Omnidirectional follow-up guiding device and guiding method for mooring rope of aerostat

Abstract

The invention discloses an omni-directional follow-up guiding device and method for an aerostat mooring rope. The omni-directional follow-up guide device comprises a fixed seat, an omni-directional follow-up mechanism, an anti-disengaging groove mechanism, an automatic reset mechanism and an optional safety locking mechanism. The fixed seat is fixed with the mounting carrier, the omni-directional follow-up mechanism realizes omni-directional rotation of the rotating seat through the rotating seat and the relative rotating assembly, the anti-groove-disengaging mechanism is enclosed by a guide wheel, an upper rope protecting carrier roller and a lower rope protecting carrier roller to form a closed guide channel, the automatic reset mechanism is driven to reset through the gravity of a balancing weight, and the safety locking mechanism can lock the rotation freedom degree of the rotating seat. The guiding method correspondingly comprises the steps of mounting and fixing, omni-directional follow-up guiding, anti-disengagement groove protection, automatic resetting and safe locking. The three-dimensional non-planar deflection of the mooring rope can be dynamically adapted, fixed break points are eliminated, abrasion and stress concentration of the mooring rope are reduced, tripping of the mooring rope is eradicated, automatic reset is achieved, the service life of the mooring rope is prolonged, and safety and adaptability of equipment are improved.

Description

Technical Field

[0001] This application relates to the field of airship tethering equipment technology, specifically to an omnidirectional follow-up guiding device and guiding method for airship tethering cables. Background Technology

[0002] As a flight platform capable of long-term hovering, airships have wide applications in fields such as communication relay, environmental monitoring, and military reconnaissance. During the mooring and holding process, the mooring cable is the core component connecting the airship to the ground carrier. It must not only withstand the buoyancy load of the airship, but also adapt to the dynamic forces caused by the complex wind field at high altitude and the changes in the airship's own attitude.

[0003] However, the swaying of the tethering cable is caused by the coupling effect of changes in the high-altitude wind field and the attitude of the aerostat itself, and its trajectory exhibits three-dimensional, non-planar, and random characteristics. Traditional aerostat tethering cable guidance structures are mainly fixed or simple hinged guide wheels, which have significant shortcomings in dealing with the above-mentioned complex motion: ① Stress concentration and accelerated wear: Traditional guide structures cannot dynamically adapt to the three-dimensional sway of the cable, which will form a fixed fold point at the contact point between the cable and the guide wheel. This leads to stress concentration and accelerated fatigue damage in the steel wires inside the cable, and the outer sheath is quickly cut and worn, which seriously shortens the service life of the cable. ② High risk of cable breakage: The simple articulated guide wheel has a limited swing angle and lacks a reliable anti-breakage structure. When the cable swings at a large angle, it is very easy for the cable to break off from the guide groove, causing a safety hazard. ③ Lack of integrated solutions: In the existing technology, although some guiding devices can achieve biaxial yaw with a limited angle, they do not integrate automatic reset function, resulting in chaotic standby posture and low response sensitivity; at the same time, they lack safety locking mechanisms for transportation and specific working conditions, resulting in insufficient adaptability and safety.

[0004] For example, Chinese patent application publication number CN115743512A discloses a tethered balloon cable guiding device, which achieves biaxial yaw by rotating the lower guide wheel mounting frame around the X-axis and the upper guide wheel bracket around the Z-axis. Although it widens the yaw angle, it is essentially a superposition of two one-dimensional rotations, and the range of motion is a two-dimensional curved surface. It cannot achieve true three-dimensional omnidirectional free rotation without inflection points. In addition, it still has the following shortcomings: no automatic reset mechanism is set, so it cannot return to the initial posture after the external force of the cable yaw disappears; the anti-detachment structure relies only on the clamping effect of the upper small guide wheel, which has limited adaptability; and it lacks a safety locking function, which is not conducive to the transportation of the device and its stable use under specific working conditions.

[0005] Therefore, there is an urgent need in this field for an integrated guide device that combines omnidirectional follow-up, reliable anti-derailment, automatic reset and safety locking functions to solve the technical pain points of traditional guide structures, such as inability to adapt to the complex three-dimensional movement of cables, severe wear, high risk of derailment and poor adaptability. Summary of the Invention

[0006] The purpose of this invention is to overcome the shortcomings of the prior art and provide an omnidirectional follow-up guiding device and guiding method for tethering cables of airships, so as to achieve dynamic adaptation to the three-dimensional complex motion of the tethering cable, eliminate fixed inflection points, prevent cable jump-off, extend the service life of the cable, and improve the adaptability and safety of the device.

[0007] To achieve the above objectives, the present invention adopts the following technical solution: This application provides an omnidirectional servo guide device for an airship tethering cable, comprising: A mounting bracket is used for fixed connection with the mounting carrier; An omnidirectional follower mechanism includes a rotating base and a relative rotation assembly. The rotating base is rotatably connected to the fixed base through the relative rotation assembly to enable the rotating base to rotate omnidirectionally around the fixed base. An anti-derailment mechanism is provided on the rotating seat and includes a guide wheel, an upper rope support roller and a lower rope support roller. The guide wheel has a rope groove adapted to the mooring rope. The upper rope support roller and the lower rope support roller are respectively provided corresponding to the rope inlet end and the rope outlet end of the guide wheel, and together with the rope groove, they form a closed guide channel. An automatic reset mechanism includes a counterweight block, which is connected to the end of the relative rotating component away from the rotating seat, and is used to drive the rotating seat to reset to the initial standby posture after the swaying force of the tethering cable disappears.

[0008] Furthermore, the relative rotation assembly includes a rotating shaft and a bearing. One end of the rotating shaft is fixedly connected to the rotating seat, and the other end is fixedly connected to the counterweight. The bearing is sleeved on the rotating shaft and is fixedly engaged with the fixed seat, so that the rotating seat can rotate around the fixed seat at any angle through the rotating shaft and the bearing.

[0009] Furthermore, the relative rotation component is a slewing bearing, the inner ring of which is fixedly connected to the fixed seat, and the outer ring of which is fixedly connected to the rotating seat. The slewing bearing can simultaneously withstand axial load, radial load, and overturning moment, so as to realize the omnidirectional rotation of the rotating seat around the fixed seat.

[0010] Furthermore, both the upper and lower protective rope rollers are fixed to both sides of the rotating seat by bolts, and the upper protective rope roller corresponds to the rope groove at the rope inlet end of the guide wheel, while the lower protective rope roller corresponds to the rope groove at the rope outlet end of the guide wheel, so that the mooring cable passes through the closed guide channel between the upper protective rope roller and the rope groove, and between the lower protective rope roller and the rope groove, from top to bottom.

[0011] Furthermore, the counterweight achieves reset by generating a restoring torque under its own weight; when the tethering cable swings, causing the rotating seat and the rotating shaft to deflect, the counterweight deviates from the vertical equilibrium position; when the external force of the swing disappears, the weight of the counterweight forms a torque on the rotating shaft pointing towards the initial equilibrium state, driving the rotating shaft and the rotating seat to rotate and reset to the vertical standby posture.

[0012] Furthermore, it also includes a safety locking mechanism, which includes a positioning rod that is detachably engaged with the fixed seat and the rotating seat, for locking the rotational freedom of the rotating seat during transportation or when rotation is not required.

[0013] Furthermore, the positioning rod has an external thread in the middle, and a matching screw hole is provided on the counterweight block connected to one end of the relative rotating assembly. The fixed seat has a matching positioning groove. The positioning rod is screwed into the screw hole and embedded in the positioning groove to lock the rotating seat; the positioning rod is unscrewed to disengage it from the positioning groove to unlock it.

[0014] Furthermore, the fixing seat is fixed to the support arm or platform of the mounting carrier by welding or bolting.

[0015] Furthermore, the inner wall of the rope groove of the guide wheel is provided with a wear-resistant coating, which is a polyurethane coating or a ceramic coating.

[0016] Another aspect of this application provides an omnidirectional follow-up guidance method for an airship tethering cable, employing any of the omnidirectional follow-up guidance devices described above, comprising the following steps: S1: Installation and fixing: Fix the fixing seat to the support arm or platform of the installation carrier by welding or bolting, and pass the mooring cable through the closed guide channel between the upper guard rope roller and the guide wheel rope groove and between the lower guard rope roller and the guide wheel rope groove from top to bottom. S2: Omnidirectional follow-up guidance. When the airship is affected by changes in the high-altitude wind field or its own attitude adjustment, causing the mooring cable to produce a three-dimensional non-planar random sway, the mooring cable applies a swaying force to the guide wheel through the closed guide channel, driving the rotating seat to rotate omnidirectionally around the fixed seat through the relative rotating component, so that the deflection angle of the guide wheel coincides with the sway angle of the mooring cable in real time, eliminating the fixed inflection point in the traditional guide structure. S3: Anti-derailment protection. During the swaying of the mooring cable and the rotation of the rotating seat, the upper and lower protective rope rollers and the rope groove of the guide wheel always form a closed guide channel, which restricts the radial displacement of the mooring cable and prevents it from leaving the rope groove. S4: Automatic reset. When the external force of the sway of the mooring cable disappears, the counterweight generates a restoring torque pointing to the initial equilibrium state through its own weight, driving the rotating seat and guide wheel to rotate synchronously and reset to the initial vertical standby posture. S5: Safety Locking. During device transportation or in operation where rotation is not required, the positioning rod is screwed into the screw hole of the counterweight and embedded in the positioning groove of the fixed seat to lock the rotational freedom of the rotating seat. When it is necessary to restore the follow-up function, the positioning rod is screwed out in the opposite direction to disengage it from the positioning groove and unlock it.

[0017] Compared with the prior art, this application has the following beneficial technical effects: ① Omnidirectional follow-up adaptation, extending cable life: The omnidirectional follow-up mechanism realizes real-time synchronization between the guide wheel and the cable swing angle. Specifically, through the combination of shaft and bearing or slewing bearing, a closed guide channel is formed by the guide wheel and upper / lower protective rope rollers to achieve multi-degree-of-freedom omnidirectional rotation without kinks. It can dynamically adapt to the three-dimensional non-planar random swing of the mooring cable, completely eliminate fixed kinks, and transform the traditional concentrated wear into uniform surface contact wear. This significantly reduces the stress concentration of the steel wires inside the cable and the wear of the outer sheath, greatly extending the service life of the cable. ② Reliable anti-detachment mechanism to eliminate safety hazards: The anti-detachment mechanism forms a closed guide channel by enclosing the guide wheel and the upper and lower protective rope rollers. No matter what angle the cable is at, it can firmly restrain the cable in the rope groove and completely eliminate the cable jumping accident. ③ Automatic reset, improving response sensitivity: The automatic reset mechanism driven by the counterweight ensures that the device always maintains a vertical standby posture when no external force is applied, avoiding standby posture confusion and improving the device's response sensitivity to cable sway. ④ Safety locking, adaptable to multiple working conditions: The safety locking mechanism can lock the rotating seat during transportation or in specific working conditions where rotation is not required, preventing the device from shaking and being damaged; after unlocking, the follow-up function can be quickly restored, significantly improving the adaptability and safety of the device; ⑤ By designing two relative rotating components, namely a rotating shaft and bearing or a slewing bearing, the device can be adapted to small and medium loads and large loads and complex stress scenarios, thus broadening its application range. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the overall structure of the omnidirectional follow-up guide device for the tethering cable of an airship according to an embodiment of this application; Figure 2 for Figure 1 The longitudinal sectional view shows that the omnidirectional following of the guiding device is achieved by a relative rotating assembly composed of a rotating shaft 221 and a bearing 222. Figure 3 This is a schematic diagram of the overall structure of the guide device achieving omnidirectional following through the relative rotation component of the slewing bearing 223, according to another embodiment of this application. Figure 4 A flowchart of an omnidirectional follow-up guidance method for an airship tethering cable provided in another embodiment of this application.

[0019] Figure label: 1. Fixture; 10. Mounting carrier; 2. Omnidirectional follower mechanism; 21. Rotary seat; 22. Relative rotation assembly; 221. Rotating shaft; 222. Bearing; 223. Slewing bearing; 3. Anti-derailment mechanism; 30. Rope groove; 31. Guide wheel; 32. Upper rope guard roller; 33. Lower rope guard roller; 4. Automatic reset mechanism; 40. Counterweight; 5. Safety locking mechanism; 50. Positioning groove; 51. Positioning rod; 6. Secure the cable. Detailed Implementation

[0020] The technical solution of the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be noted that the drawings are for illustrative purposes only and do not constitute a limitation on the scope of protection of the present invention. Parts of the embodiments that do not specify specific technical details can be set according to the conventional technology.

[0021] Example 1 like Figure 1 , Figure 2 As shown, the omnidirectional follow-up guiding device for the tethering cable of an airship disclosed in this embodiment includes a fixed base 1, an omnidirectional follow-up mechanism 2, an anti-derailment mechanism 3, an automatic reset mechanism 4, and a safety locking mechanism 5. Specifically, the fixed base 1 serves as the installation foundation for the entire device and is made of high-strength alloy material. It is fixed to the mounting carrier 10 by welding or bolting. The mounting carrier 10 can be the boom or platform of a ground anchoring vehicle. Welding ensures installation strength and is suitable for heavy-load conditions and scenarios with severe vibration. Bolting facilitates the disassembly, maintenance, and replacement of the device, adapts to the universal requirements of different mounting carriers, and ensures that the device can maintain a stable installation state under complex working conditions, providing reliable support for the subsequent realization of functions such as omnidirectional follow-up and anti-derailment.

[0022] The omnidirectional follow-up mechanism 2 includes a rotating base 21 and a relative rotation component 22. In this embodiment, the relative rotation component 22 adopts a combination structure of a rotating shaft 221 and a bearing 222. One end of the rotating shaft 221 is fixed to the rotating base 21 by a key connection or welding to ensure synchronous rotation. The other end of the rotating shaft 221 is fixedly connected to the counterweight 40 of the automatic reset mechanism 4. The bearing 222 is sleeved on the outer side of the middle of the rotating shaft 221, and the outer ring of the bearing 222 is interference-fitted with the central mounting hole of the fixed base 1. The bearing 222 reduces the rotational frictional resistance between the rotating shaft 221 and the fixed base 1, enabling the rotating base 21 to achieve omnidirectional rotation around the fixed base 1 at any angle without any yaw angle limitation. Compared to traditional fixed or simple articulated guide wheels, this omnidirectional follow-up design can dynamically adapt to the three-dimensional non-planar random swaying of the tethering cable 6 caused by changes in high-altitude wind fields or adjustments in the aerostat's attitude. This ensures that the deflection angle of the guide wheel 31 coincides with the sway angle of the tethering cable 6 in real time, completely eliminating the fixed bends present in traditional guide structures. This fundamentally solves the technical problems of stress concentration, fatigue damage, and accelerated sheath wear caused by fixed bends in the cable, significantly extending the service life of the tethering cable 6. Furthermore, the combination of the shaft 221 and bearing 222 has lower cost and a simpler structure, making it suitable for the load scenarios of small and medium-sized aerostats.

[0023] The anti-derailment mechanism 3 is located on the upper part of the rotating base 21 and includes a guide wheel 31, an upper protective rope roller 32, and a lower protective rope roller 33. The guide wheel 31 is mounted on the inner side of the rotating base 21 via an axle. The outer circumference of the guide wheel 31 has a rope groove 30 adapted to the diameter of the mooring cable 6. The inner wall of the rope groove 30 is coated with a polyurethane coating or a ceramic coating. Utilizing the high wear resistance and elasticity of polyurethane or ceramic materials, the coefficient of friction between the mooring cable 6 and the inner wall of the rope groove 30 is reduced, thereby reducing the cutting wear of the outer sheath of the cable. At the same time, it can buffer the impact force when the cable swings, further protecting the cable.

[0024] Both the upper protective rope roller 32 and the lower protective rope roller 33 are detachably fixed to the two side walls of the rotating seat 21 by bolts. The upper protective rope roller 32 is set at the rope inlet end of the guide wheel 31, and the lower protective rope roller 33 is set at the rope outlet end of the guide wheel 31. Together with the rope groove 30 of the guide wheel 31, they form a complete closed guide channel. The effect of this structure is that no matter what angle the mooring cable 6 swings at in three dimensions, or when the rotating seat 21 rotates in all directions, the closed guide channel can always limit the radial displacement of the mooring cable 6, preventing the cable from detaching from the rope groove 30. This completely eliminates the cable jump-off accident caused by insufficient swing angle or unreliable anti-detachment structure in traditional guide structures, thus eliminating safety hazards.

[0025] The automatic reset mechanism 4 includes a counterweight 40, which is made of high-density cast iron and is fixed to the end of the rotating shaft 221 away from the rotating seat 21 by bolts. The reset principle and function of this mechanism are as follows: When the mooring cable 6 swings, it applies a swinging force to the guide wheel 31 through the closed guide channel, causing the rotating seat 21 and the rotating shaft 221 to rotate synchronously. At this time, the counterweight 40 deviates from the vertical balance position. When the external force of the swinging of the mooring cable 6 disappears, the weight of the counterweight 40 will form a restoring torque on the rotating shaft 221 pointing to the initial balance state. This torque drives the rotating shaft 221, the rotating seat 21 and the guide wheel 31 to rotate synchronously, and finally reset to the initial vertical standby posture. No additional power source is required. Automatic reset can be achieved through mechanical structure alone, ensuring that the device always maintains a uniform standby posture when there is no external force. This avoids the response lag caused by the chaotic standby posture when the cable swings later, significantly improves the device's response sensitivity to cable swing, and simplifies the structure, reduces energy consumption and maintenance costs.

[0026] The safety locking mechanism 5 includes a positioning rod 51 with an external thread in its middle. A threaded hole adapted to the external thread of the positioning rod 51 is provided on the counterweight 40, and a corresponding positioning groove 50 is provided on one side of the fixed base 1. After the positioning rod 51 is screwed into the threaded hole of the counterweight 40, its end can be embedded in the positioning groove 50 of the fixed base 1, thus locking the rotating seat 21. Unscrewing the positioning rod 51 in the opposite direction, causing its end to disengage from the positioning groove 50, releases the lock. The effect of this mechanism is that during device transportation, locking the rotating seat 21 prevents damage to components due to bumps and shaking, improving transportation safety. In specific working conditions where rotation is not required, such as long-term stationary anchoring of the airship or equipment maintenance, locking the rotating seat 21 reduces unnecessary wear and extends the service life of components. Simultaneously, the positioning rod 51 is always connected to the counterweight 40 through the threaded engagement, preventing loss of the positioning rod during locking / unlocking and facilitating the maintenance of the weight of the counterweight 40.

[0027] Based on the above device, combined with Figure 4 As shown, the specific implementation process of the guiding method in this embodiment is as follows: S1: Installation and fixing: According to the working conditions of the structure of the installation carrier 10, select welding or bolt connection to fix the fixing seat 1 to the support arm or platform of the installation carrier 10; then pass the tethering cable 6 from top to bottom through the closed guide channel between the upper protective rope roller 32 and the guide wheel 31 rope groove 30, and between the lower protective rope roller 33 and the guide wheel 31 rope groove 30, to ensure that the cable is in close contact with the inner wall of the rope groove 30 and does not excessively squeeze the upper protective rope roller 32 and the lower protective rope roller 33.

[0028] S2: Omnidirectional follow-up guidance: When the airship is affected by changes in the high-altitude wind field or its own attitude adjustment, the mooring cable 6 generates a three-dimensional non-planar random sway. At this time, the cable applies a lateral sway force to the inner wall of the rope groove 30 of the guide wheel 31 through the closed guide channel. Since the rotating seat 21 can rotate freely relative to the fixed seat 1 through the rotating shaft 221 and the bearing 222, the sway force will drive the rotating seat 21 and the guide wheel 31 to rotate synchronously around the fixed seat 1 in all directions, so that the deflection angle of the guide wheel 31 and the sway angle of the cable coincide in real time and dynamically, completely eliminating the fixed inflection point formed by the fixed guide wheel or the limited sway in the traditional guide structure, and avoiding stress concentration in the cable.

[0029] S3: Anti-derailment protection: During the entire process of cable swaying and rotation of the rotating seat 21, the upper protective rope roller 32 and the lower protective rope roller 33 always form a closed guide channel with the rope groove 30 of the guide wheel 31. Through the radial limiting effect of the upper and lower rollers, the radial displacement of the tethered cable 6 is restricted. Even if the cable sways at a large angle, it can be ensured that it is always constrained within the rope groove 30, preventing jump-out accidents.

[0030] S4: Automatic Reset: When the high-altitude wind field stabilizes or the aerostat attitude adjustment is completed, the external force of the tether cable 6 swaying disappears; at this time, the counterweight 40, which deviates from the vertical balance position, generates a restoring torque on the rotating shaft 221 under its own weight, pointing towards the initial balance state. This torque drives the rotating shaft 221, the rotating seat 21 and the guide wheel 31 to rotate synchronously in the opposite direction until it is reset to the initial vertical standby attitude, preparing to respond to the next cable sway.

[0031] S5: Safety Locking: When the transport device is required or the rotation function is not needed, the positioning rod 51 is screwed into the screw hole of the counterweight 40 through the thread, so that its end is embedded in the positioning groove 50 of the fixed seat 1, thereby locking the rotational freedom of the rotating seat 21; when the follow-up function needs to be restored, the positioning rod 51 is screwed out in the opposite direction, so that its end is disengaged from the positioning groove 50, and the lock is released. The operation is convenient and efficient.

[0032] Example 2 like Figure 3 As shown, the only difference between this embodiment and Embodiment 1 is the structure of the relative rotation component 22. The structure, connection relationship and function of the other components, namely the fixed base 1, the rotating base 21, the anti-derailment mechanism 3, the automatic reset mechanism 4 and the safety locking mechanism 5, are the same as those in Embodiment 1, and will not be repeated here.

[0033] In this embodiment, the relative rotation component 22 adopts a slewing bearing 223. The inner ring of the slewing bearing 223 is fixedly connected to the fixed seat 1 by bolts, and the outer ring of the slewing bearing 223 is fixedly connected to the rotating seat 21 by bolts. The counterweight 40 of the automatic reset mechanism 4 rotates synchronously with the outer ring of the slewing bearing 223.

[0034] The benefits of this structure are as follows: The slewing bearing 223, as a mature heavy-duty rotating component, can simultaneously withstand axial loads, radial loads, and overturning moments. Its load-bearing capacity is far superior to the shaft 221 + bearing 222 combination structure in Embodiment 1, making it suitable for heavy-duty scenarios and complex stress conditions in large airships. Simultaneously, the slewing bearing 223 has a compact structure and high rotational accuracy, ensuring the stability of the rotating seat 21 during omnidirectional rotation, reducing cable wear caused by rotational sway, and further improving the reliability and service life of the device.

[0035] The guiding method in this embodiment is completely the same as that in Embodiment 1. During its operation, when the mooring cable 6 swings, the anti-derailment mechanism 3 drives the rotating seat 21 and the outer ring of the slewing bearing 223 to rotate synchronously around the inner ring, so as to realize the real-time coincidence of the guide wheel 31 and the cable swing angle. The implementation process and effect of other functions such as anti-derailment protection, automatic reset, and safety locking are the same as those in Embodiment 1.

[0036] In summary, both embodiments of the present invention achieve integrated functions of omnidirectional follow-up guidance, reliable anti-detachment, automatic reset, and safe locking. Through the design of different relative rotating components, they are adapted to small and medium-sized loads, large loads, and complex stress scenarios, thus broadening the application range of the device. The various technical features work together synergistically to fundamentally solve the technical pain points of traditional guiding structures, such as stress concentration, accelerated wear, high risk of detachment, lack of automatic reset, and poor adaptability. This significantly extends the service life of the tethering cable and improves the safety, reliability, and adaptability of the airship tethering equipment.

[0037] Those skilled in the art can make conventional modifications within the scope of the technical solution of the present invention, such as: adjusting the external structure of the fixing seat 1 to adapt to different installation carriers; changing the material of the wear-resistant coating on the inner wall of the rope groove 30, such as using a polytetrafluoroethylene coating; optimizing the weight and shape of the counterweight 40 to adjust the reset sensitivity; and using other forms of safety locking mechanisms, etc. As long as they do not depart from the core technical concept of the present invention, they all fall within the protection scope of the present invention.

Claims

1. An omnidirectional follow-up guiding device for aerostat tethering cables, characterized in that, include: A mounting bracket is used for fixed connection with the mounting carrier; An omnidirectional follower mechanism includes a rotating base and a relative rotation assembly. The rotating base is rotatably connected to the fixed base through the relative rotation assembly to enable the rotating base to rotate omnidirectionally around the fixed base. An anti-derailment mechanism is provided on the rotating seat and includes a guide wheel, an upper rope support roller and a lower rope support roller. The guide wheel has a rope groove adapted to the mooring rope. The upper rope support roller and the lower rope support roller are respectively provided at the rope inlet end and the rope outlet end of the guide wheel, and cooperate with the rope groove to form a closed guide channel. An automatic reset mechanism includes a counterweight block, which is connected to the end of the relative rotating component away from the rotating seat, and is used to drive the rotating seat to reset to the initial standby posture after the swaying force of the tethering cable disappears.

2. The omnidirectional follow-up guiding device according to claim 1, characterized in that, The relative rotation assembly includes a rotating shaft and a bearing. One end of the rotating shaft is fixedly connected to the rotating seat, and the other end is fixedly connected to the counterweight. The bearing is sleeved on the rotating shaft and is fixedly engaged with the fixed seat, so that the rotating seat can rotate around the fixed seat at any angle through the rotating shaft and the bearing.

3. The omnidirectional follow-up guiding device according to claim 1, characterized in that, The relative rotation component is a slewing bearing. The inner ring of the slewing bearing is fixedly connected to the fixed seat, and the outer ring is fixedly connected to the rotating seat. The slewing bearing can simultaneously withstand axial load, radial load, and overturning moment to enable the rotating seat to rotate omnidirectionally around the fixed seat.

4. The omnidirectional follow-up guiding device according to claim 1, characterized in that, Both the upper and lower protective rope rollers are fixed to the two sides of the rotating seat by bolts. The upper protective rope roller corresponds to the rope groove at the rope inlet end of the guide wheel, and the lower protective rope roller corresponds to the rope groove at the rope outlet end of the guide wheel, so that the mooring cable passes through the closed guide channel between the upper protective rope roller and the rope groove and between the lower protective rope roller and the rope groove from top to bottom.

5. The omnidirectional follow-up guiding device according to claim 2, characterized in that, The counterweight achieves reset by generating a restoring torque under its own weight; when the tethering cable swings, causing the rotating seat and the rotating shaft to deflect, the counterweight deviates from the vertical equilibrium position; when the external force of the swing disappears, the weight of the counterweight forms a torque on the rotating shaft pointing towards the initial equilibrium state, driving the rotating shaft and the rotating seat to rotate and reset to the vertical standby posture.

6. The omnidirectional follow-up guiding device according to claim 1, characterized in that, It also includes a safety locking mechanism, which includes a positioning rod that is detachably engaged with the fixed seat and the rotating seat, and is used to lock the rotational freedom of the rotating seat during transportation or in working conditions where rotation is not required.

7. The omnidirectional follow-up guiding device according to claim 6, characterized in that, The positioning rod has an external thread in the middle, and a matching screw hole is opened on the counterweight block connected to one end of the relative rotating assembly. The fixed seat has a matching positioning groove. The positioning rod is screwed into the screw hole and embedded in the positioning groove to lock the rotating seat; the positioning rod is unscrewed to disengage from the positioning groove to unlock.

8. The omnidirectional follow-up guiding device according to claim 1, characterized in that, The mounting base is fixed to the support arm or platform of the mounting carrier by welding or bolting.

9. The omnidirectional follow-up guiding device according to claim 1, characterized in that, The inner wall of the guide wheel's rope groove is provided with a wear-resistant coating, which is a polyurethane coating or a ceramic coating.

10. An omnidirectional follow-up guidance method for a tethering cable of an airship, employing the omnidirectional follow-up guidance device as described in any one of claims 1 to 9, characterized in that, Includes the following steps: S1: Installation and fixing: Fix the fixing seat to the support arm or platform of the installation carrier by welding or bolting, and pass the mooring cable through the closed guide channel between the upper guard rope roller and the guide wheel rope groove and between the lower guard rope roller and the guide wheel rope groove from top to bottom. S2: Omnidirectional follow-up guidance. When the airship is affected by changes in the high-altitude wind field or its own attitude adjustment, causing the mooring cable to produce a three-dimensional non-planar random sway, the mooring cable applies a swaying force to the guide wheel through the closed guide channel, driving the rotating seat to rotate omnidirectionally around the fixed seat through the relative rotating component, so that the deflection angle of the guide wheel coincides with the sway angle of the mooring cable in real time, eliminating the fixed inflection point in the traditional guide structure. S3: Anti-derailment protection. During the swaying of the mooring cable and the rotation of the rotating seat, the upper and lower protective rope rollers and the rope groove of the guide wheel always form a closed guide channel, which restricts the radial displacement of the mooring cable and prevents it from leaving the rope groove. S4: Automatic reset. When the external force of the sway of the mooring cable disappears, the counterweight generates a restoring torque pointing to the initial equilibrium state through its own weight, driving the rotating seat and guide wheel to rotate synchronously and reset to the initial vertical standby posture. S5: Safety Locking. During device transportation or in operation where rotation is not required, the positioning rod is screwed into the screw hole of the counterweight and embedded in the positioning groove of the fixed seat to lock the rotational freedom of the rotating seat. When it is necessary to restore the follow-up function, the positioning rod is screwed out in the opposite direction to disengage it from the positioning groove and unlock it.

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