressure plate adjusting assembly 15 is rotatably mounted on the first connecting plate 13. The pressure plate adjusting assembly 15 is used to cover the sleeve 11 to fix the traction rope 12. The first end of the fixing assembly 16 passes through the second connecting plate 14. The fixing assembly 16 has a slot on the side near the sleeve 11. When the pressure plate adjusting assembly 15 is covered on the sleeve 11, the end of the pressure plate adjusting assembly 15 away from the first connecting plate 13 is located in the slot. The fixing assembly 16 is used to fix the pressure plate adjusting assembly 15.

[0040] Specifically, one end of the traction rope 12 can be wound around the sleeve 11 first. The number of layers of the traction rope 12 can be adjusted according to the load requirements, for example, 3 to 4 layers can be wound to improve stability. Then, the pressure plate adjusting assembly 15 is rotated relative to the first connecting plate 13 to cover the sleeve 11. At this time, the pressure plate adjusting assembly 15 will squeeze the traction rope 12, thereby fixing the traction rope 12 between the sleeve 11 and the pressure plate adjusting assembly 15. At the same time, when the pressure plate adjusting assembly 15 is covered on the sleeve 11, one end of the pressure plate adjusting assembly 15 can be inserted into the slot of the fixing assembly 16. Then, the fixing assembly 16 fixes the pressure plate adjusting assembly 15, preventing the pressure plate adjusting assembly 15 from rotating away from the sleeve 11 when the pressure plate adjusting assembly 15 squeezes the traction rope 12, thus loosening the traction rope 12 and reducing the firmness of the traction rope 12.

[0041] In one embodiment, the first connecting plate 13 and the second connecting plate 14 can be made of metal or high-strength composite material. The slot shape can be an arc-shaped or grooved structure at the end of the matching pressure plate adjustment assembly 15.

[0042] In this embodiment, the traction rope 12 is wound around the sleeve 11, and the pressure plate adjustment assembly 15 is placed on the sleeve 11 to fix the traction rope 12. This achieves multi-point contact fixation of the traction rope 12 on the sleeve 11, effectively dispersing the force to avoid local stress concentration, reducing high-frequency vibration transmission, and improving vibration resistance and overload resistance. The parallel arrangement of the first connecting plate 13 and the second connecting plate 14 enhances structural stability and prevents the sleeve 11 from shifting under dynamic loads. The interlocking structure of the fixing assembly 16 and the pressure plate adjustment assembly 15 provides mechanical restraint when the tension of the traction rope 12 is too low, preventing gradual slippage caused by gravitational torque and adapting to tension fluctuations caused by sudden changes in paraglider attitude.

[0043] Optionally, the pressure plate adjustment assembly 15 includes a connector 151, a pressure plate 152, and a control lever 153.

[0044] One end of the connector 151 is rotatably connected to the first connecting plate 13, and the other end of the connector 151 abuts against the fixing assembly 16. The first end of the operating lever 153 is rotatably disposed on the side of the connector 151 away from the sleeve 11. The pressure plate 152 is located on the side of the connector 151 close to the sleeve 11, and the pressure plate 152 is hinged to one end of the operating lever 153 via a connecting rod (not shown). The connecting rod passes through the connector 151. The operating lever 153 is used to rotate relative to the connector 151 to drive the pressure plate 152 to move closer to the sleeve 11 via the connecting rod, thereby fixing the traction rope 12.

[0045] Specifically, before the pressure plate adjusting assembly 15 is placed on the sleeve 11, the pressure plate 152 is positioned close to the connector 151. Then, the connector 151 is rotated relative to the first connecting plate 13 until the other end of the connector 151 abuts against the fixing assembly 16 and is embedded in the slot of the fixing assembly 16, thus fixing the connector 151. Afterward, the operating lever 153 can be operated to swing relative to the connector 151, for example, by swinging the operating lever 153 counterclockwise relative to the connector 151. At this time, the operating lever 153 drives the pressure plate 152 away from the connector 151 through the connecting rod until the operating lever 153 swings to the counterclockwise swing limit. At this time, the distance between the pressure plate 152 and the connector 151 is the maximum, the pressure plate 152 is placed on the sleeve 11, and the traction rope 12 is squeezed to fix the traction rope 12.

[0046] In this embodiment, the lever transmission structure of the control lever 153 and the connecting rod enables the clamping and fixing of the pressure plate 152 onto the traction rope 12 with a small operating force, improving operational convenience while ensuring fixing reliability. The rotatable connection between the connector 151 and the first connecting plate 13 allows for flexible adjustment of the pressure plate 152 to adapt to different installation space requirements. The relative movement between the pressure plate 152 and the sleeve 11 is precisely transmitted through the connecting rod, ensuring the stability of the clamping action.

[0047] Understandably, by splitting the pressure plate adjustment assembly 15 into a connector 151 that cooperates with the fixing assembly 16 and a pressure plate 152 that is relatively movable relative to the connector 151, the difficulty of rotating the connector 151 can be reduced. By setting the pressure plate 152 close to the connector 151 during the rotation of the connector 151, that is, by maintaining a distance between the pressure plate 152 and the sleeve 11, the pressure plate 152 will not squeeze the traction rope 12, nor will it be subjected to the counter-squeezing force of the traction rope 12, thus reducing the difficulty of rotating the connector 151.

[0048] In one embodiment, if the pressure plate 152 is fixedly connected to the connector 151, when the connector 151 rotates, the pressure plate 152 will directly cover the sleeve 11 and squeeze the traction rope 12. That is, it will be subjected to the counter-squeezing force of the traction rope 12, which will resist the rotational force of the connector 151, thereby increasing the difficulty of rotating the connector 151.

[0049] In another embodiment, the pressure plate 152 near the sleeve 11 can be set to be arc-shaped to adapt to the side wall profile of the sleeve 11 and improve the fixing stability of the traction rope 12.

[0050] In other embodiments, an elastic pad may be provided on the side of the pressure plate 152 near the sleeve 11 to reduce the transmission of high-frequency vibrations of the traction rope 12 and improve the vibration resistance and overload resistance of the traction device 1.

[0051] Optionally, the pressure plate adjustment assembly 15 further includes a fixed slider 154, which is slidably disposed on the control lever 153. When the pressure plate 152 is covered on the sleeve 11, the control lever 153 and the connecting member 151 form a fixing groove, and one end of the fixed slider 154 is disposed in the fixing groove to fix the control lever 153.

[0052] When the pressure plate 152 is placed on the sleeve 11, the control lever 153 and the connector 151 together form a fixing groove to accommodate the fixing slider 154. After the fixing slider 154 is embedded in the fixing groove, it can restrict the movement of the control lever 153. The control lever 153 is positioned and fixed by mechanical engagement.

[0053] This embodiment utilizes a mechanical locking structure between the fixed slider 154 and the fixed groove to effectively prevent the control lever 153 from shifting due to vibration or external force during operation, thereby affecting the fixing efficiency of the pressure plate 152 on the traction rope 12. This locking method is faster and more convenient than traditional bolt fixing. When the pressure plate 152 is placed on the sleeve 11, the cooperation between the fixed groove and the fixed slider 154 precisely limits the range of motion of the control lever 153, preventing damage to the device due to operational errors.

[0054] In one embodiment, a spring may also be provided on the control lever 153. One end of the spring abuts against the control lever 153, and the other end of the spring abuts against the fixed slider 154. When the control lever 153 is swung, the fixed slider 154 can move away from the fixed groove along the extension direction of the control lever 153, thereby compressing the spring. After the control lever 153 has swung to its final position, the fixed slider 154 is released, and the spring returns to its original length, providing a force to the fixed slider 154 to move closer to the fixed groove. This allows one end of the fixed slider 154 to automatically enter the fixed groove, improving the ease of operation.

[0055] Optionally, the sleeve 11 is provided with a rough area, which is correspondingly set with the pressure plate adjustment assembly 15.

[0056] A rough area can be formed on the sleeve 11 by knurling, texturing, or coating processes. The rough area is correspondingly set to the pressure plate adjustment assembly 15. That is, the rough area is only set on the side of the sleeve 11 near the pressure plate adjustment assembly 15. When the pressure plate adjustment assembly 15 is placed on the sleeve 11, the traction rope 12 is located between the pressure plate adjustment assembly 15 and the rough area. The rough area can enhance the friction between the sleeve 11 and the traction rope 12, and further improve the fixing stability of the traction rope 12.

[0057] This embodiment can significantly improve the friction force when the traction rope 12 is fixed by setting a rough area on the sleeve 11 corresponding to the pressure plate adjustment assembly 15, ensuring that the traction rope 12 will not slip or loosen during the traction process, thereby improving the reliability of the traction device 1.

[0058] Optionally, the traction device 1 further includes a mounting housing 17, which is mounted on the side of the second connecting plate 14 away from the first connecting plate 13, and the mounting housing 17 and the second connecting plate 14 form a receiving cavity, with the fixing component 16 located at least partially within the receiving cavity.

[0059] The fixing component 16 includes a locking tongue 161 and a first spring 162. The first end of the locking tongue 161 passes through the second connecting plate 14, and the second end of the locking tongue 161 is located in the receiving cavity. The first spring 162 is located in the receiving cavity, and the first spring 162 is sleeved on the locking tongue 161. The first end of the first spring 162 abuts against the locking tongue 161, and the second end of the first spring 162 abuts against the inner wall of the mounting housing 17.

[0060] Specifically, during the process of the connecting member 151 rotating and driving the pressure plate 152 to cover the sleeve 11, the connecting member 151 can abut against the locking tongue 161. In one embodiment, the first end of the locking tongue 161 has a groove on the side near the sleeve 11, and a guide surface on the side away from the sleeve 11. The connecting member 151 can first connect with the guide surface, which can be set away from the first spring 162. As the connecting member 151 rotates, the cooperation between the connecting member 151 and the guide surface will cause the locking tongue 161 to move away from the first connecting plate 13, thereby compressing the first spring 162. Until the connecting member 151 transitions from the guide surface to the groove, at this time, the first end of the locking tongue 161 loses the abutting force provided by the connecting member 151, and the first spring 162 returns to its original length, driving the locking tongue 161 to move closer to the first connecting plate 13. The connecting member 151 is embedded in the groove of the locking tongue 161, and the locking tongue 161 fixes the connecting member 151.

[0061] In this embodiment, the fixing assembly 16 is protected by the accommodating cavity formed by the mounting housing 17 and the second connecting plate 14, improving the overall reliability of the structure. The cooperation between the locking tongue 161 and the first spring 162 achieves mechanical locking and elastic reset functions. The slot structure ensures a stable connection between the locking tongue 161 and the connecting piece 151, and the guide surface design reduces the alignment difficulty during installation. No additional structures are needed to fix the pressure plate adjusting assembly 15, reducing the structural complexity of the traction device 1.

[0062] Optionally, the fixed assembly 16 also includes an actuator 163 and a steering arm 164, which are located within the receiving cavity.

[0063] The locking tongue 161 has a through groove 1611. One end of the steering arm 164 is connected to the actuator 163, and the other end of the steering arm 164 is located in the through groove 1611. The actuator 163 is used to drive the steering arm 164 to rotate so as to drive the locking tongue 161 to compress the first spring 162.

[0064] Specifically, when the actuator 163 operates, it transmits power to the locking tongue 161 through the rotational movement of the steering arm 164, causing it to overcome the spring resistance and generate displacement. That is, the actuator 163 drives the steering arm 164 to swing, and then the other end of the steering arm 164 abuts against the groove wall of the through groove 1611. Based on the force of the locking tongue 161 moving away from the first connecting plate 13, the locking tongue 161 moves away from the first connecting plate 13, compressing the first spring 162.

[0065] At this point, one end of the connector 151 disengages from the slot, allowing the connector 151 to rotate again relative to the first connecting plate 13, releasing the traction rope 12 on the sleeve 11. In practical applications, in abnormal situations such as drone loss of control, it is usually necessary to release the traction rope 12 to ensure the safety of the paraglider. Therefore, when the drone loses control, the actuator 163 can receive a running command, which drives the rotating arm to rotate, causing the locking tongue 161 to move away from the first connecting plate 13 and compress the first spring 162. The connector 151 disengages from its fixed state, and the traction rope 12 loses its compressive force, meaning the traction rope 12 can detach from the sleeve 11, realizing the release of the traction rope 12 and the detachment of the drone from the paraglider.

[0066] The through slot 1611 serves as a guide and limiter, while the first spring 162 provides restoring force. An actuator 163 can be used in conjunction with a steering arm 164; specifically, a combination of a pneumatic actuator 163 and a composite material steering arm 164 can be used to drive the latch 161. The rotation angle of the steering arm 164 and the dimensions of the through slot 1611 need to be designed to match the stroke of the latch 161 to ensure stability during movement. The spring constant must be sufficient to keep the latch 161 closed under normal conditions, while allowing it to compress and deform smoothly under the drive of the actuator 163.

[0067] In one embodiment, the actuator 163 can be a servo motor, and the steering arm 164 can include a servo disk 1641 and an unlocking rocker arm 1642. The servo disk 1641 is connected to the servo motor, one end of the unlocking rocker arm 1642 is disposed on the servo disk 1641, and the other end of the unlocking rocker arm 1642 is disposed in the through slot 1611 of the locking tongue 161. After receiving an unlocking command, the servo motor can drive the servo disk 1641 to rotate, and then the servo disk 1641 drives the unlocking rocker arm 1642 to swing, thereby driving the locking tongue 161 to compress the first spring 162, realizing the release of the traction rope 12.

[0068] Understandably, as mentioned above, the sleeve 11 can have a rough area corresponding to the pressure plate adjustment component 15, rather than the entire sidewall of the sleeve 11 being rough (i.e., except for the area corresponding to the pressure adjustment component, the other areas are smooth). This is to increase the friction coefficient at the pressure point, ensure the tethering stability of the traction rope 12, and ensure the effective release of the traction rope 12, avoiding additional friction on the traction rope 12 during release.

[0069] In another embodiment, such as Figure 2 As shown, the fixing component 16 may also include a limiting nut 165, which is disposed outside the accommodating cavity and is connected to the second end of the locking tongue 161. Thus, by driving the limiting nut 165, the locking tongue 161 can be moved away from the first connecting plate 13 to achieve manual unlocking.

[0070] In other embodiments, a torsion spring can also be provided between the first connecting plate 13 and the connector 151. One end of the torsion spring abuts against the connector 151, and the other end of the torsion spring abuts against the first connecting plate 13. When the connector 151 is rotated relative to the first connecting plate 13 so that the pressure plate 152 covers the sleeve 11, the torsion spring is compressed. Then, when the locking tongue 161 releases the connector 151, the torsion spring can return to its original shape, causing the connector 151 to spring open relative to the sleeve 11, improving the deployment efficiency of the traction rope 12.

[0071] In summary, this embodiment achieves precise control of the locking tongue 161 through a mechanical linkage structure, making the tethering and deployment operations of the traction rope 12 more reliable. The cooperative design of the through slot 1611 and the steering arm 164 ensures the accuracy of the movement direction and prevents jamming. The preload design of the spring ensures the system remains stable in the absence of external force, while also possessing rapid response characteristics. Compared with traditional mechanical operation, the actuator 163's drive method is easier to automate, improving the overall intelligence level of the device. This structural layout achieves multi-functional integration within a limited space, ensuring both mechanical strength and improved operational efficiency, making it particularly suitable for drone tethering scenarios with strict safety requirements, thus enhancing the practicality of the traction device 1 provided in this application.

[0072] Optionally, the traction device 1 further includes an angle detection component 18, which is arranged at intervals with the pressure plate adjustment component 15 along the circumference of the sleeve 11, and the angle detection component 18 is disposed between the first connecting plate 13 and the second connecting plate 14.

[0073] The traction rope 12 is threaded through the angle detection component 18, which is used to detect the angle change data of the traction rope 12.

[0074] Since the traction rope 12 passes through the angle detection component 18, the angle detection component 18 can detect the angle change data of the rope under the action of tension. The drone can then obtain the relative positional relationship between the drone and the paraglider based on the angle change data detected by the angle detection component 18, so as to adjust its own state. For example, when the paraglider is detected above the drone, the drone can increase its own altitude to avoid the paraglider exerting additional backward pull on the drone, which would affect the drone's driving efficiency.

[0075] In one embodiment, angle detection can be achieved using a structure that links the sensor with the rotating shaft, such as using a gyroscope or rotary encoder in conjunction with a rotatable connector 151. When the traction rope 12 is subjected to force and deflects, the rotating shaft drives the sensor to generate a corresponding angle signal, and the angle detection component 18 can obtain the angle change data of the traction rope 12.

[0076] This embodiment integrates an angle detection component 18 into the traction device 1, enabling real-time acquisition of the relative position information between the paraglider and the drone. This allows the drone to dynamically adjust its flight parameters based on the paraglider's position, improving the accuracy of its accompanying flight. This arrangement makes the angle detection and traction fixation functions independent, avoiding mechanical interference while ensuring the stability of data acquisition.

[0077] Optionally, the angle detection component 18 includes a first rotating shaft connector 181, a second rotating shaft connector 182, and an angle detection component 183.

[0078] One end of the first rotating shaft connector 181 is rotatably connected to the first connecting plate 13, and the other end of the first rotating shaft connector 181 is rotatably connected to the second connecting plate 14. The second rotating shaft connector 182 is rotatably mounted on the first rotating shaft connector 181, and the traction rope 12 passes through the second rotating shaft connector 182. The first rotating shaft connector 181 is rotatably mounted around the first rotating shaft, and the second rotating shaft connector 182 is rotatably mounted around the second rotating shaft. The first and second rotating shafts are perpendicular to each other. An angle detection component 183 is located on the side of the first connecting plate 13 away from the second connecting plate 14, and the angle detection component 183 is used to detect the rotation angle data of the first rotating shaft connector 181 and the second rotating shaft connector 182.

[0079] In one embodiment, the angle detection component 18 further includes a mounting plate 186, which is disposed on the first rotating shaft connector 181 and located below the second rotating shaft connector 182. The mounting plate 186 cooperates with the first rotating shaft connector 181 to improve the stability of the second rotating shaft connector 182 being rotatably mounted on the first rotating shaft connector 181.

[0080] Specifically, the angle detection component 18 includes a first rotating shaft connector 181 and a second rotating shaft connector 182 that rotate perpendicularly to each other. This dual-shaft design allows for the detection of angle changes in the traction rope 12 in three-dimensional space. Since the traction rope 12 is threaded through the second rotating shaft connector 182, the angle change of the traction rope 12 (the relative position change between the drone and the paraglider) can be represented as the rotation angle of the first rotating shaft connector 181 and the second rotating shaft connector 182. The angle detection component 183 can detect the rotation angle data of the first rotating shaft connector 181 and the second rotating shaft connector 182.

[0081] Furthermore, the control module of the UAV can acquire the rotation angle data of the first rotating shaft connector 181 and the second rotating shaft connector 182 detected by the angle detection component 183, thereby obtaining the angle change data of the traction rope 12, and controlling the flight parameters of the UAV based on the angle change data of the traction rope 12.

[0082] It is understandable that the execution instructions received by the actuator 163 mentioned above can also be issued by the control module.

[0083] This embodiment, through the cooperation of a dual-shaft structure and angle detection component 183, can accurately capture the angular changes of the traction rope 12 in space. This real-time data feedback allows the UAV control system to dynamically adjust the flight attitude according to the actual position of the paraglider, thereby improving the safety and stability of accompanying flight. The vertically positioned shaft structure ensures comprehensive angle detection, avoiding errors that may occur with single-plane detection. The design of the traction rope 12 passing through the second shaft connector 182 directly links the rotation of the shaft with the movement of the traction rope 12. This mechanical linkage improves the response speed and reliability of angle detection, enhancing the practicality of the traction device 1.

[0084] Optionally, the angle detection assembly 18 also includes a limiting plate 184 and a second spring 185.

[0085] One end of the limiting plate 184 is connected to the first connecting plate 13, and the other end of the limiting plate 184 is connected to the second connecting plate 14. The limiting plate 184 is positioned away from the sleeve 11 relative to the first rotating shaft connector 181. One end of the second spring 185 abuts against the second rotating shaft connector 182, and the other end of the second spring 185 abuts against the limiting plate 184. The second spring 185 and the second rotating shaft connector 182 are coaxially arranged.

[0086] The limiting plate 184 can be made of metal or plastic and connected to the first connecting plate 13 and the second connecting plate 14 by welding or screw fixing. The second spring 185 can be a metal conical helical spring, which provides elastic restoring force through compression deformation. Specifically, since the second spring 185 is coaxially arranged with the second rotating shaft connector 182, when the second rotating shaft connector 182 rotates due to the angle change of the traction rope 12, it will drive the deformation of the second spring 185. The second spring 185 will generate resistance force, causing the second rotating shaft connector 182 to recover, while limiting the rotation range of the second rotating shaft connector 182 and improving the stability of the angle detection component 18 operation.

[0087] This embodiment, through the cooperative structure of the limiting plate 184 and the second spring 185, effectively controls the rotation range of the second rotating shaft connector 182, preventing overload damage to the angle detection component 18 under extreme operating conditions. The elastic restoring force provided by the second spring 185 ensures that the second rotating shaft connector 182 can quickly return to the preset position when the tension of the traction rope 12 changes, improving the real-time performance and accuracy of angle detection. The mechanical limiting function of the limiting plate 184 avoids signal distortion caused by the sensor rotating beyond its range, while also reducing the risk of mechanical wear. This structural design enables the angle feedback system to maintain stable performance even in complex flight environments, providing reliable real-time data support for UAV flight control.

[0088] In one embodiment, the angle detection component 18 may further include a sliding bushing 19, a coupling 20, and an extension rod 21. The sliding bushing 19 may be fitted onto the second rotating shaft connector 182, thereby preventing damage to the second rotating shaft connector 182 caused by the collision between the rotating rod of the second rotating shaft connector 182 and the limiting plate 184 during the rotation of the second rotating shaft connector 182.

[0089] Meanwhile, the rotating rod of the second rotating shaft connector 182 can also be connected to the extension rod 21 through the coupling 20, and the traction rope 12 is threaded through the coupling 20 and the extension rod 21. Thus, the extension rod 21 can keep the free end of the traction rope 12 away from the drone, so as to avoid the free end of the traction rope 12 from getting close to the drone and affecting the operation of the drone. For example, the traction rope 12 may interfere with the drone's propellers, thereby improving the safety of drone operation.

[0090] In summary, the traction device 1 provided in this application achieves multi-point contact fixation of the traction rope 12 on the sleeve 11 through the slotted cooperation of the pressure plate adjustment assembly 15, the sleeve 11, and the fixing assembly 16. This effectively disperses the force, avoids local stress concentration, and improves the vibration resistance and overload resistance of the traction device 1. By setting a rough area on the sleeve 11 to increase the friction coefficient between the traction rope 12 and the sleeve 11, the traction device 1 further improves the fixing efficiency of the traction rope 12. At the same time, the cooperation of the locking tongue 161, the first spring 162, the driving component, and the rotating arm in the fixing assembly 16 enables precise control of the locking tongue 161, making the tethering and throwing operations of the traction rope 12 in the traction device 1 more reliable. Furthermore, the acquisition of angle change data of the traction rope 12 by the angle detection assembly 18 can further improve the safety of UAV operation and further enhance the practicality of the traction device 1.

[0091] This application also provides an unmanned aerial vehicle (UAV) system (not shown), including a UAV, a control device and a traction device 1. The control device is connected to the traction device 1 and the UAV respectively. The control device is used to receive rotation angle data fed back by the traction device 1 and control the operation of the UAV based on the rotation angle data.

[0092] The control device can be the control module mentioned above. After receiving the rotation angle data of the first rotating shaft connector 181 and the second rotating shaft connector 182 fed back by the traction device 1, the control device can convert the rotation angle data into the angle change data of the traction rope 12, thereby obtaining the relative position relationship between the UAV and the paraglider, thus controlling the flight parameters of the UAV and improving the safety of UAV operation.

[0093] The above description is merely an embodiment of this application and does not limit the patent scope of this application. Any equivalent structural or procedural transformations made using the content of this application's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of this application.

Claims

1. A traction device, characterized in that, Mounted on a drone, it provides traction to a connected target object; the traction device includes: A sleeve and a traction rope, wherein the sleeve is mounted on the drone, one end of the traction rope is wrapped around the side wall of the sleeve, and the other end of the traction rope is connected to the target object; A first connecting plate and a second connecting plate are sleeved on the sleeve, and the first connecting plate and the second connecting plate are arranged in parallel and spaced apart. A pressure plate adjustment assembly is rotatably mounted on the first connecting plate. The pressure plate adjustment assembly is used to cover the sleeve to fix the traction rope. A fixing component is provided, the first end of which passes through the second connecting plate. The fixing component has a slot on the side near the sleeve. When the pressure plate adjusting component is placed on the sleeve, the end of the pressure plate adjusting component away from the first connecting plate is located in the slot. The fixing component is used to fix the pressure plate adjusting component.

2. The traction device according to claim 1, characterized in that, The pressure plate adjustment assembly includes a connector, a pressure plate, and a control lever; One end of the connector is rotatably connected to the first connecting plate, and the other end of the connector abuts against the fixing component; The first end of the control lever is rotatably disposed on the side of the connector away from the sleeve, the pressure plate is located on the side of the connector close to the sleeve, and the pressure plate is hinged to the first end of the control lever through a connecting rod, wherein the connecting rod passes through the connector; The control lever is used to rotate relative to the connector to drive the pressure plate to move closer to the sleeve via the connecting rod, thereby fixing the traction rope.

3. The traction device according to claim 2, characterized in that, The pressure plate adjustment assembly also includes a fixed slider, which is slidably disposed on the control lever. When the pressure plate is placed on the sleeve, the control lever and the connector form a fixing groove, and one end of the fixed slider is disposed in the fixing groove to fix the control lever.

4. The traction device according to claim 1, characterized in that, The sleeve is provided with a rough area, which is correspondingly set with the pressure plate adjustment assembly.

5. The traction device according to claim 1, characterized in that, The traction device further includes a mounting housing, which is mounted on the side of the second connecting plate away from the first connecting plate, and the mounting housing and the second connecting plate form a receiving cavity, wherein the fixing component is at least partially located within the receiving cavity; The fixing component includes a latch and a first spring. The first end of the latch passes through the second connecting plate, the second end of the latch is located in the receiving cavity, the first spring is located in the receiving cavity, the first spring is sleeved on the latch, and the first end of the first spring abuts against the latch, and the second end of the first spring abuts against the inner wall of the mounting housing. The locking tongue has a slot on the side near the sleeve at its first end, and a guide surface on the side away from the sleeve at its first end.

6. The traction device according to claim 5, characterized in that, The fixed assembly also includes an actuator and a steering arm, which are located within the accommodating cavity; A through groove is formed on the latch, one end of the steering arm is connected to the actuator, and the other end of the steering arm is located in the through groove. The actuator is used to drive the steering arm to rotate, so as to drive the latch to compress the first spring.

7. The traction device according to claim 1, characterized in that, The traction device further includes an angle detection component, which is arranged at intervals with the pressure plate adjustment component along the circumference of the sleeve, and the angle detection component is disposed between the first connecting plate and the second connecting plate; The traction rope is threaded through the angle detection component, which is used to detect the angle change data of the traction rope.

8. The traction device according to claim 7, characterized in that, The angle detection component includes a first rotating shaft connector, a second rotating shaft connector, and an angle detection component. One end of the first rotating shaft connector is rotatably connected to the first connecting plate, and the other end of the first rotating shaft connector is rotatably connected to the second connecting plate. The second rotating shaft connector is rotatably mounted on the first rotating shaft connector, and the traction rope is threaded through the second rotating shaft connector. The first rotating shaft connector is rotatably mounted around a first rotating shaft, and the second rotating shaft connector is rotatably mounted around a second rotating shaft. The first rotating shaft and the second rotating shaft are perpendicular to each other. The angle detection component is disposed on the side of the first connecting plate away from the second connecting plate, and the angle detection component is used to detect the rotation angle data of the first rotating shaft connector and the second rotating shaft connector.

9. The traction device according to claim 8, characterized in that, The angle detection component further includes a limiting plate and a second spring. One end of the limiting plate is connected to the first connecting plate, and the other end of the limiting plate is connected to the second connecting plate. The limiting plate is positioned away from the sleeve relative to the first rotating shaft connector. One end of the second spring abuts against the second rotating shaft connector, and the other end of the second spring abuts against the limiting plate. The second spring and the second rotating shaft connector are coaxially arranged.

10. An unmanned aerial vehicle (UAV) system, characterized in that, The device includes a drone, a control device, and a traction device as described in any one of claims 1 to 9. The control device is connected to both the traction device and the drone. The control device is used to receive rotation angle data fed back by the traction device and to control the operation of the drone based on the rotation angle data.

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