CN113928587A - Automatic mooring cable winding and unwinding device for mooring unmanned aerial vehicle system - Google Patents

Automatic mooring cable winding and unwinding device for mooring unmanned aerial vehicle system Download PDF

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Publication number
CN113928587A
CN113928587A CN202111415914.0A CN202111415914A CN113928587A CN 113928587 A CN113928587 A CN 113928587A CN 202111415914 A CN202111415914 A CN 202111415914A CN 113928587 A CN113928587 A CN 113928587A
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CN
China
Prior art keywords
mooring
unmanned aerial
aerial vehicle
automatic
cable
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Pending
Application number
CN202111415914.0A
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Chinese (zh)
Inventor
马浩然
卢爱平
朱江
黄剑
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People's Liberation Army No690 Factory
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People's Liberation Army No690 Factory
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Application filed by People's Liberation Army No690 Factory filed Critical People's Liberation Army No690 Factory
Priority to CN202111415914.0A priority Critical patent/CN113928587A/en
Publication of CN113928587A publication Critical patent/CN113928587A/en
Pending legal-status Critical Current

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
    • B64F3/00—Ground installations specially adapted for captive aircraft
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H75/00—Storing webs, tapes, or filamentary material, e.g. on reels
    • B65H75/02—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks
    • B65H75/34—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks specially adapted or mounted for storing and repeatedly paying-out and re-storing lengths of material provided for particular purposes, e.g. anchored hoses, power cables
    • B65H75/38—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks specially adapted or mounted for storing and repeatedly paying-out and re-storing lengths of material provided for particular purposes, e.g. anchored hoses, power cables involving the use of a core or former internal to, and supporting, a stored package of material
    • B65H75/44—Constructional details
    • B65H75/4402—Guiding arrangements to control paying-out and re-storing of the material
    • B65H75/4405—Traversing devices; means for orderly arranging the material on the drum
    • 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
    • B65H75/4418—Arrangements for stopping winding or unwinding; Arrangements for releasing the stop means
    • B65H75/4428—Arrangements for stopping winding or unwinding; Arrangements for releasing the stop means acting on the reel or on a reel blocking mechanism
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01B—CABLES; CONDUCTORS; INSULATORS; SELECTION OF MATERIALS FOR THEIR CONDUCTIVE, INSULATING OR DIELECTRIC PROPERTIES
    • H01B7/00—Insulated conductors or cables characterised by their form
    • H01B7/42—Insulated conductors or cables characterised by their form with arrangements for heat dissipation or conduction
    • H01B7/421—Insulated conductors or cables characterised by their form with arrangements for heat dissipation or conduction for heat dissipation
    • H01B7/423—Insulated conductors or cables characterised by their form with arrangements for heat dissipation or conduction for heat dissipation using a cooling fluid
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2701/00—Handled material; Storage means
    • B65H2701/30—Handled filamentary material
    • B65H2701/34—Handled filamentary material electric cords or electric power cables

Abstract

The invention relates to the technical field of unmanned aerial vehicles, and particularly discloses an automatic mooring cable winding and unwinding device for a mooring unmanned aerial vehicle system, which comprises a mooring cable disc, a driving system and a transmission mechanism, wherein the mooring cable disc comprises two side plates, a fixed shaft, two turntables and a plurality of scroll bars, one side of one side plate is rotatably connected with one end of the fixed shaft, the fixed shaft penetrates through the side plates, the other end of the fixed shaft is fixedly connected with one of the turntables, the other side plate is rotatably connected with the other turntable, the two ends of the scroll bars are fixedly connected with the two turntables and are positioned between the two turntables, the scroll bars are circumferentially distributed along the axial central line of the turntables, the driving system is used for driving the transmission mechanism, and the transmission mechanism drives the fixed shaft to rotate. Through the setting of above-mentioned structure, can realize the full-automatic cable of unreeling of mooring line and receive the cable, mooring line pulling force is stable, and the complete machine consumption is reasonable, can be applied to mooring unmanned aerial vehicle system loading and use or take the line and use.

Description

Automatic mooring cable winding and unwinding device for mooring unmanned aerial vehicle system
Technical Field
The invention relates to the technical field of unmanned aerial vehicles, in particular to an automatic mooring cable winding and unwinding device for a mooring unmanned aerial vehicle system.
Background
At present, a mooring unmanned aerial vehicle system is an unmanned aerial vehicle system which is based on a multi-rotor unmanned aerial vehicle as a carrier and continuously supplies power, measures and controls the unmanned aerial vehicle through a mooring photoelectric composite cable (called as a mooring cable for short) on a cable winding and unwinding device so as to achieve long-time air-staying flight operation.
The common use of staying the cable in the current unmanned aerial vehicle system of staying receive and releases the mode ubiquitous use inconvenient, and the cable easy wearing and tearing electric leakage life of buckling is short, and is not enough with human safety isolation, accomodates the problem of inefficiency.
Disclosure of Invention
The invention aims to provide an automatic mooring cable winding and unwinding device for a mooring unmanned aerial vehicle system, and aims to solve the technical problems that in the prior art, a mooring cable convergence mode in the mooring unmanned aerial vehicle system is inconvenient to use, a cable is easy to wear, bend, leak electricity, short in service life, insufficient in safety isolation with a human body, and low in storage efficiency.
In order to achieve the above purpose, the present invention provides an automatic mooring cable winding and unwinding device for mooring an unmanned aerial vehicle system, comprising a mooring cable reel, a driving system and a transmission mechanism, wherein the mooring cable reel comprises two side plates, a fixed shaft, two turntables and a plurality of banners, the two side plates are symmetrically arranged, one side of one side plate is rotatably connected with one end of the fixed shaft, the fixed shaft penetrates through the side plates, the other end of the fixed shaft is fixedly connected with one of the turntables, the other side plate is rotatably connected with the other turntable, two ends of the plurality of banners are fixedly connected with the two turntables and located between the two turntables, the plurality of banners are circumferentially distributed along the axial center line of the turntables, the plurality of banners are wound by mooring cables, the driving system is used for driving the transmission mechanism, the transmission mechanism drives the fixed shaft to rotate.
The driving system comprises a support, a driving motor and a torque output control mechanism, the support is fixedly installed between the two side plates, the driving motor is fixedly connected with the support, and the output end of the driving motor is connected with the input end of the torque output control mechanism.
The transmission mechanism comprises a belt pulley, a first synchronous belt, a first synchronous wheel, a second synchronous belt and a third synchronous wheel, the belt pulley is connected with the output end of the torque output control mechanism, the first synchronous wheel is fixedly connected with the fixed shaft and sleeved outside the fixed shaft, the first synchronous wheel is in transmission connection with the belt pulley through the first synchronous belt, the second synchronous wheel is fixedly connected with the fixed shaft and sleeved outside the fixed shaft and positioned on one side of the first synchronous wheel, and the second synchronous wheel is in transmission connection with the third synchronous wheel through the second synchronous belt.
The automatic mooring cable winding and unwinding device for mooring the unmanned aerial vehicle system further comprises an automatic winding and unwinding mechanism, the automatic winding and unwinding mechanism comprises a reciprocating screw rod, a guide sliding sleeve and a draw bar, one end of the reciprocating screw rod is connected with one side plate in a rotating mode, the other end of the reciprocating screw rod is fixedly connected with a third synchronizing wheel, the third synchronizing wheel is connected with the other side plate in a rotating mode, two ends of the draw bar are fixedly connected with the side plates, the draw bar is arranged in parallel with the reciprocating screw rod, the guide sliding sleeve is matched with the reciprocating screw rod, and the guide sliding sleeve is connected with the draw bar in a sliding mode.
The automatic mooring cable winding and unwinding device for mooring the unmanned aerial vehicle system further comprises a contracting brake mechanism, wherein the contracting brake mechanism is fixedly connected with the fixed shaft and located at one side of the rotary plate, and the fixed shaft is far away from the contracting brake mechanism.
The automatic mooring cable winding and unwinding device for mooring the unmanned aerial vehicle system further comprises a junction box for introducing multiple optical fibers and direct-current high voltage, and a photoelectric composite slip ring for converging the multiple optical fibers and the direct-current high voltage to a cavity, wherein the cavity is formed by enclosing a plurality of banners.
Wherein, an automation system for mooring unmanned aerial vehicle system stays cable winding and unwinding devices still includes cooling system, cooling system by the heat dissipation main part with fan combination on the terminal box forms, the heat dissipation main part by the ventilative structure of cavity and the intake duct of curb plate forms, the fan to the heat dissipation main part provides the outside air.
According to the automatic mooring cable winding and unwinding device for the mooring unmanned aerial vehicle system, the driving system acts to drive the transmission mechanism to act and then drive the fixed shaft to rotate, so that the turntable is driven to rotate, the mooring cable is wound and unwound, the mooring cable disc of the winding and unwinding device is driven by the motor instead of manpower, the limbs of personnel are prevented from contacting cables when the system operates, the personnel can be effectively isolated from high-voltage transmission, and the operation safety of the personnel is effectively guaranteed. In addition, by a specific linkage control method, the unmanned aerial vehicle flies to control or the integrated controller controls the driving motor of the winding and unwinding device in real time, so that the winding and unwinding device can timely and completely and autonomously start the mooring cable disc to store the mooring cables in the process of descending or changing the height of the mooring unmanned aerial vehicle, the mooring cables can be timely stored in the cable disc, the mooring cables cannot fall down or tie off, the operation steps are greatly simplified, the use efficiency is obviously improved, the use is more convenient, the cable can be prevented from being worn, bent and leaked electricity, and the service life is prolonged.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a schematic structural diagram of an automated mooring line reel for a tethered drone system of the present invention.
Fig. 2 is a side view of an automated mooring line reel for a tethered drone system of the present invention.
Fig. 3 is a cross-sectional view of the a-a line structure of fig. 2 of the present invention.
Fig. 4 is an enlarged view of a portion of the structure of fig. 3 according to the present invention.
Fig. 5 is a front view of an automated mooring line reel for a tethered drone system of the present invention.
Fig. 6 is an enlarged view of a portion of the structure of fig. 3E according to the present invention.
Fig. 7 is an enlarged view of a portion of the structure of fig. 1B according to the present invention.
Fig. 8 is an enlarged view of a portion of the structure of fig. 1 at C.
1-mooring cable reel, 2-driving system, 3-transmission mechanism, 4-side plate, 5-fixed shaft, 6-rotary table, 7-scroll, 8-bracket, 9-driving motor, 10-torque output control mechanism, 11-belt pulley, 12-first synchronous belt, 13-first synchronous wheel, 14-second synchronous wheel, 15-second synchronous belt, 16-third synchronous wheel, 17-automatic wire arrangement mechanism, 18-reciprocating screw rod, 19-guide sliding sleeve, 20-traction rod, 21-band-type brake mechanism, 22-junction box, 23-photoelectric composite sliding ring, 24-cavity, 25-heat dissipation system, 26-groove, 27-sliding sleeve body, 28-upper auxiliary wheel, 29-lower auxiliary wheel, 30-hand mechanism, 31-central shaft, 32-connecting disc and 33-hand rod.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention. Further, in the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.
Referring to fig. 1 to 8, the present invention provides an automatic mooring cable reel device for a mooring unmanned aerial vehicle system, including a mooring cable reel 1, a driving system 2 and a transmission mechanism 3, wherein the mooring cable reel 1 includes two side plates 4, a fixed shaft 5, two turntables 6 and a plurality of spokes 7, the two side plates 4 are symmetrically arranged, one side of one side plate 4 is rotatably connected to one end of the fixed shaft 5, the fixed shaft 5 penetrates through the side plates 4, the other end of the fixed shaft 5 is fixedly connected to one of the turntables 6, the other side plate 4 is rotatably connected to the other turntable 6, two ends of the plurality of spokes 7 are fixedly connected to the two turntables 6 and located between the two turntables 6, the plurality of spokes 7 are circumferentially distributed along an axial center line of the turntables 6, and the plurality of spokes 7 are used for winding a mooring cable, the driving system 2 is used for driving the transmission mechanism 3, and the transmission mechanism 3 drives the fixed shaft 5 to rotate.
In the embodiment, the turntable 6 is made of aluminum alloy, the number of the banners 7 is preferably 8, the diameter of a banners wheel formed by eight banners 7 is 138mm, the mooring cables are wound on the banners wheel, the driving system 2 acts to drive the transmission mechanism 3 to act and then drive the fixed shaft 5 to rotate, so that the turntable 6 is driven to rotate, the mooring cables are wound and unwound, the mooring cable reel 1 of the winding and unwinding device is driven by a motor instead of manpower, the limbs of a person are prevented from contacting with the cables when the system operates, the person and high-voltage transmission can be effectively isolated, and the operation safety of the person is effectively guaranteed. In addition, by a specific linkage control method, the unmanned aerial vehicle flies to control or the integrated controller controls the winding and unwinding device driving motor 9 in real time, so that the winding and unwinding device can timely and completely and autonomously start the mooring cable disc 1 to store the mooring cables in the process of descending or changing the height of the mooring unmanned aerial vehicle, the mooring cables can be timely stored in the cable disc, the mooring cables cannot fall down or tie off, the operation steps are greatly simplified, the use efficiency is obviously improved, the use is more convenient, the cable can be prevented from being worn, bent and leaked electricity, and the service life is prolonged.
Further, the driving system 2 comprises a support 8, a driving motor 9 and a torque output control mechanism 10, the support 8 is fixedly installed between the two side plates 4, the driving motor 9 is fixedly connected with the support 8, and an output end of the driving motor 9 is connected with an input end of the torque output control mechanism 10. The transmission mechanism 3 comprises a belt pulley 11, a first synchronous belt 12, a first synchronous wheel 13, a second synchronous wheel 14, a second synchronous belt 15 and a third synchronous wheel 16, the belt pulley 11 is connected with the output end of the torque output control mechanism 10, the first synchronous wheel 13 is fixedly connected with the fixed shaft 5 and sleeved outside the fixed shaft 5, the first synchronous wheel 13 is in transmission connection with the belt pulley 11 through the first synchronous belt 12, the second synchronous wheel 14 is fixedly connected with the fixed shaft 5 and sleeved outside the fixed shaft 5 and located on one side of the first synchronous wheel 13, and the second synchronous wheel 14 is in transmission connection with the third synchronous wheel 16 through the second synchronous belt 15. An automatic stay cable winding and unwinding devices for mooring unmanned aerial vehicle system still includes automatic winding displacement mechanism 17, automatic winding displacement mechanism 17 includes reciprocal lead screw 18, direction sliding sleeve 19 and traction lever 20, the one end and one of them of reciprocal lead screw 18 curb plate 4 rotates and connects, the other end of reciprocal lead screw 18 with third synchronizing wheel 16 fixed connection, just third synchronizing wheel 16 with another curb plate 4 rotates and connects, the both ends and two of traction lever 20 curb plate 4 fixed connection, just traction lever 20 with reciprocal lead screw 18 parallel arrangement, direction sliding sleeve 19 with reciprocal lead screw 18 adaptation, just direction sliding sleeve 19 with traction lever 20 sliding connection.
In this embodiment, the support 8 is used for right the driving motor 9 plays the supporting role, the driving motor 9 adopts 57-76 closed loop integral type motor, and maximum torque 1.89N · m receives the instruction that comes from integrated control ware or unmanned aerial vehicle flight control through the RS485 bus, and the time control driving motor 9 cooperates the unmanned aerial vehicle to descend or change the height action. The input end of the torque output control mechanism 10 is driven to rotate through the rotation of the driving motor 9, and then the output end of the torque output control mechanism 10 is driven to rotate, so that the belt pulley 11 rotates, the first synchronous pulley 13 is driven to rotate under the action of the first synchronous belt 12, so that the fixed shaft 5 rotates along with the rotation, and then the rotary table 6 is driven to rotate, so that the winding and unwinding of the mooring cable are realized through the forward and reverse rotation of the driving motor 9, in addition, the second synchronous pulley 14 rotates along with the rotation of the fixed shaft 5, the third synchronous pulley 16 rotates under the action of the second synchronous belt 15, so that the reciprocating screw rod 18 is driven to rotate, the guide sliding sleeve 19 is driven to slide, the mooring cable is uniformly accommodated on a spoke wheel under the guide of the guide sliding sleeve 19, the good service environment of the mooring cable is ensured, and the service life is prolonged. Wherein the tow bar 20 is used for guiding.
Further, an automatic mooring cable winding and unwinding device for mooring an unmanned aerial vehicle system further comprises a brake mechanism 21, the brake mechanism 21 is fixedly connected with the fixed shaft 5 and located on one side of the rotary table 6, and the fixed shaft 5 is far away from the brake mechanism 21.
In this embodiment, the brake mechanism 21 is a power-off type brake, and when the winding and unwinding device is not powered and is in a non-operating state, the brake structure is automatically locked, and the mooring cable reel 1 and the automatic cable arranging mechanism 17 connected thereto are simultaneously locked to ensure that the mooring cable does not loose a jumper in the non-operating state.
Further, the automatic mooring cable winding and unwinding device for mooring the unmanned aerial vehicle system further comprises a junction box 22 for introducing multiple optical fibers and direct-current high voltage, and a photoelectric composite slip ring 23 for converging the multiple optical fibers and the direct-current high voltage to a cavity 24, wherein the cavity 24 is formed by enclosing the plurality of banners 7.
In this embodiment, the optical path and the circuit are led in by the connection terminal of the junction box 22, converged by the photoelectric composite slip ring 23, transferred to the cavity 24, and then connected to the mooring cable, the mooring cable is wound on the spoke wheel, and the other end of the mooring cable extends to the unmanned aerial vehicle and is communicated with the optical path and the circuit on the unmanned aerial vehicle, so as to establish a stable power supply and measurement and control channel under the starting state height condition.
Further, an automation system that is used for mooring unmanned aerial vehicle system stays cable winding and unwinding devices still includes cooling system 25, cooling system 25 by the heat dissipation main part with fan combination on the terminal box 22 forms, the heat dissipation main part by the ventilative structure of cavity 24 and the intake duct of curb plate 4 forms, the fan to the heat dissipation main part provides the outside air.
In this embodiment, wherein the ventilative structure of cavity 24 is adjacent two clearance between banner 7, cooling system 25 by the heat dissipation main part that cavity 24's ventilative structure and the intake duct of curb plate 4 formed to by the high flow on the terminal box 22 the fan provides the outside air to the heat dissipation main part, forms certain degree malleation in the heat dissipation main part, and the outside air in cavity 24 evenly outwards circulates through the gap between the arrangement of mooring line, takes away most deposit at the surperficial heat of mooring line, effectively reduces the temperature rise that the mooring line produced when the high load operation of system, makes mooring line work in normal temperature scope.
Further, each of the webs 7 has a plurality of grooves 26 therein, and the plurality of grooves 26 are equidistantly distributed along the length direction of the web 7.
In the present embodiment, the cavity 24 can have a better heat dissipation effect by the arrangement of the groove 26.
Further, the guide sliding sleeve 19 includes a sliding sleeve body 27, two upper auxiliary wheels 28 and two lower auxiliary wheels 29, two the upper auxiliary wheels 28 all with the sliding sleeve body 27 is connected rotationally, and two the upper auxiliary wheels 28 are symmetrically arranged, two the lower auxiliary wheels 29 with the sliding sleeve body 27 is connected rotationally, and the symmetry is arranged below the upper auxiliary wheels 28, just the axial line of the upper auxiliary wheels 28 with the axial line of the lower auxiliary wheels 29 is distributed vertically and horizontally.
In this embodiment, the sliding sleeve body 27 can reciprocate along the drawbar 20, and when the mooring cable is wound or unwound, the mooring cable passes through the gap between the two upper auxiliary wheels 28 and the gap between the two lower auxiliary wheels 29, so as to ensure that the mooring cable is smoother when winding.
Further, an automatic stay cable winding and unwinding devices for mooring unmanned aerial vehicle system still includes hand mechanism 30, hand mechanism 30 includes center pin 31, connection pad 32 and hand pole 33, the one end of center pin 31 with 5 fixed connection of fixed axle, the other end of center pin 31 with connection pad 32 fixed connection, hand pole 33 with connection pad 32 fixed connection, just hand pole 33 eccentric settings is in the outward flange of connection pad 32.
In this embodiment, not only can electrically receive and release the mooring cable, but also can manually rotate the hand lever 33 to drive the connecting disc 32 to rotate, and then the central rod drives the fixed shaft 5 to rotate, so that the mooring cable can be received and released.
In conclusion, the cable reel of the winding and unwinding device is driven by the motor instead of manpower, so that the situation that the limbs of personnel contact the cable when the system operates is avoided, the personnel can be effectively isolated from high-voltage transmission, and the operation safety of the personnel is effectively guaranteed.
The mooring cable can be automatically collected and released. Through a specific linkage control method, the unmanned aerial vehicle flies to control or a comprehensive controller controls the driving motor of the winding and unwinding device in real time, so that the winding and unwinding device can timely and completely and autonomously start the mooring cable disc 1 to store the mooring cables in the process of descending or changing the height of the mooring unmanned aerial vehicle, the mooring cables can be timely stored to the cable disc, the mooring cables cannot fall down or knot, the operation steps are greatly simplified, and the use efficiency is obviously improved.
And stable traction force is provided, and automatic retraction of the mooring cable is guaranteed. Reasonable damping is applied to the cable drum through a special torque output control mechanism, so that the cable drum overcomes inertia influence when the unmanned aerial vehicle is lifted, and the phenomenon that a mooring cable jumps due to the fact that the cable drum cannot stop in time due to inertia is avoided; when the unmanned aerial vehicle hovers, the cable reel is kept in a static state, and the aerial swing of the mooring cable is stable; make mooring cable dish 1 retrieve the traction force of mooring cable and be in steady state all the time when unmanned aerial vehicle is in the decline, avoid traction force too big to lead to that unmanned aerial vehicle load power is too big or motor stall. The performance and the reliability of the whole machine are greatly increased.
Unique thermal design, with many 7 inner spaces of banner have made even heat dissipation chamber, form the malleation by high flow fan to whole cavity air supply, and the gas evenly outwards circulates through the gap between the arrangement of mooring line in the cavity, takes away most deposit at the heat on mooring line surface, effectively reduces the temperature rise that the mooring line produced of system when high load operation, makes mooring line work in normal temperature scope, increase of service life.
Based on the automatic winding displacement mechanism of two-way reciprocal lead screw design, can be with mooring line at the even orderly arrangement on the breadth of a strip wheel of release or accomodate the in-process, make mooring line's wearing and tearing be in lower level all the time, and make mooring line heat dissipation more even, prolong mooring line's life.
Because traditional mooring line winding and unwinding devices are relatively simple, a manual winding function or a semi-automatic winding function in a motor-driven manner can be provided. The device is characterized in that the full-automatic release and storage of the mooring cable in the ascending and descending processes of the unmanned aerial vehicle are achieved, the mooring cable is stably and independently stored and released on the device, and key problems of linkage control of a mooring cable disc and the unmanned aerial vehicle, mooring cable traction force stability, mooring cable arrangement uniformity, mooring cable working temperature control and the like need to be solved.
The invention discloses an automatic mooring cable winding and unwinding device for a mooring unmanned aerial vehicle system, which comprises the following components:
(1) linkage control of mooring cable reel and unmanned aerial vehicle
Realize the key one step of full-automatic receipts and releases mooring cable and be exactly the coordinated control who realizes mooring cable dish and unmanned aerial vehicle, the mooring cable is pulled by unmanned aerial vehicle's traction force and is risen when unmanned aerial vehicle rises, the decline signal that is sent by unmanned aerial vehicle flight control or integrated control ware when unmanned aerial vehicle descends sends "enable" signal through the RS485 bus to winding and unwinding devices's driving motor, driving motor operates according to the preset rotating parameter of built-in module, make the mooring cable in the decline in time accomodate to mooring cable dish on, this coordinated control mode logic is clear and simple reliable, can accomodate the mooring cable and improve to the millisecond level with unmanned aerial vehicle's synchronous cooperation.
(2) Mooring line traction stability
The mooring cable disc 1 and the unmanned aerial vehicle are only completed in linkage control, stable release or storage of mooring cables cannot be achieved, due to the electrical characteristics of the driving motor, the use scene that the driving motor 9 is possibly locked or passively rotated cannot be met, the output torque and the rotating speed of the motor are not stably output, in order to solve the series of problems, a torque output control mechanism 10 is additionally arranged at the output shaft end of the driving motor 9, in order to guarantee reliability under long-time working condition, the mechanism is composed of a magnetic powder type clutch as a main body, a connecting shaft, an output shaft and other accessories, type selection is carried out according to the characteristics of the mooring cable disc and the driving motor, the output torque of the magnetic powder type clutch is adjustable, and traction force transmitted to the mooring cable disc through the transmission mechanism is 0-10N (the default state is 5N and matching is carried out according to different unmanned aerial vehicles).
When unmanned aerial vehicle is in the rising state, driving motor 9 is in quiescent condition this moment, thereby torque output control mechanism 10 will provide stable braking force and make mooring line traction force size stably keep about 5N, and the mooring line is in reasonable state of flare-outing all the time. When the unmanned aerial vehicle reaches a preset height, the unmanned aerial vehicle suddenly enters into hovering, at the moment, the mooring cable disc may have a tendency of continuously rotating due to inertia, but the mooring cable disc cannot continuously rotate due to the fact that the torque output control mechanism provides braking force, and the condition of wire jumping caused by inertia is avoided.
When the unmanned aerial vehicle is in a hovering state, the mooring cable is always in a stable straightening state under the intervention of braking force provided by the torque output control mechanism, so that the phenomenon that the mooring cable swings with wind in the designed wind speed is overcome.
When unmanned aerial vehicle was in the decline state, driving motor began to rotate, no matter this moment motor speed and moment of torsion whether exceed the speed and the pulling force that the mooring line descends, and moment of torsion output control mechanism is stabilized the traction force on the mooring line all the time and is about 5N (acquiesce adjustable). Satisfy and receive the line demand and straighten the mooring line all the time, avoid because of the stifled commentaries on classics that motor direct drive probably leads to or the too big unstability of mooring line pulling force to the risk of mooring unmanned aerial vehicle system.
(3) Degree of uniformity of cable arrangement of mooring cable
The mooring cable reel has linkage control of the mooring cable reel 1 and an unmanned aerial vehicle and high stability of traction force of the mooring cable, full-automatic reeling and unreeling of the mooring cable in a real sense is not completely realized, and the automatic wire arranging mechanism 17 is the last ring for completing full automation. The automatic wire arranging mechanism 17 comprises auxiliary components such as a reciprocating screw rod 18 and a guide sliding sleeve 19, when the rotary table 6 rotates, the reciprocating screw rod 18 is synchronously driven to operate, the guide sliding sleeve 19 on the screw rod moves at a constant speed along with the mooring cable disc from an initial position, the mooring cable is uniformly accommodated on the scroll wheel under the guide of the guide sliding sleeve 19, the uniform degree of release and accommodation of the mooring cable is ensured, the stability of the traction force of the mooring cable is further ensured to be in a good level, and the full-automatic winding and unwinding of the mooring cable is really realized. Creates good use conditions and prolongs the service life of the mooring cable.
(4) Mooring line operating temperature control
Realized the most genuine full automatization receive and release mooring line, also need guarantee mooring line's use reliability simultaneously, when mooring line multilayer is accomodate on mooring line dish 1, mooring unmanned aerial vehicle system probably leads to the inlayer mooring line to pile up the unable normal effluvium of heat under the high load operating mode, causes high temperature to damage mooring line and then influences whole mooring unmanned aerial vehicle system. In order to ensure the reliability of the mooring unmanned aerial vehicle system, a heat dissipation system 25 is designed on the basis of the structure of the mooring cable winding and unwinding device. The heat dissipation system is a heat dissipation main body formed by a ventilating structure of the inner cavity of the cable tray and an air inlet channel of the side plate, external air is provided for the heat dissipation main body by a high-flow fan on the junction box 22, positive pressure is formed in the heat dissipation main body to a certain degree, the external air in the cavity 24 uniformly and outwards circulates through gaps among the arrangement of the mooring cables, most of heat deposited on the surfaces of the mooring cables is taken away, temperature rise of the mooring cables during high-load operation of the system is effectively reduced, good use conditions are created, and the service life of the mooring cables is prolonged.
In conclusion, according to the invention, through a specific linkage control method, when the unmanned aerial vehicle descends, a descending signal sent by the unmanned aerial vehicle flight control or the integrated controller sends an enable signal to the driving motor of the winding and unwinding device through the RS485 bus, the driving motor operates according to the preset rotation parameters of the built-in module, so that the descending mooring cable is timely stored on the mooring cable tray 1, the logic of the linkage control method is clear, simple and reliable, and the synchronous matching degree of the storage of the mooring cable and the unmanned aerial vehicle can be improved to millisecond level. The mooring cable can be timely stored into the scroll wheel, and the mooring cable cannot fall or be knotted, so that the operation steps are greatly simplified, and the use efficiency is obviously improved. By a special control method of traction force of the mooring cable, namely, by applying reasonable damping to the cable drum through the special torque output control mechanism 10, when the unmanned aerial vehicle is in ascending, the cable drum overcomes inertia influence, and the phenomenon that the mooring cable jumps due to the fact that the cable drum cannot stop in time due to inertia is avoided; when the unmanned aerial vehicle hovers, the cable reel is kept in a static state, and the aerial swing of the mooring cable is stable; when the unmanned aerial vehicle is in descending, the traction force for recovering the mooring cable by the cable disc is always in a stable state, and the phenomenon that the load power of the unmanned aerial vehicle is too large or the motor is locked up due to the fact that the traction force is too large is avoided. The performance and the reliability of the whole machine are greatly increased.
While the invention has been described with reference to a preferred embodiment, it will be understood by those skilled in the art that various changes in form and detail may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.

Claims (7)

1. An automatic mooring cable winding and unwinding device for a mooring unmanned aerial vehicle system is characterized in that,
including mooring cable dish, actuating system and drive mechanism, mooring cable dish includes two curb plates, fixed axle, two carousels and many banners, two the curb plate symmetry sets up, one of them one side of curb plate is rotated and is connected the one end of fixed axle, just the fixed axle runs through the curb plate, the other end and one of them of fixed axle carousel fixed connection, another the curb plate is with another the carousel rotates to be connected, many the both ends of banners all with two carousel fixed connection, and lie in two between the carousel, and many the banners is followed the axial direction line of carousel is the circumference and distributes, many the banners supplies mooring cable winding, actuating system is used for the drive mechanism, drive mechanism drives the fixed axle rotates.
2. An automated mooring line reeling device for a tethered drone system as claimed in claim 1,
the driving system comprises a support, a driving motor and a torque output control mechanism, the support is fixedly installed between the two side plates, the driving motor is fixedly connected with the support, and the output end of the driving motor is connected with the input end of the torque output control mechanism.
3. An automated mooring line reeling device for a tethered drone system as claimed in claim 2,
the transmission mechanism comprises a belt pulley, a first synchronous belt, a first synchronous wheel, a second synchronous belt and a third synchronous wheel, the belt pulley is connected with the output end of the torque output control mechanism, the first synchronous wheel is fixedly connected with the fixed shaft and sleeved outside the fixed shaft, the first synchronous wheel is connected with the belt pulley through the first synchronous belt in a transmission mode, the second synchronous wheel is fixedly connected with the fixed shaft and sleeved outside the fixed shaft and located on one side of the first synchronous wheel, and the second synchronous wheel is connected with the third synchronous wheel through the second synchronous belt in a transmission mode.
4. An automated mooring line reeling device for a tethered drone system as claimed in claim 3,
an automatic stay cable winding and unwinding devices for mooring unmanned aerial vehicle system still includes automatic winding displacement mechanism, automatic winding displacement mechanism includes reciprocal lead screw, direction sliding sleeve and traction lever, the one end and one of them of reciprocal lead screw the curb plate rotates to be connected, the other end of reciprocal lead screw with third synchronizing wheel fixed connection, just third synchronizing wheel and another the curb plate rotates to be connected, the both ends and two of traction lever curb plate fixed connection, just the traction lever with reciprocal lead screw parallel arrangement, the direction sliding sleeve with reciprocal lead screw adaptation, just the direction sliding sleeve with traction lever sliding connection.
5. An automated mooring line reeling device for a tethered drone system as claimed in claim 1,
an automatic system stay cable winding and unwinding devices for mooring unmanned aerial vehicle system still includes band-type brake mechanism, band-type brake mechanism with fixed axle fixed connection, and be located the fixed axle is kept away from one side of carousel.
6. An automated mooring line reeling device for a tethered drone system as claimed in claim 1,
the automatic mooring cable winding and unwinding device for the mooring unmanned aerial vehicle system further comprises a junction box for introducing the multi-path optical fibers and the direct-current high voltage, and a photoelectric composite slip ring for converging the multi-path optical fibers and the direct-current high voltage to a cavity, wherein the cavity is formed by enclosing a plurality of banners.
7. An automated mooring line reeling device for a tethered drone system as claimed in claim 6,
a automatic stay cable winding and unwinding devices for mooring unmanned aerial vehicle system still includes cooling system, cooling system by the heat dissipation main part with fan combination on the terminal box forms, the heat dissipation main part by the ventilative structure of cavity and the intake duct of curb plate forms, the fan to the heat dissipation main part provides the outside air.
CN202111415914.0A 2021-11-25 2021-11-25 Automatic mooring cable winding and unwinding device for mooring unmanned aerial vehicle system Pending CN113928587A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202111415914.0A CN113928587A (en) 2021-11-25 2021-11-25 Automatic mooring cable winding and unwinding device for mooring unmanned aerial vehicle system

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202111415914.0A CN113928587A (en) 2021-11-25 2021-11-25 Automatic mooring cable winding and unwinding device for mooring unmanned aerial vehicle system

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Publication Number Publication Date
CN113928587A true CN113928587A (en) 2022-01-14

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Application Number Title Priority Date Filing Date
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Country Status (1)

Country Link
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