Take-up and pay-off synchronization device and method

Abstract

The invention discloses a take-up and pay-off synchronization device and method.The take-up and pay-off synchronization device comprises a take-up mechanism, an auxiliary mechanism and a control mechanism, the take-up mechanism comprises a take-up assembly and a first driving part, the first driving part is connected with the take-up assembly, and the auxiliary mechanism comprises a second driving part, a driving assembly, a driven assembly, a mounting frame and a detection assembly; the driving assembly comprises a driving shaft, a driving roller, a driving gear and an elastic structure, the driving shaft is connected with the second driving piece, the elastic structure is connected with the end, away from the second driving piece, of the driving shaft, the driving roller is arranged on the peripheral side of the driving shaft in a sleeving mode, and the driving gear is connected with the driving shaft through the elastic structure; the driven shaft is installed on the installation frame, the driven roller sleeves the driven shaft, the driven gear sleeves the driven shaft and is meshed with the driving gear, and the detection assembly is used for detecting the rotation angles of the driving shaft and the driven shaft. The problems that an existing unmanned aerial vehicle take-up and pay-off line is prone to over-pay-off, line clamping and the like are solved.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicle (UAV) retractable wire technology, and in particular to a retractable wire synchronization device and method. Background Art

[0002] When installing and repairing high-voltage transmission lines, drones are required to carry wire reels to designated work locations. Usually, there is no one to assist the drone in loading and unloading equipment at this work location, let alone assisting in unwinding and reeling in the wire reels. Unassisted unwinding and reeling in the wire reels is a prerequisite for drone-assisted work solutions. The existing solution is to install a reduction drive motor on the wire reel, which drives the wire reel to rotate, thereby realizing the reeling and unwinding of the wire reel. When implementing this type of solution, the drone needs to pull the wire synchronously. If the direction of the drone's pulling is incorrect or the pulling length is not synchronized with the length of the wire release, reverse winding, over-release, and even wire jamming will occur. When reeling in the wire, drones are also required to provide synchronous assistance. If the angle of the reeling in is significantly different from the angle of the drone's wire delivery, a wire jam will occur directly. Summary of the invention

[0003] The technical problem to be solved by the present invention is that during the installation and maintenance of high-voltage transmission lines, the existing unmanned aerial vehicle retractable wires are prone to over-release, wire jamming and the like.

[0004] In order to solve the above technical problems, the present invention provides a synchronous device for reeling and unreeling wires, including a winding mechanism, an auxiliary mechanism and a control mechanism, the winding mechanism including a winding assembly and a first driving member, the first driving member being connected to the winding assembly, the auxiliary mechanism including a second driving member, an active assembly, a driven assembly, a mounting frame and a detection assembly, the second driving member, the active assembly and the driven assembly being mounted on the mounting frame, the active assembly including an active shaft, an active roller, an active gear and an elastic structure, the active shaft passing through the mounting frame and connected to the second driving member, the elastic structure being away from the active shaft The first drive member is connected to one end of the second drive member, the driving roller is sleeved on the circumference of the driving shaft, the driving gear is connected to the driving shaft through the elastic structure, the driven component includes a driven shaft, a driven gear and a driven roller, the driven shaft is installed on the mounting frame, the driven roller is sleeved on the driven shaft, and a space for the wire material to pass through is formed between the driven roller and the driving roller, the driven gear is sleeved on the driven shaft and meshes with the driving gear, the control mechanism is electrically connected to the detection component, the first drive member and the second drive member, and the detection component is used to detect the rotation angles of the driving shaft and the driven shaft.

[0005] Furthermore, the elastic structure includes a cross-driving plate and a plurality of elastic members, the cross-driving plate has a plurality of installation spaces spaced apart around its axis, the driving gear is sleeved on the circumference of the cross-driving plate, the cross-driving plate is connected to the driving shaft, the elastic member is fixed to a side of the driving gear away from the first driving member, and each of the elastic members is installed in the corresponding installation space.

[0006] Furthermore, the cross driving plate includes a connecting portion and a plurality of paddles, wherein the plurality of paddles are installed on the peripheral side of the connecting portion and are arranged at intervals around the axis of the connecting portion, and the installation space is enclosed between two adjacent paddles. The connecting portion is connected to the driving shaft, the driving gear is sleeved on the peripheral side of the connecting portion, and the driving gear is located between the mounting frame and the paddles.

[0007] Furthermore, the driving shaft and the output shaft of the second driving member are an integrated structure.

[0008] Furthermore, the detection component includes a first sensor and a second sensor, the first sensor and the second sensor are arranged on the control mechanism, and the first sensor is arranged corresponding to the active shaft, and the second sensor is arranged corresponding to the driven shaft.

[0009] Furthermore, the detection component includes a potentiometer, and the potentiometer is arranged between the driving shaft and the driven shaft.

[0010] Furthermore, the active component also includes a first magnet arranged corresponding to the first sensor, and the first magnet is installed on the active shaft.

[0011] Furthermore, the driven component also includes a second magnet arranged corresponding to the second sensor, and the second magnet is installed on the driven shaft.

[0012] Furthermore, the cable winding assembly includes a cable winding reel and a base, the cable winding reel is installed on the base, and the first driving member is connected to the base to drive the base to rotate.

[0013] The present invention also provides a retractable line synchronization method, which is applied to the retractable line synchronization device as described above, and the retractable line synchronization method comprises the following steps:

[0014] Acquire the current state of the wire-reeling and wire-unreeling synchronization device, wherein the state includes a wire-unreeling state and a wire-reeling state;

[0015] Based on the current state of the retractable and retractable wire synchronization device, the rotation angles of the driving shaft and the driven shaft are obtained, and the difference between the obtained rotation angles is analyzed;

[0016] If the difference between the rotation angle of the driving shaft and the rotation angle of the driven shaft fluctuates, it is determined that an overtime or lag occurs between the driving shaft and the driven shaft;

[0017] If an advance or lag occurs between the driving shaft and the driven shaft, the force applied to the elastic structure is calculated based on the difference fluctuation and the advance or lag is quantified, and the voltage applied to the first driving member or the second driving member is calculated based on the quantification, so that the retraction and release linear speeds of the first driving member and the second driving member are consistent.

[0018] Compared with the prior art, the invention provides a synchronous device and method for retracting and releasing a line, and has the following beneficial effects:

[0019] In the embodiment of the present invention, if there is a lead or lag between the active shaft and the driven roller, the difference in the rotation angle between the two obtained by the detection component will change accordingly, and the above change is linear. The control mechanism calculates the force applied to the elastic structure and quantifies the lead or lag through the difference. Substituting this quantified amount into the PID algorithm, the voltage required to be applied to the first driving member (or the second driving member) of the driven side can be calculated, so that the linear speed of the retracting and releasing line of the first driving member (or the second driving member) of the driven side is consistent with the linear speed of the retracting and releasing line of the first driving member (or the second driving member) of the active side, so as to solve the problems of over-release and jamming of the retracting and releasing line of the existing drones during the installation and maintenance of high-voltage transmission lines. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 is a structural schematic diagram of a retractable and pay-off synchronous device provided in an embodiment of the present invention;

[0021] Figure 2 is a structural schematic diagram of an auxiliary mechanism provided by an embodiment of the present invention;

[0022] Figure 3 is a front view of an auxiliary mechanism provided by an embodiment of the present invention;

[0023] Figure 4 is a cross-sectional view of an auxiliary mechanism provided by an embodiment of the present invention;

[0024] In the figure, 1. winding mechanism; 11. winding assembly; 111. winding reel; 112. base; 12. first driving member; 2. auxiliary mechanism; 21. second driving member; 22. active assembly; 221. active shaft; 222. active roller; 223. active gear; 224. elastic structure; 2241. cross driving disk; 22411. connecting part; 22412. paddle; 2242. elastic member; 225. first magnet; 23. driven assembly; 231. driven shaft; 232. driven gear; 233. driven roller; 234. second magnet; 24. mounting frame; 25. detection assembly; 251. first sensor; 252. second sensor; 3. control mechanism. DETAILED DESCRIPTION

[0025] The specific implementation of the present invention is further described in detail below in conjunction with the accompanying drawings and examples. The following examples are used to illustrate the present invention, but are not intended to limit the scope of the present invention.

[0026] like Figure 1 As shown, the present invention provides a wire-winding and releasing synchronization device to ensure that during the installation and maintenance of high-voltage transmission lines, the wire reel carried by the drone can smoothly and synchronously release and retract the wires, which includes a wire-winding mechanism 1, an auxiliary mechanism 2 and a control mechanism 3. The wire-winding mechanism 1 includes a wire-winding assembly 11 and a first driving member 12. The wire-winding assembly 11 is a part for storing wires, and is connected to the first driving member 12 to realize the rotation of the wire-winding assembly 11, thereby realizing the release or retraction of the wires. The auxiliary mechanism 2 includes a second driving member 21, an active assembly 22, a driven assembly 23, a mounting frame 24 and a detection assembly 25. The second driving member 21, the active assembly 22 and the driven assembly 23 are installed on the mounting frame 24. The active assembly 22 includes an active shaft 221, an active roller 222, a active gear 223 and an elastic structure 224. The active shaft 221 passes through the mounting frame 24 and the first driving member 12. The second driving member 21 is connected, the elastic structure 224 is connected to the end of the driving shaft 221 away from the second driving member 21, that is, a flexible connection is formed between the driving shaft 221 and the driving gear 223, the driving roller 222 is sleeved on the peripheral side of the driving shaft 221, the driving gear 223 is connected to the driving shaft 221 through the elastic structure 224, the driven component 23 includes a driven shaft 231, a driven gear 232 and a driven roller 233, the driven shaft 231 is installed on the mounting frame 24, the driven roller 233 is sleeved on the driven shaft 231, and a space for the wire material to pass through is formed between the driven roller 222, the driven gear 232 is sleeved on the driven shaft 231, and meshes with the driving gear 223, the control mechanism 3 is electrically connected to the detection component 25, the first driving member 12 and the second driving member 21, and the detection component 25 is used to detect the rotation angle of the driving shaft 221 and the driven shaft 231.

[0027] It can be understood that when releasing the line, the auxiliary mechanism 2 is the active party and provides the main power. The active shaft 221 drives the active roller 222 through the above-mentioned flexible connection. At this time, the active shaft 221 is ahead of the active roller 222. The greater the leading angle, the greater the driving force. When reeling in the line, the first driving member 12 of the winding mechanism is the active party and provides the main power. The driven roller 233 of the auxiliary mechanism 2 applies pressure to the driven shaft 231 in the opposite direction. At this time, the driven shaft 231 lags behind the driven roller 233. If the driving shaft 221 and the driven roller 233 are synchronized, the difference in the rotation angle between the two obtained by the detection component 25 is almost unchanged. If there is a lead or lag between the driving shaft 221 and the driven roller 233, the difference in the rotation angle between the two obtained by the detection component 25 will change accordingly, and the above change is linear. The control mechanism 3 calculates the force applied to the elastic structure 224 and quantifies the lead or lag through the difference. Substituting this quantified amount into the PID algorithm, the voltage required to be applied to the first driving member 12 (or the second driving member 21) of the driven side can be calculated, so that the linear speed of the retracting and releasing line of the first driving member 12 (or the second driving member 21) of the driven side is consistent with the linear speed of the retracting and releasing line of the first driving member 12 (or the second driving member 21) of the active side, so as to solve the problems of over-release and jamming of the retracting and releasing line of the existing drone during the installation and maintenance of the high-voltage transmission line. The second driving member 21 is a reduction motor.

[0028] Furthermore, the elastic structure 224 includes a cross-driving disk 2241 and a plurality of elastic members 2242. The cross-driving disk 2241 has a plurality of installation spaces spaced around its axis. The driving gear 223 is sleeved on the circumference of the cross-driving disk 2241. The cross-driving disk 2241 is connected to the driving shaft 221. The elastic member 2242 is fixed to the side of the driving gear 223 away from the first driving member 12, and each elastic member 2242 is installed in the corresponding installation space.

[0029] Based on the above structure, in this embodiment, the driving gear 223 is connected to the cross driving plate 2241 by using an elastic member 2242, and a flexible connection is formed between the driving gear 223 and the driving shaft 221, so that the driving gear 223 can have a small degree of rotational freedom relative to the driving shaft 221. Regardless of whether the driving roller 222 rotates left or right relative to the driving shaft 221, there will be an elastic buffer zone between the driving gear 223 and the driving shaft 221 to alleviate the impact force generated during the rotation process, and at the same time, a buffer zone can be provided for the subsequent speed adjustment.

[0030] Furthermore, the cross driving disk 2241 includes a connecting portion 22411 and a plurality of paddles 22412, wherein the plurality of paddles 22412 are installed on the peripheral side of the connecting portion 22411 and are arranged at intervals around the axis of the connecting portion 22411, and an installation space is enclosed between two adjacent paddles 22412, and the connecting portion 22411 is connected to the driving shaft 221 to serve as a physical connection between the driving gear 223 and the driving shaft 221, and the driving gear 223 is sleeved on the peripheral side of the connecting portion 22411, and the driving gear 223 is located between the mounting frame 24 and the paddles 22412, and when the driving gear 223 encounters an external force, the elastic member 2242 can be deformed, allowing the driving gear 223 to have a slight rotation range relative to the driving shaft 221, thereby reducing the direct impact on the mechanical structure.

[0031] Furthermore, the driving shaft 221 and the output shaft of the second driving member 21 are an integrated structure with higher rigidity, which can better resist distortion and other deformations, avoid the possibility of less mechanical clearance and looseness, thereby improving the accuracy of the entire transmission system. In addition, because there is no energy loss in the intermediate transmission device, direct drive reduces energy losses, such as friction losses, thereby improving the overall efficiency of the system.

[0032] It can be understood that during the process of drone-assisted installation and maintenance of high-voltage transmission lines, the use of this integrated structure can ensure that the active shaft 221 (usually used to control the wire reel) can respond more accurately and smoothly to the power input from the second drive member 21, which helps to achieve more reliable wire pay-out and wire-winding operations, reduce the problem of unstable wire tension caused by mechanical clearance or loose connections, and thus improve the safety and efficiency of the entire operation process.

[0033] Furthermore, the detection component 25 includes a first sensor 251 and a second sensor 252. The first sensor 251 and the second sensor 252 are arranged on the control mechanism 3, and the first sensor 251 is arranged corresponding to the active shaft 221 to monitor the rotation angle of the active shaft 221, and the second sensor 252 is arranged corresponding to the driven shaft 231 to monitor the rotation angle of the driven shaft 231.

[0034] In this embodiment, the data collected by the first sensor 251 and the second sensor 252 will be transmitted to the control mechanism 3, which will compare the two sets of data to determine whether the relative rotation angle between the active shaft 221 and the driven shaft 231 (or the driven roller 233) is consistent, so as to assist the control system in understanding the current state of releasing or retrieving the line. If a difference in the rotation angle between the active shaft 221 and the driven shaft 231 is detected, the control system can adjust the speed of the first driving member 12 or the second driving member 21 according to the above data to maintain synchronization between the two shafts.

[0035] It can be understood that the first sensor 251 and the second sensor 252 of this embodiment are magnetic sensors, which can accurately measure the relative angular displacement of the magnet to 360 / 4096, that is, divide the circumference into 4096 points. The magnetic sensor can transmit this relative angular displacement to the control mechanism 3 through the IIC or SPI serial port. The driving gear 223 is meshed with the driven gear 232, and the angular displacement of the two is synchronized, but in opposite directions, and the driven gear 232 is connected to the driven roller 233 through the driven shaft.

[0036] Further, the detection component 25 includes a potentiometer, which is arranged between the driving shaft 221 and the driven shaft 231, and its resistance value changes linearly with the rotation angle of the rotor. The potentiometer is installed between the driving shaft 221 and the driven shaft 231, and is usually associated with the two shafts through a mechanical connection, so that the relative rotation between them can be reflected. When the relative rotation angle between the driving shaft 221 and the driven shaft 231 changes, the rotor of the potentiometer will also rotate accordingly, causing the resistance value of the potentiometer to change. Specifically, the potentiometer of this embodiment leads the wire to the control mechanism 3 through a brush, and the amount of advance or lag is transmitted to the control mechanism 3 through the resistance change of the potentiometer. The resistance value can be converted into a change in voltage value through a voltage divider circuit, and the value also changes linearly. The voltage converted by the voltage divider circuit can be digitized by an AD converter to realize the amount of advance or lag. After the value is quantified, the single-chip microcomputer calculates the working voltage of the first drive member 12 or the second drive member 21 to realize the synchronization of the master and slave retractable lines.

[0037] Furthermore, the active component 22 also includes a first magnet 225 arranged corresponding to the first sensor 251. The first magnet 225 is installed on the active shaft 221. When the first magnet 225 rotates with the active shaft 221, the direction and intensity of the magnetic field will change. The first sensor 251 determines the rotation angle of the active shaft 221 by detecting the above changes. The magnetic sensitive sensing method is non-contact, which reduces the possibility of wear and mechanical failure and improves the reliability and life of the system.

[0038] In this embodiment, through the combination of the first magnet 225 and the first sensor 251, the system can monitor the rotation angle of the active shaft 221 in real time, and feed back these data to the control mechanism 3. The control mechanism 3 can accurately adjust the synchronization between the active shaft 221 and the driven shaft 231 according to the data provided by the first sensor 251, so as to ensure the stability and consistency of the wire release and reeling process.

[0039] Furthermore, the driven component 23 also includes a second magnet 234 arranged corresponding to the second sensor 252. The second magnet 234 is installed on the driven shaft 231 to detect the position change of the second magnet 234. When the driven shaft 231 rotates, the second magnet 234 rotates accordingly, and the direction and intensity of the magnetic field also change accordingly. The second sensor 252 can capture the above changes and convert them into electrical signals. The above method does not require physical contact between the sensor and the magnet, which reduces mechanical wear and improves the reliability and life of the system.

[0040] In this embodiment, through the combination of the second magnet 234 and the second sensor 252, the system can monitor the rotation angle of the driven shaft 231 in real time, detect the rotation angle of the driven shaft 231 with high precision, and feed back these data to the control mechanism 3. The control mechanism 3 can accurately adjust the speed of the driven shaft 231 according to the data provided by the second sensor 252 to maintain synchronization with the driving shaft 221, thereby ensuring smoothness and consistency during the process of paying out and taking up the wires.

[0041] Furthermore, the cable winding assembly 11 includes a cable winding reel 111 and a base 112. The base 112 serves as a supporting structure, and the cable winding reel 111 is installed on the base 112 to provide stable support for the cable winding reel 111. The first driving member 12 is connected to the base 112 to drive the base 112 to rotate, thereby driving the cable winding reel 111 to rotate.

[0042] Based on the above structure, when the first driving member 12 is started, it will drive the base 112 to rotate, and then drive the winding drum 111 to rotate. The rotational power of the first driving member 12 is transmitted to the base 112 through a mechanical connection, and then transmitted to the winding drum 111 by the base 112, so that the winding drum 111 can release or retract the wire according to the rotation direction and speed of the first driving member 12. In this embodiment, the winding assembly 11 cooperates with other components (such as the active component 22 and the driven component 23) to ensure that the wire maintains appropriate tension and speed during the entire unwinding and rewinding process. By controlling the rotation of the winding drum 111, synchronization with the active shaft 221 and the driven shaft 231 can be achieved. It can be understood that the control mechanism 3 of this embodiment includes a single-chip microcomputer. The first driving member 12 is a reduction motor.

[0043] Specifically, when the line-releasing operation is performed, the front driving roller 222 is the driving wheel, and the line reel is the driven wheel. The front driving roller 222 is ahead of the line reel. The first sensor 251 and the second sensor 252 respectively transmit the angular displacement of the driving shaft 221 and the driven roller 233 to the single-chip microcomputer. The single-chip microcomputer calculates the voltage applied to the second driving member 21, and this voltage is controlled by the single-chip microcomputer output PWM.

[0044] When the line is being taken up, the line reel is the driving wheel, the driving roller 222 is the driven wheel, the driving roller 222 lags behind the line reel, the first sensor 251 and the second sensor 252 transmit the angular displacement of the driving shaft 221 and the driven roller 233 to the single-chip microcomputer respectively, and the single-chip microcomputer calculates the voltage applied to the first driving member 12, and this voltage is controlled by the single-chip microcomputer output PWM.

[0045] The present invention also provides a retractable line synchronization method, which is applied to the retractable line synchronization device as described above. The retractable line synchronization method comprises the following steps:

[0046] S110, obtaining the current state of the wire-reeling and wire-unreeling synchronization device, the state including the wire-unreeling state and the wire-reeling state;

[0047] In this step, the subsequent operation direction and control method are determined by determining whether the current state is in the line-releasing state or the line-reeling state.

[0048] S120, based on the current state of the retractable and retractable line synchronization device, obtain the rotation angles of the driving shaft 221 and the driven shaft 231, and analyze the difference between the obtained rotation angles;

[0049] In this step, the system obtains the rotation angles of the driving shaft 221 and the driven shaft 231 through sensors such as magnetic sensors, which can provide high-precision angle data, and calculates the difference between the rotation angles of the driving shaft 221 and the driven shaft 231 based on these data. If the difference is within the normal range, it means that the two are synchronized. If the difference fluctuates, it means that there is an asynchronism between the two.

[0050] S130, if the difference between the rotation angle of the driving shaft 221 and the rotation angle of the driven shaft 231 fluctuates, it is determined that an overtime or lag occurs between the driving shaft 221 and the driven shaft 231;

[0051] It is understandable that when the two are out of sync, this fluctuation will be further analyzed to determine whether the driving shaft 221 is ahead (rotating too fast) or behind (rotating too slowly).

[0052] S140. If an advance or lag occurs between the driving shaft 221 and the driven shaft 231, the force applied to the elastic structure 224 is calculated based on the difference fluctuation and the advance or lag is quantified, and the voltage applied to the first driving member 12 or the second driving member 21 is calculated based on the quantification, so that the retraction and release linear speeds of the first driving member 12 and the second driving member 21 are consistent.

[0053] In this step, according to the fluctuation of the rotation angle difference, the system calculates the force that needs to be applied to the elastic structure 224 to compensate for the advance or lag. The elastic structure 224 can absorb and alleviate the impact of this asynchronism by deformation. Finally, according to the quantified advance or lag value, the system calculates the voltage that needs to be applied to the first drive member 12 or the second drive member 21. By adjusting the voltage, the speed of the motor can be changed, so that the rotation speed of the driving shaft 221 and the driven shaft 231 are consistent, achieving synchronization.

[0054] The method for synchronizing the retractable and retractable wires of this embodiment ensures synchronization between the active shaft 221 and the driven shaft 231 by real-time monitoring and adjusting the rotation angles of the two shafts. This method utilizes sensors, elastic structures 224, and feedback control mechanisms to improve the accuracy, reliability, and efficiency of the system, and is suitable for complex operating environments such as installation and maintenance of high-voltage transmission lines. This method can significantly reduce various problems in wire management and ensure the safety and efficiency of operations.

[0055] In summary, an embodiment of the present invention provides a retractable line synchronization device and method, which can make the retractable line linear speed of the first driving member 12 (or the second driving member 21) of the driven party consistent with the retractable line linear speed of the first driving member 12 (or the second driving member 21) of the active party, thereby avoiding the retractable line from being stuck or over-released, and reducing the operational difficulty of the retractable line operation of the drone; in addition, the structure of the device is simple and compact, and the manufacturing and processing process of the structure is also simple.

[0056] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and substitutions can be made without departing from the technical principles of the present invention. These improvements and substitutions should also be regarded as the scope of protection of the present invention.

Claims

1. A synchronous device for retracting and releasing a line, characterized in that: The invention comprises a winding mechanism, an auxiliary mechanism and a control mechanism, wherein the winding mechanism comprises a winding assembly and a first driving member, wherein the first driving member is connected to the winding assembly, the auxiliary mechanism comprises a second driving member, an active assembly, a driven assembly, a mounting frame and a detection assembly, wherein the second driving member, the active assembly and the driven assembly are mounted on the mounting frame, the active assembly comprises an active shaft, an active roller, an active gear and an elastic structure, the active shaft passes through the mounting frame and is connected to the second driving member, the elastic structure is connected to an end of the active shaft away from the second driving member, and the The driving roller is sleeved on the peripheral side of the driving shaft, the driving gear is connected to the driving shaft through the elastic structure, the driven component includes a driven shaft, a driven gear and a driven roller, the driven shaft is installed on the mounting frame, the driven roller is sleeved on the driven shaft, and a space for the wire to pass through is formed between the driven roller and the driving roller, the driven gear is sleeved on the driven shaft and meshes with the driving gear, the control mechanism is electrically connected to the detection component, the first driving member and the second driving member, and the detection component is used to detect the rotation angles of the driving shaft and the driven shaft.

2. The synchronous device for retracting and releasing the wire according to claim 1, characterized in that: The elastic structure includes a cross driving plate and a plurality of elastic members, the cross driving plate has a plurality of installation spaces arranged at intervals around its axis, the driving gear is sleeved on the circumference of the cross driving plate, the cross driving plate is connected to the driving shaft, the elastic member is fixed to a side of the driving gear away from the first driving member, and each of the elastic members is installed in the corresponding installation space.

3. The synchronous device for retracting and releasing the wire according to claim 2, characterized in that: The cross driving plate includes a connecting portion and a plurality of paddles, wherein the plurality of paddles are installed around the connecting portion and are spaced apart around the axis of the connecting portion, and the installation space is enclosed between two adjacent paddles. The connecting portion is connected to the driving shaft, and the driving gear is sleeved around the connecting portion, and the driving gear is located between the mounting frame and the paddles.

4. The synchronous device for retracting and releasing wires according to claim 1, characterized in that: The driving shaft and the output shaft of the second driving member are an integrated structure.

5. The synchronous device for retracting and releasing wires according to claim 1, characterized in that: The detection component includes a first sensor and a second sensor. The first sensor and the second sensor are arranged on the control mechanism. The first sensor is arranged corresponding to the active shaft, and the second sensor is arranged corresponding to the driven shaft.

6. The synchronous device for retracting and releasing wires according to claim 1, characterized in that: The detection component comprises a potentiometer, and the potentiometer is arranged between the driving shaft and the driven shaft.

7. The synchronous device for retracting and releasing the wire according to claim 5, characterized in that: The active component further includes a first magnet arranged corresponding to the first sensor, and the first magnet is mounted on the active shaft.

8. The synchronous device for retracting and releasing wires according to claim 5, characterized in that: The driven component further includes a second magnet arranged corresponding to the second sensor, and the second magnet is mounted on the driven shaft.

9. The synchronous device for retracting and releasing wires according to claim 1, characterized in that: The cable winding assembly comprises a cable winding reel and a base, wherein the cable winding reel is mounted on the base, and the first driving member is connected to the base to drive the base to rotate.

10. A method for synchronizing a retractable line, characterized in that: Applied to the retractable and pay-off synchronization device as described in claims 1 to 9, the retractable and pay-off synchronization method comprises the following steps: Acquire the current state of the wire-reeling and wire-unreeling synchronization device, wherein the state includes a wire-unreeling state and a wire-reeling state; Based on the current state of the retractable and retractable wire synchronization device, the rotation angles of the driving shaft and the driven shaft are obtained, and the difference between the obtained rotation angles is analyzed; If the difference between the rotation angle of the driving shaft and the rotation angle of the driven shaft fluctuates, it is determined that an overtime or lag occurs between the driving shaft and the driven shaft; If an advance or lag occurs between the driving shaft and the driven shaft, the force applied to the elastic structure is calculated based on the difference fluctuation and the advance or lag is quantified, and the voltage applied to the first driving member or the second driving member is calculated based on the quantification, so that the retraction and release linear speeds of the first driving member and the second driving member are consistent.

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