A bidirectional force-controlled power supply cable automatic retractable vehicle

Abstract

The present invention discloses a bidirectional force-controlled power supply cable automatic retractable vehicle, comprising an AGV vehicle and a double-headed cable reel, wherein the double-headed cable reel is mounted on the upper surface of the AGV vehicle; the double-headed cable reel comprises a power supply cable, a servo motor, a cable drum, a contact cable drum, a spring contact structure, and a rotary contact structure; the running speed of the AGV vehicle is associated with the rotation of the cable drum through the upper and lower limits of the servo motor's torque; when the torque exceeds the upper limit, the AGV vehicle decelerates and gives an alarm; when the torque is less than the lower limit, the AGV vehicle speeds up; the traction force of the operator dragging the power supply cable is associated with the upper and lower limits of the servo motor's torque; when the torque exceeds the upper limit, the servo motor automatically speeds up; when the torque is less than the lower limit, the servo motor automatically decelerates. The present application utilizes the basic principles of rotating contact to transmit power, the input line torque being associated with the AGV, and the output line torque being associated with the operating torque, to realize the automatic retraction and release of the bidirectional force-controlled power supply cable, and has general applicability to similar airport tests or remote power supply.

Description

Technical Field

[0001] The present application relates to the technical field of aircraft assembly, and in particular to a bidirectional force-controlled power supply cable automatic retractable vehicle. Background Art

[0002] In industrial production or life, there are many power supply cable retracting and use tasks. Most of the power access points in these places are a certain distance away from the power use location. For example, in an aircraft parking station, the distance may be 50 to 80 meters. The power supply at these locations generally uses movable cables. Small-diameter cables are relatively less consuming for operators and are generally easy to operate with manual reels. However, large cables with a copper wire diameter of more than φ50mm, such as those required for aircraft test power supply, are relatively heavy, and manual twisting is difficult. Therefore, some places also use automatic twisting drums, which are placed on a transport vehicle, and the vehicle moves forward while the twisting drum rotates.

[0003] The traditional automatic winch drum transportation operation and winding process are separated and cannot be linked, requiring two people to operate. The cable cannot directly provide power to the vehicle. At the same time, its general input and output are on the same rotating disk. The structure mostly adopts one end extending and the other end rotating or both ends extending at the same time. This is very inconvenient for connecting power supply cables with one end fixed and the other end requiring adjustment and uncertain length of the connection.

[0004] Based on the defects of traditional cable reels and relying on the power supply function requirements for ground-based aircraft testing, there is an urgent need to design an automatic power supply cable retractor vehicle with vehicle-reel linkage, bidirectional uncertain distance cable output, and direct cable power supply to the vehicle, so as to reduce the workload of test personnel at aircraft parking stations. Summary of the invention

[0005] The purpose of the present application is to provide a bidirectional force-controlled power supply cable automatic retraction and release vehicle, which is suitable for automatic cable retraction and release of bidirectional cable output with uncertain distance.

[0006] In order to achieve the above objectives, this application adopts the following technical solutions:

[0007] A two-way force-controlled power supply cable automatic retracting and releasing vehicle, whose structure includes an AGV vehicle and a double-headed cable reel, wherein the double-headed cable reel is installed on the upper surface of the AGV vehicle; the double-headed cable reel includes a power supply cable, a first support, a second support, a first servo motor, a second servo motor, a first winch drum, a second winch drum, two contact drums, a spring contact structure, a rotating contact structure, a first rotating shaft, and a second rotating shaft. The first support and the second support are fixed to the upper surface of the AGV vehicle, and a coaxial rotating shaft through hole is provided on the upper part thereof. The first winch drum and the second winch drum are respectively installed on the upper ends of the first support and the second support through the first rotating shaft and the second rotating shaft. Power supply cables of different sizes are respectively wound on the first winch drum and the second winch drum, one end of the power supply cable wound on the first winch drum is connected to a fixed power supply, and the power supply cable wound on the second winch drum is connected to a product to be powered on an aircraft; the two contact drums are respectively fixed on the outer sides of the adjacent ends of the first winch drum and the second winch drum, and the rotating contact structures are arranged on the two The inner ring of the contact disk has two rotating ends which are respectively mounted on the ends of the first rotating shaft and the second rotating shaft and are respectively connected and fixed to the inner sides of the first capstan and the second capstan, and the elastic contact structure is arranged between the two contact disks, and the other ends of the power supply cables wound on the first capstan and the second capstan are respectively connected to the contact disk and the rotating contact structure; the first servo motor and the second servo motor are respectively connected to the first rotating shaft and the second rotating shaft, the first servo motor drives the first capstan to rotate forward and reverse, and the second servo motor drives the second capstan to rotate forward and reverse, the running speed of the AGV vehicle is related to the rotation of the first capstan through the upper and lower limits of the torque of the first servo motor, when the torque exceeds the upper limit, the AGV vehicle slows down and alarms, and when the torque is less than the lower limit, the AGV vehicle speeds up; the traction force of the operator dragging the power supply cable is related to the upper and lower limits of the torque of the second servo motor, when the torque exceeds the upper limit, the second servo motor automatically speeds up, and when the torque is less than the lower limit, the second servo motor automatically slows down.

[0008] The contact wire reel includes a tray, a first copper contact wire, and a second copper contact wire. The tray is a circular ring structure with two concentric annular grooves. The groove spacing is greater than the material electrical breakdown distance of the tray. The first copper contact wire and the second copper contact wire are circular ring structures with rectangular cross-sections. The inner diameter of the first copper contact wire is greater than the outer diameter of the second copper contact wire. The first copper contact wire is embedded in a groove close to the outer circle of the tray, and the second copper contact wire is embedded in a groove close to the inner circle of the tray. The ungrooved side of the tray is fixed on the inner side surface of the stranded wire reel. The neutral wire and the ground wire of the power supply cable pass through the tray and are respectively connected and fixed to the first copper contact wire and the second copper contact wire, and an insulating layer is covered at the connection. The lead-out ends of the copper contact wires are in contact with the spring-contact structure.

[0009] The elastic contact structure includes two contact rods and a compression spring. The contact rod is a pin rod conductor structure with a shoulder at one end. The two contact rod shoulders are respectively fixed on the upper part of the first support and the second support, and are pressed on the lead-out ends of the first copper contact wire and the second copper contact wire through the compression spring.

[0010] Furthermore, the contact rod is isolated from the support connection hole by a nylon bushing with insulating properties.

[0011] The rotary contact structure includes two terminal blocks, two copper contact pads, two adapter plates, and a terminal. The two terminal blocks are handle-bushing structures whose inner holes are step holes. The handle parts of the terminal blocks are rotating ends. The two rotating ends are respectively connected and fixed to the inner sides of the first winding drum and the second winding drum. The terminal blocks are respectively sleeved with the first rotating shaft and the second rotating shaft through ball bearings. The adapter plate is a handle-bushing structure. The inner wall of the large hole in the step inner hole of the terminal block cooperates with the outer wall of the bushing of the adapter plate, and meshing sliding balls are arranged at the meshing position thereof. A copper contact pad with a circular ring structure is arranged between the step surface of the bushing inner hole of the terminal block and the bushing end surface of the adapter plate. The adapter plate is respectively sleeved with the first rotating shaft and the second rotating shaft through ball bearings. The terminal is fixed above the first support and the second support. The two end ends of the terminal are respectively connected and fixed to the handle structure of the adapter plate, and the live wire of the power supply cable is connected to the handle structure of the terminal block.

[0012] Furthermore, the terminal and the support connection hole are isolated from each other by a nylon bushing with insulating properties.

[0013] Furthermore, the upper limit and the lower limit of the rotational torque of the first servo motor are 3% of the rated lead-in torque of the power supply cable of the first stranding drum.

[0014] Furthermore, the upper limit and the lower limit of the rotational torque of the second servo motor are ±100N of the rated traction torque of the power supply cable of the second winch drum pulled by the operator.

[0015] Furthermore, the AGV vehicle can draw power from the middle position of the spring contact structure and the rotary contact structure to power the vehicle body.

[0016] The advantage of the present application is that it utilizes the basic principles of rotating contact to transmit power, the association of input line torque with AGV, and the association of output line torque with operating torque to achieve automatic retraction and extension of bidirectional force-controlled power supply cables. It is generally applicable to similar airport tests or remote power supply where thick power lines affect personnel operations.

[0017] The present application is further described in detail below in conjunction with the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 A schematic diagram of the axle side structure of a bidirectional force-controlled power supply cable automatic retractable vehicle;

[0019] Figure 2 A schematic cross-sectional view of a bidirectional force-controlled power supply cable automatic retractable vehicle structure;

[0020] Figure 3 A schematic diagram of a transfer line structure including a spring contact structure and a rotary contact structure;

[0021] Figure 4 Schematic diagram of the contact structure.

[0022] Explanation of numbers in the figure: 1. AGV vehicle; 2. Double-head cable reel; 3. Power supply cable; 4. First support; 5. Second support; 6. First servo motor; 7. Second servo motor; 8. First wire drum; 9. Second wire drum; 10. Wire drum; 11. Spring contact structure; 12. Rotary contact structure; 13. First rotating shaft; 14. Second rotating shaft; 15. Rotating end; 16. Tray; 17. First copper contact wire; 18. Second copper contact wire; 19. Wire rod; 20. Compression spring; 21. Terminal block; 22. Copper contact pad; 23. Adapter plate; 24. Terminal post; 25. Ball bearing; 26. Sliding ball; 27. Nylon bushing. DETAILED DESCRIPTION

[0023] See also Figure 1 to Figure 4A bidirectional force-controlled power cable automatic retractable vehicle is developed to solve the problem of bidirectional automatic retractable power cable at the input and output ends. The structure includes an AGV vehicle 1 and a double-headed reel 2. The double-headed reel 2 is installed on the upper surface of the AGV vehicle 1; the double-headed reel 2 includes a power cable 3, a first support 4, a second support 5, a first servo motor 6, a second servo motor 7, a first twisted wire drum 8, a second twisted wire drum 9, two contact wire drums 10, a spring contact structure 11, a rotating contact structure 12, a first rotating shaft 13, and a second rotating shaft 14. The first support 4 and the second support 5 are fixed The first capstan 8 and the second capstan 9 are respectively installed on the upper surface of the AGV vehicle 1 through a coaxial shaft hole, and the first capstan 8 and the second capstan 9 are respectively installed on the upper ends of the first support 4 and the second support 5 through the first shaft 13 and the second shaft 14. Power supply cables 3 of different sizes are respectively wound on the first capstan 8 and the second capstan 9. One end of the power supply cable 3 wound on the first capstan 8 is connected to a fixed power source, and the power supply cable 3 wound on the second capstan 9 is connected to the product to be powered on the aircraft; two contact wire drums 10 are respectively fixed on the adjacent ends of the first capstan 8 and the second capstan 9. The outer side of the end, the rotary contact structure 12 is arranged in the inner circle of the two contact wire discs 10, and the two rotating ends 15 thereon are respectively mounted on the ends of the first rotating shaft 13 and the second rotating shaft 14 and are respectively connected and fixed to the inner sides of the first winding drum 8 and the second winding drum 9, and the elastic contact structure 11 is arranged between the two contact wire discs 10, and the other ends of the power supply cable 3 wound on the first winding drum 8 and the second winding drum 9 are respectively connected to the contact wire disc 10 and the rotary contact structure 12; the first servo motor 6 and the second servo motor 7 are respectively connected to the first rotating shaft 13 and the second rotating shaft 14, and the first servo motor 6 drives The first winch drum 8 rotates forward and reverse, and the second servo motor 7 drives the second winch drum 9 to rotate forward and reverse. The running speed of the AGV vehicle 1 is associated with the rotation of the first winch drum 8 through the upper and lower limits of the torque of the first servo motor 6. When the torque exceeds the upper limit, the AGV vehicle 1 slows down and alarms, and when the torque is less than the lower limit, the AGV vehicle 1 speeds up; the traction force of the operator dragging the power supply cable 3 is associated with the upper and lower limits of the torque of the second servo motor 7. When the torque exceeds the upper limit, the second servo motor 7 automatically speeds up, and when the torque is less than the lower limit, the second servo motor 7 automatically slows down.

[0024] The contact wire reel 10 includes a tray 16, a first copper contact wire 17, and a second copper contact wire 18. The tray 16 is a circular ring structure with two concentric annular grooves, and the groove spacing is greater than the material electrical breakdown distance of the tray 18. The first copper contact wire 17 and the second copper contact wire 18 are circular ring structures with rectangular cross-sections. The inner diameter of the first copper contact wire 17 is greater than the outer diameter of the second copper contact wire 18. The first copper contact wire 17 is embedded in a groove close to the outer circle of the tray 16, and the second copper contact wire 18 is embedded in a groove close to the inner circle of the tray 16. The ungrooved side of the tray 16 is fixed on the inner side surface of the stranded wire reel. The neutral wire and the ground wire of the power supply cable 3 pass through the tray and are respectively connected and fixed to the first copper contact wire 17 and the second copper contact wire 18, and an insulating layer is covered at the connection. The lead-out ends of the copper contacts are in contact with the elastic contact structure 11.

[0025] The elastic contact structure 11 includes two contact rods 19 and a compression spring 20. The contact rod 19 is a pin-rod conductor structure with a shoulder at one end. The shoulders of the two contact rods 19 are respectively fixed to the upper part of the first support 4 and the second support 5, and are pressed on the lead-out ends of the first copper contact wire 17 and the second copper contact wire 18 by the compression spring 20; the contact rod 19 is isolated from the support connection hole by a nylon bushing 27 with insulating properties.

[0026] The contact structure 12 includes two wiring boards 21, two copper contact pads 22, two adapter plates 23, and a terminal 24. The two wiring boards 21 are handle bushing structures whose inner holes are step holes. The handle parts of the wiring boards 21 are rotating ends 15. The two rotating ends 15 are respectively connected and fixed to the inner sides of the first winding drum 8 and the second winding drum 9. The wiring boards 21 are respectively sleeved with the first rotating shaft 13 and the second rotating shaft 14 through ball bearings 25. The adapter plate 23 is a handle bushing structure. The inner wall of the large hole in the step inner hole of the wiring board 21 cooperates with the outer wall of the bushing of the adapter plate 23 and meshes therewith. An engaging sliding ball 26 is arranged at the position, a copper contact pad 22 with a circular ring structure is arranged between the step surface of the inner hole of the bushing of the terminal block 21 and the end surface of the bushing of the adapter plate 23, the adapter plate 23 is respectively sleeved with the first rotating shaft 13 and the second rotating shaft 14 through a ball bearing 25, the terminal post 24 is fixed above the first support 4 and the second support 5, the two ends of the terminal post 24 are respectively connected and fixed with the handle structure of the adapter plate 23, the live wire of the power supply cable 3 is connected with the handle structure of the terminal block 21; the terminal post 24 and the support connection hole are isolated by a nylon bushing 27 with insulating properties.

[0027] The upper and lower limits of the rotational torque of the first servo motor 6 are 3% of the rated lead-in torque of the power supply cable 3 of the first winch drum 8; the upper and lower limits of the rotational torque of the second servo motor 7 are ±100N of the traction rated torque of the power supply cable 3 of the second winch drum 9 pulled by the operator; the AGV vehicle 1 can draw power from the middle position between the elastic contact structure 11 and the rotary contact structure 12 for power supply for vehicle operation.

[0028] During use, the operator remotely controls the AGV vehicle 1 to move forward and backward, and the first servo motor 6 drives the first winch drum 8 and its power supply cable 3 to rotate. The first servo motor 6 rotates the first winch drum 8 according to its own sensed torque and automatically follows the AGV vehicle 1 to adjust the forward pay-out speed according to the threshold. When reaching the position, the AGV vehicle 1 stops and the first winch drum 8 stops rotating; the operator drags the cable to the working position, and the second servo motor 7 senses the torque of the second winch drum 9 caused by the operator dragging the power supply cable according to its own sensor and automatically follows the operator's traction direction to rotate the second winch drum 9 for auxiliary traction according to the threshold; when retracting, the power supply cable 3 at the working position is first connected and disconnected, and the second servo motor 7 rotates the second winch drum 9 to retract the power supply cable 3 backward, and the remotely controlled AGV vehicle 1 retreats, and the first servo motor 6 rotates the first winch drum 8 according to its own sensed torque and automatically follows the AGV vehicle 1 to adjust the backward take-up speed according to the threshold until the power supply cable 3 is retracted and the AGV vehicle 1 is at the storage position.

Claims

1. A bidirectional force-controlled power supply cable automatic retractable vehicle, characterized in that The invention comprises an AGV vehicle and a double-headed cable reel, wherein the double-headed cable reel is installed on the upper surface of the AGV vehicle; the double-headed cable reel comprises a power supply cable, a first support, a second support, a first servo motor, a second servo motor, a first wire drum, a second wire drum, two contact wire drums, a spring contact structure, a rotating contact structure, a first rotating shaft, and a second rotating shaft; the first support and the second support are fixed on the upper surface of the AGV vehicle, and a coaxial rotating shaft through hole is provided on the upper part thereof; the first wire drum and the second wire drum are respectively installed on the upper ends of the first support and the second support through the first rotating shaft and the second rotating shaft; power supply cables of different sizes are respectively wound on the first wire drum and the second wire drum; one end of the power supply cable wound on the first wire drum is connected to a fixed power supply, and the power supply cable wound on the second wire drum is connected to a product to be powered on the aircraft; the two contact wire drums are respectively fixed on the outer sides of the adjacent ends of the first wire drum and the second wire drum; the rotating contact structure is arranged on the inner circles of the two contact wire drums, and the rotating contact structure on them The two rotating ends are respectively mounted on the ends of the first rotating shaft and the second rotating shaft and are respectively connected and fixed to the inner sides of the first capstan and the second capstan, the elastic contact structure is arranged between the two contact disks, and the other ends of the power supply cables wound on the first capstan and the second capstan are respectively connected to the contact disk and the rotating contact structure; the first servo motor and the second servo motor are respectively connected to the first rotating shaft and the second rotating shaft, the first servo motor drives the first capstan to rotate forward and reverse, and the second servo motor drives the second capstan to rotate forward and reverse, the running speed of the AGV vehicle is related to the rotation of the first capstan through the upper and lower limits of the torque of the first servo motor, when the torque exceeds the upper limit, the AGV vehicle slows down and alarms, when the torque is less than the lower limit, the AGV vehicle speeds up; the traction force of the operator dragging the power supply cable is related to the upper and lower limits of the torque of the second servo motor, when the torque exceeds the upper limit, the second servo motor automatically speeds up, when the torque is less than the lower limit, the second servo motor automatically slows down.

2. The bidirectional force-controlled power supply cable automatic retractable vehicle according to claim 1 is characterized in that The contact wire reel includes a tray, a first copper contact wire, and a second copper contact wire. The tray is a circular ring structure with two concentric annular grooves, and the groove spacing is greater than the material electrical breakdown distance of the tray. The first copper contact wire and the second copper contact wire are circular ring structures with rectangular cross-sections. The inner diameter of the first copper contact wire is greater than the outer diameter of the second copper contact wire. The first copper contact wire is embedded in a groove close to the outer circle of the tray, and the second copper contact wire is embedded in a groove close to the inner circle of the tray. The ungrooved side of the tray is fixed on the inner side surface of the stranded wire reel. The neutral wire and the ground wire of the power supply cable pass through the tray and are respectively connected and fixed to the first copper contact wire and the second copper contact wire, and an insulating layer is covered at the connection point. The lead-out end of the copper contact wire is in contact with the spring contact structure.

3. The bidirectional force-controlled power supply cable automatic retractable vehicle according to claim 1 is characterized in that The elastic contact structure includes two contact rods and a compression spring. The contact rod is a pin rod conductor structure with a shoulder at one end. The two contact rod shoulders are respectively fixed to the upper part of the first support and the second support, and are pressed on the lead-out ends of the first copper contact wire and the second copper contact wire through the compression spring.

4. The bidirectional force-controlled power supply cable automatic retractable vehicle according to claim 3 is characterized in that The contact rod and the support connection hole are isolated from each other by a nylon bushing with insulating properties.

5. The bidirectional force-controlled power supply cable automatic retractable vehicle according to claim 1, characterized in that The rotary contact structure includes two terminal blocks, two copper contact pads, two adapter plates, and a terminal. The two terminal blocks are handle-bushing structures whose inner holes are step holes. The handle part of the terminal block is a rotating end. The two rotating ends are respectively connected and fixed to the inner sides of the first strand drum and the second strand drum. The terminal block is respectively sleeved with the first rotating shaft and the second rotating shaft through ball bearings. The adapter plate is a handle-bushing structure. The inner wall of the large hole in the step inner hole of the terminal block cooperates with the outer wall of the bushing of the adapter plate, and an engaging sliding ball is arranged at the meshing position thereof. A copper contact pad with a circular ring structure is arranged between the step surface of the bushing inner hole of the terminal block and the bushing end surface of the adapter plate. The adapter plate is respectively sleeved with the first rotating shaft and the second rotating shaft through ball bearings. The terminal is fixed above the first support and the second support. The two end ends of the terminal are respectively connected and fixed to the handle structure of the adapter plate, and the live wire of the power supply cable is connected to the handle structure of the terminal block.

6. The bidirectional force-controlled power supply cable automatic retractable vehicle according to claim 5, characterized in that The terminal and the support connection hole are isolated from each other by a nylon bushing with insulating properties.

7. The bidirectional force-controlled power supply cable automatic retractable vehicle according to claim 1, characterized in that The upper limit and lower limit of the rotation torque of the first servo motor are 3% of the rated lead-in torque of the power supply cable of the first strand drum.

8. The bidirectional force-controlled power supply cable automatic retractable vehicle according to claim 1, characterized in that The upper limit and lower limit of the rotational torque of the second servo motor are ±100N of the rated traction torque of the power supply cable of the second winch drum pulled by the operator.

9. The bidirectional force-controlled power supply cable automatic retractable vehicle according to claim 1, characterized in that The AGV vehicle can draw power from the middle position of the spring contact structure and the rotary contact structure to supply power for the vehicle body.

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