CN112018661A - Transmission line pulls device based on many rotor unmanned aerial vehicle - Google Patents

Abstract

The invention discloses a power transmission line dragging device based on a multi-rotor unmanned aerial vehicle. , a receiving mechanism is arranged in the receiving cavity, a fixing sleeve is movably installed in the receiving cavity, an anti-winding mechanism is arranged in the fixing sleeve, a mounting sleeve is movably installed at the bottom of the fixing sleeve, and the installation sleeve is provided with traction mechanism. The beneficial effect of the present invention is that the storage mechanism can store the power transmission line dragging device at the bottom of the drone, which is convenient for the storage and transportation of the drone, and the anti-winding mechanism can prevent the traction rope from being wound on the drone when the drone is flying. In the phenomenon on the drone, the traction mechanism can pull the traction rope, and has the function of automatic off-line to prevent the drone from being damaged or falling due to excessive pulling force.

Description

A transmission line towing device based on multi-rotor UAV

technical field

The invention relates to the field of unmanned aerial vehicles, in particular to a transmission line dragging device based on a multi-rotor unmanned aerial vehicle.

Background technique

Unmanned aircraft, referred to as "UAV", is an unmanned aircraft operated by radio remote control equipment and self-provided program control devices. There is no cockpit on the plane, but it is equipped with autopilot, program control devices and other equipment. The personnel on the ground, on the ship or in the remote control station of the mother machine use radar and other equipment to track, locate, remote control, telemetry and digital transmission. It can take off like an ordinary plane under radio remote control or launch it with a booster rocket, or it can be brought into the air by the mother plane for flight. When it is recovered, it can be automatically landed in the same way as the landing process of ordinary aircraft, or it can be recovered by remote control with parachute or block. Can be used multiple times. Widely used in air reconnaissance, surveillance, communication, anti-submarine, electronic jamming, etc.

UAV power wiring is used in various serious natural disasters, and the drone will fly into the power accident area for monitoring at the first time, so as to win the repair time and power cable operation. When the UAV is erecting the power cable, the traction rope is often wrapped around the UAV, and the UAV may fail or fall due to excessive tension, and the length of the ultra-high voltage transmission line is generally tens or several tens of meters. The distance varies from 100 kilometers. After patrolling each base tower, it needs to hover or circle around the tower for several times, which is convenient for multi-angle observation. Therefore, the aircraft must have good endurance.

SUMMARY OF THE INVENTION

In view of the above defects, the present invention provides a transmission line dragging device based on a multi-rotor unmanned aerial vehicle, so as to solve the transmission line dragging problem of the multi-rotor unmanned aerial vehicle.

To achieve the above object, the present invention adopts the following technical solutions:

A transmission line dragging device based on a multi-rotor unmanned aerial vehicle, comprising an unmanned aerial vehicle body and a set of opposite support brackets located at the bottom of the unmanned aerial vehicle body. A storage mechanism is provided, a fixed sleeve is movably installed in the storage cavity, an anti-winding mechanism is arranged in the fixed sleeve, an installation sleeve is movably installed at the bottom of the fixed sleeve, and a traction mechanism is arranged in the installation sleeve;

The storage mechanism includes a fixed end shaft 1, an electric push rod, a fixed end shaft 2, a connecting rod 1, a hinge seat, a fixed end shaft 3, a connecting rod 2, a hatch door and a connecting rod 3, and the fixed end shaft 1 is installed in the storage cavity. On the inner and upper end side, the electric push rod is hinged on the fixed end shaft 1, the fixed end shaft 2 is installed on the bottom side of the fixed end shaft 1, and the rear end of the connecting rod is hinged on the fixed end shaft 2. On the upper side, the hinge seat is hinged on the other side of the storage cavity, and is in an inverted T shape, the fixed end shaft 3 is installed on one side of the bottom of the hinge seat, and the connecting rod 2 is L-shaped, and one end is connected to the fixed end. The other end of the three-axis living hinge is hinged with the telescopic end of the electric push rod and the front end of the connecting rod respectively. The three rear ends of the fixed end shaft are hinged;

The anti-winding mechanism includes a set of relatively fixed rods, a double-shaft motor, a rotating rod, a reel, a steel wire connecting rope, a pulley, a transmission shaft, a second pulley, a transmission belt, a transmission gear, a sliding sleeve, and a set of opposed teeth. bar, driving rod, driven gear and a set of rectangular gears, a set of opposite fixing rods are installed on both sides of the bottom of the hinge seat, and are connected with the upper end of the fixing sleeve, the biaxial motor is horizontally installed on one end of the fixing sleeve, The rotating rod is installed on the rotating shaft of the front end of the biaxial motor, the reel is installed on the rotating rod, the wire connecting rope is wound on the reel, and the bottom is connected with the installation sleeve, the pulley is installed once On the rotating shaft at the rear end of the biaxial motor, the transmission shaft is movably installed on one side of the fixed sleeve, the second pulley is installed at the front end of the transmission shaft, the transmission belt is sleeved on the first and second pulleys, and the transmission gear Installed on the transmission shaft, the sliding sleeve is movably sleeved in the fixed sleeve, and the bottom extends out of the fixed sleeve, a group of opposite racks are installed on both sides of the rear end of the sliding sleeve, and the driving rod is movably inserted Inside the fixed sleeve, and the front end protrudes from the fixed sleeve, the driven gear is installed at the front end of the driving rod and meshes with the transmission gear, a group of rectangular gears are installed on the driving rod, and are respectively connected with a group of opposite gears the strips mesh with each other;

The traction mechanism includes a tension sensor, a tension spring, a traction mounting block, a rectangular groove, a traction rod, a driving motor, a driving rod and a traction rod. The tension sensor is installed at the top of the installation sleeve, and the tension spring is installed at the bottom of the tension sensor. , the traction mounting block is installed at the bottom of the tension spring, the rectangular groove is opened on one side of the bottom of the traction mounting block, the traction rod is movably inserted in the rectangular groove, and the rear end protrudes from the rectangular groove, the The driving motor is installed in the traction mounting block, the driving rod is installed on the rotating end of the driving motor, one end of the pulling rod is articulated with the traction rod, and the other end is articulated with the rear end of the driving rod.

Further, the inner front end of the fixed sleeve is provided with a first chute, and the front end of the sliding sleeve is slidably installed on the first chute through a slider.

Further, the size of the transmission gear is smaller than that of the driven gear.

Further, the upper end of the installation sleeve is provided with a circular insertion groove corresponding to the sliding sleeve.

Further, a set of opposite chute two is opened in the installation sleeve, and both sides of the traction mounting block are slidably installed on the two chute through the slider.

Further, a signal transmitter is installed on the tension sensor, and a signal receiver is installed on one side of the drive motor.

Further, a traction rope is suspended on the traction rod.

The present invention provides a transmission line dragging device based on a multi-rotor unmanned aerial vehicle, which has the following beneficial effects. The storage and transportation of the UAV, when the UAV is wired to complete the return flight, the transmission line dragging device at the bottom is automatically received into the storage cavity, thereby reducing the air resistance of the UAV flying and improving the endurance of the UAV to a certain extent. The anti-winding mechanism can prevent the traction rope from being entangled on the drone when the drone is flying. The traction mechanism can pull the traction rope and has an automatic off-line function to prevent the drone from being caused by excessive pulling force. malfunction, crash, etc.

Description of drawings

FIG. 1 is a schematic diagram of a transmission line towing device based on a multi-rotor UAV according to the present invention.

FIG. 2 is a schematic diagram of the anti-winding mechanism according to the present invention.

FIG. 3 is a schematic diagram of the traction mechanism according to the present invention.

FIG. 4 is a schematic diagram of the chute according to the present invention.

FIG. 5 is a schematic diagram of storage of a transmission line dragging device based on a multi-rotor UAV according to the present invention.

FIG. 6 is a schematic diagram of the unfolding of the storage mechanism according to the present invention.

FIG. 7 is a closed schematic diagram of the storage mechanism according to the present invention.

FIG. 8 is a schematic diagram of storage of the traction mechanism according to the present invention.

FIG. 9 is a schematic diagram showing the development of a transmission line towing device based on a multi-rotor UAV according to the present invention.

In the picture: 1. UAV body; 2. Support frame; 3. Storage cavity; 4. Fixed sleeve; 5. Installation sleeve; 6. Fixed end shaft 1; 7. Electric push rod; 8. Fixed end shaft Two; 9, connecting rod one; 10, hinge seat; 11, fixed end shaft three; 12, connecting rod two; 13, hatch; 14, connecting rod three; 15, fixed rod; 16, biaxial motor; 17, Rotating rod; 18, reel; 19, steel wire connecting rope; 20, pulley one; 21, drive shaft; 22, pulley two; 23, drive belt; 24, drive gear; 25, sliding sleeve; 26, rack ;27, drive rod; 28, driven gear; 29, rectangular gear; 30, tension sensor; 31, tension spring; 32, traction mounting block; 33, rectangular groove; 34, traction rod; 35, drive motor; 36 , drive rod; 37, pull rod; 38, chute one; 39, circular insertion slot; 40, chute two; 41, signal transmitter; 42, signal receiver; 43, traction rope.

Detailed ways

The present invention will be described in detail below in conjunction with the accompanying drawings, as shown in Figures 1-9: a transmission line dragging device based on a multi-rotor unmanned aerial vehicle, comprising an unmanned aerial vehicle body 1 and a group of relative positions at the bottom of the unmanned aerial vehicle body 1 The support frame 2 of the drone body 1 is provided with a receiving cavity 3 at the inner bottom, and a receiving mechanism is arranged in the receiving cavity 3. A fixed sleeve 4 is movably installed in the receiving cavity 3, and the fixed sleeve 4 is provided with Anti-winding mechanism, a mounting sleeve 5 is movably installed at the bottom of the fixed sleeve 4, and a traction mechanism is arranged in the mounting sleeve 5;

The storage mechanism includes a fixed end shaft one 6, an electric push rod 7, a fixed end shaft two 8, a connecting rod one 9, a hinge seat 10, a fixed end shaft three 11, a connecting rod two 12, a hatch 13 and a connecting rod three 14. The fixed end shaft one 6 is installed on the upper end side of the storage cavity 3, the electric push rod 7 is movably hinged on the fixed end shaft one 6, and the fixed end shaft two 8 is installed on the bottom side of the fixed end shaft one 6. , the rear end of the connecting rod one 9 is hinged on the fixed end shaft two 8, the hinge seat 10 is hinged on the other side of the receiving cavity 3, and is in an inverted T shape, and the fixed end shaft three 11 is installed on the On the bottom side of the hinge seat 10, the connecting rod two 12 is L-shaped, and one end is hinged with the fixed end shaft three 11, and the other end is hinged with the telescopic end of the electric push rod 7 and the front end of the connecting rod one 9 respectively. 13 is hinged on the inner bottom of the storage cavity 3, one end of the connecting rod 3 14 is hinged with the hatch 13, and the other end is hinged with the rear end of the fixed end shaft 3 11;

The anti-winding mechanism includes a set of opposite fixed rods 15, biaxial motors 16, rotating rods 17, reels 18, steel wire connecting ropes 19, pulley one 20, transmission shaft 21, pulley two 22, transmission belt 23, transmission gear 24 , a sliding sleeve 25, a set of opposite racks 26, a drive rod 27, a driven gear 28 and a set of rectangular gears 29, a set of opposite fixed rods 15 are installed on both sides of the bottom of the hinge seat 10, and with the fixed sleeve The upper end of 4 is connected, the biaxial motor 16 is horizontally installed on the upper end of the fixed sleeve 4, the rotating rod 17 is installed on the rotating shaft of the front end of the biaxial motor 16, and the winding wheel 18 is installed on the rotating rod 17, so The steel wire connecting rope 19 is wound on the reel 18, and the bottom is connected with the installation sleeve 5, the pulley 1 20 is installed on the rear rotating shaft of the biaxial motor 16, and the transmission shaft 21 is movably installed on the fixed sleeve. 4 On one side, the second pulley 22 is installed on the front end of the transmission shaft 21, the transmission belt 23 is sleeved on the first pulley 20 and the second pulley 22, the transmission gear 24 is installed on the transmission shaft 21, the sliding sleeve 25 The movable sleeve is inside the fixed sleeve 4, and the bottom extends out of the fixed sleeve 4, a group of opposite racks 26 are installed on both sides of the rear end of the sliding sleeve 25, and the driving rod 27 is movably inserted into the fixed sleeve 4 , and the front end protrudes from the fixed sleeve 4, the driven gear 28 is installed at the front end of the driving rod 27, and meshes with the transmission gear 24, a group of rectangular gears 29 are installed on the driving rod 27, and are respectively opposite to a group of The racks 26 mesh with each other;

The traction mechanism includes a tension sensor 30 , a tension spring 31 , a traction mounting block 32 , a rectangular groove 33 , a traction rod 34 , a driving motor 35 , a driving rod 36 and a traction rod 37 , and the tension sensor 30 is installed on the top of the mounting sleeve 5 , the tension spring 31 is installed at the bottom of the tension sensor 30, the traction installation block 32 is installed at the bottom of the tension spring 31, the rectangular groove 33 is opened on one side of the bottom of the traction installation block 32, and the traction rod 34 is movably inserted Inside the rectangular groove 33, and the rear end protrudes from the rectangular groove 33, the driving motor 35 is installed in the traction mounting block 32, the driving rod 36 is installed on the rotating end of the driving motor 35, and one end of the pulling rod 37 It is articulated with the drawbar 34, and the other end is articulated with the rear end of the drive rod 36;

The inner front end of the fixed sleeve 4 is provided with a chute 1 38, and the front end of the sliding sleeve 25 is slidably installed on the chute 1 38 through the slider;

The size of the transmission gear 24 is smaller than the size of the driven gear 28;

The upper end of the installation sleeve 5 is provided with a circular insertion groove 39 corresponding to the sliding sleeve 25;

A set of opposite chute 2 40 is opened in the installation sleeve 5, and both sides of the traction mounting block 32 are slidably installed on the chute 2 40 through the slider;

A signal transmitter 41 is installed on the tension sensor 30, and a signal receiver 42 is installed on one side of the drive motor 35;

A traction rope 43 is suspended from the traction rod 34 .

The working principle of this embodiment: the electrical equipment used by the device is controlled by an external controller, the drone is a multi-rotor drone, and the transmission line dragging device is stored in the storage cavity 3, which is convenient for transportation and storage , when in use, the user first unfolds the power transmission line towing device through the storage mechanism, the initial position of the traction rod 34 is inserted into the rectangular groove 33, and the traction rope 43 is suspended on the traction rod 34;

During storage: the electric push rod 7 starts to work first, the fixed end shaft one 6 is installed on the upper end side of the storage cavity 3, the electric push rod 7 is movably hinged on the fixed end shaft one 6, and the fixed end shaft two 8 is installed on the fixed end On the bottom side of the shaft one 6, the rear end of the connecting rod one 9 is hinged on the fixed end shaft two 8, the hinge seat 10 is hinged on the other side of the storage cavity 3, and is in an inverted T shape, and the fixed end shaft three 11 is installed on the On the bottom side of the hinge seat 10, the connecting rod 2 12 is L-shaped, and one end is hinged with the fixed end shaft 3 11, and the other end is hinged with the telescopic end of the electric push rod 7 and the front end of the connecting rod 1 9, and the hatch 13 is hinged at the front end. At the bottom of the storage cavity 3, one end of the connecting rod 3 14 is hinged with the hatch 13, and the other end is hinged with the rear end of the fixed end shaft 3 11. The electric push rod 7 drives the connecting rod 2 12 on the telescopic end to move downward, and The first connecting rod 9 is kept on the same straight line, and the third connecting rod 14 first drives the hatch 13 to unfold, and then the hinge seat 10 drives the bottom fixed sleeve 4 to unfold, as shown in FIG. The power transmission line dragging device at the bottom of the UAV is stored, which is convenient for the storage and transportation of the UAV. When the UAV completes the return flight, the power transmission line dragging device at the bottom is automatically stored into the storage cavity 3, thereby reducing the cost. The air resistance of small UAVs can improve the endurance of UAVs to a certain extent;

Anti-winding: After the power transmission line towing device is deployed, the user hangs the traction rope 43 on the traction rod 34, and controls the drone to fly through the controller. When the drone flies to a certain height, the dual-axis motor 16 starts Work, drive the rotating rod 17 on the front rotating shaft to start to rotate, the reel 18 is installed on the rotating rod 17, the wire connecting rope 19 is wound on the reel 18, and the bottom is connected with the installation sleeve 5, the fixed sleeve 4 The upper end is provided with a wire hole corresponding to the steel wire connecting rope 19. The biaxial motor 16 rotates forwardly, which drives the installation sleeve 5 to move downward. The installation sleeve 5 is made of stainless steel, which plays a load-bearing role and keeps the steel wire connecting rope 19 vertical. At the same time, the double-shaft motor 16 rotates forward, and drives the pulley one 20 on the rear end rotating shaft to start to rotate. The belt 23 is fitted on the first pulley 20 and the second pulley 22, the transmission belt 23 drives the transmission shaft 21 to start to rotate, the transmission gear 24 is installed on the transmission shaft 21, the front end of the fixed sleeve 4 is provided with a chute 1 38, and the sliding sleeve 25 The front end is slidably installed on the chute 1 38 through the slider, and the bottom extends out of the fixed sleeve 4, a group of opposite racks 26 are installed on both sides of the rear end of the sliding sleeve 25, and the drive rod 27 is movably inserted through the tightening bearing Inside the fixed sleeve 4, and the front end protrudes from the fixed sleeve 4, the driven gear 28 is installed on the front end of the driving rod 27, and meshes with the transmission gear 24. The size of the transmission gear 24 is smaller than the size of the driven gear 28, which plays a role in deceleration. , the driving rod 27 starts to rotate slowly, a group of rectangular gears 29 are installed on the driving rod 27, and respectively mesh with a group of opposite racks 26, the driving rod 27 can drive the sliding sleeve 25 to slide out, as shown in Figure 2 , which can be used to keep the steel wire connecting rope 19 in the sliding sleeve 25, and the anti-winding mechanism can prevent the phenomenon that the traction rope is wound on the drone when the drone is flying;

When pulling: the tension sensor 30 is installed on the top of the installation sleeve 5, the tension spring 31 is installed at the bottom of the tension sensor 30, the pulling installation block 32 is installed at the bottom of the tension spring 31, and the tension sensor 30 is used to detect the pulling force signal of the pulling rope 43. A signal transmitter 41 is installed on the sensor 30, and a signal receiver 42 is installed on one side of the driving motor 35. When the pulling force of the traction rope 43 is too large, the signal transmitter 41 transmits the signal to the user controller, and the user can control the The signal receiver 42 receives the signal and controls the driving motor 35 to rotate. The driving rod 36 is installed on the rotating end of the driving motor 35. One end of the pulling rod 37 is articulated with the pulling rod 34, and the other end is connected with the driving rod 36. The rear end is articulated, the drive motor 35 drives the traction rod 34 to move backward, the traction rope 43 falls off, and the traction mechanism can pull the traction rope 43, and has an automatic off-line function to prevent the drone from being damaged due to excessive pulling force. crash, etc.

The above technical solutions only represent the preferred technical solutions of the technical solutions of the present invention, and some changes that those skilled in the art may make to some parts of them all reflect the principles of the present invention and fall within the protection scope of the present invention.

Claims (7)

1. A power transmission line dragging device based on a multi-rotor unmanned aerial vehicle comprises an unmanned aerial vehicle body (1) and a group of opposite support frames (2) positioned at the bottom of the unmanned aerial vehicle body (1), and is characterized in that a containing cavity (3) is formed in the bottom of the unmanned aerial vehicle body (1), a containing mechanism is arranged in the containing cavity (3), a fixed sleeve (4) is movably arranged in the containing cavity (3), an anti-winding mechanism is arranged in the fixed sleeve (4), a mounting sleeve (5) is movably arranged at the bottom of the fixed sleeve (4), and a dragging mechanism is arranged in the mounting sleeve (5);

the storage mechanism comprises a first fixed end shaft (6), an electric push rod (7), a second fixed end shaft (8), a first connecting rod (9), a hinged seat (10), a third fixed end shaft (11), a second connecting rod (12), a cabin door (13) and a third connecting rod (14), wherein the first fixed end shaft (6) is installed on one side of the inner upper end of the storage cavity (3), the electric push rod (7) is movably hinged on the first fixed end shaft (6), the second fixed end shaft (8) is installed on one side of the bottom of the first fixed end shaft (6), the rear end of the first connecting rod (9) is movably hinged on the second fixed end shaft (8), the hinged seat (10) is movably hinged on the other side of the storage cavity (3) and is of an inverted T shape, the third fixed end shaft (11) is installed on one side of the bottom of the hinged seat (10), the second connecting rod (12) is of an L shape, and the other end of the third fixed end shaft (11) is movably hinged with the electric push rod (7) to extend and extend The front end of the connecting rod III (14) is movably hinged with the inner bottom of the containing cavity (3), one end of the connecting rod III is movably hinged with the cabin door (13), and the other end of the connecting rod III is movably hinged with the rear end of the fixed end shaft III (11);

the anti-winding mechanism comprises a set of relative fixing rods (15), a double-shaft motor (16), a rotating rod (17), a reel (18), a steel wire connecting rope (19), a first belt pulley (20), a transmission shaft (21), a second belt pulley (22), a transmission belt (23), a transmission gear (24), a sliding sleeve (25), a set of relative racks (26), a driving rod (27), a driven gear (28) and a set of rectangular gears (29), wherein the set of relative fixing rods (15) are arranged on two sides of the bottom of the hinged seat (10) and connected with the upper end of the fixing sleeve (4), the double-shaft motor (16) is horizontally arranged at one end of the fixing sleeve (4), the rotating rod (17) is arranged on a rotating shaft at the front end of the double-shaft motor (16), the reel (18) is arranged on the rotating rod (17), and the steel wire connecting rope (19), the bottom of the belt wheel I (20) is connected with the mounting sleeve (5), the rear end rotating shaft of the double-shaft motor (16) is mounted on the belt wheel I (20), the transmission shaft (21) is movably mounted on one side of the fixed sleeve (4), the belt wheel II (22) is mounted at the front end of the transmission shaft (21), the transmission belt (23) is sleeved on the belt wheel I (20) and the belt wheel II (22), the transmission gear (24) is mounted on the transmission shaft (21), the sliding sleeve (25) is movably sleeved in the fixed sleeve (4), the bottom of the sliding sleeve extends out of the fixed sleeve (4), a group of opposite racks (26) is mounted on two sides of the rear end of the sliding sleeve (25), the driving rod (27) is movably inserted in the fixed sleeve (4), the front end of the driving rod extends out of the fixed sleeve (4), the driven gear (28) is mounted at the front end of the driving rod (, a set of rectangular gears (29) are mounted on the drive rod (27) and are respectively meshed with a set of opposite racks (26);

the traction mechanism comprises a tension sensor (30), a tension spring (31), a traction mounting block (32), a rectangular groove (33), a traction rod (34), a driving motor (35), a driving rod (36) and a traction rod (37), the tension sensor (30) is mounted at the top in a mounting sleeve (5), the tension spring (31) is mounted at the bottom of the tension sensor (30), the traction mounting block (32) is mounted at the bottom of the tension spring (31), the rectangular groove (33) is formed in one side of the bottom of the traction mounting block (32), the traction rod (34) is movably inserted in the rectangular groove (33), the rear end of the traction mounting block extends out of the rectangular groove (33), the driving motor (35) is mounted in the traction mounting block (32), the driving rod (36) is mounted at the rotating end of the driving motor (35), one end of the traction rod (37) is movably hinged with the traction rod (34), and the other end is movably hinged with the rear end of the driving rod (36).

2. The power transmission line dragging device based on the multi-rotor unmanned aerial vehicle as claimed in claim 1, wherein a first sliding groove (38) is formed in the front end of the fixing sleeve (4), and the front end of the sliding sleeve (25) is slidably mounted on the first sliding groove (38) through a sliding block.

3. The power transmission line towing device based on multi-rotor unmanned aerial vehicle according to claim 1, wherein the size of the transmission gear (24) is smaller than that of the driven gear (28).

4. The power transmission line towing device based on the multi-rotor unmanned aerial vehicle as claimed in claim 1, wherein the mounting sleeve (5) is provided at an upper end thereof with a circular insertion slot (39) corresponding to the sliding sleeve (25).

5. The power transmission line dragging device based on the multi-rotor unmanned aerial vehicle as claimed in claim 1, wherein a set of two opposite sliding grooves (40) is formed in the mounting sleeve (5), and two sides of the dragging mounting block (32) are slidably mounted on the second sliding grooves (40) through sliding blocks.

6. The power transmission line dragging device based on the multi-rotor unmanned aerial vehicle as claimed in claim 1, wherein the tension sensor (30) is provided with a signal transmitter (41), and one side of the driving motor (35) is provided with a signal receiver (42).

7. The power transmission line towing device based on a multi-rotor unmanned aerial vehicle as claimed in claim 1, wherein a towing rope (43) is suspended on the towing bar (34).

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