Miniature high-speed tensioner device and method of deploying a guide rope

Abstract

The application provides a micro high-speed tension machine device and a use method, the device comprises a tension machine main body, a unmanned aerial vehicle traction device and a control device, a power unit and a tension unit are installed on the tension machine main body, the tension unit comprises a rotary driving structure, a tension wheel and a rotary driving structure controller, a guide rope is wound on the tension wheel, one end of the guide rope is a free end, the tension wheel is rotatably installed on the tension machine main body, the rotary driving structure is in transmission connection with the tension wheel, the rotary driving structure can drive the tension wheel to rotate reversely, the rotary driving structure controller is connected with the rotary driving structure and is used for controlling whether the rotary driving structure is started and an output power. The application ensures that the guide rope does not fall out of the groove and is not disordered in the groove during high-speed pay-off, simultaneously improves the friction force between the guide rope and the tension wheel, ensures that the guide rope does not slip in the groove of the tension wheel and makes the rotating resistance of the tension generating device effectively act on the guide rope.

Description

Technical Field

[0001] This invention relates to the technical field of tension machines, and specifically to a miniature high-speed tension machine device and method. Background Technology

[0002] With advancements in power transmission and transformation engineering technology, the deployment of guide ropes for ultra-high voltage (UHV) transmission lines has gradually shifted from manual and hot air balloon deployment methods to drone deployment. Currently, drone deployment of guide ropes mostly involves the drone pulling the guide rope head during flight. The guide rope is placed on a rope reel support, and the drone flies forward, causing the guide rope to rotate and complete the deployment. However, during flight, the rotating rope reel frequently results in "tangled ropes," hindering proper deployment. Furthermore, in unstable wind conditions, strong winds can directly push the guide rope, causing the rope reel to rotate and releasing the guide rope. When the wind decreases, the released guide rope hangs in the air, easily snagging on nearby objects and causing more "tangled ropes." Since guide rope deployment is an essential part of power transmission construction, there is currently no good solution for drone deployment of guide ropes. Practical solutions and equipment are needed to address this issue, improve construction safety, and increase construction efficiency. Summary of the Invention

[0003] The technical problem to be solved by this invention is: how to deploy the guide rope of a drone.

[0004] To solve the above-mentioned technical problems, the present invention provides a miniature high-speed tension machine device. The miniature high-speed tension machine device includes a tension machine body, a drone traction device, and a control device. A power unit and a tension unit are installed on the tension machine body. The tension unit includes a tension wheel with a guide rope wound around it. One end of the guide rope is a free end. The tension wheel is rotatably mounted on the tension machine body. A rotary drive structure is connected to the tension wheel via a transmission connection. The rotary drive structure drives the tension wheel to rotate in the opposite direction. A rotary drive structure controller is connected to the rotary drive structure and is used to control whether the rotary drive structure is started and its output power.

[0005] The power unit is connected to the rotary drive structure through the rotary drive structure controller. The power unit is used to provide power to the rotary drive structure. The UAV traction device is connected to the free end of the guide rope and can pull the guide rope to make the tension wheel rotate in the forward direction, while the part of the guide rope wrapped around the tension wheel is detached from the tension wheel.

[0006] The control device includes a tension machine wireless transceiver, which is mounted on the tension machine body and is connected to the rotary drive structure controller. A drone wireless transceiver is mounted on the drone traction device and is connected to the flight control system of the drone traction device. The operator is connected to both the tension machine wireless transceiver and the drone wireless transceiver.

[0007] The aforementioned miniature high-speed tension machine device further includes a drone position sensor, a position receiver, and a rotation speed detector. The drone position sensor is mounted on the drone traction device, and the position receiver is mounted on the tension machine body. The position receiver is used to detect the drone position sensor signal and determine the distance of the drone position sensor. The position receiver is connected to the rotation drive structure controller. The rotation speed detector is mounted on the tension machine body and located near the tension wheel. The rotation speed detector is used to detect the rotation direction and rotation speed of the tension wheel. The rotation speed detector is connected to the rotation drive structure controller.

[0008] The aforementioned miniature high-speed tension machine device has a pressing wheel installed on the main body of the tension machine for pressing the guide rope tightly against the tension wheel.

[0009] The aforementioned miniature high-speed tension machine device includes a power unit base, a power battery, and a hydraulic power station. The power battery and the hydraulic power station are both mounted on the power unit base. The power battery is connected to the hydraulic power station to provide power to the hydraulic power station. The hydraulic power station is connected to the rotary drive structure to provide hydraulic power to the rotary drive structure.

[0010] The aforementioned miniature high-speed tension machine device is characterized in that: the rotary drive structure includes a hydraulic motor, an electro-proportional relief valve, a radiator, and a filter; the high-pressure end of the hydraulic power station, the hydraulic motor, the electro-proportional relief valve, the radiator, the filter, and the low-pressure end of the hydraulic power station are connected in sequence; the high-pressure end of the hydraulic power station is equipped with a gear pump; the gear pump can quantitatively input hydraulic oil into the hydraulic motor, so that the hydraulic motor outputs a quantitative tension; the hydraulic motor is connected to the tension wheel drive; and the gear pump is connected to the rotary drive structure controller.

[0011] In the aforementioned miniature high-speed tension machine device, a pipeline is provided between the high-pressure end and the low-pressure end of the hydraulic power station, and a back pressure valve is installed on the pipeline. The back pressure valve is a one-way valve, which allows the hydraulic oil at the high-pressure end of the hydraulic power station to flow to the low-pressure end of the hydraulic power station when the pressure exceeds a threshold.

[0012] The aforementioned miniature high-speed tension machine device includes an operator with a built-in lithium battery, an operator wireless transmitter and receiver module, and an operator control device. The lithium battery powers the operator wireless transmitter and receiver module and the operator control device. The operator control device is connected to the tension machine wireless signal transceiver, the UAV wireless signal transceiver, and the remote management platform via the operator wireless transmitter and receiver module.

[0013] The aforementioned miniature high-speed tension machine device includes a power alarm light, a tension adjustment knob, a drone control panel, and a display on the surface of the operator. The power alarm light, tension adjustment knob, drone control panel, and display are all connected to the operator control device. The tension adjustment knob and drone control panel are used to send commands to the operator control device. The operator control device can send commands to the power alarm light and the display. The display is used to show the commands issued by the operator control device. The power alarm light is used for alarm purposes. The lithium battery is connected to both the power alarm light and the display.

[0014] The aforementioned miniature high-speed tension machine device is characterized in that: the operator control device is a single-chip microcomputer.

[0015] A method for deploying the guide rope of a miniature high-speed tension machine device, using the aforementioned miniature high-speed tension machine device, specifically includes the following steps:

[0016] 1) When the drone traction device pulls the guide rope under the operation of the operator, the tension wheel rotates in the forward direction. At the same time, the part of the guide rope wrapped around the tension wheel is detached from the tension wheel. The position receiver detects that the drone traction device is moving away from the tension machine body through the drone position sensor. The position receiver sends the moving away information to the rotary drive structure controller. The rotary drive structure controller starts the rotary drive structure. The rotary drive structure generates a predetermined tension on the tension wheel to keep the guide rope straight.

[0017] 2) When the UAV traction device pulls the guide rope under the operation of the operator, the position receiver detects that the UAV traction device is approaching the tension machine body through the UAV position sensor. The position receiver sends the proximity information to the rotary drive structure controller. The rotary drive structure controller starts the rotary drive structure. The rotary drive structure generates tension on the tension wheel, causing the tension wheel to rotate in the opposite direction and retract the guide rope. The speed of retracting the guide rope is the same as or slightly slower than the speed at which the UAV traction device is approaching the tension machine body.

[0018] 3) When the UAV traction device pulls the guide rope under the operation of the operator, the position receiver detects through the UAV position sensor that the distance between the UAV traction device and the tension machine body remains unchanged within a certain range, that is, the UAV traction device is hovering. Then the rotary drive structure controller periodically collects the speed detector signal. If the tension wheel does not rotate, the rotary drive structure is not started and the rotary drive structure does not generate tension on the tension wheel; if the tension wheel rotates in the forward direction, the rotary drive structure is started to compensate for the rotation angle of the tension wheel in the reverse direction.

[0019] The beneficial effects achieved by this invention are as follows: By designing a power unit and a tension unit on the main body of the tension machine, the tension machine has the ability to actively adjust the tension of the guide rope. When the guide rope is wound around the tension wheel, the drone pulls the guide rope, which in turn pulls the tension wheel to rotate. The tension unit adjusts the tension of the guide rope steplessly by changing the power of the rotation drive structure. This ensures that the guide rope is less prone to knotting, delamination, and tangling.

[0020] Meanwhile, the present invention is equipped with a pressure wheel, which continuously presses the guide rope into the groove of the tension wheel to ensure that it does not slip out of the groove or become disordered during high-speed wire feeding. At the same time, it increases the friction between the guide rope and the tension wheel, ensuring that the guide rope does not slip in the groove of the tension wheel, so that the rotational resistance of the tension generating device is effectively applied to the guide rope.

[0021] This invention provides a method for deploying the guide rope of a miniature high-speed tension machine device. In this method, if the position receiver detects through the UAV position sensor that the distance between the UAV traction device and the tension machine body remains constant within a certain range (i.e., the UAV traction device is hovering), the rotary drive structure controller periodically collects the speed detector signal to detect whether the guide rope is affected by unstable wind. When the wind is unstable, the guide rope is released under the action of the wind, causing the tension wheel to rotate. The rotary drive structure controller then controls the rotary drive structure to change the generated tension, compensating for the rotation angle of the tension wheel in real time to ensure that the guide rope is in a taut state and the tension is stable and controllable. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of the structure of a miniature high-speed tension machine device according to the present invention;

[0023] Figure 2 This is a schematic diagram of the power unit structure;

[0024] Figure 3 This is a schematic diagram of the tension unit structure;

[0025] Figure 4 This is a schematic diagram of a rotary drive structure.

[0026] The components labeled in the diagram are: tension machine body 1, pressure wheel 11, power unit 2, power unit base 21, power battery 22, hydraulic power station 23, tension unit 3, rotary drive structure 31, hydraulic motor 31a, electro-proportional relief valve 31b, radiator 31c, filter 31d, gear pump 31e, back pressure valve 31f, tension wheel 32, guide rope 33, rotary drive structure controller 34, UAV traction device 4, control device 5, operator 51, tension machine wireless signal transceiver 52, UAV wireless signal transceiver 53, UAV position sensor 54, position receiver 55, speed detector 56. Detailed Implementation

[0027] To make the objectives, technical solutions, and advantages of this application clearer, the application is described and illustrated below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application. All other embodiments obtained by those skilled in the art based on the embodiments provided in this application without inventive effort are within the scope of protection of this application.

[0028] Obviously, the accompanying drawings described below are merely some examples or embodiments of this application. Those skilled in the art can apply this application to other similar scenarios based on these drawings without any inventive effort. Furthermore, it is understood that although the efforts made in this development process may be complex and lengthy, for those skilled in the art related to the content disclosed in this application, any changes to design, manufacturing, or production based on the technical content disclosed in this application are merely conventional technical means and should not be construed as insufficient disclosure of the content of this application. Example 1

[0029] The miniature high-speed tensioning device of this invention can meet the requirements of guide rope deployment operations at a flight speed of 15 km / h for UAVs. The tension is infinitely adjustable between 50-250 N.

[0030] This miniature high-speed tension machine can be wirelessly remotely controlled and features IoT functionality, enabling seamless integration and control with drones. When the drone hovers, the tension machine stops and monitors the tension wheel's rotation in real time. If it rotates, the machine starts generating tension, automatically entering tension mode when the drone begins laying the line; thus achieving constant tension line laying by the drone.

[0031] This invention is a modular design, with each unit being lightweight. It can be composed of a power unit 2, a tension unit 3, a drone traction device 4, and a control device 5, among other parts.

[0032] like Figure 1 and Figure 2 As shown,

[0033] Power Unit 2: Primarily consists of a power unit base 21, a power battery 22, and a hydraulic power station 23. The power unit uses a 48V DC motor to drive the hydraulic power station 23, providing hydraulic power for the miniature high-speed tension machine. The power battery provides power to the motor, with enough charge to ensure continuous operation of the power unit for 4 hours. Battery power can be viewed and an alarm will sound via the operator 51.

[0034] like Figure 1 and Figure 3 As shown:

[0035] The tension unit 3 and the operator 51 are wirelessly connected. The operator 51 converts the execution command into a wireless signal and sends it to the tension unit. The tension unit 3 receives the signal and converts it into an electronic control analog signal to drive the rotary drive structure 31 to perform actions such as tension adjustment and shutdown of the tension machine.

[0036] The tension unit mainly consists of a rotary drive structure 31, a tension wheel 32, and a rotary drive structure controller 34.

[0037] The guide rope 33 is wound around the tension wheel 32. The drone pulls the guide rope 33, which in turn pulls the tension wheel 32 to rotate. The rotary drive structure controller 34 drives the rotary drive structure 31 to rotate. By adjusting the oil pumped in by the gear pump 31e, the rotational resistance of the rotary drive structure 31 is changed, thus achieving stepless tension adjustment.

[0038] The pressure roller 11 continuously presses the guide rope 33 into the tension wheel groove, ensuring that it does not slip out of the groove or become disordered during high-speed wire feeding. At the same time, it increases the friction between the guide rope 33 and the tension wheel, ensuring that the guide rope 33 does not slip in the tension wheel groove, so that the rotational resistance of the rotary drive structure 31 is effectively applied to the guide rope.

[0039] Operator 51: Sets power control button, power alarm light, tension adjustment knob, display, etc.

[0040] The operator 51 is powered by a lithium battery with a battery life of 72 hours. The operator 51 has a built-in wireless transmitter and receiver module, which transmits control signals such as the power control button and tension adjustment knob to the tension unit through the wireless transmitter module. At the same time, the receiver module receives signals such as the power, tension, and wire feeding speed of the tension unit and displays the current tension, wire feeding speed, and power on the display.

[0041] like Figure 4As shown, the rotary drive structure 31 includes a hydraulic motor 31a, an electro-proportional relief valve 31b, a radiator 31c, a filter 31d, and a back pressure valve 31f. The high-pressure end of the hydraulic power station 23, the hydraulic motor 31a, the electro-proportional relief valve 31b, the radiator 31c, the filter 31d, and the low-pressure end of the hydraulic power station 23 are connected in sequence. A gear pump 31e is installed at the high-pressure end of the hydraulic power station 23. The gear pump 31e can quantitatively input hydraulic oil into the hydraulic motor 31a, so that the hydraulic motor 31a outputs a quantitative tension. The hydraulic motor 31a is connected to the tension wheel 32 for transmission, and the gear pump 31e is connected to the rotary drive structure controller 34 for signal transmission. A pipeline is provided between the high-pressure end and the low-pressure end of the hydraulic power station 23. A back pressure valve 31f is installed on the pipeline. The back pressure valve 31f is a one-way valve, which allows the hydraulic oil at the high-pressure end of the hydraulic power station 23 to flow to the low-pressure end of the hydraulic power station 23 when the pressure exceeds a threshold.

[0042] This invention also provides a method for deploying the guide rope of a miniature high-speed tensioning device, comprising three operational logics:

[0043] Logic 1: When the UAV traction device 4 pulls the guide rope 33 under the operation of the operator 51, the tension wheel 32 rotates in the forward direction. At the same time, the part of the guide rope wrapped around the tension wheel 32 is detached from the tension wheel 32. The position receiver 55 detects that the UAV traction device 4 is moving away from the tension machine body 1 through the UAV position sensor 54. The position receiver 55 sends the moving away information to the rotary drive structure controller 34. The rotary drive structure controller 34 starts the rotary drive structure 31. The rotary drive structure 31 generates a predetermined tension on the tension wheel 32 to keep the guide rope straight.

[0044] Logic 2: When the drone traction device 4 pulls the guide rope 33 under the operation of the operator 51, the position receiver 55 detects through the drone position sensor 54 that the drone traction device 4 is approaching the tension machine body 1. The position receiver 55 sends the proximity information to the rotary drive structure controller 34. The rotary drive structure controller 34 starts the rotary drive structure 31. The rotary drive structure 31 generates tension on the tension wheel 32, causing the tension wheel 32 to rotate in the opposite direction and retract the guide rope 33. The speed at which the guide rope 33 is retracted is the same as or slightly slower than the speed at which the drone traction device 4 is approaching the tension machine body 1.

[0045] Logic 3: When the UAV traction device 4 pulls the guide rope 33 under the operation of the operator 51, the position receiver 55 detects through the UAV position sensor 54 that the distance between the traction device 4 and the tension machine body 1 remains unchanged within a certain range, that is, the traction device 4 is hovering. Then the rotary drive structure controller 34 periodically collects the signal of the speed detector 56. If the tension wheel 32 does not rotate, the rotary drive structure 31 is not activated and the rotary drive structure 31 does not generate tension on the tension wheel 32. If the tension wheel 32 rotates in the forward direction, the rotary drive structure 31 is activated to compensate for the rotation angle of the tension wheel 32 in the reverse direction.

[0046] The purpose of logic three is to detect whether the guide rope is affected by unstable wind. When the wind is unstable, the guide rope is released under the action of the wind, causing the tension wheel to rotate. The rotary drive structure controller then controls the rotary drive structure to change the tension generated, and compensates for the rotation angle of the tension wheel in real time to ensure that the guide rope is in a taut state and the tension is stable and controllable.

[0047] Although preferred embodiments of this application have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments as well as all changes and modifications falling within the scope of this application.

[0048] Obviously, those skilled in the art can make various modifications and variations to this application without departing from the spirit and scope of this application. Therefore, if such modifications and variations fall within the scope of the claims of this application and their equivalents, this application also intends to include such modifications and variations.

Claims

1. A miniature high-speed tensioning machine device, characterized in that: The device includes a tension machine body (1), a drone traction device (4), and a control device (5). The tension machine body (1) is equipped with a power unit (2) and a tension unit (3). The tension unit (3) includes a tension wheel (32). A guide rope (33) is wound around the tension wheel (32). One end of the guide rope (33) is a free end. The tension wheel (32) is rotatably mounted on the tension machine body (1). A rotary drive structure (31) is connected to the tension wheel (32) for transmission. The rotary drive structure (31) drives the tension wheel (32) to rotate in the opposite direction. A rotary drive structure controller (34) is connected to the rotary drive structure (31) and is used to control whether the rotary drive structure (31) is started and the output power. The power unit (2) is connected to the rotary drive structure (31) through the rotary drive structure controller (34). The power unit (2) is used to provide power to the rotary drive structure (31). The UAV traction device (4) is connected to the free end of the guide rope (33) and can make the tension wheel (32) rotate in the forward direction by pulling the guide rope (33), while making the part of the guide rope wrapped on the tension wheel (32) detach from the tension wheel (32). The control device (5) includes a tension machine wireless transceiver (52), which is installed on the tension machine body (1) and is connected to the rotary drive structure controller (34). The UAV wireless transceiver (53) is installed on the UAV traction device (4) and is connected to the flight control system of the UAV traction device (4). The operator (51) is connected to the tension machine wireless transceiver (52) and the UAV wireless transceiver (53) respectively. The control device (5) further includes a UAV position sensor (54), a position receiver (55), and a speed detector (56). The UAV position sensor (54) is installed on the UAV traction device (4), and the position receiver (55) is installed on the tension machine body (1). The position receiver (55) is used to detect the signal of the UAV position sensor (54) and determine the distance of the UAV position sensor (54). The position receiver (55) is connected to the rotary drive structure controller (34) by signal. The speed detector (56) is installed on the tension machine body (1) and located near the tension wheel (32). When the UAV traction device (4) is hovering, the speed detector (56) is used to detect the rotation direction and speed of the tension wheel (32). The speed detector (56) is connected to the rotary drive structure controller (34) by signal.

2. The miniature high-speed tension machine device according to claim 1, characterized in that: The tensioner body (1) is equipped with a pressure wheel (11) for pressing the guide rope (33) against the tension wheel (32).

3. The miniature high-speed tension machine device according to claim 2, characterized in that: The power unit (2) includes a power unit base (21), a power battery (22), and a hydraulic power station (23). The power battery (22) and the hydraulic power station (23) are both mounted on the power unit base (21). The power battery (22) is connected to the hydraulic power station (23) to provide power to the hydraulic power station (23). The hydraulic power station (23) is connected to the rotary drive structure (31) to provide hydraulic power to the rotary drive structure (31).

4. The miniature high-speed tension machine device according to claim 3, characterized in that: The rotary drive structure (31) includes a hydraulic motor (31a), an electro-proportional relief valve (31b), a radiator (31c), and a filter (31d). The high-pressure end of the hydraulic power station (23), the hydraulic motor (31a), the electro-proportional relief valve (31b), the radiator (31c), the filter (31d), and the low-pressure end of the hydraulic power station (23) are connected in sequence. The high-pressure end of the hydraulic power station (23) is equipped with a gear pump (31e). The gear pump (31e) can quantitatively input hydraulic oil into the hydraulic motor (31a) so that the hydraulic motor (31a) outputs a quantitative tension. The hydraulic motor (31a) is connected to the tension wheel (32) for transmission. The gear pump (31e) is connected to the rotary drive structure controller (34) for signal transmission.

5. The miniature high-speed tension machine device according to claim 4, characterized in that: A pipeline is provided between the high-pressure end and the low-pressure end of the hydraulic power station (23), and a back pressure valve (31f) is installed on the pipeline. The back pressure valve (31f) is a one-way valve. The back pressure valve (31f) allows the hydraulic oil at the high-pressure end of the hydraulic power station (23) to flow to the low-pressure end of the hydraulic power station (23) when the pressure exceeds the threshold.

6. The miniature high-speed tension machine device according to claim 5, characterized in that: The operator (51) has a built-in lithium battery, an operator wireless transmitter and receiver module and an operator control device. The lithium battery powers the operator wireless transmitter and receiver module and the operator control device. The operator control device is connected to the tension machine wireless signal transceiver (52), the UAV wireless signal transceiver (53) and the remote management platform through the operator wireless transmitter and receiver module.

7. The miniature high-speed tension machine device according to claim 6, characterized in that: The surface of the operator (51) is provided with a power alarm light, a tension adjustment knob, a drone operation panel, and a display. The power alarm light, tension adjustment knob, drone operation panel, and display are all connected to the operator control device. The tension adjustment knob and drone operation panel are used to send instructions to the operator control device. The operator control device can send instructions to the power alarm light and the display. The display is used to display the instructions issued by the operator control device. The power alarm light is used to issue an alarm. The lithium battery is connected to the power alarm light and the display respectively.

8. The miniature high-speed tension machine device according to claim 7, characterized in that: The operator control device is a single-chip microcomputer.

9. A method for deploying the guide rope of a miniature high-speed tensioning device, characterized in that: The specific method of using the miniature high-speed tension machine device as described in claim 2 includes the following steps: 1) When the UAV traction device (4) pulls the guide rope (33) under the operation of the operator (51), the tension wheel (32) rotates in the forward direction, and at the same time the part of the guide rope wrapped on the tension wheel (32) is detached from the tension wheel (32). The position receiver (55) detects that the UAV traction device (4) is moving away from the tension machine body (1) through the UAV position sensor (54). The position receiver (55) sends the moving away information to the rotary drive structure controller (34). The rotary drive structure controller (34) starts the rotary drive structure (31). The rotary drive structure (31) generates a predetermined tension on the tension wheel (32) to keep the guide rope straight. 2) When the UAV traction device (4) pulls the guide rope (33) under the operation of the operator (51), the position receiver (55) detects that the UAV traction device (4) is approaching the tension machine body (1) through the UAV position sensor (54). The position receiver (55) sends the proximity information to the rotary drive structure controller (34). The rotary drive structure controller (34) starts the rotary drive structure (31). The rotary drive structure (31) generates tension on the tension wheel (32), causing the tension wheel (32) to rotate in the opposite direction and retract the guide rope (33). The speed of retracting the guide rope (33) is the same as or slightly slower than the speed at which the UAV traction device (4) is approaching the tension machine body (1). 3) When the UAV traction device (4) pulls the guide rope (33) under the operation of the operator (51), the position receiver (55) detects through the UAV position sensor (54) that the distance between the UAV traction device (4) and the tension machine body (1) remains unchanged within a certain range, that is, the UAV traction device (4) is hovering. Then the rotary drive structure controller (34) periodically collects the speed detector (56) signal. If the tension wheel (32) does not rotate, the rotary drive structure (31) is not started, and the rotary drive structure (31) does not generate tension on the tension wheel (32). If the tension wheel (32) rotates in the forward direction, the rotary drive structure (31) is started to compensate the angle of rotation of the tension wheel (32) in the reverse direction.

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