JP3137150B2 - Cable winding device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a cable winding device, and more particularly to a cable winding device suitable for automatically winding and unwinding a cable connected to a moving body.

[0002]

2. Description of the Related Art Conventionally, for example, construction machines such as mobile cranes, various work robots such as underwater work robots and sewage pipe inspection robots, and moving bodies such as transfer vehicles are connected via cables that collectively store power lines, signal lines, and the like. It is configured to be remotely controlled by a control device. When the moving body such as the construction machine or the working robot is not driven, the cable is stored in a wound state on a cable drum disposed on a control base or a moving body provided with a control device, while the moving body is driven. At times, control is performed to appropriately wind or unwind the cable around the cable drum according to the operating state of the moving body. In this case, the winding and unwinding control of the cable with respect to the cable drum is generally performed by controlling the rotation speed and the like of the cable drum according to the tension of the cable and the moving speed of the moving body.

[0003]

By the way, in the case of the above-mentioned conventional cable winding / unwinding mechanism, when the cable is wound around the cable drum or when the cable is unreeled,
It is necessary to wind or unwind the cable while keeping the cable in close contact with the cable drum while constantly applying a predetermined tension to the cable. For this reason, for example, when the moving body is turned, since a predetermined tension is applied to the cable as described above, a problem occurs in that the cable is dragged inward in the turning direction, and the winding and feeding control of the cable is performed. There was a problem that it could not be performed smoothly.

[0004]

SUMMARY OF THE INVENTION The present invention has been made to solve the above-mentioned disadvantages of the prior art, and maintains the tension of a cable at a small tension.
It is an object of the present invention to provide a cable winding device that realizes a smooth winding and unwinding operation of a cable irrespective of the operating state of a moving body by appropriately adjusting the tension at the time of winding and unwinding the cable.

[0005]

According to the present invention, in order to achieve the above object, a cable drum, in which a cable connected to a moving body is housed in a wound state, is driven to rotate.
In a cable winding device that winds or unwinds a cable from or to the cable drum, a one-way rotation resistance pulley that is arranged on the cable unwinding side of the cable drum and rotates in a state of being in close contact with the cable; a one-way clutch mounted on the shaft, the so a torque damper coupled with the shaft of the one-way rotation resistance pulley, prior Symbol tension during winding and unwinding of the cable against the cable drum has a predetermined small tension cable the drum
When driven in each rotation direction during winding and unwinding,
And drive means for controlling the rotational speed, the one that at the time the cable unwinding from the cable drum to a free state the one-way clutch, wherein during cable winding to the cable drum the one-way clutch as a lock state one The configuration is provided with control means for coupling the shaft of the directional rotation resistance pulley and the torque damper.

[0006]

According to the present invention, when the one-way clutch is in the free state when the cable is pulled out from the cable drum, the one-way rotation resistance pulley rotates without resistance, so that the cable tension between the cable drum and the one-way rotation resistance pulley is increased. Is the same as the cable tension between the one-way rotation resistance pulley and the guide pulley. As a result, the cable is smoothly fed from the cable drum. On the other hand, when the one-way clutch is locked when the cable is wound on the cable drum, the shaft of the one-way rotation resistance pulley and the torque damper are coupled, and rotation resistance is applied to the one-way rotation resistance pulley shaft. The cable tension between the drum and the one-way rotation resistance pulley becomes larger than the cable tension between the one-way rotation resistance pulley and the guide pulley. Thereby, the cable is smoothly wound around the cable drum. Further, at the time of winding or unwinding the cable with respect to the cable drum, control is performed such that the cable tension becomes a predetermined minute tension.

[0007]

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a perspective view of a cable winding device according to an embodiment of the present invention;

First, the configuration of a remote control vehicle equipped with the cable winding device of the present embodiment and the control device will be described with reference to FIG. On the other hand, a cable winding device 3 to be described later is provided inside the remote control vehicle 1. A cable 4 in which power lines, signal lines, and the like drawn out from the cable winding device 3 of the remotely controlled vehicle 1 are collectively stored.
Is connected to a cable / control unit joint box 5 installed at a departure reference point of the remote control vehicle 1, and the joint box 5 connects a television monitor 6, a control stick 7, etc. installed at a control base or the like. It is connected to a control device 8 provided.

When the remote-controlled vehicle 1 is controlled, an image of the front of the remote-controlled vehicle taken by the television camera 2 is transmitted to the control device 8 via the cable 4 and the cable / control device coupling box 5, and as a result, the television monitor is controlled. 6 is projected. Thus, the operator can remotely control the remotely controlled vehicle 1 by operating the control stick 7 while watching the image on the television monitor 6 of the control device 8.

Next, the detailed structure of the cable winding device 3 of this embodiment will be described with reference to FIGS. 1 and 2. A pair of support plates 11 and 1 are provided on the upper surface of a body 10 of the cable winding device 3.
2, a shaft 13 is horizontally disposed between the support plates 11, 12, and a cable drum 14 for winding and storing the cable 4 is rotatably supported on the shaft 13. I have. A guide shaft 15 is horizontally disposed between the two support plates 11 and 12, and a traverser 16 is supported on the guide shaft 15 so as to be movable in the guide axis direction.
A motor 17 is provided near the body 10, and a belt 19 is stretched between a rotation shaft 18 of the motor 17 and a shaft 13 of the cable drum 14.
A belt 20 is stretched between the shaft and the guide shaft 15.

Further, a shaft 21 is provided between the support plates 11 and 12.
Are horizontally arranged, and a support member 22 is attached to the shaft 21. The traverser 16 is provided with a one-way rotation resistance pulley 23 that rotates in close contact with the cable 4 unwound from the cable drum 14 via a shaft 24. A one-way clutch (one-way clutch) 25 is provided on the shaft 24, and a torque damper 26 is provided on the support member 22. A cable contact pulley 27 is disposed between the traverser 16 and the support member 22 via a shaft 28 and compression springs 29 mounted on both ends of the shaft 28, and the cable contact pulley 27 is connected to the cable side ( (Arrow direction in FIG. 2). Motor 17
When the shaft 13 is driven, the cable drum 14
Is driven to rotate, and the traverser 16 moves in the guide axis direction (left and right) with the rotation of the cable drum 14, so that the one-way rotation resistance pulley 23 can also move in the guide axis direction. Thereby, the cable drum 1
The cable 4 is prevented from being wound up in a state in which the cable 4 is biased.

A pair of guide pulleys 30 and 31 for holding and guiding the cable 4 fed from the cable drum 14 are arranged on the upper surface of the body 10 while being supported by shafts 32 and 33, respectively. A pair of guide pulleys 34 and 35 for holding and guiding the cable 4
A guide pulley 38 for guiding the cable 4 is provided at a top end of the body 10 via a support portion 39. A pair of dance rollers 4 is provided between the guide pulleys 30 and 31 and the guide pulleys 34 and 35 on the upper surface of the body 10.
Reference numerals 0 and 41 are provided via a support base 42 and a shaft 43, and a tension spring 44 is provided between the support base 42 and the body 10.

A potentiometer 45 as a detecting means is mounted on the base end of the shaft 43. The potentiometer 45 detects the cable tension based on the rotation angles of the dance rollers 40 and 41. Further, a motor controller 46 as driving means is provided between the potentiometer 45 and the motor 17 via a lead wire 47, and the motor controller 46 detects the cable tension detected by the potentiometer 45 as a constant low tension ( By controlling the drive of the motor 17 so as to be several hundred gF), the rotation direction and the rotation speed of the cable drum 14 are controlled.

Here, the one-way rotation resistance pulley 2 described above is used.
The principle of 3 will be described with reference to FIG.
When the cable 4 is pulled out from the cable 4, the one-way clutch 25 is in a free state (the shaft 24 of the one-way rotation resistance pulley 23 and the torque damper 26 are not connected), and the one-way rotation resistance pulley 23 that is in close contact with the cable 4 has a resistance. Therefore, the cable tension between the cable drum 14 and the one-way rotation resistance pulley 23 and the cable adhesion pulley 27 is reduced by the cable tension between the one-way rotation resistance pulley 23 and the cable adhesion pulley 27 and the guide pulleys 30 and 31. It is set to be the same as the tension. Thus, the cable 4 can be smoothly fed from the cable drum 14.

On the other hand, when the cable 4 is wound on the cable drum 14 (immediately before the winding operation), the one-way clutch 25 is locked, and the shaft 24 of the one-way rotation resistance pulley 23 and the torque damper 26 are connected to each other. Since rotation resistance is applied to the cable 24, the cable tension between the cable drum 14 and the one-way rotation resistance pulley 23 and the cable adhesion pulley 27 is limited by the one-way rotation resistance pulley 23, the cable adhesion pulley 27 and the guide pulleys 30 and 31. It is set to be larger than the cable tension between the two. Thereby, the cable 4 is connected to the cable drum 14.
It can be wound up in tight contact without sagging. The above cable winding and unwinding control
The control is performed by the control means of the cable winding device.

Next, the operation of the cable winding device of the present embodiment configured as described above will be described.

When the remote control vehicle 1 is controlled by the control device 8, the cable winding device 3 of the remote control vehicle 1 is operated so that the remote control vehicle 1 can travel from a departure reference point (where the cable / control device connection box 5 is installed). Cable drum 14
When the cable 4 is pulled out from the control stick 7, if the predetermined operation is performed with the control stick 7, the one-way clutch 25 is in a free state, and the one-way rotation resistance pulley 23 rotates without resistance. As a result, the cable tension between the cable drum 14 and the one-way rotation resistance pulley 23 and the cable adhesion pulley 27 becomes smaller than the cable tension between the one-way rotation resistance pulley 23 and the cable adhesion pulley 27 and the guide pulleys 30 and 31. Since they are the same, the cable 4 is smoothly fed from the cable drum 14.

On the other hand, when the cable 4 is wound on the cable drum 14 in order to return the remotely controlled vehicle 1 to the starting reference point, a predetermined operation is performed with the control stick 7, and the one-way clutch 25 is locked immediately before the winding operation. In this state, the shaft 24 of the one-way rotation resistance pulley 23 and the torque damper 26 are coupled, and rotation resistance is applied to the shaft 24.
As a result, the cable tension between the cable drum 14 and the one-way rotation resistance pulley 23 and the cable contact pulley 27 is increased.
Since the cable tension between the cable 7 and the guide pulleys 30 and 31 is larger than the cable tension, the cable 4 is wound up in a state of being tightly attached to the cable drum 14 without slack.

As described above, according to the cable winding device of the present embodiment, when the cable is fed, the one-way clutch 25 is set in the free state, so that the cable tension between the cable drum 14 and the one-way rotation resistance pulley 23 is increased. With the one-way rotation resistance pulley 23 and the guide pulley 3
When the cable is wound, the one-way clutch 25 is locked, and the shaft 24 of the one-way rotation resistance pulley 23 and the torque damper 26 are connected to each other to wind the cable. In order to control the cable tension between the one-way rotation resistance pulley 23 and the cable tension between the one-way rotation resistance pulley 23 and the guide pulleys 30 and 31, the winding / unwinding of the cable to / from the cable drum 14 is performed smoothly. It can be carried out.

Further, in the cable winding device of the present embodiment,
By simply arranging one motor for driving the cable drum, the tension at the time of winding / unwinding the cable to / from the cable drum 14 can be maintained at a small tension (1 KgF or less). It is also possible to eliminate the problem that the cable is dragged inward in the turning direction during the turning operation of.

In this embodiment, the cable winding device is applied to the case of winding / unwinding a cable for remote control of a remote control vehicle. However, the present invention is not limited to this.
For example, construction equipment such as mobile cranes, underwater robots,
Cables (power supply cable,
The present invention can be applied to a drum for winding / unwinding a signal cable or the like or a hose (a hydraulic hose, a pneumatic hose, or the like).

[0022]

As described above, according to the present invention,
While controlling the rotation direction and the rotation speed of the cable drum so that the tension at the time of winding or unwinding the cable from the cable drum becomes a predetermined minute tension, the one-way clutch is set to a free state when the cable is unwound from the cable drum. When the cable is wound on the cable drum, the one-way clutch is locked to control the connection of the shaft of the one-way rotation resistance pulley and the torque damper, so that the cable can be smoothly wound and unwound from the cable drum. In addition, various effects can be achieved, such as eliminating the problem that the cable is dragged inward in the turning direction during the turning operation of the moving body as in the related art.

[Brief description of the drawings]

FIG. 1 is a perspective view illustrating a configuration of a cable winding device according to an embodiment of the present invention.

FIG. 2 is a side view showing a configuration of a main part of the cable winding device of the embodiment.

FIG. 3 is a schematic perspective view illustrating a configuration of a remote control vehicle and a remote control device equipped with the cable winding device of the present embodiment.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Remotely controlled vehicle 3 Cable winding device 4 Cable 14 Cable drum 16 Traverser 17 Motor 23 One-way rotation resistance pulley 25 One-way clutch 26 Torque damper 27 Cable close-contact pulley 30, 31, 34, 35, 38 Guide pulley 40, 41 Dance roller 45 Potentiometer 46 Motor controller

Claims (1)

(57) [Claims] A cable winding device for winding and unwinding a cable on and from a cable drum by rotating and driving a cable drum in which a cable connected to a moving body is stored in a wound state. , A one-way rotation resistance pulley that is arranged on a cable feed-out side of the cable drum and rotates in close contact with the cable, a one-way clutch mounted on a shaft of the one-way rotation resistance pulley, and the one-way rotation resistance pulley a torque damper coupled with the axis of the front Symbol winding of the cable relative to the cable drum and the cable drum winding when the rotation direction of each of the time feeding so tension the predetermined small tension during unwinding
And drive means for controlling the rotational speed causes driven direction, locking the one that at the time the cable unwinding from the cable drum to a free state the one-way clutch, said one-way clutch during cable winding to the cable drum A cable winding device comprising a control means for connecting a shaft of the one-way rotation resistance pulley and the torque damper in a state.