CN209757567U - Pay-off length control device for mooring unmanned aerial vehicle, winch device and unmanned aerial vehicle system - Google Patents
Pay-off length control device for mooring unmanned aerial vehicle, winch device and unmanned aerial vehicle system Download PDFInfo
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- CN209757567U CN209757567U CN201920477518.2U CN201920477518U CN209757567U CN 209757567 U CN209757567 U CN 209757567U CN 201920477518 U CN201920477518 U CN 201920477518U CN 209757567 U CN209757567 U CN 209757567U
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Abstract
The utility model relates to a paying-off length control device for a tethered unmanned aerial vehicle, a winch device and an unmanned aerial vehicle system, wherein the paying-off length control device comprises an encoder, a meter electrically connected with the encoder and a main pulley, and the main pulley is coaxially and fixedly connected with a main gear; the circumferential side surface of the main pulley is adjacent to the mooring cable, and the main pulley is driven by the mooring cable to rotate; one end of the encoder is fixedly connected with an end gear, and the end gear is driven by the main gear to rotate; the meter counter is connected with the control circuit. The utility model discloses can accurately obtain the unwrapping wire length of mooring cable in real time to can control mooring cable unwrapping wire length.
Description
Technical Field
The utility model relates to an unmanned aerial vehicle field, concretely relates to stay unwrapping wire length control device, capstan winch device and unmanned aerial vehicle system for unmanned aerial vehicle.
Background
a tethered drone is one type of drone. The tethered drone is generally connected to a winch on the ground by a tether cable, and the ground workstation supplies the electrical energy required to fly the tethered drone. The mooring unmanned aerial vehicle has the fixed-point fixed-height flight stability of other unmanned aerial vehicles, and also has the long-range flight function. Theoretically speaking, as long as the ground workstation provides sufficient electric energy, the mooring unmanned aerial vehicle can continuously fly at a fixed point and a high fixed position for a long time, and the unmanned aerial vehicle aircraft can be widely applied to communication emergency relay, live broadcasting, air monitoring and other conditions.
when existing mooring unmanned aerial vehicle is used, the length of a mooring cable is difficult to accurately judge in real time, points are generally marked on the mooring cable as the length according to the color of the mark, the mark on the ground cable needs to be concerned all the time when the mooring unmanned aerial vehicle flies, the identification is very troublesome, the flying height of the mooring unmanned aerial vehicle is easily caused to exceed the length of the mooring cable, and then hidden dangers are brought to flying safety.
SUMMERY OF THE UTILITY MODEL
The utility model is not enough to prior art, the utility model discloses a unwrapping wire length control device that is used for mooring unmanned aerial vehicle can accurately obtain the unwrapping wire length of mooring cable and can control mooring cable unwrapping wire length in real time is provided.
A second object of the utility model is to provide a can accurately obtain the unwrapping wire length of mooring cable and can control the capstan winch device of mooring cable unwrapping wire length in real time for mooring unmanned aerial vehicle.
A third object of the present invention is to provide an unmanned aerial vehicle system capable of accurately obtaining the paying-off length of a mooring cable in real time and controlling the paying-off length of the mooring cable.
In order to realize the first purpose of the utility model, the utility model provides a paying-off length control device for a mooring unmanned aerial vehicle, which comprises an encoder, a meter counter electrically connected with the encoder and a main pulley, wherein the main pulley is coaxially and fixedly connected with a main gear; the circumferential side surface of the main pulley is adjacent to the mooring cable, and the main pulley is driven by the mooring cable to rotate; one end of the encoder is fixedly connected with an end gear, and the end gear is driven by the main gear to rotate; the meter counter is connected with the control circuit.
It is from top to bottom visible, the utility model discloses utilize encoder and meter rice ware can obtain the unwrapping wire length of mooring cable in real time conveniently, avoided the trouble that needs spraying colour etc. judge cable length on mooring cable. The utility model discloses a mooring cable drives the main pulley and rotates, and the main pulley drives the encoder rotation again, can improve the accuracy of the unwrapping wire length that obtains. If the encoder is directly connected to the winch drum, the number of windings on the winch drum will vary due to the reeling in and out of the mooring line, resulting in a variation in the diameter and thus a difference in the length of each winding of mooring line. The utility model discloses this problem can be overcome well. Just the utility model discloses an encoder passes through the gear and reconnects the main pulley, can solve the assembly and interfere problem and the limited scheduling problem of pulley diameter.
The further technical scheme is that the paying-off length control device for the mooring unmanned aerial vehicle further comprises a transmission gear, the transmission gear is meshed with the main gear, and meanwhile, the transmission gear is meshed with the end gear; the main gear is provided separately from the end gear.
it is thus clear that the utility model discloses further inject and carry out the transmission through drive gear between master gear and the tip gear, can make the position setting of encoder more nimble, make things convenient for the design of gear and pulley.
The further technical scheme is that the paying-off length control device for the mooring unmanned aerial vehicle further comprises an auxiliary pulley, and the circumferential side surface of the auxiliary pulley is adjacent to the circumferential side surface of the main pulley; the circumferential side surface of the main pulley is provided with a groove for accommodating the mooring cable.
From top to bottom, the utility model discloses still be equipped with the auxiliary pulley in the circumference side of main pulley, the auxiliary pulley can press the mooring cable to the main pulley to make the mooring cable drive the main pulley rotation more steadily, and the circumference side of main pulley has the recess that holds the mooring cable, further avoids mooring cable from the driving pulley pine smooth. The secondary pulley may also have a groove for receiving the captive cable, cooperating with a groove on the primary pulley, for receiving the captive cable. The utility model discloses can have one or more auxiliary pulley. The utility model discloses a drive gear can with the coaxial fixed setting of an auxiliary pulley.
The further technical scheme is that the control circuit comprises an alarm circuit and a motor stop circuit; the alarm circuit comprises an alarm; the motor stop circuit includes a coil for controlling the opening and closing of a pay-off switch of the winch motor. The alarm is preferably an audible and visual alarm.
It is from top to bottom visible, the utility model discloses utilize meter rice ware control alarm and capstan winch motor unwrapping wire circuit's switching to remind unmanned aerial vehicle flight control personnel, and can prevent the rotatory capstan winch of capstan winch motor transition and lead to the reversal to receive the line. The coil of the motor stop circuit and the pay-off switch on the capstan motor side form a relay.
The technical scheme is that the meter counter comprises a first relay and a second relay, the first relay is connected with the alarm circuit, and the second relay is connected with the motor stop circuit.
It is from top to bottom visible, the utility model discloses set up two sets of relays and control alarm circuit and motor stop circuit respectively, be convenient for set up different conditions and realize reporting to the police respectively and stop capstan winch motor's function. For example, the alarm circuit and the motor stop circuit can be respectively communicated according to different pay-off lengths, and the alarm circuit and the motor stop circuit can also be respectively communicated according to the times of reaching a certain pay-off length.
The meter counter is provided with a switch control value of a first relay and a second relay; when the pay-off length reaches a first value, the first relay is communicated with the alarm circuit; when the pay-off length reaches a second value, the second relay is communicated with the motor stopping circuit; the first value is less than or equal to the second value, and the second value is less than or equal to the maximum payout length of the tethered cable.
Therefore, the utility model discloses can set up different on-off control numerical value for two sets of relays on meter rice ware, when unwrapping wire length reached first numerical value, communicate alarm circuit, remind unmanned aerial vehicle flight control personnel; when the paying-off length reaches a second value, the motor stop circuit is communicated, and the winch motor is prevented from continuing paying off.
The further technical scheme is that the meter counter also comprises a display for displaying the length of the pay-off line.
it is from top to bottom visible, the utility model discloses can also use the meter rice ware that has the display, show unwrapping wire length in real time. The utility model discloses a meter rice ware can also remind unwrapping wire length through sound.
In order to realize the second purpose of the utility model, the utility model provides a winch device for a mooring unmanned aerial vehicle, which comprises a winch motor, a tension sensing device, a bidirectional control device and a paying-off length control device for the mooring unmanned aerial vehicle; the tension sensing device comprises a sensing arm which can pivot, one end of the sensing arm is connected with the sensing pulley, and the other end of the sensing arm is matched with the potentiometer; the bidirectional control device receives a wire take-up and pay-off signal triggered by the potentiometer; the bidirectional control device is connected with the winch motor through a one-way conduction element, and the one-way conduction element is used for conducting a wire take-up circuit of the winch motor; the pay-off switch is connected with the one-way conduction element in parallel, and when the motor stopping circuit is in an open circuit state, the pay-off switch is closed and is used for conducting the pay-off circuit of the winch motor; the paying-off length control device for the mooring unmanned aerial vehicle is the paying-off length control device for the mooring unmanned aerial vehicle in any scheme; the mooring cable wound and released by the winch motor winds around the main pulley along the paying-off direction and then contacts with the induction pulley.
It is from top to bottom apparent, the utility model provides an including above-mentioned unwrapping wire length control device for mooring unmanned aerial vehicle's capstan winch device. An induction pulley of the tension induction device is arranged on one side of the main pulley, so that the mooring cable can be smoothly wound and paid off. When the pulling force of the mooring cable is reduced or enlarged, the sensing pulley moves under the action of the mooring cable to drive the sensing arm to rotate, the other end of the sensing arm is matched with the potentiometer to change the resistance value of the potentiometer and the like, the potentiometer triggers a take-up signal or a pay-off signal, and the bidirectional control device receives the signal and then controls the winch motor to take up or pay off. When the motor stop circuit is in an open circuit state, for example, when the paying-off length does not reach a second value, the paying-off switch is in a closed state, and the bidirectional control device can control the winch to pay off. When the motor stops the circuit connection, for example, when the paying-off length reaches a second value, the paying-off switch is in an open state, and even if the pulling force of the mooring cable is increased, the bidirectional control device cannot control the winch to pay off. The one-way conduction element can ensure that the take-up circuit of the winch motor is conducted at the one-way conduction unit, and the two-way control device can control the winch motor to take up no matter whether the motor stop circuit is communicated or not.
The further technical scheme is that the winch device for the mooring unmanned aerial vehicle further comprises a guide pulley, and the mooring cable passes through the guide pulley after passing through the sensing pulley along the paying-off direction.
it is from top to bottom visible, the utility model discloses still be provided with guide pulley, guide pulley can play direction and limiting displacement to the mooring cable, can guarantee to receive line or unwrapping wire in-process, and mooring cable between response pulley and the guide pulley can extend towards a direction, guarantees the accurate atress of response arm.
For realizing the utility model discloses a third purpose, the utility model provides an unmanned aerial vehicle system, including unmanned aerial vehicle and capstan winch device, unmanned aerial vehicle passes through the mooring cable with the capstan winch device and is connected, and the capstan winch device is the capstan winch device for the mooring unmanned aerial vehicle among the above-mentioned arbitrary scheme.
It is from top to bottom visible, the utility model provides an unmanned aerial vehicle system including above-mentioned capstan winch device. When mooring unmanned aerial vehicle rose, mooring cable pulling force grow, and capstan winch device unwrapping wire, until unwrapping wire length reached specific numerical value, unwrapping wire length controlling means sent the warning and stopped the capstan winch motor and continue the unwrapping wire. When mooring unmanned aerial vehicle descends, mooring cable pulling force reduces, and the winch device is taken up.
drawings
fig. 1 is a schematic diagram of a connection circuit of an embodiment of the winch apparatus of the present invention.
Fig. 2 is a schematic view of the mechanical transmission structure of the pulley block linkage encoder according to the embodiment of the winch device of the present invention.
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
Detailed Description
The utility model discloses a mooring unmanned aerial vehicle is applied to mooring unmanned aerial vehicle with unwrapping wire length controlling means and capstan winch device, provides sufficient electric energy to unmanned aerial vehicle through mooring cable at mooring unmanned aerial vehicle flight in-process, can keep mooring unmanned aerial vehicle to keep stably keeping long-term fixed high fixed point and continuously flying, improves mooring unmanned aerial vehicle's reliability for mooring unmanned aerial vehicle can the wide application in aspects such as live broadcasting and aerial monitoring.
embodiments of pay-off Length control device
As shown in fig. 1 and 2, the payout length control device of the present embodiment is used in a capstan device of a mooring machine. Wherein, unwrapping wire length control device includes encoder 1 and meter rice ware 2, and encoder 1 is connected with meter rice ware 2 electricity. The encoder 1 is a rotary encoder. The meter counter 2 has a display for displaying the payoff length in real time.
As shown in fig. 2, the pay-off length control device of the present embodiment includes a main pulley 3, and a circumferential side surface of the main pulley 3 is provided with a groove 41 for accommodating the mooring cable 4. An auxiliary pulley 5 is also provided around the main pulley 3, the circumferential side of the auxiliary pulley 5 abutting the circumferential side of the main pulley 3, the circumferential side of the auxiliary pulley 5 also being provided with a groove 41 for receiving the mooring cable 4. The auxiliary pulley 5 helps to keep the mooring cable 4 in contact with the circumferential side of the main pulley 3.
the main gear 31 is coaxially and fixedly connected with the main pulley 3, a transmission gear 51 is coaxially and fixedly connected with one auxiliary pulley 5, and one end of the encoder 1 is fixedly connected with the end gear 11. The main gear 31 is engaged with the transmission gear 51, and the transmission gear 51 is engaged with the end gear 11, so that the transmission of the main pulley 3 and the encoder 1 is realized. The arrangement mode can solve the problems of assembly interference, limited diameter of the pulley and the like, and facilitates the design of the pulley block.
as shown in fig. 1, the meter counter 2 is provided with a first relay 21 and a second relay 22, the first relay 21 being used for switching of the alarm circuit, and the second relay 22 being used for switching of the motor stop circuit. The alarm circuit comprises an audible and visual alarm 23, the motor stop circuit comprises a coil 24, the coil 24 is used for controlling the opening and closing of a pay-off switch 61 in the winch device, and the coil 24 and the pay-off switch 61 form another relay.
In the present embodiment, the meter counter 2 is provided with the switching control values of the first relay 21 and the second relay 22. When unwrapping wire length reached first numerical value, first relay 21 intercommunication warning circuit reminded unmanned aerial vehicle flight control personnel. When the pay-off length reaches a second value, the second relay 22 is connected to the motor stop circuit to prevent the winch motor 6 from continuing to pay off. Wherein the first value is less than or equal to the second value, the second value is less than or equal to the maximum payout length of the mooring cable 4. Preferably the first value is smaller than the second value, which is smaller than the maximum payout length of the mooring cable 4.
The pay-off length control device of the present embodiment can accurately obtain the pay-off length of the mooring cable 4 in real time. According to the diameter of the main pulley 3 and the transmission ratio of the gear, the actual wiring length of one turn of the encoder 1 can be calculated, and the actual line length of one pulse is set according to the pulse number of the encoder 1. The encoder 1 with different pulse numbers can be selected according to different wire running speeds.
Winch arrangement embodiment
The winch device of the present embodiment includes a winch motor 6, a tension sensing device 7, a bidirectional control device 8, and the pay-off length control device in the above embodiments.
As shown in fig. 1 and 2, the tension sensing device 7 includes a pivotable sensing arm 71, one end of the sensing arm 71 is connected to a sensing pulley 72, and the other end of the sensing arm 71 is engaged with a potentiometer 73. The potentiometer 73 triggers a wire take-up signal or a wire release signal, and the bidirectional control device 8 receives the signal and controls the winch motor 6 to take up or release the wire. The bidirectional control device 8 is connected with the winch motor 6 through a one-way conduction element 62, and the one-way conduction element 62 is used for conducting a wire take-up circuit of the winch motor 6. The pay-off switch 61 is connected in parallel with the unidirectional conducting element 6.
The winch arrangement further comprises two guide pulleys 9 for guiding and limiting the mooring cable 4. The mooring cable 4 passes through the main pulley 3, the sensing pulley 72 and the guide pulley 9 in order in the paying-off direction. The circumferential sides of the sensing pulley 72 and the guide pulley 9 may also be provided with grooves 41.
in this embodiment, the encoder 1, the main pulley 3, the auxiliary pulley 5, the tension sensing device 7 and the guide pulley 9 are all arranged on the same support, and the pulley block is reasonably arranged.
When the pulling force of the mooring cable 4 is reduced or increased, the sensing pulley 72 moves under the action of the mooring cable 4 to drive the sensing arm 71 to rotate, so that the resistance value of the potentiometer 73 is changed, the potentiometer 73 triggers a wire winding signal or a wire unwinding signal, and the bidirectional control device 8 receives the signal and controls the winch motor 6 to wind or unwind.
When the paying-off length does not reach the second numerical value, the motor stop circuit is in an open circuit state, the paying-off switch 61 is in a closed state, and the bidirectional control device can control the winch motor 6 to pay off. When the paying-off length reaches a second value, the motor stop circuit is communicated, the paying-off switch 6 is in an open state, and the bidirectional control device 8 cannot control the winch motor 6 to pay off due to the blocking of the one-way conduction unit 62. The unidirectional flux element 62 enables the bidirectional control device 8 to control the winch motor 6 to take up the wire, whether or not the motor stop circuit is connected.
When the winch device of the embodiment is manufactured, parts such as gears, pulleys, supports and the like can be machined according to design, existing accessories such as encoders, meter counters, relays, alarms and the like can be adopted, the mechanical transmission structure of the pulley block linkage encoder is assembled according to the structural relation of the embodiment, and then the encoders, the meter counters, the audible and visual alarms, the motor control circuit and the like are connected.
Unmanned aerial vehicle System embodiment
This embodiment provides an unmanned aerial vehicle system, including unmanned aerial vehicle and the winch device in the above-mentioned embodiment, unmanned aerial vehicle passes through mooring cable 4 with the winch device and is connected, and mooring cable 4 connects unmanned aerial vehicle behind leading pulley 9.
From top to bottom, the utility model discloses a unwrapping wire length control device, capstan winch device and unmanned aerial vehicle system for mooring unmanned aerial vehicle can accurately obtain the unwrapping wire length of mooring cable in real time to can control mooring cable unwrapping wire length, for example send out the warning and stop capstan winch motor work.
Finally, it should be emphasized that the above-described embodiments are merely preferred embodiments of the present invention, and are not intended to limit the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. Unwrapping wire length controlling means for mooring unmanned aerial vehicle, including the encoder and with meter rice ware that the encoder electricity is connected, its characterized in that:
The pulley is characterized by also comprising a main pulley, wherein the main pulley is coaxially and fixedly connected with a main gear; the circumferential side surface of the main pulley is adjacent to the mooring cable, and the main pulley is driven by the mooring cable to rotate;
One end of the encoder is fixedly connected with an end gear, and the end gear is driven by the main gear to rotate;
The meter counter is connected with the control circuit.
2. The paying-off length control device for a tethered unmanned aerial vehicle as claimed in claim 1, wherein:
The transmission gear is meshed with the main gear, and simultaneously, the transmission gear is meshed with the end gear; the main gear is provided separately from the end gear.
3. The paying-off length control device for a tethered unmanned aerial vehicle as claimed in claim 1, wherein:
The auxiliary pulley is characterized by also comprising an auxiliary pulley, wherein the circumferential side surface of the auxiliary pulley is adjacent to the circumferential side surface of the main pulley; and the circumferential side surface of the main pulley is provided with a groove for accommodating the mooring cable.
4. The wire releasing length control device for a tethered unmanned aerial vehicle as claimed in any one of claims 1 to 3, wherein:
The control circuit comprises an alarm circuit and a motor stop circuit; the alarm circuit comprises an alarm; the motor stop circuit includes a coil for controlling the opening and closing of a payout switch of the winch motor.
5. The paying-off length control device for the tethered unmanned aerial vehicle as defined in claim 4, wherein:
The meter counter comprises a first relay and a second relay, the first relay is connected with the alarm circuit, and the second relay is connected with the motor stop circuit.
6. The wire releasing length control device for a tethered unmanned aerial vehicle as claimed in claim 5, wherein:
the meter counter is provided with switch control values of the first relay and the second relay;
When the pay-off length reaches a first value, the first relay is communicated with the alarm circuit; when the pay-off length reaches a second value, the second relay is communicated with the motor stopping circuit;
The first value is less than or equal to the second value, which is less than or equal to the maximum payout length of the tethered cable.
7. The paying-off length control device for the tethered unmanned aerial vehicle as defined in claim 4, wherein:
The meter counter further comprises a display for displaying the length of the pay-off line.
8. the winch device for the mooring unmanned aerial vehicle comprises a winch motor, a tension sensing device, a two-way control device and a paying-off length control device for the mooring unmanned aerial vehicle;
The tension sensing device comprises a sensing arm which can pivot, one end of the sensing arm is connected with a sensing pulley, and the other end of the sensing arm is matched with a potentiometer;
The bidirectional control device receives a wire take-up and pay-off signal triggered by the potentiometer;
The method is characterized in that:
The stay unmanned aerial vehicle wire laying length control device is the stay unmanned aerial vehicle wire laying length control device according to any one of claims 4 to 7;
the bidirectional control device is connected with the winch motor through a one-way conduction element, and the one-way conduction element is used for conducting a wire take-up circuit of the winch motor; the pay-off switch is connected with the one-way conduction element in parallel, and when the motor stopping circuit is in an open circuit state, the pay-off switch is closed and is used for conducting a pay-off circuit of the winch motor;
And the mooring cable wound and released by the winch motor is in contact with the induction pulley after bypassing the main pulley along the paying-off direction.
9. The winch device for a tethered unmanned aerial vehicle of claim 8, wherein:
The mooring cable passes through the induction pulley along the paying-off direction and then passes through the guide pulley.
10. Unmanned aerial vehicle system, including unmanned aerial vehicle and capstan winch device, unmanned aerial vehicle with the capstan winch device is connected through mooring cable, its characterized in that:
the winch device for a mooring unmanned aerial vehicle according to claim 8 or 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920477518.2U CN209757567U (en) | 2019-04-09 | 2019-04-09 | Pay-off length control device for mooring unmanned aerial vehicle, winch device and unmanned aerial vehicle system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920477518.2U CN209757567U (en) | 2019-04-09 | 2019-04-09 | Pay-off length control device for mooring unmanned aerial vehicle, winch device and unmanned aerial vehicle system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209757567U true CN209757567U (en) | 2019-12-10 |
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|---|---|---|---|
| CN201920477518.2U Withdrawn - After Issue CN209757567U (en) | 2019-04-09 | 2019-04-09 | Pay-off length control device for mooring unmanned aerial vehicle, winch device and unmanned aerial vehicle system |
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| CN (1) | CN209757567U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109911239A (en) * | 2019-04-09 | 2019-06-21 | 珠海市双捷科技有限公司 | It is tethered at unmanned plane unwrapping wire length control device, capstan arrangement and UAV system |
| CN116835398A (en) * | 2023-08-30 | 2023-10-03 | 之江实验室 | Retraction control method and retraction control device for tethered cable and aircraft assembly |
-
2019
- 2019-04-09 CN CN201920477518.2U patent/CN209757567U/en not_active Withdrawn - After Issue
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109911239A (en) * | 2019-04-09 | 2019-06-21 | 珠海市双捷科技有限公司 | It is tethered at unmanned plane unwrapping wire length control device, capstan arrangement and UAV system |
| CN109911239B (en) * | 2019-04-09 | 2023-10-31 | 珠海市双捷科技有限公司 | Paying-off length control device for tethered unmanned aerial vehicle, winch device and unmanned aerial vehicle system |
| CN116835398A (en) * | 2023-08-30 | 2023-10-03 | 之江实验室 | Retraction control method and retraction control device for tethered cable and aircraft assembly |
| CN116835398B (en) * | 2023-08-30 | 2024-01-09 | 之江实验室 | Retraction control method and retraction control device for tethered cable and aircraft assembly |
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