JP2011103709A - Cable processing device for traveling body - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To simplify a structure of a cable processing device by constituting a driving source with one motor, and to make the motor easy to control. <P>SOLUTION: The motor 12 drives a cable drum 14, which winds a cable 4, a traverse camshaft 15, which reciprocates a guide roller 20 in the right and left directions, and a delivery roller 30, which delivers the cable 4. A one-way clutch, which makes the delivery roller 30 rotate idly when winding the cable, is provided between the motor 12 and the delivery roller 30. When the cable is delivered, cable-delivering speed by the delivery roller 30 is faster than the cable-delivering speed by the cable drum 14. If an abnormality of the cable 4 is detected by the delivery roller 30 and a pinch roller 35 when the cable is delivered, the rotational speed of the delivery roller 30 is made faster. If the abnormality of the cable 4 is detected by the delivery roller 30 and the pinch roller 35 when the cable is wound, the rotational speed of the cable drum 14 is made slower. <P>COPYRIGHT: (C)2011,JPO&INPIT

Description

  The present invention relates to a cable processing apparatus for a traveling body that winds and unwinds a cable of a traveling body such as a cable-type mobile robot and a traveling vehicle.

  As an example of this type of traveling body cable processing apparatus, for example, there is one shown in Japanese Patent No. 3035086 (Patent Document 1). That is, the one disclosed in Patent Document 1 includes a cable drum for winding a cable, a drum drive motor for rotating the cable drum, a guide pulley for feeding the cable, and a rotation of the guide pulley. When the cable slacks, the drum drive motor and the pulley drive motor are individually controlled to positively apply tension to the cable between the cable drum and the guide pulley. Thus, the winding failure by the cable drum is prevented.

Japanese Patent No. 3035086

  The traveling body cable processing apparatus as described above requires two motors, a drum drive motor that rotationally drives the cable drum and a pulley drive motor that rotationally drives the guide pulley, and eliminates cable slack. However, there is a problem that it is complicated because the two motors are driven while being controlled individually.

  The present invention has been made in view of the above-described conventional problems, and an object of the present invention is to simplify the structure and facilitate control of the motor by using a single drive source. .

  To achieve this object, the present invention provides a cable drum for winding a cable, a feeding roller for feeding a cable from the cable drum, a traverse cam shaft extending in the axial direction of the cable drum, A cable guide roller that reciprocates in the axial direction of the cable drum by the rotation of the traverse cam shaft, the cable drum, the feeding roller, and the traverse cam shaft are driven by a single motor, and the motor and the A rotation transmission means for increasing the cable feeding speed by the feeding roller between the feeding rollers and the cable feeding speed by the cable drum is interposed, and the motor is driven in this rotation transmission means only in the direction of feeding the cable. A one-way clutch that transmits the Those were.

  The present invention further comprises a cable tension detecting means for detecting the tension of the cable at the time of winding and unwinding of the cable, and the abnormality is detected by the cable tension detecting means at the time of winding the cable. The drive of the motor is controlled so as to slow down the rotation speed of the cable drum, and when an abnormality is detected by the cable tension detecting means at the time of feeding out the cable, the rotation speed of the feeding roller is increased. A control device that controls driving is provided.

  According to the present invention, in any one of the above-described inventions, the cable tension detection means is provided on each of a pair of detection levers supported so as to be swingable in directions facing each other, and swing end portions of the detection levers. A pair of detection rollers that are pivotally urged in a direction to sandwich the cable, and a sensor that detects the swing of the pair of detection levers, and the swing of one detection lever is between the pair of detection levers. Interlocking means for interlockingly swinging the other detection lever by movement is provided, and the sensor is provided in each of the pair of detection levers, and these sensors detect different swing amounts of the detection levers.

  According to the present invention, since the drive source is a single motor, the number of parts and the manufacturing cost can be reduced. Further, when the cable is fed out, the rotational speed of the feeding roller is made faster than the rotational speed of the cable drum, so that no slack of the cable occurs between the cable drum and the feeding roller.

  According to one of the inventions described above, since the cable can be appropriately slacked at the time of winding and unwinding the cable, the cable is not damaged or the cable is not disconnected. Further, in order to give an appropriate slack to the cable, it is only necessary to control the driving of one motor at the time of winding or unwinding the cable, so that the control is easy.

  According to one of the above inventions, when one detection lever swings, the pair of detection levers swings in conjunction with the other detection lever. Therefore, the sensor may be provided on the one detection lever side. Therefore, since another sensor can be provided on the other side, a plurality of types of sensors can be arranged in a limited space.

It is a schematic diagram for demonstrating the outline | summary of the robot traveling body which employ | adopted the cable processing apparatus for traveling bodies which concerns on this invention. It is a side view of the cable processing apparatus for traveling bodies which concerns on this invention. It is a top view of the cable processing apparatus for traveling bodies concerning the present invention. FIG. 6 is a side view of a main part for explaining interlocking means of the detection lever in the cable processing apparatus for a traveling body according to the present invention. In the cable processing apparatus for traveling bodies according to the present invention, FIG. It is a block diagram of the cable processing apparatus for traveling bodies which concerns on this invention.

  Hereinafter, embodiments of the present invention will be described with reference to FIGS.

  In FIG. 1, what is generally indicated by reference numeral 1 is a robot traveling body that travels in an arrow AB direction (front-rear direction) by driving an endless track 2 and is provided with a pivotable arm 3 at the front. The traveling body cable processing device 5 of the present invention for winding or unwinding the cable 4 is provided at the rear. This robot traveling body 1 travels in the direction of arrows A-B when an operator 7 remotely operates an operation panel 6 electrically connected via a cable 4 fed out from a traveling body cable processing device 5. Then, the work of gripping and moving the article or the like by the arm 3 is performed.

  Next, the traveling body cable processing device 5 according to the present invention will be described with reference to FIGS. 2 to 6. As shown in FIG. 3, the traveling body cable processing device 5 includes a pair of frames 11A and 11B facing each other, and a cable drum 14 described later is provided on the inner surface of one of the frames 11A as shown in FIG. The traverse cam shaft 15 and the motor 12 capable of varying the rotational speed and the forward / reverse direction for rotationally driving the feeding roller 30 are attached.

  A cable drum 14 is provided with flanges 14a and 14a at both ends and winds up the cable 4. The cable drum 14 is rotatably supported between the frames 11A and 11B via a drum shaft 13 protruding from the flanges 14a and 14a. . A traverse cam shaft 15 is rotatably supported between the frames 11A and 11B. The traverse cam shaft 15 includes a pair of stays 16 and 16 which are horizontally mounted between the frames 11A and 11B. The mover 17 that reciprocates along is engaged. Therefore, when the traverse cam shaft 15 is rotationally driven in the forward direction or the reverse direction by the motor 12, the mover 17 reciprocates between the flanges 14a, 14a of the cable drum 14 in the arrow CD direction (left-right direction).

  Reference numeral 18 denotes a support attached to the movable member 17. The support 18 has shafts 19 and 19 projecting in the direction of the arrow D as shown in FIG. 3 and parallel to each other as shown in FIG. Are arranged in parallel in the arrow EF direction (vertical direction). A pair of cable guide rollers 20 and 20 having guide grooves 20a are rotatably supported on the shafts 19 and 19 so as to face each other.

  Further, as shown in FIG. 3, a pair of detection levers 22A and 22B are supported on the support 18 so as to be swingable in the direction of the arrow CD, with the shafts 21A and 21B being the swing center, and these detection levers 22A. , 22B, a pair of detection rollers 23A, 23B are rotatably supported so as to face each other. The pair of detection levers 22A and 22B includes an interlocking means 39 provided on a pair of detection levers 27A and 27B, which will be described later, and causes the other detection lever to swing when the one detection lever swings. Interlocking means having the same structure and urging means (neither shown) for urging the detection rollers 23A and 23B in a direction approaching each other are provided.

  Reference numeral 24 denotes a first sensor that detects one detection lever 22A when one detection roller 23A swings counterclockwise (arrow C direction) about the shaft 21A in FIG. Reference numeral 25 denotes a second sensor that detects the other detection lever 22B when the other detection roller 23B swings clockwise (in the direction of arrow D) about the shaft 21B in FIG. The swing amount of the other detection lever 22B detected by the second sensor 25 is larger than the swing amount of the one detection lever 22A detected by the first sensor 24.

  In FIG. 3, reference numeral 27A denotes a detection lever supported on one frame 11A so as to be swingable in the direction of arrow EF in FIG. A detection lever 27B is supported on the other frame 11B so as to be swingable in the direction of the arrow EF with the shaft 28B as a swing center. Reference numeral 30 denotes a feeding roller that functions as a detection roller extending between the left and right frames 11A and 11B, and is rotatably supported by the swing end portions of both detection levers 27A and 27B via a shaft 31.

  A transmission gear 32 is rotatably supported by the shaft 31 and is connected to the feed roller 30 via a one-way clutch 33. Between the transmission gear 32 and a motor gear 42 described later, FIG. As shown in FIG. 5, a speed increasing gear train 51 is provided through the gear 53a to increase the rotational speed of the transmission gear 32 than the rotational speed of the motor gear 42. The one-way clutch 33 rotates the transmission gear 32 when the motor 12 is driven in the forward direction to rotate the feeding roller 30 through the speed increasing gear train 51 in the direction in which the cable 4 is fed out, that is, in the clockwise direction in FIG. Is transmitted to the feeding roller 30. On the other hand, when the motor 12 is driven in the reverse direction, the transmission gear 32 rotates when the feeding roller 30 is rotated in the direction in which the cable 4 is wound up, that is, counterclockwise in FIG. 30 is configured not to be transmitted to 30.

  Reference numeral 35 denotes a pinch roller that functions as a detection roller facing the feeding roller 30. The shafts 36A and 36B (one shaft 36B is not shown) are connected to the frames 11A and 11B in the direction of arrows EF in FIG. The detection levers 37A and 37B (one detection lever 37B is not shown) are rotatably supported by the swing end portions. As shown in FIG. 4, a tension coil spring 38 is suspended between the detection levers 27A and 37A so that the feeding roller 30 and the pinch roller 35 are close to each other.

  Reference numeral 39 denotes interlocking means for interlocking the swinging movements of the detection lever 27A and the detection lever 37A, and is constituted by segment gears 39A and 39B fixed to the base ends of the detection levers 27A and 37A and meshing with each other. Yes. Therefore, when one detection lever 27A swings in the clockwise direction in the figure with the shaft 28A as the swing center, the other detection lever 37A has the shaft 36A as the swing center in the counterclockwise direction through the interlocking means 39. Oscillate by the same amount. Similarly, when the other detection lever 37A swings counterclockwise in the drawing with the shaft 36A as the swing center, the one detection lever 27A has the shaft 28A as the swing center through the interlocking means 39. Swings by the same amount in the direction.

  Reference numeral 40 denotes a third sensor that detects one detection lever 27A when one detection roller 30 swings clockwise (in the direction of arrow F) about the shaft 28A in FIG. Reference numeral 41 denotes a fourth sensor that detects the other detection lever 37A when the other detection roller 35 swings counterclockwise (arrow E direction) about the shaft 36A in FIG. The rocking amount of the other detection lever 37 </ b> A detected by the fourth sensor 41 is larger than the rocking amount of the one detection lever 27 </ b> A detected by the third sensor 40.

  In FIG. 2, reference numeral 42 denotes a motor gear attached to the output shaft of the motor 12, and a transmission gear train is provided between the motor gear 42 and the drum gear 52 attached to the drum shaft 13 as shown in FIG. 53 is interposed. In such a configuration, when the motor 12 is driven in the forward direction and the motor gear 42 rotates counterclockwise in FIG. 2, the drum shaft 13 rotates in the clockwise direction via the transmission gear train 53, and the motor 12 is reversed. When driven in the direction, the drum shaft 13 rotates counterclockwise.

  As shown in FIG. 3, a traverse gear 43 is attached to the traverse cam shaft 15, and a reduction gear train 54 is interposed between the traverse gear 43 and the motor gear 42 via a transmission gear train 53. Has been. In such a configuration, when the motor 12 is driven in the forward direction, the cable drum 14, the traverse cam shaft 15, and the feeding roller 30 rotate simultaneously, and the cable drum 14 and the feeding roller 30 rotate in the same rotational direction, that is, clockwise in FIG. Rotate to. At this time, the peripheral speed of the feeding roller 30 is faster than the peripheral speed of the cable drum 14 because the speed increasing gear train 51 is interposed between the motor gear 42 and the transmission gear 32.

  On the other hand, when the motor 12 is driven in the reverse direction, the cable drum 14 and the traverse cam shaft 15 are simultaneously rotated counterclockwise in FIG. 2, and the rotation transmission of the feeding roller 30 is blocked by the one-way clutch 33.

  Next, the control of the traveling body cable processing apparatus according to the present invention will be described with reference to FIG. When the operator 7 operates the operation panel 6 and sends a command for feeding the cable 4 from the traveling body cable processing device 5 to the control device 44, the control device 44 drives the motor 12 in the forward direction. When detection by the first sensor 24 or the third sensor 40 is performed in this state, the control device 44 determines that an abnormality has occurred in the tension of the cable 4 and accelerates the rotation of the output shaft of the motor 12. When the control is performed and the detection by the second sensor 25 or the fourth sensor 41 is performed, the control device 44 performs control for further rotating the output shaft of the motor 12.

  On the other hand, when the operator 7 operates the operation panel 6 and sends a command for winding the cable 4 to the traveling body cable processing device 5 to the control device 44, the control device 44 drives the motor 12 in the reverse direction. When detection by the first sensor 24 or the third sensor 40 is performed in this state, the control device 44 determines that an abnormality has occurred in the tension of the cable 4 and slows the rotation of the output shaft of the motor 12. When control is performed and detection by the second sensor 25 or the fourth sensor 41 is performed, the control device 44 performs control to further slow down the rotation of the output shaft of the motor 12.

  In FIG. 2, reference numeral 46 denotes a winding over detection lever that is swingably supported by the frame 11A with a shaft 47 as a swing center. The swing end is provided on the outer peripheral surface of the cable 4 wound around the cable drum 14. A detection roller 48 biased in the abutting direction is pivotally supported. Reference numeral 49 denotes a fifth sensor that detects the end of the feeding of the cable 4 from the cable drum 14. When the winding over detection lever 46 is detected by the fifth sensor 49, the controller 44 detects the motor 12. Stop driving. Reference numeral 50 denotes a sixth sensor that detects when the normal winding cable is exceeded for some reason. When the winding over detection lever 46 is detected by the sixth sensor 50, the control device 44 uses the motor 12. Stop driving.

  Next, the cable processing operation by the traveling body cable processing apparatus configured as described above will be described. First, the operation of moving the robot traveling body 1 forward in the direction of arrow A (separating from the control panel 6) will be described. As shown in FIG. 2, the cable 4 pulled out from the cable drum 14 is passed between the guide grooves 20a and 20a of the pair of cable guide rollers 20 and 20 and between the feed roller 30 and the pinch roller 35 in advance. Electrically connected to the panel 6.

  In this state, when the operator 7 operates the control panel 6 to give a command for moving the robot traveling body 1 forward at a predetermined speed, the motor 12 moves in the forward direction corresponding to the speed at which the robot traveling body 1 moves forward. Drive at a predetermined rotation speed. By driving the motor 12 in the forward direction, the cable drum 14 rotates in the clockwise direction in FIG. 2, and the feeding roller 30 also rotates in the clockwise direction. At this time, since the cable feeding speed by the feeding roller 30 is higher than the cable feeding speed by the cable drum 14, the cable 4 is not slackened between the cable drum 14 and the feeding roller 30.

  As the motor 12 is driven in the forward direction, the traverse cam shaft 15 rotates counterclockwise in FIG. 2, and the slider 17 engaged therewith reciprocates in the direction of the arrow CD in FIG. The cable 4 is sequentially fed out from the cable drum 14 by the cable guiding rollers 20 and 20 that reciprocate in the direction of the arrow CD integrally with this.

  Here, for some reason, when the cable 4 is stretched between the feeding roller 30 and the control panel 6 and tension is generated in the cable 4 itself, the cable 4 is connected to two points in FIGS. 2 and 3. As shown by the chain line, it becomes easy to swing. For example, when the cable 4 swings to a position indicated by reference numeral 4A in FIG. 3, the detection roller 23A swings counterclockwise about the shaft 21A, and one detection lever 22A is detected by the first sensor 24. Is done. Based on this detection, the control device 44 determines that the tension of the cable 4 is abnormal, and performs control to increase the rotation speed of the output shaft of the motor 12, whereby the feeding speed of the cable 4 by the feeding roller 30 is increased. Since the traveling speed of the robot traveling body 1 is relatively faster, the tension generated in the cable 4 is reduced. For this reason, it is possible to prevent the cable 4 from being disconnected or scratched.

  When the cable 4 swings to the position indicated by reference numeral 4B in FIG. 3, the other detection roller 23B swings in the clockwise direction in FIG. (Not shown), one detection lever 22A is swung counterclockwise with the shaft 21A as a swing center. Accordingly, since the swing of the detection lever 22A is detected by the first sensor 24, the control device 44 performs the same control as that described above. As described above, the detection levers 22A and 22B swing in conjunction with each other, so that the swing operation of the two detection levers 22A and 22B can be detected by one first sensor 24.

  Further, as shown in FIG. 2, when the cable 4 swings to the position indicated by reference numeral 4C, the feeding roller 30 swings in the clockwise direction in the figure with the shaft 28A as the swing center, and one detection lever 27A moves to the first position. 3 sensor 40. Based on this detection, the control device 44 performs control to speed up the rotation of the output shaft of the motor 12.

  When the cable 4 swings to the position indicated by reference numeral 4D in FIG. 2, the pinch roller 35 swings counterclockwise in the drawing with the shaft 36 as the swing center, and this swing is the interlocking means (not shown). The detection lever 27A is swung clockwise with the shaft 28A as the swing center. Therefore, since the swing of the detection lever 27A is detected by the third sensor 40, the control device 44 performs the same control as that described above.

  Here, when the tension generated in the cable 4 is even greater, the cable 4 swings to a position indicated by 4E having a swing amount larger than the reference numeral 4B in FIG. 3, so that the detection roller 23B moves the shaft 21B around the swing center. And the detection lever 22B is detected by the second sensor 25. Based on this detection, the control device 44 performs control to make the rotation of the output shaft of the motor 12 even faster than when detected by the first sensor 24 described above. Accordingly, the feeding speed of the cable 4 by the feeding roller 30 is further increased, so that a larger tension generated in the cable 4 can be reduced.

  When the cable 4 swings to the position indicated by reference numeral 4F in FIG. 3, the detection lever 22B is detected by the second sensor 25 via interlocking means (not shown). When the cable 4 swings to the position indicated by reference numeral 4G in FIG. 2, the detection lever 37A is detected by the fourth sensor 41, and the control device 44 detects it by the second sensor 25 described above. The same control is performed. When the cable 4 swings to the position indicated by reference numeral 4H in FIG. 2, the detection lever 37A interlocked with the swinging operation of the detection lever 27A is detected by the fourth sensor 41 via the interlocking means 39.

  As described above, the detection levers 22A and 22B and the detection levers 27A and 37A are configured such that when one detection lever swings, the other detection lever swings in conjunction with each other. Therefore, since another sensor can be provided on the other side, a plurality of types of sensors can be arranged in a limited space.

  Next, the operation of retracting the robot traveling body 1 in the direction of arrow B (returning it to the control panel 6 side) will be described. In this case, when the operator 7 operates the control panel 6 to give a command for moving the robot traveling body 1 backward at a predetermined speed, the motor 12 is moved in the reverse direction corresponding to the speed of the robot traveling body 1 moving backward. Drive at a predetermined rotation speed. By driving the motor 12 in the reverse direction, the cable drum 14 rotates counterclockwise in FIG. 2, and the feeding roller 30 rotates idly without being rotated by the one-way clutch 33. Therefore, the cable 4 is wound around the cable drum 14 only by the rotation of the cable drum 14.

  By driving the motor 12 in the reverse direction, the traverse cam shaft 15 rotates in the clockwise direction in FIG. 2, and the movable element 17 engaged therewith reciprocates in the direction of the arrow CD in FIG. The cable 4 is sequentially wound around the cable drum 14 by the cable guide rollers 20, 20 that reciprocate integrally in the direction of the arrow CD.

  Here, when the cable 4 is stretched between the cable drum 14 and the control panel 6 due to some cause, and tension is generated in the cable 4 itself, the cable 4 has two points in FIGS. 2 and 3. As shown by the chain line, it becomes easy to swing. For example, when the cable 4 swings to the position indicated by reference numeral 4A in FIG. 3, the detection roller 23A swings counterclockwise about the shaft 21A, and this swing is detected by the first sensor 24. . Based on this detection, the control device 44 performs control to reduce the rotation speed of the output shaft of the motor 12, so that the winding speed of the cable 4 by the cable drum 14 is relatively higher than the retraction speed of the robot traveling body 1. Therefore, the tension generated in the cable 4 is reduced. For this reason, disconnection of the cable 4 and generation of scratches can be prevented.

  When the cable 4 swings to the position indicated by reference numeral 4B in FIG. 3 and to the positions indicated by reference numerals 4C and 4D in FIG. 2, the control device 44 causes the motor 12 to be detected by detection of the first sensor 24 and the third sensor 40. Control to slow down the rotation speed of the output shaft. Further, when the cable 4 swings to a position indicated by reference numerals 4E and 4F in FIG. 3 and a position indicated by reference numerals 4G and 4H in FIG. 2, the control device is detected by the detection of the second sensor 25 and the fourth sensor 41. 44 controls to further slow down the rotation speed of the output shaft of the motor 12.

  Thus, by driving the cable drum 14, the traverse cam shaft 15, and the feeding roller 30 by one motor 12, it is possible to reduce the number of parts and the manufacturing cost.

  In the embodiment of the present invention, the speed increasing gear train 51 is interposed between the motor gear 42 and the transmission gear 32. However, a speed reducing gear train is interposed instead of the transmission gear train 53, and the speed increasing gear is provided. A transmission gear train or a reduction gear train may be provided in place of the train 51. In short, the feeding speed of the cable 4 by the feeding roller 30 may be made faster than the feeding speed of the cable 4 by the cable drum 14. .

  DESCRIPTION OF SYMBOLS 1 ... Robot traveling body, 4 ... Cable, 5 ... Cable processing apparatus for traveling bodies, 6 ... Operation panel, 7 ... Operator, 12 ... Motor, 14 ... Cable drum, 15 ... Traverse cam shaft, 20 ... Cable guide roller , 23A, 23B ... detection roller, 24 ... first sensor, 25 ... second sensor, 30 ... feeding roller (detection roller), 33 ... one-way clutch, 35 ... pinch roller (detection roller), 39 ... interlocking means 39A, 39B ... segment gear, 40 ... third sensor, 41 ... fourth sensor, 42 ... motor gear, 43 ... traverse gear, 44 ... control device, 51 ... speed increasing gear train, 52 ... drum gear, 53 ... transmission Gear train, 54... Reduction gear train.

Claims (3)

A cable drum for winding the cable;
A feeding roller for feeding the cable from the cable drum;
A traverse cam shaft extending in the axial direction of the cable drum;
A cable guide roller that reciprocates in the axial direction of the cable drum by the rotation of the traverse cam shaft,
The cable drum, the feeding roller, and the traverse cam shaft are driven by a single motor,
A traveling body comprising a one-way clutch that speeds up a cable feeding speed by a feeding roller rather than a cable feeding speed by the cable drum, and transmits the drive of the motor to the feeding roller only in the direction of feeding the cable. Cable processing equipment. Cable tension detection means for detecting the tension of the cable during winding and unwinding of the cable,
When an abnormality is detected by the cable tension detecting means when the cable is paid out, the drive of the motor is controlled so as to increase the rotation speed of the feeding roller, and an abnormality is caused by the cable tension detecting means at the time of winding the cable. The traveling body cable processing apparatus according to claim 1, further comprising a control device that controls driving of the motor so as to slow down a rotation speed of the cable drum when the motor is detected. A pair of detection levers supported by the cable tension detecting means so as to be swingable in directions opposite to each other, and a pair of pivots supported by swinging end portions of the detection levers so as to sandwich the cable. And a sensor for detecting the swing of the pair of detection levers,
Between the pair of detection levers, an interlocking means for swinging the other detection lever in conjunction with the swing of one detection lever is interposed,
The traveling body cable processing apparatus according to claim 2, wherein the sensor is provided in each of the pair of detection levers, and the sensors detect different swing amounts of the detection levers.

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