CN107161808B - One kind being tethered at unmanned plane folding and unfolding cable device and its control system - Google Patents

One kind being tethered at unmanned plane folding and unfolding cable device and its control system Download PDF

Info

Publication number
CN107161808B
CN107161808B CN201710433693.7A CN201710433693A CN107161808B CN 107161808 B CN107161808 B CN 107161808B CN 201710433693 A CN201710433693 A CN 201710433693A CN 107161808 B CN107161808 B CN 107161808B
Authority
CN
China
Prior art keywords
cable
freewheel
collection tube
unmanned plane
unfolding
Prior art date
Application number
CN201710433693.7A
Other languages
Chinese (zh)
Other versions
CN107161808A (en
Inventor
张立勋
高源�
魏丹
陆磊
刘平
孟婧佳
薛峰
李伟民
Original Assignee
哈尔滨工程大学
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by 哈尔滨工程大学 filed Critical 哈尔滨工程大学
Priority to CN201710433693.7A priority Critical patent/CN107161808B/en
Publication of CN107161808A publication Critical patent/CN107161808A/en
Application granted granted Critical
Publication of CN107161808B publication Critical patent/CN107161808B/en

Links

Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65HHANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H75/00Storing webs, tapes, or filamentary material, e.g. on reels
    • B65H75/02Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans
    • B65H75/34Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans 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
    • B65H75/38Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans 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
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65HHANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H75/00Storing webs, tapes, or filamentary material, e.g. on reels
    • B65H75/02Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans
    • B65H75/34Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans 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
    • B65H75/38Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans 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
    • B65H75/44Constructional details
    • B65H75/4402Guiding arrangements to control paying-out and re-storing of the material
    • B65H75/4405Traversing devices; means for orderly arranging the material on the drum

Abstract

The present invention provides one kind and is tethered at unmanned plane folding and unfolding cable device and its control system, driving unit includes torque motor, synchronous belt, spooling gear is made of two-way lead 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 lead screw rotation, realize the reciprocal winding displacement movement of screw pair, optical cable sequentially passes through three groups via bus cable device and determines freewheel and force snesor, is connected on unmanned plane finally by guiding mechanism.Direct drive of torque motor cable collection tube of the invention, reduce the power consumption caused by the factors such as mechanism friction 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 of axis are vertical and are mounted on screw pair and move horizontally with lead screw rotation, another group be fixed on guarantee on bracket optical cable enter force snesor direction it is constant to ensure measurement accuracy.

Description

One kind being tethered at unmanned plane folding and unfolding cable device and its control system

Technical field

The present invention relates to a kind of folding and unfolding cable systems more particularly to one kind to be tethered at unmanned plane folding and unfolding cable device and its control system System.

Background technique

With the development and popularization of unmanned air vehicle technique, problem of continuing a journey is more prominent.In order to solve this problem, Ren Menxuan It selects and combines 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 will have a direct impact on, is tethered at unmanned plane working performance.

Traditional folding and unfolding cable device is chiefly used in underwater robot, search and rescue robot etc., and is tethered at unmanned plane folding and unfolding cable device It compares, these extraordinary draw off gear folding and unfolding cable power are big, and structure size is big, and guiding mechanism design is not able to satisfy unmanned plane hawser folding and unfolding The requirement of feature.

Summary of the invention

The purpose of the invention is to provide one kind to be tethered at unmanned plane folding and unfolding cable device and its control system, 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: including bracket and with the torque motor of photoelectric encoder, between bracket It is provided with lead screw and cable collection tube shafting, and lead screw is located above cable collection tube shafting, the output end and cable collection tube shafting of torque motor Connection is provided with cable collection tube in cable collection tube shafting, is wound with cable on cable collection tube, cable collection tube shafting connect with torque motor one Driving pulley is additionally provided on end, the other end of cable collection tube shafting is provided with slip ring, the end of lead screw is provided with driven pulley, It is provided with synchronous belt between driving pulley and driven pulley, sliding block is provided on lead screw, upper end of slide block face is provided with horizontal direction The first freewheel group, the second freewheel group of vertical direction is provided on outer end face, be provided with third freedom on the bracket Wheel group, is additionally provided with force measuring machine on the bracket, and pedestal upper end is provided with guiding mechanism, and the force measuring machine includes and bracket The fixing seat of connection, the left directive wheel being mounted in fixing seat, force-measuring wheel and right directive wheel, force-measuring wheel connect force snesor, institute Stating guiding mechanism includes that pedestal on rack-mount end face, the turning unit being arranged in pedestal by bearing, setting exist Free wheel support on turning unit, the No.1 pin shaft mounting base being separately positioned on free wheel support and turning unit and No. two Pin shaft mounting base, respectively by pin shaft be mounted on freedom in minor affairs wheel in No.1 pin shaft mounting base and No. two pin shaft mounting bases and it is big from By taking turns, the end of cable passed through the second freewheel group, the first freewheel group, third freewheel group before this, then successively led around a left side To wheel, force-measuring wheel and right directive wheel, most afterwards through being pierced by between big freewheel and freedom in minor affairs wheel.

The invention also includes structure features some in this way:

1. also setting up spring between the pin shaft of big freewheel and No. two pin shaft mounting bases.

2. the first freewheel group, the second freewheel group and third 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 is tethered at unmanned plane folding and unfolding cable device including described, Torque motor control cable acts, encoder real-time measurement folding and unfolding length of cable and speed, on force snesor real-time measurement cable Tension, further include the servo-driver of system controller and the output of control moment motor, system controller is by given tension value Servo-driver is sent to unmanned plane location information;Servo controller passes through CAN communication for length of cable, tension and current work System controller is sent to as state.

Compared with prior art, the beneficial effects of the present invention are: in view of the above-mentioned problems, and with reference to previous extraordinary folding and unfolding On device basic, the invention proposes a kind of for being tethered at the folding and unfolding cable device of unmanned plane.Storage is driven by single power source simultaneously Cable cylinder and spooling gear, wherein cable collection tube is directly driven by torque motor, and same torque motor is driven by tape handler again Bus cable device guarantees that coiling movement is synchronous with winding displacement, and speed is at certain proportionate relationship.Bus cable device selects lead screw cable machine Structure installs two groups of freewheels on sliding block (screw pair), meets while limiting cable exit position and adapts to the variation of the reel diameter of axle Requirement.A pair of of freewheel is installed in guiding mechanism, so that optical cable and guiding mechanism is in rolling friction state always, to reduce Influence of the guiding mechanism to optical cable tension.In control method, using power and speed two close cycles, solve in quickly retracting cable process In identical tension problem.

Detailed description of the invention

Fig. 1 is control program figure of the invention;

Fig. 2 is 3 d effect graph of the invention;

Fig. 3 is forward sight direction structure schematic diagram of the invention;

Fig. 4 is overlook direction structural schematic diagram of the invention;

Fig. 5 is the 3 d effect graph of force measuring machine of the invention;

Fig. 6 is the 3 d effect graph of guiding mechanism of the invention;

Fig. 7 is the cross-sectional view of guiding mechanism of the invention;

Fig. 8 is the top view of guiding mechanism of the invention;

Fig. 9 is overall structure diagram of the invention.

Specific embodiment

Present invention is further described in detail with specific embodiment with reference to the accompanying drawing.

In conjunction with Fig. 1 to Fig. 8, in conjunction with Fig. 2,3,4, the present invention includes bracket, spooling gear, cable collection tube, driving unit, guiding Mechanism, force measuring machine etc..Driving unit is made of torque motor, synchronous belt etc., and spooling gear is by two-way lead screw, sliding block (spiral It is secondary) and guide rail composition.Guide rail and lead screw are arranged in parallel, and limitation sliding block (screw pair) follows lead screw to rotate, and lead and at the same time 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 reel diameter of axle changes during cable folding and unfolding.Cable collection tube is driven by a torque motor simultaneously With the rotation of lead screw, it is synchronous to realize that coiling is acted with reciprocal winding displacement.The optical cable on cable collection tube is wrapped in by three groups of freewheels And force measuring machine, by connecting after guiding mechanism with unmanned plane, guiding mechanism can do 360 degree under the action of eccentricity and turn It is dynamic, so that optical cable in any direction can free extension movement.The present invention is tethered at nothing for realizing under external environmental interference 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 transmission effect of band is walked, cable collection tube and spooling gear move synchronously, namely the rotation speed of cable collection tube is realized by toothed belt transmission Degree is with spooling gear horizontal movement velocity at certain proportionate relationship.Direct drive of torque motor cable collection tube, eliminates by transmission mechanism The bring that rubs influences.Two groups of freewheels are added on screw slider (screw pair), wherein cable outgoing line position is arranged in one group of limitation, and it is another Reel diameter of axle variation during one group of adaptation folding and unfolding cable.Guiding mechanism is mainly used by pedestal, turning unit, rolling bearing, axis Retaining ring and a pair of of freewheel composition.Guiding mechanism can do 360 degree of rotations around axis under the action of eccentricity, in guiding mechanism One group of freewheel of interior installation reduces optical cable and passes through Guiding machine so that optical cable and guiding mechanism be made to be in rolling friction state always Friction when structure, to reduce influence of the guiding mechanism to optical cable tension.Optical cable enters after one group of fixed freewheel to be surveyed Force mechanisms, it is ensured that optical cable is vertical with force measuring machine axis to guarantee dynamometry accuracy.Force measuring machine selects three-wheel group dynamometry scheme, That is one directive wheel of each arrangement in left and right, breast wheel is that force-measuring wheel is connected with sensor internal, before optical cable enters force measuring machine, The fixed freewheel in one group of position is first passed through, to keep optical cable vertical with the holding of the axis 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 uses, 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 be made to locate always with guiding mechanism In rolling friction state, reduce friction when optical cable passes through guiding mechanism, reduces influence of the guiding mechanism to optical cable tension.

Specifically the present invention is: the torque motor 8 for being equipped with encoder 9 passes through shaft coupling 15 and cable collection tube coupling of shaft system. Cable collection tube shafting and lead screw shaft 11 are mounted in two bearing blocks in left and right by a pair of deep groove ball bearing respectively, and synchronous pulley 10 divides It is not mounted in cable collection tube shafting and lead screw shaft 11 by flat key connection.Torque motor 8 directly drives cable collection tube 6, and by same It walks band 7 and drives lead screw shaft 11, to realize that sliding block (screw pair) 12 is moved horizontally along guide rail 13.Reciprocal lead screw unidirectionally turns It is dynamic, it when sliding block (screw pair) 12 moves to extreme position, can be moved automatically along opposite direction, be not necessarily to 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, is avoided Occurs optical cable distortion in winding process.

In conjunction with Fig. 2,3,5, optical cable needs successively from cable collection tube to unmanned plane is reached by being mounted on sliding block (screw pair) 12 On the second freewheel group 5 and the first freewheel group 4, a pair of of the third freewheel group 14 being fixed on bracket 3 is fixed on bracket Force measuring machine 2 and guiding mechanism 1 on 3, every group of freewheel group is by the identical freewheel of two sizes.In space layout, Third freewheel group 14, the line and cable collection tube 6 of 1 centre of gyration of force measuring machine 2 and guiding mechanism are tangent, it is ensured that optical cable enters survey The direction of force mechanisms and angle are fixed, and ensure that the accuracy of force measurements.Freewheel group 5 defines in optical cable swing process Outlet port, the first freewheel group 4 realize the variation that 6 outer diameter of cable collection tube is adapted in online swing process, the axis of two groups of freewheels Line 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, and rotation flexibly, reduces Optical cable 18 by when resistance.

In conjunction with Fig. 6,7,8, turning unit 27 is mounted in pedestal 28 by deep groove ball bearing 29, is prevented with circlip 30 The axial motion of turning unit 27.Free wheel support 22 is mounted on turning unit 27 by screw.Simultaneously using a pair of free Wheel, freedom in minor affairs wheel 23 and big freewheel 24 are pacified by pin 26 and No.1 pin shaft mounting base 31 and No. two pin shaft mounting bases 25 respectively On free wheel support 22 and turning unit 27.It is small that the spring being mounted in 27 slot of turning unit realizes big freewheel pin shaft Range adjustment, ensure that optical cable is in always between two freewheels, when optical cable squeeze 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-intersecting, and can generate immediately an eccentricity rotates turning unit, So that optical cable in any direction can free extension movement, and always be in rolling friction state, reduce guiding mechanism to light The influence of cable tension

Control system of the invention includes system controller, servo-driver, torque motor, force snesor and encoder. Wherein, servo-driver control moment motor exports;The movement of torque motor control cable;Encoder real-time measurement folding and unfolding hawser is long Degree and speed;Tension on force snesor real-time measurement cable.Servo-driver have 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 load Property and stationarity;Velocity compensation and the two closed loops of tension force are while providing tension overload protection and stall detects, altogether With the automatic control for being tethered at unmanned plane release recycling is realized, avoids impacting, improve recyclability.

Given tension value and unmanned plane location information are sent to servo-driver by system controller;Servo controller passes through By cable, long, tension and current working status are sent to system controller to CAN communication, provide number to detect the flying height of unmanned plane According to, and avoid damaging motor and controller because of excessive cable laying tension.

In conjunction with Fig. 1,2, the photoelectric encoder 9 being mounted on torque motor 8 measures the folding and unfolding length of hawser and current Folding and unfolding speed, force snesor 2 measure current cable tension, are sent to system controller by servo-driver, determine unmanned plane Height simultaneously confirms whether control method is located in normal operation.System controller is current to servo controller transmission unmanned plane Position, and providing instruction (cable laying, flat winged or recycling) 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, speed Double-closed-loop control is presented, realizes and is controlled in optical cable dynamic identical tension automatic deploying and retracting cable, the tension 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 Automatic control, avoid impact, improve recyclability.Cable long message is sent to by system controller by CAN communication simultaneously, is The flying height distance for detecting unmanned plane provides data;Using protections such as current of electric feedback, tension overload protection, stall detections Method avoids excessive cable laying tension, avoids because of overload damage motor and controller, it is ensured that system operational 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 model With certain speed cable laying (rise rate information with unmanned plane or the anticipation adjust automatically by the controller rate of climb 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 With the bottom surface vehicle movement that is equipped with folding and unfolding cable device it is inconsistent make paired cable pull problem, it is automatic by constant tensile control The length for adjusting cable, 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 are auxiliary closed loop.The speed drawn over to one's side is planned according to unmanned plane relative position different from recycling bins, it is real The steady recycling of existing unmanned plane.

To sum up, it is an object of that present invention to 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, driving unit, guiding mechanism, force measuring machine etc..Driving unit is by structures such as torque motor, synchronous belts At spooling gear is made of two-way lead 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 lead screw rotation, to realize the reciprocal winding displacement movement of sliding block (screw pair). Optical cable sequentially passes through three groups via bus cable device and determines freewheel and force snesor, is connected on unmanned plane finally by guiding mechanism. The method have the characteristics that direct drive of torque motor cable collection tube, reduces the power caused by the factors such as mechanism friction 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 of axis are vertical and are mounted on sliding block (screw pair) and move horizontally with lead screw rotation, and another group is fixed on bracket and protects The direction that card optical cable enters force snesor is constant to ensure measurement accuracy.Guiding mechanism can turn under the action of eccentricity It is dynamic, so that optical cable in any direction can free extension movement.

The folding and unfolding cable control system based on aforementioned device that the present invention also provides a kind of, comprising: system controller, servo are driven Dynamic device, torque motor, force snesor and encoder.Wherein, servo-driver control moment motor exports, while by cable length And current working status feeds back to system controller, system controller sends task order and unmanned plane positioning to servo-driver Information;The movement of torque motor control cable;Encoder real-time measurement folding and unfolding cable length and speed;Force snesor real-time measurement line Tension on cable.Servo-driver has 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 load;Velocity compensation and tension control The two closed loops are made while tension overload protection and stall are provided detecting, it is common realize be tethered at unmanned plane release recycling from Dynamic control, avoids impacting, and improves recyclability.The MCU of servo-driver needs to realize that tension force, 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, guarantee in the external world Under environmental disturbances, being tethered at unmanned plane can quick release and recycling under the given tension of system controller.

Claims (4)

1. one kind is tethered at unmanned plane folding and unfolding cable device, it is characterised in that: including bracket and with the torque motor of photoelectric encoder, Lead screw and cable collection tube shafting are provided between bracket, and lead screw is located above cable collection tube shafting, the output end of torque motor and storage Cable cylinder coupling of shaft system is provided with cable collection tube in cable collection tube shafting, cable, cable collection tube shafting and torque motor is wound on cable collection tube Driving pulley is additionally provided on one end of connection, the other end of cable collection tube shafting is provided with slip ring, the end of lead screw is provided with Driven pulley is provided with synchronous belt between driving pulley and driven pulley, sliding block is provided on lead screw, and upper end of slide block face is provided with It is provided with the second freewheel group of vertical direction in first freewheel group of horizontal direction, outer end face, is provided on the bracket Third freewheel group is additionally provided with force measuring machine on the bracket, and pedestal upper end is provided with guiding mechanism, the force measuring machine packet Left directive wheel, force-measuring wheel and the right directive wheel for including the fixing seat connecting with bracket, being mounted in fixing seat, force-measuring wheel attachment force pass Sensor, the guiding mechanism include pedestal on rack-mount end face, the turning unit being arranged in by bearing in pedestal, The free wheel support being arranged on turning unit, the No.1 pin shaft mounting base being separately positioned on free wheel support and turning unit The freedom in minor affairs wheel being mounted on No. two pin shaft mounting bases, respectively by pin shaft in No.1 pin shaft mounting base and No. two pin shaft mounting bases With big freewheel, the end of cable passed through the second freewheel group, the first freewheel group, third freewheel group before this, then successively around Left directive wheel, force-measuring wheel and right directive wheel are crossed, most afterwards through being pierced by between big freewheel and freedom in minor affairs wheel, the first freewheel group, dynamometry The line of mechanism and the guiding mechanism centre of gyration is tangent with cable collection tube, and the second freewheel group defines going out in optical cable swing process Mouth position, the first freewheel group realize the variation that cable collection tube outer diameter is adapted in online swing process.
2. one kind according to claim 1 is tethered at unmanned plane folding and unfolding cable device, it is characterised in that: in the pin shaft of big freewheel Spring is also set up between No. two pin shaft mounting bases.
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 third 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: be tethered at nothing including as claimed in claim 3 Man-machine folding and unfolding cable device, the movement of torque motor control cable, encoder real-time measurement folding and unfolding length of cable and speed, force snesor Tension on real-time measurement cable further includes the servo-driver of system controller and the output of control moment motor, 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 and current working status are sent to system controller.
CN201710433693.7A 2017-06-09 2017-06-09 One kind being tethered at unmanned plane folding and unfolding cable device and its control system CN107161808B (en)

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 CN107161808A (en) 2017-09-15
CN107161808B true CN107161808B (en) 2019-04-12

Family

ID=59824947

Family Applications (1)

Application Number Title Priority Date Filing Date
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

Country Status (1)

Country Link
CN (1) CN107161808B (en)

Families Citing this family (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
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
CN109748154B (en) * 2017-11-02 2020-11-17 天津职业技术师范大学 Control device for pumping power line and data line for unmanned aerial vehicle system and implementation method
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
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
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
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
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
CN109573746B (en) * 2018-11-19 2020-11-27 石家庄云鼎科技有限公司 Mooring unmanned aerial vehicle power unit built-in cable winding and unwinding equipment
CN109626143A (en) * 2019-02-19 2019-04-16 深圳市赛为智能股份有限公司 One kind being tethered at UAV Intelligent take-up and pay-off device 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

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
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

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP3120613B2 (en) * 1993-01-21 2000-12-25 スズキ株式会社 Remotely controlled vehicle
JP3298249B2 (en) * 1993-07-30 2002-07-02 スズキ株式会社 Cable winding / unwinding device for vehicles
JP2003321165A (en) * 2002-05-02 2003-11-11 Honko Mfg Co Ltd Winder

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
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

Also Published As

Publication number Publication date
CN107161808A (en) 2017-09-15

Similar Documents

Publication Publication Date Title
CN101460387B (en) Lift actuator
CN103048114B (en) Testing device and method for three-dimensional PIV (Particle Image Velocimetry) internal flow field testing system of hydraulic retarder
CN102992073B (en) Constant tension diaphragm discharging device
CN104192637B (en) A kind of rope driving means with reciprocal wire arrangement function
CN103193102B (en) The float roller device of membrane production equipment
CN206341323U (en) A kind of integrated intelligence video monitoring system based on AVR
CN202508684U (en) Small-scale metal narrow-band wire coiling machine
CN101249911B (en) Numerical control wire ranging device and method thereof
CN105858364B (en) Movable equipment cable reel installation
CN203568589U (en) Constant tension take-up machine
RU2670741C1 (en) System and method for recognizing motion of torsion roller, winding or unwinding steel wire rope
CN106946097A (en) Cable pull self-regulation capstan winch and its control method
CN103699130B (en) A kind of multi-aircraft is coordinated to fly device for hoisting
CN102009890B (en) Detector for absolute position of elevator lift car
CN107097954A (en) It is tethered at the folding and unfolding line control system and folding and unfolding method of rotor wing unmanned aerial vehicle
CN105692355A (en) Robot device capable of automatically reeling and unreeling electric cable or optical cable
CN208299325U (en) A kind of crusing robot power double rod type telescopic device
CN105668350A (en) Automatic take-up and payoff device and method for mooring unmanned aerial vehicle
CN103224166A (en) High-speed winding machine
WO2016101499A1 (en) Device and method for detecting disordered rope in multi-layer winding around reel
CN109378138A (en) Automatic lapping device
CN104477710A (en) Electrically driven automatic rope ranging device
CN102935901B (en) Two dimension initiatively follows loss of weight erecting by overhang
CN103896104A (en) Automatic cable feeding device
CN107364769A (en) A kind of intelligent extension and retraction system for being applied to be tethered at unmanned plane

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