Independent tension adjustment component for retracting and releasing wires, retracting and releasing wires device and tethered UAV system

Abstract

The present invention provides an independent adjustment component for the tension of a retractable line, a retractable line device and a tethered drone system. The adjustment component comprises a transmission rod, a first damping component, an elastic member and a sensor. The transmission rod is used to connect the cable, and the outer peripheral wall of the transmission rod is provided with a first tooth portion; the first damping component comprises a first unidirectional transmission member and a first driver, the first unidirectional transmission member comprises a first outer ring connecting ring and a first inner ring rotating member, the first outer ring connecting ring is sleeved on the outer side of the first inner ring rotating member, the first outer ring connecting ring drives the first inner ring rotating member to rotate unidirectionally, the outer side wall of the first outer ring connecting ring is provided with a second tooth portion, the first tooth portion is meshed with the second tooth portion, and the first driver is connected to the first inner ring rotating member; the elastic member drives the transmission rod to move in the tension adjustment direction; the sensor is used to detect the displacement of the transmission rod in the tension adjustment direction, and with the above structure, the sensor detects different tensions in the two processes of retracting and releasing the line, thereby realizing independent adjustment of the tension in the retracting and releasing process.

Description

Technical Field

[0001] The present invention relates to the field of unmanned aerial vehicles, and in particular to an independent adjustment component for tension of a retractable line, a retractable line device and a tethered unmanned aerial vehicle system. Background Art

[0002] The wire retracting and releasing device is a device that uses a tension sensor to convert the wire tension into the wire retracting and releasing actions. The main principle of the traditional wire retracting and releasing device is to use a series of mechanical linkage mechanisms to drive the tension sensor connected to it, and the leaf spring inside the tension sensor produces a micro-displacement, thereby generating a corresponding position signal to achieve the purpose of sensing tension.

[0003] In the above-mentioned process of winding and releasing the line, the traditional tension sensor, due to its internal structure, relies on the force of the same leaf spring to sense the pressure applied by the wire to the tension sensor during both the winding and releasing processes, so that the leaf spring in the tension sensor is subjected to the same pressure during both the winding and releasing processes, so that the displacement generated by the pressure when the sensor outputs the winding signal is the same as the displacement generated by the pressure when the tension sensor outputs the releasing signal. In some special environments, when different speeds and forces are required for winding and releasing, the corresponding requirements cannot be met. For example, if the tethered drone is used in firefighting and rescue, the tethered drone is equipped with a water tank, which can slowly rise while moving to the fire site during ascent. When the water in the water tank is used up, it needs to descend rapidly to replenish water as soon as possible to continue the rescue. If the ascent speed and descent speed of the drone are the same, it is difficult to improve the work efficiency of the drone. Summary of the invention

[0004] The first object of the present invention is to provide a retractable and pay-off line tension independent adjustment component for achieving different retractable and pay-off line tensions.

[0005] A second object of the present invention is to provide a wire-reeling and reeling device having the above-mentioned independent wire-reeling and reeling tension adjustment component.

[0006] The third object of the present invention is to provide a tethered drone system having the above-mentioned independent adjustment component for the tension of the retractable line.

[0007] In order to achieve the above-mentioned first purpose, the independent adjustment component of the tension of the reeling and releasing wire provided by the present invention includes a transmission rod, a first damping component, an elastic member and a sensor, the transmission rod is used to connect the cable, and the outer peripheral wall of the transmission rod is provided with a first tooth portion; the first damping component includes a first unidirectional transmission member and a first driver, the first unidirectional transmission member includes a first outer ring connecting ring and a first inner ring rotating member, the first outer ring connecting ring is sleeved on the outer side of the first inner ring rotating member, the first outer ring connecting ring drives the first inner ring rotating member to rotate unidirectionally, the outer side wall of the first outer ring connecting ring is provided with a second tooth portion, the first tooth portion is meshed with the second tooth portion, and the first driver is connected to the first inner ring rotating member; the elastic member drives the transmission rod to move in the tension adjustment direction; the sensor is used to detect the displacement of the transmission rod in the tension adjustment direction.

[0008] It can be seen from the above scheme that the transmission rod is connected to the cable, and the cable provides a supporting force for the transmission rod. When the cable is in the process of paying out the wire, the tension of the cable increases, and the transmission rod moves under the support force of the cable to overcome the elastic force of the elastic member. The sensor detects the displacement of the transmission rod, and the sensor outputs a paying-out signal. Due to the engagement of the first tooth portion and the second tooth portion, the movement of the transmission rod drives the first outer ring connecting ring of the first unidirectional transmission member to rotate, while the inner ring rotating member does not rotate; when the cable enters the process of taking up the wire, the tension of the cable decreases, and the supporting force applied by the cable on the transmission rod decreases. Under the elastic force of the elastic member, the transmission rod moves in the opposite direction, the sensor detects the displacement of the transmission rod, and the sensor outputs a taking-up signal. The movement of the rod drives the outer ring connecting ring to rotate, thereby driving the inner ring rotating part to rotate. The rotation of the inner ring rotating part starts the driver. After the driver is started, it drives the inner ring rotating part to rotate in the opposite direction. However, the driving force of the driver is smaller than the driving force of the transmission rod. Therefore, the driver provides a resistance applied to the one-way transmission part. At this time, the force applied to the transmission rod is the difference between the elastic force of the elastic part and the resistance output by the driver, which makes the speed of the reverse movement of the transmission rod smaller. The sensor detects a smaller displacement of the transmission rod, so the sensor detects the different displacement sizes of the transmission rod in the two processes of winding and releasing the line. The sensor can detect the different tension sizes in the two processes of winding and releasing the line, thereby realizing the tension adjustment of the winding and releasing process.

[0009] A further solution is that the sensor is a potentiometer, an encoder, a rotation sensor or an angle sensor, and the drive shaft of the sensor is meshed with the first toothed portion.

[0010] It can be seen that the movement of the transmission rod in different directions during the process of retracting and releasing the line drives the sensor to rotate in different directions of releasing the line, so that the sensor outputs the corresponding retracting and releasing line signal.

[0011] A further solution is that a first one-way ratchet is provided on the inner side wall of the first outer ring connecting ring, and a first pawl is provided on the first inner ring rotating member, and the first pawl is meshed with the first one-way ratchet.

[0012] It can be seen that the one-way ratchet is arranged on the inner side wall of the first outer ring connecting ring, and the first pawl is arranged on the inner ring rotating member, so that the movement of the transmission rod in two directions during the process of reeling and releasing the line can drive the outer ring connecting ring to rotate in different directions, but the rotation of the outer ring connecting ring can only enable the inner ring rotating member to rotate in one direction, thereby realizing independent tension adjustment during the process of reeling and releasing the line.

[0013] A further solution is that the first driver is a magnetic powder clutch, a damper or a brake.

[0014] A further solution is that the sensor is a displacement sensor or a light rod.

[0015] A further solution is that the independent adjustment assembly for the tension of the retractable wire includes a pulley assembly, the pulley assembly includes a first fixed wheel and a moving wheel, the moving wheel is connected to the transmission rod, the cables are respectively connected to the first fixed wheel and the moving wheel, and the moving wheel moves toward or away from the first fixed wheel along the tension adjustment direction.

[0016] It can be seen that the pulley assembly is used to guide the cable so that the independent adjustment assembly for the retractable and retractable wire tension can accurately detect the tension changes of the cable.

[0017] A further solution is that the independent adjustment component of the retractable and retractable line tension includes a second damping component, the second damping component includes a second one-way transmission member and a second driver, the second one-way transmission member includes a second outer ring connecting ring and a second inner ring rotating member, the second outer ring connecting ring is sleeved on the second inner ring rotating member, the second outer ring connecting ring drives the second inner ring rotating member to rotate unidirectionally, a third tooth portion is provided on the outer side wall of the second outer ring connecting ring, the third tooth portion is meshed with the first tooth portion, and the second inner ring rotating member is connected to the second driver; the rotation direction of the first inner ring rotating member is opposite to the rotation direction of the second inner ring rotating member.

[0018] It can be seen that the rotation directions of the first inner ring rotating member and the second inner ring rotating member are opposite, corresponding to the wire reeling and releasing processes respectively, controlling the output driving force of the first driver and the second driver, thereby adjusting the resistance applied by the damping assembly to the transmission rod, thereby realizing independent tension adjustment of the wire reeling and releasing.

[0019] A further solution is that, along the tension adjustment direction, the sensor is located between the first damping component and the second damping component.

[0020] It can be seen that the sensor is located between the first one-way transmission member and the second one-way transmission member, ensuring that there is enough space to accommodate the rotation of the sensor.

[0021] To achieve the second purpose of the present invention, the wire taking-up and paying-out device of the present invention includes the independent wire taking-up and paying-out tension adjustment component, the control unit, the wire winding drum and the wire winding driving device as described above, the control unit receives the wire taking-up signal and the wire winding signal output by the sensor, the wire winding driving device receives the control signal of the control unit, and the wire winding driving device drives the wire winding drum to rotate.

[0022] To achieve the third purpose of the present invention, the tethered drone system of the present invention includes a drone, a cable, and the above-mentioned independent adjustment assembly for the tension of the retractable wire, wherein the cable is connected to the transmission rod, and the cable is connected to the drone. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a structural diagram of an embodiment of a tethered drone system of the present invention.

[0024] Figure 2 yes Figure 1 Enlarged view of point A.

[0025] Figure 3 yes Figure 1 Enlarged view of point B.

[0026] Figure 4 It is a structural diagram of an independent adjustment component for the tension of the retracting and releasing wires before the UAV works in an embodiment of the tethered UAV system of the present invention.

[0027] Figure 5 It is a structural diagram of the independent adjustment component of the tension of the retracting and releasing wires in the releasing state of the embodiment of the tethered drone system of the present invention.

[0028] Figure 6 It is a structural diagram of the independent adjustment component of the tension of the retracting and releasing lines in the retracting state of the embodiment of the tethered drone system of the present invention.

[0029] The present invention is further described below in conjunction with the accompanying drawings and embodiments. DETAILED DESCRIPTION

[0030] The independent adjustment assembly for the tension of the retractable and retractable lines of the present invention is applied to a tethered UAV system, see Figure 1 The tethered drone system includes a drone 1, a cable 2 and a reel-and-reel device 3. The first end of the cable 2 is connected to the drone 1. The cable 2 is wound on a winch drum 31 of the reel-and-reel device 3. The second end of the cable 2 is connected to a ground power source. The reel-and-reel device 3 includes a winch drum 31, a winch drum driver, a control unit and a reel-and-reel tension independent adjustment component 4. The winch drum driver drives the winch drum 31 to rotate to wind or unwind. The tension of the cable 2 is detected by the reel-and-reel tension independent adjustment group 4, and a reel-and-reel signal is output to the control unit. The control unit outputs a control signal to the winch drum driver. The winch drum driver drives the winch drum 31 to rotate at different speeds and directions.

[0031] See also Figure 1 The independent tension adjustment assembly 4 for retracting and releasing wires includes a transmission rod 5, a pulley assembly 6, a first damping assembly 7, a second damping assembly 8, a sensor 9 and an elastic member 10. The pulley assembly 6 includes a first fixed wheel 61. The cable 2 starts from the winch drum 31, passes around the first fixed wheel 61, and is connected to the transmission rod 5, and then connected to the drone 1. The transmission rod 5 moves toward or away from the first fixed wheel 61 along the tension adjustment direction. In this embodiment, as the drone rises and falls, the tension adjustment direction includes two directions correspondingly, and the two directions are collinear and opposite. The pulley assembly also includes a second fixed wheel 62, a moving wheel 63 and a third fixed wheel 64. The moving wheel 63 is installed between the first fixed wheel 61 and the second fixed wheel 62, and the second fixed wheel 62 is set between the moving wheel 63 and the third fixed wheel 64. The cable 2 passes around the first fixed wheel 61, the second fixed wheel 62, the moving wheel 63 and the third fixed wheel 64 at the same time. The cable 2 is adjacent to the above four wheels respectively. The cable 2 provides support force for the moving wheel 63, so that the moving wheel 63 moves relative to the first fixed wheel 61, the second fixed wheel 62 and the third fixed wheel 64 along the tension adjustment direction.

[0032] The first end of the transmission rod 5 along the axial direction of the transmission rod 5 is connected to the moving wheel 63, the second end of the transmission rod 5 along the axial direction of the transmission rod 5 is connected to the first end of the elastic member 10 along the elastic force direction, and the second end of the elastic member 10 along the elastic force direction is fixedly arranged. In this embodiment, the elastic member 10 is a spring. The axial direction of the transmission rod 5, the elastic force direction of the elastic member 10 and the tension adjustment direction are parallel.

[0033] The transmission rod 5 is provided with a first tooth portion 51 , which can be spread all over the outer peripheral wall along the axial direction of the transmission rod 5 , or a plurality of first tooth portions 51 can be arranged along the axial direction of the transmission rod 5 to form a rack.

[0034] See also Figure 2 The first damping assembly 7 includes a first one-way transmission member 71 and a first driver 72. In this embodiment, the first one-way transmission member 71 is a one-way transmission gear. The first one-way transmission member 71 includes a first outer ring connecting ring 711 and a first inner ring rotating member 712. The first outer ring connecting ring 711 is sleeved on the outer side of the first inner ring rotating member 712. The first inner ring rotating member 712 is connected to the first driver 72. The outer wall of the first outer ring connecting ring 711 is provided with a second tooth portion 713. The first tooth portion 51 is meshed with the second tooth portion 713. The positive and negative movement of the transmission rod 5 in the tension adjustment direction drives the first outer ring connecting ring 711 to rotate clockwise or counterclockwise. However, the first inner ring rotating member 712 is a one-way rotating member. When the first outer ring connecting ring 711 rotates counterclockwise, it can drive the first inner ring rotating member 712 to rotate counterclockwise. On the contrary, when the first outer ring connecting ring 711 rotates clockwise, it cannot drive the first inner ring rotating member 712 to rotate.

[0035] In this embodiment, a first one-way ratchet 714 is provided on the inner side wall of the first outer ring connecting ring 711, and a first pawl 715 is provided on the first inner ring rotating member 712, and the first pawl 715 is engaged with the first one-way ratchet 714. The structure of the first one-way transmission member 71 in this embodiment can refer to the Chinese utility model patent with publication number "CN201714944U" and name "A one-way transmission gear"; or refer to the one-way ratchet mechanism on a bicycle.

[0036] The first inner ring rotating member 712 can be connected to the first driver 72 via a transmission belt 73. As another embodiment, a connecting hole is provided on the first inner ring rotating member 712, and a driving shaft of the first driver 72 is located in the connecting hole.

[0037] In this embodiment, the first driver 72 is a magnetic powder connector. The first driver 72 can also be a damper or a brake. The first damping assembly 7 includes a first potentiometer 74, which is connected to the first driver 72 and is used to adjust the voltage of the first driver 72 so that the first driver 72 outputs different driving forces.

[0038] See also Figure 3 The second damping assembly 8 includes a second one-way transmission member 81, a second driver 82, and a second potentiometer 83. The second one-way transmission member 81 is a one-way transmission gear. The second one-way transmission member 81 includes a second outer ring connecting ring 811 and a second inner ring rotating member 812. The second outer ring connecting ring 811 is sleeved on the outer side of the second inner ring rotating member 812, and the second inner ring rotating member 812 is connected to the second driver 82. The outer wall of the second outer ring connecting ring 811 is provided with a third tooth portion 813, and the first tooth portion 51 is meshed with the third tooth portion 813. The positive and negative movement of the transmission rod 5 in the tension adjustment direction drives the second outer ring connecting ring 811 to rotate clockwise or counterclockwise, but the second inner ring rotating member 812 is a one-way rotating member, and the rotation directions of the first inner ring rotating member 712 and the second inner ring rotating member 812 are opposite. When the second outer ring connecting ring 811 rotates clockwise, it can drive the second inner ring rotating member 812 to rotate clockwise. Conversely, when the second outer ring connecting ring 811 rotates counterclockwise, it cannot drive the second inner ring rotating member 812 to rotate. In this embodiment, the structures of the first one-way transmission member 71 and the second one-way transmission member 81 are substantially the same, except that the one-way ratchet teeth on the inner side walls of the outer ring connecting rings of the two one-way transmission members and the pawls on the inner ring rotating member are in opposite directions.

[0039] In this embodiment, the second inner ring rotating member 812 is connected to the second driver 82 via a transmission belt 84. The second driver 82 is a magnetic powder clutch. The second driver 82 is connected to a second potentiometer 84. The second potentiometer 84 is used to adjust the voltage of the second driver 82 so that the second driver 82 outputs different driving forces.

[0040] The elastic member 10 is used to drive the transmission rod 5 to move in the tension adjustment direction. In this embodiment, the elastic member 10, the tension adjustment direction and the axial direction of the transmission rod 5 are parallel to each other. The elastic member 10 is a spring, the first end of the elastic member 10 along the elastic force direction is a fixed end, and the second end of the elastic member 10 along the elastic force direction is connected to the second axial end of the transmission rod 5.

[0041] The sensor 9 is used to detect the displacement of the transmission rod 5 in the tension adjustment direction. The sensor 9 can be a displacement sensor, a light rod, a potentiometer, an encoder, a rotation sensor or an angle sensor. In this embodiment, the sensor 9 is a potentiometer, and a B linear 10K potentiometer can be selected. A fourth tooth portion 91 is provided on the driving shaft of the sensor 9, and the first tooth portion 51 is engaged with the fourth tooth portion 91. The movement of the transmission rod 5 in the positive and negative directions of the tension adjustment direction drives the sensor 9 to rotate clockwise or counterclockwise, and the sensor 9 outputs a line-receiving signal or a line-releasing signal.

[0042] In this embodiment, the outer peripheral wall of the transmission rod 5 is covered with the first tooth portion 51, the sensor 9, the first one-way transmission member 71 and the second one-way transmission member 81 can be located on different radial sides of the transmission rod 5, and along the axial direction of the transmission rod 5, the sensor 9 is located between the first damping component 7 and the second damping component 8.

[0043] See also Figure 4 Before the tethered drone system starts working, the joystick in the sensor 9 is located in the middle of the line-retrieving signal area 92 and the line-releasing signal area 93, and the initial threshold value can be set to 0.

[0044] See also Figure 5During the ascent of the drone, the cable 2 is tightened, the tension of the cable 2 increases, and the cable 2 provides a supporting force F1 for the transmission rod 5. The supporting force drives the sensor 9 to move toward the first direction X of the tension adjustment direction. In this process, the movement of the transmission rod 5 overcomes the elastic force F of the elastic member 10, and the movement of the transmission rod 5 drives the first outer ring connecting ring 711 and the second outer ring connecting ring 811 of the first one-way transmission member 71 in the first damping assembly 7 to rotate clockwise. The rotation of the first outer ring connecting ring 711 drives the first inner ring rotating member 712 to rotate clockwise, thereby driving the first driver 72 to start, but the second inner ring rotating member 812 does not rotate. The first driver 72 drives the first inner ring rotating member 712 to rotate counterclockwise, but the driving force of the transmission rod 5 is greater than the driving force of the first driver 72, so that the first inner ring rotating member 712 continues to rotate clockwise, thereby realizing the resistance F2 on the first unidirectional transmission member applied by the first driver 72, so that the movement of the transmission rod 5 not only needs to overcome the elastic force of the elastic member 10, but also needs to overcome the resistance F2 applied by the first damping component 7, so the rising force of the transmission rod 5 is Fa, and the rising force Fa = F1-F-F2. The movement of the transmission rod 5 along the X direction drives the sensor 9 to rotate, so that the rocker in the sensor 9 moves to the release signal area 92. At this time, the threshold of the sensor 9 is greater than 0, and the control unit outputs a control signal to the winding drum according to the release signal. The winding drum 31 starts to release the wire after receiving the control signal, and the release speed can be controlled according to the threshold value.

[0045] See also Figure 6 When the drone descends, the tension of the cable 2 decreases, and the transmission rod 5 is no longer supported by the cable 2. Under the elastic force F of the elastic member 10, the transmission rod 5 moves along the second direction Y of the tension adjustment direction, and the first direction X and the second direction Y are collinear and opposite. The movement of the transmission rod 5 drives the first outer ring connecting ring 711 and the second outer ring connecting ring 811 to rotate counterclockwise, and the rotation of the second outer ring connecting ring 811 drives the second inner ring rotating member 812 to rotate, thereby driving the second driver 8242 to start, but at this time the first outer ring connecting ring 711 cannot drive the first inner ring rotating member to rotate. The second driver 82 drives the second inner ring rotating member 812 to rotate clockwise, but the driving force of the transmission rod 5 is greater than the driving force of the second driver 82, so that the second inner ring rotating member 812 continues to rotate counterclockwise, thereby realizing the resistance F2 on the second unidirectional transmission member 81 applied by the second driver 82, so that the movement of the transmission rod 5 in the Y direction needs to overcome the resistance F2 applied by the second damping component 83, so the downward force of the transmission rod 5 is F, and the downward force Fb = F-F2. The movement of the transmission rod 5 in the second direction drives the sensor 9 to rotate, so that the rocker in the sensor 9 moves to the winding signal area 93. At this time, the threshold of the sensor 9 is less than 0, and the control unit outputs a control signal to the winding drum according to the winding signal. The winding drum 31 starts to wind up after receiving the control signal, and the winding speed can be controlled according to the threshold value.

[0046] In the above two processes, different magnitudes of damping are applied to the two unidirectional transmission parts respectively to control the different magnitudes of forces in the two directions X and Y in the tension adjustment direction of the transmission rod 5. The sensor detects the different magnitudes of displacements generated by the transmission rod in the two processes of reeling in and releasing the line, thereby realizing the tension adjustment in the two processes of reeling in and releasing the line.

[0047] Finally, it should be emphasized that the above is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various changes and modifications. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. An independent tension adjustment component for retracting and releasing wires, characterized in that: include: A transmission rod, the transmission rod is used to connect the cable, and the outer peripheral wall of the transmission rod is provided with a first tooth portion; A first damping assembly, the first damping assembly comprises a first one-way transmission member and a first driver, the first one-way transmission member comprises a first outer ring connecting ring and a first inner ring rotating member, the first outer ring connecting ring is sleeved on the outer side of the first inner ring rotating member, the first outer ring connecting ring drives the first inner ring rotating member to rotate unidirectionally, the outer side wall of the first outer ring connecting ring is provided with a second tooth portion, the first tooth portion is meshed with the second tooth portion, and the first driver is connected to the first inner ring rotating member; An elastic member, wherein the elastic member drives the transmission rod to move in a tension adjustment direction; A sensor, the sensor being used to detect the displacement of the transmission rod in the tension adjustment direction; The sensor is a potentiometer, an encoder, a rotation sensor or an angle sensor, and the driving shaft of the sensor is meshed with the first toothed portion; A first one-way ratchet is arranged on the inner side wall of the first outer ring connecting ring, and a first pawl is arranged on the first inner ring rotating member, and the first pawl is meshed with the first one-way ratchet.

2. The independent tension adjustment assembly for retracting and releasing wires according to claim 1, characterized in that: The first driver is a magnetic powder clutch, a damper or a brake.

3. The independent tension adjustment assembly for retracting and releasing wires according to claim 1, characterized in that: The sensor is a displacement sensor or a polished rod.

4. The independent tension adjustment assembly for retracting and releasing wires according to claim 1, characterized in that: The independent adjustment assembly for the tension of the retractable and retractable wires includes a pulley assembly, which includes a first fixed wheel and a driven wheel, the driven wheel is connected to the transmission rod, the cables are respectively connected to the first fixed wheel and the driven wheel, and the driven wheel moves toward or away from the first fixed wheel along the tension adjustment direction.

5. The independent tension adjustment assembly for retracting and releasing wires according to any one of claims 1 to 4, characterized in that: The retractable and retractable line tension independent adjustment assembly comprises a second damping assembly, the second damping assembly comprises a second one-way transmission member and a second driver, the second one-way transmission member comprises a second outer ring connecting ring and a second inner ring rotating member, the second outer ring connecting ring is sleeved on the second inner ring rotating member, the second outer ring connecting ring drives the second inner ring rotating member to rotate unidirectionally, a third tooth portion is arranged on the outer side wall of the second outer ring connecting ring, the third tooth portion is meshed with the first tooth portion, and the second inner ring rotating member is connected to the second driver; The rotation direction of the first inner ring rotating member is opposite to the rotation direction of the second inner ring rotating member.

6. The independent tension adjustment assembly for retracting and releasing wires according to claim 5, characterized in that: Along the tension adjustment direction, the sensor is located between the first damping component and the second damping component.

7. The wire-retracting and paying-off device is characterized by: The wire-winding and -releasing device comprises an independent wire-winding and -releasing tension adjustment component as described in any one of claims 1 to 6, a control unit, a wire-winding drum and a wire-winding driving device, wherein the control unit receives the wire-winding signal and the wire-releasing signal output by the sensor, and the wire-winding driving device receives the control signal of the control unit, and the wire-winding driving device drives the wire-winding drum to rotate.

8. A tethered drone system, characterized in that: include: A drone, a cable, and an independent tension adjustment assembly for retracting and releasing wires as described in any one of claims 1 to 6, wherein the cable is connected to the transmission rod, and the cable is connected to the drone.

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