Mooring cable unmanned aerial vehicle automatic landing auxiliary system

Abstract

The utility model relates to a mooring cable unmanned aerial vehicle automatic landing auxiliary system which comprises a take-off and landing platform, a locking assembly, a lifting assembly, a capturing assembly and a cable winding and unwinding assembly, the cable winding and unwinding assembly is used for dragging a mooring cable unmanned aerial vehicle to forcibly approach the take-off and landing platform, and when the bottom of the mooring cable unmanned aerial vehicle makes contact with a capturing ring of the capturing assembly, the locking assembly is locked. The mooring cable unmanned aerial vehicle can press the feeler lever on the capturing ring, the feeler lever drives the locking bolt to slide out of the locking bolt sleeve through the transmission assembly after being triggered, and therefore unlocking of the position of the capturing ring is achieved. In the collection process of the mooring cable unmanned aerial vehicle, the mooring cable of the mooring cable unmanned aerial vehicle is limited by the capturing ring and dragged by the cable winding and unwinding assembly, so that the situation that the attitude of the mooring cable unmanned aerial vehicle is unstable when the mooring cable unmanned aerial vehicle descends to be close to the take-off and landing platform is prevented, and it is guaranteed that the mooring cable unmanned aerial vehicle accurately lands on the take-off and landing platform to be locked and collected.

Description

Technical Field

[0001] The utility model relates to the technical field of unmanned aerial vehicles (UAVs), and in particular to an automatic landing auxiliary system for a tethered UAV. Background Art

[0002] With the gradual advancement of low-altitude economic policies, the civilian drone market is rapidly expanding. A growing number of drones of all types are being used in a variety of popular sectors, including public safety maintenance, emergency search and rescue, agriculture, forestry, environmental protection, communications, and aerial photography. Users are increasingly demanding more diverse drone functions. Payload capacity is a key competitive advantage for drones, but increasing this capacity inevitably increases power consumption, exacerbating the challenge of achieving long-range flight. To address this issue, tethered drones have emerged. These connect traditional drones to ground-based base stations via cables and retractable cable systems, enabling real-time power and signal transmission. This significantly extends the drone's flight time and even allows for all-weather operation. The significant endurance advantage of tethered drones makes them irreplaceable in applications such as fixed-point monitoring, emergency lighting, emergency communications, and even combat zone electronic countermeasures and surveillance.

[0003] Thanks to the continuous power supply provided by the tether cable, power consumption is no longer a limiting factor for tethered drones, making medium-sized (takeoff weight over 25kg) and large-sized tethered drones more suitable for market demand. Tethered drone systems of medium and larger sizes typically require, in addition to the drone itself, a complete mission system consisting of tether cable retraction and deployment equipment, power generation equipment, fuel, control, communication, and user payloads. To ensure the system's mission flexibility, these components are typically designed and housed in a storage case for easy transport. When the drone is operational, the case opens, and a lifting mechanism within the case raises the drone's landing platform to the top of the case. The drone automatically unlocks and takes off from its landing platform. For landing, the drone returns to the top of the case and, with the assistance of an automatic landing assist system, automatically lands on the landing platform. The landing platform then descends back into the case along with the lifting mechanism, locking the drone, and the case closes.

[0004] Then, for medium-to-large vertical take-off and landing (VTOL) drones, during the landing phase, when they descend close to the take-off and landing platform, strong downdrafts act on the platform, causing the drone's attitude to become unstable and its position to drift on top of the platform, making it difficult to land stably and accurately on the platform for stowage and lock. Therefore, how to ensure that the drone lands accurately at the predetermined landing point on the take-off and landing platform and locks to accurately adjust the drone's attitude is an urgent problem that needs to be solved.

[0005] Therefore, it is necessary to provide a tethered cable UAV automatic landing auxiliary system to solve the above problems. Utility Model Content

[0006] The utility model provides an automatic landing auxiliary system for tethered UAVs, which solves the problem that in the existing medium and large vertical take-off and landing UAVs, when they descend close to the take-off and landing platform during the landing phase, strong downward airflow acts on the take-off and landing platform, causing the UAV to lose its posture and drift on the top of the take-off and landing platform, making it difficult to land stably and accurately on the take-off and landing platform for storage and locking.

[0007] The utility model is a tethered cable UAV automatic landing auxiliary system adopts the following technical solutions, including:

[0008] The lifting and lowering platform is vertically slidably arranged in the storage box through a support frame;

[0009] A locking assembly is provided at the bottom of the lifting platform;

[0010] The lifting assembly is used to drive the take-off and landing platform to move outward or inward in the storage box after the tethered UAV lands on the take-off and landing platform, and to drive the locking assembly to lock the legs of the tethered UAV while driving the take-off and landing platform to move into the storage box;

[0011] A capture assembly comprises: a capture ring bracket, a capture ring and an energy storage assembly, wherein the capture ring is slidably connected to the capture ring bracket, the capture ring bracket is arranged on a locking assembly below the center hole of the take-off and landing platform, a feeler rod is passed through the capture ring, a locking bolt is hingedly connected to the lower end of the feeler rod through a transmission assembly, the locking bolt cooperates with a locking bolt sleeve arranged in a capture ring connection shell of the capture ring, and the energy storage assembly is used to store energy when the capture ring slides downward along the capture ring bracket, and reset the capture ring after the tethered drone takes off;

[0012] And a retractable cable assembly, which is arranged in a storage box just below the capture ring, and its retractable end is connected to one end of the tethered cable of the tethered cable drone after passing through the capture ring, and is used to retract and extend the tethered cable.

[0013] Preferably, the transmission assembly includes: a lever, a triangular fork and a spring, the lever is rotatably arranged in the capture ring connecting shell through a fulcrum, one end of the lever is connected to the lower end of the touch rod, a connecting rod is hinged between the other end of the lever and the fulcrum, the free end of the connecting rod is hinged to the first angle of the triangular fork, the second angle of the triangular fork is rotatably connected to the capture ring connecting shell through a rotating shaft, the third angle of the triangular fork is hinged to the locking bolt, wherein the spring is connected to the second angle of the triangular fork and the end of the lever facing away from the touch rod.

[0014] Preferably, a guide rail is provided on the capture ring bracket, and the guide rail is slidably connected to the slider provided on the capture ring, and upper limit blocks and lower limit blocks for limiting the slider are correspondingly provided at both ends of the guide rail, and a locking block is provided near the upper end of the guide rail; wherein, when the touch rod is not pressed down, the locking bolt passes through one end of the locking bolt sleeve and contacts the upper surface of the locking block for limitation.

[0015] Preferably, the energy storage assembly includes: a guide wheel arranged on the top of the capture ring bracket, a steel wire rope is wound around the guide wheel, one end of the steel wire rope is connected to the slider, and the other end of the steel wire rope is connected to a constant load spring arranged on the capture ring bracket away from the guide wheel.

[0016] Preferably, the tension of the constant load spring is twice the weight force on the capture ring.

[0017] Preferably, the locking mechanism includes: a locking sleeve, which is arranged at the bottom of the support frame, and the locking sleeve corresponds to the guide positioning hole one by one, and a locking pin assembly is provided on the support frame on the side facing the inside of the storage box for horizontal sliding, and the locking end of the locking pin assembly matches the locking hole provided on the side of the locking sleeve, and also includes a lever assembly provided on the inner wall of the storage box, wherein, when the lifting assembly drives the support frame to move vertically along the inner wall of the storage box so that the lifting and lowering platform enters or is pushed out of the storage box, it also drives the locking mechanism to move vertically, so that the lever assembly drives the locking pin assembly to slide horizontally from the locking hole to enter or exit the locking sleeve, thereby limiting the locking or unlocking the support leg structure of the tethered drone.

[0018] Preferably, it also includes a controller and a trigger switch. The trigger switch is arranged in the locking sleeve through the switch mounting hole at the bottom of the locking sleeve, and the trigger switch and the lifting assembly are electrically connected to the controller. The controller is used to control the lifting assembly to drive the take-off and landing platform together with the locking mechanism to descend when the leg structure of the tethered drone enters the locking sleeve and triggers the trigger switch until the locking pin assembly touches the lever assembly, and the lever assembly drives the locking pin assembly to move to limit and lock the leg structure of the tethered drone.

[0019] Preferably, the locking pin assembly comprises:

[0020] A horizontally arranged locking support, one end of which is connected to the support frame and a slide rail is provided on the top;

[0021] A slider is slidably connected to the top of the slide rail and is provided with a locking pin, the locking pin corresponds to the locking hole, and the locking end of the locking pin matches the locking groove;

[0022] A limit seat is provided at the end of the locking support away from the locking sleeve;

[0023] and a reset assembly, which is provided on the locking support and is used for resetting the slider;

[0024] Among them, the locking support is provided with a through groove for the lever assembly to pass through, the slider is provided with a shift hole for the lever assembly to shift the slider to move, and the limit seat is used to limit the movement of the slider so that the shift hole on the slider after reset matches the lever assembly.

[0025] Preferably, the lifting assembly comprises:

[0026] A driving motor is arranged at the bottom of the collection box;

[0027] The screw guide rail slider assembly is vertically arranged on the inner wall of the storage box, and its input end is connected to the output end of the drive motor through the synchronous belt transmission assembly, and its output end is connected to the support frame.

[0028] Among them, the screw guide rail slider assembly includes a screw, a screw guide rail and a guide rail slider. The screw is vertically and rotatably arranged on the inner wall of the collection box, and the lower end of the screw is connected to the output end of the drive motor through a synchronous belt transmission assembly; the screw guide rail is arranged parallel to the screw on the inner wall of the collection box on both sides of the screw; the guide rail slider is arranged on the screw and is slidably connected to the screw guide rail, and the side of the guide rail slider is connected to the support frame.

[0029] Preferably, the retractable cable assembly comprises:

[0030] The housing houses a cable storage mechanism, a cable arrangement mechanism, a main control unit, and a heat dissipation assembly;

[0031] Among them, the cable storage mechanism is used to wind and store the mooring cable, the cable arrangement mechanism is used to guide the mooring cable during the cable retraction and release process, the main control unit is used to control the operation of the cable storage mechanism and the cable arrangement mechanism, and the heat dissipation component is used to dissipate heat from the mooring cable during the cable retraction and release process.

[0032] The beneficial effects of the utility model are:

[0033] The tethered drone is dragged by the retractable cable assembly to force it to approach the take-off and landing platform. When the bottom of the tethered drone contacts the capture ring, the tethered drone presses the feeler rod on the capture ring. After the feeler rod is triggered, the transmission assembly drives the locking bolt to slide out of the locking bolt sleeve, thereby unlocking the capture ring position. At this time, the tethered drone presses the touch rod on the capture ring of the capture mechanism, and the capture ring is successfully unlocked. At this time, the capture ring will be pressed down by the drone and slide down along its own guide rail, so that the drone enters the final locked position. When the vibration-damping support foot at the bottom of the drone contacts the guide ring on the take-off and landing platform, the special curved surface on the guide ring is used to guide and adjust the orientation and posture of the drone, and finally the drone enters the correct storage posture, that is, the tethered drone relies on the guide ring on the take-off and landing platform for guidance, and has gradually entered a precise storage state. Its position and posture meet the storage requirements. Therefore, during the entire storage process of the utility model, the tethered drone's tethered cable is limited by the capture ring and the dragging of the retractable cable assembly, thereby preventing the tethered drone from losing stability when it descends close to the take-off and landing platform, and ensuring that the tethered drone accurately lands on the take-off and landing platform for locking and collection. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0035] Figure 1 This is a top view of the overall structure of a tethered cable UAV automatic landing auxiliary system of the present invention;

[0036] Figure 2 This is a schematic diagram of a state of a tethered UAV when the tethered UAV is ready to be captured by an automatic landing auxiliary system of the tethered UAV of the present invention;

[0037] Figure 3 This is a schematic diagram of the state of a tethered UAV automatic landing auxiliary system of the present invention when capturing a tethered UAV;

[0038] Figure 4 This is a structural diagram of a capture component of a tethered cable UAV automatic landing auxiliary system of the present invention;

[0039] Figure 5 for Figure 4 Schematic diagram of the structure of the capture ring;

[0040] Figure 6 This is a schematic diagram of the state of the capture component when capturing a tethered drone in an embodiment of the present invention;

[0041] Figure 7 Schematic diagram of the unlocked state of the locking mechanism and the support leg structure of the drone in an embodiment of the present invention;

[0042] Figure 8 Schematic diagram of the locking process of the locking mechanism and the leg structure of the UAV in an embodiment of the present invention;

[0043] Figure 9 Schematic diagram of the structure of the locking mechanism in an embodiment of the present utility model;

[0044] Figure 10 Schematic diagram of the overall structure of the retractable cable assembly in an embodiment of the present utility model;

[0045] Figure 11 This is a schematic diagram of the internal structure of the retractable cable assembly in an embodiment of the present utility model;

[0046] Figure 12 for Figure 4 Schematic diagram of the structure of the triangular fork;

[0047] Figure 13 for Figure 4 Schematic diagram of the locking pin structure in.

[0048] Figure: 1. Tethered UAV; 11. Leg structure; 12. Tethered cable; 111. Locking slot; 21. Storage box; 22. Screw guide rail; 23. Lifting and landing platform; 24. Locking mechanism; 25. Tensioning assembly; 26. Synchronous belt drive assembly; 27. Lever assembly; 28. Support frame; 221. Guide rail slider; 241. Locking sleeve; 242. Trigger switch; 243. Locking pin assembly; 2431. Locking pin; 2432. Slide rail; 2433. Return spring; 2434. Spring mandrel; 2435 , connecting plate; 2436, limit seat; 2437, dial hole; 2438, locking support; 271, locking lever support; 3, cable retracting and releasing assembly; 31, housing; 32, cable storage mechanism; 321, main motor; 322, cable storage drum; 323, first synchronous belt assembly; 3231, first pulley; 3232, second pulley; 3233, first synchronous belt; 324, main motor bracket; 325, bracket; 33, cable traversing mechanism; 331, cable traversing motor; 332, lead screw and slide mechanism; 3321, lead screw; 3322, slider; 3323, slide rail bracket; 3324, guide rod; 3325, travel switch; 333, guide wheel assembly; 3331, guide wheel; 3332, guide wheel seat; 3333, tension sensor; 3334, guide cylinder; 334, second synchronous belt assembly; 3341, third pulley; 3342, fourth pulley; 3343, second synchronous belt; 335, support; 34, main control unit; 35, heat dissipation assembly; 351, first axial flow fan; 352, air guide plate; 4, capture assembly; 41 , capture ring; 42, touch rod; 43, transmission assembly; 44, locking bolt; 45, locking bolt sleeve; 46, locking block; 47, energy storage assembly; 48, capture ring bracket; 411, touch rod hole; 412, cable hole; 413, capture ring connecting shell; 431, lever; 432, connecting rod; 433, spring; 434, triangular fork; 471, guide wheel; 472, wire rope; 473, upper limit block; 474, lower limit block; 475, constant load spring; 4311, fulcrum; 4341, rotating shaft. DETAILED DESCRIPTION

[0049] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0050] An embodiment of the automatic landing auxiliary system of a tethered UAV of the present invention is as follows: Figure 1 As shown, it includes: a lifting and landing platform 23, a locking component 24, a lifting component, a capture component 4 and a retractable cable component 3; Figure 2 and Figure 3 As shown, the landing platform 23 is vertically slidably arranged in the storage box 21 through the support frame 28; the locking component 24 is arranged at the bottom of the landing platform 23; the lifting component is used to drive the landing platform 23 to move outward or inward in the storage box 21 after the tethered drone 1 lands on the landing platform 23, and at the same time drive the locking component 24 to lock the support leg 11 of the tethered drone 1 while driving the landing platform 23 to move into the storage box 21. Figure 4 As shown, the capture assembly 4 includes: a capture ring bracket 48, a capture ring 41 and an energy storage assembly 47. Specifically, as shown in FIG. Figure 5 As shown, the capture ring 41 is composed of an annular body and a capture ring connecting shell 413. The capture ring connecting shell 413 is slidably connected to the capture ring bracket 48. The capture ring bracket 48 is arranged on the locking assembly 24 below the center hole of the lifting platform 23. The center of the annular body of the capture ring 41 is a cable hole 412. Four contact rod holes 411 are opened on the annular body. The contact rod holes 411 are penetrated by a contact rod 42. The lower end of the contact rod 42 is hinged with a locking bolt 44 through a transmission assembly 43. The transmission assembly 43 is arranged in the capture ring connecting shell 413. The locking bolt 44 is connected to the capture ring connecting shell The locking bolt sleeve 45 set in 413 cooperates with the energy storage assembly 47 to store energy when the capture ring 41 slides downward along the capture ring bracket 48, and resets the capture ring 41 after the tethered cable drone 1 takes off; the retractable cable assembly 3 is set in the storage box 21 directly below the capture ring 41, and the retractable end of the retractable cable assembly 3 is connected to the end of the tethering cable 12 of the tethered cable drone 1 after passing through the capture ring 41. The retractable cable assembly 3 is used to retract and release the tethering cable 12, thereby forcibly dragging the tethered cable drone 1 to the take-off and landing platform 23 when the tethered cable drone 1 lands.

[0051] like Figure 4 and Figure 5 As shown, the transmission assembly 43 includes: a lever 43, a triangular shift fork 434 and a spring 433. The lever 43 is rotatably arranged in the capture ring connection shell 413 through the fulcrum 4311. One end of the lever 43 is connected to the lower end of the contact rod 42. A connecting rod 432 is hinged between the other end of the lever 43 and the fulcrum 4311. The free end of the connecting rod 432 is hinged to the first corner of the triangular shift fork 434. The second corner of the triangular shift fork 434 is rotatably connected to the capture ring connection shell 413 through the rotating shaft 4341. The third triangular upper fork structure of the triangular shift fork 434 is bridged with the pin in the cavity at the left end of the locking bolt 44, as shown in FIG. Figure 12As shown, the third corner of the triangular fork 434 is a fork-shaped structure, with the fork straddling the pin in the left cavity of the locking bolt 44. When the triangular fork 434 rotates around the rotating shaft 4341, the triangular fork 434 drives the locking bolt 44 to slide within the nylon locking bolt sleeve 45 with lubricating properties, completing the locking or unlocking function of the locking bolt 44. Among them, the spring 433 is connected to the second corner of the triangular fork 434 and the end of the lever 43 facing away from the contact rod 42. Figure 4 As shown, a guide rail is provided on the capture ring bracket 48, and the guide rail is slidably connected to the slider provided on the capture ring 41. Specifically, the slider is connected to the capture ring connection shell 413, and the two ends of the guide rail are correspondingly provided with an upper limit block 473 and a lower limit block 474 for limiting the slider. A locking block 46 is provided near the upper end of the guide rail. It should be noted that when the touch rod 42 is not pressed down, the locking bolt 44 passes through one end of the locking bolt sleeve 45 and contacts the upper surface of the locking block 46 to limit it downward. In this embodiment, an upper limit block 473 and a lower limit block 474 for limiting the slider are provided in the guide rail. Figure 4 and Figure 5 As shown, the energy storage assembly 47 includes: a guide wheel 471 set on the top of the capture ring bracket 48, a wire rope 472 is wound around the guide wheel 471, one end of the wire rope 472 is connected to the slider, and the other end of the wire rope 472 is connected to a constant load spring 475 set on the capture ring bracket 48 away from the guide wheel 471. In order to overcome the gravity of the capture ring 41 and the friction of the guide rail of the capture ring bracket 48, in this embodiment, when the constant load spring 475 is selected, the tension of the constant load spring 475 is selected to be twice the gravity of the capture ring 41; it should be noted that when the capture assembly 4 is unlocked, when the capture ring 41 slides down the guide rail on the capture ring bracket 48 under the pressure of the tethered cable drone, the constant load spring 475 will be stretched; when the pressure on the capture ring 41 is released, due to the tension of the constant load spring 475, the capture ring 41 as a whole will slide along the guide rail on the capture ring bracket 48 to the upper end of the guide rail until the slider touches the upper limit block 473 and stops, completing the reset.

[0052] like Figure 7 and Figure 8As shown, the locking mechanism 24 of this embodiment includes: a locking sleeve 241, which is arranged at the bottom of the support frame 28, and the locking sleeve 241 corresponds to the guide positioning hole one by one, and the locking sleeve 241 is provided with a locking pin assembly 243 on the support frame 28 on one side facing the inside of the storage box 21 for horizontal sliding. The locking end of the locking pin assembly 243 matches the locking hole provided on the side of the locking sleeve 241, and also includes a lever assembly 27 provided on the inner wall of the storage box 21, wherein, when the lifting assembly drives the support frame 28 to move vertically along the inner wall of the storage box 21 so that the lifting platform 23 enters or is pushed out of the storage box 21, it also drives the locking mechanism 24 to move vertically, so that the lever assembly 27 drives the locking pin assembly 243 to slide horizontally from the locking hole to enter or exit the locking sleeve 241, thereby limiting or unlocking the support leg structure 11 of the tethered drone 1. Figure 9 As shown, specifically, it also includes a controller and a trigger switch 242. The trigger switch 242 is set in the locking sleeve 241 through the switch installation hole at the bottom of the locking sleeve 241, and the trigger switch 242 and the lifting assembly are electrically connected to the controller. The controller is used to control the lifting assembly to drive the landing platform 23 together with the locking mechanism 24 to descend when the leg structure 11 of the tethered drone 1 enters the locking sleeve 241 and triggers the trigger switch 242, until the locking pin assembly 243 touches the lever assembly 27, and the lever assembly 27 moves the locking pin assembly 243 to limit and lock the leg structure 11 of the tethered drone. Figure 9As shown, the locking pin assembly 243 includes: a horizontally arranged locking support 2438, a slider, a limit seat 2436 and a reset assembly. One end of the locking support 2438 is connected to the support frame 28, and a slide rail 2432 is provided on the top of the locking support 2438; the slider is slidably connected to the top of the slide rail 2432, and a horizontally arranged locking pin 2431 is fixed to the slider by screws. The locking pin 2431 corresponds to the locking hole, and the locking end of the locking pin 2431 matches the locking groove 111; the limit seat 2436 is provided on the locking support 2438 is away from the end of the locking sleeve 241; the reset assembly is arranged on the locking support 2438 for resetting the slider; wherein, the locking support 2438 of the locking pin assembly 243 is fixedly connected to the side wall plate of the support frame 28, and a through groove for the passage of the shift rod assembly 27 is provided on the locking support 2438, and a shift hole 2437 for the shift rod assembly 27 to shift the slider is provided on the slider, and the limit seat 2436 is used to limit the movement of the slider so that the shift hole 2437 on the slider after reset matches the shift rod assembly 27. The reset assembly includes: a spring seat, a spring core shaft 2434 and a reset spring 2433. The spring seat is set at the bottom of the locking support 2438, and a mounting hole is opened at one end of the spring seat; the spring core shaft 2434 is matched and installed in the mounting hole, and a connecting plate 2345 is set at the end of the spring core shaft 2434 outside the mounting hole. The connecting plate 2345 is connected to the slider after passing through the guide groove opened on the locking support 2438. The reset spring 2433 is sleeved on the spring core shaft 2434, and one end of the reset spring 2433 is connected to the mounting hole, and the other end of the reset spring 2433 is connected to the connecting plate 2345. Figure 7 and Figure 8 As shown, the lever assembly 27 is connected to the inner wall of the storage box 21 through the locking lever support 271. The lever assembly 27 includes a base, which is set on the locking lever support 271. A locking lever is set on the top of the base. The locking lever is tilted away from the locking sleeve 241 and matches the locking lever hole 2437. Figure 7 As shown, in this embodiment, the lever assembly 27 is fixed with the mounting plates on both sides and the lever mounting cross plate and is installed on the inner wall of the storage box 21 through the mounting back plate of the lifting assembly. The height of the lever assembly 27 on the lifting assembly in the storage box 21 determines the storage position of the tethered cable drone 1 after entering the storage box 21. The inclined surface of the lever assembly 27 is used to act on the working surface of the shift hole 2437 on the slider of the locking mechanism 24 to adjust the left and right position of the slider of the locking mechanism 24, so that the locking pin 2431 can lock or unlock the locking groove 111 of the support leg structure 11.

[0053] The lifting assembly includes: a drive motor, a lead screw, and a lead screw guide rail slider assembly. The drive motor is arranged at the bottom of the storage box 21. The lead screw guide rail slider assembly is vertically arranged on the inner wall of the storage box 21. The input end of the lead screw guide rail slider assembly is connected to the output end of the drive motor through the synchronous belt transmission assembly 26. The output end of the lead screw guide rail slider assembly is connected to the support frame 28. In this embodiment, the lead screw guide rail slider assembly includes: a lead screw, a lead screw guide 22 and a guide rail slider 221. The lead screw is vertically and rotatably arranged on the inner wall of the storage box 21. The lower end of the lead screw is connected to the output end of the drive motor through the synchronous belt transmission assembly 26. The lead screw guide 22 is arranged parallel to the lead screw on the inner wall of the storage box 21 on both sides of the lead screw. The guide rail slider 221 is installed on the lead screw and is slidably connected to the lead screw guide 22. The guide rail slider 221 is connected to the support frame 28. It also includes: a tensioning assembly 25. The tensioning assembly 25 is used to tension the synchronous belt of the synchronous belt transmission assembly 26.

[0054] like Figure 10 As shown, the cable retractable assembly 3 includes: a housing 31, in which a cable storage mechanism 32, a cable arrangement mechanism 33, a main control unit 34 and a heat dissipation assembly 35 are installed; wherein the cable storage mechanism 32 is used to wind and store the mooring cable 12, the cable arrangement mechanism 33 is used to guide the mooring cable 12 during the cable retractable process, the main control unit 34 is used to control the operation of the cable storage mechanism 32 and the cable arrangement mechanism 33, and the heat dissipation assembly 35 is used to dissipate heat from the mooring cable 12 during the cable retractable process. Figure 11As shown, the cable storage mechanism 32 includes a main motor 321, a cable storage drum 322, a first synchronous belt assembly 323, a main motor bracket 324, and a bracket 325. The main motor 321 is horizontally fixed to a base at the bottom of the housing 31 via the main motor bracket 324. The output shaft of the main motor 321 extends from the main motor bracket 324, which is fixedly connected to the bottom plate of the housing 31. The main motor 321 is used to rotate the cable storage drum 322. The main motor 321 is electrically connected to and controlled by the main control unit 34. The main motor 321 utilizes an AC servo motor, offering precise control of speed and rotation angle, and stable operation. The cable storage drum 322 is horizontally rotatably mounted to the base at the bottom of the housing 31 via two brackets 325. The cable storage drum 322 and the main motor 321 are arranged side by side and parallel to each other and are used to wind the mooring cable 12. Two brackets 325 are fixed to the base of the housing 31, located at either end of the cable storage drum 322. They are rotatably connected to the support shafts at either end of the drum 322 via spherical bearings. The use of spherical bearings reduces the precision requirements for manufacturing and installation of the drum assembly, facilitating cost control. Specifically, the drum 322 is a hollow cylindrical structure, comprising a drum body, end caps, a first support shaft, and a second support shaft. The drum body and end caps form a cylindrical hollow drum, with the mooring cable 12 wrapped around its outer circumference. The end caps also serve as retaining plates for the mooring cable 12. A support shaft is coaxially located at the center of each end cap with the drum body 221. These shafts are rotatably connected to their corresponding brackets 325 via bearings. These support shafts are designated as the first and second support shafts, respectively. The second support shaft has a through-hole extending along its axis, connecting to the drum body's inner cavity. This through-hole is used to pass the fixed end of the mooring cable 12 through the drum body, securing it within the drum 322. Both the cylinder and the end cap are provided with heat dissipation holes to dissipate heat from the mooring cable 12. The first synchronous belt assembly 323 utilizes a circular arc tooth synchronous belt drive structure, offering precise, smooth, vibration-free, and noise-free transmission. The first synchronous belt assembly 323 connects the output shaft of the main motor 321 and the first support shaft of the cable storage drum 322, transmitting the rotation of the main motor 321 to the cable storage drum 322. Specifically, the first synchronous belt assembly 323 comprises a first pulley 3231, a second pulley 3232, and a first synchronous belt 3233. The first pulley 3231 is mounted on the output shaft of the main motor 321 and is keyed to the output shaft. The second pulley 3232 is mounted on one side of the cable storage drum 322 and keyed to the first support shaft 3223 of the cable storage drum 322. The second pulley 3232 and the first pulley 3231 are coplanar, forming a paired pair of pulleys that work together with the first synchronous belt 3233. The first synchronous belt 3233 is sleeved on the first pulley 3231 and the second pulley 3232 and meshes with the first pulley 3231 and the second pulley 3232 for transmission.When the main motor 321 drives the first pulley 3231 to rotate, the first synchronous belt 3233 drives the second pulley 3232 to rotate, which in turn drives the cable storage drum 322. The cable storage mechanism 32 also includes a slip ring and an encoder. The slip ring is located inside the cable storage drum 322 and coaxially mounted on the second support shaft. The slip ring is used to connect the dynamic and static components of the mooring cable 12. The encoder is mounted on the outer end of the second support shaft and measures the rotation speed of the cable storage drum 322. The encoder is electrically connected to the main control unit 34 and transmits the rotation speed of the cable storage drum 322 to the main control unit 34. The main control unit 34 adjusts the current command in real time based on the tension of the mooring cable 12 measured by the tension sensor 3333 and the rotation speed of the cable storage drum 322. This adjusts the rotation speed of the main motor 321 and the cable arrangement motor 331 to prevent excessive tension from causing instability of the moored drone or damage to the mooring cable 12. The mooring cable 12 is wrapped around the outer diameter of the cylinder, with its fixed end secured within the cylinder. Specifically, the fixed end of the mooring cable 12 passes from the outside inward through the center hole of the encoder, then through the fixed end of the slip ring, where it is electrically connected to the rotating end of the slip ring. The slip ring is designed with multiple conductive loops, including power, signal, and central optical fiber, to accommodate all signal connections in the composite cable. The movable end of the mooring cable 12 is wrapped around the groove in the guide wheel 3331 and passes through the trumpet-shaped hole in the guide cylinder 3334 to exit the housing 31, connecting to the mooring cable drone.

[0055] Among them, Figure 11As shown, the cable arranging mechanism 33 includes a cable arranging motor 331, a lead screw and rail mechanism 332, a guide wheel assembly 333, and a second synchronous belt assembly 334. The cable arranging motor 331 is an AC servo motor, and its motion is precisely controllable. The cable arranging motor 331 is horizontally mounted on the base of the housing 1 via supports 335. Two supports 335 are fixed to the base of the housing 1, and the supports 335 are enclosed on either side by side panels. The cable arranging motor 331 is mounted within the supports 335, parallel to the cable storage drum 322. Its output shaft extends through the supports 335. The cable arranging motor 331 drives the lead screw 3321 of the lead screw and rail mechanism 332. The cable arranging motor 331 is electrically connected to and controlled by the main control unit 34. The lead screw and rail mechanism 332 is horizontally mounted on the supports 335, above the cable arranging motor 331 and parallel to the axis of the cable storage drum 322. The guide wheel assembly 333 is mounted on the slider 3322 of the lead screw slide mechanism 332. The lead screw slide mechanism 332 is used to drive the guide wheel assembly 333 to move axially along its lead screw 3321. The guide wheel assembly 333 is used to guide the mooring cable 12 during cable retraction and deployment. A second synchronous belt assembly 334 connects the output shaft of the cable traversing motor 331 and the input end of the lead screw 3321 of the lead screw slide mechanism 332, transmitting the rotation of the cable traversing motor 331 to the lead screw 3321. The lead screw slide mechanism 332 comprises the lead screw 3321, a slider 3322, a slide bracket 3323, a guide rod 3324, and a travel switch 3325. The slide bracket 3323 is horizontally mounted and fixed on the support 335. The lead screw 3321 is horizontally rotatably mounted in the center of the slide bracket 3323, with the axis of the lead screw 3321 parallel to the axis of the cable storage drum 322. The lower end of the slider 3322 is provided with a nut structure that is threadedly connected to the lead screw 3321. When the lead screw 3321 rotates, the slider 3322 moves along the axis of the lead screw 3321. The forward and reverse rotation of the lead screw 3321 causes the slider 3322 to reciprocate along the lead screw 3321. Two guide rods 3324 are symmetrically mounted on either side of the lead screw 3321 and extend through the bottom of the slider 3322. The guide rods 3324 serve to guide and support the slider 3322, improving the stability of the slider 3322's movement. Two limit switches 3325 are mounted on the inner sides of each end of the slide rail bracket 3323. The limit switches 3325 are electrically connected to the main control unit 34. When the slider 3322 drives the guide wheel assembly 333 to traverse the cable, guiding the mooring cable 12 to wrap a full layer around the cable storage drum 322, the slider 3322 slides to the end of the lead screw 3321, triggering the limit switches 3325 and transmitting a trigger signal to the main control unit 34. The main control unit 34 integrates the collected tension and speed data, calculates and issues reversal and speed commands, and controls the cable traversing motor 331 to reverse the direction of the slider 3322. The second synchronous belt assembly 334 includes a third pulley 3341, a fourth pulley 3342, and a second synchronous belt 3343. The third pulley 3341 is mounted on the output shaft of the cable traversing motor 331 and is keyed to the output shaft of the cable traversing motor 331.The fourth pulley 3342 is mounted on the input end of the lead screw 3321 and is keyed to the lead screw 3321. The fourth pulley 3342 and the third pulley 3341 are coplanar and have the same tooth profile. The second synchronous belt 3343 fits over and meshes with the third and fourth pulleys 3341 and 3342. When the output shaft of the cable arranging motor 331 rotates the third pulley 3341, the second synchronous belt 3343 drives the fourth pulley 3342, which in turn drives the lead screw 3321. The guide wheel assembly 333 includes a guide wheel 3331, a guide wheel seat 3332, a tension sensor 3333, and a guide cylinder 3334. The guide wheel assembly 333 ensures the correct alignment of the mooring cable 12 during retraction and deployment, minimizes friction when the mooring cable 12 passes through the guide wheel assembly 333, and minimizes bending of the mooring cable 12, thereby providing maximum protection for the mooring cable 12.

[0056] Among them, Figure 11 As shown, the heat dissipation assembly 35 includes a first axial flow fan 351, a second axial flow fan, and an air guide plate 352. The first axial flow fan 351 is mounted on the housing 31, above the main motor 321. The first axial flow fan 351 is connected to the outside air to dissipate heat from the cables wound around the cable storage drum 322. The air guide plate 352 is a curved plate mounted on one side of the first axial flow fan 351, located within the housing 31 and above the cable storage drum 322. The air guide plate 352 and the inner wall of the housing 31 together form an air guide duct for the first axial flow fan 351, providing forced air cooling for the mooring cable 12. The second axial flow fan is mounted within the cable storage drum 322, cooperating with the heat dissipation holes in the drum body and end cap to dissipate heat from the cables wound around the cable storage drum 322. Airflow enters the cable storage drum 322 through the heat dissipation holes in the end cap, is blown out through the heat dissipation holes in the drum body, and then flows out through the gaps around the mooring cable 12, dissipating heat from the mooring cable 12 on the cable storage drum. The first axial flow fan 351 and the second axial flow fan cooperate to form an air circulation system. The first axial flow fan 351 and the second axial flow fan are connected to the power supply of the retractable cable assembly 3. It should be noted that to prevent damage to the mooring cable 12 during abnormal operation of the equipment, the cable storage mechanism 2 of the present invention is also equipped with a torque limiter. The torque limiter is mounted on the output shaft end of the main motor 321 and is used to limit the maximum rotational torque of the main motor 321. When the equipment operates abnormally, causing the torque on the output shaft of the main motor 321 to exceed the set torque, the torque limiter slips, and the coaxially mounted first pulley 3231 synchronous pulley slips, preventing the cable storage drum 322 from rotating, thereby protecting the mooring cable 12. This torque limiter is a purely mechanical structure with an adjustable torque limit value and reliable operation, and can be used as the most basic and reliable protection device for the mooring cable 12.

[0057] The main control unit 34 is located on one side of the main motor 321 and is electrically connected to the motor driver of the main motor 321 and the motor driver of the cable traversing motor 331. The main control unit 34 controls the direction and speed of the main motor 321 and the cable traversing motor 331, enabling coordinated operation between the cable traversing motor 331 and the main motor 321. Specifically, when the device is operating, the guide wheel assembly 333 of the cable traversing mechanism 33 should move along the axis of the cable traversing drum 322 (i.e., the axis of the lead screw of the cable traversing mechanism 33) by a distance of one cable diameter for each rotation of the cable storage drum 322. The guide wheel assembly 333 moves along the axis of the cable storage drum 322 at different speeds for mooring cables 12 of different outer diameters. The present invention allows for arbitrary parameter settings to adjust the distance the guide wheel assembly 333 moves along the axis of the cable storage drum 322 per rotation of the cable storage drum 322, allowing the device to accommodate mooring cables 12 of any diameter. This avoids the need to re-manufacture transmission system components to accommodate cables of varying diameters, thus saving costs. Simultaneously, the main control unit receives mooring cable 12 tension data from the tension sensor 3333 and the speed data of the cable storage drum 322 from the encoder. Based on the tension and speed feedback values, it processes the mooring cable 12 retraction and extension speed, the mooring cable 12 tension, and the status of the cable arrangement mechanism 33 in real time. If an abnormality occurs in the equipment's operating status, the main control unit 34 promptly implements protective measures, such as speed reduction and shutdown. The main control unit 34 connects to an external computer for easy operation, allowing users to adjust equipment operating parameters and fully realize the equipment's flexibility. It also facilitates online monitoring of the equipment's operating status and appropriate emergency response.

[0058] Specific working principle

[0059] When the tethered drone 1 needs to be landed and stored, Figure 2 As shown, the tethered drone 1 first hovers above the take-off and landing platform 23, and the cable retracting assembly 3 reels the tethering cable 12 of the tethered drone 1. During the cable retracting process, the cable retracting assembly 3 will forcibly drag the tethered drone 1 to the top of the take-off and landing platform 23. During this process, the capture ring 41 of the capture assembly plays a role in limiting the tethering cable 12 to prevent the tethered drone 1 from being unstable and ensure that the tethered drone 1 lands stably on the take-off and landing platform 23. When the feeler rod 42 on the capture ring 41 of the capture assembly is not pressed by the tethered drone 1, due to the tension of the spring 443 (to ensure a reliable locking state, the spring 443 is pre-stretched and installed), the left upper surface of the connecting rod 432 contacts the inner cavity limit surface of the capture ring 41 and is positioned, the feeler rod 41 extends, and the locking bolt 44 extends to the right to maintain the capture state. Under the tension of the wire rope, the constant load spring 475 causes the capture ring 41 to slide upward and slide toward the top of the guide rail of the capture ring bracket 48. As shown Figure 13As shown, the right end surface of the locking bolt 44 is designed as an inclined structure. When the capture ring 41 slides up along the guide rail, the right end inclined surface of the locking bolt 44 touches the locking stopper 46 fixed between the guide rails of the capture ring bracket 48, forcing the locking bolt 44 to move left and make way. The capture ring 41 continues to slide up and stops at the upper limit block 473. Under the action of the spring 433, the triangular shift fork is driven to push the locking bolt 44 out. The locking stopper 46 limits the capture ring 41 from sliding down and is locked in its working position. When the tethered drone 1 presses the touch rod 42 on the capture ring 41, as shown in FIG. Figure 6 As shown, the contact rod 42 moves downward, driving the lever 431 to tilt: the lever 431 drives the connecting rod 432 to stretch upward, and the connecting rod 432 drives the triangular fork 434 to rotate clockwise around the rotating shaft 4341; the fork at the lower end of the triangular fork 434 drives the locking bolt 44 to slide to the left in the locking bolt sleeve 45, and the right end of the locking bolt 44 disengages the locking block 46 fixed in the middle of the guide rail, the limit is released, and the capture ring 41 can slide freely along the guide rail; when the lever 431 rotates counterclockwise around the fulcrum 4311, its right end swings up, and the triangular fork 434 rotates clockwise around the rotating shaft 4341, and its upper right corner (close to the rotating shaft 4341) is fixed with a tension spring 433, and the other end (upper end) of the spring 433 is fixed to the right end of the lever 431. At this time, the spring 433 is stretched and stores energy. When the contact rod 42 is released, the lever 431 rotates clockwise under the action of the spring 433, and the connecting rod 432 presses the upper left corner of the triangular fork 434. The triangular fork 434 rotates counterclockwise around the rotating shaft 4341, and the fork at its lower end pushes the locking bolt to the right, entering the locked state.

[0060] At this time, the foot structure 11 at the bottom of the tethered drone 1 is guided by the guide positioning hole on the take-off and landing platform 23 and passes through the support frame 28 into the locking sleeve 241 until the ball head of the foot structure 11 contacts the trigger switch 242 at the bottom of the locking sleeve 241, so that the trigger switch 242 transmits the trigger signal to the controller, and the controller controls the driving motor of the lifting assembly to rotate forward. The driving motor drives the screw of the screw guide rail slider assembly to rotate through the synchronous belt transmission assembly 26. The guide rail slider 221 connected to the screw moves downward along the screw under the action of the guide rail. At the same time, the support frame 28 connected to the guide rail slider 221 moves downward until the take-off and landing platform 23 connected to the support frame 28 is stored in the storage box 21; it should be noted that, Figure 3 and Figure 5As shown, during the downward movement of the support frame 28, the locking mechanism 24 at the bottom of the support frame 28 will continue to approach the lever assembly 27 until the locking lever of the lever assembly 27 passes through the through slot on the locking support 2438 of the locking pin assembly 243 and enters the shift hole 2437 on the slider of the locking pin assembly 243. Since the locking lever of the lever assembly 27 is tilted away from the locking sleeve 241, after the locking lever enters the shift hole 2437, it will push the slider toward the locking sleeve 241 until the locking lever on the slider is engaged. After passing through the locking hole 2411 on the locking sleeve 241, the pin 2431 enters the locking groove 111 of the support leg structure 11 in the locking sleeve 241. At the same time, the connecting plate 2345 of the reset assembly moves to the left with the slider, compressing the reset spring 2433 in the spring seat to realize energy storage, and provide the reset energy required for the unlocking action when the drone 1 is unlocked and takes off later. At this time, the take-off and landing platform reaches the lower limit, and the controller controls the drive motor to turn off, that is, the support leg structure 11 is locked, and the locked storage of the drone 1 is completed. When the drone 1 is unlocked and takes off, the controller controls the driving motor of the lifting assembly to rotate in the opposite direction. The driving motor drives the screw of the screw guide rail slider assembly to rotate through the synchronous belt transmission assembly 26. The guide rail slider 221 on the screw moves upward along the screw under the guidance of the guide rail 22. At the same time, the support frame 28 connected to the guide rail slider 221 moves upward until the landing platform 23 connected to the support frame 28 extends from the storage box 21. It should be noted that during the upward movement of the support frame 28, the locking mechanism 24 at the bottom of the support frame 28 will continue to move away from the lever assembly. 27, until the locking lever of the lever assembly 27 is continuously disengaged from the shifting hole 2437. Since the locking lever of the lever assembly 27 is tilted away from the locking sleeve 241, and the return spring 2433 acts together, as the locking lever is continuously disengaged from the shifting hole 2437, it pushes the slider to move away from the locking sleeve 241 until the locking pin 2431 on the slider is disengaged from the locking hole 2411 on the locking sleeve 241, thereby unlocking the support leg structure 11 of the drone 1 by the locking mechanism 24. At this time, the drone 1 can take off from the landing platform 23. Due to the elastic force of the return spring 2433, the locking mechanism 24 will be reliably maintained in the unlocked state, ensuring that the stowage and locking operation can be smoothly carried out after the drone lands again.

[0061] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A tethered cable drone automatic landing assist system, characterized in that: include: The lifting and lowering platform is vertically slidably arranged in the storage box through a support frame; A locking assembly is provided at the bottom of the lifting platform; The lifting assembly is used to drive the take-off and landing platform to move outward or inward in the storage box after the tethered UAV lands on the take-off and landing platform, and to drive the locking assembly to lock the legs of the tethered UAV while driving the take-off and landing platform to move into the storage box; A capture assembly comprises: a capture ring bracket, a capture ring and an energy storage assembly, wherein the capture ring is slidably connected to the capture ring bracket, the capture ring bracket is arranged on a locking assembly below the center hole of the take-off and landing platform, a feeler rod is passed through the capture ring, a locking bolt is hingedly connected to the lower end of the feeler rod through a transmission assembly, the locking bolt cooperates with a locking bolt sleeve arranged in a capture ring connection shell of the capture ring, and the energy storage assembly is used to store energy when the capture ring slides downward along the capture ring bracket, and reset the capture ring after the tethered drone takes off; And a retractable cable assembly, which is arranged in a storage box just below the capture ring, and its retractable end is connected to one end of the tethered cable of the tethered cable drone after passing through the capture ring, and is used to retract and extend the tethered cable.

2. The automatic landing assist system for a tethered UAV according to claim 1, characterized in that: The transmission assembly includes: a lever, a triangular fork and a spring. The lever is rotatably arranged in the capture ring connecting shell through a fulcrum. One end of the lever is connected to the lower end of the touch rod. A connecting rod is hinged between the other end of the lever and the fulcrum. The free end of the connecting rod is hinged to the first corner of the triangular fork. The second corner of the triangular fork is rotatably connected to the capture ring connecting shell through a rotating shaft. The third corner of the triangular fork is hinged to the locking bolt, wherein the spring is connected to the second corner of the triangular fork and the end of the lever facing away from the touch rod.

3. The automatic landing assist system for a tethered UAV according to claim 1, characterized in that: A guide rail is provided on the capture ring bracket, and the guide rail is slidably connected to the slider provided on the capture ring, and upper limit blocks and lower limit blocks for limiting the slider are correspondingly provided at both ends of the guide rail, and a locking block is provided near the upper end of the guide rail; wherein, when the touch rod is not pressed down, the locking bolt passes through one end of the locking bolt sleeve and contacts the upper surface of the locking block for limitation.

4. The automatic landing assist system for a tethered UAV according to claim 1, characterized in that: The energy storage assembly includes: a guide wheel arranged on the top of the capture ring bracket, a steel wire rope is wound around the guide wheel, one end of the steel wire rope is connected to the slider, and the other end of the steel wire rope is connected to a constant load spring arranged on the capture ring bracket away from the guide wheel.

5. The automatic landing auxiliary system for a tethered UAV according to claim 4, characterized in that: The tension in the constant load spring is twice the weight force on the capture ring.

6. The automatic landing assist system for a tethered UAV according to claim 1, characterized in that: The locking mechanism includes: a locking sleeve, which is arranged at the bottom of the support frame, and the locking sleeve corresponds to the guide positioning hole one by one. A locking pin assembly is provided on the support frame on the side facing the inside of the storage box for horizontal sliding. The locking end of the locking pin assembly matches the locking hole provided on the side of the locking sleeve. It also includes a lever assembly provided on the inner wall of the storage box, wherein, when the lifting assembly drives the support frame to move vertically along the inner wall of the storage box so that the lifting and lowering platform enters or is pushed out of the storage box, it also drives the locking mechanism to move vertically, so that the lever assembly drives the locking pin assembly to slide horizontally from the locking hole to enter or exit the locking sleeve, thereby limiting the locking or unlocking the support leg structure of the tethered drone.

7. The automatic landing assist system for a tethered UAV according to claim 6, characterized in that: It also includes a controller and a trigger switch. The trigger switch is set in the locking sleeve through the switch mounting hole at the bottom of the locking sleeve, and the trigger switch and the lifting assembly are electrically connected to the controller. The controller is used to control the lifting assembly to drive the take-off and landing platform together with the locking mechanism to descend when the leg structure of the tethered cable drone enters the locking sleeve and triggers the trigger switch until the locking pin assembly touches the lever assembly, and the lever assembly drives the locking pin assembly to move to limit and lock the leg structure of the tethered cable drone.

8. The automatic landing assist system for a tethered UAV according to claim 5, characterized in that: The locking pin assembly includes: A horizontally arranged locking support, one end of which is connected to the support frame and a slide rail is provided on the top; A slider is slidably connected to the top of the slide rail and is provided with a locking pin, the locking pin corresponds to the locking hole, and the locking end of the locking pin matches the locking groove; A limit seat is provided at the end of the locking support away from the locking sleeve; and a reset assembly, which is provided on the locking support and is used for resetting the slider; Among them, the locking support is provided with a through groove for the lever assembly to pass through, the slider is provided with a shift hole for the lever assembly to shift the slider to move, and the limit seat is used to limit the movement of the slider so that the shift hole on the slider after reset matches the lever assembly.

9. The automatic landing assist system for a tethered UAV according to claim 1, characterized in that: The lifting assembly includes: A driving motor is arranged at the bottom of the collection box; And the lead screw guide rail slider assembly is vertically arranged on the inner wall of the storage box, the input end of which is connected to the output end of the drive motor through the synchronous belt transmission assembly, and the output end is connected to the support frame; Among them, the screw guide rail slider assembly includes a screw, a screw guide rail and a guide rail slider. The screw is vertically and rotatably arranged on the inner wall of the collection box, and the lower end of the screw is connected to the output end of the drive motor through a synchronous belt transmission assembly; the screw guide rail is arranged parallel to the screw on the inner wall of the collection box on both sides of the screw; the guide rail slider is arranged on the screw and is slidably connected to the screw guide rail, and the side of the guide rail slider is connected to the support frame.

10. The automatic landing auxiliary system for a tethered UAV according to claim 1, characterized in that: The retractable cable assembly includes: The housing houses a cable storage mechanism, a cable arrangement mechanism, a main control unit, and a heat dissipation assembly; Among them, the cable storage mechanism is used to wind and store the mooring cable, the cable arrangement mechanism is used to guide the mooring cable during the cable retraction and release process, the main control unit is used to control the operation of the cable storage mechanism and the cable arrangement mechanism, and the heat dissipation component is used to dissipate heat from the mooring cable during the cable retraction and release process.

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