CN107942789A - Folding and unfolding thread control device and take-up and pay-off device - Google Patents
Folding and unfolding thread control device and take-up and pay-off device Download PDFInfo
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- CN107942789A CN107942789A CN201711146908.3A CN201711146908A CN107942789A CN 107942789 A CN107942789 A CN 107942789A CN 201711146908 A CN201711146908 A CN 201711146908A CN 107942789 A CN107942789 A CN 107942789A
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- 230000033228 biological regulation Effects 0.000 claims abstract description 29
- 230000007246 mechanism Effects 0.000 claims description 11
- 238000005096 rolling process Methods 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 10
- 238000004891 communication Methods 0.000 description 5
- 230000005611 electricity Effects 0.000 description 5
- 230000001133 acceleration Effects 0.000 description 3
- 238000001816 cooling Methods 0.000 description 3
- 230000001105 regulatory effect Effects 0.000 description 3
- 230000007423 decrease Effects 0.000 description 2
- 230000009931 harmful effect Effects 0.000 description 2
- 230000017525 heat dissipation Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000008901 benefit Effects 0.000 description 1
- 210000004556 brain Anatomy 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000000739 chaotic effect Effects 0.000 description 1
- 230000001276 controlling effect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
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- 238000005259 measurement Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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- 239000007858 starting material Substances 0.000 description 1
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Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
- B64C39/022—Tethered aircraft
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Aviation & Aerospace Engineering (AREA)
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Abstract
This application involves a kind of folding and unfolding thread control device and take-up and pay-off device.Microprocessor and force snesor including interconnection, force snesor acquisition cable is concurrently sent by force parameter to microprocessor, microprocessor receives external control signal and should generate rotational speed regulation instruction by force parameter, and according to pid algorithm, and rotational speed regulation instruction is used for drawing cable and controls.The folding and unfolding thread control device and take-up and pay-off device of the application, when carrying out retractable cable operation, obtained in real time by force snesor cable by force parameter, microprocessor is according to the matching degree that present cable folding and unfolding speed and another end equipment translational speed of cable should be judged by force parameter, when mismatching, the rotating speed for adjusting the motor that driving reel operates is instructed by rotational speed regulation in time, so that the electric wire for needing length can be accurately exported in unwrapping wire, accuracy is high, it is avoided that reel pulls the normal work for influencing another end equipment of cable in take-up, it is highly reliable.
Description
Technical field
This application involves the technical field for being tethered at unmanned plane, more particularly to a kind of retractable cable that can be used for being tethered at unmanned plane
Control device and take-up and pay-off device.
Background technology
It is tethered at unmanned plane and is mainly used in aerial monitoring continual for a long time and emergency communication, can carries special visible
Light video camera and infrared thermography, can also carry special emergency communication trunking.Unmanned plane is tethered in army at present
Multiple professional domain extensive uses such as thing, fire-fighting, oil, ocean, mapping, traffic, scientific research.Being tethered at unmanned plane can solve very well
The power supply of unmanned plane and long endurance problem, as the beginning, can open up huge technical grade unmanned plane market completely.
It is tethered at unmanned plane folding and unfolding line traffic control however, current and can only realizes retractable cable roughly, system reliability is not strong, accurately
Degree is not high.For example unmanned plane is tethered in task process is performed, by manually power cord is released not from heavy cable reel
But substantial amounts of manpower is needed, and can not accurately export the electric wire for needing length, accuracy is limited；When unmanned plane declines,
Can not on time, accurate take-up, it is most likely that cause power cord confusion scattered on the ground, so as to cause the breakage and obstruction of power cord
The operation of unmanned plane, reliability be not strong.
The content of the invention
Based on this, it is necessary in view of the above-mentioned problems, provide a kind of folding and unfolding thread control device highly reliable, accuracy is high and
Take-up and pay-off device.
A kind of folding and unfolding thread control device, includes the microprocessor and force snesor of interconnection；
The force snesor obtains being sent by force parameter, and by described by force parameter to the microprocessor for cable；Institute
State microprocessor and receive external control signal and described by force parameter, and rotational speed regulation instruction is generated according to pid algorithm, described turn
Fast regulating command is controlled for drawing cable.
A kind of take-up and pay-off device, including motor, reel and folding and unfolding thread control device as described above, the folding and unfolding line traffic control
The microprocessor in device is connected with the motor, and the motor is connected with the reel；
The microprocessor sends rotational speed regulation instruction to the motor to control the motor to rotate, the electricity
Machine drives the reel operating to carry out drawing cable.
In one embodiment, further include send control signal control end device, it is described control end device with it is described micro-
Processor connects.
In one embodiment, further include communicator, the control end device by the communicator with it is described micro-
Processor connects.
In one embodiment, the control end device includes mobile terminal, and the mobile terminal includes mobile phone, tablet electricity
At least one of brain and personal digital assistant.
In one embodiment, the wire-arranging mechanism arranged on the reel side is further included, the wire-arranging mechanism is used to adjust
Arrangement of the cable in folding and unfolding on the reel.
In one embodiment, the emergency switch being connected with the motor is further included, the emergency switch controls the electricity
Machine emergency braking.
In one embodiment, radiator is further included, the radiator is arranged on the side of the reel.
In one embodiment, alarm device is further included, the warning device is connected with the microprocessor.
In one embodiment, base is further included, the base includes babinet, roller and pull rod；
Wherein, the babinet is used to fix the microprocessor, the force snesor, the motor and the reel, institute
The bottom that roller is arranged on the babinet is stated, the pull rod is arranged on the side of the babinet.
Above-mentioned folding and unfolding thread control device and take-up and pay-off device, include the microprocessor and force snesor of interconnection, wherein,
Force snesor obtain cable by force parameter, and will be sent by force parameter to microprocessor, microprocessor is according to the outside of reception
Control signal and by force parameter, is used to control the rotational speed regulation of retractable cable to instruct, so as to fulfill to cable by pid algorithm generation
The control of folding and unfolding.When carrying out retractable cable operation, obtained in real time by force snesor cable by force parameter, microprocessor was according to should
The matching degree of present cable folding and unfolding speed and another end equipment translational speed of cable is judged by force parameter, when mismatching, and
When by rotational speed regulation instruct adjust driving reel operate motor rotating speed so that can accurately export needs in unwrapping wire
The electric wire of length, accuracy is high, is avoided that reel pulls the normal work for influencing another end equipment of cable, reliability in take-up
By force.
Brief description of the drawings
Fig. 1 is the structure diagram of folding and unfolding thread control device in one embodiment of the application；
Fig. 2 is the structure diagram of take-up and pay-off device in one embodiment of the application；
Fig. 3 is the structure diagram of take-up and pay-off device in one embodiment of the application；
Fig. 4 is the structure diagram of take-up and pay-off device in one embodiment of the application；
Fig. 5 is the flow diagram that take-up and pay-off device carries out retractable cable operation in Fig. 4.
Embodiment
For the object, technical solution and advantage of the application are more clearly understood, with reference to the accompanying drawings and embodiments, to this
Application is described in further detail.It should be appreciated that the specific embodiments described herein are only to explain the application,
The protection domain of the application is not limited.
Fig. 1 is the structure diagram of folding and unfolding thread control device in one embodiment of the application.As shown in Figure 1, folding and unfolding line traffic control
Device 100 includes the microprocessor 110 and force snesor 120 being connected with each other；
The force snesor 120 obtains being sent by force parameter, and by described by force parameter to the microprocessor for cable
110；The microprocessor 110 receives external control signal and described by force parameter, and generates rotational speed regulation according to pid algorithm and refer to
Order, the rotational speed regulation instruction are used for drawing cable and control.
Folding and unfolding thread control device 100 is used to regulate and control drawing cable, it includes the microprocessor 110 being connected with each other and power sensing
Device 120.Wherein, force snesor 120 be used to obtaining cable by force parameter, passed specifically, force snesor 120 can include pulling force
Sensor, tension sensor and pressure sensor etc. can be used for detecting the mechanics parameters such as corresponding pulling force, tension force and pressure in real time
Sensor.The cable obtained in real time is sent to microprocessor 110, microprocessor 110 and received by force snesor 120 by force parameter
External control signal and should by force parameter, and according to pid algorithm (Proportion Integral Differential) generate
Rotational speed regulation instructs, and rotational speed regulation instruction is used for drawing cable and controls.Further, microprocessor 110 can be microcontroller,
FPGA (Field-Programmable Gate Array, field programmable gate array) or DSP (Digital Signal
Processor, digital signal processor).Microprocessor 110 is sent according to the external control signal and force snesor 120 of reception
By force parameter, rotational speed regulation instruction is generated according to pid algorithm, so as to fulfill the control to drawing cable, so as to ensure cable
Not excessive tensile and overrelaxation.Wherein, pid algorithm refers to proportional-integral-differential algorithm, and pid algorithm is a closed-loop control
Algorithm, therefore to realize pid algorithm, it need to realize the closed-loop control on hardware.During concrete application, microprocessor 110 is according to reception
Arrive by force parameter, such as cable pull value, corresponding target speed value and acceleration magnitude are obtained by pid algorithm, further
Generation obtains rotational speed regulation instruction, for timely regulation motor rotating speed.Such as the rotating speed of one motor of control, pass through the sensing that tests the speed
Device by motor speed measurement result feed back to control route on, motor is accelerated according to the comparing result with rotating speed of target or
Slow down, controlled so as to fulfill to the rotating speed of motor.
Above-mentioned folding and unfolding thread control device, includes the microprocessor and force snesor of interconnection, wherein, force snesor obtains
Cable by force parameter, and will be sent by force parameter to microprocessor, microprocessor according to the external control signal of reception and by
Force parameter, is used to control the rotational speed regulation of retractable cable to instruct, so as to fulfill the control to drawing cable by pid algorithm generation.
When carrying out retractable cable operation, being sentenced by force parameter, microprocessor according to this by force parameter for cable is obtained in real time by force snesor
The matching degree of disconnected present cable folding and unfolding speed and another end equipment translational speed of cable, when mismatching, passes through rotating speed in time
Regulating command adjusts the rotating speed of the motor of driving reel operating, so that can accurately export the electricity for needing length in unwrapping wire
Line, accuracy is high, is avoided that reel pulls the normal work for influencing another end equipment of cable in take-up, highly reliable.
Based on above-mentioned folding and unfolding thread control device 100, the application also provides a kind of take-up and pay-off device.
Fig. 2 is the structure diagram of take-up and pay-off device in one embodiment of the application.As shown in Fig. 2, take-up and pay-off device includes
Motor 200, reel 300 and folding and unfolding thread control device 100 as described above, it is described micro- in the folding and unfolding thread control device 100
Processor 110 is connected with the motor 200, and the motor 200 is connected with the reel 300；
The microprocessor 110 sends rotational speed regulation instruction to the motor 200 to control 200 turns of the motor
Dynamic, the motor 200 drives the operating of reel 300 to carry out drawing cable.
Take-up and pay-off device includes motor 200, reel 300 and folding and unfolding thread control device 100, wherein, folding and unfolding thread control device
100 control motors 200 rotate, and motor 200 drives reel 300 to operate, and reel 300 is rotated by forward and reverse and carries out cable receipts
Put.Specifically, folding and unfolding thread control device 100 includes the microprocessor 110 and force snesor 120 being connected with each other, microprocessor 110
It is connected with motor 200.Force snesor 120 is sent the cable detected in real time to microprocessor 110, microprocessor by force parameter
According to the external control signal of reception and force snesor 120 send by force parameter, using pid algorithm generation rotational speed regulation instruction
And send to motor 200, motor 200 and rotating speed is adjusted under rotational speed regulation instruction control, driving reel 300 changes running speed,
It is achieved thereby that the regulation and control to drawing cable speed.
Above-mentioned take-up and pay-off device, when carrying out retractable cable operation, obtained in real time by force snesor cable by force parameter, it is micro-
Processor be judged present cable folding and unfolding speed and another end equipment translational speed of cable by force parameter according to this by pid algorithm
Matching degree, when mismatching, instructs the rotating speed for adjusting the motor that driving reel operates by rotational speed regulation in time, so that
The electric wire for needing length can be accurately exported in unwrapping wire, accuracy is high, and it is another to be avoided that reel pulls influence cable in take-up
The normal work of end equipment, it is highly reliable.
Further, take-up and pay-off device further includes the control end device for sending control signal, the control end device and institute
State microprocessor connection.Control end device is connected with microprocessor 110, directly can be sent external control signal to microprocessor
Device, control take-up and pay-off device start or stop retractable cable operation and adjust the speed of retractable cable.In specific application, power senses
Device 120 is used to detect cable stress parameter in real time, and motor speed is carried out in real time by microprocessor 110 by force parameter according to this
Regulation and control；On the other hand, by controlling end device on/off device to work and adjust folding and unfolding linear velocity.In specific implementation, control
End device processed can include button assembly, such as starting switch, speed-regulating switch, can also include display device, pass through starting switch
The startup and closing of realization device, such as after the switch button of unwrapping wire is opened, microprocessor sends unwrapping wire control signal to motor
Further drive the automatic line sending of reel；By speed-regulating switch regulating device folding and unfolding linear velocity, dress is obtained in real time by display device
The length of the working status put, such as retractable cable, speed work state information.
Further, take-up and pay-off device further includes communicator, and the control end device passes through the communicator and institute
Microprocessor 110 is stated to connect.Control end device is connected by communicator with microprocessor 110, control letter outside communicator
Number transmitting-receiving, the external control signal that sends of end device will be controlled to be transferred in microprocessor 110, while by microprocessor 110
The working state of device information of return is transferred to control end device.Specifically, communicator can include wire communication module or
Wireless communication module, wireless communication module can be bluetooth module, 3G/4G modules, WIFI module etc..
Further, the control end device includes mobile terminal, and the mobile terminal includes mobile phone, tablet computer and a
At least one of personal digital assistant.Control end device can be mobile terminal, and mobile terminal is by communicator to microprocessor
Device sends control signal, so as to fulfill the control to device on/off and folding and unfolding linear velocity.Further, mobile terminal
The reel running speed that can be returned with display microprocessor and take-up, the work state information such as length of unwrapping wire, to control
End device can understand device operating status in time.
Further, take-up and pay-off device further includes the wire-arranging mechanism arranged on 300 side of reel, and the wire-arranging mechanism is used
Arrangement when cable is adjusted in folding and unfolding on the reel 300.Wire-arranging mechanism can be used for adjusting cable folding and unfolding on reel 300
When arrangement, it can be ensured that cable is uniformly distributed on reel 300, avoids situations such as cable is likely to occur juxtaposition, from
And the operation to another end equipment of cable produces the problem of harmful effect.During concrete application, wire-arranging mechanism can be leading screw, pass through
Cable, can in an orderly manner, equably be arranged on reel by adjusting when leading screw is to drawing cable, effectively to solve existing folding and unfolding
The problems such as linear system, which is united, is unable to the line of folding and unfolding suitable length, and power cord arrangement is chaotic, work efficiency is low, and reliability is not high.
Further, take-up and pay-off device further includes the emergency switch being connected with the motor 200, the emergency switch control
200 emergency braking of motor.Emergency switch is connected with motor 200, when emergency occurs, as system breaks down or needs
When being stopped at once, motor 200 can be realized in time and braked by emergency switch, it is ensured that the safety stop of system.
Further, take-up and pay-off device further includes radiator, and the radiator is arranged on the side of the reel 300.
When reel 300 carries out retractable cable, by setting radiator to carry out heat dissipation drop to cable and reel 300 in 300 side of reel
Temperature, it is ensured that device stable operation in hot environment, is also avoided that temperature is excessive and causes damage to cable.In concrete application
When, radiator can be fan, can set the fan of certain angle on the periphery of reel, radiate to cable and reel
Cooling.
Further, take-up and pay-off device further includes alarm device, and the warning device is connected with the microprocessor 110.
Warning device is connected with microprocessor 110, and when drawing cable is completed, microprocessor 110 sends standby signal, by warning device
Alarm signal is sent after receiving the standby signal, to prompt take-up or unwrapping wire to complete or broken down, so as to ensure to grasp
The working condition of device can be understood in time by making personnel.Further, warning device can be signal lamp, such as LED light or buzzing
Device etc..
Further, take-up and pay-off device further includes base, and the base includes babinet, roller and pull rod；Wherein, the case
Body is used to fix the microprocessor 110, the force snesor 120, the motor 200 and the reel 300, and the roller is set
In the bottom of the babinet, the pull rod is arranged on the side of the babinet.Base is used to fix whole device, specifically, base
Including babinet, roller and pull rod.Wherein, the cavity structure of babinet, which is set, puts each module device, such as microprocessor, force snesor, electricity
Machine and reel, further, can also set and put communicator, warning device, emergency switch, radiator and wire-arranging mechanism etc.；
Roller is arranged on the bottom of box, and pull rod is located at the side of babinet, easy to the carrying and transport of whole take-up and pay-off device.
Fig. 3 is the structure diagram of take-up and pay-off device in one embodiment of the application.As shown in figure 3, take-up and pay-off device includes
Folding and unfolding thread control device 100, motor 200, reel 300, warning device, control end equipment, communicator, emergency switch, heat dissipation
Device and wire-arranging mechanism, wherein, folding and unfolding thread control device 100 includes the microprocessor 110 and force snesor 120 being connected with each other；
Further, microprocessor 110 is also connected with warning device, communicator and motor 200, and control end device connects with communicator
Connect, motor 200 is connected with reel 300 and emergency switch, and radiator and wire-arranging mechanism are arranged on the side of reel 300.
Above-mentioned take-up and pay-off device, microprocessor 110 receive control end device by control signal that communicator is sent with
And the cable of force snesor detection by force parameter, rotational speed regulation is generated by pid algorithm and instruct and sends to motor 200, it is electric
Machine 200 adjusts rotating speed under the control that rotational speed regulation instructs and drives reel 300 to change rotating speed, so as to fulfill to drawing cable line
The real-time monitoring of speed.When carrying out retractable cable operation, obtained in real time by force snesor cable by force parameter, microprocessor root
Judged the matching journey of present cable folding and unfolding speed and another end equipment translational speed of cable by pid algorithm by force parameter according to this
Degree, when mismatching, instructs the rotating speed for adjusting the motor that driving reel operates, so that in unwrapping wire by rotational speed regulation in time
When can accurately export the electric wire for needing length, accuracy is high, and being avoided that reel is pullled in take-up influences another end equipment of cable
Normal work, it is highly reliable.
In addition, device has orderly wire arrangement function, microprocessor 110 can be according to working state of device in the process of retractable cable
It is to drive the dealing campaign of wire-arranging mechanism in take-up or unwrapping wire state, it is ensured that electric wire is orderly on reel, avoids
Electric wire is likely to occur situations such as juxtaposition, so that the problem of operation to unmanned plane produces harmful effect；Warning device is timely
Send standby signal alarm set working condition；Emergency switch can be used for the emergency braking of motor；Radiator to cable and
The real-time radiating and cooling of reel；Ensure device stable operation in high temperature environments.
Fig. 4 is the structure diagram of take-up and pay-off device in one embodiment of the application.As shown in figure 4, in the present embodiment, folding and unfolding
Line apparatus includes microprocessor (not shown), force snesor 120, reel 200, motor 300, leading screw 400, fan 500, base disk
600.Wherein, motor 300 rotates driving reel 200 and operates, and is controlled by forward and reverse operating, realizes and the retractable cable of cable is twined
Around；Reel 200 is coaxially disposed with motor 300, and reel 200 is arranged on the outside of motor 300, the winding for cable；Leading screw 400 is set
Above reel, it is fixed on base disk 600, being uniformly distributed on reel 200 when being used for realization drawing cable；Force snesor
120 it is fixed with leading screw 400 on, for detect on cable by force parameter, can specifically, force snesor 120 is pulling force sensor
To detect the value of thrust on cable in real time；Fan 500 is fixedly arranged on the base disk 600 of 200 both sides of reel, for device radiation
Cooling；Base disk 600 fixes each several part device；Microprocessor (not shown) set put with base disk 600, specifically, microprocessor
Device is microcontroller.
Further, take-up and pay-off device further includes console module and bluetooth module, and console module is mobile terminal, such as
Mobile phone.Communicate specifically, mobile phone is realized by the bluetooth module and microprocessor, on the one hand, mobile phone is by bluetooth module to micro-
Processor sends control signal, such as starter or shutoff device and rotational speed regulation；On the other hand, microprocessor also returns in real time
The working status of return device, such as running speed of reel 200, take-up or unwrapping wire length work state information, so as to control terminal
Device working condition is grasped in real time.Above-mentioned take-up and pay-off device can independently take-up and unwrapping wire, cable drum can be according to unmanned planes
Flying height and speed actively adjust folding and unfolding speed, can accomplish the synchronous matching with unmanned plane, and can be filled by control terminal
Governing speed is put, speed maximum can reach 2 metre per second (m/s)s.
Fig. 5 is the flow diagram that retractable cable operation is carried out using take-up and pay-off device in Fig. 4.As shown in figure 5, device starts
After initialization, mobile terminal is connected with folding and unfolding thread control device by bluetooth module, and mobile terminal opens line retracting switch, and
Line retracting speed is set, generates control signal and the microprocessor being issued in folding and unfolding thread control device, i.e. microcontroller, monolithic
Machine controls motor positive/negative to rotation according to the control signal, realizes that line retracting operates.While line retracting operates progress,
Pulling force sensor detects the value of thrust on cable and sends to microcontroller, microcontroller in real time passes through PID closed loop controls according to value of thrust
Algorithm generation processed is used for the rotational speed regulation instruction for adjusting folding and unfolding speed, and motor is adjusted in real time according to the rotational speed regulation instruction received
Rotating speed, so as to drive reel running speed to adjust in real time, to match the current required receiving/releasing linear speed of cable other end equipment
Degree.It is possible to further record the work state information of last time device by memory, start initialization in device
Afterwards, the status information of last time is read, carries out device configuration.Specifically, above-mentioned take-up and pay-off device is applied to be tethered at unmanned plane,
When the rate of climb of unmanned plane is more than the payingoff speed of reel, pulling force sensor is subject to outside pulling force, and will inspection
The value of thrust of survey gives microprocessor, i.e. microcontroller is handled, and microcontroller uses pid algorithm after collecting corresponding pressure value
Corresponding acceleration is obtained, so as to accelerate the rotating speed of motor, the rotating speed of reel is reached consistent with unmanned plane.Decline in unmanned plane
During, if the decrease speed of unmanned plane is less than the rotating speed of reel, pulling force sensor can be subject to outside pulling force, single at this time
Piece machine obtains corresponding acceleration according to value of thrust by pid algorithm, so as to reduce the rotating speed of motor automatically, makes to be reserved in outside reel
The line in portion has the surplus of abundance, ensures, in take-up, the flight of unmanned plane will not be made to be affected because of pullling for reel.
Each technical characteristic of embodiment described above can be combined arbitrarily, to make description succinct, not to above-mentioned reality
Apply all possible combination of each technical characteristic in example to be all described, as long as however, the combination of these technical characteristics is not deposited
In contradiction, the scope that this specification is recorded all is considered to be.
Embodiment described above only expresses the several embodiments of the application, its description is more specific and detailed, but simultaneously
Cannot therefore it be construed as limiting the scope of the patent.It should be pointed out that come for those of ordinary skill in the art
Say, on the premise of the application design is not departed from, various modifications and improvements can be made, these belong to the protection of the application
Scope.Therefore, the protection domain of the application patent should be determined by the appended claims.
Claims (10)
1. a kind of folding and unfolding thread control device, it is characterised in that microprocessor and force snesor including interconnection；
The force snesor obtains being sent by force parameter, and by described by force parameter to the microprocessor for cable；It is described micro-
Processor receives external control signal and described by force parameter, and generates rotational speed regulation instruction, the rotating speed tune according to pid algorithm
Section instruction is used for drawing cable and controls.
2. a kind of take-up and pay-off device, it is characterised in that filled including motor, reel and folding and unfolding line traffic control as claimed in claim 1
Put, the microprocessor in the folding and unfolding thread control device is connected with the motor, and the motor is connected with the reel；
The microprocessor sends rotational speed regulation instruction to the motor to control the motor to rotate, and the motor drives
The dynamic reel operating carries out drawing cable.
3. take-up and pay-off device according to claim 2, it is characterised in that further include the control terminal dress for sending control signal
Put, the control end device is connected with the microprocessor.
4. take-up and pay-off device according to claim 3, it is characterised in that further include communicator, the control end device
It is connected by the communicator with the microprocessor.
5. the take-up and pay-off device according to claim 3 or 4, it is characterised in that the control end device includes mobile terminal,
The mobile terminal includes at least one of mobile phone, tablet computer and personal digital assistant.
6. take-up and pay-off device according to claim 2, it is characterised in that further include the cable machine arranged on the reel side
Structure, the wire-arranging mechanism are used to adjust arrangement of the cable in folding and unfolding on the reel.
7. the take-up and pay-off device according to claim 2 or 6, it is characterised in that further include be connected with the motor it is urgent
Switch, the emergency switch control the motor emergency braking.
8. take-up and pay-off device according to claim 2, it is characterised in that further include radiator, the radiator is set
In the side of the reel.
9. take-up and pay-off device according to claim 2, it is characterised in that further include alarm device, the warning device with
The microprocessor connection.
10. take-up and pay-off device according to claim 2, it is characterised in that further include base, the base include babinet,
Roller and pull rod；
Wherein, the babinet is used to fix the microprocessor, the force snesor, the motor and the reel, the rolling
Wheel is arranged on the side of the babinet arranged on the bottom of the babinet, the pull rod.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711146908.3A CN107942789A (en) | 2017-11-17 | 2017-11-17 | Folding and unfolding thread control device and take-up and pay-off device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711146908.3A CN107942789A (en) | 2017-11-17 | 2017-11-17 | Folding and unfolding thread control device and take-up and pay-off device |
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| CN107942789A true CN107942789A (en) | 2018-04-20 |
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| CN201711146908.3A Pending CN107942789A (en) | 2017-11-17 | 2017-11-17 | Folding and unfolding thread control device and take-up and pay-off device |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109798858A (en) * | 2019-03-07 | 2019-05-24 | 上海米度测控科技有限公司 | A kind of automatic traction measuring device and application method for geotechnical engineering |
| CN109885109A (en) * | 2019-03-20 | 2019-06-14 | 朱彬 | A kind of method for controlling number of revolution, device, equipment and medium |
| CN111074392A (en) * | 2019-12-31 | 2020-04-28 | 西门子工厂自动化工程有限公司 | Spinning frame spindle rotating speed control method and control system |
| US10723602B2 (en) | 2018-10-11 | 2020-07-28 | Goodrich Corporation | Cable offset detection with contact |
| CN113830625A (en) * | 2021-10-08 | 2021-12-24 | 国网山东省电力公司滨州市滨城区供电公司 | A net twine pay off rack for construction |
| CN114132807A (en) * | 2021-12-02 | 2022-03-04 | 国网山西省电力公司吕梁供电公司 | Power box winding and unwinding control system |
| CN117818933A (en) * | 2024-03-05 | 2024-04-05 | 深圳市光明顶技术有限公司 | Unmanned aerial vehicle-based power supply method and system |
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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 |
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| US10723602B2 (en) | 2018-10-11 | 2020-07-28 | Goodrich Corporation | Cable offset detection with contact |
| CN109798858A (en) * | 2019-03-07 | 2019-05-24 | 上海米度测控科技有限公司 | A kind of automatic traction measuring device and application method for geotechnical engineering |
| CN109885109A (en) * | 2019-03-20 | 2019-06-14 | 朱彬 | A kind of method for controlling number of revolution, device, equipment and medium |
| CN111074392A (en) * | 2019-12-31 | 2020-04-28 | 西门子工厂自动化工程有限公司 | Spinning frame spindle rotating speed control method and control system |
| CN113830625A (en) * | 2021-10-08 | 2021-12-24 | 国网山东省电力公司滨州市滨城区供电公司 | A net twine pay off rack for construction |
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| CN114132807A (en) * | 2021-12-02 | 2022-03-04 | 国网山西省电力公司吕梁供电公司 | Power box winding and unwinding control system |
| CN114132807B (en) * | 2021-12-02 | 2023-09-15 | 国网山西省电力公司吕梁供电公司 | Power supply box coiling and uncoiling control system |
| CN117818933A (en) * | 2024-03-05 | 2024-04-05 | 深圳市光明顶技术有限公司 | Unmanned aerial vehicle-based power supply method and system |
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