JP6442784B2 - Cable processing apparatus and mobile robot - Google Patents

Description

  The present invention relates to a cable processing apparatus and a mobile robot.

For example, a mobile robot that performs a task such as a survey in a nuclear facility or a chemical plant is known for the purpose of performing a task that is difficult for a human on behalf of a human.
When the mobile robot is operated by wire, that is, via a cable instead of wireless, it is necessary to process the cable along with the movement of the mobile robot in order to make the amount of cable drawing appropriate. As a cable processing device for processing a cable, a device that mounts a cable drum and realizes winding or feeding automatically or manually is generally used.
Patent Document 1 discloses a technique having a cable sag detection means.

JP 2008-254927 A

By the way, in the conventional cable processing apparatus, there has been a problem that a cable is not loaded in time because the mobile robot slips on a staircase or a step or slightly slips, and a large load is applied to the cable.
There is also a mechanism for reducing the load and securing the stroke by instantaneously sending out the cable using an elastic member such as a coil spring (helical spring), but such a mechanism increases the size of the cable processing device. There was a problem. In the case of such a mechanism, since the tension of the coil spring changes depending on the spring length, there is a problem that, for example, when the coil spring is pulled out largely, the tension becomes large and control becomes difficult.

  An object of the present invention is to provide a cable processing apparatus that can reduce a load applied to a cable when the cable is pulled suddenly.

  According to the first aspect of the present invention, a cable processing apparatus is rotatably supported with respect to a base portion, and includes a cable drum around which a cable is wound, and a motor having a motor output shaft connected to the cable drum. And a casing provided on the motor, one end connected to the base, the other end connected to the outer peripheral surface, and the cable drum winds up the cable. A constant load spring for applying a constant load in the rotation direction; and a measuring means for measuring a pull-out amount of the constant-load spring. The rotation of the motor so that the pull-out amount of the constant load spring falls within a predetermined range. It is characterized by comprising a control device for controlling.

  According to such a configuration, the load applied to the cable can be reduced by extending the constant load spring when the cable is suddenly pulled. Further, a constant tension can always be applied to the cable by supporting the motor casing rotatably and applying a constant load in the rotation direction of the motor casing using a constant load spring.

  In the cable processing apparatus, when the pull-out amount of the constant load spring reaches a first threshold as the cable is pulled out, the control device rotates the motor output shaft and sends out the cable. When the pull-out amount of the constant load spring reaches a second threshold value that is smaller than the first threshold value with the loosening of the motor, the motor output shaft may be rotated to wind the cable.

  According to such a structure, it can be set as the cable processing apparatus which made the best use of the stroke of a constant load spring by setting a threshold value appropriately.

In the above cable processing apparatus, the measurement unit may measure the pull-out amount of the constant load spring using a rotation angle detection sensor that detects a rotation angle of the motor.
According to such a configuration, the cable processing apparatus can be configured with a more compact structure.

The said cable processing apparatus WHEREIN: The said control apparatus may detect the drawing-out amount of the said constant load spring using a limit switch.
According to such a configuration, the cable processing apparatus can be configured with a simpler configuration. Moreover, the reliability of a cable processing apparatus can be improved by combining a rotation angle detection sensor and a limit switch.

The cable processing apparatus may include a braking mechanism that brakes rotation of the casing.
According to such a configuration, the cable drum can be forcibly rotated and the cable can be wound and delivered by rotating the output shaft of the motor while the rotation of the casing is braked.

In the cable processing apparatus, the cable drum and the motor output shaft may be connected coaxially.
According to such a configuration, the cable processing device can be miniaturized and the structure can be simplified.

In the cable processing apparatus, the cable drum and the motor output shaft may be connected via a gear.
According to such a configuration, the degree of freedom of arrangement of the cable processing device can be improved.

The said cable processing apparatus WHEREIN: The said casing may be attached to the main-body part of the said motor so that it may become concentric with the said motor output shaft.
According to such a configuration, it is possible to use a motor whose outer peripheral surface (outer shape) of the casing of the motor is not cylindrical. Moreover, by preparing a casing separately, it becomes easy to attach a constant load spring to a casing.

  According to a second aspect of the present invention, a mobile robot includes any one of the cable processing devices described above.

  ADVANTAGE OF THE INVENTION According to this invention, when a cable is pulled suddenly, the load concerning a cable can be reduced.

It is a perspective view of the mobile robot provided with the cable processing apparatus of 1st embodiment of this invention. It is a perspective view of the cable processing apparatus of 1st embodiment of this invention. It is a schematic diagram explaining the operation | movement concept of the cable processing apparatus of 1st embodiment of this invention. It is a schematic diagram explaining the operation | movement concept in the cable processing apparatus of 1st embodiment of this invention. It is a schematic diagram explaining the operation | movement concept in the manual mode of the cable processing apparatus of 1st embodiment of this invention. It is a block diagram which shows the system configuration | structure of the cable processing apparatus of 1st embodiment of this invention. It is a flowchart explaining the control method in the automatic mode of the cable processing apparatus of 1st embodiment of this invention. It is a flowchart explaining the control method in the manual mode of the cable processing apparatus of 1st embodiment of this invention. It is a graph explaining the relationship between the rotation angle voltage detected by a rotation angle detection sensor, and the speed command transmitted to a motor. It is a schematic diagram explaining the operation | movement concept of the cable processing apparatus of the 1st modification of this invention. It is the schematic of the limit switch mechanism of the cable processing apparatus of the 1st modification of this invention. It is a top view of the cable processing apparatus of the 2nd modification of this invention. It is a top view of the cable processing apparatus of the 3rd modification of this invention. It is a perspective view of the motor of the 4th modification of this invention. It is a perspective view of the cable processing apparatus and mobile robot of a second embodiment of the present invention.

(First embodiment)
Hereinafter, a mobile robot according to a first embodiment of the present invention will be described in detail with reference to the drawings.
As shown in FIG. 1, the mobile robot 1 of the present embodiment is a robot that performs work that is difficult for humans to perform, such as work in a space PA contaminated by radioactivity.
The mobile robot 1 includes a mobile robot body 2, a cable processing device 4 attached to the mobile robot body 2, and a cable 3 that connects the mobile robot body 2 and the control device 5. That is, the mobile robot 1 of this embodiment includes a cable processing device 4.
The control device 5 is installed in a safe space SA, and a wall W is installed between the control device 5 and the dangerous space PA. The cable 3 is drawn out from the safe space SA to the dangerous space PA through the hole H formed in the wall W.
The control device 5 may be provided in the mobile robot body 2. That is, it may be configured to also serve as a control unit for controlling the mobile robot body 2.

The mobile robot 1 is, for example, a robot having a plurality of tires or an endless track 6 and capable of moving in all directions. The mobile robot 1 can be appropriately equipped with a camera and a sensor 7.
The cable 3 is an optical fiber for transmitting a control signal from the control device 5 to the mobile robot 1 and transmitting information from the camera and the sensor 7 to the control device 5. The cable 3 may have a configuration in which a plurality of cables 3 such as a power transmission wire and a communication optical fiber are collected by an outer cable.

  As the mobile robot 1 moves, the cable 3 is sent out from the cable processing device 4 or wound up. When the mobile robot 1 moves in a direction away from the control device 5, the cable processing device 4 sends out (lengthens) the cable 3. When the mobile robot 1 moves in a direction approaching the control device 5, the cable processing device 4 winds (shortens) the cable 3.

  As shown in FIG. 2, the cable processing apparatus 4 includes a cable drum 10 around which the cable 3 is wound, a motor 11, and a constant load spring 12 (constant tension spring) as main components. . The said component can be arrange | positioned on the plate-shaped base part 9, for example. The cable drum 10 is supported by the first bracket 19 so as to be rotatable with respect to the base portion 9.

  The cable drum 10 has a cylindrical shape, and the cable 3 is wound around the outer peripheral surface thereof. The diameter of the cable drum 10 is appropriately set according to the type and length of the cable 3. However, when the optical fiber is wound like the cable processing device 4 of the present embodiment, no load is applied to the optical fiber. Set to diameter.

  A level winder 13 that functions as a guide member of the cable 3 is installed in the vicinity of the cable drum 10 and in the direction in which the cable 3 extends. The level winder 13 includes a through tube 14 through which the cable 3 is passed, and a guide rail 15 that slides the through tube 14 in a direction along the central axis direction of the cable drum 10. The guide rail 15 is fixed to the base portion 9 by a predetermined method. The through tube 14 reciprocates along the guide rail 15 in synchronization with the rotation of the cable drum 10. Thereby, the cables 3 are evenly distributed on the outer peripheral surface of the cable drum 10.

  As the motor 11, for example, an electric motor such as a DC motor can be adopted. The motor 11 has a motor output shaft 17 and a casing 18 having a cylindrical outer peripheral surface. The motor output shaft 17 is connected coaxially with the cable drum 10. In other words, the motor 11 and the cable drum 10 are connected such that the axis center of the motor output shaft 17, the center axis of the casing 18 of the motor 11, and the center axis of the cable drum 10 coincide. As a result, when the motor output shaft 17 rotates, the cable drum 10 rotates around the central axis of the cable drum 10.

  The casing 18 of the motor 11 is supported via a first bracket 19 so as to be rotatable around the central axis of the motor output shaft 17. That is, the casing 18 of the motor 11 is allowed to rotate around the central axis. Thereby, the cable drum 10 can be rotated by rotating the casing 18 after fixing the rotation of the motor output shaft 17 to the casing 18. The motor output shaft 17 can be held at the stop / rotation position by causing the motor 11 to generate a slight driving force.

That is, when the motor output shaft 17 is stopped and the holding force is generated (servo lock state), the casing 18 itself of the motor 11 is rotated about the central axis, thereby rotating the cable drum 10 and winding the cable 3.・ Send out.
In FIG. 2, one first bracket 19 supports the motor 11 and the other first bracket 19 supports the cable drum 10, but the pair of first brackets 19 supports the motor 11. It is good also as a structure supported from both sides.

  The cable processing device 4 includes a braking mechanism 20 that can brake the rotation of the casing 18 of the motor 11. The brake mechanism 20 has a shoe member that contacts the outer peripheral surface of the casing 18, and the rotation of the casing 18 of the motor 11 (motor) by pressing the shoe member against the outer peripheral surface of the casing 18 according to a command from the control device 5. 11) (not the motor output shaft 17).

The constant load spring 12 includes a spring drum 21 that is a shaft portion and a belt-like plate spring portion 22 that is wound around the spring drum 21. The constant load spring 12 is a spring having a characteristic that the load and tension are constant and the load and tension are not changed by the stroke of the leaf spring portion 22.
The spring drum 21 of the constant load spring 12 is rotatably supported via a second bracket 23 fixed to the base portion 9. A front end portion 24 (the other end portion) of the leaf spring portion 22 of the constant load spring 12 is fixed to the outer peripheral surface of the casing 18 of the motor 11 by a fastening member such as a bolt, for example. A base end portion 25 (one end portion) of the leaf spring portion 22 of the constant load spring 12 is connected to the base portion 9 via the spring drum 21 and the second bracket.

  The output of the constant load spring 12 is an output that always applies a rotating load to the outer peripheral surface of the casing 18 in the direction WD in which the cable 3 is wound up via the cable drum 10. In other words, the tension of the constant load spring 12 is applied to the cable 3 via the outer peripheral surface of the casing 18 of the motor 11 and the cable drum 10. The maximum stroke of the constant load spring 12 can be set to 500 mm, for example.

  The cable processing device 4 includes a rotation angle detection sensor 26 (potentiometer, rotary encoder, etc.) that can detect the rotation angle of the spring drum 21 of the constant load spring 12. The rotation angle detection sensor 26 transmits a rotation angle signal (for example, voltage) corresponding to the rotation angle of the spring drum 21 of the constant load spring 12 to the control device 5.

The cable processing apparatus 4 of the present embodiment winds up the cable 3 using the output of the constant load spring 12 in a normal state. That is, the constant load spring 12 applies a constant load in the rotational direction in which the cable drum 10 winds the cable 3. Further, when the cable 3 is fed out, the leaf spring portion 22 of the constant load spring 12 is pulled out according to the amount of the cable 3 pulled out.
However, since the stroke of the constant load spring 12 is finite, the cable 3 is wound or sent out by appropriately rotating the motor output shaft 17 (rotating the cable drum 10 using the driving force of the motor 11). At the same time, the casing 18 of the motor 11 is rotated so that the stroke position (drawing amount) of the constant load spring 12 can be adjusted appropriately. That is, the winding position of the cable 3 can be taken up and sent out using the driving force of the motor 11, and the stroke position of the constant load spring 12 can be returned to the neutral position during this time.

  Specifically, when the constant load spring 12 is pulled out exceeding a set lower limit (set before the maximum stroke of the constant load spring 12), the motor 11 performs feeding and the constant load spring. When 12 is loose and exceeds the set upper limit, winding by the motor 11 is performed. Thereby, the constant load spring 12 can be returned to the neutral position when the motor 11 is driven. Hereinafter, the operation concept of the cable processing device 4 of the present embodiment will be described.

FIG. 3 is a schematic diagram for explaining an operation concept of the cable processing device 4 of the present embodiment.
The control device 5 of the cable processing device 4 controls the motor 11 so that the load (tension T) of the constant load spring 12 is always applied to the cable 3. That is, winding and feeding using the output of the motor 11 are used to compensate for the short stroke of the constant load spring 12.
When the winding / feeding is performed using the tension T of the constant load spring 12, the motor output shaft 17 is fixed in rotation with respect to the casing 18 of the motor 11 (output shaft fixed state). At this time, the rotational position of the motor output shaft 17 is held by applying a slight driving force to the motor 11. Thereby, when the outer peripheral surface of the casing 18 is rotated by the tension T of the constant load spring 12, the cable drum 10 connected via the motor output shaft 17 is rotated and the cable 3 is taken up and delivered.

The control device 5 controls the motor 11 by referring to the rotational position of the spring drum 21 so that the stroke position of the constant load spring 12 becomes a predetermined neutral position. Specifically, control is performed to adjust the stroke of the constant load spring 12 using the motor 11 so that the constant load spring 12 does not extend to the maximum stroke of the constant load spring 12 when the cable 3 is suddenly pulled. Do.
The control device 5 has measuring means for measuring the stroke position P of the constant load spring 12. The measuring means 5 a of the control device 5 estimates the stroke position P of the constant load spring 12 based on the rotation angle voltage DP that is a voltage proportional to the rotation angle of the spring drum 21.
Note that the neutral position set in the control need not be the center position of the stroke of the constant load spring 12. The neutral position of the present embodiment can be set such that the constant load spring 12 is sufficiently extended when the cable 3 is pulled carelessly.

The control device 5 controls the motor 11 using an appropriately set threshold value.
The threshold is set with reference to the stroke of the constant load spring 12. The threshold values are a lower limit at which the stroke of the constant load spring 12 is increased to some extent, an upper limit at which the stroke of the constant load spring 12 is shortened to a certain extent, and a lower limit side of the neutral position range of the constant load spring 12. The neutral lower limit and the neutral upper limit that is the upper limit side of the neutral position range of the constant load spring 12.

The control device 5 performs control so that the stroke position of the constant load spring 12 is in the range from the lower limit to the upper limit. That is, the control device 5 returns the stroke position of the constant load spring 12 to the neutral position by performing feeding using the motor 11 when, for example, the cable 3 is pulled out and exceeds the lower limit. That is, while the motor 11 is feeding the cable 3, the load applied to the constant load spring 12 from the cable 3 is reduced or eliminated, so that the constant load spring 12 is rewound by the tension T of the constant load spring 12. .
Similarly, the control device 5 returns the stroke position of the constant load spring 12 to the neutral position by performing winding using the motor 11 when the cable 3 is loosened and exceeds the upper limit, for example.

The upper limit and the lower limit are appropriately set based on the maximum stroke of the constant load spring 12 and the like. When the range from the upper limit to the lower limit is narrow, the stroke at the time of emergency delivery, which will be described later, can be increased. However, since the motor 11 moves each time the cable 3 is slightly pulled or loosened, the power consumption increases.
On the other hand, when the range from the upper limit to the lower limit is wide, the stroke at the time of emergency delivery becomes short. However, since the motor 11 does not need to move every time the cable 3 is pulled or loosened slightly, the power consumption can be reduced.
The controller 5 makes maximum use of the stroke amount (maximum stroke) of the constant load spring 12 so that the stroke position of the constant load spring 12 is always near the neutral position (that is, the cable 3 is pulled suddenly). The motor 11 is controlled so as to be able to cope with the case.

  FIG. 3 shows the relationship between the threshold value (lower limit, neutral lower limit, neutral upper limit, upper limit) and the stroke position P of the constant load spring 12 estimated based on the rotation angle of the spring drum 21 detected by the rotation angle detection sensor 26. Is shown schematically. In FIG. 3A, the stroke position P of the constant load spring 12 is in the neutral range.

  As shown in FIG. 3A, when the cable 3 is pulled as the mobile robot 1 moves forward, the leaf spring portion 22 of the constant load spring 12 is pulled out. The cable 3 is pulled out in a form that resists the tension T of the constant load spring 12. At this time, the spring drum 21 is rotated by pulling out the leaf spring portion 22 of the constant load spring 12.

  The rotation angle of the spring drum 21 is detected by the rotation angle detection sensor 26 and transmitted to the control device 5. The measuring means 5a of the control device 5 estimates the stroke position P of the constant load spring 12 based on the rotation angle. The stroke position P in FIG. 3A is a stage before the cable 3 is pulled, and indicates that it is within the range of the neutral position. That is, in this state, when the cable 3 is suddenly pulled, the constant load spring 12 is stretched so that the cable 3 is not burdened.

  As shown in FIG. 3B, when the cable 3 is pulled and the stroke position P reaches the lower limit (when the control device 5 determines that the stroke position has reached the lower limit by referring to the rotation angle of the spring drum 21). ), The control device 5 rotates the motor output shaft 17 in the direction FD for feeding the cable 3. As a result, the cable drum 10 rotates in the direction FD in which the cable 3 is sent out, the cable 3 is sent out, and the stroke position of the constant load spring 12 gradually returns to the neutral position.

  As shown in FIG. 3C, when the stroke position P of the constant load spring 12 reaches the neutral lower limit (entering the range of the neutral position), the control device 5 stops the rotation of the motor output shaft 17, The motor 11 is in an output shaft fixed state.

  As shown in FIG. 3D, when the cable 3 is loosened due to the mobile robot 1 retreating or the like, the leaf spring portion 22 of the constant load spring 12 is wound around the spring drum 21 and becomes shorter. The looseness of the cable 3 is removed by the tension T of the constant load spring 12. At this time, the spring drum 21 is rotated by shortening the plate spring portion 22 of the constant load spring 12.

  As shown in FIG. 3 (e), when the cable 3 is loosened and the stroke position reaches the upper limit (when the control device 5 determines that the stroke position has reached the upper limit by referring to the rotation angle of the spring drum 21). The control device 5 rotates the motor output shaft 17 in the direction WD in which the cable 3 is wound. Thereby, the cable drum 10 rotates in the direction in which the cable 3 is wound up, the cable 3 is wound up, and the stroke position P of the constant load spring 12 gradually returns to the neutral position.

  As shown in FIG. 3 (f), when the stroke position P of the constant load spring 12 reaches the neutral upper limit (entering the range of the neutral position), the control device 5 stops the rotation of the motor output shaft 17, The motor 11 is in an output shaft fixed state.

Here, an operation concept of emergency sending when the cable 3 is suddenly pulled will be described.
As shown in FIG. 4, when the cable 3 is pulled suddenly, such as when the mobile robot 1 has stepped off one step, the maximum stroke range (mechanical limit range) of the constant load spring 12 is set. The load spring 12 extends to quickly send out the cable 3. At this time, the stroke position P of the constant load spring 12 greatly exceeds the set lower limit. When the stroke position P exceeds the lower limit, the control device 5 drives the motor output shaft 17 to rotate in the delivery direction FD. As a result, the constant load spring 12 gradually contracts and gradually returns to the neutral position.

Moreover, the cable processing apparatus 4 of this embodiment can implement winding and sending-out of the cable 3 in manual mode. FIG. 5 is a schematic diagram for explaining an operation concept of the cable processing device 4 in the manual mode.
By using the manual mode of the cable processing device 4, the cable 3 can be forcibly taken up or sent out. In the manual mode, the casing 18 of the motor 11 is fixed using the braking mechanism 20. Thereby, the casing 18 of the motor 11 becomes non-rotatable. The cable 3 is wound and delivered by rotating the motor output shaft 17. That is, the tension of the cable 3 is generated by the output of the motor 11. The tension T of the constant load spring 12 is not transmitted to the cable 3 and becomes invalid.

Next, a specific control method of the cable processing device 4 of the present embodiment will be described.
As shown in FIG. 6, the system configuration used for the control of the cable processing device 4 of the present embodiment is controlled according to the spring drum 21 reflecting the stroke position of the constant load spring 12 and the rotation angle voltage DP of the spring drum 21. Cable processing device main body 4a having a motor 11, a braking mechanism 20 capable of braking the motor 11, and a rotation angle detection sensor 26 for detecting the rotation angle voltage DP, and a motor for controlling the motor 11 and the braking mechanism 20. The controller 27 includes a driver 27 and a control device 5 that controls the motor driver 27 based on a rotation angle voltage DP that is an analog input output from the rotation angle detection sensor 26. Further, in the manual mode, the control device 5 can brake the rotation of the casing 18 of the motor 11 using the braking mechanism 20.

  The automatic control of the cable processing device 4 includes the rotation angle voltage DP of the spring drum 21, the lower limit voltage EL set corresponding to the lower limit of the stroke position P of the constant load spring 12, and the upper limit of the stroke position P of the constant load spring 12. Corresponding to the upper limit voltage EH set corresponding to the neutral lower limit voltage ECL set corresponding to the neutral lower limit of the stroke position P of the constant load spring 12, and the neutral upper limit of the stroke position P of the constant load spring 12. Is set using the neutral upper limit voltage EHL set.

As shown in FIG. 7, when the control is started, the cable processing device 4 is controlled in the automatic mode.
Next, in the first manual / automatic switching step S11, it is selected whether the manual mode or the automatic mode is set. When switching to the manual mode, the control is performed in the manual mode shown in FIG.

When switched to the automatic mode, the rotation angle voltage DP corresponding to the rotation angle of the spring drum 21 of the constant load spring 12 is transmitted to the control device 5 via the rotation angle detection sensor 26 in the rotation angle voltage reading step S12. The
The control device 5 determines whether or not the rotation angle voltage DP is equal to or lower than the lower limit voltage EL corresponding to the lower limit of the stroke position P of the constant load spring 12 in the first rotation position determination step S13. That is, it is determined whether or not the stroke position P of the constant load spring 12 has reached the lower limit.

  When it is determined that the rotation angle voltage DP is equal to or lower than the lower limit voltage EL, it is selected whether the manual mode or the automatic mode is selected in the same manner as the first manual / automatic switching step S11, and then the automatic mode In this case, the motor output shaft 17 is rotationally driven in the direction FD for feeding out the cable 3 (motor feeding step S15). As a result, the cable drum 10 rotates in the direction FD in which the cable 3 is sent out, the cable 3 is sent out, and the stroke position of the constant load spring 12 gradually returns to the neutral position.

Next, the rotation angle voltage DP is transmitted to the control device 5 via the rotation angle detection sensor 26 in the rotation angle voltage reading step S16. Next, the control device 5 determines whether or not the rotation angle voltage DP is equal to or higher than the neutral lower limit voltage ECL corresponding to the neutral lower limit of the stroke position P of the constant load spring 12 in the second rotational position determination step S17.
When the rotation angle voltage DP becomes equal to or higher than the neutral lower limit voltage ECL, the motor 11 is stopped and the output shaft is fixed (motor stop step S18). When the rotation angle voltage DP is equal to or lower than the neutral lower limit voltage ECL, the motor feed process S15 is continued.

  When it is determined in the first rotation position determination step S13 that the rotation angle voltage DP is equal to or higher than the lower limit voltage EL, the rotation angle voltage DP is changed to the constant load spring 12 in the third rotation position determination step S19. It is determined whether or not the upper limit voltage EH is equal to or lower than the upper limit of the stroke position P. Here, when the rotation angle voltage DP is equal to or lower than the upper limit voltage EH, the stroke position P of the constant load spring 12 is in the range from the lower limit to the upper limit, so that the rotation angle voltage DP is not controlled without controlling the motor 11. Continue reading.

  When it is determined that the rotation angle voltage DP is equal to or higher than the upper limit voltage EH, it is selected whether the manual mode or the automatic mode is set as in the first manual / automatic switching step S11, and then the automatic mode is switched. In this case, k17 of the motor 11 is rotationally driven in the direction WD in which the cable 3 is wound (motor winding step S21). Thereby, the cable drum 10 rotates in the direction WD in which the cable 3 is wound up, the cable 3 is wound up, and the stroke position P of the constant load spring 12 gradually returns to the neutral position.

Next, the rotation angle voltage DP is transmitted to the control device 5 via the rotation angle detection sensor 26 in the rotation angle voltage reading step S22. Next, the control device 5 determines whether or not the rotation angle voltage DP is equal to or lower than the neutral upper limit voltage ECH corresponding to the neutral upper limit of the stroke position P of the constant load spring 12 in the fourth rotational position determination step S23.
When the rotation angle voltage DP becomes equal to or lower than the neutral upper limit voltage ECH, the motor 11 is stopped and the output is fixed (motor stop step S24). When the rotation angle voltage DP is equal to or lower than the neutral lower limit voltage ECL, the motor winding step S21 is continued.

Next, a method for controlling the cable processing device 4 in the manual mode will be described.
As shown in FIG. 8, in the manual mode, first, the braking mechanism 20 is caused to function to brake the rotation of the casing 18 of the motor 11 (braking mechanism ON step S30). Next, in the command waiting step S31, a command for winding up the cable 3, sending out the cable 3, or stopping is waited. The command to the control device 5 can be performed using a console having a keyboard.

When a command for winding the cable 3 is issued, the cable 11 is wound by the motor 11 being rotationally driven in the direction WD for winding the cable 3 in the cable winding step S32.
When a command to send out the cable 3 is given, the cable 11 is sent out by rotating the motor 11 in the direction FD in which the motor 11 sends out the cable 3 in the cable sending step S33.
When a command to stop the cable 3 is issued, the motor 11 is stopped in the cable stop step S34, whereby the winding / feeding-out of the cable 3 is stopped.

  Next, when the manual mode or the automatic mode is selected in the manual / automatic switching step S35, when the automatic mode is selected, the braking mechanism 20 is turned off (braking mechanism OFF step S36) and the manual mode is selected. When the mode is selected, the process returns to the command waiting process S31.

  Next, a speed command transmitted to the motor 11 based on the rotation angle voltage DP will be described. As shown in FIG. 9, when the rotation angle voltage DP is between the lower limit voltage EL and the neutral lower limit voltage ECL, the speed command commanded to the motor 11 is wound as the lower limit voltage EL approaches the neutral lower limit voltage ECL. It is controlled so that the taking speed becomes slow.

  Similarly, when the rotation angle voltage DP is between the upper limit voltage EH and the neutral upper limit voltage ECH, the speed command commanded to the motor 11 decreases as the feed rate approaches the neutral upper limit voltage ECH from the upper limit voltage EH. To be controlled. Further, in the neutral position range (between the neutral lower limit voltage ECL and the neutral upper limit voltage ECH), the motor 11 is held in a stopped state by instructing the motor 11 slightly.

According to the embodiment described above, the casing 18 of the motor 11 is rotatably supported, and a constant load T is always applied in the rotational direction of the casing 18 of the motor 11 by using the constant load spring 12. Can be added to the cable 3.
Moreover, when the stroke position P of the constant load spring 12 is adjusted to the vicinity of the neutral position, the constant load spring 12 extends when the cable 3 is pulled suddenly, and the load on the cable 3 can be reduced. .

In addition, the cable drum 10 and the motor output shaft 17 are connected so as to be coaxial, and the plate spring portion 22 of the constant load spring 12 is wound around the casing 18 of the motor 11, whereby the cable processing apparatus is It can be made smaller.
Further, by applying a constant load in the rotational direction in which the constant load spring 12 winds the cable 3 around the cable drum 10, cable processing for applying a constant tension to the cable 3 becomes possible.
In addition, since the stroke position P of the constant load spring 12 is estimated by detecting the rotation angle of the spring drum 21 of the constant load spring 12, the cable processing device 4 can be configured with a more compact structure.
In addition, by appropriately setting the lower limit and the upper limit, the cable processing device 4 can make full use of the stroke of the constant load spring 12.

Next, the cable processing apparatus 4 of the 1st modification of embodiment of this invention is demonstrated.
FIG. 10 is a schematic diagram for explaining an operation concept of the cable processing device 4 according to the first modification of the embodiment of the present invention.
The cable processing device 4 of this modification is characterized in that a limit switch mechanism 29 is used as means for detecting the stroke position P of the constant load spring 12. That is, in this modification, a plurality of limit switches 30, 31 and 32 are used as an alternative to the rotation angle detection sensor 26. The limit switch mechanism 29 has a plurality of limit switches 30, 31, 32 and a kick member 33 attached to the spring drum 21 of the constant load spring 12.

Limit switches 30, 31, and 32 are a feed limit switch 30 that functions as a lower limit when the cable 3 is pulled, a winding limit switch 31 that functions as an upper limit when the cable 3 is loosened, and the motor 11 in a neutral position. And a stop limit switch 32 for stopping.
As shown in FIG. 11, the plurality of limit switches are fixed at predetermined positions on the base portion 9 side. The kick member 33 includes a first kick section 34 that operates the feed limit switch 30, a second kick section 35 that operates the winding limit switch 31, and a third kick section 36 that operates the stop limit switch 32. ing. The kick member 33 is configured to rotate with the rotation of the spring drum 21 of the constant load spring 12.

The operation concept of the cable processing device 4 of this modification is substantially the same as the operation concept shown in FIG.
That is, as shown in FIG. 10A, when the cable 3 is pulled by the mobile robot 1 moving forward, the kick member 33 rotates and moves to the feed limit switch 30 side.
As shown in FIG. 10B, when the cable 3 is pulled and the stroke position reaches the lower limit, the first kick portion 34 of the kick member 33 activates the feed limit switch 30, whereby the control device 5 operates as a motor. The output shaft 17 is rotationally driven in the direction FD for feeding out the cable 3.

  As shown in FIG. 10C, when the stroke position P of the constant load spring 12 reaches the neutral position, the second kick portion 35 of the kick member 33 activates the stop limit switch 32. Thereby, the control apparatus 5 stops rotation of the motor output shaft 17, and the motor 11 will be in an output shaft fixed state.

As shown in FIG. 10 (d), when the cable 3 is loosened, for example, when the mobile robot 1 moves backward, the leaf spring portion 22 of the constant load spring 12 is wound around the spring drum 21 and shortened so that the kick member 33 is wound. Move to the limit switch 31 side.
As shown in FIG. 10 (e), when the cable 3 is loosened and the stroke position reaches the upper limit, the third kicking portion 36 of the kicking member 33 activates the winding limit switch 31. The shaft 17 is driven to rotate in the direction WD in which the cable 3 is wound up.

  As shown in FIG. 10 (f), when the stroke position P of the constant load spring 12 reaches the neutral position, the control device 5 stops the rotation of the motor output shaft 17, and the motor 11 is in the output shaft fixed state. .

  According to the first modification, the cable processing device 4 can be configured with a simpler configuration. Moreover, the reliability of the cable processing apparatus 4 can be improved by combining the rotation angle detection sensor 26 and the limit switch. That is, the limit switch mechanism 29 can be used as a backup for the rotation angle detection sensor 26.

Next, the cable processing apparatus of the 2nd modification of embodiment of this invention is demonstrated.
As shown in FIG. 12, the cable drum 10 of the cable processing device of the second modification and the motor output shaft 17 are connected via a spur gear. A first spur gear 41 is attached to the cable drum shaft 10 a of the cable drum 10, and a second spur gear 42 is attached to the motor output shaft 17.
The cable drum 10 and the motor 11 are arranged so that the driving force of the motor 11 is transmitted to the cable drum 10 via the first spur gear 41 and the second spur gear 42. Thereby, the cable drum shaft 10a and the motor output shaft 17 are arranged in parallel.
According to the second modified example, the degree of freedom of arrangement of the cable processing device 4 can be improved.

Next, a cable processing device according to a third modification of the embodiment of the present invention will be described.
As shown in FIG. 13, the cable drum 10 of the cable processing apparatus of the third modification and the motor output shaft 17 are connected via a bevel gear. A first bevel gear 43 is attached to the cable drum shaft 10 a of the cable drum 10, and a second bevel gear 44 is attached to the motor output shaft 17.
The cable drum 10 and the motor 11 are arranged so that the driving force of the motor 11 is transmitted to the cable drum 10 via the first bevel gear 43 and the second bevel gear 44. Thereby, the cable drum shaft 10a and the motor output shaft 17 are disposed so as to be orthogonal to each other.
According to the third modified example, the degree of freedom in arrangement of the cable processing device 4 can be improved as in the cable processing device of the second modified example.

Next, the cable processing apparatus of the 4th modification of this embodiment is demonstrated.
As shown in FIG. 14, the motor 11 </ b> B of the cable processing device of the fourth modification includes a quadrangular prism-shaped motor body 16, a motor output shaft 17, and a casing 18 </ b> B provided so as to cover the motor body 16. It is configured. The casing 18 </ b> B of the present embodiment has a cylindrical outer peripheral surface, and is attached to the motor body 16 so as to be concentric with the motor output shaft 17. The casing 18B is attached so that the central axis of the casing 18B and the central axis of the motor output shaft 17 coincide.
According to the fourth modified example, it is possible to use a motor whose outer peripheral surface (outer shape) of the casing of the motor is not cylindrical, or a motor that has a small main body portion and cannot be attached with the leaf spring portion 22 of the constant load spring 12. In addition, by preparing the casing 18B separately, it becomes easy to attach the leaf spring portion 22 of the constant load spring 12 to the casing 18B.

(Second embodiment)
Hereinafter, the cable processing apparatus of 2nd embodiment of this invention is demonstrated based on drawing. In the present embodiment, differences from the first embodiment described above will be mainly described, and description of similar parts will be omitted.
As shown in FIG. 15, the cable processing device 4B (base portion 9) of the present embodiment is fixed at a predetermined position in a safe space SA (cable drum base). That is, the mobile robot 1B of this embodiment does not include a cable processing device.
According to the embodiment, the mobile robot 1B can be reduced in weight. Further, even when the mobile robot 1B is working, it is possible to monitor the state of the cable processing device 4B and perform adjustment / repair.

The technical scope of the present invention is not limited to the above embodiment, and various modifications can be made without departing from the spirit of the present invention.
For example, in the above embodiment, the rotation angle detection sensor 26 is used to detect the rotation angle of the spring drum 21 of the constant load spring 12, but the rotation angle detection sensor 26 is used to determine the rotation angle of the casing 18 of the motor 11. It is good also as a structure which detects and estimates the stroke position P of the constant load spring 12 based on the rotation angle of the casing 18.

DESCRIPTION OF SYMBOLS 1 Mobile robot 2 Mobile robot main body 3 Cable 4, 4B Cable processing apparatus 4a Cable processing apparatus main body 5 Control apparatus 5a Measuring means 6 Endless track 7 Sensor 9 Base part 10 Cable drum 10a Cable drum shaft 11, 11B Motor 12 Constant load spring 13 Level winder 14 Through cylinder 15 Guide rail 16 Motor main body 17 Motor output shaft 18, 18B Casing 19 First bracket 20 Braking mechanism 21 Spring drum 22 Leaf spring portion 23 Second bracket 24 Front end (other end)
25 Base end (one end)
26 rotation angle detection sensor 27 motor driver 29 limit switch mechanism 30 feed limit switch 31 winding limit switch 32 stop limit switch 33 kick member 34 first kick portion 35 second kick portion 36 third kick portion 41 first spur gear 42 second Spur gear 43 First bevel gear 44 Second bevel gear P Stroke position P (Pullout amount)
T tension

Claims (9)

A cable drum that is rotatably supported with respect to the base portion and on which the cable is wound;
A motor having a motor output shaft connected to the cable drum;
A casing having a cylindrical outer peripheral surface and provided in the motor;
A constant load spring having one end connected to the base, the other end connected to the outer peripheral surface, and a constant load applied in a rotational direction in which the cable drum winds the cable;
Measuring means for measuring the pull-out amount of the constant load spring,
A cable processing apparatus including a control device that controls rotation of the motor so that a pull-out amount of the constant load spring falls within a predetermined range. When the pull-out amount of the constant load spring reaches a first threshold as the cable is pulled out, the control device rotates the motor output shaft to send out the cable.
The winding of the cable is performed by rotating the motor output shaft when the pull-out amount of the constant load spring reaches a second threshold value that is smaller than the first threshold value as the cable is loosened. The cable processing device according to 1.   The cable processing apparatus according to claim 1, wherein the measurement unit measures a pull-out amount of the constant load spring using a rotation angle detection sensor that detects a rotation angle of the motor.   The cable processing device according to any one of claims 1 to 3, wherein the control device detects a pull-out amount of the constant load spring using a limit switch.   The cable processing apparatus according to any one of claims 1 to 4, further comprising a braking mechanism that brakes rotation of the casing.   The cable processing device according to any one of claims 1 to 5, wherein the cable drum and the motor output shaft are connected coaxially.   The cable processing apparatus according to any one of claims 1 to 5, wherein the cable drum and the motor output shaft are connected via a gear.   The cable processing apparatus according to claim 1, wherein the casing is attached to a main body of the motor so as to be concentric with the motor output shaft.   A mobile robot comprising the cable processing device according to any one of claims 1 to 8.

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