EP2813456B1 - Freinage par câble et dispositif de réglage de la tension vers l'arrière - Google Patents

Freinage par câble et dispositif de réglage de la tension vers l'arrière Download PDF

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Publication number
EP2813456B1
EP2813456B1 EP13171399.2A EP13171399A EP2813456B1 EP 2813456 B1 EP2813456 B1 EP 2813456B1 EP 13171399 A EP13171399 A EP 13171399A EP 2813456 B1 EP2813456 B1 EP 2813456B1
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EP
European Patent Office
Prior art keywords
cable
spool
tension
actuator
braking
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Not-in-force
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EP13171399.2A
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German (de)
English (en)
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EP2813456A1 (fr
Inventor
Guntis Kulikovskis
Agris Nikitenko
Einars Deksnis
Martins Ekmanis
Aleksis Liekna
Ilze Andersone
Kintija Priedniece
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Rigas Tehniska Universitate
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Rigas Tehniska Universitate
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Priority to EP13171399.2A priority Critical patent/EP2813456B1/fr
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Application granted granted Critical
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H75/00—Storing webs, tapes, or filamentary material, e.g. on reels
    • B65H75/02—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks
    • B65H75/34—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks specially adapted or mounted for storing and repeatedly paying-out and re-storing lengths of material provided for particular purposes, e.g. anchored hoses, power cables
    • B65H75/38—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks specially adapted or mounted for storing and repeatedly paying-out and re-storing lengths of material provided for particular purposes, e.g. anchored hoses, power cables involving the use of a core or former internal to, and supporting, a stored package of material
    • B65H75/44—Constructional details
    • B65H75/4436—Arrangements for yieldably braking the reel or the material for moderating speed of winding or unwinding
    • B65H75/4442—Arrangements for yieldably braking the reel or the material for moderating speed of winding or unwinding acting on the reel
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H59/00—Adjusting or controlling tension in filamentary material, e.g. for preventing snarling; Applications of tension indicators
    • B65H59/38—Adjusting or controlling tension in filamentary material, e.g. for preventing snarling; Applications of tension indicators by regulating speed of driving mechanism of unwinding, paying-out, forwarding, winding, or depositing devices, e.g. automatically in response to variations in tension
    • B65H59/384—Adjusting or controlling tension in filamentary material, e.g. for preventing snarling; Applications of tension indicators by regulating speed of driving mechanism of unwinding, paying-out, forwarding, winding, or depositing devices, e.g. automatically in response to variations in tension using electronic means
    • B65H59/387—Regulating unwinding speed
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F41—WEAPONS
    • F41H—ARMOUR; ARMOURED TURRETS; ARMOURED OR ARMED VEHICLES; MEANS OF ATTACK OR DEFENCE, e.g. CAMOUFLAGE, IN GENERAL
    • F41H7/00—Armoured or armed vehicles
    • F41H7/005—Unmanned ground vehicles, i.e. robotic, remote controlled or autonomous, mobile platforms carrying equipment for performing a military or police role, e.g. weapon systems or reconnaissance sensors
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F42—AMMUNITION; BLASTING
    • F42B—EXPLOSIVE CHARGES, e.g. FOR BLASTING, FIREWORKS, AMMUNITION
    • F42B15/00—Self-propelled projectiles or missiles, e.g. rockets; Guided missiles
    • F42B15/01—Arrangements thereon for guidance or control
    • F42B15/04—Arrangements thereon for guidance or control using wire, e.g. for guiding ground-to-ground rockets
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2701/00—Handled material; Storage means
    • B65H2701/30—Handled filamentary material
    • B65H2701/34—Handled filamentary material electric cords or electric power cables

Definitions

  • the present invention relates to a cable braking and backward tension device and in particular to a device for providing a braking and backwards pulling force to an advancing cable for linear position sensors for self-propelled robots.
  • a cable on a spool commonly has been used for a precision measurement of a self-propelled robot position.
  • the spool is attached to a stand and the free end of the cable to the robot.
  • the cable unwinds from the spool and by measuring the length of the unwound cable the distance from the stand to the robot can be measured.
  • the cable length may be measured by measuring the rotation angle of the spool.
  • Such a device may further comprise an angle sensor to determine the robot's position on a plane, or two angular sensors if the robot position needs to be determined in space.
  • the U.S. patent No. 5,236,144 discloses a cable extension linear position transducer, where a spool is attached to a spring providing a tension force to the cable.
  • This solution enables to prevent formation of the cable curvature.
  • This device has the following disadvantages.
  • First is an uncontrollable non-linear character of the provided tensions force, which is the function only of length of the cable advanced from the spool. Thereby the device cannot respond to fast sudden changes in measuring distance that may cause unwanted curvature of the cable and errors in measurements.
  • Second is inability to change the spring without disassembling the device. While the device itself might be used under different measuring setups, the tensions force cannot be adjusted without mechanical change of the spring.
  • a cable braking device is disclosed in the patent EP 0440246 B1 , which provides two stage breaks: a mechanical and eddy current brakes. Both are motion dependant, which means that the applied breaking force and the resulting cable tension force is a function of the cable advancing speed.
  • This braking device is universally applicable for any cable, which is pulled out from the spool.
  • the main disadvantage of this device is its cable tension force, which depends on the spool rotation speed. It means that, while the cable is advanced slowly, the cable tension force is low.
  • the U.S. patent No. 6,543,152 describes a measuring cable travel sensor that includes a housing accommodating a measuring cable drum and a rotary spring urging the cable drum in the direction of winding a measuring cable thereon.
  • Several braking magnets are arranged on the housing to provide for magnetic control of the rotary movement.
  • An eddy current produced in the drum prevents an excessive acceleration of the cable drum.
  • the provided tension is not enough and thus causes cable to curve, which consequently causes the decrease of measurement precision. Therefore, apart from having additional protection from excessive acceleration of the cable drum this sensor does not provide any substantial improvement over a traditional spring powered sensors.
  • the patent application GB 795 085 A disclosed an apparatus for exerting a substantially constant tension in a moving wire or filament comprising a carrier for the wire that include a part made of metal, and being free to rotate, one or more magnets disposed with their pole pieces adjacent the metallic part of the carrier, and means for rotating the magnet or magnets at a speed much highter than that of the carrier and in a direction opposite to that of the carrier.
  • the magnet rotates magnetic lines of force from the magnet cut the metal currier and generate eddy currents, the magnetic field associated with which reacts with the field due to the magnet to produce a torque tending to reduce the relative motion between the magnet and the carrier.
  • This apparatus is capable of producing a constant tension in a moving wire when the wire is pulled out from the carrier.
  • US 7 331 436 B1 discloses a self-propelled robot position measuring apparatus comprising a cable braking and backward tension device for providing a braking and backward pulling force to a cable.
  • a braking and backward pulling arrangement consisting of a cable spool, a brake disk with permanent magnets attached to it and an actuator, which can rotate the brake disk in relation to the spool with variable rotation speed.
  • the spool is made of paramagnetic material.
  • the most useful advantage of the proposed device is a possibility to provide constantly adjusting the drug forces and, as a consequence, the cable tension.
  • Another useful advantage of the proposed device is a possibility to set the level of drug forces and, as a consequence, the cable tension, tailoring it to particular usage modes.
  • cable is intended to encompass all linear structures, such as wires, yams, bands, strands, ropes and the like.
  • Figure 2 is a schematic view of a device embodying the current invention and Figure 3 is the same device as in Figure 2 shown in a partial section revealing the inner construction of the device.
  • the spool position sensor 1 is attached to the device stand 2.
  • the spool 3 is mounted on a shaft 8, which is supported for free rotation in relation to the stand 2.
  • the spool position sensor 1 is attached, which can be used to determine the length of the cable 4 advanced from the spool 3.
  • the brake disk 5 is supported by another shaft 9.
  • the actuator 6 is also supported by the shaft 9, which allows the actuator to rotate the brake disk 5 at a speed set by a speed controller 10.
  • the shafts 8 and 9 do not depend on each other, allowing the brake disk 5 and spool 3 to rotate with any speed difference relative to each other.
  • a set of permanent magnets 7 is attached to the brake disk 5, which in case of relative speed difference between the brake disk 5 and the spool 3 that is made of ferromagnetic or paramagnetic material generates eddy currents in the spool 3.
  • the generated in the spool 3 eddy currents provide a force that affects the spool 3 rotation in the same direction as the break disk 5 rotates.
  • the actuator 6 rotates in the opposite direction of the cable advancing direction, then it produces a substantially unchanging tension of the cable 4.
  • the cable 4, which is coiled on the spool 3 can be advanced out of the spool or wound into the spool using only the produced tension force.
  • the tension force of the cable 4 is increased accordingly.
  • This effect provides means to react on a sudden increase of the cable 4 advancing speed in a way that brake disk 5 rotation speed relative to the spool 3 rotation speed increases accordingly and thereby increases generated tension force of the cable 4 acting as a brake preventing the cable 4 from fouling.
  • the generated cable 4 tension force may be adjusted to particular measuring environments by adjusting actuator 6 rotation speed. It is done by the tension force controller 10 providing control signals to the actuator 6 through control lines 11.
  • the torque transfer device 12 is an eddy current clutch formed by the brake disk 5 and the spool 3.
  • the length of the cable 4 advanced from the spool 3 is determined by the sensor 1, which submits the length data to the tension force controller 10 through the signal line 13.
  • the tension force controller 10, using the data about the length of advanced cable 4, adjusts the rotation speed of the actuator 6 through the control connections 11.
  • the cable 4, which is coiled on the spool 3 can be advanced out of the spool or pulled into the spool only using the produced tension force.
  • the tension force produced by the eddy current clutch 12 on the cable 4 is increased accordingly.
  • L l + l 2 ⁇ g 2 24 ⁇ ⁇ 2 + l 5 ⁇ g 4 384 ⁇ ⁇ 4
  • L a total length of the cable advanced from the spool
  • I a measuring distance without sag
  • g a specific load of the cable caused by its own weight only
  • the tension force control rule can be derived from only the second component of the catenary equation: l 2 ⁇ g 2 24 ⁇ ⁇ 2 because it provides sufficient precision in most cases. To implement the tension force control rule any appropriate controller component may be used.
  • the device embodying the current invention may be advantageously applied, for example, in the following application domains:

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Combustion & Propulsion (AREA)
  • Tension Adjustment In Filamentary Materials (AREA)

Claims (5)

  1. Un appareil de mesure de position de robot automoteur comprenant un câble de freinage et un dispositif de tension vers l'arrière (14) pour fournir un freinage et la force de traction vers l'arrière à un câble (4) comprend:
    un éventaire (2),
    une bobine (3) rotativement attachée à l'éventaire (2), la bobine (3) étant adapté pour le câble (4) est prévu pour être enroulée sur lui,
    un disque (5) de freinage avec une pluralité d'aimants permanents (7) attachés à cela, le disque (5) de freinage étant attaché rotativement à l'éventaire (2),
    un actuateur (6) couplé avec le disque (5) de freinage et configuré pour faire tourner le disque (5) de freinage par rapport à la bobine, où
    le disque de freinage (5) est localisé coaxialement avec une bobine (3) et
    où la bobine (3) est faite de la matière paramagnétique,
    le dispositif de tension comprenant de plus
    un régulateur (10) connecté à l'actuateur (6) pour changer une vitesse de rotation de l'actuateur (6) et
    un détecteur de position de bobine (1) installé sur l'éventaire (2) et connecté au régulateur (10) où
    le régulateur est configuré pour calculer la longueur d'une portion dévidée du câble (4) et régler la vitesse de rotation de l'actuateur (6) conformément à la longueur mentionnée.
  2. L'appareil selon la revendication 1 où le détecteur de position de bobine (1) est un détecteur de position de bobine angulaire.
  3. L'appareil selon la revendication 1 ou 2 où le régulateur est configuré pour régler la vitesse de rotation de l'actuateur selon une règle de tension conduite de l'équation caténaire: L = l + l 2 ⋅ g 2 24 ⋅ σ 2 + l 5 ⋅ g 4 384 ⋅ σ 4
    Figure imgb0011
  4. L'appareil selon la revendication 3 où la règle de tension est F = l 2 ⋅ g 2 ⋅ S 2 24 ⋅ ε
    Figure imgb0012
  5. L'appareil selon la revendication 3 où la règle de tension est F = l 2 ⋅ g 2 24 ⋅ σ 2 .
    Figure imgb0013
EP13171399.2A 2013-06-11 2013-06-11 Freinage par câble et dispositif de réglage de la tension vers l'arrière Not-in-force EP2813456B1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
EP13171399.2A EP2813456B1 (fr) 2013-06-11 2013-06-11 Freinage par câble et dispositif de réglage de la tension vers l'arrière

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
EP13171399.2A EP2813456B1 (fr) 2013-06-11 2013-06-11 Freinage par câble et dispositif de réglage de la tension vers l'arrière

Publications (2)

Publication Number Publication Date
EP2813456A1 EP2813456A1 (fr) 2014-12-17
EP2813456B1 true EP2813456B1 (fr) 2017-01-11

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ID=48613482

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Application Number Title Priority Date Filing Date
EP13171399.2A Not-in-force EP2813456B1 (fr) 2013-06-11 2013-06-11 Freinage par câble et dispositif de réglage de la tension vers l'arrière

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Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP7030825B2 (ja) * 2017-02-09 2022-03-07 インヴェンサス ボンディング テクノロジーズ インコーポレイテッド 接合構造物
CN106966239A (zh) * 2017-05-15 2017-07-21 新疆源盛科技发展有限公司 盘条机和盘条机系统
CN110411381B (zh) * 2019-08-06 2021-07-13 许昌学院 一种适用电机定子的自动校正平整度多点检测设备

Family Cites Families (9)

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Publication number Priority date Publication date Assignee Title
GB795085A (en) * 1955-05-19 1958-05-14 Standard Telephones Cables Ltd Tensioning apparatus
DE3905216A1 (de) * 1988-02-24 1989-09-07 Zahnradfabrik Friedrichshafen Elektrisch steuerbare hysteresekupplung
JPH02310268A (ja) * 1989-05-25 1990-12-26 Nippon Bisoo Kk 索条用のリール装置
KR910021550A (ko) 1990-02-02 1991-12-20 발터 쾰러 와이어 브레이크
US5236144A (en) 1992-04-13 1993-08-17 Johnson Service Company Cable extension linear position transducer
DE19859444C2 (de) 1998-12-22 2000-11-16 Asm Automation Sensorik Messte Meßseilwegsensor
US7331436B1 (en) * 2003-03-26 2008-02-19 Irobot Corporation Communications spooler for a mobile robot
US20060071116A1 (en) * 2004-09-27 2006-04-06 Quenneville Steven R Cable dispensing and retrieval
DE102006031310A1 (de) * 2006-07-06 2008-01-24 Zf Friedrichshafen Ag Hysteresekupplung

Non-Patent Citations (1)

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Title
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