JP2019055845A - Cable delivery device of ground traveling type mobile body - Google Patents

Abstract

To provide a cable delivery device of a ground traveling type moving body capable of reducing restriction of movement of the ground traveling type moving body associated with wired control, and the cable can be drawn out without a drive mechanism.SOLUTION: A cable delivery device 2 of a ground traveling type moving body of this invention comprises a case 31, a tubular fixed guide member 32, and a movable guide member 33. In the case 31, a shaft center 39 is located in the vertical direction, and a winding body 37 in which a cable is wound around the shaft center 39 is accommodated. The fixed guide member 32 is connected to the upper end portion of the case 31 and disposed concentrically with the axial center 39. The movable guide member 33 is connected to the upper side of the fixed guide member 32 and has a softer flexibility than the fixed guide member 32. The cable drawn out of the winding body 37 in the case 31 is guided from the inside of the fixed guide member 32 through the movable guide member 33 to an operation unit side.SELECTED DRAWING: Figure 2

Description

  Embodiments described herein relate generally to a cable feeding device for a ground traveling type moving body.

  For example, it is considered that a ground traveling type mobile body such as a ground traveling type unmanned aircraft is guided to a target location to observe the surroundings or to work remotely at the target location. There are two methods for controlling a ground-moving moving body: a wireless method and a wired method. Wired control is effective in environments where it is difficult to wirelessly control a ground-moving mobile body or when there are many shields. In a conventional wired system, a drum around which a cable for cable control is wound is fixed to the ground traveling type mobile body side, and a drive mechanism that uses a motor or the like to feed out the cable is mainly used.

Japanese Patent Laid-Open No. 7-41257 JP 61-123472 A JP 2014-169151 A

  When a drum around which a cable is wound is fixed on the ground traveling type mobile body side, it is necessary to mount a drive mechanism on the mobile body. In this case, the configuration of the moving body becomes complicated, the moving body becomes larger, and the weight of the moving body increases. Therefore, there are many restrictions on the movement of the ground traveling type mobile body. Furthermore, there is a high possibility that the cable will be tangled during the cable feeding operation and the cable will be disconnected. Further, when the drive mechanism is mounted on the moving body, the cable length that allows the moving body to be paid out in a large-scale manner is not so long.

  The embodiment has been made paying attention to the above circumstances, and can reduce the restriction on the movement of the ground traveling mobile body by wired control, and can feed out the cable without a drive mechanism. It is a problem to provide.

  The cable feeding device for a ground traveling type mobile body of the embodiment includes a case, a tubular fixed guide member, and a movable guide member. The case stores a wound body in which an axis is arranged in a vertical direction and the cable is wound around the axis. The tubular fixed guide member is connected to the upper end of the case and is arranged concentrically with the shaft. The movable guide member is connected to the upper side of the fixed guide member and has a softness that is softer than the fixed guide member. The cable fed out from the wound body in the case is guided from the fixed guide member to the operation unit side through the movable guide member.

FIG. 1 is a schematic configuration diagram of the entire cable feeding device attached to the cable feeding device of the ground traveling mobile body of the first embodiment. FIG. 2 is a longitudinal sectional view of a main part of the cable feeding device for the ground traveling type mobile body according to the first embodiment. FIG. 3 is a cross-sectional view showing an optical fiber used in the cable feeding device of the ground traveling type moving body according to the first embodiment. FIG. 4 is a longitudinal cross-sectional view of a main part of the cable feeding device of the ground traveling type moving body according to the second embodiment. FIG. 5 is a cross-sectional view showing an optical fiber core wire used in the cable feeding device of the ground traveling type mobile unit of the second embodiment.

[First Embodiment]
(Constitution)
1 to 3 show a first embodiment. FIG. 1 is a schematic configuration diagram showing an attachment state of a cable feeding device 2 attached to a remotely operated unmanned ground traveling type mobile body 1 as a mobile body according to the first embodiment. FIG. 2 is a longitudinal sectional view showing an internal configuration of the cable feeding device 2 according to the first embodiment. FIG. 3 is a cross-sectional view showing an optical fiber 3 that is an example of a cable used in the cable feeding device 2 of the ground traveling mobile object of the first embodiment.

  The ground traveling type mobile body 1 of this embodiment is a caterpillar (registered trademark) traveling unmanned vehicle. In this moving body 1, two caterpillar units (a main caterpillar unit 5 and a front caterpillar unit 6) are disposed on both sides of the vehicle body 4. The main caterpillar unit 5 has a pair of front wheels 7 and rear wheels 8 disposed on both sides of the vehicle body 4, and a belt 9 spanned between the two wheels.

  The front caterpillar unit 6 includes a pair of front wheels 10 and rear wheels 11 disposed on both sides of the vehicle body 4 and a belt 12 spanned between the two wheels. The front wheel 7 of the main caterpillar unit 5 and the rear wheel 11 of the front caterpillar unit 6 are provided coaxially. In FIG. 1, the front wheel 7 of the main caterpillar unit 5 and the rear wheel 11 of the front caterpillar unit 6 are shown in a state of overlapping in a direction perpendicular to the paper surface.

  On the upper surface of the vehicle body 4, a work arm portion 13 is disposed on the front side. The working arm unit 13 includes a plurality of movable arms, in the present embodiment, three linear movable arms (first arm 14, second arm 15, and third arm 16 in order from the distal end side). Between the 1st arm 14 and the 2nd arm 15, the 1st joint part 17 which can be rotated along the rotating shaft which is not shown in figure is arrange | positioned. Between the second arm 15 and the third arm 16, a second joint portion 18 that is similarly rotatable along a rotation axis (not shown) is disposed. A support shaft portion 21 of a pair of work claws 19 and 20 that can be opened and closed is provided at the distal end portion of the first arm 14. The pair of work claws 19 and 20 can be opened / closed around the support shaft 21. Further, an upper camera 22 for peripheral observation is disposed at the front end of the work arm 13, for example, the second arm 15.

  The cable feeding device 2 according to this embodiment is disposed behind the work arm unit 13. The cable feeding device 2 includes, for example, a case 31 that houses the optical fiber 3, a tubular fixed guide member 32, and a movable guide member 33.

  As shown in FIG. 2, the case 31 is formed with a flat portion on the top and bottom of the sphere 34 along the horizontal direction. An attachment surface 35 a for attaching the case 31 to the upper surface of the vehicle body 4 is formed on the flat surface portion 35 below the sphere 34. In addition, an opening is formed at the axial center of the flat portion 36 at the top of the sphere 34. The opening portion of the flat portion 36 functions as a cable feeding portion 36a.

  In the present embodiment, a wound body 37 of the optical fiber 3 is accommodated in the case 31. As the optical fiber 3, a UV core wire 38 having a cross-sectional shape shown in FIG. 3 is used. In the UV core 38, a core 38a is disposed at an axial center, and a clad 38b is disposed around the core 38a to form an optical fiber main body 38c. Further, a coating layer 38d of a resin material, for example, an ultraviolet curable resin, is formed on the outer periphery of the clad 38b. The UV core wire 38 has a diameter of about 0.25 mm, for example.

  The wound body 37 is obtained by winding the UV core wire 38 by, for example, about 1000 m. At the time of manufacturing the wound body 37, for example, the main body 37 a of the substantially cylindrical wound body 37 is formed by winding the optical fiber 3 around a shaft body (not shown) standing in the vertical direction. At this time, when the optical fiber 3 is wound around the shaft, a transmission loss occurs during communication using the optical fiber 3. The transmission loss during communication of the optical fiber 3 changes according to the diameter of the wound body 37, and the transmission loss increases as the diameter decreases. Therefore, in this embodiment, when the optical fiber strand 3 is wound, the diameter of the wound body 37 is set so that the transmission loss during communication by the optical fiber strand 3 falls within an allowable range during normal use. The The winding direction when the optical fiber 3 is wound around the wound body 37 may be either clockwise or counterclockwise.

  Thereafter, a resin cover 37b made of, for example, a heat-shrinkable resin film is attached to and integrated with the outer peripheral surface of the main body 37a of the wound body 37. At this time, by bending the linear optical fiber 3, the tension (repulsive force) of the optical fiber 3 is applied from the inside to the outside of the wound body 37. Therefore, since the urging force is generated in the direction in which the optical fiber 3 presses the resin cover 37b outward from the inside, the optical fiber 3 is prevented from being separated apart. Subsequently, the wound body 37 of the optical fiber 3 in a hollow body state is formed by removing the main body 37a of the wound body 37 from the shaft body. Thereby, the main body 37a of the wound body 37 is held in a state of a small and lightweight wound body 37 in which the optical fiber 3 is wound and integrated.

  In the case 31, the wound body 37 of the optical fiber 3 in the state of a hollow body is housed in a state where the axis 39 is arranged in the vertical direction. In the present embodiment, the wound body 37 of the optical fiber 3 is formed to have a height (H) of approximately 80 mm and a diameter (D) of approximately 140 mm, for example. The shaft body is used only when the wound body 37 is manufactured, and is not used after the hollow wound body 37 is formed.

  The fixed guide member 32 includes a substantially conical guide plate 40 and a substantially straight guide tube 41. The guide plate 40 is connected to the upper end portion of the case 31, and the inner diameter becomes smaller as it goes upward. The guide tube 41 is connected to the upper end portion of the guide plate 40. In the present embodiment, the length of the guide tube 41 is set to approximately 100 mm. Note that the length of the guide tube 41 can be changed as appropriate. The guide plate 40 and the guide tube 41 are integrally formed in a substantially cylindrical shape using, for example, a metal material or a resin material. In this embodiment, the example which integrally molded the fixed guide member 32 with the resin material was shown. Thereby, it can reduce in weight compared with the case where the fixed guide member 32 is formed with a metal material.

  The movable guide member 33 is connected to the upper side of the fixed guide member 32 and has a structure that is softer than the fixed guide member 32. The movable guide member 33 is, for example, one of an elastic body and a movable part having a multi-joint structure. In this embodiment, the example which formed the movable guide member 33 with the silicon tube which is an example of elastic bodies, such as rubber | gum, was shown. One end of the movable guide member 33 is connected to the upper end of the guide tube 41 of the fixed guide member 32 so as to be fitted on the upper end. As a result, the movable guide member 33 can rotate in the direction around the axis indicated by the arrow r about the axis 39 of the wound body 37 from the initial position indicated by the solid line in FIG. 1 to the movable position indicated by the dotted line. At the same time, the movable guide member 33 is also movable in the vertical direction indicated by the arrow ud in FIG. Furthermore, it is possible to move in any direction that is a combination of the pivoting operation indicated by the arrow r and the vertical movement indicated by the arrow ud.

  The movable guide member 33 has a multi-joint structure that can be bent in the middle of a straight tubular arm, for example, and the entire arm can be deformed into an arbitrary shape via the plurality of joints. It may be a part.

  Further, one end of the optical fiber 3 of the wound body 37 is connected to a control device on the airframe device side (not shown) in the ground traveling type mobile body 1. The other end of the optical fiber 3 is pulled out from the inner peripheral surface side of the wound body 37 as shown in FIG. 2, and the ground traveling type mobile body 1 is sequentially passed through the fixed guide member 32 and the movable guide member 33. It is fed out to the outside. Thereby, the optical fiber 3 fed out from the cable feeding device 2 is extended mainly in the direction opposite to the moving direction of the ground traveling type mobile body 1. Furthermore, the extension end of the optical fiber 3 drawn out to the outside of the ground traveling mobile body 1 is connected to a control device 43 on the driver 42 side as shown in FIG. An input device such as a control box 44 and a display panel 45 are connected to the control device 43.

  When the ground traveling type mobile body 1 is stopped, the optical fiber strand 3 in the wound body 37 is held in a state in which the feeding of the optical fiber strand 3 is stopped by the urging force in the direction of spreading outward. Further, when the ground traveling mobile body 1 travels, as shown in FIG. 1, the operator 42 outside the ground traveling mobile body 1 operates the control box 44 while confirming the screen of the display panel 45 to travel on the ground. Control (remote control) of the mobile body 1 is performed. At this time, the ground traveling type mobile body 1 travels by a pair of the main caterpillar unit 5 and the front caterpillar unit 6.

  Further, the optical fiber 3 travels on the ground by the distance traveled by the ground traveling mobile body 1 against the urging force of the optical fiber 3 in the wound body 37 as the ground traveling mobile body 1 moves. It is drawn out to the outside of the mobile body 1. At this time, the optical fiber 3 in the wound body 37 is guided to a state where the optical fiber 3 is sequentially drawn out via the fixed guide member 32 and the movable guide member 33.

(Function)
Next, the operation of the above configuration will be described. In the cable feeding device 2 of the present embodiment, the optical fiber 3 is fed from the wound body 37 in the case 31 of the feeding device 2 as the ground traveling type mobile body 1 moves. At this time, the optical fiber 3 drawn out from the inner peripheral surface side of the wound body 37 is drawn upward into the fixed guide member 32 from the hollow portion of the wound body 37. Subsequently, the optical fiber 3 passes through the guide tube 41 of the fixed guide member 32, and is drawn out to the outside of the ground traveling type mobile body 1 through the movable guide member 33. Then, wired control of the ground traveling mobile unit 1 and transmission of image data captured by the upper camera 22 of the ground traveling mobile unit 1 are performed through the optical fiber 3.

  In the cable feeding device 2 of the present embodiment, the guide plate 40 of the tubular fixed guide member 32 is connected to the upper end portion of the case 31, and the flexible movable guide member 33 is further above the fixed guide member 32. Are connected. Then, the optical fiber 3 fed out from the wound body 37 in the case 31 is fed out from the hollow part of the wound body 37 to the axial center part in the fixed guide member 32 along the substantially vertical direction. Therefore, the possibility that the optical fiber 3 contacts the outlet of the case 31 is low. It should be noted that even if the optical fiber strand 3 comes into contact with the outlet of the case 31, there is no possibility of large friction, so the possibility of disconnection of the optical fiber strand 3 is low.

  Furthermore, since the optical fiber strand 3 drawn out from the outlet of the case 31 is inserted into the guide tube 41 of the fixed guide member 32, the optical fiber strand 3 has a linear shape corresponding to at least the length of the guide tube 41. Is held securely. For this reason, since there are few contact portions between the optical fiber 3 and the fixed guide member 32, the sliding resistance between the optical fiber 3 and the fixed guide member 32 can be kept small.

  Further, a flexible movable guide member 33 is connected on the fixed guide member 32. The optical fiber 3 inserted into the movable guide member 33 can be freely deformed according to the shape change of the movable guide member 33. Therefore, the optical fiber 3 comes into contact with the inner wall surface of the movable guide member 33 due to the shape change of the optical fiber 3. At this time, since the movable guide member 33 is formed of a silicon tube, the contact portion between the optical fiber strand 3 and the inner wall surface of the movable guide member 33 is held with a small sliding resistance.

  Note that, at the connecting portion between the fixed guide member 32 and the movable guide member 33, one end portion of the movable guide member 33 is connected in a state of being fitted on the upper end portion of the guide tube 41 of the fixed guide member 32. Therefore, even when the shape of the movable guide member 33 is changed, the movable guide member 33 is not bent at an extremely acute angle from the linear shape of the fixed guide member 32 in the vicinity of the connection portion with the fixed guide member 32. Therefore, the shape of the movable guide member 33 is changed by the combined force of the tension of the optical fiber strand 3 itself and the elasticity of the movable guide member 33. Together, it is gently curved. Thereby, the resistance (mainly sliding resistance) when the optical fiber 3 fed out from the wound body 37 in the case 31 is extended to the outside through the fixed guide member 32 and the movable guide member 33 in order. Can be reduced.

  As a result, even if the ground traveling type mobile body 1 moves, only the upward force in the direction of the arrow in FIG. The hook does not occur.

  Furthermore, since the movable guide member 33 is formed of a silicon tube, the optical fiber 3 extending from the upper end portion of the guide tube 41 of the fixed guide member 32 toward the movable guide member 33 and the upper end opening of the guide tube 41 are provided. Friction with the end surface of the part can be reduced.

(effect)
Therefore, the above configuration has the following effects. That is, the cable feeding device 2 according to the present embodiment does not have a driving unit and can feed the optical fiber 3 mainly along with the movement of the ground traveling type mobile body 1. Moreover, in the ground traveling type mobile body 1 of the present embodiment, the optical fiber 3 fed out from the cable feeding device 2 is not rewound. Therefore, since the structure of the whole feeding apparatus 2 can be simplified, the structure of the ground traveling type mobile body 1 can be reduced in size and weight. Accordingly, it is possible to reduce the restriction on the movement of the ground traveling mobile body 1 by the wire control of the optical fiber 3.

  Furthermore, since the optical fiber strand 3 can be paid out without providing a driving mechanism in the feeding device 2, the tension applied to the optical fiber strand 3 can be reduced. Therefore, even if the ground traveling type mobile body 1 changes its direction, the tension applied to the optical fiber strand 3 hardly changes. Therefore, the optical fiber strand 3 can be smoothly fed out in accordance with the movement of the ground traveling type mobile body 1. Can do.

  In addition, since the tension and direction applied to the optical fiber 3 fed out from the hollow portion of the wound body 37 are constant (upward) regardless of the moving direction of the ground traveling mobile body 1, the entanglement of the optical fiber 3 The possibility of disconnection is reduced. Furthermore, since the cable feeding device 2 of the present embodiment is small and light, it can be easily added to the existing ground traveling type mobile body 1.

[Second Embodiment]
(Constitution)
4 and 5 show a second embodiment. FIG. 4 is a longitudinal cross-sectional view of a main part of the cable feeding device 51 of the ground traveling type moving body according to the second embodiment. FIG. 5 is a cross-sectional view showing an optical fiber core wire 52 used in the cable feeding device 51 of the ground traveling type mobile body of the second embodiment.

  The present embodiment is a modification in which the configuration of the wound body 37 of the cable feeding device 2 of the first embodiment is changed. 4 and 5, the same parts as those in FIGS. 1 to 3 are denoted by the same reference numerals, and the description thereof is omitted. In the cable feeding device 2 of the first embodiment, an example in which the substantially tubular hollow wound body 37 is used is shown, but in this embodiment, the cable feeding device 2 is erected in the vertical direction at the axial center position in the case 31. A wound body 54 is formed by winding an optical fiber core wire 52 around the shaft body 53 and integrating them. Therefore, the wound body 54 of the present embodiment is different from the first embodiment in that the shaft body 53 is provided and the resin cover 37b (see FIG. 2) is not provided on the outer peripheral surface side of the wound body 54. . The shaft body 53 is preferably supported by the flat surface portion 35 below the case 31 so as to be rotatable about the axis.

  Further, as shown in FIG. 5, the optical fiber core 52 has a core 52a at the axial center and a clad 52b around the core 52a to form an optical fiber main body 52c. A first covering layer 52d, which is a buffer layer made of a first resin material such as silicone, is formed on the outer periphery of the clad 52b. A second coating layer 52e made of a second resin material such as nylon is further coated around the first coating layer 52d. The optical fiber core 52 has a diameter of about 0.9 mm, for example.

  The wound body 54 is obtained by winding the optical fiber core wire 52 by, for example, about 50 m. In this embodiment, the wound body 54 of the optical fiber 3 is formed to have a height (H ′) of approximately 80 mm and a diameter (D ′) of approximately 140 mm, for example. One end of the optical fiber core wire 52 of the wound body 54 of the present embodiment is connected to a control device on the airframe device side (not shown) in the ground traveling type mobile body 1. As shown in FIG. 4, the other end of the optical fiber core wire 52 is drawn from the outer peripheral surface side of the wound body 54, and sequentially passes through the stationary guide member 32 and the movable guide member 33. It is paid out to the side.

(Action / Effect)
In the wound body 54 of the present embodiment, when the optical fiber core wire 52 is fed out, the optical fiber core wire 52 is fed out from the outer peripheral surface side of the wound body 54. At this time, the optical fiber core wire 52 drawn out from the outer peripheral surface side of the wound body 54 is drawn upward into the fixed guide member 32 from the outer peripheral surface side of the wound body 54. Subsequently, the optical fiber core wire 52 passes through the guide tube 41 of the fixed guide member 32 and is drawn out to the outside of the ground traveling mobile body 1 through the movable guide member 33 as in the first embodiment. It is. Then, wired control of the ground traveling mobile unit 1 and transmission of image data captured by the upper camera 22 of the ground traveling mobile unit 1 are performed through the optical fiber core 52.

  The cable feeding device 51 of the present embodiment does not have a drive unit as in the first embodiment, and can mainly feed the optical fiber core wire 52 with the movement of the ground traveling type mobile body 1. Moreover, in the ground traveling type mobile body 1 of the present embodiment, the optical fiber core wire 52 fed out from the cable feeding device 51 is not rewound. Therefore, since the structure of the whole feeding apparatus 51 can be simplified, the structure of the ground traveling type mobile body 1 can be reduced in size and weight. Accordingly, it is possible to reduce restrictions on the movement of the ground traveling mobile body 1 by wire control of the optical fiber core wire 52.

  Furthermore, since the optical fiber core wire 52 can be fed out without providing a special drive mechanism in the feeding device 51, the tension applied to the optical fiber core wire 52 can be reduced. Therefore, the tension applied to the optical fiber core wire 52 hardly changes even when the ground traveling mobile body 1 changes its direction, so that the optical fiber core wire 52 is smoothly fed out in accordance with the movement of the ground traveling mobile body 1. Can do.

In addition, the optical fiber core wire 52 of this embodiment is reusable. Therefore, after the ground traveling type mobile body 1 is used, the optical fiber core wire 52 is collected, and the optical fiber core wire 52 is wound around the shaft body 53 in the case 31 to be integrated to form the wound body 54 again. You can also.
Further, in each of the above-described embodiments, a caterpillar traveling type configuration example is illustrated in which the pair of the main caterpillar unit 5 and the front caterpillar unit 6 travels as the ground traveling type mobile body. Absent. The ground traveling mobile unit may be, for example, a vehicle type ground traveling unmanned vehicle that travels by wheels.
Moreover, in the said embodiment, the winding body 37 of FIG. 2 is formed with the UV core wire 38 shown in FIG. 3, and the winding body 54 of FIG. 4 is formed with the optical fiber core wire 52 shown in FIG. It was. Alternatively, the wound body 37 of FIG. 2 may be formed by the optical fiber core wire 52 shown in FIG. 5, and the wound body 54 of FIG. 4 may be formed by the UV core wire 38 shown in FIG.

  Although several embodiments of the present invention have been described, these embodiments are presented by way of example and are not intended to limit the scope of the invention. These novel embodiments can be implemented in various other forms, and various omissions, replacements, and changes can be made without departing from the scope of the invention. These embodiments and modifications thereof are included in the scope and gist of the invention, and are included in the invention described in the claims and the equivalents thereof.

  DESCRIPTION OF SYMBOLS 1 ... Ground moving type mobile body, 2 ... Cable feeding device, 3 ... Optical fiber wire, 4 ... Vehicle body, 5 ... Main caterpillar unit, 6 ... Front caterpillar unit, 7 ... Front wheel, 8 ... Rear wheel, 9 ... Belt DESCRIPTION OF SYMBOLS 10 ... Front wheel, 11 ... Rear wheel, 12 ... Belt, 13 ... Working arm part, 14 ... Arm, 15 ... Arm, 16 ... Arm, 17 ... Joint part, 18 ... Joint part, 19 ... Working nail, 20 ... Working Claw, 21 ... support shaft portion, 22 ... upper camera, 31 ... case, 32 ... fixed guide member, 33 ... movable guide member, 34 ... sphere, 35 ... flat portion, 35a ... mounting surface, 36 ... flat portion, 36a ... Cable feeding portion, 37 ... winding body, 37a ... main body, 37b ... resin cover, 38 ... UV core wire, 38a ... core, 38b ... cladding, 38c ... main body of optical fiber, 38d ... covering layer, 39 ... axial center, 40 ... Guide plate, 41 ... Ga 42 ... pilot, 43 ... control device, 44 ... control box, 45 ... display panel, 51 ... cable feeding device, 52 ... optical fiber core, 52a ... core, 52b ... clad, 52c ... main body of optical fiber , 52d: first covering layer, 52e: second covering layer, 53: shaft body, 54: wound body.

Claims (7)

One end of a cable is connected to the control device of the ground traveling type mobile body, and the other end of the cable is connected to the control device on the operation unit side for remotely operating the mobile body, and the control device passes the cable through the cable. A cable feeding device that is used in a wired mobile control device that controls the mobile body, and is attached to the mobile body,
A case in which a shaft is disposed in a vertical direction and a wound body in which the cable is wound around the shaft center is housed;
A tubular fixed guide member connected to the upper end of the case and arranged concentrically with the axis;
A movable guide member connected to an upper side of the fixed guide member and having a softness softer than the fixed guide member;
Comprising
A cable feeding device for a ground traveling type moving body that guides the cable fed from the wound body in the case from the fixed guide member to the operation unit side through the movable guide member. The cable feeding device for a ground traveling type mobile body according to claim 1, wherein the movable guide member is one of an elastic body and a movable portion having a multi-joint structure. The cable is formed by an optical fiber;
The wound body is integrated by attaching a resin cover to the outer peripheral surface side of the wound body in which the optical fiber is wound around the shaft body, and then in a state of a hollow body removed from the shaft body. The cable feeding device for a ground traveling type moving body according to claim 1 or 2, wherein the cable feeding device is a ground traveling type moving body.   4. The cable running device for a ground traveling type mobile unit according to claim 3, wherein the optical fiber is an optical fiber strand in which the periphery of the optical fiber main body is coated with a coating layer of a resin material. The fixed guide member is connected to the upper end portion of the case, and has a substantially conical guide plate whose inner diameter decreases as it goes upward, and a guide tube connected to the upper end portion of the guide plate,
At the time of stopping the ground traveling type mobile body, hold in a state where the feeding of the optical fiber strand is stopped by the biasing force in the direction in which the optical fiber strand in the wound body expands,
5. The optical fiber is fed out sequentially through the fixed guide member and the movable guide member by a distance traveled by the ground traveling mobile body against the biasing force as the ground traveling mobile body moves. Item 5. A cable feeding device for a ground traveling type mobile unit according to Item 4. The cable is formed by an optical fiber;
The ground traveling type mobile body according to claim 1 or 2, wherein the wound body is integrated by winding the optical fiber core wire around a shaft body that is erected in a vertical direction at an axial center position in the case. Cable feeding device.   The optical fiber core wire is a second coating layer made of a second resin material around the optical fiber, the circumference of the optical fiber body being covered with the first coating layer made of the first resin material. The cable running-out device for a ground traveling type mobile body according to claim 6, wherein the cable running device is covered.