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US 10,301,143 B2Granted
Sensor equipped tether guide with open tether channel
AssigneeMakani Technologies LLC
InventorsAbhimanyu Belani, Elias Patten, Robert Nelson, Brian Hachtmann, Gabriel Murphy
Life of this patent
Estimating the term…
Abstract
A tether guide operable through a wide range of tether/fleeting angles while causing minimal wear and having a reduced size compared to a levelwind wheel. The tether guide may include a series of rollers approximating the curved shape and radius of levelwind wheel. The tether guide may include downward facing guide wings matched to a curved roller profile, but flaring out to capture and guide tether into rollers. Sensors may be included on the tether guide to provide information about tether location, including whether the tether is engaged in the tether guide.
Claims20
A tether guide comprising:
- a first retaining structure comprising a cassette plate, a front horizontal roller, and a rear horizontal roller;
- a second retaining structure comprising a first plurality of vertical rollers extending outward from the cassette plate;
- a third retaining structure comprising a second plurality of vertical rollers extending outward from the cassette plate, wherein the third retaining structure is disposed opposite the second retaining structure;
- and
- wherein the first, second, and third retaining structures together define a three-sided channel with an open fourth side opposite the cassette plate and extending the length of the tether guide and configured to allow a tether to enter and leave the channel via the open fourth side.
2 more elements
A system comprising:
- a winch drum rotatably coupled to a drum support and rotatable about a drum axis, the winch drum comprising a tether winding surface;
- a transverse support coupled to the drum support, wherein the transverse support is offset in a radial direction from the tether winding surface and substantially parallel to the central drum axis;
- a shuttle movably coupled to the transverse support;
- a drive system configured to move the shuttle along the transverse support and substantially parallel to the drum axis along;
- a guide support coupled to the shuttle via a first pivot joint at a proximate end of the guide support and rotatable about a first pivot axis, wherein the first pivot axis is substantially parallel to the central drum axis;
- and
- a tether guide comprising:
- a first retaining structure comprising a cassette plate, a front horizontal roller, and a rear horizontal roller;
- a second retaining structure comprising a first plurality of vertical rollers extending outward from the cassette plate;
- and
- a third retaining structure comprising a second plurality of vertical rollers extending outward from the cassette plate, wherein the third retaining structure is disposed opposite the second retaining structure,
- wherein the first, second, and third retaining structures together define a three-sided channel with an open fourth side opposite the cassette plate and extending the length of the tether guide and configured to allow a tether to enter and leave the channel via the open fourth side, and
- further wherein, the tether guide is coupled to a distal end of the guide support via a second pivot joint rotatable about a second pivot axis that is substantially parallel to the first pivot axis, and wherein the first retaining structure is configured to contact a tether and substantially match an elevation angle of the tether.
10 more elements
A tether guide comprising:
- a first retaining structure;
- a second retaining structure extending downward from the first retaining structure;
- a third retaining structure extending downward from the first retaining structure, wherein the third retaining structure is disposed opposite the second retaining structure, wherein the first, second, and third retaining structures together define a three-sided channel with an open fourth side opposite the first retaining structure and extending the length of the tether guide and configured to allow a tether to enter and leave the channel via the open fourth side;
- and
- a first sensor configured to determine a position of the tether.
2 more elements
Dependencies are inferred from the claim text.