CN107187961A - Automatic deploying and retracting line apparatus, system and its control method for being tethered at unmanned plane - Google Patents
Automatic deploying and retracting line apparatus, system and its control method for being tethered at unmanned plane Download PDFInfo
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- CN107187961A CN107187961A CN201710577784.8A CN201710577784A CN107187961A CN 107187961 A CN107187961 A CN 107187961A CN 201710577784 A CN201710577784 A CN 201710577784A CN 107187961 A CN107187961 A CN 107187961A
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- China
- Prior art keywords
- sensing arm
- mooring line
- tension force
- retracting
- automatic deploying
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- 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
- B65H75/40—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 mobile or transportable
- B65H75/42—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 mobile or transportable attached to, or forming part of, mobile tools, machines or vehicles
- B65H75/425—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 mobile or transportable attached to, or forming part of, mobile tools, machines or vehicles attached to, or forming part of a vehicle, e.g. truck, trailer, vessel
-
- 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
- B65H75/4481—Arrangements or adaptations for driving the reel or the 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
- B65H75/48—Automatic re-storing devices
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- Toys (AREA)
- Emergency Lowering Means (AREA)
Abstract
The present invention provides a kind of automatic deploying and retracting linear system for being used to be tethered at unmanned plane and united with its control method, the system includes being tethered at unmanned plane and automatic deploying and retracting line apparatus, automatic deploying and retracting line apparatus includes mooring line draw off gear, support, control unit and bidirectional driving apparatus, mooring line draw off gear puts mooring line for volume, rotatably arranged with tensioned sensing arm on support, tension force sensing arm connects trigger switch, tension force sensing arm connects the free end of elastic component, mooring line abuts tension force sensing arm and extended around the free end of tension force sensing arm, control unit is electrically connected with trigger switch, the control signal of bidirectional driving apparatus reception control unit with drive mooring line draw off gear rotate；Using above structure, the automatic takeup unwrapping wire of mooring line draw off gear can be realized according to the motion state for being tethered at unmanned plane, operating efficiency is effectively improved.
Description
Technical field
The present invention relates to unmanned plane field, it is used to be tethered at the automatic deploying and retracting line apparatus of unmanned plane, is more particularly, to a kind of
System and its control method.
Background technology
One kind that unmanned plane is unmanned plane is tethered at, required electricity when being tethered at unmanned plane during flying by the work station supply on ground
Can, outside the performance for being tethered at the fixed point height-lock control stabilization that unmanned plane possesses with other unmanned planes, also with long boat flight
Function.For in theory, as long as ground handling station provides enough electric energy, unmanned plane is tethered at can just determining high fixed point for a long time lasting
Flight, such unmanned plane during flying device can be widely used in the emergent relaying of communication, when live and aerial monitoring.
But the unmanned plane take-up and pay-off device that is tethered at that presently, there are is only capable of as unmanned plane during flying realizes passive unwrapping wire, simultaneously
It can not automatically be collected money with being realized when unmanned plane lands, need manual rotation's take-up to carry out take-up after unmanned plane landing,
Work is heavy, while when unnecessary mooring line manually is not taken in into draw off gear in time, unnecessary mooring line is easily twined
Trigger potential safety hazard around knotting.
The content of the invention
The main object of the present invention is to provide a kind of automatic receipts for being used to be tethered at unmanned plane for realizing automatic deploying and retracting mooring line
Actinobacillus device, system and its control method.
To realize above-mentioned main purpose, provided by the present invention for being tethered at the automatic deploying and retracting line apparatus of unmanned plane including being
Rope draw off gear is stayed, mooring line draw off gear puts mooring line for volume；
Rotatably arranged with tensioned sensing arm on support, support, tension force sensing arm connection trigger switch, tension force sensing arm
The free end of elastic component is connected, mooring line adjoining tension force sensing arm simultaneously extends around the free end of tension force sensing arm；
Control unit, control unit is electrically connected with trigger switch；
Bidirectional driving apparatus, the control signal of bidirectional driving apparatus reception control unit is to drive mooring line draw off gear to turn
It is dynamic.
As can be seen here, the mooring line adjoining tension force sensing arm placed on mooring line draw off gear and around tension force sensing arm towards being
The unmanned plane direction of motion is stayed to extend, during unmanned plane rising is tethered at, tension force sensing arm court under the traction of mooring line
The direction that the tension force that power sensing arm is subject to becomes big is rotated, while overcoming the pulling force of elastic component, the rotation triggering of tension force sensing arm is touched
Hair switch output unwrapping wire signal, control unit outputs control signals to bidirectional driving apparatus, bidirectional driving apparatus driving mooring line
Draw off gear carries out unwrapping wire；After unmanned plane stopping rising being tethered at, the pulling force of mooring line reduces but keeps certain pulling force, tension sense
The direction motion for answering arm to diminish towards the tension force being subject to, tension force sensing arm turns to original position, and trigger switch stops output and put
Line signal, so that control unit stops to bidirectional driving apparatus output control signal, mooring line draw off gear stops unwrapping wire；It is being
Stay during unmanned plane decline, tension force sensing arm is no longer influenced by the pulling force for being tethered at unmanned plane, in the presence of elastic component pulling force,
Power sensing arm is rotated to the direction of elastic component pulling force, and tension force sensing arm triggering trigger switch output take-up signal, control unit connects
The take-up signal of trigger switch is received just to bidirectional driving apparatus output control signal, bidirectional driving apparatus driving mooring line receiving apparatus
Take-up.
Further scheme is that trigger switch includes potentiometer, and tension force sensing arm connects the sliding handle of potentiometer.
It can be seen that, potentiometer is a kind of adjustable electronic component, and movable contact is changed in resistance by rotating the sliding handle of potentiometer
Position on body, changes the resistance value between movable contact and any one fixing end, so as to change the size of voltage and electric current, tension force
The sliding handle of sensing arm rotational band electrokinetic potential device is rotated, the different electric current of the direction difference output that potentiometer is rotated according to sliding handle, from
And the different control signal of control unit output electrically connected from potentiometer, bidirectional driving apparatus rotates towards different directions, realization
The take-up of mooring line draw off gear or unwrapping wire.
Further scheme is that automatic deploying and retracting line apparatus also includes the first end of connecting rod, tension force sensing arm and connecting rod
It is hinged, the second end of connecting rod connects the sliding handle of potentiometer.
It can be seen that, the sliding handle formation bar linkage structure of tension force sensing arm, connecting rod and potentiometer passes through the part in bar linkage structure
Relative motion, realize the rotation of the sliding handle of the rotational band electrokinetic potential device of tension force sensing arm, at the same tension force sensing arm rotate
The rotation of potentiometer sliding handle is just realized during larger angle, it is ensured that just opened being tethered at the process that unmanned plane persistently rises or falls
Begin to implement retractable cable, effectively reduce the error in practical operation.
Further scheme is that the free end of tension force sensing arm is provided with pulley, and mooring line adjoining pulley simultaneously prolongs around pulley
Stretch.
It can be seen that, pulley plays guiding and position-limiting action to mooring line so that be tethered at the process that unmanned plane rises or landed
In, mooring line does not depart from tension force sensing arm so that tension force sensing arm can accurately judge the tension force for the mooring line being subject to.
Further scheme is that the direction of motion of mooring line is provided with crossed beam trunking on support, and mooring line runs through crossed beam trunking.
It can be seen that, crossed beam trunking further limits the direction of mooring line, due to that can not determine to be tethered at unmanned plane in actual motion feelings
Condition, passes through the spacing of crossed beam trunking, it is to avoid be tethered at unmanned plane during flight because the conversion of position causes tension force sensing arm
The tension direction change being subject to is excessively frequent, cause tension force sensing arm can not accurate stress, final retractable cable situation is unstable
Situation.
Further scheme is that mooring line draw off gear includes capstan winch, and capstan winch puts mooring line for volume, and capstan winch may be provided at
On support.
Further scheme is that bidirectional driving apparatus and mooring line draw off gear are connected by transmission belt and be driven.
The present invention provides a kind of automatic deploying and retracting linear system system for being used to be tethered at unmanned plane, including：
It is tethered at unmanned plane；
Automatic deploying and retracting line apparatus, automatic deploying and retracting line apparatus uses above-mentioned automatic deploying and retracting line apparatus, and mooring line is used to connect
It is being tethered between unmanned plane and automatic deploying and retracting line apparatus.
The present invention provides a kind of control method for the automatic deploying and retracting linear system system for being used to be tethered at unmanned plane, automatic deploying and retracting linear system system
United for above-mentioned automatic deploying and retracting linear system, the control method includes：
Mooring line drives tension force sensing arm to rotate；
The rotation triggering trigger switch of tension force sensing arm；
Trigger switch exports folding and unfolding signal to control unit；
Control unit according to folding and unfolding signal control bidirectional driving apparatus drive mooring line draw off gear carry out take-up rotation or
Unwrapping wire is rotated.
It can be seen that, the device attachment structure that this method is used is simple, weares and teares less, and smoothly entering for automatic deploying and retracting line is effectively ensured
OK, it is ensured that be tethered at the stability of unmanned plane during flying.
Further scheme is that trigger switch is potentiometer, and the sliding handle of the rotational band electrokinetic potential device of tension force sensing arm is rotated；
The sliding handle of potentiometer towards first direction turn to first threshold position when, potentiometer to control unit export take-up signal.
Brief description of the drawings
Fig. 1 is the system block diagram that the present invention is tethered at unmanned plane automatic deploying and retracting line system embodiment.
Fig. 2 is the structural representation that the present invention is tethered at unmanned plane automatic deploying and retracting line system embodiment.
Below in conjunction with drawings and Examples, the invention will be further described.
Embodiment
The automatic deploying and retracting linear system system application for being used to be tethered at unmanned plane of the present invention is tethered at unmanned plane during flying, is being tethered at unmanned plane
Enough electric energy are provided in flight course, and can keep being tethered at unmanned plane stably keeps long-term fixed high fixed point persistently to fly
OK, improve and be tethered at the reliability of unmanned plane so that being tethered at unmanned plane can be widely used in that communication is emergent to be interrupted, it is live and
Aerial monitoring.
Referring to Fig. 1, Fig. 2, the automatic deploying and retracting line apparatus 2 for being used to be tethered at unmanned plane 1 of the invention is filled including mooring line folding and unfolding
Put 21, support 20, control unit 24 and bidirectional driving apparatus 25.
Mooring line draw off gear 21 includes capstan winch, and capstan winch puts mooring line 210 for volume, and capstan winch may be provided on support 20.
Rotatably arranged with tensioned sensing arm 22 on support 20, rotating shaft 26, tension force sensing arm 22 are provided with support 20
Connection rotating shaft 26 simultaneously 26 is rotated around the shaft, and capstan winch also can connection rotating shaft 26 and 26 rotation around the shaft.The connection of tension force sensing arm 22 is touched
Hair switch 23, tension force sensing arm 22 connects the free end of elastic component 27, and the fixing end of elastic component 27 is arranged on support 20, is tethered at
Rope 210 abuts tension force sensing arm 22 and extended around the free end of tension force sensing arm 22, and control unit 24 is electrically connected with trigger switch 23
Connect；The control signal of the reception control unit 24 of bidirectional driving apparatus 25 is to drive mooring line draw off gear 21 to rotate, wherein two-way
Drive device 25 and mooring line draw off gear 21 connect transmission by transmission belt 28 or are driven by gear.
The adjoining of the mooring line 210 tension force sensing arm 22 placed on mooring line draw off gear 21 and around tension force sensing arm 22 towards being
The direction of motion of unmanned plane 1 is stayed to extend, during the rising of unmanned plane 1 is tethered at, traction of the tension force sensing arm 22 in mooring line 210
The lower tension force being subject to towards tension force sensing arm 22 becomes big direction and rotated, while overcome the pulling force of elastic component 27, tension force sensing arm 22
Rotation triggering trigger switch 23 output unwrapping wire signal, control unit 24 outputs control signals to bidirectional driving apparatus 25, two-way
The driving mooring line of drive device 25 draw off gear 21 carries out unwrapping wire；After the stopping rising of unmanned plane 1 is tethered at, the drawing of mooring line 210
Power is reduced but keeps certain pulling force, and the direction motion that tension force sensing arm 22 diminishes towards the tension force being subject to, tension force sensing arm 22 is rotated
To initial position, trigger switch 23 stops output unwrapping wire signal, so that control unit 24 stops exporting to bidirectional driving apparatus 25
Control signal, mooring line draw off gear 21 stops unwrapping wire；Be tethered at unmanned plane 1 decline during, tension force sensing arm 22 no longer by
To the pulling force for being tethered at unmanned plane 1, in the presence of the pulling force of elastic component 27, tension force sensing arm 22 is to the pulling force by elastic component 27
Direction is rotated, and the triggering output take-up signal of trigger switch 23 of tension force sensing arm 22, control unit 24 receives the receipts of trigger switch 23
Line signal is just to the output control signal of bidirectional driving apparatus 25, the take-up of the driving mooring line of bidirectional driving apparatus 25 draw off gear 21.
The species of trigger switch 23 is various, and class trigger switch is touched including point, when trigger switch 23 is the tactile class triggering of point
During switch, a point can be respectively provided with the both sides of tension force sensing arm 22 and touches class trigger switch, when tension force sensing arm 22 is towards not Tongfang
To during motion, the trigger switch 23 for exporting retractable cable signal respectively is can contact, so as to trigger trigger switch 23, realizes that mooring line is received
Put the retractable cable of device 21.In the present embodiment, trigger switch 23 is potentiometer 29, the connection potentiometer 29 of tension force sensing arm 22
Sliding handle 30.Potentiometer 29 is a kind of adjustable electronic component, and movable contact is changed in resistance by rotating the sliding handle 30 of potentiometer 29
Position on body, changes the resistance value between movable contact and any one fixing end, so as to change the size of voltage and electric current.In reality
In the application process on border, median is set in potentiometer 29, when the movable contact of potentiometer 29 is in the position of median, control
Unit 24 processed will not receive retractable cable signal, as long as the position of movable contact exceedes the position of median, then potentiometer 29 is
Start to export retractable cable signal, specifically take-up signal or unwrapping wire signal be able to can drive according to the rotation of tension force sensing arm 22
The whichaway of sliding handle 30 of potentiometer 29 is rotated, and the sliding handle 30 of the rotational band electrokinetic potential device 29 of tension force sensing arm 22 is rotated, current potential
The direction difference that device 29 is rotated according to sliding handle 30 exports different signals, so that the control unit 24 electrically connected with potentiometer 29 is defeated
Go out different control signals, bidirectional driving apparatus 25 rotates towards different directions, realizes the take-up of mooring line draw off gear 21 or put
Line.Using potentiometer 29 as the trigger switch 23 of output retractable cable signal, the use of device inner part, an electricity are effectively reduced
Position device 29 can be achieved with the output of two kinds of signals, convenient and swift, can also reduce production cost.
Automatic deploying and retracting line apparatus 2 also includes connecting rod 31, and the first end of tension force sensing arm 22 and connecting rod 31 is hinged, and connects
Second end of bar 31 connects the sliding handle 30 of potentiometer 29, and tension force sensing arm 22, connecting rod 31 and the sliding handle 30 of potentiometer 29 are formed
Bar linkage structure, by the relative motion of the part in bar linkage structure, realizes the rotational band electrokinetic potential device 29 of tension force sensing arm 22
The rotation of sliding handle 30, while the rotation of the sliding handle 30 of potentiometer 29 is just realized when tension force sensing arm 22 is rotating larger angle,
It can be ensured of and just come into effect retractable cable being tethered at the process that unmanned plane 1 persistently rises or falls, effectively reduce in practical operation
Error.
The free end of tension force sensing arm 22 is provided with pulley 220, and the adjoining pulley 220 of mooring line 210 simultaneously prolongs around pulley 220
Stretch.Pulley 220 plays guiding and position-limiting action to mooring line 210 so that be tethered at during unmanned plane 1 rises or land,
Mooring line 210 does not depart from tension force sensing arm 22 so that tension force sensing arm 22 can accurately judge the drawing for the mooring line 210 being subject to
Power.The direction of motion of mooring line 210 is provided with fix bar 32 on support 20, the free end of fix bar 32 is provided with crossed beam trunking,
Mooring line 210 runs through crossed beam trunking after pulley 220, and crossed beam trunking further limits the direction of mooring line 210, due to that can not determine to be
Unmanned plane 1 is stayed in actual motion situation, by the spacing of crossed beam trunking, can avoid being tethered at unmanned plane 1 during flight due to
The tension direction change that the conversion of position causes tension force sensing arm 22 to be subject to is excessively frequent, causes tension force sensing arm 22 accurate
Stress, the unstable situation of final retractable cable situation enables mooring line 210 between tension force sensing arm 22 and crossed beam trunking all the time
Extend in one direction, it is ensured that the accurate stress of tension force sensing arm 22.
Elastic component 27 can be spring, because in the motion process of unmanned plane, the pulling force of mooring line 210 is with unmanned plane
Fortune state time-varying is big or diminishes, and tension force sensing arm 22 need to realize tension force sensing arm 22 in the presence of the pulling force of elastic component 27
Rotation, therefore tension force sensing arm 22 slewing area depend on elastic component 27 stiffness factor.
Control unit 24 is electrically connected with potentiometer 39, control unit 24 according to the movable contact due to potentiometer 29 with it is any solid
Resistance value between fixed end exports different control signals, i.e., according to the position of the movable contact of potentiometer 29, control unit 24 is defeated
Go out different control signals, so that drive bidirectional driving apparatus 25 to drive mooring line draw off gear 21 to be rotated towards different directions, it is real
Existing retractable cable.
The control signal of the reception control unit 24 of bidirectional driving apparatus 25 output, the folding and unfolding of driving mooring line draw off gear 21
Line, wherein bidirectional driving apparatus 25 can be connected transmission with mooring line draw off gear 21 by transmission belt 28, or be passed by gear
Dynamic connection.The control signal that bidirectional driving apparatus 25 is exported according to control unit 24 drives mooring line draw off gear 21 to carry out folding and unfolding
Line, bidirectional driving apparatus 25 includes the Bidirectional speed regulator of motor and electrical connection electric motor, and Bidirectional speed regulator, which is used to receive, to be controlled
The control signal that unit 24 processed is exported, and export to motor different electric currents so that motor is rotated towards different directions, so that
Drive the retractable cable of mooring line draw off gear 21.
In the normal flight course of unmanned plane 1 is tethered at, unmanned plane can not possibly be always maintained at motionless, therefore mooring line folding and unfolding
Device 21 situation of retractable cable repeatedly can occur according to the tension variations being subject to of mooring line 210, be easy to cause mechanical system
The fatigue of system and electronic system, therefore " speed dead bend ", Ji Jiangshuan can be set in the Bidirectional speed regulator of bidirectional driving apparatus 25
To the speed-regulating signal of speed regulator be provided with two not played regulatory role a rotating speed relative value between maximum it is interval so that it is double
To speed regulator will not because of the movable contact of potentiometer 29 trickle rotation and output current, can only be subject in tension force sensing arm 22
Pulling force persistently becomes big or becomes hour, just causes the output of control unit 24 more than the control signal of " speed dead bend ", motor is with being
Rope draw off gear 21 is stayed just to start operation.
The present invention provides a kind of automatic deploying and retracting linear system system for being used to be tethered at unmanned plane, including：
Unmanned plane 1 and automatic deploying and retracting line apparatus 2 are tethered at, automatic deploying and retracting line apparatus 2 uses above-mentioned automatic deploying and retracting line apparatus
2, mooring line 210 is used to be connected to be tethered between unmanned plane 1 and automatic deploying and retracting line apparatus 2.
Mooring line 210 in capstan winch abuts tension force sensing arm 22 and is tethered at unmanned plane 1 around the connection of tension force sensing arm 22, is being
During staying the rising of unmanned plane 1, tension force sensing arm 22 towards the big direction of pulling force change and overcomes under the traction of mooring line 210
The pulling force of spring, which is realized, to be rotated, and the rotation of tension force sensing arm 22 drives the sliding handle 30 for the potentiometer 29 being connected with tension force sensing arm 22
Rotate, the sliding handle 30 of potentiometer 29 is rotated and behind position of the movable contact by the default median of potentiometer 29, with potentiometer
The control units 24 of 29 electrical connections are to the output control signal of bidirectional driving apparatus 25, the Bidirectional speed regulator in bidirectional driving apparatus 25
Receive control signal mouthful and start output current, the motor electrically connected with Bidirectional speed regulator is started working, mooring line draw off gear
21 motor driving transfer rope.After the stopping rising of unmanned plane 1 is tethered at, the pulling force reduction but holding of mooring line 210 are necessarily
Pulling force, the direction motion that tension force sensing arm 22 diminishes towards the tension force being subject under the pulling force effect of spring, drives potentiometer 29
Sliding handle 30 moves to the position of default median, and control unit 24 stops output control signal so as to which bidirectional driving apparatus 25 stops
Only output current, motor stops operating, and mooring line draw off gear 21 stops unwrapping wire.
In the descent of unmanned plane 1 is tethered at, tension force sensing arm 22 is no longer influenced by the pulling force of unmanned plane, in the pulling force of spring
The direction motion that the lower tension force sensing arm 22 of effect diminishes towards tension force, drives the sliding handle 30 of potentiometer 29 to rotate, now sliding handle 30
Rotation direction and be tethered at unmanned plane 1 rise when sliding handle 30 rotation direction on the contrary, so as to Bidirectional speed regulator export reverse current,
The take-up of motor driving mooring line draw off gear 21.
The present invention provides a kind of control method for the automatic deploying and retracting linear system system for being used to be tethered at unmanned plane, automatic deploying and retracting linear system system
United for above-mentioned automatic deploying and retracting linear system, the control method includes：
S1, mooring line 210 drive tension force sensing arm 22 to rotate；
S2, tension force sensing arm 22 rotation triggering trigger switch 23, wherein trigger switch 23 is potentiometer 29, and tension sense should
The sliding handle 30 of the rotational band electrokinetic potential device 29 of arm 22 is rotated；
S3, potentiometer 29 sliding handle 30 towards first direction turn to first threshold position when, potentiometer 29 is single to control
Member 24 exports folding and unfolding signal, and trigger switch 23 exports folding and unfolding signal to control unit 24；
S4, control unit 24 control bidirectional driving apparatus 25 to drive mooring line draw off gear 21 to be received according to folding and unfolding signal
Line is rotated or unwrapping wire is rotated.
Wherein first direction depends on the rotation direction of tension force sensing arm 22, and the rotation direction of tension force sensing arm 22 depends on
In the motion state for being tethered at unmanned plane 1.First threshold position is that first threshold is not equal to appointing for the default median of potentiometer 29
One position, the Determines that the particular location of the first threshold position is rotated according to the sliding handle 30 of potentiometer 29.The control method
The device attachment structure used is simple, weares and teares less, being smoothed out for automatic deploying and retracting line is effectively ensured, it is ensured that be tethered at unmanned plane 1
The stability of flight.
Finally it is emphasized that the invention is not restricted to above-mentioned embodiment, the type of such as drive device, drive device with
The change such as change of the connected mode between mooring line draw off gear should also be included in the protection domain of the claims in the present invention
It is interior.
Claims (10)
1. the automatic deploying and retracting line apparatus for being tethered at unmanned plane, it is characterised in that including：
Mooring line draw off gear, the mooring line draw off gear puts mooring line for volume；
Rotatably arranged with tensioned sensing arm on support, the support, the tension force sensing arm connects trigger switch, described
Power sensing arm connects the free end of elastic component, and the mooring line abuts the tension force sensing arm and oneself around the tension force sensing arm
By end extension；
Control unit, described control unit is electrically connected with the trigger switch；
Bidirectional driving apparatus, the bidirectional driving apparatus receives the control signal of described control unit to drive the mooring line to receive
Put device rotation.
2. automatic deploying and retracting line apparatus according to claim 1, it is characterised in that：
The trigger switch includes potentiometer, and the tension force sensing arm connects the sliding handle of the potentiometer.
3. automatic deploying and retracting line apparatus according to claim 2, it is characterised in that：
The automatic deploying and retracting line apparatus also includes connecting rod, and the first end of the tension force sensing arm and the connecting rod is hinged, institute
The second end for stating connecting rod connects the sliding handle of the potentiometer.
4. automatic deploying and retracting line apparatus according to claim 1, it is characterised in that：
The free end of the tension force sensing arm is provided with pulley, and the mooring line abuts the pulley and around pulley extension.
5. automatic deploying and retracting line apparatus according to claim 4, it is characterised in that：
The direction of motion of the mooring line is provided with crossed beam trunking on the support, the mooring line runs through the crossed beam trunking.
6. automatic deploying and retracting line apparatus according to claim 1, it is characterised in that：
The mooring line draw off gear includes capstan winch, and the capstan winch puts the mooring line for volume, and the capstan winch may be provided at institute
State on support.
7. automatic deploying and retracting line apparatus according to claim 1, it is characterised in that：
The bidirectional driving apparatus and the mooring line draw off gear are connected by transmission belt to be driven.
8. the automatic deploying and retracting linear system system for being tethered at unmanned plane, it is characterised in that including：
It is tethered at unmanned plane；
Automatic deploying and retracting line apparatus, the automatic deploying and retracting line apparatus is using the automatic deploying and retracting described in the claims any one of 1-7
Line apparatus, the mooring line is used to be connected to described be tethered between unmanned plane and the automatic deploying and retracting line apparatus.
9. the control method of the automatic deploying and retracting linear system system for being tethered at unmanned plane, it is characterised in that the automatic deploying and retracting linear system system
For the automatic deploying and retracting linear system system described in claim 8, the control method includes：
The mooring line drives the tension force sensing arm to rotate；
The rotation of the tension force sensing arm triggers the trigger switch；
The trigger switch exports folding and unfolding signal to described control unit；
Described control unit controls the bidirectional driving apparatus to drive the mooring line draw off gear to enter according to the folding and unfolding signal
Row take-up rotation or unwrapping wire are rotated.
10. control method according to claim 9, it is characterised in that：
The trigger switch is the potentiometer, and the rotation of the tension force sensing arm drives the sliding handle of the potentiometer to rotate；Institute
State the sliding handle of potentiometer towards first direction turn to first threshold position when, the potentiometer is exported to described control unit and received
Line signal.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710577784.8A CN107187961A (en) | 2017-07-15 | 2017-07-15 | Automatic deploying and retracting line apparatus, system and its control method for being tethered at unmanned plane |
| PCT/CN2017/103093 WO2019015086A1 (en) | 2017-07-15 | 2017-09-25 | Automatic take-up and pay-off device and system for moored unmanned aerial vehicle and control method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710577784.8A CN107187961A (en) | 2017-07-15 | 2017-07-15 | Automatic deploying and retracting line apparatus, system and its control method for being tethered at unmanned plane |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107187961A true CN107187961A (en) | 2017-09-22 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710577784.8A Pending CN107187961A (en) | 2017-07-15 | 2017-07-15 | Automatic deploying and retracting line apparatus, system and its control method for being tethered at unmanned plane |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN107187961A (en) |
| WO (1) | WO2019015086A1 (en) |
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| 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 |
| CN110001997A (en) * | 2019-04-29 | 2019-07-12 | 珠海市双捷科技有限公司 | It is tethered at the tension adjusting device, capstan arrangement and tension adjusting method of unmanned plane |
| CN112209186A (en) * | 2020-11-11 | 2021-01-12 | 广州彩熠灯光股份有限公司 | Automatic wire winding device |
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| WO2019015086A1 (en) | 2019-01-24 |
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