CN114291665A - Staying unmanned aerial vehicle receive and releases line system - Google Patents
Staying unmanned aerial vehicle receive and releases line system Download PDFInfo
- Publication number
- CN114291665A CN114291665A CN202111635690.4A CN202111635690A CN114291665A CN 114291665 A CN114291665 A CN 114291665A CN 202111635690 A CN202111635690 A CN 202111635690A CN 114291665 A CN114291665 A CN 114291665A
- Authority
- CN
- China
- Prior art keywords
- cable
- tension
- adjusting roller
- fixed
- tensioning wheel
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 230000033001 locomotion Effects 0.000 claims description 15
- 230000006835 compression Effects 0.000 claims description 12
- 238000007906 compression Methods 0.000 claims description 12
- 230000000149 penetrating effect Effects 0.000 claims description 9
- 230000009471 action Effects 0.000 claims description 4
- 230000007246 mechanism Effects 0.000 claims description 4
- 230000006872 improvement Effects 0.000 description 9
- 238000004804 winding Methods 0.000 description 4
- 230000005540 biological transmission Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000013307 optical fiber Substances 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
Images
Abstract
The invention discloses a take-up and pay-off system of a mooring unmanned aerial vehicle, which is used for taking up and paying off adjustment of cables of the mooring unmanned aerial vehicle. According to the invention, the adjusting roller and the adjusting roller are arranged, when the cable tension value on the tension sensor exceeds a set value, the adjusting roller moves upwards and moves from a first stroke to a second stroke, so that the cable is in contact with the adjusting roller, the adjusting roller is driven to rotate by the adjusting motor, and then the cable is wound and unwound in an auxiliary manner, the cable is prevented from being wound and knotted due to overlarge tension or overlarge looseness, and the problems in the prior art are solved.
Description
Technical Field
The invention relates to a mooring unmanned aerial vehicle take-up and pay-off system.
Background
Mooring unmanned aerial vehicle, also known as mooring unmanned aerial vehicle, is a special form of many rotor unmanned aerial vehicle.
The power supply and data transmission of the mooring unmanned aerial vehicle are different from those of a common multi-rotor unmanned aerial vehicle, the mooring unmanned aerial vehicle cannot adopt a battery power supply mode due to a specific working mode (needing to hover in the air for a long time) and adopts a ground power supply to supply power, so that power is required to be transmitted by a power supply cable, and an optical fiber responsible for data transmission is also arranged in the same cable to form a two-electric one-light or two-electric multi-light mixed cable, namely a special cable for the mooring unmanned aerial vehicle. The mooring rope needs to be placed in the mooring rope reeling and unreeling device. When the mooring unmanned aerial vehicle takes off and lands, the retractable device needs to synchronously release and take up cables.
The tethered unmanned aerial vehicle in the prior art has at least the following defects:
(1) under the influence of the altitude attitude of the unmanned aerial vehicle, the cable can not be timely wound and unwound by the winding and unwinding system, so that the cable fails, and even the unmanned aerial vehicle crashes;
(2) under operating mode some, like on-vehicle mooring unmanned aerial vehicle, the cable can be pull at the in-process that advances to the vehicle, and this kind of traction can be more serious when especially passing through the relatively poor environment of road conditions, and then leads to the cable trouble, causes unmanned aerial vehicle crash even.
Disclosure of Invention
The invention aims to provide a mooring unmanned aerial vehicle retraction system capable of solving the problems.
In order to solve the problems, the invention provides a mooring unmanned aerial vehicle pay-off and take-up system which is used for adjusting the pay-off and take-up of a cable of the mooring unmanned aerial vehicle, wherein the cable is positioned between a pay-off and take-up roller and the mooring unmanned aerial vehicle and is taken up and taken down through a pay-off and take-up motor, and the mooring unmanned aerial vehicle pay-off and take-up system is characterized by comprising a vertically-arranged and flat-plate-shaped mounting bracket, and a tension sensor, an adjusting roller, a first tension wheel and a limiting ring which are respectively and rotatably connected to the mounting bracket, wherein:
the tension sensor can acquire a tension value of a wound cable;
the adjusting roller is positioned below the tension sensor and can be driven by a first driving device to do lifting motion along a vertical axis, and the adjusting roller at least has a first stroke and a second stroke which are positioned at the bottom and the top;
the adjusting roller is driven to rotate by an adjusting motor, is positioned beside the adjusting roller and has a height between the first stroke and the second stroke;
the first tensioning wheel is arranged obliquely above the adjusting roller;
the limiting ring is positioned above the first tensioning wheel;
when the adjusting roller is located at the first stroke, the cable passes through the limiting ring to extend out after being tensioned by the tension sensor, the adjusting roller and the first tensioning roller;
when the adjusting roller is located at the second stroke, the cable penetrates through the limiting ring to extend out through the tension sensor, the adjusting roller and the adjusting roller, or the cable penetrates through the limiting ring to extend out after passing through the tension sensor, the adjusting roller and the first tensioning roller;
the tension sensor is electrically connected with the first driving device and the adjusting motor and controls the first driving device and the adjusting motor to work according to the measured tension value.
As a further improvement of the present invention, the first tensioning wheel is mounted on the mounting bracket by a rotational connection structure comprising:
the fixed mounting sleeve is fixed on the mounting bracket, a mounting hole is formed in the fixed mounting sleeve, and a first placing groove is formed in the hole wall of the mounting hole;
the rotary mounting shaft is rotatably connected in the mounting hole and is provided with a first protruding part protruding out of the mounting hole and a second placing groove which is positioned on the same plane with the first placing groove;
the rotating disc is fixed on the first extending part, and the first tensioning wheel is rotationally connected to the rotating disc;
the two ends of the flat spiral spring are respectively inserted into the first placing groove and the second placing groove, the flat spiral spring enables the first tensioning wheel to bias the cable in a mode of tensioning the cable, the first tensioning wheel can move between a first position and a second position under the action of the flat spiral spring, the first position is the position where the first tensioning wheel is located when the flat spiral spring releases the spring force completely, and the second position is the position where the first tensioning wheel is located under the compression limit state of the flat spiral spring.
As a further improvement of the present invention, the first tension wheel is fixed on the rotating disc by a fixed connection structure, the fixed connection structure comprising:
the two fixed mounting plates are vertically fixed on the end face of the rotating disc and arranged in parallel, and intervals are arranged on the fixed mounting plates;
the rotating shaft is rotatably connected between the two fixed mounting plates, two ends of the rotating shaft are positioned in the middle of the upper half part of the fixed mounting plates, the axis of the rotating shaft is vertical to the axis of the rotating disc, and the fixed mounting block of the first tensioning wheel, which passes through the bottom, is fixed on the rotating shaft;
fix two stopper between the fixed mounting board, thereby the stopper can through with thereby the restriction of fixed mounting piece contact the rotary motion of fixed mounting piece one side, work as when first straining wheel is located the first position, the stopper is located the inboard, and it can restrict fixed mounting piece counter-clockwise movement, work as when first straining wheel is located the second position, the stopper is located the outside, and it can restrict fixed mounting piece clockwise movement.
As a further improvement of the present invention, the mounting bracket is further provided with an auxiliary tensioning mechanism, the auxiliary tensioning mechanism comprising:
the first sliding rail is horizontally arranged and is in a long strip structure, the vertical position of the first sliding rail is positioned between the first tensioning wheel and the adjusting roller, two ends of the first sliding rail exceed the rotating disc, and the first sliding rail is also provided with a first sliding groove penetrating through the mounting bracket;
a first auxiliary slide block slidable in the first slide groove;
a second tensioning wheel rotatably connected to the first auxiliary sliding block, wherein the second tensioning wheel and the first tensioning wheel are both located on the same side of the mounting bracket, and the second tensioning wheel is only in contact with the cable when the cable is separated from the first tensioning wheel;
a first extending arm fixedly connected on the first auxiliary sliding block and passing through the first sliding groove and positioned at the other side of the mounting bracket,
the first elastic expansion piece and the first expansion cylinder are respectively fixed on two sides of the first extending arm and are parallel to the first sliding groove, the first elastic expansion piece is located near one side of the rotating disc, the first expansion cylinder is located far away from one side of the rotating disc, the first elastic expansion piece is provided with a fixed arm which is fixedly arranged and a sliding arm which can move along the axial direction of the fixed arm, a compression spring is connected between the sliding arm and the fixed arm, when the second tensioning wheel is in contact with the cable, the second tensioning wheel is biased towards the tensioning direction through the compression spring and the sliding arm, the first expansion cylinder is electrically connected with a tension sensor, and the first extending arm is pushed under the control of the tension sensor to reciprocate along an axis parallel to the first sliding groove.
As a further improvement of the present invention, a second sliding rail is further vertically arranged on the mounting bracket, a second auxiliary sliding block capable of sliding in the vertical direction and a first sliding groove penetrating through the mounting bracket are arranged in the second sliding rail, the adjusting roller is rotationally connected to the second auxiliary sliding block, the second auxiliary sliding block is provided with a second extending arm capable of penetrating through the second sliding groove, the second extending arm is fixedly connected with a second telescopic cylinder on the other side of the mounting bracket, and is electrically connected with the tension sensor, and the second extending arm is pushed under the control of the tension sensor to reciprocate along the vertical axis, so that the adjusting roller reciprocates between the first stroke and the second stroke.
As a further improvement of the present invention, a third sliding groove which is located above the first tensioning wheel and is horizontally arranged is further arranged on the mounting bracket, and the limiting ring can slide in the third sliding groove.
The invention has the beneficial effects that the adjusting roller and the adjusting roller are arranged, when the cable tension value on the tension sensor exceeds a set value, the adjusting roller moves upwards and moves from a first stroke to a second stroke, so that the cable is in contact with the adjusting roller, the adjusting roller is driven to rotate by the adjusting motor, the cable is further wound and released in an auxiliary manner, the cable is prevented from being wound and knotted due to overlarge tension or overlarge looseness, and the problems in the prior art are solved.
Drawings
Fig. 1 is a schematic structural view of the present invention.
FIG. 2 is a schematic view of the cable tension with the adjustment roller in the first stroke;
FIG. 3 is a schematic view of the cable tension with the adjustment roller in the second stroke;
FIG. 4 is a schematic view showing the connection of the flat spiral spring
FIG. 5 is a schematic view of the rotary connection and the first tensioning wheel;
fig. 6 is a schematic structural view of the first telescopic cylinder and the first elastic connecting member.
In the figure: 101-mounting a bracket; 102-a tension sensor; 103-adjusting rollers; 104-adjusting rollers; 105-a first tensioning wheel; 106-a stop collar; 107-fixing the mounting sleeve; 108-mounting holes; 109-rotating the mounting shaft; 110-rotating disk; 111-flat spiral spring; 112-fixing the mounting plate; 113-a rotation axis; 114-a fixed mounting block; 115-a limiting block; 116-a first sliding track; 117-first sliding groove; 118-first auxiliary slider; 119-a second tensioning wheel; 120-a first projecting arm; 121-a first elastic expansion element; 122-a first telescopic cylinder; 123-a fixed arm; 124-sliding arm; 134-a second sliding track; 125-second auxiliary slider; 126-a second sliding groove; 128-third sliding groove.
Detailed Description
The technical scheme of the invention is further explained by the specific implementation mode in combination with the attached drawings.
Fig. 1 is a schematic structural diagram of the present invention, which includes a vertically arranged and flat mounting bracket 101, and a tension sensor 102, an adjusting roller 103, an adjusting roller 104, a first tension wheel 105 and a limiting ring 106, which are respectively rotatably connected to the mounting bracket 101, wherein:
the tension sensor 102 can acquire the tension value of the wound cable;
the adjusting roller 104 is positioned below the tension sensor 102 and can be driven by a first driving device to do lifting motion along a vertical axis, and the adjusting roller 104 at least has a first stroke and a second stroke which are positioned at the bottom and the top;
the adjusting roller 103 is driven by an adjusting motor to rotate, is positioned beside the adjusting roller 104, and has a height between the first stroke and the second stroke;
the first tension wheel 105 is arranged obliquely above the adjusting roller 103;
the stop collar 106 is positioned above the first tensioning wheel 105;
when the adjusting roller 104 is located at the first stroke, the cable is tensioned by the tension sensor 102, the adjusting roller 104 and the first tension wheel 105 and then extends out through the limiting ring 106;
when the adjusting roller 104 is located at the second stroke, the cable extends through the position-limiting ring 106 via the tension sensor 102, the adjusting roller 104 and the adjusting roller 103, or the cable extends through the position-limiting ring 106 after passing through the tension sensor 102, the adjusting roller 104, the adjusting roller 103 and the first tension roller 105;
the tension sensor 102 is electrically connected to the first driving device and the adjustment motor, and controls the first driving device and the adjustment motor to operate according to a measured tension value.
As a further improvement of the present invention, the first tensioning wheel 105 is mounted on the mounting bracket 101 by a rotary connection structure comprising:
the mounting structure comprises a fixed mounting sleeve 107 fixed on the mounting bracket 101, wherein a mounting hole 108 is formed in the fixed mounting sleeve 107, and a first placing groove is formed in the hole wall of the mounting hole 108;
a rotary mounting shaft 109 rotatably connected in the mounting hole 108, wherein the rotary mounting shaft 109 is provided with a first protruding portion protruding out of the mounting hole 108 and a second placing groove located on the same plane as the first placing groove;
a rotating plate 110 fixed to the first extension, the first tension wheel 105 being rotatably coupled to the rotating plate 110;
a spiral spring 111 with two ends respectively inserted into the first and second placement grooves, wherein the spiral spring 111 biases the first tension wheel 105 to tension the cable, the first tension wheel 105 can move between a first position and a second position under the action of the spiral spring 111, the first position is a position where the first tension wheel 105 is located when the spiral spring 111 releases all spring force, and the second position is a position where the first tension wheel 105 is located in a state of a compression limit of the spiral spring 111.
As a further improvement of the present invention, the first tensioning wheel 105 is fixed on the rotating disc 110 by a fixed connection structure comprising:
the two fixing mounting plates 112 are vertically fixed on the end face of the rotating disc 110 and arranged in parallel, and a space is arranged on each fixing mounting plate 112;
a rotating shaft 113 rotatably connected between the two fixed mounting plates 112, both ends of the rotating shaft 113 being located at a middle position of an upper half of the fixed mounting plates 112, an axis of the rotating shaft 113 being perpendicular to an axis of the rotating disk 110, the fixed mounting block 114 of the first tension wheel 105 passing through a bottom portion being fixed to the rotating shaft 113;
a stopper 115 fixed between the two fixing mounting plates 112, wherein the stopper 115 can limit the rotational movement of the fixing mounting block 114 in one direction by contacting with the fixing mounting block 114, when the first tension wheel 105 is located at the first position, the stopper 115 is located at the inner side and can limit the counterclockwise movement of the fixing mounting block 114, and when the first tension wheel 105 is located at the second position, the stopper 115 is located at the outer side and can limit the clockwise movement of the fixing mounting block 114.
As a further improvement of the present invention, the mounting bracket 101 is further provided with an auxiliary tensioning mechanism, which includes:
a first sliding rail 116 horizontally arranged and having a long strip structure, wherein the vertical position of the first sliding rail 116 is located between the first tensioning wheel 105 and the adjusting roller 103, both ends of the first sliding rail exceed the rotating disc 110, and the first sliding rail 116 is further provided with a first sliding groove 117 penetrating through the mounting bracket 101;
a first auxiliary slide block 118 slidable in the first slide groove 117;
a second tensioning wheel 119 rotatably coupled to said first auxiliary slide 118, said second tensioning wheel 119 being located on the same side of said mounting bracket 101 as said first tensioning wheel 105, said second tensioning wheel 119 being in contact with said cable only when said cable is disengaged from said first tensioning wheel 105;
a first projecting arm 120 fixedly coupled to the first auxiliary sliding block 118 and passing through the first sliding groove 117 and located at the other side of the mounting bracket 101,
a first elastic expansion piece 121 and a first expansion cylinder 122 respectively fixed at both sides of the first extension arm 120 and parallel to the first sliding groove 117, the first elastic expansion member 121 is disposed near the rotating plate 110, the first expansion cylinder 122 is disposed far from the rotating plate 110, the first elastic expansion member 121 has a fixed arm 123 fixedly provided and a sliding arm 124 movable in the axial direction thereof, a compression spring is connected between the sliding arm 124 and the fixed arm 123, and when the second tension pulley 119 is in contact with the cable, the second tension pulley 119 biases the cable in a tension direction by the compression spring and the slide arm 124, the first telescopic cylinder 122 is electrically connected to the tension sensor 102, and pushes the first projecting arm 120 to reciprocate along an axis parallel to the first sliding groove 117 under the control of the tension sensor 102.
As a further improvement of the present invention, a second sliding rail 134 is further vertically disposed on the mounting bracket 101, a second auxiliary sliding block 125 capable of sliding in a vertical direction and a first sliding groove 117 penetrating through the mounting bracket 101 are disposed in the second sliding rail 134, the adjusting roller 104 is rotatably connected to the second auxiliary sliding block 125, the second auxiliary sliding block 125 is provided with a second extending arm capable of penetrating through the second sliding groove 126, the second extending arm is fixedly connected to a second telescopic cylinder on the other side of the mounting bracket 101, and is electrically connected to the tension sensor 102, and the second extending arm is pushed to reciprocate along a vertical axis under the control of the tension sensor 102, so that the adjusting roller 104 reciprocates between the first stroke and the second stroke.
As shown in fig. 2, in a normal state, the traction force applied to the cable is in a normal range, that is, when the tension value measured by the tension sensor 102 is in a set threshold range, the adjusting roller 104 is located on the second stroke, and the cable is stretched by the tension sensor 102, the adjusting roller 104, and the first tensioning roller 105 and then extends out through the limiting ring 106.
In this state, the first tension wheel 105 functions to keep the cable tensioned at all times, and specifically, as shown in fig. 4, the fixed mounting sleeve 107 is fixed to the mounting bracket 101, the rotary mounting shaft 109 is rotatably connected to the mounting hole 108 in the fixed mounting sleeve 107 through a rolling bearing, a spiral spring 111 is further provided in the fixed mounting hole 108, both free ends of the spiral spring 111 are respectively inserted into the first placement groove of the fixed mounting hole 108 and the second placement groove of the rotary mounting shaft 109, the rotary mounting shaft 109 is fixedly connected to the rotary disk 110, the rotary disk 110 is further provided with the first tension wheel 105, and the spiral spring 111 can bias the first tension wheel 105 to tension the cable through the rotary disk 110.
At this time, the first tensioning wheel 105 is located at the first position, or between the first position and the second position (closer to the first position, the specific position is pulled by the cable and the unmanned aerial vehicle), the first position is located on a horizontal axis where the rotating disk 110 passes through the center of a circle, and is located in a direction of tensioning the cable, that is, on the right side of the rotating disk 110 in fig. 2, as shown in fig. 5, at this time, because the limiting block 115 is arranged on the left side between the fixed mounting plates 112, the first tensioning wheel 105 cannot move reversely in a direction opposite to the tensioning direction.
When the unmanned aerial vehicle increases the cable pulling force and can oppress first tensioner 105, make first tensioner 105 counter-clockwise motion, when moving to being close to the second position (the second position also falls on the horizontal axis that passes the centre of a circle of rotary disk 110), because of stopper 115 rotates to relative right side, first tensioner 105 drives rotation axis 113 upset this moment (after first tensioner 105 overturns, outside effort gets rid of the back through its reset spring who connects resets), the cable crosses and overturns first tensioner 105, this kind of condition generally leads to receiving and releasing the motor too late in time because unmanned aerial vehicle draws the cable in the twinkling of an eye to correspond, first tensioner 105 rapidly overturns this moment and whether the cable, can realize the quick unwrapping wire of cable, in order to prevent that the cable is received and drawn and is broken or drawn badly, fig. 3 shows promptly.
The cable passes over the first tension roller 105 and contacts the second tension roller 119, and the second tension roller 119 is connected to the first elastic expansion member 121 via the first auxiliary slide block 118, and the first elastic expansion member 121 is provided with a fixing arm 123. The sliding arm 124 and the compression spring, the compression spring makes the second tension pulley 119 move towards the direction of tensioning the cable through the sliding arm 124, so as to tension the cable and prevent the cable from winding and knotting, as shown in fig. 6.
Meanwhile, when the tension value measured by the tension sensor 102 exceeds a set threshold value, the second telescopic cylinder is controlled to drive the adjusting roller 104 to move upwards to a second stroke, the cable is in contact with the adjusting roller 103 at the moment, and the adjusting roller 103 is driven to rotate by an adjusting motor, so that the paying-off speed or the taking-up speed is further increased to adapt to the motion of the current unmanned aerial vehicle.
When the tension value of the cable is restored to the set threshold value, the second telescopic cylinder drives the adjusting roller 104 to move downwards to a second stroke, at this time, the cable is separated from the adjusting roller 103, meanwhile, the first telescopic cylinder 122 moves towards the cable tensioning direction, contacts with the first stretching arm 120, continues to move to drive the second tensioning wheel 119 to continue to move towards the cable tensioning direction until contacting with the first tensioning wheel 105, because the stop block 115 is located on the left side, the movement of the cable will drive the first tension wheel 105 to turn (after the first tension wheel 105 is turned over, it will be reset by the return spring connected thereto after the external force is removed), thereby causing the cable to pass over the first tensioning wheel 105, at which point the first telescopic cylinder 122 is moved in a direction to disengage from the first reach arm 120, the second tensioning wheel 119 also being disengaged from the cable under the action of the compression spring, the cable being tensioned by the first tensioning wheel 105, as shown in figure 2. In addition, the limiting ring 106 and the third sliding groove 128 are arranged, the limiting ring 106 is used for ensuring that the cable is in a set plane, the situation that when the cable is switched among related components, the cable jumps on a vertical plane and the accuracy of equipment is affected is prevented, and the limiting ring 106 can slide in the third sliding groove 128, so that the position of the limiting ring 106 can be adjusted according to the position of the unmanned aerial vehicle.
In conclusion, the cable winding and unwinding device can enable the cable to adapt to the change of the traction force of the unmanned aerial vehicle more leisurely in the process of winding or unwinding, and effectively solves the problems in the prior art.
The technical principle of the present invention is described above in connection with specific embodiments. The description is made for the purpose of illustrating the principles of the invention and should not be construed in any way as limiting the scope of the invention. Based on the explanations herein, those skilled in the art will be able to conceive of other embodiments of the present invention without inventive effort, which would fall within the scope of the present invention.
Claims (6)
1. The utility model provides a mooring unmanned aerial vehicle receive and releases line system for the regulation of receive and release of mooring unmanned aerial vehicle's cable, the cable is located between receive and release line roller and the mooring unmanned aerial vehicle, and receive and release through receiving and releasing the motor, its characterized in that, including vertical setting and for flat-plate installing support (101) and rotate respectively to be connected tension sensor (102), adjustment roller (103), adjusting roller (104), first tension wheel (105) and spacing ring (106) on installing support (101), wherein:
the tension sensor (102) is capable of acquiring a tension value of a wound cable;
the adjusting roller (104) is positioned below the tension sensor (102) and can be driven by a first driving device to do lifting motion along a vertical axis, and the adjusting roller (104) at least has a first stroke and a second stroke which are positioned at the bottom and the top;
the adjusting roller (103) is driven to rotate by an adjusting motor, is positioned beside the adjusting roller (104), and has a height between the first stroke and the second stroke;
the first tensioning wheel (105) is arranged obliquely above the adjusting roller (103);
the spacing ring (106) is positioned above the first tensioning wheel (105);
when the adjusting roller (104) is located at the first stroke, the cable is tensioned by the tension sensor (102), the adjusting roller (104) and the first tensioning wheel (105) and then extends out through the limiting ring (106);
when the adjusting roller (104) is located at the second stroke, the cable passes through the limiting ring (106) to extend out through the tension sensor (102), the adjusting roller (104) and the adjusting roller (103), or the cable passes through the limiting ring (106) to extend out after passing through the tension sensor (102), the adjusting roller (104), the adjusting roller (103) and the first tensioning wheel (105);
the tension sensor (102) is electrically connected with the first driving device and the adjusting motor and controls the first driving device and the adjusting motor to work according to the measured tension value.
2. A tethered drone pay-off and take-up system according to claim 1, characterised in that the first tensioning wheel (105) is mounted on the mounting bracket (101) by means of a rotary connection structure comprising:
the mounting structure comprises a fixed mounting sleeve (107) fixed on the mounting bracket (101), a mounting hole (108) is formed in the fixed mounting sleeve (107), and a first placing groove is formed in the wall of the mounting hole (108);
a rotary mounting shaft (109) rotatably connected in the mounting hole (108), wherein the rotary mounting shaft (109) is provided with a first protruding part protruding out of the mounting hole (108) and a second placing groove positioned on the same plane with the first placing groove;
a rotating disc (110) fixed on the first extension part, wherein the first tensioning wheel (105) is rotationally connected to the rotating disc (110);
a flat spiral spring (111) with two ends respectively inserted into the first and second placing grooves, wherein the flat spiral spring (111) enables the first tension wheel (105) to bias the cable in a manner of tensioning the cable, the first tension wheel (105) can move between a first position and a second position under the action of the flat spiral spring (111), wherein the first position is the position of the first tension wheel (105) when the flat spiral spring (111) releases the spring force completely, and the second position is the position of the first tension wheel (105) under the compression limit state of the flat spiral spring (111).
3. A tethered drone pay-off and take-up system according to claim 1, characterised in that the first tensioning wheel (105) is fixed on the rotating disc (110) by means of a fixed connection structure comprising:
the two fixing mounting plates (112) are vertically fixed on the end face of the rotating disc (110) and arranged in parallel, and a space is arranged on each fixing mounting plate (112);
a rotating shaft (113) rotatably connected between the two fixed mounting plates (112), wherein both ends of the rotating shaft (113) are positioned at the middle position of the upper half part of the fixed mounting plates (112), the axis of the rotating shaft (113) is vertical to the axis of the rotating disc (110), and a fixed mounting block (114) of the first tensioning wheel (105) passing through the bottom is fixed on the rotating shaft (113);
a stopper (115) fixed between the two fixing plates, wherein the stopper (115) can limit the rotational movement of the fixing plate (115) in one direction by contacting with the fixing plate (114), when the first tension wheel (105) is located at the first position, the stopper (115) is located at the inner side and can limit the counterclockwise movement of the fixing plate (114), and when the first tension wheel (105) is located at the second position, the stopper (115) is located at the outer side and can limit the clockwise movement of the fixing plate (114).
4. A tethered drone line system according to claim 3, characterised in that the mounting bracket (101) is further provided with an auxiliary tensioning mechanism comprising:
the first sliding rail (116) is horizontally arranged and is in a long strip structure, the vertical position of the first sliding rail (116) is located between the first tensioning wheel (105) and the adjusting roller (103), two ends of the first sliding rail exceed the rotating disc (110), and the first sliding rail (116) is further provided with a first sliding groove (117) penetrating through the mounting bracket (101);
a first auxiliary slide block (118) slidable in the first slide groove (117);
a second tensioning wheel (119) rotatably connected to said first auxiliary sliding block (118), said second tensioning wheel (119) being located on the same side of said mounting bracket (101) as said first tensioning wheel (105), said second tensioning wheel (119) being in contact with said cable only when said cable is disengaged from said first tensioning wheel (105);
a first projecting arm (120) fixedly connected to the first auxiliary sliding block (118) and passing through the first sliding groove (117) and located at the other side of the mounting bracket (101),
a first elastic expansion member (121) and a first expansion cylinder (122) respectively fixed on both sides of the first extension arm (120) and parallel to the first sliding groove (117), the first elastic expansion member (121) is located near the rotating disk (110), the first expansion cylinder (122) is located far from the rotating disk (110), the first elastic expansion member (121) has a fixed arm (123) fixedly arranged and a sliding arm (124) axially movable along the fixed arm, a compression spring is connected between the sliding arm (124) and the fixed arm (123), when the second tension wheel (119) contacts the cable, the second tension wheel (119) biases the cable in a tension direction through the compression spring and the sliding arm (124), and the first expansion cylinder (122) is electrically connected with a tension sensor (102), and under the control of the tension sensor (102), the first projecting arm (120) is pushed to reciprocate along an axis parallel to the first sliding groove (117).
5. A mooring unmanned aerial vehicle pay-off and take-up system as defined in claim 4, wherein a second sliding rail (124) is vertically arranged on the mounting bracket (101), a second auxiliary sliding block (125) capable of sliding in a vertical direction and a second sliding groove (126) penetrating through the mounting bracket (101) are arranged in the second sliding rail (124), the adjusting roller (104) is rotatably connected to the second auxiliary sliding block (118), the second auxiliary sliding block (118) is provided with a second extending arm capable of penetrating through the second sliding groove (126), the second extending arm is fixedly connected with a second telescopic cylinder on the other side of the mounting bracket (101) and is electrically connected with the tension sensor (102) and is driven to reciprocate along a vertical axis under the control of the tension sensor (102), reciprocating the adjustment roller (104) between the first stroke and the second stroke.
6. A tethered drone pay-off and take-up system according to claim 5, characterised in that on the mounting bracket (101) there is also provided a third sliding groove (128) horizontally arranged above the first tensioning wheel (105), the stop collar (106) being able to slide in the third sliding groove (128).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111635690.4A CN114291665B (en) | 2021-12-27 | 2021-12-27 | Tethered unmanned aerial vehicle coiling and uncoiling system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111635690.4A CN114291665B (en) | 2021-12-27 | 2021-12-27 | Tethered unmanned aerial vehicle coiling and uncoiling system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114291665A true CN114291665A (en) | 2022-04-08 |
| CN114291665B CN114291665B (en) | 2023-10-20 |
Family
ID=80972283
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111635690.4A Active CN114291665B (en) | 2021-12-27 | 2021-12-27 | Tethered unmanned aerial vehicle coiling and uncoiling system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114291665B (en) |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107097954A (en) * | 2017-06-21 | 2017-08-29 | 安徽博识电子科技有限公司 | It is tethered at the folding and unfolding line control system and folding and unfolding method of rotor wing unmanned aerial vehicle |
| CN107161808A (en) * | 2017-06-09 | 2017-09-15 | 哈尔滨工程大学 | One kind is tethered at unmanned plane folding and unfolding cable device and its control system |
| CN112158683A (en) * | 2020-09-29 | 2021-01-01 | 西安应用光学研究所 | Automatic winding and unwinding device and method for photoelectric composite cable of miniaturized mooring unmanned aerial vehicle |
-
2021
- 2021-12-27 CN CN202111635690.4A patent/CN114291665B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107161808A (en) * | 2017-06-09 | 2017-09-15 | 哈尔滨工程大学 | One kind is tethered at unmanned plane folding and unfolding cable device and its control system |
| CN107097954A (en) * | 2017-06-21 | 2017-08-29 | 安徽博识电子科技有限公司 | It is tethered at the folding and unfolding line control system and folding and unfolding method of rotor wing unmanned aerial vehicle |
| CN112158683A (en) * | 2020-09-29 | 2021-01-01 | 西安应用光学研究所 | Automatic winding and unwinding device and method for photoelectric composite cable of miniaturized mooring unmanned aerial vehicle |
Also Published As
| Publication number | Publication date |
|---|---|
| CN114291665B (en) | 2023-10-20 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109607331B (en) | Tethered unmanned aerial vehicle coiling and uncoiling line buffer structure and working method thereof | |
| CN106585947B (en) | Stratospheric tethered aerostat platform | |
| CN104743129A (en) | Automatic lock line winding and unwinding device for mooring unmanned aerial vehicle | |
| WO2019015086A1 (en) | Automatic take-up and pay-off device and system for moored unmanned aerial vehicle and control method thereof | |
| JP6734646B2 (en) | Flight aids for unmanned aerial vehicles | |
| CN112158683A (en) | Automatic winding and unwinding device and method for photoelectric composite cable of miniaturized mooring unmanned aerial vehicle | |
| CN114291665A (en) | Staying unmanned aerial vehicle receive and releases line system | |
| CA3039521A1 (en) | Auxiliary sail system for ships and safety systems for same | |
| US3951249A (en) | Drive for the movable portion of a printer | |
| CN111779925B (en) | Bridge bottom measuring part mounting equipment | |
| CN114291661A (en) | Staying unmanned aerial vehicle's cable receive and releases subassembly | |
| DK2962980T3 (en) | TOOLS FOR AIRCRAFT VESSELS AND A PROCEDURE FOR OPERATING SUCH A TOWING GAME | |
| KR20220117881A (en) | Tether management system and method | |
| CN110589631B (en) | Unmanned aerial vehicle mooring cable winding and unwinding control system and control method | |
| CN211003817U (en) | Novel diaphragm unreels and tension control device | |
| CN1812709A (en) | Device for rolling up/rolling down a shade | |
| US9890021B2 (en) | Winch control arrangement comprising a retaining device for a cable and method for operating such an arrangement | |
| CN214913016U (en) | Resistance device | |
| CN218931570U (en) | Rope hoist tension control device | |
| CN114608843B (en) | Driving device with tape collecting function and tape collecting method | |
| CN218403401U (en) | Cable-laying hoist | |
| CN215717655U (en) | Cable tensioning mechanism and vehicle handling equipment | |
| CN220843049U (en) | Unmanned aerial vehicle hovers mechanism | |
| CN220245142U (en) | Paying-off winch for unmanned aerial vehicle | |
| CN214296824U (en) | Mark supplementing device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| TA01 | Transfer of patent application right | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20230913 Address after: 710100 507, Floor 5, Main Building of Shaanxi Small and Medium-sized Enterprise Service Center, No. 266, Yanta South Road, National Civil Aerospace Industry Base, Xi'an, Shaanxi Province Applicant after: Shaanxi fengleiyi Aviation Technology Co.,Ltd. Address before: 322013 building 19, bazutang village, Niansanli street, Yiwu City, Jinhua City, Zhejiang Province Applicant before: ZHEJIANG DIANCHEN AVIATION TECHNOLOGY CO.,LTD. |
|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| PE01 | Entry into force of the registration of the contract for pledge of patent right | ||
| PE01 | Entry into force of the registration of the contract for pledge of patent right |
Denomination of invention: A tethered drone deployment and retrieval system Granted publication date: 20231020 Pledgee: Xi'an innovation financing Company limited by guarantee Pledgor: Shaanxi fengleiyi Aviation Technology Co.,Ltd. Registration number: Y2024980008545 |