CN209396715U - A kind of captive unmanned plane take-up and pay-off device with guide roller - Google Patents
A kind of captive unmanned plane take-up and pay-off device with guide roller Download PDFInfo
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- CN209396715U CN209396715U CN201821988590.3U CN201821988590U CN209396715U CN 209396715 U CN209396715 U CN 209396715U CN 201821988590 U CN201821988590 U CN 201821988590U CN 209396715 U CN209396715 U CN 209396715U
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- 238000001514 detection method Methods 0.000 description 3
- 206010043087 Tachyphylaxis Diseases 0.000 description 2
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- 230000009286 beneficial effect Effects 0.000 description 1
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- 239000007787 solid Substances 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
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Abstract
The purpose of this utility model is to provide a kind of captive unmanned plane take-up and pay-off devices with guide roller for making cable be pierced by with fixed path line outlet.The take-up and pay-off device, cabinet including reel and for accommodating take-up and pay-off device, cabinet are equipped with line outlet, which further includes guide roller group, guide roller group includes one or more pairs of for limiting the guide roller of the axial displacement of cable, and the axis of guide roller and the axis of reel are vertical.The axis of guide roller is perpendicular to the cable between reel and line outlet.
Description
Technical field
The utility model relates to air vehicle technique fields, receive more particularly to a kind of captive unmanned plane with guide roller
Actinobacillus device.
Background technique
Following background technique is used to help reader and understands the utility model, and is not construed as the prior art.
Unmanned plane in civil field using more and more extensive, especially ground mapping, geological exploration, disaster monitoring,
The fields such as meteorological detection, air traffic control, border patrol monitoring, communication relay, emergency communication.In order to enable unmanned plane to grow
Time stays aloft, and captive unmanned plane comes into being.The power supply unit on ground carries out captive unmanned plane by cable
Power supply, and folding and unfolding is carried out to cable using take-up and pay-off device.
In order to realize automatic deploying and retracting line, cable winds be avoided to knot, Chinese patent CN205932769U discloses a germline
The automatic deploying and retracting line apparatus for staying unmanned plane, the main motor including tension control units and for driving cable disc to rotate, tension prison
Control unit includes the straining pulley that cable is bypassed, the tension sensor for being mounted on straining pulley and being used to detect cable strain, is connect
The controller of force sensor signals is actuated, controller connect and controls it with main motor.The shortcomings that patent, is:
Wheels is bent cable, increases the loss of cable output signal, shortens cable service life.In order to increase the electricity of unit cross-sectional area
Stream mitigates weight, and the cable that captive unmanned plane uses is made of specific alloy, general harder, (especially with straining pulley
The small straining pulley of radius) bending cable leads to the reduced service life of cable.In addition, needing some using photoreactivation cable
In the case of, straining pulley also increases the loss of optical signal to the bending of cable.But if the biggish straining pulley of actionradius, no
Only increase the volume and weight of equipment, also reduces the sensitivity of perception cable movement.
Utility model content
The purpose of this utility model is to provide it is a kind of can be realized automatic deploying and retracting line, reduce cable waste captive without
Man-machine take-up and pay-off device.
A kind of captive unmanned plane take-up and pay-off device, including reel, which is characterized in that further include servo drive system and
For detecting linear velocity and exporting linear velocity out to the encoder of servo drive system, servo drive system include: with around
The servo motor that spool connects and is used to that reel to be driven to rotate；For detecting servo motor torque and servo motor revolving speed, inciting somebody to action
Servo motor torque and servo motor revolving speed are exported to controller, and the motor servo driver for driving servo motor to rotate；With
And for receiving out linear velocity, servo motor torque and servo motor revolving speed, and control the controller of motor servo driver；Control
Device processed is connect with encoder and motor servo driver respectively, and motor servo driver is connect with servo motor.
Further, when servo motor revolving speed is less than maximum speed, controller to servo motor torque and target torque into
Row compares, when servo motor torque is greater than target torque, cable tension；When servo motor torque is equal to target torque, line
Cable elasticity reaches target value；When servo motor torque be less than target torque when, cable it is excessively loose.Servo motor tachyphylaxis coiling
Cylinder revolving speed, the maximum speed of servo motor are definite value, can according to need and be configured.By the revolving speed pair for controlling servo motor
The revolving speed of reel is controlled.
Further, cable tension, in unmanned plane uphill process, servo motor drives reel to accelerate rotation unwrapping wire；?
When unmanned plane hovers, servo motor driving reel stops operating；In unmanned plane descent, servo motor drives reel
Underdrive take-up.
Further, cable elasticity reaches target value, and in unmanned plane uphill process, servo motor drives reel to work as
Preceding rotational speed unwrapping wire；In unmanned plane hovering, servo motor driving reel stops operating；In unmanned plane descent,
Servo motor drives reel to rotate take-up with current rotating speed.
Further, cable is excessively loose, and in unmanned plane uphill process, servo motor drives reel underdrive, unwrapping wire；?
When unmanned plane hovers, servo motor drives reel to rotate take-up；In unmanned plane descent, servo motor drives reel
Accelerate rotation take-up.
Further, when servo motor revolving speed reaches maximum speed, servo motor maintains maximum speed rotation.
Further, unwrapping wire is initial, the speed of servo motor driving reel unwrapping wire is equal with linear velocity out.Preferably, it puts
Before line, servo motor torque be less than target torque.That is, cable is loose, so that cable has before preparing unwrapping wire
Certain unwrapping wire surplus, once unmanned plane takes off, what encoder detected goes out linear velocity greater than zero.Unwrapping wire starts, servo motor
Revolving speed does not need acceleration of starting from scratch, and the payingoff speed of reel is made to keep up with the speed that unmanned plane takes off as early as possible.
Further, encoder detects line length and will go out line length to export to controller, controller to line length out with
Cable overall length is compared, and in unmanned plane uphill process, when cable overall length and the difference of line length out reach setting value, is watched
Motor driven reel is taken to stop operating unwrapping wire.Cable overall length can be obtained ahead of time.
Further, motor servo driver detection will be exported referring to line length out and referring to line length out to controller, control
Device processed is compared to referring to line length out with line length out, when the difference referring to line length out and line length out is more than to set to miss
When difference, encoder fault, servo motor driving reel stop operating.
Further, which further includes alarm device, and alarm device is connect with controller, and alarm device turns in servo motor
When speed reaches maximum speed, alert.Preferably, alarm device is being more than setting error referring to difference of the line length with line length out is gone out
When value, alert.
Further, which is equipped with unwrapping wire key, stop key and take-up key, unwrapping wire key, stop key and take-up key
It is electrically connected with the controller respectively.
Guide roller group
It further, further include cabinet and guide roller group for accommodating take-up and pay-off device, cabinet is equipped with line outlet, conducting wire
Wheel group includes one or more pairs of for limiting the guide roller of the axial displacement of cable, and the axis of guide roller and the axis of reel hang down
Directly.Axially refer to along reel axially direction.
Further, the axis of guide roller is perpendicular to the cable between reel and line outlet.Cable always with guide roller
Face contact is taken turns, bending, abrasion of the guide roller to cable are reduced.Guide roller is cylindric or round table-like.
Further, guide roller group is close to line outlet.Preferably, guide roller group relative encoder is far from line outlet.Namely
It says, encoder is between guide roller group and line outlet.
Further, couple of conductor wheel is two tangent guide rollers, and two guide rollers are respectively equipped with concave ring on the outer wall, two
The concave ring of a guide roller pairing, formation metallic channel on section.Preferably, concave ring and guide roller are coaxial.
Further, metallic channel and the centering of line outlet center.Preferably, couple of conductor wheel is symmetrical two guide rollers.
Further, which further includes that reciprocating screw rod, screw rod sliding block and glass pulley group, reel pass through synchronous belt
Wheel is sequentially connected with reciprocating screw rod, and glass pulley group is fixedly connected with screw rod sliding block, and glass pulley group includes one or more pairs of glass pulleys,
One or more pairs of glass pulleys form the winding displacement groove for limiting cable lateral displacement, and winding displacement wheel axis is parallel with reel axis.
Laterally refer to the direction axially vertical with reel.Reel drives reciprocating screw rod rotation, driving screw rod by synchronous pulley
Sliding block is moved along reciprocating screw rod axial reciprocating.
It further selects, a pair of of glass pulley is about symmetrical two glass pulleys in reel section, and metallic channel is located at described
On reel section.
Further, which further includes auxiliary conductor wheel group, and auxiliary conductor wheel group is fixedly connected with screw rod sliding block,
For auxiliary conductor wheel group with respect to glass pulley group close to guide roller group, auxiliary conductor wheel group includes one or more pairs of for limiting cable
The auxiliary conductor wheel of axial displacement, the axis of auxiliary conductor wheel and the axis of guide roller are parallel.The cable come out from reel is worn
It crosses glass pulley group, arrive line outlet again by auxiliary conductor wheel group, to guide roller.Preferably, a pair of of auxiliary conductor wheel is symmetrical
Two auxiliary conductor wheels.
Further, a pair of of auxiliary conductor wheel is tangent, and two auxiliary conductor wheels are respectively equipped with concave ring, two auxiliary on the outer wall
The concave ring of guide roller pairing, formation auxiliary conductor slot on section.Preferably, concave ring and auxiliary conductor wheel are coaxial.That is,
Auxiliary conductor wheel group can have structure identical with guide roller group.Preferably, auxiliary conductor slot and winding displacement groove centering.It is preferred that
, auxiliary conductor slot is in the same plane with metallic channel.
Damping wheel
Further, which further includes damping wheel, with damping wheel cooperation, compresses the fabric wheel of cable and controls and hinder
Buddhist nun takes turns the hysteresis brake that torque is definite value, and damping wheel is fixedly connected with hysteresis brake, damping wheel, fabric wheel and hysteresis brake
Device corresponds.Damping wheel torque can be set as needed.Preferably, the axis of the axis of damping wheel and fabric wheel with around
Spool axis is parallel.Preferably, hysteresis brake is connect with controller communication.
Further, damping wheel, fabric wheel and hysteresis brake are respectively positioned between reel and line outlet.
Further, damping wheel includes fixed damping wheel, fixes the corresponding hysteresis brake of damping wheel and is fixedly connected with cabinet,
It fixes the corresponding fabric wheel of damping wheel to be fixedly connected with cabinet, fixed damping wheel is close to line outlet.Preferably, fixed damping wheel and
First is formed between corresponding fabric wheel, and slot and line outlet centering are passed through by slot, first.
Further, fixed damping wheel and corresponding fabric wheel are respectively positioned between line outlet and guide roller group.Preferably,
First passes through slot and metallic channel centering.
Further, damping wheel includes mobile damping wheel, and the corresponding hysteresis brake of movement damping wheel is fixed with screw rod sliding block
Connection, the corresponding fabric wheel of movement damping wheel are fixedly connected with screw rod sliding block.Preferably, mobile damping wheel and corresponding pressure
Second is formed between line wheel, and slot and winding displacement groove centering are passed through by slot, second.Preferably, second passes through slot position by slot and first
In on same plane.
Further, mobile damping wheel is with respect to glass pulley group close to fixed damping wheel.Preferably, mobile damping wheel is located at winding displacement
Between wheel group and auxiliary conductor wheel group.Preferably, second passes through slot and the centering of auxiliary conductor slot.
The utility model has the beneficial effects that
1, controller is rotated according to linear velocity, servo motor torque and servo motor revolving speed control servo motor is gone out, servo
The rotation of motor driven reel carries out retractable cable, to enable the tightness and linear velocity out of the revolving speed cable of reel
It is adjusted, and straining pulley and tension sensor need not be used, avoid straining pulley bending caused by cable.
2, guide roller group makes cable be pierced by line outlet with fixed path, is on the one hand conducive to reduce line outlet on cabinet
Size is conducive to the closure for improving cabinet, is convenient for draw off gear waterproof and dustproof；On the other hand, the wheel of cable and guide roller
Face paste is closed, and the scraping that cable is subject to is reduced.
3, glass pulley group can limit cable along the displacement of reel transverse direction, prevent while carrying out winding displacement to cable
Cable is slipped from metallic channel；Auxiliary conductor wheel and glass pulley group and guide roller group cooperate, and on the one hand cable can be prevented from row
It is skidded off in wire casing, the band angle bending that on the other hand can prevent cable from occurring during winding displacement is conducive to improve cable
Service life.
4, damping wheel and hysteresis brake connect, and hysteresis brake enables damping wheel to provide with the torque of setting cable
Resistance, when stopping, fixed damping wheel the speed of cable can be made to be decreased to zero as early as possible, reduce cable outlet inertia to reel
Impact；When take-up, mobile damping wheel offer reversal interlocking relay, cable is made by wraparound reel, to prevent wraparound under tension
Cable slack on reel.
5, by slot and auxiliary conductor slot centering, metallic channel, first are led by slot and line outlet centering for winding displacement groove, second
Wire casing and auxiliary conductor slot are in the same plane, reduce damping wheel and guide roller group and wear to the bending of cable, are conducive to mention
The service life of high cable.
Detailed description of the invention
Fig. 1 is the schematic diagram of take-up and pay-off device in the utility model one embodiment.
Fig. 2 is another schematic diagram of take-up and pay-off device in Fig. 1.
Fig. 3 is the schematic diagram of cable cabling in take-up in the utility model one embodiment.
Fig. 4 is the connection schematic diagram of servo drive system each component and encoder in the utility model one embodiment.
Fig. 5 is the schematic diagram of guide roller and metallic channel in the utility model one embodiment.
Fig. 6 is the connection schematic diagram of reel and servo motor, reciprocating screw rod in the utility model one embodiment.
Specific embodiment
The detailed description of a step is carried out to the utility model combined with specific embodiments below.
A kind of captive unmanned plane take-up and pay-off device, as shown in figure 4, including reel 1, servo drive system and for examining
It measures linear velocity and exports linear velocity out to the encoder 3 of servo drive system.Servo drive system includes: and reel
The servo motor 201 for connecting and being used to that reel to be driven to rotate；For detecting servo motor torque and servo motor revolving speed, will watch
It takes motor torque and servo motor revolving speed exports to controller and drives the motor servo driver 202 of servo motor rotation；With
And for receiving out linear velocity, servo motor torque and servo motor revolving speed and controlling the controller 203 of motor servo driver；
Controller 203 respectively with 202 communication connection of encoder 3 and motor servo driver, motor servo driver 202 and servo motor
201 electrical connections.Servo motor has synchronous pulley 2021, and reel has the first synchronous pulley 101, and reel is same by first
Step belt wheel 101 is connect with servo motor transmission, as shown in Figure 6.
When 201 revolving speed of servo motor is less than maximum speed, controller 203 carries out servo motor torque and target torque
Compare, when servo motor torque is greater than target torque, cable tension；When servo motor torque is equal to target torque, cable
Elasticity reaches target value；When servo motor torque be less than target torque when, cable it is excessively loose.Servo motor tachyphylaxis reel
Revolving speed, the maximum speed of servo motor are definite value, can according to need and be configured.By control servo motor revolving speed to around
The revolving speed of spool is controlled.
Cable tension, in unmanned plane uphill process, servo motor 201 drives reel 1 to accelerate rotation unwrapping wire；At nobody
When machine hovers, servo motor 201 drives reel 1 to stop operating；In unmanned plane descent, servo motor 201 driving around
1 underdrive take-up of spool.
Cable elasticity reaches target value, and in unmanned plane uphill process, servo motor 201 drives reel 1 with current
Rotational speed unwrapping wire；In unmanned plane hovering, servo motor 201 drives reel 1 to stop operating；In unmanned plane descent
In, servo motor 201 drives reel 1 to rotate take-up with current rotating speed.
Cable is excessively loose, and in unmanned plane uphill process, servo motor 201 drives 1 underdrive of reel, unwrapping wire；In nothing
When man-machine hovering, servo motor 201 drives reel 1 to rotate take-up；In unmanned plane descent, servo motor 201 is driven
Reel 1 accelerates rotation take-up.
When 201 revolving speed of servo motor reaches maximum speed, servo motor 201 maintains maximum speed rotation.It is watching at this time
Under the driving for taking motor 201, reel is also with the rotation of its maximum speed.The take-up and pay-off device further includes in servo motor
201 revolving speeds reach the alarm device alerted when maximum speed, and alarm device is connect with controller.
Unwrapping wire is initial, servo motor 201 drives the speed of 1 unwrapping wire of reel equal with linear velocity out.Before unwrapping wire, servo electricity
201 torque of machine is less than target torque.That is, cable is loose before preparing unwrapping wire, so that cable has certain put
Line surplus, once unmanned plane takes off, what encoder 3 detected goes out linear velocity greater than zero.Unwrapping wire starts, and servo motor revolving speed is not required to
Start from scratch acceleration, the payingoff speed of reel is made to keep up with the speed that unmanned plane takes off as early as possible.
Encoder 3 detects line length and will go out line length to export to controller 203, controller 203 to line length out with
Cable overall length is compared, and in unmanned plane uphill process, when cable overall length and the difference of line length out reach setting value, is watched
Motor driven reel is taken to stop operating unwrapping wire.Cable overall length can be obtained ahead of time.After cable in reel is all released, prevent
Only reel continues to rotate, damages cable.
Motor servo driver detection is referring to line length out and will export referring to line length out to controller, controller pair
It is compared referring to line length out with line length out, when the difference referring to line length out and line length out is more than setting error amount
When, encoder fault, servo motor driving reel stop operating.
The take-up and pay-off device further includes alarm device, and alarm device is connect with controller, and alarm device reaches in servo motor revolving speed
When maximum speed, alert.Alarm device is when the difference referring to line length out and line length out is more than setting error amount, alarm.
The take-up and pay-off device be equipped with unwrapping wire key, stop key and take-up key, unwrapping wire key, stop key and take-up key respectively with control
Device electrical connection processed.When unmanned plane rises, unwrapping wire key is pressed, controller controls servo motor rotation, driving reel unwrapping wire；Nobody
When machine hovers, stop key is pressed, controller controls servo motor driving reel stalling or rotates take-up with slow speed, until
Servo motor torque reaches target torque；When unmanned plane lands, take-up key is pressed, controller controls servo motor rotation, driving
Reel take-up.
The take-up and pay-off device makes full use of the three close-loop control of servo motor, and wherein Torque Control perceives cable pull, revolving speed
Control reaction reel revolving speed, position control reflect line length.Encoder detects line length and out linear velocity, encoder with
Servo motor forms closed-loop control.One side servo motor utilizes the Torque Control of itself, in real time according to linear velocity driving out
Reel correspondingly adjusts revolving speed, prevents cable too loose or too tight；Another aspect servo motor can be according to the judgement of controller
As a result reel revolving speed is controlled, prevents reel revolving speed beyond maximum speed, cause the problems such as retractable cable system heat generation is serious.
Guide roller group
In some embodiments, as shown in Fig. 1 ~ 3, take-up and pay-off device further includes the cabinet 5 for accommodating take-up and pay-off device
With guide roller group, cabinet 4 is equipped with line outlet 5.Reel 1, servo motor 201, motor servo driver 202, controller
203, encoder 3, alarm device, guide roller 601 is respectively positioned in cabinet 4.Guide roller group is fixedly connected with cabinet 4, guide roller group packet
The guide roller 601 of a pair of axial displacement for being used to limit cable is included, the axis of guide roller 601 is vertical with the axis of reel 1.Axis
To referring to along reel axially direction.
In some embodiments, guide roller group includes multipair for limiting the guide roller of the axial displacement of cable.
The axis of guide roller 601 is perpendicular to the cable between reel and line outlet.Cable always with the wheel face of guide roller
Contact reduces bending, abrasion of the guide roller to cable.Guide roller is cylindric.
In some embodiments, guide roller is round table-like.
Guide roller group is close to line outlet.Guide roller group relative encoder 3 is far from line outlet 5.That is, encoder is located at
Between guide roller group and line outlet.
Reel has certain axial length, and during drawing cable, cable, to moving back and forth, is along bobbin shaft
Avoid line outlet from causing to scrape to cable, need to increase line outlet along bobbin shaft to size.In this way, being unfavorable for retractable cable
The waterproof and dustproof of device.Guide roller group is set in line outlet, guide roller group is formed for limiting cable along bobbin shaft to position
The metallic channel of shifting is conducive to reduce line outlet size；Cable is bonded with guide roller wheel face, is reduced cable bending and is scraped.
Couple of conductor wheel 601 is symmetrical two guide rollers 601.Couple of conductor wheel 601 is tangent, and two guide rollers 601 exist
Be respectively equipped with concave ring on outer wall, the concave ring of two guide rollers on section pairing, form metallic channel 6011, as shown in Figure 5.Concave ring
It is coaxial with guide roller 601.Metallic channel 6011 and 501 center centering of line outlet.
In some embodiments, as shown in Fig. 1 ~ 3, which further includes reciprocating screw rod 701, screw rod sliding block 702
With glass pulley group.Reciprocating screw rod 701 has synchronous pulley 7011, and reel 1 has the second synchronous pulley 102, and reel passes through
Synchronous pulley 102 and reciprocating screw rod 701 are sequentially connected, as shown in Figure 6.Glass pulley group is fixedly connected with screw rod sliding block 702, winding displacement
Wheel group includes a pair of of glass pulley 703, and a pair of of glass pulley forms the winding displacement groove for limiting cable lateral displacement, 703 axis of glass pulley
Line is parallel with 1 axis of reel.Laterally refer to the direction axially vertical with reel.Servo motor drives reel rotation,
While reel rotates, drives reciprocating screw rod rotation, moves screw rod sliding block along reciprocating screw rod axial reciprocating.
A pair of of glass pulley 703 is about symmetrical two glass pulleys 703 in 1 section of reel, and metallic channel 6011 is located at described
On 1 section of reel.Cable on reel is more, it is bigger to be wound on the corresponding radius of the outmost cable of reel；Reel
On cable it is fewer, it is smaller to be wound on the corresponding radius of the outmost cable of reel.Therefore, during take-up or unwrapping wire, from
Reel between line outlet, cable in reel transverse direction displacement can in reel cable amount increase or reduce and
It shifts, when offset is greater than the size of guide roller axial direction, cable is easy for slipping from metallic channel or by guide roller
Bending.Displacement of the cable after winding displacement groove in reel transverse direction is defined, prevent cable slipped from metallic channel or
Cable is avoided to be bent by guide roller.In addition, winding displacement groove can also fitly arrange cable on a bobbin.
The take-up and pay-off device further includes auxiliary conductor wheel group, and auxiliary conductor wheel group is fixedly connected with screw rod sliding block 702, auxiliary
For guide roller group with respect to glass pulley group close to guide roller group, auxiliary conductor wheel group includes a pair of for limiting the axial displacement of cable
The axis of auxiliary conductor wheel 602, auxiliary conductor wheel 602 is parallel with the axis of guide roller 601, as shown in Figure 3.It is come out from reel
Cable pass through glass pulley group, by auxiliary conductor wheel group, to guide roller arrive line outlet again.It is slided since glass pulley group is located at screw rod
On block, glass pulley group opposing leads wheel along bobbin shaft to move back and forth, in this process, cable inevitably by
Bending.Cable generates internal stress in constantly bending deformation process, influences the service life of charge transport efficiency and cable.
It is more prominent with negative effect of the angled bending to cable.Glass pulley group is located on screw rod sliding block, when glass pulley group with lead
When line wheel group is staggered, cable is directly contacted with sliding block, and the wedge angle on sliding block is easy that cable is scraped and bent.Glass pulley group
Add auxiliary conductor wheel group between guide roller group, since the axis of auxiliary conductor wheel and the axis of guide roller are parallel, in winding displacement mistake
The wheel face of Cheng Zhong, cable fitting auxiliary conductor wheel and guide roller, reduce cable and bend the negative effect generated to cable.
In some embodiments, auxiliary conductor wheel group includes multipair for limiting the auxiliary conductor of the axial displacement of cable
Wheel.
A pair of of auxiliary conductor wheel 602 is symmetrical two auxiliary conductor wheels 602.A pair of of auxiliary conductor wheel 602 is tangent, and two
Auxiliary conductor wheel 602 is respectively equipped with concave ring on the outer wall, and the concave ring of two auxiliary conductor wheels pairing, formation auxiliary on section are led
Wire casing；Concave ring and auxiliary conductor wheel 602 are coaxial.That is, auxiliary conductor wheel group can have knot identical with guide roller group
Structure.Auxiliary conductor slot and winding displacement groove centering.Auxiliary conductor slot is in the same plane with metallic channel.
Damping wheel
In some embodiments, as shown in Fig. 1 ~ 3, which further includes damping wheel, with damping wheel cooperation, compression
The fabric wheel and control damping wheel torque of cable are the hysteresis brake of definite value, and damping wheel is fixedly connected with hysteresis brake, hinders
Buddhist nun's wheel, fabric wheel and hysteresis brake correspond.Damping wheel torque can be set as needed.The axis and crimping of damping wheel
The axis of wheel is parallel with reel axis.Hysteresis brake is connect with controller communication.Controller control hysteresis brake opens
Stop.
Damping wheel, fabric wheel and hysteresis brake are respectively positioned between reel and line outlet.
Damping wheel includes fixed damping wheel 801, fixes the corresponding hysteresis brake 802 of damping wheel and is fixedly connected with cabinet,
It fixes the corresponding fabric wheel of damping wheel to be fixedly connected with cabinet, fixed damping wheel 801 is close to line outlet.Fixed 801 He of damping wheel
First is formed between corresponding fabric wheel 803, and slot and 501 centering of line outlet are passed through by slot, first.Fixed damping wheel 801
And corresponding fabric wheel 803 is respectively positioned between line outlet and guide roller group.Cable first successively passes through by metallic channel, first
Slot, then arrive line outlet, metallic channel limit cable along bobbin shaft to displacement, can prevent cable from first by sliding in slot
It is de-.First passes through slot and metallic channel centering.
As shown in Figure 1, being equipped with mounting rack at cabinet line outlet 501, mounting rack has two pieces of first parallel mounting plates
1001 and second mounting plate 1002, line outlet 501 is between the first mounting plate 1001 and the second mounting plate 1002.First installation
1001 one end of plate is fixedly connected with cabinet 5, the other end of the first mounting plate 1001 is free end；Second mounting plate, 1002 one end with
Cabinet 5 is fixedly connected, the other end of the second mounting plate 1002 is free end；Pass through four parallel columns between two pieces of mounting plates
Connection.Encoder 3 is fixed on the first mounting plate 1001 backwards to the side of the second mounting plate, fixes damping wheel 801 and is corresponding to it
Fabric wheel 802 between the first mounting plate 1001 and the second mounting plate 1002, the magnetic hysteresis system that is connect with fixed damping wheel 801
Dynamic device 803 is fixed on the second mounting plate 1002 backwards to the side of the first mounting plate.A pair of of directive wheel 601 of guide wheel group is solid respectively
Due to the free end of the first mounting plate 1001 and the second mounting plate 1002.
Damping wheel includes mobile damping wheel 901, the corresponding hysteresis brake 902 of mobile damping wheel 901 and screw rod sliding block 702
It is fixedly connected, the mobile corresponding fabric wheel 903 of damping wheel 901 is fixedly connected with screw rod sliding block 702.Mobile damping wheel 901 and with
Corresponding fabric wheel 902 between formed and second pass through slot.Second is logical by slot and first by slot and winding displacement groove centering, second
Slot is crossed to be in the same plane.Mobile damping wheel is with respect to glass pulley group close to fixed damping wheel.Mobile damping wheel is located at glass pulley
Between group and auxiliary conductor wheel group.
In some embodiments, mobile damping wheel can be used as glass pulley group.That is, movable pulley group and being corresponding to it
Fabric wheel between second winding displacement groove is used as simultaneously by slot.
When stopping unwrapping wire, the hysteresis brake starting being connect with fixed damping wheel, the magnetic hysteresis system being connect with mobile damping wheel
Dynamic device is closed, and fixed damping wheel provides a reversal interlocking relay to cable with the torque set, and the speed for releasing cable subtracts as early as possible
Small is zero, reduces the tensile impact that cable is formed reel by inertia.When take-up, the hysteresis brake of connection is taken turns with fixed Buddhist nun
The hysteresis brake close, connecting with mobile damping wheel starts, and while carrying out winding displacement to cable, mobile damping wheel is along reel
Axis direction moves back and forth.Mobile damping wheel provides a reversal interlocking relay to cable with the torque set, guarantees reel to shifting
Cable between dynamic damping wheel tenses, and the cable avoided wrap around on reel loosens.
In the utility model in unmanned plane uphill process, the unwrapping wire process of take-up and pay-off device: (1) unwrapping wire key, servo are pressed
Certain cable surplus is released in the rotation of motor driven reel.(2) unmanned plane takes off, drives cable, and encoder start recording goes out
Linear velocity and out line length, and linear velocity and line length is exported to controller out will be gone out, what controller received goes out linear velocity, controls
Motor servo driver processed drives servo motor, and servo motor drives reel with the speed rotation equal with linear velocity out, puts
Line；Motor servo driver detects servo motor torque and servo motor revolving speed and turns servo motor torque and servo motor
Speed is exported to controller.(3) while process (2), controller is compared servo motor torque and target torque, if watching
Motor torque is taken greater than target torque, illustrates that cable is tightened up, servo motor drives reel to accelerate rotation；If servo motor power
Square is equal to target torque, illustrates that the elasticity of cable reaches target value, servo motor driving reel is rotated with present speed；If
Servo motor torque is less than target torque, illustrates that cable is excessively loose, and servo motor drives reel underdrive.(4) in process (2)
While, controller judges whether the revolving speed of servo motor is greater than maximum speed；If the revolving speed of servo motor is less than maximum speed,
Controller is controlled servo motor and is rotated with the mode activated reel of process (3)；If the revolving speed of servo motor is greater than maximum speed,
Controller control servo motor driving servo motor is rotated with maximum speed, and alarm device sounds an alarm.
When unmanned plane reaches predetermined altitude hovering in the present embodiment, the stopped process of take-up and pay-off device: pressing stop key, with
The hysteresis brake starting of fixed damping wheel connection, the torque that hysteresis brake sets fixed damping wheel provide anti-to cable
To pulling force, stop cable.When pressing stop key, the cable being released with certain speed still has certain speed.It is fixed
Damping wheel provides reversed pulling force with the torque set, the speed of cable unwrapping wire is made to be reduced to zero.At the same time, controller is to watching
Take motor torque and target torque be compared, if servo motor torque be greater than or equal to target torque, illustrate cable by
It tenses, controller control servo motor driving reel stops operating；If servo motor torque is less than target torque, servo motor
It drives reel revolution, the line of relaxation in cabinet is tensed.
When unmanned plane lands in the present embodiment, the take-up process of take-up and pay-off device: pressing take-up key, servo motor driving around
Cable is withdrawn in spool rotation, and controller is compared servo motor torque and target torque；If servo motor torque is greater than mesh
Torque is marked, illustrates that cable tension, servo motor drive reel deceleration take-up；If servo motor torque is equal to target torque, say
Open-wire line cable elasticity reaches target value, the speeds match of speed and the unmanned plane landing of take-up, and servo motor drives reel to protect
Hold present speed take-up；If servo motor torque is less than target torque, illustrate that cable is excessively loose, servo motor drives reel to accelerate
Take-up.While pressing take-up key, the hysteresis brake connecting with fixed damping wheel stops working, and connect with mobile damping wheel
Hysteresis brake starting, the torque that hysteresis brake sets mobile damping wheel provide reversal interlocking relay to cable, cable are made to exist
By wraparound reel in the state of tension.
Content described in this specification embodiment is only an enumeration of the implementation forms of the utility model concept, this is practical new
The protection scope of type should not be construed as being limited to the specific forms stated in the embodiments, the protection scope of the utility model also and
In those skilled in the art according to the utility model design it is conceivable that equivalent technologies mean.
Claims (10)
1. a kind of captive unmanned plane take-up and pay-off device with guide roller, including reel and for accommodating take-up and pay-off device
Cabinet, cabinet are equipped with line outlet, it is characterised in that: the take-up and pay-off device further includes guide roller group, and guide roller group includes a pair
Or it is multipair for limiting the guide roller of the axial displacement of cable, the axis of guide roller and the axis of reel are vertical.
2. as described in claim 1 with the captive unmanned plane take-up and pay-off device of guide roller, it is characterised in that: guide roller
Axis is perpendicular to the cable between reel and line outlet.
3. as claimed in claim 2 with the captive unmanned plane take-up and pay-off device of guide roller, it is characterised in that: guide roller group
Close to line outlet.
4. as claimed in claim 3 with the captive unmanned plane take-up and pay-off device of guide roller, it is characterised in that: couple of conductor
Wheel is two tangent guide rollers, and two guide rollers are respectively equipped with concave ring on the outer wall, and the concave ring of two guide rollers is on section
Pairing forms the metallic channel passed through for cable.
5. as claimed in claim 4 with guide roller captive unmanned plane take-up and pay-off device, it is characterised in that: metallic channel with
The centering of line outlet center.
6. as claimed in claim 5 with guide roller captive unmanned plane take-up and pay-off device, it is characterised in that: concave ring with lead
Line wheel is coaxial.
7. the captive unmanned plane take-up and pay-off device as described in any one of claims 1 to 6 with guide roller, feature exist
In: the take-up and pay-off device further includes reciprocating screw rod, screw rod sliding block and glass pulley group, and reel passes through synchronous pulley and reciprocating screw rod
Transmission connection, glass pulley form the winding displacement groove for limiting cable lateral displacement, and winding displacement wheel axis is parallel with reel axis.
8. as claimed in claim 7 with the captive unmanned plane take-up and pay-off device of guide roller, it is characterised in that: a pair of of winding displacement
Wheel is about symmetrical two glass pulleys in reel section, and metallic channel is located on the reel section.
9. as claimed in claim 8 with the captive unmanned plane take-up and pay-off device of guide roller, it is characterised in that: the retractable cable
Device further includes auxiliary conductor wheel group, and auxiliary conductor wheel group is fixedly connected with screw rod sliding block, and auxiliary conductor wheel group is with respect to glass pulley
For group close to guide roller group, auxiliary conductor wheel group includes one or more pairs of for limiting the auxiliary conductor wheel of the axial displacement of cable,
The axis of auxiliary conductor wheel and the axis of guide roller are parallel.
10. as claimed in claim 9 with the captive unmanned plane take-up and pay-off device of guide roller, it is characterised in that: Yi Duifu
Assistant director of a film or play's line wheel is symmetrical two auxiliary conductor wheels, and a pair of of auxiliary conductor wheel is tangent, and two auxiliary conductor wheels are distinguished on the outer wall
Equipped with concave ring, the concave ring of two auxiliary conductor wheels pairing, formation auxiliary conductor slot on section；Auxiliary conductor slot and winding displacement groove pair
In, auxiliary conductor slot is in the same plane with metallic channel.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821988590.3U CN209396715U (en) | 2018-11-29 | 2018-11-29 | A kind of captive unmanned plane take-up and pay-off device with guide roller |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821988590.3U CN209396715U (en) | 2018-11-29 | 2018-11-29 | A kind of captive unmanned plane take-up and pay-off device with guide roller |
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| Publication Number | Publication Date |
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| CN209396715U true CN209396715U (en) | 2019-09-17 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111115368A (en) * | 2020-02-13 | 2020-05-08 | 云南电网有限责任公司曲靖供电局 | Cable pay-off device |
-
2018
- 2018-11-29 CN CN201821988590.3U patent/CN209396715U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111115368A (en) * | 2020-02-13 | 2020-05-08 | 云南电网有限责任公司曲靖供电局 | Cable pay-off device |
| CN111115368B (en) * | 2020-02-13 | 2024-05-17 | 云南电网有限责任公司曲靖供电局 | Cable paying-off device |
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