CN108910624A - It is tethered at unmanned plane folding and unfolding line method - Google Patents
It is tethered at unmanned plane folding and unfolding line method Download PDFInfo
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- CN108910624A CN108910624A CN201810579105.5A CN201810579105A CN108910624A CN 108910624 A CN108910624 A CN 108910624A CN 201810579105 A CN201810579105 A CN 201810579105A CN 108910624 A CN108910624 A CN 108910624A
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- pulling force
- cable
- unmanned plane
- driving motor
- tethered
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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
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Abstract
The invention discloses one kind can change traditional manually folding and unfolding mode, makes what unmanned plane remained the pulling force of constant cable in flight course to be tethered at unmanned plane folding and unfolding line method.This is tethered at unmanned plane folding and unfolding line method, using being tethered at unmanned plane take-up and pay-off device；It is further comprising the steps of：1) torque for the real-time driving motor that will test by miniature dynamic force moment sensor is sent to controller, is translated into the pulling force to cable by controller；Then the pulling force of pulling force cable corresponding with the unmanned plane rate of climb or decrease speed is compared；2) by the comparison of the pulling force of the pulling force of driving motor offer and the unmanned plane rate of climb or the corresponding cable of decrease speed in step 1), controller correspondingly rotates instruction to driving motor sending：So that remaining the pulling force of constant cable during unmanned plane during flying；System power dissipation can be reduced by being tethered at unmanned plane folding and unfolding line method using this, effectively improve the working efficiency for being tethered at unmanned plane.
Description
Technical field
The present invention relates to the unmanned plane during flying field that is tethered at, specifically a kind of to be tethered at unmanned plane folding and unfolding line method.
Background technique
It is tethered at unmanned plane and is different from traditional multi-rotor unmanned aerial vehicle, it has the characteristics that long lasting for stagnant empty and universal
Based on the flare maneuver of fixed high hovering.It maintains to be tethered at the power resources of the stagnant sky of unmanned plane long-time to be then to pass through composite optical/electrical
The lasting electric energy of cable transmission, and the superiority and inferiority for being tethered at the draw off gear of cable directly influences the flight safety and performance of unmanned plane.
The frontier belonged in unmanned plane industry due to being tethered at unmanned plane, every auxiliary facility do not develop temporarily perfect, are currently used for
The take-up and pay-off device for being tethered at unmanned plane generallys use folding and unfolding form manually, and unmanned plane needs that line will be tethered in advance before taking off
Cable pulls out, and when landing then needs to be collected manually again after waiting landing, and such operation format step is complex, low efficiency
Under, bring more problems.
Using aforesaid operations mode, have the following problems：
1) it is tethered at cable and generates friction with ground for a long time, there are damaged leakage risks；
2) there are serious safety risks in the case where band high pressure is electrically operated by personnel；
3) cable is likely to occur knotting during lift-off or meets with the risks such as barrier；
4) operating efficiency is extremely low, influences UAV system and is integrally unfolded to remove between the time receiving.
Summary of the invention
Technical problem to be solved by the invention is to provide one kind can change traditional manually folding and unfolding mode, makes nothing
The man-machine cable in flight course is in always is straightened the state of leaving a blank, and avoids being tethered at tangled up and knotted during drawing cable and is
Staying cable and ground to rub for a long time leads to damaged leaky, and has reduction system power dissipation, effectively improves the work for being tethered at unmanned plane
That makees efficiency is tethered at unmanned plane folding and unfolding line method.
The technical solution adopted by the present invention to solve the technical problems is：It is tethered at unmanned plane folding and unfolding line method, using being tethered at
Unmanned plane take-up and pay-off device；The unmanned plane take-up and pay-off device that is tethered at includes bracket, capstan winch, bus cable device；The bracket includes
Two pieces of support plates, two pieces of support plates are installed in parallel, and are provided with connecting rod between the top and bottom of two pieces of support plates；
The capstan winch is mounted between two pieces of support plates；The capstan winch includes two blocks of spokes, is provided between two spokes
Circumferentially equally distributed support rod；The support rod surrounds cylinder；The both ends of the capstan winch are provided with shaft, the strand
The shaft of disk one end passes through support plate and is provided with driving runner, and the shaft of the other end passes through support plate and is provided with relative to turning
The rotary rolled round of axis；The shaft is rotatably assorted with support plate；Locking capstan winch position is provided in the support plate
Locking device；
The side of the capstan winch is provided with the baffle of circular arc type on the outside of capstan winch outer circumference surface；The other side of the capstan winch
It is provided with bus cable device；
The bus cable device includes two mounting bases, and screw rod is provided between two mounting bases and parallel with screw rod is led
To bar；Two mounting base distributing installations are in two pieces of support plates；
Sliding seat is provided on the screw rod；The sliding seat and wire rod thread cooperate；It is provided on the sliding seat tiltedly
Platform, guide pad is provided with above the sloping platform, and the guide rod passes through guide pad and is slidably matched with guide pad；The sloping platform
Upper to have through slot, there are two pinch rollers for setting in the through slot, and have gap between two pinch rollers；
One end of the screw rod is provided with screw drive motor；The other end of the screw rod is provided with driving wheel；Two pieces of branch
The driving motor of driving driving runner rotation is provided in one piece of support plate in fagging；Rocker arm is provided in the rolled round；Institute
It states rolled round and driving wheel is sequentially connected；
It is provided with controller mounting rack on the bracket, controller, the control are provided on the controller mounting rack
Device is electrically connected with driving motor and screw drive motor；
It is provided with bearing on the power output shaft of the driving motor, is provided between the power output shaft and bearing micro-
Type dynamic force moment sensor；The driving motor uses stepper motor；The driving motor and screw drive motor with control
Device electrical connection processed；
It is further comprising the steps of：
1) torque for the real-time driving motor that will test by miniature dynamic force moment sensor is sent to controller, by controlling
Device processed is translated into the pulling force to cable；Then by pulling force cable corresponding with the unmanned plane rate of climb or decrease speed
Pulling force be compared；
2) pulling force of driving motor offer and the unmanned plane rate of climb or the corresponding line of decrease speed in step 1) are provided
The comparison of the pulling force of cable, controller correspondingly rotate instruction to driving motor sending：
If driving motor is less than the pulling force of corresponding cable under the corresponding rate of climb to the pulling force of cable, increase driving
The revolving speed of motor makes the pulling force to cable of driving motor equal to the pulling force of corresponding cable under the corresponding rate of climb；
If driving motor is greater than the pulling force of corresponding cable under the corresponding rate of climb to the pulling force of cable, driving is reduced
The revolving speed of motor makes the pulling force to cable of driving motor equal to the pulling force of corresponding cable under the corresponding rate of climb；
If driving motor is less than the pulling force of corresponding cable under corresponding decrease speed to the pulling force of cable, increase driving
The revolving speed of motor makes the pulling force to cable of driving motor equal to the pulling force of corresponding cable under corresponding decrease speed；
If driving motor is greater than the pulling force of corresponding cable under corresponding decrease speed to the pulling force of cable, driving is reduced
The revolving speed of motor makes the pulling force to cable of driving motor equal to the pulling force of corresponding cable under corresponding decrease speed；
So that remaining the pulling force of constant cable during unmanned plane during flying；
Further, in step 2) while retractable cable, screw drive motor is driven to slide by controller
Seat moves left and right on screw rod, and makes the revolving speed of driving motor by controller and screw rod relative to the rotating ratio of sliding seat is
1:1。
Further, the locking device includes U-bracket, clamping screw, spring and cushion block, the U-bracket peace
On the supporting plate, the cushion block is mounted in the U-shaped region of U-bracket dress,
One end of the clamping screw sequentially passes through U-bracket, cushion block, support plate and contacts with spoke, the spring pocket
On clamping screw, between U-bracket and cushion block, the clamping screw is threadedly engaged the spring with cushion block.
Further, it is provided in the connecting rod along the equally distributed histogram segmentation tooth of connecting rod length direction.
Further, the guide pad row is provided with telescopic crimping head.
Further, it is provided with heat dissipating housing on the outside of the driving motor, is provided with power switch on the heat dissipating housing.
Further, protective cover is provided on the outside of the screw drive motor.
Further, air hole is provided in two pieces of support plates.
Preferably, the rolled round and driving wheel are sequentially connected by belt.
Further, transition wheel is provided on the sloping platform of the through slot two sides.
The beneficial effects of the invention are as follows：It is of the present invention to be tethered at unmanned plane folding and unfolding line method, it is suitable for a variety of different
Application scenarios demand, unmanned plane can awing realize that full-automatic folding and unfolding is tethered at cable in fully automatic mode, will not be because of biography
Being tethered at cable in the manual folding and unfolding mode of system and knotting leads to influence the normal flight of unmanned plane, while avoiding being tethered at cable and ground
Long-term friction, greatly prolongs and is tethered at cable service life, and operator's whole process is not required to operation folding and unfolding during unmanned plane during flying
Line apparatus, improves personnel's safety in utilization, also substantially increases the entire UAV system that is tethered at and is unfolded to remove the rate of producing effects.Meanwhile
Constant cable pull is remained during unmanned plane during flying, reduces be tethered at the extra pulling force of cable to nobody to the greatest extent
The load effect of machine reduces system power dissipation, effectively improves the working efficiency for being tethered at unmanned plane.
Detailed description of the invention
Fig. 1 is the perspective view that unmanned plane take-up and pay-off device is tethered in the embodiment of the present invention；
Fig. 2 is the main view that unmanned plane take-up and pay-off device is tethered in the embodiment of the present invention；
Fig. 3 is the rearview that unmanned plane take-up and pay-off device is tethered in the embodiment of the present invention；
Fig. 4 is the top view that unmanned plane take-up and pay-off device is tethered in the embodiment of the present invention；
Fig. 5 is the right view that unmanned plane take-up and pay-off device is tethered in the embodiment of the present invention；
Fig. 6 is the left view that unmanned plane take-up and pay-off device is tethered in the embodiment of the present invention；
Fig. 7 is the partial enlarged view of A in Fig. 4；
Fig. 8 is the perspective view of bus cable device in inventive embodiments；
Fig. 9 is the main view of bus cable device in inventive embodiments；
Figure 10 is the perspective view of capstan winch in inventive embodiments；
Figure 11 is the main view of capstan winch in inventive embodiments；
Figure 12 is the schematic diagram that unmanned plane folding and unfolding line method is tethered in the embodiment of the present invention；
It is indicated in figure：1- support plate, 11- connecting rod, 2- capstan winch, 21- spoke, 22- support rod, 23- cylinder divide tooth,
24- driving runner, 25- rolled round, 3- bus cable device, 31- mounting base, 32- screw rod, 33- screw drive motor, 34- guide rod,
35- sliding seat, 36- through slot, 37- pinch roller, 38- transition wheel, 39- guide pad, 310- protective cover, 311- crimping head, 312- driving
Wheel, 4- rocker arm, 5- baffle, 6- controller, 61- controller mounting rack, 7- locking device, 71-U shape bracket, 72- clamping screw,
73- spring, 74- cushion block, 8- driving motor, 81- heat dissipating housing, 82- power switch, 9- belt.
Specific embodiment
Present invention will be further explained below with reference to the attached drawings and examples.
As shown in figs. 1 and 12, of the present invention to be tethered at unmanned plane folding and unfolding line method, using being tethered at unmanned plane retractable cable
Device；The unmanned plane take-up and pay-off device that is tethered at includes bracket, capstan winch 2, bus cable device 3；The bracket includes two pieces of support plates
1, two pieces of support plates 1 are installed in parallel, and are provided with connecting rod 11 between the top and bottom of two pieces of support plates 1；
The capstan winch 2 is mounted between two pieces of support plates 1；The capstan winch 2 includes two blocks of spokes 21, between two spokes 21
It is provided with circumferentially equally distributed support rod 22；The support rod 22 surrounds cylinder；The both ends of the capstan winch 2 are provided with
Shaft, the shaft of described 2 one end of capstan winch pass through support plate 1 and are provided with driving runner 24, and the shaft of the other end passes through support plate 1
And it is provided with relative to the rotary rolled round 25 of shaft；The shaft is rotatably assorted with support plate 1；In the support plate 1
It is provided with the locking device 7 of locking 2 position of capstan winch；
The side of the capstan winch 2 is provided with the baffle 5 of circular arc type on the outside of 2 outer circumference surface of capstan winch；The capstan winch 2 it is another
Side is provided with bus cable device 3；
The bus cable device 3 includes two mounting bases 31, is provided with screw rod 32 and and screw rod between two mounting bases 31
32 parallel guide rods 34；Two 31 distributing installations of mounting base are in two pieces of support plates 1；
Sliding seat 35 is provided on the screw rod 32；The sliding seat 35 is threadedly engaged with screw rod 32；The sliding seat 35
On be provided with sloping platform, be provided with guide pad 39 above the sloping platform, the guide rod 34 passes through guide pad 39 and and guide pad
39 are slidably matched；There is through slot 36, there are two pinch rollers 37 for setting in the through slot 36, and between two pinch rollers 37 on the sloping platform
With gap；
One end of the screw rod 32 is provided with screw drive motor 33；The other end of the screw rod 32 is provided with driving wheel
312；The driving motor 8 that driving driving runner 24 rotates is provided in one piece of support plate 1 in two pieces of support plates 1；The rolled round
Rocker arm 4 is provided on 25；The rolled round 25 is sequentially connected with driving wheel 312；
It is provided with controller mounting rack 61 on the bracket, controller 6 is provided on the controller mounting rack 61, it is described
Controller 6 is electrically connected with driving motor 8 and screw drive motor 33；
It is provided with bearing on the power output shaft of the driving motor 8, is provided between the power output shaft and bearing
Miniature dynamic force moment sensor；The driving motor 8 uses stepper motor；The driving motor 8 and screw rod driving electricity
Machine 33 is electrically connected with controller 6；
It is further comprising the steps of：
1) torque for the real-time driving motor 8 that will test by miniature dynamic force moment sensor is sent to controller 6, by
Controller is translated into the pulling force to cable；Then by pulling force line corresponding with the unmanned plane rate of climb or decrease speed
The pulling force of cable is compared；
2) pulling force of the offer of driving motor 8 and the unmanned plane rate of climb or the corresponding line of decrease speed in step 1) are provided
The comparison of the pulling force of cable, controller 6 correspondingly rotate instruction to the sending of driving motor 8：
If driving motor 8 is less than the pulling force of corresponding cable under the corresponding rate of climb to the pulling force of cable, increase driving
The revolving speed of motor 8 makes the pulling force to cable of driving motor equal to the pulling force of corresponding cable under the corresponding rate of climb；
If driving motor 8 is greater than the pulling force of corresponding cable under the corresponding rate of climb to the pulling force of cable, driving is reduced
The revolving speed of motor 8 makes the pulling force to cable of driving motor equal to the pulling force of corresponding cable under the corresponding rate of climb；
If driving motor 8 is less than the pulling force of corresponding cable under corresponding decrease speed to the pulling force of cable, increase driving
The revolving speed of motor 8 makes the pulling force to cable of driving motor equal to the pulling force of corresponding cable under corresponding decrease speed；
If driving motor 8 is greater than the pulling force of corresponding cable under corresponding decrease speed to the pulling force of cable, driving is reduced
The revolving speed of motor 8 makes the pulling force to cable of driving motor equal to the pulling force of corresponding cable under corresponding decrease speed；
So that remaining the pulling force of constant cable during unmanned plane during flying.
Specifically, in application process, cable is coiled on capstan winch 2, one end of cable is then allowed to pass through bus cable device
On sliding seat 35 on two pinch rollers 37；Unmanned plane pulls cable after letting fly away, start driving motor 8, pass through miniature dynamic force
The torque for the real-time driving motor 8 that square sensor will test is sent to controller 6, is translated by controller to cable
Pulling force；Then the pulling force of pulling force cable corresponding with the unmanned plane rate of climb or decrease speed is compared；
The pulling force of the pulling force and the unmanned plane rate of climb or the corresponding cable of decrease speed that provide driving motor 8 is provided
Comparison, controller 6 to driving motor 8 sending correspondingly rotate instruction：
If driving motor 8 is less than the pulling force of corresponding cable under the corresponding rate of climb to the pulling force of cable, increase driving
The revolving speed of motor 8 makes the pulling force to cable of driving motor equal to the pulling force of corresponding cable under the corresponding rate of climb；
If driving motor 8 is greater than the pulling force of corresponding cable under the corresponding rate of climb to the pulling force of cable, driving is reduced
The revolving speed of motor 8 makes the pulling force to cable of driving motor equal to the pulling force of corresponding cable under the corresponding rate of climb；So that
The pulling force of constant cable is remained during unmanned plane during flying.Driving motor 8 drives the rotation of capstan winch 2 to send out cable, so that
Unmanned plane can be let fly away.
When unmanned landing, while starting driving motor 8 and inverting so that the rotation of capstan winch 2, is sensed by miniature dynamic force moment
The torque for the real-time driving motor 8 that device will test is sent to controller 6, is translated into the pulling force to cable by controller；
Then the pulling force of pulling force cable corresponding with the unmanned plane rate of climb or decrease speed is compared；
The pulling force and the unmanned plane rate of climb or the corresponding cable of decrease speed provided by driving motor 8 in step 1)
Pulling force comparison, controller 6 to driving motor 8 sending correspondingly rotate instruction：
If driving motor 8 is less than the pulling force of corresponding cable under corresponding decrease speed to the pulling force of cable, increase driving
The revolving speed of motor 8 makes the pulling force to cable of driving motor equal to the pulling force of corresponding cable under corresponding decrease speed；
If driving motor 8 is greater than the pulling force of corresponding cable under corresponding decrease speed to the pulling force of cable, driving is reduced
The revolving speed of motor 8 makes the pulling force to cable of driving motor equal to the pulling force of corresponding cable under corresponding decrease speed；So that
The pulling force of constant cable is remained during unmanned plane during flying；To batch cable.
Start the screw drive motor 33 on bus cable device 3 simultaneously, screw drive motor 33 rotates, so that sliding shoe 35 exists
Move back and forth on screw rod 32, at the same time, capstan winch 2 is batching cable, so that cable laterally homogeneous retracting on capstan winch 2；
So as to avoid cable knotting.And it is possible to pass through the takeoff and landing of the revolving speed and unmanned aerial vehicle that control driving motor
Synchronously control realizes automatic deploying and retracting line.
In conclusion of the present invention be tethered at unmanned plane folding and unfolding line method, being suitable for a variety of different application scenarios is needed
It asks, unmanned plane can awing realize that full-automatic folding and unfolding is tethered at cable in fully automatic mode, will not be because of traditional manual receipts
It puts to be tethered at cable in mode and knot and leads to influence the normal flight of unmanned plane, while avoiding being tethered at cable and rub for a long time with ground,
It greatly prolongs and is tethered at cable service life, operator's whole process is not required to operation take-up and pay-off device during unmanned plane during flying, mentions
High personnel's safety in utilization also substantially increase and are entirely tethered at UAV system expansion and remove the rate of producing effects.Meanwhile flying in unmanned plane
Constant cable pull is remained during row, reduces the load work for being tethered at the extra pulling force of cable to unmanned plane to the greatest extent
With reduction system power dissipation effectively improves the working efficiency for being tethered at unmanned plane.
In order to avoid cable knotting, further, in step 2) while retractable cable, screw rod is driven by controller
Driving motor 33 moves left and right sliding seat 35 on screw rod 32, and makes the revolving speed and silk of driving motor 8 by controller
Bar 32 is 1 relative to the rotating ratio of sliding seat 35:1.
Capstan winch 2 locks capstan winch 2, further, institute after collecting cable when hanging for the ease of aircraft or after aircraft landing
Stating locking device 7 includes U-bracket 71, clamping screw 72, spring 73 and cushion block 74, and the U-bracket 71 is mounted on support
On plate 1, the cushion block 74 is mounted in the U-shaped region of U-bracket 71,
One end of the clamping screw 72 sequentially passes through U-bracket 71, cushion block 74, support plate 1 and contacts with spoke 21, institute
It states spring 73 to be sleeved on clamping screw 72, the spring 73 is between U-bracket 71 and cushion block 74, the clamping screw 72
It is threadedly engaged with cushion block 74.
For the ease of heat dissipation, further, it is provided in the connecting rod 22 and is uniformly distributed along 22 length direction of connecting rod
Histogram segmentation tooth 23.Outer vent in cavity is reserved to increase cable spacing, is cavity internal-external heat exchange manufacturing condition, together
Shi Fuhe cable disc is around requiring.
In order to avoid cable is detached from through slot 36, further, 39 row of guide pad is provided with telescopic crimping head
311。
For the ease of the heat dissipation of driving motor 8, further, the outside of the driving motor 8 is provided with heat dissipating housing 81, described
Power switch 82 is provided on heat dissipating housing 81.
In order to avoid screw drive motor 33 is damaged, further, the outside of the screw drive motor 33 is arranged
There is protective cover 310.
For the ease of heat dissipation, further, air hole 12 is provided in two pieces of support plates 1.It is simple for the ease of being driven,
Simplify structure, further, the rolled round 25 is sequentially connected with driving wheel 312 by belt 9.
In order to avoid cable is damaged in 36 two sides of through slot, further, it is arranged on the sloping platform of 37 two sides of through slot
There is transition wheel 38.
Claims (10)
1. being tethered at unmanned plane folding and unfolding line method, it is characterised in that：Using being tethered at unmanned plane take-up and pay-off device；It is described to be tethered at unmanned plane
Take-up and pay-off device includes bracket, capstan winch (2), bus cable device (3)；The bracket includes two pieces of support plates (1), two pieces of support plates
(1) parallel installation, and connecting rod (11) are provided between the top and bottom of two pieces of support plates (1)；
The capstan winch (2) is mounted between two pieces of support plates (1)；The capstan winch (2) includes two pieces of spokes (21), two spokes
(21) circumferentially equally distributed support rod (22) is provided between；The support rod (22) surrounds cylinder；The capstan winch (2)
Both ends be provided with shaft, the shaft of described capstan winch (2) one end passes through support plate (1) and is provided with driving runner (24), separately
The shaft of one end passes through support plate (1) and is provided with relative to the rotary rolled round of shaft (25)；The shaft and support plate
(1) it is rotatably assorted；The locking device (7) of locking capstan winch (2) position is provided on the support plate (1)；
The side of the capstan winch (2) is provided with the baffle (5) of circular arc type on the outside of capstan winch (2) outer circumference surface；The capstan winch (2)
The other side be provided with bus cable device (3)；
The bus cable device (3) includes two mounting bases (31), be provided between two mounting bases (31) screw rod (32) and with
The parallel guide rod (34) of screw rod (32)；Two mounting base (31) distributing installations are on two pieces of support plates (1)；
Sliding seat (35) are provided on the screw rod (32)；The sliding seat (35) is threadedly engaged with screw rod (32)；The sliding
It is provided with sloping platform on seat (35), is provided with above the sloping platform guide pad (39), the guide rod (34) passes through guide pad
(39) and with guide pad (39) it is slidably matched；There are through slot (36) on the sloping platform, there are two pressures for setting in the through slot (36)
It takes turns (37), and there is gap between two pinch rollers (37)；
One end of the screw rod (32) is provided with screw drive motor (33)；The other end of the screw rod (32) is provided with driving wheel
(312)；The driving motor of driving driving runner (24) rotation is provided on one piece of support plate (1) in two pieces of support plates (1)
(8)；Rocker arm (4) are provided on the rolled round (25)；The rolled round (25) and driving wheel (312) are sequentially connected；
It is provided on the bracket controller mounting rack (61), is provided with controller (6), institute on the controller mounting rack (61)
Controller (6) is stated to be electrically connected with driving motor (8) and screw drive motor (33)；
It is provided with bearing on the power output shaft of the driving motor (8), is provided between the power output shaft and bearing micro-
Type dynamic force moment sensor；The driving motor (8) uses stepper motor；The driving motor (8) and screw drive motor
(33) it is electrically connected with controller (6)；
It is further comprising the steps of：
1) torque for the real-time driving motor (8) that will test by miniature dynamic force moment sensor is sent to controller (6), by
Controller (6) is translated into the pulling force to cable；Then the pulling force is corresponding with the unmanned plane rate of climb or decrease speed
The pulling force of cable be compared；
2) pulling force of driving motor (8) offer and the unmanned plane rate of climb or the corresponding cable of decrease speed in step 1) are provided
Pulling force comparison, controller (6) to driving motor (8) issue correspondingly rotate instruction：
If driving motor (8) is less than the pulling force of corresponding cable under the corresponding rate of climb to the pulling force of cable, increase driving electricity
The revolving speed of machine (8) makes the pulling force to cable of driving motor equal to the pulling force of corresponding cable under the corresponding rate of climb；
If driving motor (8) is greater than the pulling force of corresponding cable under the corresponding rate of climb to the pulling force of cable, driving electricity is reduced
The revolving speed of machine (8) makes the pulling force to cable of driving motor equal to the pulling force of corresponding cable under the corresponding rate of climb；
If driving motor (8) is less than the pulling force of corresponding cable under corresponding decrease speed to the pulling force of cable, increase driving electricity
The revolving speed of machine (8) makes the pulling force to cable of driving motor equal to the pulling force of corresponding cable under corresponding decrease speed；
If driving motor (8) is greater than the pulling force of corresponding cable under corresponding decrease speed to the pulling force of cable, driving electricity is reduced
The revolving speed of machine (8) makes the pulling force to cable of driving motor equal to the pulling force of corresponding cable under corresponding decrease speed；
So that remaining the pulling force of constant cable during unmanned plane during flying.
2. being tethered at unmanned plane folding and unfolding line method as described in claim 1, it is characterised in that：In the same of retractable cable in step 2)
When, by controller driving screw drive motor (33) sliding seat (35) is moved left and right on screw rod (32), and pass through control
Device processed make driving motor (8) revolving speed and screw rod (32) relative to sliding seat (35) rotating ratio be 1:1.
3. being tethered at unmanned plane folding and unfolding line method as described in claim 1, it is characterised in that：The locking device (7) includes U-shaped
Bracket (71), clamping screw (72), spring (73) and cushion block (74), the U-bracket (71) are mounted on support plate (1),
The cushion block (74) is mounted in the U-shaped region of U-bracket (71),
One end of the clamping screw (72) sequentially pass through U-bracket (71), cushion block (74), support plate (1) and with spoke (21)
Contact, the spring (73) is sleeved on clamping screw (72), the spring (73) be located at U-bracket (71) and cushion block (74) it
Between, the clamping screw (72) is threadedly engaged with cushion block (74).
4. being tethered at unmanned plane folding and unfolding line method as claimed in claim 3, it is characterised in that：It is provided on the connecting rod (22)
Along the equally distributed histogram segmentation tooth (23) of connecting rod (22) length direction.
5. being tethered at unmanned plane folding and unfolding line method as claimed in claim 4, it is characterised in that：Guide pad (39) row is provided with
Telescopic crimping head (311).
6. being tethered at unmanned plane folding and unfolding line method as claimed in claim 5, it is characterised in that：The outside of the driving motor (8)
It is provided with heat dissipating housing (81), is provided with power switch (82) on the heat dissipating housing (81).
7. being tethered at unmanned plane folding and unfolding line method as claimed in claim 6, it is characterised in that：The screw drive motor (33)
Outside is provided with protective cover (310).
8. being tethered at unmanned plane folding and unfolding line method as claimed in claim 7, it is characterised in that：It is respectively provided on two pieces of support plates (1)
There are air hole (12).
9. being tethered at unmanned plane folding and unfolding line method as claimed in claim 8, it is characterised in that：The rolled round (25) and driving wheel
(312) it is sequentially connected by belt (9).
10. being tethered at unmanned plane folding and unfolding line method as claimed in claim 9, it is characterised in that：Through slot (37) two sides it is oblique
Transition wheel (38) are provided on platform.
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| CN201810579105.5A CN108910624A (en) | 2018-06-05 | 2018-06-05 | It is tethered at unmanned plane folding and unfolding line method |
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