JP2016013906A - Cable take-up and delivery control device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To control take-up and delivery precisely without imparting excess tension on a cable when performing take-up and delivery of the cable.SOLUTION: A cable take-up and delivery control device includes: a cable take-up/delivery mechanism 17 for performing take-up and delivery of a cable 2; a force sensor 4 for detecting a change of tension due to the cable 2 being taken up or delivered by the cable take-up/delivery mechanism 17; and a control device 5 in which a force signal 6 detected by the force sensor 4 is input and which generates a control signal 7. The control device 5 generates the control signal 7 based on the difference between the force signal 6 and a force signal target value 9, and by controlling the cable take-up/delivery mechanism 17 based on the control signal 7, the tension generating in the cable 2 is made constant.

Description

  The present invention relates to a control device for performing cable winding and feeding.

  In the conventional cable winding and feeding device, a structure for applying a tension to the cable from the outside is provided so as to keep the tension of the cable constant, and the tension is controlled to be constant (see Patent Document 1).

JP2004-261903

  In the winding and feeding apparatus as described above, there has been a problem in a method for detecting tension and vibration of a cable that is a target of winding and feeding. That is, when tension is applied to the cable in order to detect tension or vibration, the driving force of the winding and feeding device becomes larger. Further, when the winding device is controlled by the tension applied to the cable, noise is generated, and precise control is hindered.

  The present invention has been made to solve the above-described problems. When winding and feeding a cable, the winding and feeding can be precisely controlled without applying excessive tension to the cable. The purpose is to be able to.

  The cable winding and feeding control device according to the present invention includes a cable winding and feeding mechanism for winding and feeding a cable, and a change in tension due to the cable being wound and fed by the cable winding and feeding mechanism. A force sensor to detect, and a control device that receives a force signal detected by the force sensor and generates a control signal, the control device based on a difference between the force signal and a force signal target value The control signal is generated, and the tension generated in the cable is made constant by controlling the cable winding and delivery mechanism based on the control signal.

  Another cable winding / feeding control device detects a change in tension due to a cable winding / feeding mechanism for winding and feeding a cable, and a cable being wound and fed by the cable winding / feeding mechanism. A force sensor to which a part of the cable is connected, a moving device for moving the force sensor, a cable movement restraining mechanism installed between the cable winding and feeding mechanism and the force sensor, and a cable movement restraining mechanism. A movable mechanism to be moved and a control device that receives a force signal detected by a force sensor and generates a control signal, the control device based on a difference between the force signal and a force signal target value Control signal is generated, and the tension generated in the cable is controlled by controlling the movable mechanism based on the control signal. It is intended to be.

  According to the cable winding and delivery control device configured as described above, the cable winding is detected by detecting the force applied to the cable without applying extra tension for detection to the cable. In addition, it is possible to detect and control values for the feed control. For this reason, the cable winding and delivery control device can be reduced in size and energy can be saved. Further, by using the value of the force sensor, it is possible to perform highly accurate winding and feeding control, and it is possible to reduce the influence of noise generated by winding and feeding on an external device. Furthermore, it becomes possible to detect cable deterioration and disconnection.

1 is a conceptual diagram showing a cable winding and delivery control device according to Embodiment 1. FIG. It is a block block diagram which shows the inside of a control apparatus. It is a perspective view (A), (B), and (C) showing the example of a structure of the surplus side of a cable. It is a conceptual diagram which shows the cable winding and delivery control apparatus by Embodiment 2. FIG. 10 is a conceptual diagram illustrating a cable winding and delivery control device according to a third embodiment. It is a conceptual diagram which shows the cable winding and delivery control apparatus by Embodiment 4. FIG. 10 is a conceptual diagram illustrating a cable winding and delivery control device according to a fifth embodiment. It is a conceptual diagram which shows the cable winding and delivery control apparatus by Embodiment 6. FIG. 20 is a conceptual diagram illustrating a cable winding and delivery control device according to a seventh embodiment. FIG. 20 is a conceptual diagram (A) to (C) showing a connection mechanism between a cable winding and delivery mechanism and a force sensor in a cable winding and delivery control device according to an eighth embodiment. FIG. 20 is a conceptual diagram illustrating a cable winding and delivery control device according to a ninth embodiment. FIG. 20 is a conceptual diagram illustrating a cable winding and delivery control device according to a ninth embodiment. FIG. 20 is a conceptual diagram illustrating a cable winding and delivery control device according to a ninth embodiment.

Embodiment 1 FIG.
FIG. 1 is a conceptual diagram showing a cable winding and feeding device according to Embodiment 1, FIG. 2 is a block diagram showing the inside of the control device, and FIG. 3 is a perspective view showing an example of the structure on the excess side of the cable. The cable 2 in the present embodiment is one having a capability of giving or receiving one or a plurality of substances, information, and energy, and includes a pipe and a transmission material in addition to the cable. One of them or a plurality of aggregates may be used. Examples of the cable 2 include an electric cable for transmitting electricity, an optical fiber cable for transmitting light, a waveguide for transmitting radio waves, a pipe for transmitting liquid and gas, a heat transfer body for transmitting thermal energy, and a leaf spring for transmitting force energy. However, it is not limited to these.

  In FIG. 1, as an example of the cable winding and feeding mechanism 17, a structure in which the rotating structure 1 is rotated by the motor 3 and the cable 2 connected to the rotating structure 1 is wound or sent out is shown. It is not limited to. A force sensor 4 is installed on the surplus side of the cable 2. A part or all of the surplus side of the cable 2 is always arranged on the force sensor 4. A commercially available force sensor 4 is used. The force sensor 4 detects a change in the weight of the cable 2 to be wound or sent out, and thereby detects a change in tension acting on the cable 2. It is given as a representative example. What detects such a change in weight is an example of a sensor that detects only one axis, which will be described later. Furthermore, as the force sensor 4, there is a strain gauge that performs strain measurement using the fact that the resistance changes due to expansion and contraction.

  The surplus side of the cable 2 refers to a portion of the cable 2 that is not wound around the rotating structure 1. That is, in FIG. 3A, the cable 2 is connected to the rotating structure 1 at one location, and the surplus side indicates the side of the cable 2 that is not connected to the rotating structure 1. In FIG. 3B, the cable 2 is connected to two or more rotating structures 1A and 1B, and the surplus side means a portion where the cable 2 is not connected to the rotating structures 1A and 1B. Further, in FIG. 3C, the cable 2 is connected to the same rotating structure 1 at a plurality of locations, and the surplus side indicates a portion where the cable 2 is not connected to the rotating structure 1.

  The force sensor 4 detects a change in tension due to the cable 2 being wound on and sent out from the rotating structure 1. Here, the force sensor 4 may be configured to detect only one axis, or may be configured to detect a force of a plurality of axes generated in the cable 2 using a sensor capable of detecting a plurality of axes. That is, when plotting the change of force with respect to time t of only the X axis in the three-dimensional coordinates, the force of only one axis is detected, and when the change of force with respect to time t of each of the X axis and Y axis is plotted. Detects the force in two axes. The force sensor 4 may be composed of one sensor or a plurality of sensors. A force signal 6 (unit N) detected by the force sensor 4 is input to the control device 5. The control device 5 generates a control signal 7 based on the force signal 6. The operation of the motor 3 is controlled by the control signal 7, and the rotating structure 1 is rotated by the operation of the motor 3.

Examples of signal processing performed by the control device 5 include the following four (1) to (4).
(1) Processing for generating the control signal 7 so that the force signal 6 is always constant.
(2) When the force signal 6 is expressed as a function of time t, a process of generating the control signal 7 so that the nth derivative with respect to t is constant. Here, n is a natural number. Generally, when n = 1, the change rate of force per unit time is obtained, when n = 2, the change rate of force change rate, and when n = 3, the change of force is obtained. The rate of change of rate.
(3) Processing for generating the control signal 7 so that the frequency spectrum of the force signal 6 has a predetermined value.
(4) Processing for generating the control signal 7 so that the force signal 6 follows a specific control law.
Moreover, it is good also as a process which combined these.

  As an example, FIG. 2 shows a process in which the first-order differentiation (rate of change of force) with respect to the force signal 6 which is the operation (2) described above is constant. FIG. 2 shows one of the methods for realizing the above (2), but is not limited to this method. A single straight arrow in FIG. 2 does not indicate one piece of information but may include a plurality of pieces of information. Furthermore, one straight arrow may be a set of a plurality of data.

  In FIG. 2, the force signal 6 is signal-processed by the signal processing unit 12. Here, the signal processing includes signal processing using four arithmetic operations (for example, 100 times), signal filter processing (noise removal processing), and the like, but is not limited thereto. Such signal processing facilitates later processing. The signal processed by the signal processing unit 12 passes through the high pass filter 14. On the other hand, the force signal target value 9 that is the target value of the rate of change is processed by the signal processing unit 11, and the signal that has passed through the high-pass filter 14 is subtracted by the subtractor 101 to generate a force error signal. The force signal target value 9 is a target value after passing through the high-pass filter 14 and is normally zero. Further, the processing content of the signal processing unit 11 is the same as the processing content of the signal processing unit 12, and when the force signal target value is 0, it is not necessary to perform the processing.

  The force error signal generated by the subtractor 101 is processed by the control algorithm 8. Here, the contents of the control algorithm include proportional control, multiplication, integration, differentiation and the like, and are for generating an appropriate control signal 7. The signal processed by the control algorithm 8 is added to the rotation control signal 10 by the adder 102 and processed by the signal processing unit 13 to finally generate the control signal 7 (volt, ampere). The processing content in the signal processing unit 13 is the same as the processing content in the signal processing units 11 and 12.

  The rotation control signal 10 is a control signal for setting the rotating structure 1 to a desired rotation. For example, the rotation control signal 10 is a signal for setting the rotating body to a desired angle on the basis of the position (angle) of the rotating body. , Based on the speed of the rotating body, the signal that makes the rotating body reach the desired speed, the signal that makes the rotating body become the desired acceleration, based on the acceleration of the rotating body, and the jerk of the rotating body And a signal for causing the rate of change in acceleration per unit time to be a desired value, but is not limited thereto. A combination of these may be used as a signal. The rotation control signal 10 may be generated inside the control device 5, or may be generated by an external device different from the control device 5 and taken into the control device 5.

  The force signal target value 9 may be stored in advance in the control device 5 and may be determined by a digital or analog signal from the outside. Further, a combination of these may be used. Further, the force signal 6 can be recorded by the force signal recording device 29. However, the force signal recording device 29 may not be installed. The force signal recording device 29 is a device having a function of recording a force signal 6 or a value related to the force signal 6 for a specific period. The force signal recording device 29 may be configured as a single device or in the force sensor 4 or the control device 5. You may make it provide in. Further, the control signal 7 may be recorded as a value related to the force signal 6.

  According to such a configuration, when the cable 2 is wound around the rotary structure 1 or sent out from the rotary structure 1, the winding or delivery amount can be controlled without applying tension to the cable 2. It becomes possible. Since the tension of the cable 2 can be made constant by controlling the speed of the motor 3 by the control signal 7, it is possible to precisely control the winding or feeding. Further, by observing the force signal recording device 29, it is possible to detect when an unexpected tension is generated in the cable 2, and it is possible to detect an abnormality and protect the device. Further, since it is possible to detect when the expected tension does not occur, it is possible to detect the disconnection of the cable 2. Further, by observing the time change of the force signal 6 using the output of the force signal recording device 29, it becomes possible to detect the time change of the cable 2, and when the time change is abnormal, the cable 2 It becomes possible to detect the deterioration.

Embodiment 2. FIG.
FIG. 4 is a conceptual diagram showing a cable winding and delivery control device according to the second embodiment. As shown in FIG. 4, the force sensor 28 may be installed on the rotating structure 1 itself instead of the force sensor 4. The force sensor 28 measures the force exerted on the rotating structure 1 by the cable 2, and a typical tube sensor is used, and the pressure change is measured by winding the cable 2 on the tube. Thus, it is conceivable to measure the tension. The force sensor 28 may be installed all around the periphery of the rotating structure 1 or may be installed only at a part of the periphery of the rotating structure 1. Further, the force sensor 28 according to the present embodiment and the force sensor 4 according to the first embodiment may be used in combination. According to such a configuration, even when the force sensor 4 cannot be installed on the surplus side of the cable 2, the same effect as in the first embodiment can be exhibited.

Embodiment 3 FIG.
FIG. 5 is a conceptual diagram showing a cable winding and delivery control device according to the third embodiment. In the present embodiment, as shown in FIG. 5, a cable winding and feeding mechanism that does not use the rotating structure 1 is provided. As shown in FIG. 5, in the cable winding and feeding mechanism 37, the cable 2 is attached to the cable fastener 30 configured to move together with the moving mechanism 39 (for example, a wheel), and the movement of the cable 2 is restricted by the pulley 38. The cable fastener 30 is configured to move in the cable fastener movement direction (arrow A direction). However, the present invention is not limited to this configuration as long as it has a function of winding and sending out the cable 2. Other configurations and operations of the apparatus are the same as those in the first embodiment. According to such a configuration, even when the rotating structure cannot be used as the cable winding and feeding mechanism, the same effect as in the first embodiment can be exhibited. Further, in the configuration as shown in FIG. 5, the linear motor can be used for driving so that the response is quick, and further, the size can be reduced as compared with the configuration shown in FIG.

Embodiment 4 FIG.
FIG. 6 is a conceptual diagram showing a cable winding and delivery control device according to the fourth embodiment. As shown in FIG. 6, the cable 2 may be held using the box 45 so that the cable 2 can be easily stored, and the force sensor 4 may be installed in the box 45. This is effective when the force sensor 4 cannot be installed under the cable 2 as shown in FIG. Here, the box 45 refers to a structure having a function of holding part or all of the cable 2. Examples include box-shaped objects, dish-shaped objects, bowl-shaped objects, and pipe-shaped objects, but are not limited to these shapes. Moreover, as an installation place of the force sensor 4, it may be installed in the upper part of the box 45 as shown in FIG. 6, or may be installed in one place or a plurality of places on the side surface and the lower surface. When installed on the side, the box 45 is fixed to the side wall, and when the cable 2 is wound and sent out, the box 45 vibrates in the lateral direction, and the tension is measured by measuring the degree of this vibration. I can do it. Thus, the force sensor 4 can measure the force generated in the box.

  The structure of the force sensor 4 is the same as that of the first embodiment, and may be configured to detect only one axis or may be configured to detect a plurality of axes. Furthermore, the force sensor 4 may be constituted by a single sensor, or may be constituted by a plurality of combinations. According to such a configuration, even if the surplus portion of the cable 2 cannot be disposed on the force sensor 4 as shown in FIG. By adopting, it is possible to obtain the same effect as in the first embodiment.

Embodiment 5 FIG.
FIG. 7 is a conceptual diagram showing a cable winding and delivery control device according to the fifth embodiment. As shown in FIG. 7, the cable winding and feeding mechanism 17 may be driven by a moving mechanism 56. As a configuration as shown in FIG. 7, a robot may be used, and the moving mechanism 56 is required when performing an electric wire laying operation. The force sensor 4 may be fixed or may be driven separately. Further, the force sensor 28 shown in FIG. 4 may be used as the force sensor. Furthermore, it is good also as a structure using the box 45 shown in Embodiment 4. FIG. The moving mechanism 56 only needs to have a function of moving the cable winding and feeding mechanism 17, and its driving method and driving direction are arbitrary. Further, it is assumed that the moving mechanism 56 has functions necessary for driving, for example, a motor, a guide, and a control device.

  Examples of the moving mechanism 56 include, but are not limited to, a tire driving mechanism, a linear guide driving mechanism, a horizontal stage moving mechanism, a rotation driving mechanism, and a ball screw driving mechanism. Although FIG. 7 shows a case where the control device 5 is configured independently of the moving mechanism 56, the control device 5 may be configured integrally with the moving mechanism 56. Further, as shown in the fourth embodiment, a configuration using the box 45 that holds the cable 2 may be used, and a configuration in which the box 45 is moved together with the moving mechanism 56 may be used. Furthermore, it is good also as a structure which moves the box 45 independently.

  According to such a configuration, the effects shown in the other embodiments are obtained, and the tension acting on the cable 2 becomes constant. Therefore, when the cable 2 is wound and sent out by the cable winding and feeding mechanism 17. The generated noise is reduced, and the influence on the drive control of the moving mechanism 56 can be reduced.

Embodiment 6 FIG.
FIG. 8 is a conceptual diagram showing a cable winding and delivery control device according to the sixth embodiment. As shown in FIG. 8, the force sensor 4 is attached to the moving device 61. Further, a cable movement suppression mechanism 62 that suppresses the operation of the cable 2 may be installed. Here, the cable movement suppressing mechanism 62 is a mechanism having a function of suppressing or defining the arrangement and movement of the cable 2, and examples include, but are not limited to, a pulley and a pipe. The moving device 61 includes a function for driving in the same manner as the moving mechanism 56, and its driving direction and driving method are arbitrary. A part of the cable 2 is connected to the force sensor 4 and the force sensor 4 is moved using the moving device 61.

  By adopting such a configuration, the effects shown in the other embodiments can be exhibited and the tension can be made constant, so that noise caused by the cable winding and feeding mechanism 17 is reduced. It is possible to reduce the influence of noise on the driving of the moving device 61. An example of using the moving device 61 is a bonding device used in semiconductor manufacturing. In this case, the cable 2 is an aluminum wire, a gold wire, or the like, and it is necessary to make the tension constant in such an apparatus, and it is effective to adopt this embodiment.

Embodiment 7 FIG.
FIG. 9 is a conceptual diagram showing a cable winding and delivery control device according to the seventh embodiment. As shown in FIG. 9, in addition to the configuration of the sixth embodiment, the cable movement suppression mechanism 62 may be attached to the movable device 73. Here, like the moving mechanism 56, the movable device 73 includes a function for driving, and its driving direction and driving method are arbitrary. Also, unlike the sixth embodiment, the control signal 7 is connected to the movable device 73, the movable device 73 is controlled according to the value of the force signal 6, and the position and speed of the cable movement suppressing mechanism 62 are controlled. Make the tension constant. In FIG. 9, only the movable device 73 is driven and controlled by the control signal 7, but the configuration may also be used for drive control of the cable winding and delivery mechanism 17. The control method is the same as that described in the first embodiment.

  By adopting such a configuration, the same effects as those of the other embodiments can be exhibited, and the cable winding and delivery mechanism 17 is not controlled in accordance with the force signal 6, so that the cable winding and delivery mechanism 17 is a factor. And the influence of the noise on the moving device 61 can be reduced. Also, since the cable winding and delivery mechanism 17 does not require a motor, the cable winding and delivery mechanism 17 itself can be downsized or simplified.

Embodiment 8 FIG.
FIGS. 10A to 10C are conceptual diagrams showing a connection mechanism between a cable winding and delivery mechanism and a force sensor in the cable winding and delivery apparatus according to the eighth embodiment. Other configurations are the same as those in the first to seventh embodiments. First, as shown in FIG. 10A, the cable 2 is connected to the force sensor 84 instead of the force sensor 4 or the force sensor 28. The structure of the force sensor 84 is the same as that described in the first embodiment, and has a function of detecting the force generated from the cable 2 by one axis or a plurality of axes. The force sensor 84 may be installed in place of the force sensor 4 or the force sensor 28, and may be installed together with the force sensors 4 and 24. The configuration shown in FIG. 10A is effective when the cable 2 is short.

  Further, as shown in FIG. 10B, the force sensor 84 may have a function as a connector, or may have a function of connecting the cable 2 and the external cable 25. By configuring the force sensor having a cable connection function in this way, the entire apparatus can be reduced in size. The force sensor 84 may have a function of converting or calculating a substance, information, and energy transmitted through the cable 2. Examples of the function of converting or calculating here include, but are not limited to, a function of separating, mixing, or combining substances, a function of calculating information, and a function of separating, absorbing, and imparting energy. The structure shown in FIG. 10B is effective when the external cable 25 is used.

  Further, the force sensor 84 may be configured to wind the cable 2 as shown in FIG. With the configuration as described above, even when the cable 2 is short or when the external cable 25 is used, the effects described in the other embodiments can be exhibited.

Embodiment 9 FIG.
FIGS. 11 to 13 are conceptual diagrams showing a cable winding and feeding device according to the ninth embodiment. As shown in FIG. 11, a non-contact position detection sensor 90 is used instead of the force sensor 4 or the force sensor 28. Other configurations are the same as those of the first to eighth embodiments. The non-contact position detection sensor 90 is a detector having a function of detecting the position variation of the cable 2 in a non-contact manner. The non-contact position detection sensor 90 may be composed of one sensor, and may be composed of a combination of a plurality of sensors as shown in FIG.

  Further, the non-contact position detection sensor 90 may be configured to cover the cable 2 as shown in FIG. Examples of the non-contact position detection sensor 90 include a camera-type sensor that detects the position of the cable 2 by detecting an electromagnetic wave, a distance sensor that uses reflection of the electromagnetic wave, a coil-type sensor that detects an electromagnetic wave generated from the cable 2, and a cable 2 Magnetic sensor for detecting magnetic force, electrostatic force sensor for detecting electrostatic force generated between the cable 2 and the non-contact position detection sensor 90, van der Waals force or atomic attractive force generated between the cable 2 and the non-contact position detection sensor 90, or Although there is a non-contact type force sensor that detects an interatomic displacement force, it is not limited to these.

  The non-contact position detection sensor 90 outputs a position signal 96 that is position information of the cable 2, and inputs the position signal 96 to the position-force conversion device 97. The position-force conversion device 97 may be an independent device, or may be configured to be built in the non-contact position detection sensor 90 or the control device 5. The position-force conversion device 97 is a device having a function of calculating a force generated in the cable 2 from the position signal 96. As an example of a method for calculating the force generated in the cable 2 from the position signal 96, there is a method of calculating from the physical constant (weight, etc.) and shape of the cable 2, but the method is not limited to this method. As an example, the rate of change in tension can be measured by the hardness of the cable 2 and the vibration frequency when the cable 2 is wound or delivered.

By configuring as described above, it is possible to calculate the tension without contacting the cable 2 and further exhibit the effects shown in the other first to eighth embodiments. Since the cable 2 is not contacted in this way, disturbance due to detection does not occur, and more precise winding and delivery control is possible.
It should be noted that the present invention can be freely combined with each other within the scope of the invention, and each embodiment can be appropriately modified or omitted.

1 rotating structure, 2 cables, 3 motors, 4, 28, 84 force sensor,
5 control device, 6 force signal, 7 control signal, 9 force signal target value,
17 Cable winding and feeding mechanism, 25 external cable, 29 force signal recording device, 45 box, 56 moving mechanism, 61 moving device, 62 cable movement restraining mechanism,
73 movable mechanism, 90 non-contact position detection sensor, 97 position-force conversion device.

Claims (11)

A cable winding and feeding mechanism for winding and feeding the cable, a force sensor for detecting a change in tension due to the cable being wound and fed by the cable winding and feeding mechanism, and a detection by the force sensor A cable winding and delivery control device comprising: a control device that receives the generated force signal and generates a control signal;
The control device generates the control signal based on a difference between the force signal and a force signal target value, and is generated in the cable by controlling the cable winding and feeding mechanism based on the control signal. A cable winding and delivery control device characterized by maintaining a constant tension. The cable winding and feeding mechanism winds or feeds the cable connected to the rotating structure when the rotating structure is rotated by a motor, and controls the speed of the motor by the control signal. 2. The cable winding and feeding control device according to claim 1, wherein tension generated in the cable is made constant. 3. The cable winding and delivery control device according to claim 2, wherein the force sensor is installed on the rotating structure itself, and the force sensor measures a force exerted on the rotating structure by the cable. The cable winding and delivery control device according to claim 1 or 2, wherein a box for holding the cable is provided, and the force sensor is installed in the box. The cable winding and feeding control device according to claim 1, wherein a part of the cable is connected to the force sensor, and the force sensor is moved by a moving device. The cable winding and delivery control device according to any one of claims 1, 2, and 5, wherein the force sensor has a function of connecting an external cable. The cable winding and the cable winding according to any one of claims 1, 2, and 5, wherein the force sensor has a function of converting or calculating a substance, information, and energy transmitted by the cable. Delivery control device. The force sensor includes a non-contact position detection sensor that outputs a position signal that is position information of the cable, and a position-force conversion device that calculates a force generated in the cable from the position signal. The cable winding and feeding control device according to claim 1 or 2. The cable winding and delivery control device according to any one of claims 1 to 8, wherein the cable winding and delivery mechanism is moved by a moving mechanism. 10. The force signal recording device for recording the force signal is installed, and the deterioration or disconnection of the cable is detected by observing the output of the force signal recording device. The cable winding and delivery control device according to claim 1. A cable winding and feeding mechanism for winding and feeding the cable, and a change in tension due to the cable being wound and fed by the cable winding and feeding mechanism are detected and a part of the cable is connected. A force sensor, a moving device for moving the force sensor, a cable movement suppressing mechanism installed between the cable winding and feeding mechanism and the force sensor, and a moving mechanism for moving the cable movement suppressing mechanism. A cable winding and delivery control device including a control device that receives a force signal detected by the force sensor and generates a control signal,
The control device generates the control signal based on a difference between the force signal and a force signal target value, and controls the movable mechanism based on the control signal to keep the tension generated in the cable constant. A cable winding and delivery control device characterized by:

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