An active aerial tow cable vertical retracting and releasing device

Abstract

The present invention provides an active aerial tow cable vertical retractable cable device for retracting and releasing the tow cable, comprising: a sandwich cable frame, the sandwich cable frame comprising a cylindrical inner and outer cable frames; a flange support provided at the center of the inner cable frame, a slewing bearing provided within the flange support; a rotating shaft, the rotating shaft sleeved on the slewing bearing, one end of the rotating shaft provided with a servo motor for driving the rotating shaft to rotate; a low-position push cable lever and a middle-position power lever provided sequentially from bottom to top on the rotating shaft; two low-position push cable levers, each with a push cable ball at the end away from the rotating shaft, the push cable ball resting on the inner and outer cable frames; and a middle-position power lever provided with a retractable cable power assembly; one end of the tow cable passes through the retractable cable power assembly, passes between the two push cable balls, and is stored in the gap between the inner and outer cable frames. The present invention has the beneficial effect of achieving smoother tow cable retraction and release, and preventing the tow cable from tangling and knotting.

Description

Technical Field

[0001] The present invention relates to a cable retracting and releasing device, in particular to an active aerial towing cable vertical retracting and releasing device. Background Art

[0002] Aerial work robots such as exterior wall spraying robots, exterior wall putty robots, and high-altitude firefighting drones are being widely used in high-rise buildings. These robots are high-power electrical equipment and cannot be powered by batteries, so they are usually powered by aerial tow cables.

[0003] When the equipment is lifted off from the ground, the towline is dragged upwards, requiring the ground cable to be free of entanglement and knots. If knots occur, the machine needs to be stopped and the knots need to be untied manually. When the equipment is lowered from a high altitude, the aerial towline can easily become entangled and knotted on the ground due to wind or equipment swinging. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to provide an active aerial tow cable vertical cable retracting and releasing device, aiming to solve the problem that the high-altitude retracting and releasing cables are easily entangled and knotted.

[0005] In order to solve the above technical problems, the technical solution adopted by the present invention is: an active aerial streamer vertical cable retracting and releasing device for retracting and releasing the streamer, comprising:

[0006] A sandwich cable frame, comprising a cylindrical inner cable frame and an outer cable frame, wherein the inner cable frame and the outer cable frame are fixedly connected at their bottoms, and a gap between the inner cable frame and the outer cable frame is used to accommodate the tow cable; a flange support is provided at the center of the inner cable frame, and a slewing bearing is provided within the flange support;

[0007] The rotating shaft is sleeved on the slewing bearing, and one end of the rotating shaft is provided with a servo motor for driving the rotating shaft to rotate; the rotating shaft is provided with a low-position pushing cable lever and a middle-position power lever from bottom to top; there are two low-position pushing cable levers, and the ends of the two low-position pushing cable levers away from the rotating shaft are provided with pushing cable balls, and the pushing cable balls are against the inner and outer cable frames, and the middle-position power lever is provided with a cable retracting and releasing power assembly; one end of the towing cable passes through the cable retracting and releasing power assembly, and passes between the two pushing cable balls, and is received in the gap between the inner and outer cable frames.

[0008] Furthermore, the cable retracting and releasing power assembly includes an air motor arranged on one side of the mid-position power lever, a power wheel is provided on the output shaft of the air motor, and a cable pressure wheel is provided on the mid-position power lever, and the power wheel is opposite to the wheel groove of the cable pressure wheel.

[0009] Furthermore, the rotating shaft is provided with a pneumatic slip ring for supplying air to the pneumatic motor.

[0010] Furthermore, the rotating shaft is provided with a wireless bridge for receiving control instructions.

[0011] Furthermore, a high-position limit lever is provided on the rotating shaft, and the high-position limit lever is arranged above the middle power lever. A limit buckle is provided at the end of the high-position limit lever away from the rotating shaft.

[0012] Furthermore, a towing cable limiting plate is provided between the wheel axle of the cable pressing wheel and the output shaft of the pneumatic motor.

[0013] Furthermore, the output shaft of the servo motor is connected to the rotating shaft via a connecting flange.

[0014] Furthermore, there are two flange supports, namely the first flange support and the second flange support from top to bottom; a first slewing bearing is provided in the first flange support, and a second slewing bearing is provided in the second flange support; a plurality of first support columns are provided between the first slewing bearing and the inner circle cable frame, and a plurality of second support columns are provided between the second slewing bearing and the inner circle cable frame.

[0015] Furthermore, the inner cable frame and the outer cable frame each include two circular rings and a plurality of columns connecting the two circular rings.

[0016] Furthermore, the gap between the inner cable frame and the outer cable frame is 1.3 times the diameter of the tow cable.

[0017] The beneficial effects of the present invention are as follows: the interlayer cable frame is provided with an inner ring cable frame and an outer ring cable frame, the tow cable is stored through the gap between the inner ring cable frame and the outer ring cable frame, and a flange support is provided in the center of the inner ring cable frame, a slewing bearing is provided in the flange support, a rotating shaft is provided in the slewing support, and a servo motor for driving the rotating shaft to rotate is provided on the rotating shaft. The tow cable passes through the cable retracting and releasing power assembly and passes between the two pushing cable balls and is stored in the gap between the inner ring cable frame and the outer ring cable frame. With the cooperation of the cable retracting and releasing power assembly and the servo motor, the two pushing cable balls are used to achieve smoother cable retracting and releasing, and prevent the tow cable from being entangled and knotted. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the mechanisms shown in these drawings without paying any creative work.

[0019] Figure 1 Schematic diagram of the overall structure of the active aerial tow cable vertical cable retracting and releasing device according to an embodiment of the present invention;

[0020] Figure 2 Schematic diagram of the sandwich cable frame structure according to an embodiment of the present invention;

[0021] Figure 3 This is an exploded schematic diagram of another sandwich cable frame structure according to an embodiment of the present invention;

[0022] Figure 4 This is a schematic diagram of the cable shaft structure according to an embodiment of the present invention;

[0023] Figure 5 Schematic diagram of the rotating shaft structure according to an embodiment of the present invention;

[0024] Figure 6 This is a schematic diagram of an exploded structure of another cable shaft according to an embodiment of the present invention;

[0025] Figure 7 Schematic diagram of the cable retracting and releasing device for the active aerial streamer vertical cable retracting and releasing according to an embodiment of the present invention;

[0026] Figure 8 Schematic diagram of an application scenario of an active aerial tow cable vertical retracting and unretracting device according to an embodiment of the present invention.

[0027] Among them, 11. Interlayer cable frame; 12. First support column; 13. First flange support; 14. Second support column; 15. Second flange support; 16. Universal wheel; 17. First slewing bearing; 18. Second slewing bearing; 19. Tow cable; 21. Rotating shaft; 22. Pneumatic slip ring; 23. Servo motor; 24. Low-position push cable lever; 25. Middle-position power lever; 26. High-position limit lever; 27. Wireless network bridge; 231. Connecting flange; 241. Push cable ball; 251. Cable pressure wheel; 252. Power wheel; 253. Pneumatic motor; 254. Tension spring type nitrogen spring; 255. Cable pressure wheel shaft; 256. Tow cable limit plate; 257. Pressure plate; 261. Limit buckle; 100. Cable retracting and releasing device; 200. Hanging basket; 300. Distribution box. DETAILED DESCRIPTION

[0028] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0029] It should be noted that the descriptions of "first", "second", etc. in the present invention are for descriptive purposes only and should not be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" or "second" may explicitly or implicitly include at least one of such features. In addition, the technical solutions between the various embodiments can be combined with each other, but this must be based on the fact that they can be implemented by ordinary technicians in this field. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0030] like Figure 1 、 Figure 2 As shown, the first embodiment of the present invention is: an active aerial streamer vertical cable retracting and releasing device for retracting and releasing a streamer 19, comprising:

[0031] The sandwich cable frame 11 includes a cylindrical inner cable frame and an outer cable frame. The bottoms of the inner cable frame and the outer cable frame are fixedly connected. The gap between the inner cable frame and the outer cable frame is used to accommodate the towline 19. A flange support is provided at the center of the inner cable frame, and a slewing bearing is provided inside the flange support.

[0032] The rotating shaft 21 is sleeved on the slewing bearing, and one end of the rotating shaft 21 is provided with a servo motor 23 for driving the rotating shaft 21 to rotate; the rotating shaft 21 is provided with a low-position pushing cable lever 24 and a middle-position power lever 25 from bottom to top; there are two low-position pushing cable levers 24, and the ends of the two low-position pushing cable levers 24 away from the rotating shaft 21 are provided with pushing cable balls 241, and the pushing cable balls 241 are against the inner and outer cable frames, and the middle power lever 25 is provided with a cable retracting and releasing power assembly; one end of the towline 19 passes through the cable retracting and releasing power assembly, and passes between the two pushing cable balls 241, and is stored in the gap between the inner and outer cable frames.

[0033] The output shaft of the servo motor 23 is connected to the rotating shaft 21 via a connecting flange 231 .

[0034] In this embodiment, the interlayer cable frame 11 is provided with an inner ring cable frame and an outer ring cable frame, and the towline 19 is stored through the gap between the inner ring cable frame and the outer ring cable frame, and a flange support is provided in the center of the inner ring cable frame, and a slewing support is provided in the flange support. A rotating shaft 21 is provided in the slewing support, and a servo motor 23 for driving the rotating shaft 21 to rotate is provided on the rotating shaft 21. The towline 19 passes through the cable retracting and releasing power assembly and passes between the two pushing cable balls 241, and is stored in the gap between the inner ring cable frame and the outer ring cable frame. With the cooperation of the cable retracting and releasing power assembly and the servo motor 23, the two pushing cable balls 241 are used to achieve smoother cable retraction and release of the towline 19, and prevent the towline 19 from being entangled and knotted.

[0035] like Figure 4-Figure 6As shown, in a specific embodiment, a high-position limit lever 26 is provided on the rotating shaft 21 , and the high-position limit lever 26 is provided above the middle power lever 25 , and a limit buckle 261 is provided at the end of the high-position limit lever 26 away from the rotating shaft 21 .

[0036] In this embodiment, the limit buckle 261 is fixed to the prefabricated slot at the outer end of the high-position limit lever 26 of the rotating shaft 21 by bolts, and is used to limit the swing of the limit buckle 261 and the towline 19 of the cable retracting and releasing power assembly section.

[0037] like Figure 4-Figure 6 As shown, in a specific embodiment, the cable retracting and releasing power assembly includes an air motor 253 arranged on one side of the mid-position power lever 25, a power wheel 252 is provided on the output shaft of the air motor 253, and a cable pressing wheel 251 is provided on the mid-position power lever 25, and the power wheel 252 is opposite to the wheel groove of the cable pressing wheel 251.

[0038] A towline limiting piece 256 is provided between the axle of the cable pressing wheel 251 and the output shaft of the pneumatic motor 253 .

[0039] The rotating shaft 21 is provided with a pneumatic slip ring 22 for supplying air to the pneumatic motor 253 .

[0040] The rotating shaft 21 is provided with a wireless bridge 27 for receiving control instructions.

[0041] In this embodiment, the middle power lever 25 is below the high limit lever 26 and is offset 2° to the left. The outer end of the middle power lever 25 is prefabricated with a cable retraction power assembly mounting part; two low-position pushing cable levers 24 with an 11° included angle are below the middle power lever 25, and the low-position pushing cable lever 24 close to the middle power lever 25 is offset 1° to the left of it. The pneumatic motor 253 is fixed to the prefabricated position at the outer end of the mid-position power lever 25 by bolts, providing power and speed regulation for the retracting and releasing of the cable; the power wheel 252 is fixedly connected to the pneumatic motor 253 by a flat key, and rotates the retracting and releasing cable by transmitting the power of the pneumatic motor 253; the pressure plate 257 is fixed to the output shaft of the pneumatic motor 253 and the outer shaft end of the cable pressure wheel shaft 255 by bolts, respectively, to prevent the power wheel 252 and the towing cable limiting plate 256 from falling off; the cable pressure wheel 251 has a built-in bearing in the wheel, which is nested in the preset position of the cable pressure wheel shaft 255 through the shaft clamp limiter, and is used to press and limit the towing cable 19 into the semicircular groove of the power wheel 252; the cable pressure wheel shaft The inner shaft end of 255 is nested in the preset waist-round groove of the prefabricated part at the outer end of the mid-position power shift rod 25 and is threadedly connected to the piston rod end of the tension spring type nitrogen spring 254, transmitting the tensioning pressure of the tension spring type nitrogen spring 254; the cylinder end of the tension spring type nitrogen spring 254 is installed and fixed at the prefabricated threaded hole at the outer end of the mid-position power shift rod 25 through a threaded connection, and the piston rod end of the tension spring type nitrogen spring 254 is installed and fixed at the prefabricated threaded hole at the inner shaft end of the cable pressure wheel shaft 255 through a threaded connection, providing tensioning pressure for the cable pressure wheel 251; the towing cable limit plate 256 is fixed to the preset position of the outer shaft end of the cable pressure wheel shaft 255 by bolts to prevent the cable from falling off. The pushing cable ball 241 has a built-in double bearing inside the ball, which is nested in the preset position of the outer end of the low-position pushing cable lever 24 through the shaft clamp limiter. The center of the ball is between the center circle of the interlayer spacing between the inner and outer ring cable frames of the interlayer cable frame 11. It is used to press the towline 19 of the cable retracting and releasing power assembly into the interlayer of the interlayer cable frame 11 or push up the towline 19 in the interlayer of the interlayer cable frame 11 to release and supply cable for the cable retracting and releasing power assembly; the pneumatic slip ring 22 is nested on the rotating shaft 21 and is fixed to the preset flange position of the first flange support 13 of the interlayer cable frame 11 by bolts to power the wireless bridge 27 and supply air to the pneumatic motor 253 in both directions.

[0042] like Figure 1-Figure 3 As shown, in the specific embodiment, two flange supports are provided, namely, a first flange support 13 and a second flange support 15 from top to bottom; a first slewing bearing 17 is provided in the first flange support 13, and a second slewing bearing 18 is provided in the second flange support 15; a plurality of first support columns 12 are provided between the first slewing bearing 17 and the inner circle cable frame, and a plurality of second support columns 14 are provided between the second slewing bearing 18 and the inner circle cable frame.

[0043] Wherein, the inner ring cable frame and the outer ring cable frame each include two circular rings and a plurality of columns connecting the two circular rings.

[0044] The gap between the inner and outer cable frames is 1.3 times the diameter of the towline 19 .

[0045] The bottom of the sandwich cable frame 11 is provided with four universal wheels 16 .

[0046] In this embodiment, the sandwich cable frame 11 comprises an inner and outer ring. The inner ring comprises two upper and lower circular rings, with six vertically evenly welded columns between the two rings. The outer ring also comprises two upper and lower circular rings, with six vertically evenly welded columns between the two rings and evenly spaced between the two inner ring columns. The inner ring is evenly embedded within the outer ring, and the bottom rings of the two rings are welded together by twelve equidistant short columns. The interlayer spacing between the inner and outer rings is approximately 1.3 times the diameter of the towline 19. Two upper and lower flange supports are welded at the center of the inner ring at a predetermined position. Six support columns are evenly welded around the circumference of the flange supports, and the outer ends of the support columns are welded to the six columns of the inner ring at predetermined positions. The sandwich cable frame 11 is used to support and store the towline 19. The inner and outer ring cable frames consist of a column-and-ring structure, which significantly reduces friction between the towline 19 and the sandwich cable frame 11.

[0047] like Figure 1 、 Figure 7 、 Figure 8 Taking the exterior wall spraying robot as an example, the working principle of an active aerial tow cable vertical retracting and releasing device is explained:

[0048] A distribution box 300 is provided on the hanging basket 200 , one end of the towline 19 is connected to the distribution box 300 , and the other end of the towline 19 is provided on the towline retracting and releasing device 100 .

[0049] When the exterior wall painting robot is lifted off from the ground, it communicates with the control device via the wireless network bridge 27. The control device actively releases the cable vertically. At this time, the servo motor 23 drives the rotating shaft 21 to rotate clockwise. The pushing cable ball 241 of the near-neutral power lever 25 pushes up the cable in the interlayer of the interlayer cable frame 11, supplying cable for the cable retracting and releasing power assembly to release the cable. The pneumatic motor 253 drives the power wheel 252 to rotate and release the cable. The released cable is restrained by the limit buckle 261 and then dragged upward by the robot.

[0050] When the exterior wall spraying robot descends from a high altitude, it communicates with the control device through the wireless bridge 27, and the control device actively retracts the cable vertically. At this time, the tow cable 19 enters the cable retracting and releasing power assembly through the limit buckle 261 to constrain the swing amplitude. The pneumatic motor 253 drives the power wheel 252 to rotate the cable retracting. At the same time, the servo motor 23 drives the rotating shaft 21 to rotate counterclockwise. The pushing cable ball 241 of the far-center power lever 25 presses the cable retracting into the interlayer of the interlayer cable frame 11.

[0051] The above are merely embodiments of the present invention and are not intended to limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made using the contents of the present invention description and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. An active aerial streamer vertical cable retracting and releasing device for retracting and releasing streamers, characterized in that ,include: A sandwich cable frame, comprising a cylindrical inner cable frame and an outer cable frame, wherein the inner cable frame and the outer cable frame are fixedly connected at their bottoms, and a gap between the inner cable frame and the outer cable frame is used to accommodate the tow cable; a flange support is provided at the center of the inner cable frame, and a slewing bearing is provided within the flange support; The rotating shaft is sleeved on the slewing bearing, and one end of the rotating shaft is provided with a servo motor for driving the rotating shaft to rotate; the rotating shaft is provided with a low-position pushing cable lever and a middle-position power lever from bottom to top; there are two low-position pushing cable levers, and the ends of the two low-position pushing cable levers away from the rotating shaft are provided with pushing cable balls, and the pushing cable balls are against the inner and outer cable frames, and the middle-position power lever is provided with a cable retracting and releasing power assembly; one end of the towing cable passes through the cable retracting and releasing power assembly, and passes between the two pushing cable balls, and is received in the gap between the inner and outer cable frames.

2. The active aerial streamer vertical cable retracting and releasing device according to claim 1, characterized in that: The cable retracting and releasing power assembly includes an air motor arranged on one side of the mid-position power lever, a power wheel is provided on the output shaft of the air motor, and a cable pressing wheel is provided on the mid-position power lever, and the power wheel is opposite to the wheel groove of the cable pressing wheel.

3. The active aerial streamer vertical cable retracting and releasing device according to claim 2, characterized in that: The rotating shaft is provided with an air-electric slip ring for supplying air to the pneumatic motor.

4. The active aerial streamer vertical cable retracting and releasing device according to claim 3, characterized in that: The rotating shaft is provided with a wireless bridge for receiving control instructions.

5. The active aerial streamer vertical cable retracting and releasing device according to claim 1, characterized in that: A high-position limiting lever is provided on the rotating shaft, and the high-position limiting lever is arranged above the middle power lever. A limiting buckle is provided at the end of the high-position limiting lever away from the rotating shaft.

6. The active aerial streamer vertical cable retracting and releasing device according to claim 2, characterized in that: A towing cable limiting piece is provided between the wheel shaft of the cable pressing wheel and the output shaft of the pneumatic motor.

7. The active aerial streamer vertical cable retracting and releasing device according to claim 1, characterized in that: The output shaft of the servo motor is connected to the rotating shaft via a connecting flange.

8. The active aerial streamer vertical cable retracting and releasing device according to claim 1, characterized in that: There are two flange supports, which are the first flange support and the second flange support from top to bottom; the first flange support is provided with a first slewing bearing, and the second flange support is provided with a second slewing bearing; multiple first support columns are provided between the first slewing bearing and the inner circle cable frame, and multiple second support columns are provided between the second slewing bearing and the inner circle cable frame.

9. The active aerial streamer vertical cable retracting and releasing device according to claim 1, characterized in that: The inner ring cable frame and the outer ring cable frame both include two circular rings and a plurality of columns connecting the two circular rings.

10. The active aerial streamer vertical cable retracting and releasing device according to claim 1, characterized in that: The gap between the inner cable frame and the outer cable frame is 1.3 times the diameter of the tow cable.

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