Dual-drive method and device for high-altitude wind energy umbrella body

Abstract

The invention relates to the field of high-altitude wind energy, in particular to a dual-drive method and device for a high-altitude wind energy umbrella body. An umbrella body; an upper driver and a lower driver; circulating opening and closing of the umbrella body are controlled through crawling of the upper driver and the lower driver along the cable. The dual-drive control method of the high-altitude wind energy umbrella body is used for solving the problems that the energy consumption of a driver is large, a motor is prone to being burnt out when the driver is passively pushed, the switching control program of power in the driver is complex, and feedback delay exists; the mooring rope is seriously abraded when the driver and the mooring rope are in a locking state. The effects of rapidly, simply, mechanically and automatically switching different states of the upper driver and the lower driver on the cable and reducing the control mode of a complex program waiting for data feedback are achieved; the effects of isolating the speed and protecting the motor are achieved through the clutch assembly; the upper driver is communicated with the clutch assembly in different working modes, so that the energy consumption of the upper driver is reduced; and the cable is protected from abrasion.

Description

Technical Field

[0001] The present invention relates to the field of high-altitude wind energy, and more specifically, to a dual-drive method and device for a high-altitude wind energy umbrella body. Background Art

[0002] High-altitude wind energy (generally referring to the airspace more than 300 meters above the ground) is regarded as a key area for the development of the next-generation renewable energy due to its advantages of stable wind speed and high energy density. As the core carrier for capturing high-altitude wind energy (such as a wing-type high-altitude power generation system), the opening and closing control of the umbrella body directly determines the energy conversion efficiency and operation stability of the system. Traditional umbrella bodies mostly adopt single-drive control, but in working conditions such as complex high-altitude turbulence and sudden wind direction changes, there are problems such as response hysteresis and insufficient action accuracy, resulting in the damage rate of the umbrella body.

[0003] Chinese Patent Application No. 201611246832.7 discloses a dual-drive umbrella-type wind energy conversion device and its opening and closing method. There are the following problems in this method. First, when the umbrella body pushes the upper drive upward, it is easy to impact the motor in the upper drive and burn it out. Second, when the upper drive moves downward, it pushes the lower drive downward, which will cause the moving distance of the upper drive to be too large and the energy consumption of the upper drive to increase additionally. Third, the opening speed and closing speed of the umbrella are both very fast. After quickly detecting the speed of the umbrella body, the movement of the upper drive and the lower drive needs to be controlled, which will lead to a complex control program for the upper drive and the lower drive, feedback delay, and collision between the lower drive and the upper drive, affecting the service life of the dual drives. Fourth, in order to prevent the upper drive from sliding down, a locking mechanism is used to lock the upper drive and the cable, but after long-term use, the wear on the cable is very large, resulting in a significant reduction in the service life of the cable, which is not conducive to reducing the use cost.

[0004] The above-mentioned drives have high energy consumption, are prone to burning out the motor when being pushed passively, have a complex power switching control program and feedback delay in the drive; the problem that the cable is severely worn under the locked state of the drive and the cable is an urgent problem to be solved in this field. Summary of the Invention

[0005] The present invention aims to overcome at least one defect (shortcoming) of the above-mentioned prior art, and provides a dual-drive control method and device for a high-altitude wind energy umbrella body, which is used to solve the problems of high energy consumption of the drive, easy burnout of the motor when the drive is pushed passively, complex power switching control program and feedback delay in the drive; severe wear of the cable under the locked state of the drive and the cable.

[0006] The technical solution adopted by the present invention is to provide a dual-drive control method for a high-altitude wind energy umbrella body, including: Cable; An umbrella body sleeved on the cable at the top center; An upper driver and a lower driver sleeved on the cable and capable of moving back and forth on the cable; The cyclic opening and closing of the umbrella body is controlled by the upper driver and the lower driver crawling along the cable.

[0007] The upper driver and the lower driver work together to enable the umbrella body to crawl on the cable, thereby controlling the opening and closing state of the umbrella body, avoiding excessive mechanical load on a single driver, large power consumption leading to downtime for charging and affecting the opening and closing working duration of the umbrella body at high altitude. At the same time, excessive load on a single driver will also limit the length of the cable and the scale of the umbrella body, which is not conducive to improving the wind energy conversion efficiency of the umbrella body.

[0008] Furthermore, each driver includes: A crawling mechanism for driving the driver to crawl on the cable, including a first crawling mechanism in the upper driver and a second crawling mechanism in the lower driver; A motor for providing power, including a first motor in the upper driver and a second motor in the lower driver; A damping mechanism for providing resistance, including a first damping mechanism in the upper driver and a second damping mechanism in the lower driver; a transmission mechanism for transmitting the motor power or damping resistance to the crawling mechanism, including a first transmission mechanism in the upper driver and a second transmission mechanism in the lower driver; A position detection proximity switch for determining whether the crawling mechanism continues to move on the cable, including a first position detection proximity switch in the upper driver and a second position detection proximity switch in the lower driver; An encoder for determining the precise moving distance of the crawling mechanism on the cable, including a first encoder in the upper driver and a second encoder in the lower driver; When the lower driver is driven to passively move upward along the cable by the umbrella body, the second damping mechanism restricts the passive upward speed; When the lower driver actively moves downward along the cable, the second motor transmits power to the second crawling mechanism via the second transmission mechanism, driving the lower driver to actively move downward along the cable; When the upper driver actively moves upward or downward along the cable, the first motor transmits power to the first crawling mechanism via the first transmission mechanism, driving the upper driver to actively move upward or downward along the cable.

[0009] By arranging the upper drive and the lower drive at both ends of the umbrella body respectively, controlling the displacement of the drive on the cable can control the opening and closing effect of the umbrella body; the motor outputs power, the power is transmitted to the crawling mechanism through the transmission mechanism, and the crawling mechanism realizes the crawling action on the cable. Without detecting the opening speed, the specific crawling position of the crawling mechanism can be determined through the position detection proximity switch and the encoder, and the second position detection proximity switch is used to detect the locking position. When opening the umbrella, the clutch group combination in the upper drive isolates the excessive speed of the umbrella body pushing back the upper drive, which may cause the motor to burn out. When closing the umbrella, the third clutch in the lower drive isolates the excessive speed of the umbrella body pushing back the lower drive, which may cause the motor to burn out. The second damping mechanism in the lower drive prevents the lower drive from colliding with the upper drive, thus affecting its service life. The damping mechanism in the upper drive realizes the locking of the upper drive on the cable, thereby protecting the cable from being worn by the locking mechanism when shaking in the air and extending the service life of the cable.

[0010] Further, the transmission mechanism includes a clutch assembly, which includes the upward clutch combination, the downward clutch combination connected in parallel in the upper drive, and the third clutch in the lower drive. The upward clutch combination is used for the power switching of the first crawling mechanism to actively move upward along the cable, and the downward clutch combination is used for the power switching of the first crawling mechanism to actively move downward along the cable; the third clutch is used for the power switching of the second crawling mechanism to actively move downward along the cable.

[0011] Through the two clutch combinations connected in parallel, the rapid switching between two paths in a parallel path is realized, reducing the delay of waiting for the feedback signal during the switching between the upward movement and the downward movement of the upper drive, simplifying the structural connection in the upper drive, and reducing the self-weight energy consumption of the upper drive; by connecting the upper drive with different clutch combinations in different working modes, the power consumption of the upper drive during operation is reduced, enabling it to maintain a more long-term working state.

[0012] Further, the cable is provided with an origin position and a set position. The origin position is arranged between the upper drive and the lower drive, and the set position is arranged above the origin position; a locking component arranged on the cable below the lower drive is used for locking or unlocking with the lower drive; the specific control steps of the upper drive include: A1) Upward crawling mode: A1S1. When the umbrella body is in the closed state, the lower drive is locked with the locking component, and the upper drive is located at the origin position; during the process of the umbrella body changing from closed to open; the first motor drives the first crawling mechanism to start moving upward through the upward clutch combination; A1S2. When the umbrella body is in the open state, the lower driver is locked with the locking component, and the upper driver is in the set position; during the process of the umbrella body changing from open to closed, the lower driver is unlocked and driven upward by the umbrella body. The second crawling mechanism transmits the force to the second damping mechanism through the transmission mechanism. The second damping mechanism decelerates the lower driver, records the distance between the current position and the set position through the first encoder, records the traveling distance of the lower driver through the second encoder, and obtains the stroke difference between the upper driver and the lower driver. When the stroke difference between the lower driver and the upper driver reaches the critical value, the first motor switches to the downward clutch combination to drive the first crawling mechanism downward, and the second motor drives the second crawling mechanism downward through the third clutch; B1) Downward crawling mode: B1S1. When the first position detection proximity switch senses that the first crawling mechanism has moved downward to the origin position, it stops moving, and then switches to the upward clutch combination through the downward clutch combination to start the first damping mechanism. The first damping mechanism positions the first crawling mechanism at the origin position, and the umbrella body is in the fully closed state.

[0013] By making the downward speed of the upper driver greater than or equal to the downward speed of the lower driver, it is avoided that the umbrella body is involved in the driver during umbrella closing; through different working modes of the upper driver, it flexibly adapts to different states of the umbrella body on the cable. By controlling the upper driver arranged at the upper end of the umbrella body, the effect of the umbrella body stably generating electric energy at high altitude is achieved; through the switching of different connection paths between the clutch combination and the first motor, the upper driver stably controls the movement of the umbrella body in different directions on the cable; through the connection path between the clutch combination and the first damping mechanism, the upper driver is locked on the cable.

[0014] Furthermore, there are an origin position and a set position on the cable. The origin position is arranged between the upper driver and the lower driver, and the set position is arranged above the origin position; a locking component arranged on the cable below the lower driver is used to lock or unlock with the lower driver; The specific control steps of the lower driver include: A2) Upward crawling mode: A2S1. When the umbrella body is in the open state, the lower driver is locked with the locking component, and the upper driver is near the set position; the lower driver is unlocked and driven upward by the umbrella body. As the umbrella body changes from open to closed, the lower driver starts the second damping mechanism to limit the passive upward speed of the second crawling mechanism; B2) Downward crawling mode: B2S1. The distance between the current position and the set position is recorded by the first encoder, and the travel distance of the lower drive is recorded by the second encoder to obtain the stroke difference between the upper drive and the lower drive. When the stroke difference between the upper drive and the lower drive controlled by the first encoder and the second encoder reaches a critical value, the second motor drives the second crawling mechanism downward through the third clutch; B2S2. When the second position detection proximity switch senses that the second crawling mechanism has moved downward to the locking assembly, it stops moving, the lower drive is locked with the locking assembly, and the umbrella body is in a fully closed state.

[0015] Through different working modes of the lower drive, it is possible to flexibly adapt to different states of the parachute on the cable, and through the control of the lower drive arranged at the lower end of the parachute, the parachute can stably perform work at high altitudes to generate electrical energy; the third clutch is used to isolate the speed and protect the motor, and through the connection path between the crawling mechanism and the second damping mechanism, the speed reduction of the lower drive on the cable is achieved; through the connection between the third clutch and the second motor, the lower drive is stably moved downward on the cable.

[0016] Furthermore, A1S1 specifically includes: A1S11. The first encoder starts counting until the first encoder counts to the set number of turns, and then sends a feedback signal to the first motor to stop the first motor, and the first transmission mechanism stops transmitting power to the first crawling mechanism, and the first crawling mechanism is positioned at the set position on the cable; A1S12. The first motor starts the first damping mechanism through the upward clutch combination, and the first damping mechanism positions the first crawling mechanism at the origin position; A1S2 specifically includes: A1S21. After the lower drive is unlocked, the first encoder starts to count the moving distance d1 of the upper drive after it leaves the set position, and the second encoder starts to count the moving distance d2 of the lower drive after it leaves the locking assembly. The radius of the umbrella body is R, and the stroke difference between the lower drive and the upper drive is D=d2-d1. If D>0.8R, and / or the rotation speed of the second encoder is 0, the upward movement of the upper drive starts to reverse.

[0017] The precise displacement of the first crawling mechanism is controlled by the encoder, the power or resistance of the first crawling mechanism is switched by the upward clutch combination, and the first crawling mechanism is controlled not to slide down on the cable by the first damping mechanism; the stroke difference calculated between the first encoder and the second encoder is used to make the upper drive always maintain a distance from the parachute body, so as to prevent the parachute body from being drawn into the upper drive and causing damage to the parachute body.

[0018] Furthermore, B1S1 specifically includes: When the first position detection proximity switch senses that the first crawling mechanism descends to the origin position, the count of the first encoder is cleared, and a feedback signal is sent to the first motor and the first damping mechanism. The first motor stops running, and the first transmission mechanism stops transmitting power to the first crawling mechanism. The first damping mechanism is activated, and the first transmission mechanism transmits resistance to the first crawling mechanism to keep the first crawling mechanism positioned near the origin position.

[0019] The origin position is fixedly sensed by the first position detection proximity switch to provide a zero reference for the first encoder, ensuring that the first encoder can quickly and accurately calibrate the initial position in case of position drift that may occur during long-term operation or when starting and resetting, and avoiding cumulative errors. By switching the connection between the first motor and the first damping mechanism through the first transmission mechanism, power and resistance are switched for the first crawling mechanism.

[0020] Further, B2S2 specifically includes: B2S21. When the second position detection proximity switch senses that the second crawling mechanism descends to the locking component, the count of the second encoder is cleared, and a feedback signal is sent to the second motor. The second motor stops running, the second transmission mechanism stops transmitting power to the second crawling mechanism, and the second crawling mechanism is locked to the locking component.

[0021] The position of the locking component is fixedly sensed by the second position detection proximity switch to provide an absolute position for the second encoder. Through the absolute position of the second encoder and the connection between the second transmission mechanism and the second motor, the effect of accurately controlling the second crawling mechanism to crawl downward to the locking component is achieved.

[0022] A dual-drive device for an airborne wind energy umbrella body is also provided. According to the described dual-drive control method for an airborne wind energy umbrella body, it includes: A cable; An umbrella body with its top center sleeved on the cable; An upper drive and a lower drive sleeved on the cable and capable of moving back and forth on the cable; Each drive includes: A crawling mechanism for driving the drive to crawl on the cable, including a first crawling mechanism in the upper drive and a second crawling mechanism in the lower drive; A motor for providing power, including a first motor in the upper drive and a second motor in the lower drive; A position detection proximity switch connected to the crawling mechanism, including a first position detection proximity switch in the upper drive and a second position detection proximity switch in the lower drive; A transmission mechanism connected between the crawling mechanism and the motor, including a first transmission mechanism in the upper drive and a second transmission mechanism in the lower drive; An encoder connected between the crawling mechanism and the transmission mechanism, including a first encoder in the upper driver and a second encoder in the lower driver; A damping mechanism provided in the transmission mechanism, including a first damping mechanism in the upper driver and a second damping mechanism in the lower driver; A clutch assembly provided in the transmission mechanism, including an upward clutch combination and a downward clutch combination connected in parallel in the upper driver, and a third clutch in the lower driver.

[0023] Output power through the motor; transmit the power to the crawling mechanism through the transmission mechanism; realize the crawling action on the cable through the crawling mechanism; determine the specific crawling position of the crawling mechanism without detecting the parachute opening speed through the position detection proximity switch and the encoder; isolate the excessive speed caused by the parachute body pushing the lower driver backward to burn out the motor through the second damping mechanism in the lower driver, and also prevent the lower driver from colliding with the upper driver, thus affecting its service life; lock the upper driver on the cable through the first damping mechanism in the upper driver, thereby protecting the cable from wear by the locking mechanism when shaking in the air and extending the service life of the cable; quickly switch the clutch combination when the first crawling mechanism moves upward or downward through the parallel clutch combination in the upper driver, without the need to control the switching of the clutch combination through the feedback data and complex programs; control the on-off of the second crawling mechanism during the downward process through the third clutch in the lower driver, saving the power consumption of the lower driver.

[0024] Further, the transmission mechanism includes a first crawling end transmission mechanism and a second crawling end transmission mechanism connected to the crawling mechanism, a first motor end transmission mechanism and a second motor end transmission mechanism connected to the motor; a first position detection proximity switch is connected to the first crawling mechanism, and a second position detection proximity switch is connected to the second crawling mechanism; a first encoder is connected between the first crawling mechanism and the first crawling end transmission mechanism, and a second encoder is connected between the second crawling mechanism and the second crawling end transmission mechanism; the first crawling end transmission mechanism is connected to the first motor end transmission mechanism through the upward clutch combination or the downward clutch combination, and the second crawling end transmission mechanism is connected to the second motor end transmission mechanism through the third clutch; the first damping mechanism is connected to the first motor end transmission mechanism, and the second damping mechanism is connected to the second crawling end transmission mechanism.

[0025] By connecting the first damping mechanism with the first motor end transmission mechanism, the up-clutch combination that controls the on-off of the first crawling mechanism during the upward movement does not need to be switched anymore. Instead, the first motor connected to the first motor end transmission mechanism is directly switched to the first damping mechanism, avoiding signal delay in data feedback. The mechanical switching of the connection path enables the first crawling mechanism to quickly and stably reach the set position during upward movement. By directly connecting the second damping mechanism with the second crawling end transmission mechanism, power consumption during startup is avoided. When the second crawling mechanism moves upward along the cable under the influence of the umbrella body, it is subject to resistance from the second damping mechanism, enabling it to move upward stably. The on-off of power or resistance transmission is achieved through the clutch assembly provided in the transmission mechanism. The multi-stage transmission mechanism formed by the crawling end transmission mechanism and the motor end transmission mechanism improves the transmission efficiency.

[0026] Compared with the prior art, the beneficial effects of the present invention are as follows: Different working modes are formed through different connection methods of the upper driver and the lower driver, thereby realizing the quick and simple switching of different states of the upper driver and the lower driver on the cable, reducing the control method of the complex procedure of waiting for data feedback, and achieving the effect of mechanical automatic switching; The effect of isolating speed and protecting the motor is achieved through the clutch assembly; Through the connection of the upper driver with the clutch assembly in different working modes, the energy consumption of the upper driver is greatly reduced; The damping mechanism in the upper driver protects the cable from wear by the upper driver locked to the cable; The damping mechanism in the lower driver avoids collision between the lower driver and the upper driver during the movement process, affecting the service life. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 It is a structural connection diagram of the upper driver of the present invention.

[0028] Figure 2 It is a structural connection diagram of the lower driver of the present invention.

[0029] Figure 3 It is a connection diagram of the upper driver of the present invention in the upward crawling mode.

[0030] Figure 4 It is a connection diagram of the upper driver of the present invention in the downward crawling mode.

[0031] Figure 5 It is a connection diagram of the upper driver of the present invention in the anti-slip mode.

[0032] Figure 6 It is a connection diagram of the lower driver of the present invention in the upward crawling mode.

[0033] Figure 7 It is a connection diagram of the lower driver of the present invention in the downward crawling mode.

[0034] Figure 8 Connection diagram of the preferred clutch combination in the upward crawling mode of the upper driver of the present invention.

[0035] Figure 9 Connection diagram of the preferred clutch combination in the downward crawling mode of the upper driver of the present invention.

[0036] Figure 10 Connection diagram of the preferred clutch combination in the anti-slip mode of the upper driver of the present invention.

[0037] Figure 11 Schematic diagram of the assembly structure of the upper driver of the present invention.

[0038] Figure 12 Schematic diagram of the assembly structure of the lower driver of the present invention.

[0039] Figure 13 Schematic diagram of the assembly structure of the preferred clutch combination in the upper driver of the present invention.

[0040] Explanation of the reference numerals in the drawings: upper driver 7, first motor 71, first motor end transmission mechanism 72, clutch combination 73, downward clutch combination 731, upward clutch combination 732, first crawling end transmission mechanism 74, first crawling mechanism 75, first encoder 76, first clutch 77, first damper 78, first position detection proximity switch 79, lower driver 5, second motor 51, second motor end transmission mechanism 52, third clutch 53, second crawling end transmission mechanism 54, second encoder 55, second crawling mechanism 56, second clutch 57, second damper 58, second position detection proximity switch 59. Detailed implementation manners

[0041] The drawings of the present invention are only for illustrative purposes and should not be construed as a limitation to the present invention. For better illustration of the following embodiments, some components in the drawings may be omitted, enlarged or reduced, which do not represent the dimensions of the actual products; for those skilled in the art, it is understandable that some well-known structures and their descriptions in the drawings may be omitted. Embodiment 1

[0042] As Figures 1-13 shown, the technical solution adopted in this embodiment is to provide a dual-drive control method for an airborne wind energy umbrella body, including: Cable; An umbrella body with its top center sleeved on the cable; An upper driver 7 and a lower driver 5 sleeved on the cable and capable of moving back and forth on the cable; Controlling the cyclic opening and closing of the umbrella body by the upward and downward crawling of the upper driver 7 and the lower driver 5 along the cable.

[0043] In this embodiment, the umbrella body includes umbrella ropes and a canopy. The cable is threaded through the center of the canopy. When the umbrella body is in the open state, the umbrella ropes connected to the edge of the canopy are in a taut state. When the umbrella body is in the retracted state, the umbrella ropes connected to the edge of the canopy are in a relaxed state. The upper driver 7 is located on the upper side of the umbrella body, and the lower driver 5 is located on the lower side of the umbrella body, driving the umbrella body to move up and down along the cable. The canopy is connected to the upper driver 7, and the umbrella ropes are connected to the lower driver 5. The opening and closing of the umbrella body are controlled by controlling the displacements of the upper driver 7 and the lower driver 5.

[0044] Each driver includes: A crawling mechanism for driving the driver to crawl on the cable, including a first crawling mechanism 75 in the upper driver 7 and a second crawling mechanism 56 in the lower driver 5; A motor for providing power, including a first motor 71 in the upper driver 7 and a second motor 51 in the lower driver 5; A damping mechanism for providing resistance, including a first damping mechanism in the upper driver 7 and a second damping mechanism in the lower driver 5; A transmission mechanism for transmitting the power of the motor or the damping resistance to the crawling mechanism, including a first transmission mechanism in the upper driver 7 and a second transmission mechanism in the lower driver 5; A position detection proximity switch for determining whether the crawling mechanism continues to move on the cable, including a first position detection proximity switch 79 in the upper driver 7 and a second position detection proximity switch 59 in the lower driver 5; An encoder for determining the precise moving distance of the crawling mechanism on the cable, including a first encoder 76 in the upper driver 7 and a second encoder 55 in the lower driver 5; When the lower driver 5 is driven to move upward passively along the cable by the umbrella body, the second damping mechanism restricts the passive upward speed; When the lower driver 5 moves downward actively along the cable, the second motor 51 transmits power to the second crawling mechanism 56 via the second transmission mechanism, driving the lower driver 5 to move downward actively along the cable; When the upper driver 7 moves upward or downward actively along the cable, the first motor 71 transmits power to the first crawling mechanism 75 via the first transmission mechanism, driving the upper driver 7 to move upward or downward actively along the cable.

[0045] In this embodiment, there are two transmission mechanisms, one is a crawling end transmission mechanism and the other is a motor end transmission mechanism. The total transmission ratio is reasonably distributed to two stages through the two-stage transmission mechanism, so that the multi-stage transmission realizes the accuracy, reliability and adaptability of power transmission.

[0046] In this embodiment, when the lower driver 5 crawls downward along the cable, the second crawling mechanism 56 is connected to the second motor 51. The second motor 51 is started, and power is output to the second crawling end transmission mechanism 54 through the second motor end transmission mechanism 52. A third clutch 53 is further provided between the second motor end transmission mechanism 52 and the second crawling end transmission mechanism 54 for dynamically cutting off or engaging the power flow between the two-stage transmissions. Then, it is transmitted to the second crawling mechanism 56 by the second crawling end transmission mechanism 54, enabling the second crawling mechanism 56 to move downward stably. When the lower driver 5 crawls upward along the cable, the second crawling mechanism 56 is connected to the second damping mechanism. The second motor 51 does not need to be started. The driver 5 moves upward under the blowing of the wind. At this time, the second damping mechanism is started and outputs resistance to the crawling end transmission mechanism, and then is transmitted to the second crawling mechanism 56 by the crawling end transmission mechanism, enabling the second crawling mechanism 56 to move upward stably.

[0047] In this embodiment, when the upper driver 7 crawls downward (or upward) along the cable, the first crawling mechanism 75 is connected to the first motor 71. The first motor 71 is started, and power is output to the first crawling end transmission mechanism 74 through the first motor end transmission mechanism 72. A clutch combination 73 is further provided between the first motor end transmission mechanism 72 and the first crawling end transmission mechanism 74 for dynamically cutting off or engaging the power flow between the two-stage transmissions. Then, it is transmitted to the first crawling mechanism 75 by the first crawling end transmission mechanism 74, enabling the first crawling mechanism 75 to move downward (or upward) stably.

[0048] The transmission mechanism includes a clutch assembly, including an upward-travel clutch combination 732, a downward-travel clutch combination 731 connected in parallel in the upper driver 7, and the third clutch 53 in the lower driver 5. The upward-travel clutch combination 732 is used for turning on and off the power for the first crawling mechanism 75 to actively travel upward along the cable, and the downward-travel clutch combination 731 is used for turning on and off the power for the first crawling mechanism 75 to actively travel downward along the cable; the third clutch 53 is used for turning on and off the power for the second crawling mechanism 56 to actively travel downward along the cable.

[0049] In this embodiment, in the upper driver 7, when the clutch assembly switches the path to the downward-travel clutch combination 731, the upper driver 7 is in the downward-crawling state. When the clutch assembly switches the path to the upward-travel clutch combination 732, the upper driver 7 is in the upward-crawling state or the state of stopping at the set position. In the lower driver 5, the third clutch 53 is an overrunning clutch. When the third clutch 53 is connected, the lower driver 5 is in the downward-crawling state. When the third clutch 53 is not connected, the lower driver 5 is in the passive upward-travel state.

[0050] The cable is provided with an origin position and a set position. The origin position is arranged between the upper driver 7 and the lower driver 5, and the set position is arranged above the origin position. A locking component is arranged on the cable below the lower driver 5 and is used to lock or unlock with the lower driver 5. The specific control steps of the upper driver 7 include: A1) Upward crawling mode: A1S1. When the umbrella body is in the closed state, the lower driver 5 is locked with the locking component, and the upper driver 7 is located at the origin position. During the process of the umbrella body changing from closed to open, the first motor 71 drives the first crawling mechanism 75 to start moving upward through the upward clutch combination 732. A1S2. When the umbrella body is in the open state, the lower driver 5 is locked with the locking component, and the upper driver 7 is located near the set position. During the process of the umbrella body changing from open to closed, the lower driver 5 is unlocked and driven upward by the umbrella body. The second crawling mechanism transmits the force to the second damping mechanism through the transmission mechanism. The second damping mechanism decelerates the lower driver. The distance between the current position and the set position is recorded through the first encoder 76, and the traveling distance of the lower driver is recorded through the second encoder 55 to obtain the stroke difference between the upper driver 7 and the lower driver 5. When the stroke difference between the lower driver 5 and the upper driver 7 reaches the critical value, the first motor 71 switches to the downward clutch combination 731 to drive the first crawling mechanism 75 to move downward, and the second motor 51 drives the second crawling mechanism 56 to move downward through the third clutch 53. B1) Downward crawling mode: B1S1. When the first position detection proximity switch 79 senses that the first crawling mechanism 75 moves downward to the origin position and stops moving, it then switches to the upward clutch combination 732 through the downward clutch combination 731 to start the first damping mechanism. The first damping mechanism positions the first crawling mechanism 75 at the origin position, and the umbrella body is in the fully closed state.

[0051] The cable is provided with an origin position and a set position. The origin position is arranged between the upper driver 7 and the lower driver 5, and the set position is arranged above the origin position. A locking component is arranged on the cable below the lower driver 5 and is used to lock or unlock with the lower driver 5. The specific control steps of the lower driver 5 include: A2) Upward crawling mode: A2S1. When the umbrella body is in the open state, the lower driver 5 is locked with the locking component, and the upper driver 7 is located near the set position. The lower driver 5 is unlocked and driven upward by the umbrella body. When the umbrella body changes from open to closed state, the lower driver 5 limits the passive upward speed of the second crawling mechanism 56 by starting the second damping mechanism. B2) Downward crawling mode: B2S1. Record the distance between the current position and the set position through the first encoder, record the travel distance of the drive through the second encoder, and obtain the stroke difference between the upper drive and the lower drive. When the stroke difference between the first encoder 76 and the second encoder 55 controls the upper drive 7 and the lower drive 5 to reach the critical value, the second motor 51 drives the second crawling mechanism 56 to descend through the third clutch 53; B2S2. When the second position detection proximity switch 59 senses that the second crawling mechanism 56 descends to the locking component, it stops moving, and then locks the lower drive 5 and the locking component through the third clutch 53, and the umbrella body is in a fully closed state.

[0052] Among them, A1S1 specifically includes: A1S11. The first encoder 76 starts counting. After the first encoder 76 counts to the set number of turns, it sends a feedback signal to the first motor 71 to stop the first motor 71 from running. The first transmission mechanism stops transmitting power to the first crawling mechanism 75, and the first crawling mechanism 75 is positioned at the set position on the cable; A1S12. The first motor 71 starts the first damping mechanism through the upward clutch combination 732, and the first damping mechanism positions the first crawling mechanism 75 at the origin position; Among them, A1S2 specifically includes: A1S21. After the lower drive 5 is unlocked, the first encoder 76 starts counting the moving distance d1 of the upper drive 7 after leaving the set position, and the second encoder 55 starts counting the moving distance d2 of the lower drive 5 after leaving the locking component. The radius of the umbrella body is R, and the stroke difference D between the lower drive 5 and the upper drive 7 is D = d2 - d1. If D > 0.8R, and / or when the rotation speed of the second encoder 55 is 0, the upward movement of the upper drive 7 starts to reverse.

[0053] In this embodiment, the value range between the stroke difference D and the radius R of the umbrella body is 0.8 - 1.8. In this embodiment, D = R or D = 1.5R.

[0054] Among them, B1S1 specifically includes: B1S11. When the first position detection proximity switch 79 senses that the first crawling mechanism 75 descends to the origin position, the first encoder 76 clears the count and sends a feedback signal to the first motor 71 and the first damping mechanism. The first motor 71 stops running, and the first transmission mechanism stops transmitting power to the first crawling mechanism 75; the first damping mechanism starts, and the first transmission mechanism transmits resistance to the first crawling mechanism 75 to keep the first crawling mechanism 75 positioned near the origin position.

[0055] Among them, B2S2 specifically includes: When the proximity switch 59 for detecting the second position senses that the second crawling mechanism 56 moves downward to the locking assembly, the count of the second encoder 55 is cleared to zero, and a feedback signal is sent to the second motor 51. The second motor 51 stops operating, the second transmission mechanism stops transmitting power to the second crawling mechanism 56, and the second crawling mechanism 56 is locked to the locking assembly.

[0056] In this embodiment, the transmission mechanism connected to the crawling mechanism is the crawling-end transmission mechanism, and the transmission mechanism connected to the motor is the motor-end transmission mechanism. During the upward movement, the clutch assembly in the upper driver 7 connects the upward clutch combination 732. The first motor 71 transmits power to the first crawling-end transmission mechanism 74 through the first motor-end transmission mechanism 72, and the upward clutch combination 732 controls the on / off of the power between the two. During the downward movement, the clutch assembly in the upper driver 7 connects the downward clutch combination 731. The first motor 71 transmits power to the first crawling-end transmission mechanism 74 through the first motor-end transmission mechanism 72, and the downward clutch combination 731 controls the on / off of the power between the two. During the upward movement to the set position to prevent sliding, the clutch assembly in the upper driver 7 connects the upward clutch combination 732. The first damping mechanism transmits resistance to the first crawling-end transmission mechanism 74 through the first motor-end transmission mechanism 72, and the upward clutch combination 732 controls the on / off of the resistance between the two. During the upward movement, the lower driver 5 is not connected to the clutch assembly and is directly connected to the second damping mechanism, and the second damping mechanism transmits resistance to the second crawling-end transmission mechanism 54. During the downward movement, the clutch assembly in the lower driver 5 is the third clutch 53. The second motor 51 transmits power to the second crawling-end transmission mechanism 54 through the second motor-end transmission mechanism 52, and the third clutch 53 controls the on / off of the power between the two.

[0057] In this embodiment, the first damping mechanism includes a first clutch 77 and a first damper 78, and the first clutch 77 is connected between the first damper 78 and the first motor-end transmission mechanism 72. The second damping mechanism includes a second clutch 57 and a second damper 58, and the second clutch 57 is connected between the second damper 58 and the second crawling-end transmission mechanism 54.

[0058] In this embodiment, the downward clutch combination 731 includes two series-connected overrunning clutches and an electromagnetic clutch, and the electromagnetic clutch is connected between the two overrunning clutches. The upward clutch combination 732 includes two series-connected overrunning clutches. Embodiment 2

[0059] As Figures 1-13 shown, this embodiment adopts a dual-drive device for a high-altitude wind energy umbrella body. According to the described dual-drive control method for a high-altitude wind energy umbrella body, it includes: Cable; An umbrella body sleeved on the cable at the top center; An upper driver 7 and a lower driver 5 sleeved on the cable and capable of moving back and forth on the cable; Each driver includes: A crawling mechanism for driving the driver to crawl on the cable, including a first crawling mechanism 75 in the upper driver 7 and a second crawling mechanism 56 in the lower driver 5; A motor for providing power, including a first motor 71 in the upper driver 7 and a second motor 51 in the lower driver 5; A position detection proximity switch connected to the crawling mechanism, including a first position detection proximity switch 79 in the upper driver 7 and a second position detection proximity switch 59 in the lower driver 5; A transmission mechanism connected between the crawling mechanism and the motor, including a first transmission mechanism in the upper driver 7 and a second transmission mechanism in the lower driver 5; An encoder connected between the crawling mechanism and the transmission mechanism, including a first encoder 76 in the upper driver 7 and a second encoder 55 in the lower driver 5; A damping mechanism provided in the transmission mechanism, including a first damping mechanism in the upper driver 7 and a second damping mechanism in the lower driver 5; A clutch assembly provided in the transmission mechanism, including an upward clutch combination 732 and a downward clutch combination 731 connected in parallel in the upper driver 7, and a third clutch 53 in the lower driver 5.

[0060] In this embodiment, both ends of the clutch combination 73 are always connected to the first crawling end transmission mechanism 74 and the first motor end transmission mechanism 72. Both ends of the third clutch 53 are connected to the second crawling end transmission mechanism 54 and the second motor end transmission mechanism 52. Since the movement of the upper driver 7 on the cable is always in an active control state, the clutch combination 73 is always connected between the first crawling mechanism 75 and the first motor 71. When the upper driver 7 is in a locked state on the cable, the clutch combination 73 is connected between the first crawling mechanism 75 and the first damping mechanism. Since the movement of the lower driver 5 on the cable includes an active control state and a passive control state, the third clutch 53 is only connected between the second crawling mechanism 56 and the second motor 51 when the lower driver 5 is actively controlled to crawl downward. When the lower driver 5 is in a passive control state on the cable, the second crawling mechanism 56 is not connected to the third clutch 53, but is directly connected to the second damping mechanism.

[0061] The transmission mechanism includes a first crawling end transmission mechanism 74 and a second crawling end transmission mechanism 54 connected to the crawling mechanism, and a first motor end transmission mechanism 72 and a second motor end transmission mechanism 52 connected to the motor; The first position detection proximity switch 79 is connected to the first crawling mechanism 75, and the second position detection proximity switch 59 is connected to the second crawling mechanism 56; The first encoder 76 is connected between the first crawling mechanism 75 and the first crawling end transmission mechanism 74, and the second encoder 55 is connected between the second crawling mechanism 56 and the second crawling end transmission mechanism 54; The first crawling end transmission mechanism 74 and the first motor end transmission mechanism 72 are connected by an upward clutch combination 732 or a downward clutch combination 731, and the second crawling end transmission mechanism 54 and the second motor end transmission mechanism 52 are connected by a third clutch 53; The first damping mechanism is connected to the first motor end transmission mechanism 72, and the second damping mechanism is connected to the second crawling end transmission mechanism 54.

[0062] In this embodiment, the first position detection proximity switch 79 is used to detect the position of the first crawling mechanism 75 on the cable, the first encoder 76 is used to measure the specific displacement of the first crawling mechanism 75 climbing up or down along the cable, and the first damping mechanism is used to limit the movement of the first crawling mechanism 75 on the cable. The second position detection proximity switch 59 is used to detect the position of the second crawling mechanism 56 on the cable, the second encoder 55 is used to measure the specific displacement of the second crawling mechanism 56 climbing down along the cable, and the second damping mechanism is used to limit the upward climbing speed of the second crawling mechanism 56 along the cable.

[0063] In this embodiment, when the upper driver 7 is climbing up, regardless of whether the first crawling mechanism 75 is offset up and down, the two series overrunning clutches always transmit the power of the first motor 71 to the first crawling mechanism 75 to keep it moving upward. When the upper driver 7 is climbing down, the overrunning clutches at both ends and the electromagnetic clutch in the middle enable the first crawling mechanism 75 to quickly and flexibly switch the on and off of the power from the first motor 71 when moving up and down along the cable, so that the crawling displacement of the first crawling mechanism 75 can be precisely controlled according to the signal instructions of the first position detection proximity switch 79 and the first encoder 76. When the upper driver 7 is locked on the cable, regardless of whether the first crawling mechanism 75 is offset up and down, the two series overrunning clutches always transmit the resistance of the first damping mechanism to the first crawling mechanism 75 to keep it locked. When the lower driver 5 is climbing down, the overrunning clutch realizes the one-way power transmission of the second motor 51 to the second crawling mechanism 56 for downward movement through the mechanical one-way locking function, saving the energy consumption of the lower driver 5.

[0064] In this embodiment, the down-clutch assembly 731 combines the one-way transmission function of an overrunning clutch and the sensitive on-off control function of an electromagnetic clutch, enabling the upper driver 7 to achieve the combination of mechanical two-way anti-reversal and controllable electric control switch on-off during the downward movement, enhancing the flexibility of operation, protecting the upper driver 7 from the influence of wind force and always maintaining the moving direction during the downward movement; enabling the down-clutch assembly 731 to dynamically change its overrunning direction at any time by current during the downward crawling process to accurately adapt to and control the movement of the upper driver 7 along the cable, and avoiding interference from the moving speed of the umbrella body and the movement of the lower driver 5 on the downward movement of the upper driver 7.

[0065] In this embodiment, by the combined use of the first damping mechanism and the up-clutch assembly 732, the solution of cable wear caused by the anti-slip locking structure between the traditional upper driver and the cable is replaced. The two overrunning clutches connected in series in the up-clutch assembly 732 can break through the functional limitations of a single one-way clutch and achieve the anti-downward-sliding effect of the upper driver 7 on the cable. The two overrunning clutches connected in series in the up-clutch assembly can prevent reversals in different directions respectively, enhancing the reliability of two-way locking, without the need for power control and with strong environmental adaptability. At the same time, when under impact load, the two overrunning clutches share the stress together, reducing the wear rate of a single overrunning clutch and extending the overall service life.

[0066] In this embodiment, the use of the third clutch 53 saves energy for the operation of the lower driver 5, enabling the lower driver 5 to connect the third clutch 53 only during the downward crawling process. The third clutch 53 is an overrunning clutch, achieving rapid switching of mechanical transmission without waiting for feedback data or complex program control for the on-off of the third clutch 53.

[0067] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the technical solutions of the present invention, rather than limitations on the specific implementation manners of the present invention. Any modifications, equivalent replacements, and improvements made within the spirit and principle of the claims of the present invention shall be included within the protection scope of the claims of the present invention.

Claims

1. A dual-drive control method for a high-altitude wind energy parachute, characterized in that: include: Cables; The parachute body at the top center is connected to the cable; An upper driver and a lower driver which are sleeved on the cable and can move back and forth on the cable; The cyclic opening and closing of the parachute is controlled by the upper and lower drives crawling along the cables.

2. A dual-drive control method for a high-altitude wind energy parachute according to claim 1, characterized in that: Each drive includes: A crawling mechanism for driving the driver to crawl on the cable, comprising a first crawling mechanism in the upper driver and a second crawling mechanism in the lower driver; a motor for providing power, including a first motor in the upper drive and a second motor in the lower drive; A damping mechanism for providing resistance, including a first damping mechanism in the upper driver and a second damping mechanism in the lower driver; a transmission mechanism for transmitting motor power or damping resistance to the crawling mechanism, including a first transmission mechanism in the upper driver and a second transmission mechanism in the lower driver; A position detection proximity switch for determining whether the crawling mechanism continues to move on the cable, including a first position detection proximity switch in the upper drive and a second position detection proximity switch in the lower drive; An encoder for determining the precise moving distance of the crawling mechanism on the cable, comprising a first encoder in the upper drive and a second encoder in the lower drive; When the lower driver is driven by the parachute body to passively ascend along the cable, the second damping mechanism limits the passive ascending speed; When the lower drive actively moves downward along the cable, the second motor transmits power to the second crawling mechanism via the second transmission mechanism, driving the lower drive to actively move downward along the cable; When the upper driver actively moves upward or downward along the cable, the first motor transmits power to the first crawling mechanism via the first transmission mechanism, driving the upper driver to actively move upward or downward along the cable.

3. A dual-drive control method for a high-altitude wind energy parachute according to claim 2, characterized in that: The transmission mechanism includes a clutch assembly, including an upward clutch combination, a downward clutch combination and a third clutch in the lower drive in parallel. The upward clutch combination is used for power switching for the first crawling mechanism to actively move upward along the cable, and the downward clutch combination is used for power switching for the first crawling mechanism to actively move downward along the cable; the third clutch is used for power switching for the second crawling mechanism to actively move downward along the cable.

4. A dual-drive control method for a high-altitude wind energy parachute according to claim 3, characterized in that: The cable is provided with an origin position and a set position, the origin position is provided between the upper drive and the lower drive, and the set position is provided above the origin position; A locking assembly disposed on the cable below the lower drive, for locking or unlocking with the lower drive; The specific control steps of the upper driver include: A1) Climbing mode: A1S1. When the parachute is in the closed state, the lower drive is locked with the locking assembly, and the upper drive is at the origin; during the process of the parachute changing from closed to open; the first motor drives the first crawling mechanism to start upward through the upward clutch combination; A1S2. When the umbrella body is in the open state, the lower drive is locked with the locking assembly, and the upper drive is located near the set position; in the process of the umbrella body changing from open to closed, the lower drive is unlocked and driven upward by the umbrella body, and the second crawling mechanism transmits force to the second damping mechanism through the transmission mechanism, and the second damping mechanism decelerates the lower drive, and the distance between the current position and the set position is recorded by the first encoder, and the travel distance of the lower drive is recorded by the second encoder to obtain the stroke difference between the upper drive and the lower drive. When the stroke difference between the lower drive and the upper drive reaches a critical value, the first motor switches to the downward clutch combination to drive the first crawling mechanism downward, and the second motor drives the second crawling mechanism downward through the third clutch; B1) Crawl down mode: B1S1. The first position detection proximity switch senses that the first crawling mechanism stops moving when it descends to the origin position, and then switches to the upward clutch combination through the downward clutch combination to start the first damping mechanism. The first damping mechanism positions the first crawling mechanism at the origin position, and the umbrella body is in a fully closed state.

5. The dual-drive device for a high-altitude wind energy parachute according to claim 3, characterized in that: The cable is provided with an origin position and a set position, the origin position is provided between the upper drive and the lower drive, and the set position is provided above the origin position; A locking assembly disposed on the cable below the lower drive, for locking or unlocking with the lower drive; The specific control steps of the lower driver include: A2) Climbing mode: A2S1. When the parachute is in the open state, the lower drive is locked with the locking assembly, and the upper drive is located near the set position; the lower drive is unlocked and driven upward by the parachute, and the parachute changes from the open state to the closed state, and the lower drive limits the passive upward speed of the second crawling mechanism by activating the second damping mechanism; B2) Crawl down mode: B2S1. The distance between the current position and the set position is recorded by the first encoder, and the travel distance of the lower drive is recorded by the second encoder to obtain the stroke difference between the upper drive and the lower drive. When the stroke difference between the upper drive and the lower drive controlled by the first encoder and the second encoder reaches a critical value, the second motor drives the second crawling mechanism downward through the third clutch; B2S2. The second position detection proximity switch senses that the second crawling mechanism stops moving when it moves downward to the locking assembly, the lower drive is locked with the locking assembly, and the umbrella body is in a fully closed state.

6. A dual-drive control method for a high-altitude wind energy parachute according to claim 4, characterized in that: A1S1 specifically includes: A1S11. The first encoder starts counting until the first encoder counts to the set number of turns, and then sends a feedback signal to the first motor to stop the first motor, and the first transmission mechanism stops transmitting power to the first crawling mechanism, and the first crawling mechanism is positioned at the set position on the cable; A1S12. The first motor starts the first damping mechanism through the upward clutch combination, and the first damping mechanism positions the first crawling mechanism at the origin position; A1S2 specifically includes: A1S21. After the lower drive is unlocked, the first encoder starts to count the moving distance d1 of the upper drive after it leaves the set position, and the second encoder starts to count the moving distance d2 of the lower drive after it leaves the locking assembly. The radius of the umbrella body is R, and the stroke difference between the lower drive and the upper drive is D=d2-d1. If D>0.8R, and / or the rotation speed of the second encoder is 0, the upward movement of the upper drive starts to reverse.

7. A dual-drive control method for a high-altitude wind energy parachute according to claim 4, characterized in that: B1S1 specifically includes: B1S11. The first position detection proximity switch senses that the first crawling mechanism has descended to the origin position, the first encoder count is reset, and a feedback signal is sent to the first motor and the first damping mechanism, the first motor stops running, and the first transmission mechanism stops transmitting power to the first crawling mechanism; the first damping mechanism starts, and the first transmission mechanism transmits resistance to the first crawling mechanism to keep the first crawling mechanism positioned near the origin position.

8. The dual-drive control method for a high-altitude wind energy parachute according to claim 5, characterized in that: B2S2 specifically includes: B2S21. The second position detection proximity switch senses that the second crawling mechanism moves downward to the locking assembly, the second encoder counts to zero, and sends a feedback signal to the second motor, the second motor stops running, the second transmission mechanism stops transmitting power to the second crawling mechanism, and the second crawling mechanism is locked to the locking assembly.

9. A dual-drive device for a high-altitude wind energy parachute, according to a dual-drive control method for a high-altitude wind energy parachute according to any one of claims 3 to 8, characterized in that: include: Cables; The parachute body at the top center is connected to the cable; An upper driver and a lower driver which are sleeved on the cable and can move back and forth on the cable; Each drive includes: A crawling mechanism for driving the driver to crawl on the cable, comprising a first crawling mechanism in the upper driver and a second crawling mechanism in the lower driver; a motor for providing power, including a first motor in the upper drive and a second motor in the lower drive; A position detection proximity switch connected to the crawling mechanism, including a first position detection proximity switch in the upper drive and a second position detection proximity switch in the lower drive; A transmission mechanism connected between the crawling mechanism and the motor, including a first transmission mechanism in the upper driver and a second transmission mechanism in the lower driver; An encoder connected between the crawling mechanism and the transmission mechanism, including a first encoder in the upper driver and a second encoder in the lower driver; The damping mechanism disposed in the transmission mechanism includes a first damping mechanism in the upper driver and a second damping mechanism in the lower driver; The clutch assembly arranged in the transmission mechanism comprises an upward clutch assembly and a downward clutch assembly connected in parallel in the upper driver, and a third clutch in the lower driver.

10. A dual-drive device for a high-altitude wind energy parachute according to claim 9, characterized in that: The transmission mechanism comprises a first crawling end transmission mechanism and a second crawling end transmission mechanism connected to the crawling mechanism, and a first motor end transmission mechanism and a second motor end transmission mechanism connected to the motor; The first position detection proximity switch is connected to the first crawling mechanism, and the second position detection proximity switch is connected to the second crawling mechanism; The first encoder is connected between the first crawling mechanism and the first crawling end transmission mechanism, and the second encoder is connected between the second crawling mechanism and the second crawling end transmission mechanism; The first crawler end transmission mechanism is connected to the first motor end transmission mechanism via an upward clutch combination or a downward clutch combination, and the second crawler end transmission mechanism is connected to the second motor end transmission mechanism via a third clutch; The first damping mechanism is connected to the first motor end transmission mechanism, and the second damping mechanism is connected to the second crawling end transmission mechanism.

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