Mooring unmanned aerial vehicle pipe cable take-up and pay-off device

Abstract

The invention relates to the technical field of mooring unmanned aerial vehicles, and provides a mooring unmanned aerial vehicle pipe cable take-up and pay-off device which comprises a vertical take-up disc, a stirring rotary disc, a rotary driving mechanism, a pressure detection mechanism and a linear driving mechanism. The shifting rotary disc is rotationally connected with the vertical winding disc. The output end of the rotary driving mechanism is in transmission connection with the shifting turntable; the pressure detection mechanism comprises a guide assembly and a pressure detection assembly, the guide assembly comprises a guide ring seat and a guide ring, and the pressure detection assembly is used for detecting the contact position of a pipe cable and the guide ring when the pipe cable penetrates through the guide ring and determining the deflection degree of the pipe cable relative to the vertical direction; the linear driving mechanism is arranged on the shifting rotary disc, and the output end of the linear driving mechanism is connected with the guide ring seat. The defects that in the prior art, when the speed of an unmanned aerial vehicle is too high, a pipe cable cannot be smoothly wound on a vertical winding disc, so that the pipe cable is prone to winding clamping stagnation, the winding effect is poor, or the pipe cable cannot be smoothly unwound from the vertical winding disc are overcome.

Description

Technical Field

[0001] This invention relates to the field of tethered drone technology, and more particularly to a tethered drone cable deployment and retrieval device. Background Technology

[0002] A tethered drone is a drone system that connects to a ground station via a tether, using the tether to provide power, water, and data transmission, enabling it to hover stably for extended periods.

[0003] In existing technologies, some cable-tethered drones use vertical reels to wind up and unwind integrated cables. During the cable winding and unwinding process, when the drone's speed is too high, the cable cannot be smoothly wound onto the vertical reel, which can easily lead to cable winding jamming, poor winding effect, or the cable not being able to be smoothly released from the vertical reel. Summary of the Invention

[0004] This invention provides a tethered drone cable deployment and retraction device to solve the defects in the prior art where, when the drone is traveling at too high a speed, the cable cannot be smoothly coiled on the vertical reel, which easily leads to cable winding jamming, poor coiling effect, or the cable not being able to be smoothly released from the vertical reel.

[0005] The present invention provides a tethered unmanned aerial vehicle (UAV) cable deployment and retrieval device, comprising: a vertical winding reel, a turntable, a rotary drive mechanism, a pressure detection mechanism, and a linear drive mechanism.

[0006] The vertical winding reel includes an outer cylinder and an inner cylinder coaxially arranged, with a first receiving groove formed between the outer cylinder and the inner cylinder for accommodating cables; the actuating turntable is rotatably connected to the inner cylinder; the output end of the rotary drive mechanism is drively connected to the actuating turntable to drive the actuating turntable to rotate circumferentially along the vertical winding reel; the pressure detection mechanism includes a guide assembly and a pressure detection assembly, the guide assembly including a guide ring seat and a guide ring, the guide ring seat being movably disposed on the actuating turntable along the length direction of the actuating turntable, the guide ring being radially floatingly connected to the guide ring seat, and the guide ring forming a guide groove. The inner diameter of the guide groove is larger than the outer diameter of the cable. The pressure detection assembly includes multiple pressure sensors, which are circumferentially spaced between the guide ring seat and the guide ring. The fixed end of each pressure sensor is connected to the guide ring seat, and the detection end of each pressure sensor faces the guide ring. In the initial state, the guide ring seat and the guide ring are coaxially arranged, and a radial gap is provided between the detection end of the pressure sensor and the guide ring. The linear drive mechanism is located on the rotary dial, and the output end of the linear drive mechanism is connected to the guide ring seat to drive the guide ring seat to move along the length direction of the rotary dial.

[0007] According to the UAV cable deployment and retraction device provided by the present invention, the pressure detection mechanism further includes a reset assembly, which includes a plurality of reset springs. The plurality of reset springs are circumferentially spaced between the guide ring seat and the guide ring. The first end of the reset spring is connected to the guide ring seat, and the second end of the reset spring is connected to the guide ring.

[0008] According to the UAV cable deployment and take-up device provided by the present invention, the reset assembly further includes a plurality of threaded adjustment members corresponding one-to-one with the reset spring. The end of the threaded adjustment member abuts against the first end of the reset spring, and the threaded adjustment member is threadedly connected to the guide ring seat in the radial direction.

[0009] According to the UAV cable deployment and take-up device provided by the present invention, the guide ring seat is provided with a plurality of guide grooves in the radial direction that correspond one-to-one with the reset spring, and the reset spring is disposed in the corresponding guide groove.

[0010] According to the UAV cable deployment and take-up device provided by the present invention, the guide assembly further includes an inner liner, the inner liner being embedded in the inner wall of the guide ring seat, the inner liner having a receiving groove along the circumferential direction, and the outer wall of the guide ring having a protruding edge along the circumferential direction, at least a portion of the protruding edge being located within the receiving groove; in the initial state, the protruding edge and the receiving groove have a radial gap.

[0011] According to the UAV cable deployment and take-up device provided by the present invention, in the initial state, the convex edge and the receiving groove have an axial gap.

[0012] According to the UAV cable deployment and take-up device provided by the present invention, the rotary drive mechanism includes a first motor, a reducer, and an electric slip ring. The first motor is disposed in the inner cylinder, and the output shaft of the first motor is drivenly connected to the reducer. The electric slip ring includes an electric slip ring stator and an electric slip ring rotor. The electric slip ring stator is fixedly connected to the inner cylinder, the input end of the electric slip ring rotor is drivenly connected to the output shaft of the reducer, and the output end of the electric slip ring rotor is drivenly connected to the actuating turntable. The electric slip ring rotor is provided with a rotor wire, and the rotor wire is electrically connected to both the pressure detection mechanism and the linear drive mechanism.

[0013] According to the UAV cable deployment and take-up device provided by the present invention, the rotary drive mechanism further includes an electric slip ring limiting seat, the electric slip ring limiting seat is fixedly connected to the inner cylinder, the electric slip ring limiting seat is provided with a limiting pin, and the electric slip ring stator is limited by the limiting pin to restrict the degree of freedom of the electric slip ring stator to rotate axially; and / or, the rotary drive mechanism further includes a connecting flange, and the electric slip ring rotor is drivenly connected to the actuating turntable through the connecting flange.

[0014] According to the UAV cable deployment and take-up device provided by the present invention, the linear drive mechanism includes a push rod, the first end of which is connected to the actuating turntable, and the second end of which is connected to the guide ring seat.

[0015] According to the UAV cable deployment and take-up device provided by the present invention, the second end of the push rod is hinged to the guide ring seat.

[0016] The tethered drone cable deployment and retraction device provided by the present invention can drive the pressure detection mechanism to rotate circumferentially by using a turntable connected to the output end of the rotary drive mechanism, and drive the pressure detection mechanism to move radially around the vertical take-up reel by using a linear drive mechanism. The guide ring on the guide ring seat guides the cable, so that the cable can be wound into the receiving groove of the vertical take-up reel layer by layer from the inside to the outside or from the outside to the inside along the circumference, or released from the receiving groove. Simultaneously, during cable deployment and retrieval, multiple pressure sensors circumferentially positioned between the guide ring and guide seat can determine the cable's orientation. The pressure values ​​detected by these sensors can be analyzed to assess the cable's tilt relative to the vertical direction, determining if the cable is in an excessively tilted state unfavorable to deployment. If the pressure values ​​detected by the sensors exceed a preset range, the rotation direction and speed of the rotary dial can be adjusted via a rotary drive mechanism, or the movement speed of the guide ring can be adjusted via a linear drive mechanism. This ensures the cable's tilt relative to the guide ring remains within a controllable range, improving the smoothness of cable deployment and retrieval and preventing jamming. Furthermore, pressure fluctuations from the pressure sensors can be analyzed to determine whether the cable is in motion and its speed.

[0017] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0019] Figure 1 This is one of the schematic diagrams of the tethered drone cable deployment and retrieval device provided in the embodiments of the present invention.

[0020] Figure 2 This is the second schematic diagram of the tethered drone cable deployment and retrieval device provided in the embodiments of the present invention.

[0021] Figure 3This is one of the schematic diagrams showing the connection between the rotary drive mechanism and the turntable in the tethered drone cable deployment and retrieval device provided in this embodiment of the invention.

[0022] Figure 4 This is the second schematic diagram showing the connection between the rotary drive mechanism and the turntable in the tethered UAV cable deployment and retrieval device provided in this embodiment of the invention.

[0023] Figure 5 This is one of the schematic diagrams of the pressure detection mechanism in the tethered unmanned aerial vehicle cable deployment and retrieval device provided in the embodiments of the present invention.

[0024] Figure 6 This is the second schematic diagram of the pressure detection mechanism in the tethered drone cable deployment and retrieval device provided in this embodiment of the invention.

[0025] Figure 7 This is the third schematic diagram of the pressure detection mechanism in the tethered unmanned aerial vehicle cable deployment and retrieval device provided in this embodiment of the invention.

[0026] Figure 8 This is a cross-sectional view of the pressure detection mechanism in the tethered drone cable deployment and retrieval device provided in an embodiment of the present invention.

[0027] Figure 9 yes Figure 8 A magnified view of part A in the diagram.

[0028] Figure 10 This is a schematic diagram of the rotary drive mechanism in the tethered drone cable deployment and retrieval device provided in an embodiment of the present invention.

[0029] Figure 11 This is a schematic diagram showing the connection between the linear drive mechanism and the pressure detection mechanism in the tethered drone cable deployment and retrieval device provided in this embodiment of the invention.

[0030] Figure label: 100. Vertical winding reel; 110. Outer cylinder; 120. Inner cylinder; 200. Turntable; 300. Rotary drive mechanism; 310. First motor; 320. Reducer; 330. Electric slip ring; 331. Electric slip ring stator; 332. Electric slip ring rotor; 340. Electric slip ring limit seat; 350. Connecting flange; 400. Pressure detection mechanism; 410. Guide assembly; 411. Guide ring seat; 412. Guide ring; 4121. Protrusion; 413. Guide groove; 414. Liner; 4141. Second receiving groove; 420. Pressure detection assembly; 421. Pressure sensor; 430. Mounting base; 500. Linear drive mechanism; 510. Second motor; 520. Transmission assembly; 530. Push rod. Detailed Implementation

[0031] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0032] In the description of the embodiments of the present invention, it should be noted that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the embodiments of the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the embodiments of the present invention. In addition, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0033] In the description of the embodiments of the present invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "connected" and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in the embodiments of the present invention according to the specific circumstances.

[0034] In embodiments of the present invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0035] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0036] The following is combined with Figures 1 to 11 This invention describes the tethered unmanned aerial vehicle (UAV) cable deployment and retrieval device.

[0037] See Figures 1 to 11 As shown, the tethered UAV cable deployment and retrieval device provided in this embodiment of the invention includes: a vertical winding reel 100, a turntable 200, a rotary drive mechanism 300, a pressure detection mechanism 400, and a linear drive mechanism 500.

[0038] The vertical winding reel 100 includes an outer cylinder 110 and an inner cylinder 120 coaxially arranged, with a first receiving groove formed between the outer cylinder 110 and the inner cylinder 120 for accommodating cables; a rotary turntable 200 is rotatably connected to the inner cylinder 120; the output end of a rotary drive mechanism 300 is drively connected to the rotary turntable 200 to drive the rotary turntable 200 to rotate circumferentially along the vertical winding reel 100; the pressure detection mechanism 400 includes a guide assembly 410 and a pressure detection assembly 420, the guide assembly 410 including a guide ring seat 411 and a guide ring 412, the guide ring seat 411 being movably disposed on the rotary turntable 200 along the length direction of the rotary turntable 200, and the guide ring 412 being radially floatingly connected to the guide ring seat 411, the guide ring 412 forming a guide... The guide groove 413 has an inner diameter larger than the outer diameter of the cable. The pressure detection assembly 420 includes multiple pressure sensors 421, which are circumferentially spaced between the guide ring seat 411 and the guide ring 412. The fixed end of the pressure sensor 421 is connected to the guide ring seat 411, and the detection end of the pressure sensor 421 faces the guide ring 412. In the initial state, the guide ring seat 411 and the guide ring 412 are coaxially arranged, and there is a radial gap between the detection end of the pressure sensor 421 and the guide ring 412. The linear drive mechanism 500 is located on the actuating turntable 200, and the output end of the linear drive mechanism 500 is connected to the guide ring seat 411 to drive the guide ring seat 411 to move along the length direction of the actuating turntable 200.

[0039] The tethered drone cable deployment and retraction device provided by the present invention can drive the pressure detection mechanism 400 to rotate circumferentially using the turntable 200 connected to the output end of the rotary drive mechanism 300, and drive the pressure detection mechanism 400 to move radially along the vertical reel 100 using the linear drive mechanism 500. The guide ring 412 on the guide ring seat 411 guides the cable, so that the cable can be wound layer by layer from the inside to the outside or from the outside to the inside along the circumferential direction into the second receiving groove 4141 of the vertical reel 100, or released from the second receiving groove 4141. Simultaneously, during cable deployment and retrieval, multiple pressure sensors 421 circumferentially positioned between the guide ring 411 and the guide ring 412 can determine the cable's orientation. The pressure values ​​detected by the sensors 421 can be analyzed to determine the cable's degree of tilt relative to the vertical direction, identifying whether the cable is in an excessively tilted state unfavorable to deployment and retrieval. If the pressure value detected by the sensors 421 exceeds a preset range, the rotation direction and speed of the rotary dial 200 can be adjusted via the rotary drive mechanism 300, or the moving speed of the guide ring 412 can be adjusted via the linear drive mechanism 500. This ensures the cable's tilt relative to the guide ring 412 remains within a controllable range, thereby improving the smoothness of cable deployment and retrieval and preventing jamming. Furthermore, pressure fluctuations from the sensors 421 can be used to analyze whether the cable is in motion and its speed.

[0040] Specifically, during cable winding and unwinding, the cable is threaded through the guide groove 413. The rotary drive mechanism 300 drives the turntable 200 to rotate. When the turntable 200 rotates, it drives the cable to move circumferentially through the guide groove 413. At the same time, the linear drive mechanism 500 can drive the guide ring seat 411 to move radially along the vertical winding reel 100. The cable is driven to move radially along the vertical winding reel 100 through the guide groove 413, so that while being unwound, it is wound onto the vertical winding reel 100 layer by layer from the inside to the outside or from the outside to the inside in the circumferential direction, or unwound from the vertical winding reel 100 layer by layer.

[0041] To ensure smooth deployment and retraction of the cable under the guidance of the guide groove 413, the inner diameter of the guide groove 413 is set to be larger than the outer diameter of the cable. Since the cable cannot be guaranteed to remain perfectly vertical during deployment and retraction, it will exhibit a certain degree of tilt. In this case, the cable will contact either side of the guide groove 413 along the circumference, generating radial pressure on the guide ring 412. Since the guide ring 412 is radially floatingly connected to the guide ring seat 411, when subjected to this radial pressure, the detection end of at least one pressure sensor 421 on that side contacts the guide ring 412. The pressure sensor 421 detects the pressure value, and the degree of cable tilt can be determined based on the pressure value (the greater the pressure value, the greater the degree of cable tilt). Once the degree of cable skew is determined, the rotation direction and speed of the turntable 200 can be adjusted by the rotary drive mechanism 300, and the moving speed of the guide ring seat 411 can be adjusted by the linear drive mechanism 500, so that the degree of cable skew relative to the guide ring 412 is within a controllable range, thereby improving the smoothness of cable winding and unwinding and preventing jamming during cable winding and unwinding.

[0042] The UAV cable deployment and take-up device provided by the present invention includes: a vertical take-up reel 100, a turntable 200, a rotary drive mechanism 300, a pressure detection mechanism 400, and a linear drive mechanism 500.

[0043] See Figure 1 and Figure 2 As shown, the vertical winding reel 100 is used to wind up cables and includes an outer cylinder 110 and an inner cylinder 120 arranged coaxially. A first receiving groove for accommodating cables is formed between the outer cylinder 110 and the inner cylinder 120, and a second receiving groove 4141 is annular. Both the outer cylinder 110 and the inner cylinder 120 can be formed by welding profiles and plates.

[0044] Preferably, in this embodiment, the diameter of the inner cylinder 120 gradually decreases from bottom to top, so that the outer contour of the inner cylinder 120 forms a conical frustum structure, which can guide the cable during winding, making it easier for the cable to be wound around the inner cylinder 120 from bottom to top and from inside to outside, thus improving the stability during winding.

[0045] See Figure 3 and Figure 4 As shown, the actuating turntable 200 is configured to connect to the output end of the rotary drive mechanism 300 for circumferential rotation via the guide ring seat 411 and guide ring 412 to wind onto or unwind from the vertical take-up reel 100. It should be noted that the length direction of the actuating turntable 200 can be considered as the radial direction of the vertical take-up reel 100.

[0046] The output end of the rotary drive mechanism 300 is connected to the rotary turntable 200 to drive the rotary turntable 200 to rotate circumferentially along the vertical take-up reel 100. This drives the cable to be wound onto the vertical take-up reel 100 or unwound from the vertical take-up reel 100 along a set path via the guide ring 412 on the rotary turntable 200.

[0047] The rotary drive mechanism 300 can be driven by a motor, and the rotational speed can be limited within a set range by transmission components such as a speed reducer 320.

[0048] The pressure detection mechanism 400 is used to detect the tilt position and tilt angle of the cable during the cable winding and unwinding process. Based on the tilt position and tilt angle of the cable, the rotation speed and direction of the rotary table 200 and the speed at which the linear drive mechanism 500 drives the guide ring seat 411 are adjusted, so that the tilt angle of the cable is always within a controllable range, thereby improving the smoothness of cable winding and unwinding and preventing jamming during cable winding and unwinding.

[0049] See Figures 5 to 7 As shown, the guide assembly 410 includes a guide ring seat 411 and a guide ring 412. The guide ring seat 411 supports and fixes the guide ring 412. Along the length of the rotary dial 200, the guide ring seat 411 is movably disposed on the rotary dial 200 so that it can be driven to move by the linear drive mechanism 500, thereby driving the cable to move along the set take-up and release path. The guide ring 412 forms a guide groove 413 to guide the cable.

[0050] See Figure 3 and Figure 4 As shown in the figure, as an example, in this embodiment, the pressure detection mechanism 400 further includes a mounting base 430, and a guide ring seat 411 is disposed on the mounting base 430. The actuating turntable 200 is provided with a slide rail along its length, and the mounting base 430 is provided with a sliding sleeve that matches the slide rail, that is, the guide ring seat 411 is configured to be slidably connected to the actuating turntable 200 through the mounting base 430.

[0051] The guide ring 412 is radially floatingly connected to the guide ring seat 411, meaning that the guide ring 412 can move radially relative to the guide ring seat 411 within a set range. This allows the guide ring 412 to be driven towards one side when a cable is pressed against it, and the outer wall of the guide ring 412 to apply pressure to at least one pressure sensor 421 on that side. There are various ways in which the guide ring 412 is radially floatingly connected to the guide ring seat 411. For example, multiple elastic elements (such as springs) can be circumferentially spaced between the guide ring 412 and the guide ring seat 411, and the guide ring 412 can be radially floatingly connected to the guide ring seat 411 using these elastic elements.

[0052] See Figures 3 to 6As shown, the pressure detection assembly 420 includes multiple pressure sensors 421, which are circumferentially spaced between the guide ring seat 411 and the guide ring 412. The fixed end of the pressure sensor 421 is connected to the guide ring seat 411 to effectively fix the pressure sensor 421 and ensure its stability during operation. Simultaneously, in the initial state, a radial gap is provided between the detection end of the pressure sensor 421 and the outer wall of the guide ring 412 (see...). Figure 5 As shown in the figure, this ensures that the detection end of the pressure sensor 421 does not contact the guide ring 412 in the initial state, thus preventing false triggering.

[0053] The number of pressure sensors 421 can be adaptively set according to the inner diameter. For example, when the inner diameter is large, a larger number of pressure sensors 421 can be set to improve the detection accuracy; correspondingly, when the inner diameter is small, a relatively smaller number of pressure sensors 421 can be set to reduce costs.

[0054] Preferably, in this example, multiple pressure sensors 421 are evenly spaced circumferentially between the guide ring seat 411 and the guide ring 412, meaning that the spacing between adjacent pressure sensors 421 is the same, so as to achieve better detection effect when the cable is tilted in any direction. Of course, at least some of the pressure sensors 421 can also be set to non-uniformly distributed according to actual needs, and there is no special limitation on this.

[0055] See Figure 3 and Figure 4 As shown, as an example, in this embodiment, the number of pressure sensors 421 is 16.

[0056] The linear drive mechanism 500 is used to drive the guide ring seat 411 to move along the length of the turntable 200 so as to guide the cable to move in an inward or outward direction via the guide assembly 410.

[0057] The linear drive mechanism 500 can be a hydraulic / pneumatic / electric actuator 530, a screw mechanism, or a rack and pinion mechanism, which are known in the prior art, and there is no special limitation thereto. For example, when a hydraulic / pneumatic / electric actuator 530 is used, the output end can be connected to the guide ring seat 411 to push or pull the guide ring seat 411 to move along the length direction of the actuating turntable 200.

[0058] According to some embodiments of the present invention, the pressure detection mechanism 400 further includes a reset assembly, which includes a plurality of reset springs. The plurality of reset springs are circumferentially spaced between the guide ring seat 411 and the guide ring 412. The first end of the reset spring is connected to the guide ring seat 411, and the second end of the reset spring is connected to the guide ring 412.

[0059] By setting a reset component, the guide ring 412 can be coaxially set with the guide ring seat 411 in the initial state, avoiding false triggering of the pressure sensor 421. At the same time, when the cable is retracted or extended, the reset spring can apply a radial elastic force to the guide ring 412, driving the guide ring 412 back to the initial position.

[0060] Preferably, in this example, multiple reset springs are evenly spaced circumferentially between the guide ring seat 411 and the guide ring 412 to provide a uniform reset force in all directions.

[0061] Similarly, the number of return springs can be set according to the radial dimensions of the guide ring seat 411 and / or guide ring 412. For example, when the radial dimensions of the guide ring seat 411 and / or guide ring 412 are large, a larger number of return springs can be provided to provide sufficient elastic force for the guide ring 412 to return. When the radial dimensions of the guide ring seat 411 and / or guide ring 412 are small, a smaller number of return springs can be provided to simplify the structure and reduce costs.

[0062] As an example, in this embodiment, the number of return springs is four.

[0063] According to some embodiments of the present invention, the reset assembly further includes a plurality of threaded adjustment members corresponding one-to-one with the reset spring, the ends of the threaded adjustment members abutting against the first end of the reset spring, and the threaded adjustment members being threadedly connected to the guide ring seat 411 in the radial direction.

[0064] By setting a threaded adjustment element, the compression of the return spring can be adjusted radially, so that the guide ring 412 and the guide ring seat 411 can remain coaxial in the initial state.

[0065] For example, in the initial state, when the distance between one side of the guide ring 412 and the guide ring seat 411 is large, the threaded adjusting member can be rotated inward to reduce the distance between that side and the guide ring seat 411; correspondingly, when the distance between one side of the guide ring 412 and the guide ring seat 411 is small, the threaded adjusting member can be rotated outward to increase the distance between that side and the guide ring seat 411.

[0066] According to some embodiments of the present invention, the guide ring seat 411 is provided with a plurality of positioning grooves in the radial direction, each corresponding to a reset spring, and the reset spring is disposed in the corresponding positioning groove.

[0067] By setting a positioning groove, the reset spring can be limited and fixed, ensuring that the elastic force applied to the guide ring 412 is always axial (radial) of the reset spring, and effectively ensuring the positional stability of the reset spring during operation, preventing it from shifting.

[0068] According to some embodiments of the present invention, the reset assembly further includes a plurality of nuts corresponding one-to-one with the threaded adjustment member, the plurality of nuts being circumferentially spaced on the outer wall of the guide ring seat 411, and the threaded adjustment member being radially threadedly connected to the corresponding nut.

[0069] By setting multiple nuts, it is possible to avoid opening threaded holes on the guide ring seat 411, thereby reducing the difficulty of machining and manufacturing the guide ring seat 411.

[0070] In practice, it is preferable to directly weld multiple nuts to the designated positions on the outer wall of the guide ring seat 411, which is simple to operate and has strong stability.

[0071] See Figure 8 and Figure 9 As shown, according to some embodiments of the present invention, the guide assembly 410 further includes a liner 414, which is embedded in the inner wall of the guide ring seat 411. The liner 414 is provided with a second receiving groove 4141 in the circumferential direction. The outer wall of the guide ring 412 is provided with a protruding edge 4121 in the circumferential direction. At least a portion of the protruding edge 4121 is located in the second receiving groove 4141. In the initial state, the protruding edge 4121 and the second receiving groove 4141 are provided with a radial gap.

[0072] By providing an inner liner 414, direct contact between the radially floating guide ring 412 and the guide ring seat 411 can be avoided, thus preventing friction and wear between the guide ring 412 and the guide ring seat 411 during operation and extending their service life.

[0073] Specifically, the lining 414 can be made of materials with high wear resistance, such as nylon, engineering ceramics, polyamide (PA), or silicon carbide (SiC). These materials all possess high wear resistance, temperature resistance, and corrosion resistance, enabling them to maintain optimal performance over long-term use.

[0074] The protruding edge 4121 can be connected to the outer wall of the guide ring 412 by welding, or it can be integrally set with the guide ring 412, and there is no special limitation on this.

[0075] According to some embodiments of the present invention, the liner 414 includes liner sections arranged adjacent to each other in the circumferential direction, the liner sections being embedded in the inner wall of the guide ring seat 411.

[0076] By setting the inner liner 414 as a structure of multiple adjacent inner liner segments, it is easy to embed it into the inner wall of the guide ring seat 411, simplifying the operation.

[0077] Specifically, if the inner liner 414 is designed as a single ring, it is difficult to embed it into the inner wall of the guide ring seat 411 because it is made of a rigid material. When the inner liner 414 is designed as multiple adjacent inner liner segments, each inner liner segment can be embedded into the inner wall of the guide ring seat 411 in sequence, which simplifies the operation without affecting its functionality.

[0078] See Figure 7 As shown, according to some embodiments of the present invention, in the initial state, the protruding edge 4121 and the second receiving groove 4141 are provided with an axial gap.

[0079] By setting an axial gap between the convex edge 4121 and the second receiving groove 4141 in the initial state, the guide ring 412 can move axially relative to the guide ring seat 411, thereby preventing the guide ring 412 from getting stuck.

[0080] Specifically, if there is no axial gap between the protruding edge 4121 and the second receiving groove 4141 in the initial state, the guide ring 412 is prone to jamming due to insufficient precision during radial floating. When an axial gap is provided, the effect of insufficient precision can be eliminated through this gap, allowing the guide ring 412 to float smoothly radially.

[0081] See Figures 5 to 7 As shown, according to some embodiments of the present invention, the guide ring seat 411 includes two sub-ring seats disposed opposite each other, and the two sub-ring seats are detachably connected.

[0082] By setting the guide ring seat 411 as two sub-ring seats that are opposite to each other and detachably connected, the installation of the guide ring 412 can be facilitated, simplifying the operation.

[0083] Specifically, during assembly, the guide ring 412 can be placed between the two sub-ring seats first, and then the two sub-ring seats can be connected.

[0084] As an example, the two sub-ring seats in this embodiment are connected by a threaded connector.

[0085] See Figure 10As shown, according to some embodiments of the present invention, the rotary drive mechanism 300 includes a first motor 310, a reducer 320, and an electric slip ring 330. The first motor 310 is disposed in the inner cylinder 120, and the output shaft of the first motor 310 is drivenly connected to the reducer 320. The electric slip ring 330 includes an electric slip ring stator 331 and an electric slip ring rotor 332. The electric slip ring stator 331 is fixedly connected to the inner cylinder 120. The input end of the electric slip ring rotor 332 is drivenly connected to the output shaft of the reducer 320, and the output end of the electric slip ring rotor 332 is drivenly connected to the turntable 200. The electric slip ring rotor 332 is provided with rotor wires, and the rotor wires are electrically connected to the pressure detection mechanism 400 and the linear drive mechanism 500.

[0086] By configuring the rotary drive mechanism 300 to include a first motor 310, a reducer 320, and an electric slip ring 330, the electric slip ring 330 can transmit power and / or data signals to the pressure detection mechanism 400 and the linear drive mechanism 500 without the need for cables, thus preventing cable jamming when the turntable 200 is rotated. Furthermore, the first motor 310, reducer 320, and electric slip ring 330 can be housed inside the inner cylinder 120, reducing the overall space occupied by the device and improving its structural compactness.

[0087] Specifically, the output shaft of the first motor 310 rotates to drive the reducer 320. The reducer 320, through an acceleration mechanism, can control the speed of the output shaft of the first motor 310 within a suitable range to prevent the rotating disk 200 from rotating too fast. The output end of the reducer 320 drives the electric slip ring rotor 332 to rotate, and the electric slip ring rotor 332 further drives the rotating disk 200 to rotate.

[0088] Understandably, the slip ring 330 is equipped with a power supply interface and / or a data interface, the slip ring stator 331 is connected to an external power supply and / or data source, and the slip ring rotor 332 is electrically connected to the stator via the slip ring. The slip ring is fixed to the shaft of the slip ring rotor 332, and the brush contacts the slip ring to transmit current and / or data.

[0089] See Figure 10 As shown, according to some embodiments of the present invention, the rotary drive mechanism 300 further includes an electric slip ring limiting seat 340, which is fixedly connected to the inner cylinder 120. The electric slip ring limiting seat 340 is provided with a limiting pin, and the electric slip ring stator 331 is limited by the limiting pin to restrict the degree of freedom of the electric slip ring stator 331 to rotate axially.

[0090] By setting the electric slip ring limit seat 340, the electric slip ring stator 331 can be fixed on the inner cylinder 120, so that it remains stable during use.

[0091] Specifically, the electric slip ring stator 331 is provided with limiting plates on both sides, and limiting grooves are provided on the limiting plates. At the same time, the electric slip ring limiting seat 340 is provided with limiting pins on both sides. The limiting pins are respectively matched with the corresponding limiting grooves to limit the movement, which can effectively prevent the electric slip ring stator 331 from rotating.

[0092] See Figure 10 As shown, according to some embodiments of the present invention, the rotary drive mechanism 300 further includes a connecting flange 350, through which the electric slip ring rotor 332 is connected to the rotary dial 200 via the connecting flange 350.

[0093] By setting the connecting flange 350, the electric slip ring rotor 332 can be connected to the rotary dial 200, which facilitates the transmission of power to the rotary dial 200.

[0094] See Figure 3 , Figure 4 as well as Figure 11 As shown, according to some embodiments of the present invention, the linear drive mechanism 500 includes a push rod 530, the first end of which is connected to the actuating turntable 200, and the second end of which is connected to the guide ring seat 411.

[0095] By setting the linear drive mechanism 500 to include a push rod 530, the push rod 530 can drive the turntable 200 to move inward or outward along the length of the turntable 200, thereby driving the cable to be wound or unwound according to a set path. It has a simple structure and high control precision.

[0096] The push rod 530 can be hydraulically, pneumatically, or electrically driven, and the choice can be made according to the specific application scenario of the cable-tethered drone, without any special restrictions.

[0097] For example, in this embodiment, the push rod 530 is an electrically driven push rod 530. The linear drive mechanism 500 includes a second motor 510, a transmission assembly 520, and the push rod 530. The output shaft of the second motor 510 is connected to the push rod 530 through the transmission assembly 520. The transmission assembly 520 is used to convert the rotational motion of the second motor 510 into the linear motion of the push rod 530. For example, the transmission assembly 520 can be a worm gear or other mechanism component, and there is no special limitation thereto.

[0098] See Figure 3 , Figure 4 as well as Figure 10 As shown, according to some embodiments of the present invention, the second end of the push rod 530 is hinged to the guide ring seat 411.

[0099] By configuring the second end of the push rod 530 and the guide ring seat 411 as hinged, the machining and assembly errors of the turntable 200 and the guide ring seat 411 can be eliminated by the hinge, so that the cable winding and unwinding guide structure can operate smoothly and prevent jamming.

[0100] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A tethered unmanned aerial vehicle (UAV) cable deployment and retrieval device, characterized in that, include: A vertical winding reel (100) is provided with a first receiving groove for receiving cables; A rotary dial (200) is rotatably connected to the vertical take-up reel (100); A rotary drive mechanism (300) is provided, the output end of which is connected to the actuating turntable (200) to drive the actuating turntable (200) to rotate circumferentially along the vertical take-up reel (100). A pressure detection mechanism (400) includes a guide assembly (410) and a pressure detection assembly (420). The guide assembly (410) includes a guide ring seat (411) and a guide ring (412). Along the length of the actuating turntable (200), the guide ring seat (411) is movably disposed on the actuating turntable (200). The pressure detection assembly is used to detect the contact position between the cable and the guide ring (412) when the cable passes through the guide ring (412), and to determine the degree of deviation of the cable relative to the vertical direction. A linear drive mechanism (500) is provided on the rotary dial (200). The output end of the linear drive mechanism (500) is connected to the guide ring seat (411) to drive the guide ring seat (411) to move along the length direction of the rotary dial (200).

2. The UAV cable deployment and take-up device according to claim 1, characterized in that, The guide ring (412) is radially floatingly connected to the guide ring seat (411), and the guide ring (412) has a guide groove (413), the inner diameter of which is larger than the outer diameter of the cable. The pressure detection assembly (420) includes a plurality of pressure sensors (421), which are circumferentially spaced between the guide ring seat (411) and the guide ring (412). The fixed end of the pressure sensor (421) is connected to the guide ring seat (411), and the detection end of the pressure sensor (421) faces the guide ring (412). In the initial state, the guide ring seat (411) and the guide ring (412) are coaxially arranged, and a radial gap is provided between the detection end of the pressure sensor (421) and the guide ring (412).

3. The UAV cable deployment and take-up device according to claim 2, characterized in that, The pressure detection mechanism (400) further includes a reset assembly, which includes a plurality of reset springs. The plurality of reset springs are circumferentially spaced between the guide ring seat (411) and the guide ring (412). The first end of the reset spring is connected to the guide ring seat (411), and the second end of the reset spring is connected to the guide ring (412).

4. The UAV cable deployment and take-up device according to claim 3, characterized in that, The reset assembly also includes a plurality of threaded adjustment members corresponding one-to-one with the reset spring. The end of the threaded adjustment member abuts against the first end of the reset spring, and the threaded adjustment member is threadedly connected to the guide ring seat (411) radially.

5. The UAV cable deployment and take-up device according to claim 4, characterized in that, The guide ring seat (411) is provided with a plurality of guide grooves (413) in the radial direction, each corresponding to a reset spring, and the reset spring is disposed in the corresponding guide groove (413).

6. The UAV cable deployment and take-up device according to claim 1, characterized in that, The guide assembly (410) further includes a liner (414) which is embedded in the inner wall of the guide ring seat (411). The liner (414) has a circumferentially provided receiving groove (4141). The outer wall of the guide ring (412) has a circumferentially provided protruding edge (4121). At least a portion of the protruding edge (4121) is located in the receiving groove (4141). In the initial state, the protruding edge (4121) and the receiving groove (4141) have a radial gap.

7. The UAV cable deployment and take-up device according to claim 1, characterized in that, The rotary drive mechanism (300) includes a first motor (310), a reducer (320) and an electric slip ring (330). The first motor (310) is located on the vertical winding reel (100), and the output shaft of the first motor (310) is connected to the reducer (320) in a transmission connection. The electric slip ring (330) includes an electric slip ring stator (331) and an electric slip ring rotor (332). The electric slip ring stator (331) is fixedly connected to the vertical winding reel (100). The input end of the electric slip ring rotor (332) is drivenly connected to the output shaft of the reducer (320). The output end of the electric slip ring rotor (332) is drivenly connected to the rotary table (200). The electric slip ring rotor (332) is provided with rotor wires, which are electrically connected to the pressure detection mechanism (400) and the linear drive mechanism (500).

8. The UAV cable deployment and take-up device according to claim 7, characterized in that, The rotary drive mechanism (300) also includes an electric slip ring limiting seat (340), which is fixedly connected to the vertical winding reel (100). The electric slip ring limiting seat (340) is provided with a limiting pin, and the electric slip ring stator (331) is limited by the limiting pin to restrict the degree of freedom of the electric slip ring stator (331) to rotate along the axial direction. And / or, the rotary drive mechanism (300) further includes a connecting flange (350), through which the electric slip ring rotor (332) is drive-connected to the actuating turntable (200).

9. The tethered unmanned aerial vehicle (UAV) cable deployment and retraction device according to claim 1, characterized in that, The linear drive mechanism (500) includes a push rod (530), the first end of which is connected to the actuating turntable (200), and the second end of which is connected to the guide ring seat (411).

10. The tethered unmanned aerial vehicle (UAV) cable deployment and retraction device according to claim 9, characterized in that, The second end of the push rod (530) is hinged to the guide ring seat (411).

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