A dual-drive method and device for high-altitude wind energy parachute

Abstract

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 parachute, comprising: a cable; a parachute; an upper drive and a lower drive; controlling the cyclic opening and closing of the parachute by the upper drive and the lower drive creeping along the cable; and the dual-drive control method for a high-altitude wind energy parachute, which is used to solve the problems of high energy consumption of the drive, easy burning of the motor when the drive is passively pushed, complex power switching control procedures in the drive and feedback delay; and serious wear of the cable when the drive and the cable are locked; achieving the effect of a control method in which the upper drive and the lower drive are quickly and simply mechanically automatically switched to different states on the cable, reducing the complex program waiting for data feedback; achieving the effect of isolating speed and protecting the motor by a clutch component; reducing the energy consumption of the upper drive by connecting with the clutch component under different working modes in the upper drive; and protecting the cable from wear.

Description

Technical Field

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

[0002] High-altitude wind energy (generally referring to airspace above 300 meters above the ground) is considered a key area for next-generation renewable energy development due to its advantages of stable wind speeds and high energy density. As the core vehicle for capturing high-altitude wind energy (such as paraglider-type high-altitude power generation systems), the opening and closing control of the parachute structure directly determines the system's energy conversion efficiency and operational stability. Traditional parachutes often use single-drive control, but in complex high-altitude turbulence and sudden wind direction changes, they suffer from response lag and insufficient motion precision, leading to high parachute damage rates.

[0003] Chinese invention patent application number 201611246832.7 discloses a dual-drive umbrella-type wind energy conversion device and its opening and closing method. This method has the following problems: first, when the umbrella pushes the upper drive upward, it is easy to impact the motor in the upper drive, causing it to burn out; second, when the upper drive moves downward, it pushes the lower drive downward, which causes the upper drive to move a large distance and increases the energy consumption of the upper drive; third, the speed of opening and closing the umbrella is very fast, and the speed of the umbrella needs to be quickly detected before controlling the movement of the upper and lower drives. This makes the control procedures of the upper and lower drives complicated, and there is a delay in feedback. It can also cause the lower drive and the upper drive to collide, shortening the service life of the dual drives; in addition, to prevent the upper drive from sliding down, a locking mechanism is used to lock the upper drive and the cable. However, over long-term use, the cable wears very seriously, resulting in a significant reduction in the service life of the cable, which is not conducive to reducing the cost of use.

[0004] The above-mentioned drive consumes a lot of energy, and the motor is easily burned out when the drive is passively pushed. The power switching control program in the drive is complex and has feedback delays. The cable is severely worn when the drive and the cable are locked. How to improve the control method and device 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 provide a dual-drive control method and device for a high-altitude wind energy parachute, which is used to solve the problems of high energy consumption of the driver, easy burning of the motor when the driver is passively pushed, complex power switching control procedures in the driver and feedback delay; and serious wear of the cable when the driver and the cable are locked.

[0006] The technical solution adopted by the present invention is to provide a dual-drive control method for a high-altitude wind energy parachute, comprising:

[0007] Cables;

[0008] The parachute body at the top center is connected to the cable;

[0009] An upper driver and a lower driver are sleeved on the cable and can move back and forth on the cable;

[0010] The cyclic opening and closing of the parachute is controlled by the upper and lower drives climbing along the cables.

[0011] The upper and lower drivers work together to enable the parachute to crawl on the cable, thereby controlling the opening and closing state of the parachute, avoiding excessive mechanical load on a single driver, resulting in high power consumption and shutdown for charging, which affects the opening and closing time of the parachute at high altitudes. At the same time, excessive load on a single driver will also limit the length of the cable and the size of the parachute, which is not conducive to improving the wind energy conversion efficiency of the parachute.

[0012] Furthermore, each driver includes:

[0013] 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;

[0014] a motor for providing power, comprising a first motor in the upper drive and a second motor in the lower drive;

[0015] 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;

[0016] A position detection proximity switch for determining whether the crawling mechanism continues to move on the cable, comprising a first position detection proximity switch in the upper drive and a second position detection proximity switch in the lower drive;

[0017] An encoder for determining the precise movement distance of the crawling mechanism on the cable, comprising a first encoder in the upper drive and a second encoder in the lower drive;

[0018] 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;

[0019] When the lower drive actively descends along the cable, the second motor transmits power to the second crawling mechanism via the second transmission mechanism, driving the lower drive to actively descend along the cable;

[0020] 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.

[0021] With upper and lower actuators located at either end of the parachute, the opening and closing of the parachute can be controlled by controlling the actuator's displacement on the cable. Power is output by the motor and transmitted to the crawling mechanism via a transmission mechanism, which then crawls along the cable. A position detection proximity switch and encoder determine the crawling mechanism's specific crawling position without detecting the parachute's opening speed. A second position detection proximity switch detects the locking position. During parachute opening, a clutch assembly in the upper actuator isolates the parachute from pushing against the upper actuator at excessive speeds, potentially causing motor burnout. During parachute closing, a third clutch in the lower actuator isolates the parachute from pushing against the lower actuator at excessive speeds, potentially causing motor burnout. A second damping mechanism in the lower actuator prevents collisions between the lower actuator and the upper actuator, which could shorten their service life. The damping mechanism in the upper actuator locks the upper actuator against the cable, protecting the cable from wear caused by the locking mechanism when it sways at high altitudes, thereby extending the cable's service life.

[0022] Furthermore, 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.

[0023] By combining two clutches in parallel, rapid switching of two paths in a parallel path is achieved, reducing the delay of waiting for the feedback signal when the upper drive switches between the upward action and the downward action, simplifying the structural connection in the upper drive, and reducing the energy consumption of the upper drive by its own weight; by connecting the upper drive with different clutch combinations in different working modes, the power consumption of the upper drive during operation is reduced, allowing it to maintain a longer-lasting working state.

[0024] Furthermore, the cable is provided with an origin position and a set position, the origin position being between the upper drive and the lower drive, and the set position being above the origin position; a locking assembly provided on the cable below the lower drive is used to lock or unlock the lower drive; and the specific control steps of the upper drive include:

[0025] A1) Climbing mode:

[0026] A1S1. When the parachute is closed, the lower drive and the locking assembly are locked, 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 through the upward clutch combination to start the upward movement.

[0027] A1S2. When the parachute is open, the lower actuator is locked with the locking assembly, and the upper actuator is in the set position. During the transition from open to closed, the lower actuator is unlocked and driven upward by the parachute. The second crawling mechanism transmits force to the second damping mechanism via the transmission mechanism, which decelerates the lower actuator. The first encoder records the distance between the current position and the set position, and the second encoder records the distance traveled by the lower actuator to determine the travel difference between the upper and lower actuators. When the travel difference between the lower and upper actuators reaches a critical value, the first motor switches to the downward clutch assembly to drive the first crawling mechanism downward. The second motor then drives the second crawling mechanism downward via the third clutch.

[0028] B1) Crawl down mode:

[0029] 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.

[0030] By ensuring that the downward speed of the upper drive is greater than or equal to the downward speed of the lower drive, the parachute is prevented from being drawn into the drive when the parachute is folded; by means of different working modes of the upper drive, it is possible to flexibly adapt to different states of the parachute on the cable, and by controlling the upper drive arranged at the upper end of the parachute, the parachute can stably perform work and generate electrical energy at high altitudes; by switching between different connection paths of the clutch combination and the first motor, the upper drive can stably control the movement of the parachute in different directions on the cable; and by means of the connection path of the clutch combination and the first damping mechanism, the upper drive can be locked on the cable.

[0031] Furthermore, the cable is provided with an origin position and a set position, the origin position being between the upper drive and the lower drive, and the set position being above the origin position; a locking assembly provided on the cable below the lower drive, for locking or unlocking the lower drive;

[0032] The specific control steps of the lower driver include:

[0033] A2) Climbing mode:

[0034] A2S1. When the parachute is in the open state, the lower actuator is locked with the locking assembly, and the upper actuator is near the set position. The lower actuator is unlocked and driven upward by the parachute, transitioning from the open state to the closed state. The lower actuator activates the second damping mechanism to limit the passive upward speed of the second crawling mechanism.

[0035] B2) Crawl down mode:

[0036] B2S1. The first encoder records the distance between the current position and the set position, and the second encoder records the travel distance of the lower actuator. This determines the stroke difference between the upper and lower actuators. When the stroke difference between the upper and lower actuators reaches a critical value, the second motor drives the second crawler mechanism downward via the third clutch.

[0037] B2S2. The second position detection proximity switch senses that the second crawling mechanism stops moving when it descends to the locking assembly, the lower drive is locked with the locking assembly, and the umbrella body is in a fully closed state.

[0038] Through different working modes of the lower drive, it can 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 and generate electrical energy at high altitude; the third clutch is used to isolate the speed and protect the motor, and the connection path between the crawling mechanism and the second damping mechanism is used to reduce the speed of the lower drive on the cable; through the connection between the third clutch and the second motor, the lower drive is stably moved downward on the cable.

[0039] Furthermore, A1S1 specifically includes:

[0040] A1S11. The first encoder starts counting until it reaches the set number of turns. A feedback signal is sent to the first motor, causing the first motor to stop running. 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.

[0041] 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;

[0042] A1S2 specifically includes:

[0043] A1S21. After the lower actuator is unlocked, the first encoder begins counting the distance d1 that the upper actuator moves after it leaves the set position, and the second encoder begins counting the distance d2 that the lower actuator moves after it leaves the locking assembly. The radius of the umbrella body is R, and the travel difference between the lower and upper actuators is D = d2 - d1. If D > 0.8R and / or the speed of the second encoder is 0, the upper actuator's upward movement begins to reverse.

[0044] The precise displacement of the first crawling mechanism is controlled by an encoder, the power or resistance of the first crawling mechanism is switched by an upward clutch combination, and the first damping mechanism is used to control the first crawling mechanism from sliding down on the cable; the stroke difference calculated between the first encoder and the second encoder ensures that the upper drive always maintains a distance from the parachute body, preventing the parachute body from being drawn into the upper drive and causing damage to the parachute body.

[0045] Furthermore, B1S1 specifically includes:

[0046] 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, keeping the first crawling mechanism positioned near the origin position.

[0047] The first position detection proximity switch adopts fixed induction for the origin position to provide a zero point reference for the first encoder, ensuring that the first encoder can quickly and accurately calibrate the initial position when position drift may occur during long-term operation or when starting and resetting, thereby avoiding cumulative errors; the first transmission mechanism switches the connection between the first motor and the first damping mechanism to switch the power and resistance for the first crawling mechanism.

[0048] Furthermore, B2S2 specifically includes:

[0049] B2S21. The second position detection proximity switch senses that the second crawling mechanism is moving downward to the locking assembly, the second encoder count is reset to zero, 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 assembly.

[0050] The second position detection proximity switch adopts fixed induction to the position of the locking assembly, providing an absolute position for the second encoder. Through the absolute position of the second encoder, the second transmission mechanism is connected with the second motor to accurately control the effect of the second crawling mechanism crawling down to the locking assembly.

[0051] A dual-drive device for a high-altitude wind energy parachute is also provided. According to the dual-drive control method for a high-altitude wind energy parachute, the method comprises:

[0052] Cables;

[0053] The parachute body at the top center is connected to the cable;

[0054] An upper driver and a lower driver are sleeved on the cable and can move back and forth on the cable;

[0055] Each drive includes:

[0056] 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;

[0057] a motor for providing power, comprising a first motor in the upper drive and a second motor in the lower drive;

[0058] Position detection proximity switches 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;

[0059] 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;

[0060] 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;

[0061] The damping mechanism provided 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 provided in the transmission mechanism includes an upward clutch combination and a downward clutch combination connected in parallel in the upper driver, and a third clutch in the lower driver.

[0062] Power is output through the motor; power is transmitted to the crawling mechanism through the transmission mechanism; the crawling action on the cable is realized by the crawling mechanism; the specific crawling position of the crawling mechanism can be determined through the position detection proximity switch and encoder without detecting the parachute opening speed; the second damping mechanism in the lower drive is used to isolate the parachute body from pushing the lower drive back at an excessive speed, which may cause the motor to burn out, and also prevent the lower drive from colliding with the upper drive, thereby affecting its service life; the upper drive is locked on the cable through the first damping mechanism in the upper drive, thereby protecting the cable from wear of the locking mechanism when swinging in the air, and extending the service life of the cable; the parallel clutch combination in the upper drive is used to enable the first crawling mechanism to quickly switch the clutch combination when going up or down, without the need to control the switching of the clutch combination through feedback data and complex programs; the second crawling mechanism is controlled on and off during the descending process through the third clutch in the lower drive, saving power consumption of the lower drive.

[0063] Furthermore, the transmission mechanism includes 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; 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 and the first motor end transmission mechanism are connected through an upward clutch combination or a downward clutch combination, and the second crawling end transmission mechanism and the second motor end transmission mechanism are connected through a third clutch; a first damping mechanism is connected to the first motor end transmission mechanism, and a second damping mechanism is connected to the second crawling end transmission mechanism.

[0064] By connecting the first damping mechanism with the first motor-end transmission mechanism, the upward clutch combination that controls the on and off of the first crawling mechanism during the upward process does not need to be switched again, and 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, and the mechanical switching connection path enables the first crawling mechanism to reach the set position quickly and stably when ascending; by directly connecting the second damping mechanism with the second crawling-end transmission mechanism, power consumption during startup is avoided, so that the second crawling mechanism is affected by the umbrella body and moves upward along the cable while being subjected to resistance from the second damping mechanism, so that it can move upward stably; the clutch assembly provided in the transmission mechanism realizes the on and off of power or resistance transmission; the multi-stage transmission mechanism formed by the crawling-end transmission mechanism and the motor-end transmission mechanism improves the transmission efficiency.

[0065] Compared with the prior art, the beneficial effects of the present invention are as follows: different working modes are formed by different path connection methods of the upper driver and the lower driver, so that the upper driver and the lower driver can switch to different states quickly and simply on the cable, reducing the control method of the complex program waiting for data feedback, and realizing the effect of mechanical automatic switching; the clutch assembly is used to achieve the effect of isolating speed and protecting the motor; the energy consumption of the upper driver is greatly reduced by connecting with the clutch assembly under different working modes in the upper driver; the damping mechanism in the upper driver protects the upper driver locked on the cable from wear on the cable; the damping mechanism in the lower driver avoids collision between the lower driver and the upper driver during movement, which affects the service life. BRIEF DESCRIPTION OF THE DRAWINGS

[0066] Figure 1 This is a structural connection diagram of the upper driver of the present invention.

[0067] Figure 2 This is a structural connection diagram of the lower driver of the present invention.

[0068] Figure 3FIG. 4 is a connection diagram of the upper driver of the present invention in the upward crawling mode.

[0069] Figure 4 This is a connection diagram of the upper drive of the present invention in the downward crawling mode.

[0070] Figure 5 This is a connection diagram of the upper driver of the present invention in the anti-slip mode.

[0071] Figure 6 FIG. 4 is a connection diagram of the lower driver of the present invention in the upward crawling mode.

[0072] Figure 7 This is a connection diagram of the lower driver of the present invention in the downward crawling mode.

[0073] Figure 8 This is a connection diagram of the preferred clutch combination in the upper drive of the present invention in the upward creeping mode.

[0074] Figure 9 This is a connection diagram of the preferred clutch combination in the upper drive of the present invention in the downward creep mode.

[0075] Figure 10 This is a connection diagram of a preferred clutch combination in the upper drive of the present invention in the anti-slip mode.

[0076] Figure 11 It is a schematic diagram of the assembly structure of the upper driver of the present invention.

[0077] Figure 12 It is a schematic diagram of the assembly structure of the lower driver of the present invention.

[0078] Figure 13 It is a schematic diagram of the assembly structure of the preferred clutch combination in the upper drive of the present invention.

[0079] Description of the accompanying 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 DESCRIPTION

[0080] The accompanying drawings are for illustrative purposes only and are not to be construed as limiting the present invention. To better illustrate the following embodiments, some components in the accompanying drawings may be omitted, enlarged, or reduced in size, and do not represent actual product dimensions. Those skilled in the art will appreciate that some well-known structures and their descriptions may be omitted from the accompanying drawings.

[0081] Example 1

[0082] like Figure 1-13 As shown, the technical solution adopted in this embodiment is to provide a dual-drive control method for a high-altitude wind energy parachute, including:

[0083] Cables;

[0084] The parachute body at the top center is connected to the cable;

[0085] An upper driver 7 and a lower driver 5 are sleeved on the cable and can move back and forth on the cable;

[0086] The cyclic opening and closing of the parachute is controlled by the upper drive 7 and the lower drive 5 climbing along the cable.

[0087] In this embodiment, the umbrella body comprises lines and fabric, with cables threaded through the center of the fabric. When the umbrella body is open, the lines connected to the edges of the fabric are tightened, while when the umbrella body is folded, the lines connected to the edges of the fabric are relaxed. An upper actuator 7 is located on the upper side of the umbrella body, while a lower actuator 5 is located on the lower side. These actuators drive the umbrella body up and down along the cables. The fabric is connected to the upper actuator 7, and the lines are connected to the lower actuator 5. The opening and closing of the umbrella body is controlled by controlling the displacement of the upper and lower actuators 7 and 5.

[0088] Each drive includes:

[0089] A crawling mechanism for driving the driver to crawl on the cable, comprising a first crawling mechanism 75 in the upper driver 7 and a second crawling mechanism 56 in the lower driver 5;

[0090] Motors for providing power, including a first motor 71 in the upper driver 7 and a second motor 51 in the lower driver 5;

[0091] a damping mechanism for providing resistance, comprising a first damping mechanism in the upper driver 7 and a second damping mechanism in the lower driver 5;

[0092] A transmission mechanism for transmitting motor power or 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;

[0093] Position detection proximity switches 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;

[0094] An encoder for determining the precise movement 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;

[0095] When the lower driver 5 is driven by the parachute body to passively ascend along the cable, the second damping mechanism limits the passive ascending speed;

[0096] When the lower driver 5 actively descends 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 actively descend along the cable;

[0097] When the upper driver 7 actively moves upward or downward 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 actively move upward or downward along the cable.

[0098] In this embodiment, the transmission mechanism includes two, a crawling end transmission mechanism and 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 can achieve accuracy, reliability and adaptability of power transmission.

[0099] In this embodiment, when the lower drive 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 the power is output to the second crawling end transmission mechanism 54 through the second motor end transmission mechanism 52. A third clutch 53 is also provided between the second motor end transmission mechanism 52 and the second crawling end transmission mechanism 54, which is used to dynamically cut off or connect the power flow between the two stages of transmission. The power is then transmitted to the second crawling mechanism 56 by the second crawling end transmission mechanism 54, so that the second crawling mechanism 56 moves downward stably. When the lower drive 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 wind blows the lower drive 5 upward. At this time, the second damping mechanism is started and outputs resistance to the crawling end transmission mechanism, which is then transmitted to the second crawling mechanism 56 by the crawling end transmission mechanism, so that the second crawling mechanism 56 moves upward stably.

[0100] In this embodiment, when the upper drive 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 the power is output to the first crawling end transmission mechanism 74 through the first motor end transmission mechanism 72. A clutch combination 73 is also provided between the first motor end transmission mechanism 72 and the first crawling end transmission mechanism 74, which is used to dynamically cut off or connect the power flow between the two levels of transmission, and then transmitted to the first crawling mechanism 75 by the first crawling end transmission mechanism 74, so that the first crawling mechanism 75 moves downward (or upward) stably.

[0101] The transmission mechanism includes a clutch assembly, including an upward clutch combination 732 and a downward clutch combination 731 in parallel in the upper drive 7 and a third clutch 53 in the lower drive 5. The upward clutch combination 732 is used to turn on and off the power of the first crawling mechanism 75 when it actively moves upward along the cable, and the downward clutch combination 731 is used to turn on and off the power of the first crawling mechanism 75 when it actively moves downward along the cable; the third clutch 53 is used to turn on and off the power of the second crawling mechanism 56 when it actively moves downward along the cable.

[0102] In this embodiment, when the clutch assembly switches to the downward clutch assembly 731 in the upper actuator 7, the upper actuator 7 is in a downward crawling state. When the clutch assembly switches to the upward clutch assembly 732, the upper actuator 7 is in an upward crawling state or stops at a set position. In the lower actuator 5, the third clutch 53 is an overrunning clutch. When the third clutch 53 is connected, the lower actuator 5 is in a downward crawling state. When the third clutch 53 is disconnected, the lower actuator 5 is in a passive upward state.

[0103] The cable is provided with an origin position and a set position, the origin position being between the upper driver 7 and the lower driver 5, and the set position being above the origin position; a locking assembly provided on the cable below the lower driver 5 for locking or unlocking the lower driver 5;

[0104] The specific control steps of the upper driver 7 include:

[0105] A1) Climbing mode:

[0106] A1S1. When the umbrella is in the closed state, the lower drive 5 is locked with the locking assembly, and the upper drive 7 is located at the origin; during the process of the umbrella changing from closed to open; the first motor 71 drives the first crawling mechanism 75 to start up through the up clutch combination 732;

[0107] A1S2. When the umbrella is in the open state, the lower actuator 5 is locked with the locking assembly, and the upper actuator 7 is located near the set position. During the process of the umbrella changing from open to closed, the lower actuator 5 is unlocked and driven upward by the umbrella. The second crawling mechanism transmits force to the second damping mechanism via the transmission mechanism. The second damping mechanism decelerates the lower actuator. The first encoder 76 records the distance between the current position and the set position, and the second encoder 55 records the travel distance of the lower actuator. The travel difference between the upper actuator 7 and the lower actuator 5 is obtained. When the travel difference between the lower actuator 5 and the upper actuator 7 reaches a critical value, the first motor 71 switches to the downward clutch assembly 731 to drive the first crawling mechanism 75 downward. The second motor 51 then drives the second crawling mechanism 56 downward via the third clutch 53.

[0108] B1) Crawl down mode:

[0109] B1S1. The first position detection proximity switch 79 senses that the first crawling mechanism 75 stops moving when it descends to the origin position, and then switches from the downward clutch combination 731 to the upward clutch combination 732 to activate the first damping mechanism. The first damping mechanism positions the first crawling mechanism 75 at the origin position, and the umbrella body is in a fully closed state.

[0110] The cable is provided with an origin position and a set position, the origin position being between the upper driver 7 and the lower driver 5, and the set position being above the origin position; a locking assembly provided on the cable below the lower driver 5 for locking or unlocking the lower driver 5;

[0111] The specific control steps of the lower driver 5 include:

[0112] A2) Climbing mode:

[0113] A2S1. When the umbrella is in the open state, the lower driver 5 is locked with the locking assembly, and the upper driver 7 is located near the set position; the lower driver 5 is unlocked and driven upward by the umbrella. When the umbrella changes from the open state to the closed state, the lower driver 5 limits the passive upward speed of the second crawling mechanism 56 by activating the second damping mechanism;

[0114] B2) Crawl down mode:

[0115] B2S1. The first encoder records the distance between the current position and the set position, and the second encoder records the travel distance of the lower drive to obtain the stroke difference between the upper drive and the lower drive. The first encoder 76 and the second encoder 55 control the stroke difference between the upper drive 7 and the lower drive 5. When the stroke difference reaches the critical value, the second motor 51 drives the second crawling mechanism 56 downward through the third clutch 53;

[0116] B2S2. When the second position detection proximity switch 59 senses that the second crawling mechanism 56 has moved downward to the locking assembly, the second crawling mechanism 56 stops moving, and the third clutch 53 locks the lower drive 5 with the locking assembly, and the umbrella body is in a fully closed state.

[0117] A1S1 specifically includes:

[0118] A1S11. The first encoder 76 begins counting. After the first encoder 76 reaches the set number of revolutions, it sends a feedback signal to the first motor 71, causing the first motor 71 to stop operating. 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.

[0119] 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;

[0120] A1S2 specifically includes:

[0121] A1S21. After the lower actuator 5 is unlocked, the first encoder 76 begins counting the distance d1 moved by the upper actuator 7 after it leaves the set position, and the second encoder 55 begins counting the distance d2 moved by the lower actuator 5 after it leaves the locking assembly. The radius of the umbrella body is R, and the stroke difference between the lower actuator 5 and the upper actuator 7 is D = d2 - d1. If D > 0.8R, and / or the rotation speed of the second encoder 55 is 0, the upward movement of the upper actuator 7 begins to reverse.

[0122] In this embodiment, the range of the stroke difference D and the parachute radius R is 0.8-1.8. In this embodiment, D=R or D=1.5R.

[0123] B1S1 specifically includes:

[0124] B1S11. The first position detection proximity switch 79 senses that the first crawling mechanism 75 has descended to the origin position, the first encoder 76 counts to zero, 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, keeping the first crawling mechanism 75 positioned near the origin position.

[0125] B2S2 specifically includes:

[0126] B2S21. The second position detection proximity switch 59 senses that the second crawling mechanism 56 moves downward to the locking assembly, the second encoder 55 counts to zero, and sends a feedback signal to the second motor 51. The second motor 51 stops running, the second transmission mechanism stops transmitting power to the second crawling mechanism 56, and the second crawling mechanism 56 is locked in the locking assembly.

[0127] In this embodiment, the transmission mechanism connected to the crawler mechanism is a crawler-end transmission mechanism, and the transmission mechanism connected to the motor is a motor-end transmission mechanism. During the upward movement, the clutch assembly in the upper driver 7 connects to the upward clutch assembly 732, and the first motor 71 transmits power to the first crawler-end transmission mechanism 74 via the first motor-end transmission mechanism 72. The upward clutch assembly 732 controls the on-off power between the two. During the downward movement, the clutch assembly in the upper driver 7 connects to the downward clutch assembly 731, and the first motor 71 transmits power to the first crawler-end transmission mechanism 74 via the first motor-end transmission mechanism 72. The downward clutch assembly 731 controls the on-off power between the two. During the upward movement to the set position to prevent downward movement, the clutch assembly in the upper driver 7 connects to the upward clutch assembly 732, and the first damping mechanism transmits resistance to the first crawler-end transmission mechanism 74 via the first motor-end transmission mechanism 72. The upward clutch assembly 732 controls the on-off resistance between the two. During the upward movement, the lower drive 5 is not connected to the clutch assembly but directly to the second damping mechanism, which transmits resistance to the second crawler-end transmission mechanism 54. During the downward movement, the clutch assembly in the lower drive 5 is the third clutch 53, and the second motor 51 transmits power to the second crawler-end transmission mechanism 54 via the second motor-end transmission mechanism 52. The third clutch 53 controls the power flow between the two.

[0128] In this embodiment, the first damping mechanism includes a first clutch 77 and a first damper 78. 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. The second clutch 57 is connected between the second damper 58 and the second crawler-end transmission mechanism 54.

[0129] In this embodiment, the down clutch assembly 731 includes two overrunning clutches connected in series and an electromagnetic clutch, wherein the electromagnetic clutch is connected between the two overrunning clutches. The up clutch assembly 732 includes two overrunning clutches connected in series.

[0130] Example 2

[0131] like Figure 1-13 As shown, this embodiment adopts a dual-drive device for a high-altitude wind energy parachute. According to the dual-drive control method for a high-altitude wind energy parachute, the method includes:

[0132] Cables;

[0133] The parachute body at the top center is connected to the cable;

[0134] An upper driver 7 and a lower driver 5 are sleeved on the cable and can move back and forth on the cable;

[0135] Each drive includes:

[0136] A crawling mechanism for driving the driver to crawl on the cable, comprising a first crawling mechanism 75 in the upper driver 7 and a second crawling mechanism 56 in the lower driver 5;

[0137] Motors for providing power, including a first motor 71 in the upper driver 7 and a second motor 51 in the lower driver 5; position detection proximity switches 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;

[0138] The transmission mechanism connected between the crawling mechanism and the motor includes a first transmission mechanism in the upper driver 7 and a second transmission mechanism in the lower driver 5;

[0139] The encoders connected between the crawling mechanism and the transmission mechanism include the first encoder 76 in the upper driver 7 and the second encoder 55 in the lower driver 5;

[0140] The damping mechanism provided in the transmission mechanism includes a first damping mechanism in the upper driver 7 and a second damping mechanism in the lower driver 5;

[0141] The clutch assembly provided in the transmission mechanism includes an upward clutch assembly 732 and a downward clutch assembly 731 connected in parallel in the upper driver 7 , and a third clutch 53 in the lower driver 5 .

[0142] In this embodiment, both ends of the clutch assembly 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 always connected to the second crawling-end transmission mechanism 54 and the second motor-end transmission mechanism 52. Because the upper actuator 7 is always under active control when moving on the cable, the clutch assembly 73 is always connected between the first crawling mechanism 75 and the first motor 71. When the upper actuator 7 is locked on the cable, the clutch assembly 73 is connected between the first crawling mechanism 75 and the first damping mechanism. Because the lower actuator 5 can move on the cable in both active and passive control states, the third clutch 53 is only connected between the second crawling mechanism 56 and the second motor 51 when the lower actuator 5 is actively controlled while crawling downward. When the lower actuator 5 is under passive control 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.

[0143] 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;

[0144] 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;

[0145] 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;

[0146] The first crawler-end transmission mechanism 74 is connected to the first motor-end transmission mechanism 72 via an upward clutch combination 732 or a downward clutch combination 731 , and the second crawler-end transmission mechanism 54 is connected to the second motor-end transmission mechanism 52 via a third clutch 53 ;

[0147] 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 .

[0148] 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 as it crawls up or down 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 as it crawls down the cable, and the second damping mechanism is used to limit the movement speed of the second crawling mechanism 56 as it crawls up the cable.

[0149] In this embodiment, when the upper driver 7 is climbing upward, regardless of whether the first crawling mechanism 75 deflects vertically, the two series-connected overrunning clutches continuously transmit power from the first motor 71 to the first crawling mechanism 75, maintaining its upward momentum. When the upper driver 7 is descending, the overrunning clutches at both ends and the electromagnetic clutch in the middle enable the first crawling mechanism 75 to move up and down along the cable, quickly and flexibly switching power from the first motor 71 on and off. This allows the crawling displacement of the first crawling mechanism 75 to be precisely controlled based on the signals from the first position detection proximity switch 79 and the first encoder 76. When the upper driver 7 is locked to the cable, regardless of whether the first crawling mechanism 75 deflects vertically, the two series-connected overrunning clutches continuously transmit the resistance of the first damping mechanism to the first crawling mechanism 75, maintaining its lock. When the lower driver 5 is descending, the overrunning clutches, through their mechanical one-way locking function, ensure that the second motor 51 transmits one-way downward momentum to the second crawling mechanism 56, saving energy for the lower driver 5.

[0150] In this embodiment, the downward clutch combination 731 combines the one-way transmission function of the overrunning clutch and the sensitive on-off control function of the electromagnetic clutch, so that the upper drive 7 can achieve the combined effects of mechanical two-way anti-reversal and controllable electronic switch on-off during the downward process, thereby enhancing the flexibility of control, protecting the upper drive 7 from the influence of wind and always maintaining the moving direction during the downward process; the downward clutch combination 731 can dynamically change its overtaking direction through current at any time during the downward crawling process, so as to accurately adapt to and control the movement of the upper drive 7 along the cable, and avoid the movement speed of the parachute body and the movement of the lower drive 5 interfering with the downward process of the upper drive 7.

[0151] In this embodiment, the coordinated use of the first damping mechanism and the upward clutch assembly 732 replaces the conventional anti-slip locking structure between the upper drive and the cable, which can cause cable wear. The two overrunning clutches connected in series within the upward clutch assembly 732 overcome the functional limitations of a single one-way clutch, effectively preventing the upper drive 7 from sliding down on the cable. The two overrunning clutches connected in series within the upward clutch assembly prevent reverse rotation in different directions, enhancing the reliability of the bidirectional locking mechanism. This eliminates the need for electrical control and offers strong environmental adaptability. Furthermore, under impact loads, the two overrunning clutches share stress, reducing the wear rate of a single overrunning clutch and extending its overall lifespan.

[0152] In this embodiment, the use of the third clutch 53 saves energy for the operation of the lower drive 5, so that the lower drive 5 will only connect to the third clutch 53 during the downward crawling process. The third clutch 53 is an overrunning clutch, which realizes the rapid switching of mechanical transmission without waiting for feedback data or complex programs to control the on and off of the third clutch 53.

[0153] Obviously, the above embodiments of the present invention are merely examples for the purpose of clearly illustrating the technical solutions of the present invention, and are not intended to limit the specific implementation methods of the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the claims of the present invention shall be included within the scope of protection 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 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 climbing along the cables; 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, comprising a first motor in the upper drive and a second motor in the lower drive; a damping mechanism for providing resistance, comprising a first damping mechanism in the upper actuator and a second damping mechanism in the lower actuator; A transmission mechanism for transmitting motor power or damping resistance to the crawling mechanism, comprising 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, comprising 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 movement 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 descends along the cable, the second motor transmits power to the second crawling mechanism via the second transmission mechanism, driving the lower drive to actively descend 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.

2. The dual-drive control method for a high-altitude wind energy parachute according to claim 1, 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 to turn on and off the power of the first crawling mechanism when it actively moves upward along the cable, and the downward clutch combination is used to turn on and off the power of the first crawling mechanism when it actively moves downward along the cable; the third clutch is used to turn on and off the power of the second crawling mechanism when it actively moves downward along the cable.

3. The dual-drive control method for a high-altitude wind energy parachute according to claim 2, 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 provided on the cable below the lower drive, for locking or unlocking the lower drive; The specific control steps of the upper driver include: A1) Climbing mode: A1S1. When the parachute is closed, the lower drive and the locking assembly are locked, 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 through the upward clutch combination to start the upward movement. A1S2. When the parachute is open, the lower actuator is locked with the locking assembly, and the upper actuator is near a set position. During the transition from open to closed, the lower actuator is unlocked and driven upward by the parachute. The second crawling mechanism transmits force to the second damping mechanism via the transmission mechanism, which decelerates the lower actuator. The first encoder records the distance between the current position and the set position, and the second encoder records the distance traveled by the lower actuator. The travel difference between the upper and lower actuators is then determined. When the travel difference between the lower and upper actuators reaches a critical value, the first motor switches to the down clutch assembly, driving the first crawling mechanism downward. The second motor then drives the second crawling mechanism downward via 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.

4. The dual-drive device for a high-altitude wind energy parachute according to claim 2, 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 provided on the cable below the lower drive, for locking or unlocking 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 actuator is locked with the locking assembly, and the upper actuator is near the set position. The lower actuator is unlocked and driven upward by the parachute, transitioning from the open state to the closed state. The lower actuator activates the second damping mechanism to limit the passive upward speed of the second crawling mechanism. B2) Crawl down mode: B2S1. The first encoder records the distance between the current position and the set position, and the second encoder records the travel distance of the lower actuator. This determines the stroke difference between the upper and lower actuators. When the stroke difference between the upper and lower actuators reaches a critical value, the second motor drives the second crawler mechanism downward via the third clutch. B2S2. The second position detection proximity switch senses that the second crawling mechanism stops moving when it descends to the locking assembly, the lower drive is locked with the locking assembly, and the umbrella body is in a fully closed state.

5. The dual-drive control method for a high-altitude wind energy parachute according to claim 3, characterized in that: A1S1 specifically includes: A1S11. The first encoder starts counting until it reaches the set number of turns. A feedback signal is sent to the first motor, causing the first motor to stop running. 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; A1S2 specifically includes: A1S21. After the lower actuator is unlocked, the first encoder begins counting the distance d1 that the upper actuator moves after it leaves the set position, and the second encoder begins counting the distance d2 that the lower actuator moves after it leaves the locking assembly. The radius of the umbrella body is R, and the travel difference between the lower and upper actuators is D = d2 - d1. If D > 0.8R and / or the speed of the second encoder is 0, the upper actuator's upward movement begins to reverse.

6. The dual-drive control method for a high-altitude wind energy parachute according to claim 3, 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, keeping the first crawling mechanism positioned near the origin position.

7. The dual-drive control method for a high-altitude wind energy parachute according to claim 4, characterized in that: B2S2 specifically includes: B2S21. The second position detection proximity switch senses that the second crawling mechanism is moving downward to the locking assembly, the second encoder count is reset to zero, 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 assembly.

8. A dual-drive device for a high-altitude wind energy parachute, a dual-drive control method for a high-altitude wind energy parachute according to any one of claims 2 to 7, characterized in that: include: Cables; The parachute body at the top center is connected to the cable; An upper driver and a lower driver 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, comprising a first motor in the upper drive and a second motor in the lower drive; Position detection proximity switches 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 provided 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 includes an upward clutch assembly and a downward clutch assembly connected in parallel in the upper driver, and a third clutch in the lower driver.

9. The dual-drive device for a high-altitude wind-powered parachute according to claim 8, characterized in that: The transmission mechanism includes 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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