CN107161808A - One kind is tethered at unmanned plane folding and unfolding cable device and its control system - Google Patents
One kind is tethered at unmanned plane folding and unfolding cable device and its control system Download PDFInfo
- Publication number
- CN107161808A CN107161808A CN201710433693.7A CN201710433693A CN107161808A CN 107161808 A CN107161808 A CN 107161808A CN 201710433693 A CN201710433693 A CN 201710433693A CN 107161808 A CN107161808 A CN 107161808A
- Authority
- CN
- China
- Prior art keywords
- cable
- freewheel
- unmanned plane
- collection tube
- force
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H75/00—Storing webs, tapes, or filamentary material, e.g. on reels
- B65H75/02—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks
- B65H75/34—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks specially adapted or mounted for storing and repeatedly paying-out and re-storing lengths of material provided for particular purposes, e.g. anchored hoses, power cables
- B65H75/38—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks specially adapted or mounted for storing and repeatedly paying-out and re-storing lengths of material provided for particular purposes, e.g. anchored hoses, power cables involving the use of a core or former internal to, and supporting, a stored package of material
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H75/00—Storing webs, tapes, or filamentary material, e.g. on reels
- B65H75/02—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks
- B65H75/34—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks specially adapted or mounted for storing and repeatedly paying-out and re-storing lengths of material provided for particular purposes, e.g. anchored hoses, power cables
- B65H75/38—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks specially adapted or mounted for storing and repeatedly paying-out and re-storing lengths of material provided for particular purposes, e.g. anchored hoses, power cables involving the use of a core or former internal to, and supporting, a stored package of material
- B65H75/44—Constructional details
- B65H75/4402—Guiding arrangements to control paying-out and re-storing of the material
- B65H75/4405—Traversing devices; means for orderly arranging the material on the drum
Landscapes
- Storing, Repeated Paying-Out, And Re-Storing Of Elongated Articles (AREA)
Abstract
The present invention provides one kind and is tethered at unmanned plane folding and unfolding cable device and its control system, driver element includes torque motor, timing belt, spooling gear is made up of two-way leading screw, screw pair and guide rail, cable collection tube coiling is directly driven by torque motor, the synchronized tape handler of torque motor drives reciprocal leading screw to rotate, the reciprocal winding displacement action of screw pair is realized, optical cable sequentially passes through three groups via bus cable device and determines freewheel and force snesor, is connected to finally by guiding mechanism on unmanned plane.The direct drive of torque motor cable collection tube of the present invention, reduce the power consumption that the factor such as mechanism friction is caused in transmission process, it is different from the single directive wheel of traditional folding and unfolding cable device in terms of being oriented to and fixing optical cable, but use three groups of freewheels, wherein two groups axis are vertical and rotate and move horizontally with leading screw on screw pair, another group be fixed on ensure on support optical cable enter force snesor direction it is constant to ensure measurement accuracy.
Description
Technical field
Unmanned plane folding and unfolding cable device and its control system are tethered at the present invention relates to a kind of folding and unfolding cable system, more particularly to one kind
System.
Background technology
With the development and popularization of unmanned air vehicle technique, its problem of continuing a journey is protruded all the more.In order to solve this problem, Ren Menxuan
Select and be combined traditional unmanned air vehicle technique with tethered platform technology, formation is tethered at unmanned plane.Folding and unfolding cable device is to be tethered at nobody
The core of machine technology, the hawser folding and unfolding effect of connection unmanned plane part, which can be directly affected, is tethered at unmanned plane service behaviour.
Traditional folding and unfolding cable device is used for underwater robot, search and rescue robot etc., with being tethered at unmanned plane folding and unfolding cable device
Compare, these extraordinary draw off gear folding and unfolding cable power are big, physical dimension is big, guiding mechanism design can not meet unmanned plane hawser folding and unfolding
The requirement of feature.
The content of the invention
The invention aims to provide one kind to be tethered at unmanned plane folding and unfolding cable device and its control system, it can be carried out with it
It is tethered at the optical cable folding and unfolding of unmanned plane.
The object of the present invention is achieved like this：Torque motor including support and with photoelectric encoder, between support
Leading screw and cable collection tube shafting are provided with, and leading screw is located above cable collection tube shafting, output end and the cable collection tube shafting of torque motor
Connection, is provided with cable collection tube, cable collection tube in cable collection tube shafting and is wound with cable, cable collection tube shafting be connected with torque motor one
Driving pulley, the other end of cable collection tube shafting are additionally provided with end and is provided with slip ring, the end of leading screw is provided with driven pulley,
It is provided between driving pulley and driven pulley on timing belt, leading screw and is provided with sliding block, upper end of slide block face is provided with horizontal direction
The first freewheel group, be provided with outer face on the second freewheel group of vertical direction, the support and be provided with the 3rd freely
Force measuring machine is additionally provided with wheel group, the support, pedestal upper end is provided with guiding mechanism, and the force measuring machine includes and support
The fixed seat of connection, the left directive wheel in fixed seat, force-measuring wheel and right directive wheel, force-measuring wheel connection force snesor, institute
State guiding mechanism including the pedestal on rack-mount end face, the turning unit being arranged on by bearing in pedestal, be arranged on
Free wheel support on turning unit, a bearing pin mounting seat being separately positioned on free wheel support and turning unit and No. two
Bearing pin mounting seat, respectively by bearing pin be arranged on freedom in minor affairs wheel in a bearing pin mounting seat and No. two bearing pin mounting seats and it is big from
By taking turns, the end of cable passes through the second freewheel group, the first freewheel group, the 3rd freewheel group before this, then bypasses a left side successively and lead
To wheel, force-measuring wheel and right directive wheel, most afterwards through being passed between big freewheel and freedom in minor affairs wheel.
Present invention additionally comprises some such architectural features：
1. also set up spring between the bearing pin of big freewheel and No. two bearing pin mounting seats.
2. described in the first freewheel group, the second freewheel group and the 3rd freewheel group include two equal-sized freedom
Wheel.
3. a kind of control system for being tethered at unmanned plane folding and unfolding cable device, including it is described be tethered at unmanned plane folding and unfolding cable device,
Torque motor control cable is acted, and encoder measures folding and unfolding length of cable and speed in real time, and force snesor is measured on cable in real time
Tension force, in addition to system controller and the servo-driver of control moment motor output, system controller is by given tension value
Servo-driver is sent to unmanned plane location information；Servo controller is by CAN communication by length of cable, tension force and current work
System controller is sent to as state.
Compared with prior art, the beneficial effects of the invention are as follows：In view of the above-mentioned problems, and with reference to conventional extraordinary folding and unfolding
On device basic, the present invention proposes a kind of folding and unfolding cable device for being used to be tethered at unmanned plane.Storage is driven by single power source simultaneously
Cable cylinder and spooling gear, wherein cable collection tube are directly driven by torque motor, and same torque motor is driven by tape handler again
Bus cable device, it is ensured that coiling action and winding displacement are synchronous, and speed is into certain proportionate relationship.Bus cable device selects leading screw cable machine
Two groups of freewheels are installed on structure, sliding block (screw pair), is met while cable exit position is limited and adapts to the change of the reel diameter of axle
Requirement.A pair of freewheels are installed in guiding mechanism, optical cable is in rolling friction state all the time with guiding mechanism, so as to reduce
Influence of the guiding mechanism to optical cable tension force.In control method, using power and speed two close cycles, solve in quickly retracting cable process
In identical tension problem.
Brief description of the drawings
Fig. 1 is the control program figure of the present invention；
Fig. 2 is the 3 d effect graph of the present invention；
Fig. 3 is the forward sight direction structure schematic diagram of the present invention；
Fig. 4 is the overlook direction structural representation of the present invention；
Fig. 5 is the 3 d effect graph of the force measuring machine of the present invention；
Fig. 6 is the 3 d effect graph of the guiding mechanism of the present invention；
Fig. 7 is the sectional view of the guiding mechanism of the present invention；
Fig. 8 is the top view of the guiding mechanism of the present invention；
Fig. 9 is the overall structure diagram of the present invention.
Embodiment
The present invention is described in further detail with embodiment below in conjunction with the accompanying drawings.
With reference to Fig. 1 to Fig. 8, with reference to Fig. 2,3,4, the present invention includes support, spooling gear, cable collection tube, driver element, guiding
Mechanism, force measuring machine etc..Driver element is made up of torque motor, timing belt etc., and spooling gear is by two-way leading screw, sliding block (spiral
It is secondary) and guide rail composition.Guide rail is arranged in parallel with leading screw, and limitation sliding block (screw pair) follows leading screw to rotate, and is led while playing
To effect, two groups of freewheels on sliding block (screw pair) go out cable position during then effectively limiting winding displacement, and have adapted to light
Optical cable small range swing caused by the change of the reel diameter of axle during cable folding and unfolding.Cable collection tube is driven by a torque motor simultaneously
With the rotation of leading screw, the synchronization of coiling and the action of reciprocal winding displacement is realized.The optical cable on cable collection tube is wrapped in by three groups of freewheels
And force measuring machine, by being connected after guiding mechanism with unmanned plane, guiding mechanism can do 360 degree in the presence of eccentricity and turn
It is dynamic so that optical cable in any direction can free stretching motion.The present invention is used for realization under external environmental interference, is tethered at nothing
Constant tensile control in man-machine release, flat winged and removal process.Torque motor drives spooling gear and cable collection tube simultaneously, due to same
The gearing of band is walked, cable collection tube and spooling gear are synchronized with the movement, namely realize that the rotation of cable collection tube is fast by toothed belt transmission
Degree is with spooling gear horizontal movement velocity into certain proportionate relationship.Direct drive of torque motor cable collection tube, is eliminated by transmission mechanism
The influence that friction belt is come.Two groups of freewheels are added on screw slider (screw pair), cable outlet position is arranged in one of which limitation, and another
Reel diameter of axle change during one group of adaptation folding and unfolding cable.Guiding mechanism is main to be used by pedestal, turning unit, rolling bearing, axle
Back-up ring and a pair of freewheel compositions.Guiding mechanism around axis can do 360 degree of rotations in the presence of eccentricity, in guiding mechanism
One group of freewheel of interior installation, so that optical cable is in rolling friction state all the time with guiding mechanism, reduces optical cable and passes through Guiding machine
Friction during structure, so as to reduce influence of the guiding mechanism to optical cable tension force.Enter after freewheel of the optical cable by one group of fixation and survey
Force mechanisms, it is ensured that optical cable is vertical with force measuring machine axis to ensure dynamometry accuracy.Force measuring machine selects three-wheel group dynamometry scheme,
I.e. a directive wheel is respectively arranged in left and right, and breast wheel is that force-measuring wheel is connected with sensor internal, before optical cable enters force measuring machine,
The freewheel that one group of position is fixed is first passed through, so that optical cable is vertical with the axis holding of force measuring machine, direction is fixed, to ensure
The accuracy of dynamometry, this setup of the invention is compared with the single-wheel dynamometry scheme that general folding and unfolding cable device is used, inertia
It is small, it is sensitiveer, more save space.Turning unit is installed by rolling bearing and pedestal, makes guiding mechanism in the work of eccentricity
One group of freewheel can be installed in guiding mechanism around axis flexible rotating under, so that optical cable is located all the time with guiding mechanism
In rolling friction state, reduce optical cable and pass through friction during guiding mechanism, influence of the reduction guiding mechanism to optical cable tension force.
Specifically the present invention is：The torque motor 8 for being provided with encoder 9 passes through shaft coupling 15 and cable collection tube coupling of shaft system.
Cable collection tube shafting is arranged in two bearing blocks in left and right by a pair of deep groove ball bearings respectively with lead screw shaft 11,10 points of synchronous pulley
It is not arranged on by flat key connection in cable collection tube shafting and lead screw shaft 11.Torque motor 8 directly drives cable collection tube 6, and by same
The driving lead screw shaft 11 of band 7 is walked, so as to realize that sliding block (screw pair) 12 is moved horizontally along guide rail 13.Reciprocal leading screw unidirectionally turns
It is dynamic, when sliding block (screw pair) 12 moves to extreme position, it can be moved automatically along opposite direction, without motor commutation, Ji Nengshi
Now toward multiple bank cable.Slip ring 16 is installed in the end of roller shafting, the optical cable in external cable and cable collection tube is separated, it is to avoid
Occurs optical cable distortion in winding process.
With reference to Fig. 2,3,5, optical cable is from cable collection tube to arrival unmanned plane, it is necessary to sequentially pass through installed in sliding block (screw pair) 12
On the second freewheel group 5 and the first freewheel group 4, be fixed on a pair of the 3rd freewheels 14 on support 3, be fixed on support 3
On force measuring machine 2 and guiding mechanism 1, every group of freewheel group is by two size identical freewheels.In the arrangement of space, from
By wheel group 14, the line and cable collection tube 6 of force measuring machine 2 and the centre of gyration of guiding mechanism 1 are tangent, it is ensured that optical cable enters force measuring machine
Direction and angle fix, it is ensured that the accuracy of force measurements.Freewheel group 5 defines the outlet position in optical cable swing process
Put, freewheel group 4 realizes the change that the external diameter of cable collection tube 6 is adapted in online swing process, the axis of two groups of freewheels is mutually perpendicular to.
Force measuring machine includes left directive wheel 19, right directive wheel 21 and force-measuring wheel 20, and size is small, rotates flexible, reduces optical cable 18 and pass through
When resistance.
With reference to Fig. 6,7,8, turning unit 27 is arranged in pedestal 28 by deep groove ball bearing 29, prevented with circlip 30
The axial motion of turning unit 27.Free wheel support 22 is arranged on turning unit 27 by screw.A pair using freely simultaneously
Wheel, freedom in minor affairs wheel 23 and big freewheel 24 are pacified by pin 26 and a bearing pin mounting seat 31 and No. two bearing pin mounting seats 25 respectively
On free wheel support 22 and turning unit 27.It is small that spring in the groove of turning unit 27 realizes big freewheel bearing pin
Scope adjust, it is ensured that optical cable is between two freewheels all the time, when optical cable extrude freedom in minor affairs wheel 23 when, due to extruding force with
The centre of gyration (center line in Fig. 7) of turning unit 27 is non-intersect, and an eccentricity can be produced immediately rotates turning unit,
So that optical cable in any direction can free stretching motion, and all the time be in rolling friction state, reduce guiding mechanism to light
The influence of cable tension force
The control system of the present invention includes system controller, servo-driver, torque motor, force snesor and encoder.
Wherein, servo-driver control moment motor is exported；Torque motor control cable is acted；It is long that encoder measures folding and unfolding hawser in real time
Degree and speed；Force snesor measures the tension force on cable in real time.Servo-driver possess current compensation and monitoring, velocity compensation and
Tension force function.Wherein current monitoring link ensures that motor will not overload, and current compensation link realizes the quick of motor loading
Property and stationarity；Velocity compensation and the two closed loops of tension force are while tension force overload protection and stall detection is provided, altogether
Automatically controlling for unmanned plane release recovery is tethered at realizing, it is to avoid impact, improve recyclability.
Given tension value and unmanned plane location information are sent to servo-driver by system controller；Servo controller passes through
Cable length, tension force and current operating state are sent to system controller by CAN communication, to detect that the flying height of unmanned plane provides number
According to, and avoid damaging motor and controller because of excessive cable laying tension force.
With reference to Fig. 1,2, the photoelectric encoder 9 on torque motor 8 measures the folding and unfolding length of hawser and current
Folding and unfolding speed, force snesor 2 measures current cable tension, and system controller is sent to by servo-driver, judges unmanned plane
Height simultaneously confirms whether control method is located in normal operation.It is current that system controller sends unmanned plane to servo controller
Position, and providing instruction (cable laying, flat winged or recovery) makes servo controller select different control algolithms according to different instruction.
Controller controls the output torque and speed of DC servo motor by PWM drive circuit, anti-by tension force, speed
Double-closed-loop control is presented, realizes that, in the dynamic identical tension automatic deploying and retracting cable control of optical cable, the tension force solved under optical cable motion state is accurate
Control problem.Cable laying linear measure longimetry is realized by photoelectric coding, realizes that unmanned plane landing is packed up by take-up Automatic Control Strategy
Automatically control, it is to avoid impact, improve recyclability.Cable long message is sent to by system controller by CAN communication simultaneously, is
Detect that the flying height distance of unmanned plane provides data；Fed back using current of electric, tension force overload protection, stall detection etc. protection
Method, it is to avoid excessive cable laying tension force, it is to avoid because of overload damage motor and controller, it is ensured that system operation safety.
In the cable laying stage, speed control is main control ring, and cable stretch control is auxiliary closed loop, is realized in regulation tension force model
With certain speed cable laying (with the rise rate information or the anticipation adjust automatically by the controller rate of climb of unmanned plane in enclosing
Cable releasing speed)；The flat winged stage realizes the automatic receiving/releasing cable of identical tension, solves in the flat winged stage because a variety of causes causes unmanned plane
Bottom surface vehicle movement with being provided with folding and unfolding cable device is inconsistent make paired cable pull problem, it is automatic by constant tensile control
The length of cable is adjusted, using cable stretch closed-loop control as main closed loop；Recovery stage realizes automatic take-up, and position control is master control
Ring processed, cable stretch control is auxiliary closed loop.The speed drawn over to one's side according to unmanned plane relative position planning different from collection box, it is real
The steady recovery of existing unmanned plane.
To sum up, present invention aims at provide one kind to be tethered at unmanned plane folding and unfolding cable device and control method.Device includes branch
Frame, spooling gear, cable collection tube, driver element, guiding mechanism, force measuring machine etc..Driver element is by structures such as torque motor, timing belts
Into spooling gear is made up of two-way leading screw, sliding block (screw pair) and guide rail.Cable collection tube coiling is directly driven by torque motor, together
When the synchronized tape handler of torque motor drive reciprocal leading screw to rotate, so as to realize the reciprocal winding displacement action of sliding block (screw pair).
Optical cable sequentially passes through three groups via bus cable device and determines freewheel and force snesor, is connected to finally by guiding mechanism on unmanned plane.
The method have the characteristics that direct drive of torque motor cable collection tube, reduces the power that the factor such as mechanism friction is caused in transmission process
Consumption, is different from the single directive wheel of traditional folding and unfolding cable device in terms of being oriented to and fixing optical cable, but uses three groups of freewheels,
Wherein two groups axis are vertical and moved horizontally on sliding block (screw pair) with leading screw rotation, and another group is fixed on guarantor on support
The direction that card optical cable enters force snesor is constant to ensure measurement accuracy.Guiding mechanism can turn in the presence of eccentricity
It is dynamic so that optical cable in any direction can free stretching motion.
Present invention also offers a kind of folding and unfolding cable control system based on aforementioned means, including：System controller, servo is driven
Dynamic device, torque motor, force snesor and encoder.Wherein, servo-driver control moment motor is exported, while by cable length
And current operating state feeds back to system controller, system controller sends task order to servo-driver and unmanned plane is positioned
Information；Torque motor control cable is acted；Encoder measures folding and unfolding cable length and speed in real time；Force snesor measures line in real time
Tension force on cable.Servo-driver possesses current compensation and monitoring, velocity compensation and tension force function.Wherein current monitoring ring
Section ensures that motor will not overload, and current compensation link realizes the rapidity and stationarity of motor loading；Velocity compensation and tension force control
The two closed loops are made while tension force overload protection and stall detection are provided, it is common realize be tethered at that unmanned plane release reclaims from
Dynamic control, it is to avoid impact, improves recyclability.The MCU of servo-driver is needed to realize tension force, and current compensation and speed are mended
Repay three closed loops, and by way of CAN communication by folding and unfolding cable system mode Real-time Feedback to system controller, it is ensured that in the external world
Under environmental disturbances, being tethered at unmanned plane can quick release and recovery under the given tension force of system controller.
Claims (4)
1. one kind is tethered at unmanned plane folding and unfolding cable device, it is characterised in that：Torque motor including support and with photoelectric encoder,
Leading screw and cable collection tube shafting are provided between support, and leading screw is located above cable collection tube shafting, the output end of torque motor and storage
It is provided with cable cylinder coupling of shaft system, cable collection tube shafting on cable collection tube, cable collection tube and is wound with slip ring, cable collection tube shafting and torque motor
Driving pulley, the other end of cable collection tube shafting are additionally provided with one end of connection and is provided with slip ring, the end of leading screw is provided with
Driven pulley, is provided with timing belt, leading screw between driving pulley and driven pulley and is provided with sliding block, and upper end of slide block face is provided with
It is provided with the second freewheel group of vertical direction, the support and is provided with first freewheel group of horizontal direction, outer face
Force measuring machine is additionally provided with 3rd freewheel group, the support, pedestal upper end is provided with guiding mechanism, the force measuring machine bag
The fixed seat being connected with support, the left directive wheel in fixed seat, force-measuring wheel and right directive wheel are included, force-measuring wheel attachment force is passed
Sensor, the guiding mechanism includes pedestal on rack-mount end face, the turning unit that is arranged on by bearing in pedestal,
The free wheel support being arranged on turning unit, a bearing pin mounting seat being separately positioned on free wheel support and turning unit
The freedom in minor affairs wheel in a bearing pin mounting seat and No. two bearing pin mounting seats is arranged on No. two bearing pin mounting seats, respectively by bearing pin
With big freewheel, the end of cable passes through the second freewheel group, the first freewheel group, the 3rd freewheel group before this, then successively around
Left directive wheel, force-measuring wheel and right directive wheel are crossed, most afterwards through being passed between big freewheel and freedom in minor affairs wheel.
2. one kind according to claim 1 is tethered at unmanned plane folding and unfolding cable device, it is characterised in that：In the bearing pin of big freewheel
Spring is also set up between No. two bearing pin mounting seats.
3. one kind according to claim 2 is tethered at unmanned plane folding and unfolding cable device, it is characterised in that：First freewheel
Group, the second freewheel group and the 3rd freewheel group include two equal-sized freewheels.
4. a kind of control system for being tethered at unmanned plane folding and unfolding cable device, it is characterised in that：Including being tethered at nothing described in claim 3
Man-machine folding and unfolding cable device, torque motor control cable action, encoder measures folding and unfolding length of cable and speed, force snesor in real time
Tension force on measurement cable, in addition to system controller and the servo-driver of control moment motor output in real time, system control
Given tension value and unmanned plane location information are sent to servo-driver by device；Servo controller is long by cable by CAN communication
Degree, tension force and current operating state are sent to system controller.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710433693.7A CN107161808B (en) | 2017-06-09 | 2017-06-09 | One kind being tethered at unmanned plane folding and unfolding cable device and its control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710433693.7A CN107161808B (en) | 2017-06-09 | 2017-06-09 | One kind being tethered at unmanned plane folding and unfolding cable device and its control system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107161808A true CN107161808A (en) | 2017-09-15 |
| CN107161808B CN107161808B (en) | 2019-04-12 |
Family
ID=59824947
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710433693.7A Active CN107161808B (en) | 2017-06-09 | 2017-06-09 | One kind being tethered at unmanned plane folding and unfolding cable device and its control system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107161808B (en) |
Cited By (30)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108015768A (en) * | 2017-12-04 | 2018-05-11 | 航天科工智能机器人有限责任公司 | A kind of embedded control system of wheel moving platform |
| CN108557597A (en) * | 2018-03-20 | 2018-09-21 | 西红柿科技（武汉）有限公司 | A kind of autocoding spooler, Stress Map imaging system |
| CN108706404A (en) * | 2018-06-27 | 2018-10-26 | 上海市南电力（集团）有限公司青浦分公司 | A kind of self-propelled mount(ing) idle discharge line is twisted machine |
| CN108773097A (en) * | 2018-05-23 | 2018-11-09 | 联亚智能科技（苏州）有限公司 | A kind of rubber adhesive tape cooling device and rubber components automatic winding unit |
| CN108821036A (en) * | 2018-07-02 | 2018-11-16 | 合肥瀚翔智能科技有限公司 | One kind being tethered at unmanned plane with full-automatic hawser draw off gear |
| CN109019141A (en) * | 2018-06-13 | 2018-12-18 | 佛山舒宜添科技有限公司 | A kind of optical fiber lifting laying apparatus |
| CN109110570A (en) * | 2018-09-06 | 2019-01-01 | 深圳市安泽智能工程有限公司 | Optical fiber bus cable device |
| CN109176493A (en) * | 2018-09-18 | 2019-01-11 | 哈尔滨工业大学（深圳） | A kind of wire drive and drive parallel robot of restricting |
| CN109368418A (en) * | 2018-10-31 | 2019-02-22 | 东莞天速通信技术有限公司 | A kind of devices and methods therefor of adaptive folding and unfolding aircraft cable |
| CN109573746A (en) * | 2018-11-19 | 2019-04-05 | 石家庄云鼎科技有限公司 | One kind being tethered at hawser retractable equipment built in unmanned plane power unit |
| CN109704155A (en) * | 2018-10-11 | 2019-05-03 | 深圳市科卫泰实业发展有限公司 | A kind of simple type is tethered at unmanned plane automatic deploying and retracting line apparatus |
| CN109748154A (en) * | 2017-11-02 | 2019-05-14 | 天津职业技术师范大学 | The control device and implementation method that UAV system power line and data line are pumped |
| CN109748158A (en) * | 2017-11-02 | 2019-05-14 | 天津职业技术师范大学 | A kind of unmanned plane cable automatic retraction device |
| WO2019095260A1 (en) * | 2017-11-17 | 2019-05-23 | 深圳市科比特航空科技有限公司 | Control apparatus for cable winding and unwinding and apparatus for cable winding and unwinding |
| CN109835781A (en) * | 2019-03-23 | 2019-06-04 | 深圳市贝贝特科技实业有限公司 | It is tethered at unmanned plane wire-winding unit and its working method |
| CN109885109A (en) * | 2019-03-20 | 2019-06-14 | 朱彬 | A kind of method for controlling number of revolution, device, equipment and medium |
| CN110371800A (en) * | 2019-06-04 | 2019-10-25 | 扬州市广佳电工科技有限公司 | A kind of method and its private cable drum automatically controlling retractable cable amount |
| CN111232764A (en) * | 2018-11-29 | 2020-06-05 | 浙江贝尔技术有限公司 | Mooring type unmanned aerial vehicle winding and unwinding device |
| WO2020168631A1 (en) * | 2019-02-19 | 2020-08-27 | 深圳市赛为智能股份有限公司 | Intelligent take-up and pay-off device for tethered unmanned aerial vehicle, and operating method thereof |
| CN112051654A (en) * | 2020-08-17 | 2020-12-08 | 山东英特力光通信开发有限公司 | Automatic laying device and method for special optical cable in unmanned environment |
| CN112158683A (en) * | 2020-09-29 | 2021-01-01 | 西安应用光学研究所 | Automatic winding and unwinding device and method for photoelectric composite cable of miniaturized mooring unmanned aerial vehicle |
| CN112623886A (en) * | 2020-10-28 | 2021-04-09 | 昆明海威机电技术研究所(有限公司) | Photoelectric liquid cable winding and unwinding equipment and method |
| CN113003303A (en) * | 2021-03-03 | 2021-06-22 | 江苏科技大学 | Method for controlling tension of cable of full-sea-depth winch retracting system |
| CN113371158A (en) * | 2021-07-15 | 2021-09-10 | 烟台宏远载人压力舱工程技术研究院有限公司 | Multi-degree-of-freedom umbilical cable heave compensation device |
| CN113911856A (en) * | 2021-10-18 | 2022-01-11 | 武汉大学 | Force control wire outlet device and method based on cable real-time following |
| CN114291665A (en) * | 2021-12-27 | 2022-04-08 | 浙江点辰航空科技有限公司 | Staying unmanned aerial vehicle receive and releases line system |
| CN114955747A (en) * | 2022-07-27 | 2022-08-30 | 北京卓翼智能科技有限公司 | Automatic winding displacement device and mooring unmanned aerial vehicle system comprising same |
| CN115159274A (en) * | 2022-08-09 | 2022-10-11 | 合肥正阳光电科技有限责任公司 | Backpack intelligent photoelectric composite cable winding and unwinding machine and control method thereof |
| CN116835398A (en) * | 2023-08-30 | 2023-10-03 | 之江实验室 | Retraction control method and retraction control device for tethered cable and aircraft assembly |
| CN117605907A (en) * | 2023-11-24 | 2024-02-27 | 唐山市中宇科技发展有限公司 | Intelligent power system of inertial measurement pipeline robot |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH06219650A (en) * | 1993-01-21 | 1994-08-09 | Suzuki Motor Corp | Cable winding device |
| JPH0740779A (en) * | 1993-07-30 | 1995-02-10 | Suzuki Motor Corp | Cable take-up/delivery device for vehicle |
| JP2003321165A (en) * | 2002-05-02 | 2003-11-11 | Honko Mfg Co Ltd | Winder |
| CN103162015A (en) * | 2011-12-13 | 2013-06-19 | 乔伊·姆·特拉华公司 | Swinging sheave bracket with force control |
| CN203021129U (en) * | 2013-01-18 | 2013-06-26 | 南昌凯马有限公司 | Bidirectional automatic cable arrangement working mechanism |
| CN204369325U (en) * | 2014-12-04 | 2015-06-03 | 西南科技大学 | A kind of cable winder |
| CN205555756U (en) * | 2016-04-20 | 2016-09-07 | 北京深远世宁科技有限公司 | Automatic coiling and uncoiling device of staying unmanned aerial vehicle |
| CN205932769U (en) * | 2016-08-22 | 2017-02-08 | 合肥瀚翔智能科技有限公司 | Staying unmanned aerial vehicle's automatic coiling and uncoiling device |
| CN206172694U (en) * | 2016-07-20 | 2017-05-17 | 上海精卫电子有限公司 | Arrange cable winch |
-
2017
- 2017-06-09 CN CN201710433693.7A patent/CN107161808B/en active Active
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH06219650A (en) * | 1993-01-21 | 1994-08-09 | Suzuki Motor Corp | Cable winding device |
| JPH0740779A (en) * | 1993-07-30 | 1995-02-10 | Suzuki Motor Corp | Cable take-up/delivery device for vehicle |
| JP2003321165A (en) * | 2002-05-02 | 2003-11-11 | Honko Mfg Co Ltd | Winder |
| CN103162015A (en) * | 2011-12-13 | 2013-06-19 | 乔伊·姆·特拉华公司 | Swinging sheave bracket with force control |
| CN203021129U (en) * | 2013-01-18 | 2013-06-26 | 南昌凯马有限公司 | Bidirectional automatic cable arrangement working mechanism |
| CN204369325U (en) * | 2014-12-04 | 2015-06-03 | 西南科技大学 | A kind of cable winder |
| CN205555756U (en) * | 2016-04-20 | 2016-09-07 | 北京深远世宁科技有限公司 | Automatic coiling and uncoiling device of staying unmanned aerial vehicle |
| CN206172694U (en) * | 2016-07-20 | 2017-05-17 | 上海精卫电子有限公司 | Arrange cable winch |
| CN205932769U (en) * | 2016-08-22 | 2017-02-08 | 合肥瀚翔智能科技有限公司 | Staying unmanned aerial vehicle's automatic coiling and uncoiling device |
Cited By (37)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109748154A (en) * | 2017-11-02 | 2019-05-14 | 天津职业技术师范大学 | The control device and implementation method that UAV system power line and data line are pumped |
| CN109748158A (en) * | 2017-11-02 | 2019-05-14 | 天津职业技术师范大学 | A kind of unmanned plane cable automatic retraction device |
| WO2019095260A1 (en) * | 2017-11-17 | 2019-05-23 | 深圳市科比特航空科技有限公司 | Control apparatus for cable winding and unwinding and apparatus for cable winding and unwinding |
| CN108015768A (en) * | 2017-12-04 | 2018-05-11 | 航天科工智能机器人有限责任公司 | A kind of embedded control system of wheel moving platform |
| CN108557597A (en) * | 2018-03-20 | 2018-09-21 | 西红柿科技（武汉）有限公司 | A kind of autocoding spooler, Stress Map imaging system |
| CN108557597B (en) * | 2018-03-20 | 2019-11-15 | 西红柿科技（武汉）有限公司 | A kind of autocoding spooler, Stress Map imaging system |
| CN108773097A (en) * | 2018-05-23 | 2018-11-09 | 联亚智能科技（苏州）有限公司 | A kind of rubber adhesive tape cooling device and rubber components automatic winding unit |
| CN108773097B (en) * | 2018-05-23 | 2023-07-21 | 联亚智能科技（苏州）有限公司 | Rubber strip cooling device and automatic rubber part winding unit |
| CN109019141A (en) * | 2018-06-13 | 2018-12-18 | 佛山舒宜添科技有限公司 | A kind of optical fiber lifting laying apparatus |
| CN108706404A (en) * | 2018-06-27 | 2018-10-26 | 上海市南电力（集团）有限公司青浦分公司 | A kind of self-propelled mount(ing) idle discharge line is twisted machine |
| CN108821036A (en) * | 2018-07-02 | 2018-11-16 | 合肥瀚翔智能科技有限公司 | One kind being tethered at unmanned plane with full-automatic hawser draw off gear |
| CN109110570A (en) * | 2018-09-06 | 2019-01-01 | 深圳市安泽智能工程有限公司 | Optical fiber bus cable device |
| CN109176493A (en) * | 2018-09-18 | 2019-01-11 | 哈尔滨工业大学（深圳） | A kind of wire drive and drive parallel robot of restricting |
| CN109704155A (en) * | 2018-10-11 | 2019-05-03 | 深圳市科卫泰实业发展有限公司 | A kind of simple type is tethered at unmanned plane automatic deploying and retracting line apparatus |
| CN109368418A (en) * | 2018-10-31 | 2019-02-22 | 东莞天速通信技术有限公司 | A kind of devices and methods therefor of adaptive folding and unfolding aircraft cable |
| CN109573746A (en) * | 2018-11-19 | 2019-04-05 | 石家庄云鼎科技有限公司 | One kind being tethered at hawser retractable equipment built in unmanned plane power unit |
| CN111232764A (en) * | 2018-11-29 | 2020-06-05 | 浙江贝尔技术有限公司 | Mooring type unmanned aerial vehicle winding and unwinding device |
| WO2020168631A1 (en) * | 2019-02-19 | 2020-08-27 | 深圳市赛为智能股份有限公司 | Intelligent take-up and pay-off device for tethered unmanned aerial vehicle, and operating method thereof |
| CN109885109A (en) * | 2019-03-20 | 2019-06-14 | 朱彬 | A kind of method for controlling number of revolution, device, equipment and medium |
| CN109835781A (en) * | 2019-03-23 | 2019-06-04 | 深圳市贝贝特科技实业有限公司 | It is tethered at unmanned plane wire-winding unit and its working method |
| CN110371800A (en) * | 2019-06-04 | 2019-10-25 | 扬州市广佳电工科技有限公司 | A kind of method and its private cable drum automatically controlling retractable cable amount |
| CN112051654B (en) * | 2020-08-17 | 2022-05-31 | 山东英特力光通信开发有限公司 | Automatic laying device and method for special optical cable in unmanned environment |
| CN112051654A (en) * | 2020-08-17 | 2020-12-08 | 山东英特力光通信开发有限公司 | Automatic laying device and method for special optical cable in unmanned environment |
| CN112158683A (en) * | 2020-09-29 | 2021-01-01 | 西安应用光学研究所 | Automatic winding and unwinding device and method for photoelectric composite cable of miniaturized mooring unmanned aerial vehicle |
| CN112623886A (en) * | 2020-10-28 | 2021-04-09 | 昆明海威机电技术研究所(有限公司) | Photoelectric liquid cable winding and unwinding equipment and method |
| CN113003303A (en) * | 2021-03-03 | 2021-06-22 | 江苏科技大学 | Method for controlling tension of cable of full-sea-depth winch retracting system |
| CN113371158A (en) * | 2021-07-15 | 2021-09-10 | 烟台宏远载人压力舱工程技术研究院有限公司 | Multi-degree-of-freedom umbilical cable heave compensation device |
| CN113371158B (en) * | 2021-07-15 | 2024-05-24 | 烟台宏远载人压力舱工程技术研究院有限公司 | Multi-degree-of-freedom umbilical cable heave compensation device |
| CN113911856A (en) * | 2021-10-18 | 2022-01-11 | 武汉大学 | Force control wire outlet device and method based on cable real-time following |
| CN114291665A (en) * | 2021-12-27 | 2022-04-08 | 浙江点辰航空科技有限公司 | Staying unmanned aerial vehicle receive and releases line system |
| CN114291665B (en) * | 2021-12-27 | 2023-10-20 | 陕西风雷移航空科技有限公司 | Tethered unmanned aerial vehicle coiling and uncoiling system |
| CN114955747A (en) * | 2022-07-27 | 2022-08-30 | 北京卓翼智能科技有限公司 | Automatic winding displacement device and mooring unmanned aerial vehicle system comprising same |
| CN114955747B (en) * | 2022-07-27 | 2022-11-08 | 北京卓翼智能科技有限公司 | Automatic winding displacement device and mooring unmanned aerial vehicle system comprising same |
| CN115159274A (en) * | 2022-08-09 | 2022-10-11 | 合肥正阳光电科技有限责任公司 | Backpack intelligent photoelectric composite cable winding and unwinding machine and control method thereof |
| CN116835398A (en) * | 2023-08-30 | 2023-10-03 | 之江实验室 | Retraction control method and retraction control device for tethered cable and aircraft assembly |
| CN116835398B (en) * | 2023-08-30 | 2024-01-09 | 之江实验室 | Retraction control method and retraction control device for tethered cable and aircraft assembly |
| CN117605907A (en) * | 2023-11-24 | 2024-02-27 | 唐山市中宇科技发展有限公司 | Intelligent power system of inertial measurement pipeline robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107161808B (en) | 2019-04-12 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107161808B (en) | One kind being tethered at unmanned plane folding and unfolding cable device and its control system | |
| CN107009348B (en) | A kind of multi-configuration rope driving parallel robot and its spatial pose method for solving | |
| CN106946097B (en) | Cable pull self-regulation capstan winch and its control method | |
| CN209378389U (en) | A kind of strength building system | |
| CN104192637B (en) | A kind of rope driving means with reciprocal wire arrangement function | |
| CN201990289U (en) | Composite nonwoven fabric winding machine | |
| CN102914300B (en) | A kind of rotation ring winding machine structure | |
| CN105947917B (en) | Aerostatics Ground Mooring towing capstan | |
| CN109500799B (en) | Mobile robot with bidirectional adjustment function | |
| CN105269593B (en) | A kind of crusing robot telescopic arm | |
| CN109534045A (en) | A kind of coil diameter calculation method and winding/unwinding device based on rotary inertia | |
| CN114146849B (en) | Spraying robot based on multi-gear-set composite drive and control method thereof | |
| CN205555756U (en) | Automatic coiling and uncoiling device of staying unmanned aerial vehicle | |
| CN107741369A (en) | A kind of rope fatigue wear test device of adjustable cornerite | |
| CN201616031U (en) | Coiled material tension measuring and controlling experimental device | |
| CN111077622B (en) | Subway cable laying trolley, control system and control method | |
| CN109382816A (en) | A kind of high radiation underground space source item investigation robot system | |
| CN208265478U (en) | A kind of cable production take-up | |
| CN110203778A (en) | A kind of automatic traction draw off gear | |
| CN206865323U (en) | A kind of coil winding machine | |
| CN106365044A (en) | Gravity balance suspension following device and system and work method of system | |
| CN106930185B (en) | A kind of robot creeped for Character of Cable Force of Cable stayed Bridge | |
| CN105217501B (en) | Float rolling type plastic-covering automaton in a kind of salt pond | |
| CN110342296A (en) | Retractable volume all-in-one machine for composite sheet | |
| CN209872010U (en) | Automatic retractable device of movable cable |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |