JP5428845B2 - Cable processing device for traveling body - Google Patents

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, there is one described in, for example, Japanese Patent No. 3035086 (Patent Document 1). The device described in Patent Document 1 includes a cable drum for winding a cable, a drum drive motor for driving the cable drum, a pair of guide pulleys for feeding the cable, and a rotating 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

  In the traveling body cable processing apparatus as described above, since the pair of guide pulleys are always in contact with the cable and held in a state of holding the cable, when the cable is wound around the cable drum, the cable is When skewed in the axial direction of the cable drum, the cable is dragged by the guide pulley. For this reason, there is a problem that an excessive load is applied to the cable on the side wound around the cable drum, the cable is disconnected, or a load is applied to the drive source that drives the cable drum.

  The present invention has been made in view of the above-described conventional problems, and an object of the present invention is to prevent the cable from being disconnected and a load being applied to the driving source when the cable is wound.

  In order to achieve this object, the present invention provides a cable drum for winding a cable, a feed roller for clamping the cable from the cable drum, a pinch roller facing the feed roller, and a feed roller. A traveling body cable processing apparatus comprising a roller and a drive source for driving a cable drum, wherein the swinging supported first lever for rotatably supporting the feeding roller at a swinging end, and the pinch A second lever rotatably supported to rotatably support the roller at the swing end, a sun gear that rotates coaxially with the feed roller and rotates integrally with the feed roller, and meshes with the sun gear A planetary gear that supports the planetary gear rotatably, is frictionally coupled to an end surface of the planetary gear, and the first gear A third lever rotatably supported on the bar coaxially with the feed roller; a cam follower pivotally supported by the third lever; a cam provided on the pinch roller with which the cam follower is engaged; An urging means interposed between the first and second levers and urging the feeding roller and the pinch roller in a direction to sandwich the cable; and rotating the sun gear in the direction of winding the cable Thus, the feeding roller and the pinch roller are separated from each other against the urging force of the urging means by the engagement of the cam follower and the cam.

  The present invention includes the traverse cam shaft extending in the axial direction of the cable drum, and a cable guide roller that reciprocates in the axial direction of the cable drum by the rotation of the traverse cam shaft. The drum, the feeding roller, and the traverse cam shaft are driven by a single motor, the cable feeding speed of the feeding roller is made faster than the cable feeding speed of the cable drum, and the motor is driven only in the direction of feeding the cable. Is provided between the feeding roller and the sun gear.

  According to the present invention, the cable is provided by the feeding roller and the pinch roller by providing the cam follower and the cam for separating the feeding roller and the pinch roller against the biasing force of the biasing means when winding the cable. There is no such thing as being pinched. Therefore, even if the cable is skewed in the axial direction of the cable drum when winding the cable, the cable is not dragged by the feeding roller and the pinch roller. For this reason, the cable on the side wound by the cable drum is not overloaded with necessity, so that the cable may be disconnected or the driving source driving the cable drum may be overloaded. Absent.

  According to one of the inventions, the number of parts and the manufacturing cost can be reduced by using a single motor as the drive source. 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.

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. In the cable processing apparatus for traveling bodies according to the present invention, it is an arrangement diagram of gears that transmit the drive of a motor. FIG. 5 is a cross-sectional view taken along the line V-V in FIG. 3 showing a state in which the cable is extended in the traveling body cable processing apparatus according to the present invention. FIG. 5 is a cross-sectional view taken along the line V-V in FIG. 3 showing a state in which the cable is wound up in the traveling body cable processing device according to the present invention. It is the VII-VII sectional view taken on the line in FIG.

  Hereinafter, embodiments of the present invention will be described with reference to FIGS. 2 and 3, the gear shown in FIG. 4 is not shown for convenience of explanation.

  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 7. 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 guide 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 guide levers 22A. , 22B, a pair of guide rollers 23A, 23B are rotatably supported so as to face each other. The pair of guide levers 22A and 22B are interlocking means provided on a pair of first levers 27A and 27B, which will be described later, and when the one guide lever swings, the other detection lever swings in conjunction therewith. 39 is provided with interlocking means having the same structure as 39 and urging means (none of which is shown) for urging the guide rollers 23A and 23B in the direction in which they approach each other.

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

  A transmission gear 32 is rotatably supported by the shaft 31 and is connected to the feeding 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 opposed to the feeding roller 30 and is swingable in the direction of the arrow EF in FIG. 2 via shafts 36A and 36B (one shaft 36B is not shown) on the frames 11A and 11B. The second levers 37A and 37B that are supported (one second lever 37B is not shown) are rotatably supported by the swinging end portion. As shown in FIG. 6, a tension coil spring 38 is suspended between the first and second levers 27A and 37A so that the feeding roller 30 and the pinch roller 35 are close to each other and sandwich the cable 4.

  In FIG. 6, reference numeral 39 denotes interlocking means for interlocking the swinging operations of the first second lever 27A and the second lever 37A, and is fixed to the base ends of the first levers 27A and 37A. The segment gears 39A and 39B mesh with each other. Therefore, when one of the first levers 27A swings in the clockwise direction in the figure with the shaft 28A as the center of swing, the other second lever 37A has the shaft 36A as the center of swing through this interlocking means 39. Swings the same amount in the counterclockwise direction. Similarly, when the other second lever 37A swings counterclockwise in the figure with the shaft 36A as the swing center, the first lever 27A has the shaft 28A as the swing center via the interlocking means 39. As shown in FIG.

  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 the speed is reduced between the traverse gear 43 and the motor gear 42 via a transmission gear train 53 as shown in FIG. A gear train 54 is interposed. 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.

  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. A sensor 49 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 sensor 49, the control device of the traveling body cable processing device 5 uses 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 detects the motor 12. Stop driving.

  Next, the structure of the feeding roller 30 and the pinch roller 35, which is a feature of the present invention, will be described with reference to FIGS. In FIGS. 5 and 7, reference numeral 61 denotes a position restricting pin implanted in the first lever 27A. Reference numeral 63 denotes a third lever that is swingably supported by the first lever 27A via the shaft 31 so as to be coaxial with the sun gear 32, and is an elongated hole into which the position restriction pin 61 is engaged. 63 a is provided, and the elongated hole 63 a is formed in an arc shape centering on the shaft 31. Therefore, the third lever 63 is restricted from rotating in the counterclockwise direction shown in FIG. 5 and in the clockwise direction shown in FIG. The

  Reference numeral 64 denotes a planetary gear which is pivotally supported by one pivot end of the third lever 63 via a shaft 65 and meshes with the sun gear 32. As shown in FIG. 7, the planetary gear 64 has a first end surface 64 a having a first end surface 64 a due to a biasing force of a compression spring 68 that is elastically mounted between a ring member 66 that is pivotally attached to an end of the shaft 65 and a spring receiver 67. Is pressed against the side surface 27a of the lever 27A and is frictionally coupled to the first lever 27A. That is, when the sun gear 32 rotates clockwise about the shaft 31 as shown in FIG. 5, the planetary gear 64 follows the rotation of the sun gear 32 due to frictional coupling with the third lever 63. Since the sun gear 32 is rotated clockwise, the third lever 63 is also rotated clockwise around the shaft 31 as a swing center. The third lever 63 rotated in the clockwise direction is stopped when the one end portion of the elongated hole 63a is engaged with the position restricting pin 61, so that the planetary gear 64 is in friction with the third lever 63. The coupling is released, and the shaft 65 rotates counterclockwise about the rotation center.

  On the other hand, when the sun gear 32 rotates counterclockwise about the shaft 31 as shown in FIG. 6, the planetary gear 64 is accompanied by the rotation of the sun gear 32 due to frictional coupling with the third lever 63. Thus, the third lever 63 also rotates counterclockwise around the shaft 31 as the center of oscillation. The third lever 63 rotated in the counterclockwise direction is stopped when the other end of the elongated hole 63a is engaged with the position restricting pin 61, so that the planetary gear 64 is connected to the third lever 63. The frictional coupling is released, and the shaft 65 rotates clockwise about the rotation center.

  Reference numeral 70 denotes a cam follower pivotally supported by the other swinging end portion of the third lever 63. Reference numeral 72 denotes a cam fixed to the end of the pinch roller 35, and a cam surface 72a with which the cam follower 70 is engaged is formed. In such a configuration, when the third lever 63 swings around the shaft 31 in the counterclockwise direction as shown in FIG. 6, the cam follower 70 engages with the cam surface 72 a of the cam 72. By this engagement, the first lever 27A swings clockwise in FIG. 6 with the shaft 28A as the swing center, and the second lever 37A rotates counterclockwise with the shaft 36A as the swing center. Accordingly, the feeding roller 30 moves in the direction of arrow F, and the pinch roller 35 moves in the direction of arrow E, so that both the rollers 30 and 35 are separated from each other against the tensile force of the tension coil spring 38.

  On the other hand, when the third lever 63 swings clockwise about the shaft 31 as shown in FIG. 5, the engagement between the cam follower 70 and the cam surface 72a of the cam 72 is released. By releasing this engagement, the first lever 27A swings counterclockwise in FIG. 5 with the shaft 28A as the swing center by the tension of the tension coil spring 38, and the second lever 37A swings the shaft 36A. Rotates clockwise as the center of swing. Accordingly, the feeding roller 30 moves in the direction of arrow E, and the pinch roller 35 moves in the direction of arrow F, so that both the rollers 30 and 35 come close to each other and pinch the cable 4.

  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 in the left-right direction (in the direction of arrow CD) as shown by a two-dot chain line in FIG. 3, one guide roller 23A counterclockwise (in the direction of arrow C) around the shaft 21A. The other guide roller 23B moves in the clockwise direction (arrow D direction) with the shaft 21B as the swing center. When the cable 4 swings in the vertical direction (arrow EF direction) as indicated by a two-dot chain line in FIG. 2, the pinch roller 35 moves upward (arrow E direction) about the shaft 36A and is fed out. The roller 30 moves downward (in the direction of arrow F) about the shaft 28A.

  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.

  At this time, since the sun gear 32 rotates counterclockwise about the shaft 31 as shown in FIG. 6, the third lever 63 rotates clockwise about the shaft 31 via the planetary gear 64. Rocks. Accordingly, since the cam follower 70 is engaged with the cam surface 72a of the cam 72, the feeding roller 30 and the pinch roller 35 are kept separated from each other. Therefore, even if the cable 4 is skewed as shown by a two-dot chain line in FIG. 3, the cable 4 is not dragged by the feeding roller 30 and the pinch roller 35. For this reason, an excessive load is not applied to the cable 4 on the side wound around the cable drum 14, so that the cable 4 is disconnected or a load is applied to the motor 12 driving the cable drum 14. There is no such thing.

  Further, since the cable drum 14, the traverse cam shaft 15, and the feeding roller 30 are driven by the single 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. . Further, although the cable drum 14 and the feeding roller 30 are driven by the same motor 12, they may be driven by individual motors. In this case, the one-way clutch 33 is not necessary, and the sun gear 32 is used. May be integrally attached to the feeding roller 30.

  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 ... guide roller, 27A ... first lever, 30 ... feeding roller, 32 ... sun gear, 33 ... one-way clutch, 35 ... pinch roller, 37A ... second lever, 38 ... tensile coil spring (with , 63 ... third lever, 64 ... planetary gear, 70 ... cam follower, 72 ... cam.

Claims (2)

A cable drum for winding the cable;
A feeding roller for clamping the cable to feed the cable from the cable drum, and a pinch roller facing the feeding roller;
In the cable processing apparatus for a traveling body comprising these feeding rollers and a drive source for driving the cable drum,
A first lever supported in a swingable manner to rotatably support the feeding roller at a swinging end;
A second lever supported in a swingable manner to rotatably support the pinch roller at a swinging end;
A sun gear that rotates integrally with the feed roller coaxially with the feed roller;
A planetary gear meshing with this sun gear,
A third lever that rotatably supports the planetary gear and is frictionally coupled to an end surface of the planetary gear, and is rotatably supported on the first lever coaxially with the feeding roller;
A cam follower pivotally supported by the third lever;
A cam provided on the pinch roller engaged with the cam follower;
An urging means interposed between the first and second levers, and urging the feeding roller and the pinch roller in a direction to sandwich the cable;
With
By rotating the sun gear in the direction of winding the cable, the feeding roller and the pinch roller are separated from each other against the biasing force of the biasing means by the engagement of the cam follower and the cam. A cable processing apparatus for a traveling body, which is characterized. 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,
The one-way clutch that transmits the drive of the motor to the feeding roller only in the direction of feeding out the cable is made faster than the feeding speed of the cable by the cable drum and between the feeding roller and the sun gear. The traveling body cable processing device according to claim 1, wherein the traveling body cable processing device is interposed therebetween.

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