JP6736426B2 - Cable feeding device - Google Patents

Description

The present invention relates to a cable feeding device capable of feeding a communication cable for remotely controlling a mobile device by wire from the mobile device.

The mobile device is used for recovery work or information collection in a disaster area, for example. The disaster area is a place where a large-scale earthquake occurs, a nuclear power plant where an accident occurs, or the like. The moving device performs an operation of entering such a disaster area and removing rubble, rocks, and the like, and an operation of acquiring information by using a sensor. The sensor is, for example, a camera that acquires image data or a radiation measuring instrument that measures a radiation dose.

When the moving device is remotely controlled by a person, the moving direction and the moving speed of the moving device are controlled, and execution of the above-described work is controlled. When this remote control is performed by wire, the mobile device is provided with a cable payout device for paying out the communication cable from the mobile device. One end of the communication cable is connected to the control device of the mobile device, and the other end side of the communication cable can be fed out from the mobile device by a cable feeding device. The other end of the communication cable is connected to the remote control device.

FIG. 1 schematically shows a cable feeding device 100 described in the drawing of Patent Document 1. In FIG. 1, the cable feeding device 100 is provided in the main body 41 of the moving device 40, and includes a reel 42, a plurality of rolls 43 to 45, and a guide tube 47. A communication cable 46 is wound around the reel 42. The communication cable 46 unwound from the reel 42 passes through the plurality of rolls 43 to 45, the guide tube 47, and is guided to the outside of the moving device 40 from the outlet 47a of the guide tube 47. The roll 44 is a movable roll that can move up and down with respect to the main body.

The moving device of Patent Document 1 is provided with a tension adjusting device 200 for adjusting the tension of the communication cable 46. The tension adjusting device 200 includes a tension line 48, a potentiometer roll 49, a movable roll 51, and a spring 52. One end of the tension line 48 is connected to the movable roll 44. The tension line 48 extends from the movable roll 44 and hangs on the potentiometer roll 49 and the movable roll 51, and the other end is joined to the main body 41. The movable roll 51 is movable up and down with respect to the main body 41. The spring 52 applies an upward elastic force to the movable roll 51.

With this configuration, when the communication cable 46 is loosened, the movable roll 44 descends and the potentiometer roll 49 rotates. When this rotation is detected, the rotation of the reel 42 is controlled to adjust the tension of the communication cable 46.

JP, 2005-192504, A

When the orientation of the guide tube 47 is fixed to the main body 41 of the moving device 40, the orientation of the outlet 47a of the guide tube 47 also changes as the orientation of the main body 41 changes. As a result, the direction of the outlet 47a of the guide tube 47 may be significantly different from the direction in which the communication cable 46 extends from the outlet 47a to the outside of the mobile device 40. For example, in FIG. 1, the outlet 47a of the guide tube 47 faces the right side, whereas the communication cable 46 may extend from the outlet 47a to the left side as shown by the chain double-dashed line in FIG. .. Therefore, the communication cable 46 bends greatly at the outlet 47a of the guide hole (guide tube 47) with a small bending radius. As a result, the communication cable 46 may be damaged.

Examples of the communication cable include an optical cable that transmits an optical signal and an electric wire cable that transmits an electric signal. Optical cables are less susceptible to bending than electric cables. Therefore, when the optical cable is used, the possibility that the optical cable is damaged by the bending as described above increases.

Therefore, an object of the present invention is to suppress the bending of the communication cable at the exit of the guide hole through which the communication cable goes out of the mobile device in the cable payout device that can pay out the communication cable from the mobile device.

In order to achieve the above-mentioned object, according to the present invention, there is provided a cable feeding device capable of feeding a communication cable from a mobile device provided with a cable housing portion housing a communication cable,
The mobile device includes a hole forming body that forms a guide hole that guides the communication cable extending from the cable housing portion to the outside of the mobile device.
The hole forming body has an inner peripheral surface that defines the guide hole, an outer peripheral surface that surrounds the guide hole outside the guide hole, and an outlet end portion that surrounds the outlet of the guide hole and that includes an outlet end that defines the outlet. Have,
In the cross section of the hole forming body by the virtual plane including the straight line that touches the center line of the guide hole at the outlet, the inner peripheral surface and the outer peripheral surface are, at the outlet end, generally a curvature of the allowable minimum bending radius of the communication cable or more. A cable payout device is provided, which is depicted in a radius.

According to the present invention, the communication cable from the cable housing portion is guided through the guide hole to the outside of the moving device. The hole forming body forming the guide hole has an inner peripheral surface and an outer peripheral surface. In the cross section of the hole forming body by the virtual plane including the straight line that touches the center line of the guide hole at the outlet, the inner peripheral surface and the outer peripheral surface are, at the outlet end, generally a curvature of the allowable minimum bending radius of the communication cable or more. It is drawn with a radius.
When the communication cable extends from the exit of the guide hole in the direction opposite to the direction of this exit, the communication cable is drawn along the inner and outer peripheral surfaces drawn with a radius of curvature not less than the allowable minimum bending radius in the above-mentioned cross section. Bend while making contact with the inner and outer peripheral surfaces. Therefore, the communication cable is prevented from being bent with a bending radius smaller than the minimum allowable bending radius.

It is a figure for demonstrating the subject which this invention solves. It is a top view which shows an example of the moving device to which this invention is applicable. (A) is a 3A-3A arrow view of FIG. 2, (B) is a 3B-3B arrow view of (A). 3 shows a hole former of a cable payout device according to an embodiment of the present invention. It is a top view for explaining the effect by the direction of the exit of a hole formation object. It is another top view for explaining the effect by the direction of the exit of a hole formation object. It is a figure for demonstrating the effect of the dimension of a guide hole. The structural example which makes a hole formation object rotatable is shown. It is a block diagram which shows the structure for remote-controlling a reel. The other structural example of a hole formation body is shown.

An embodiment of the present invention will be described with reference to the drawings. In addition, in each figure, the same parts are denoted by the same reference numerals, and redundant description will be omitted.

(Configuration of moving device)
2 and 3 show an example of a mobile device 10 to which the present invention can be applied. 2 is a plan view, FIG. 3(A) is a view taken along line 3A-3A in FIG. 2, and FIG. 3(B) is a view taken along line 3B-3B in FIG. 3(A).

The moving device 10 includes a main body 3 and a moving mechanism 5 attached to the main body 3 for moving. In the example of FIGS. 2 and 3, the moving device 10 is a crawler type traveling device. In this case, the moving mechanism 5 is provided on both the left and right sides of the main body 3, and each moving mechanism 5 includes a plurality of rotating wheels 5a that rotate around an axis that faces the left and right direction of the main body 3 and a plurality of rotating wheels 5a. And an endless traveling zone 5b that is hung and is in contact with the ground surface. When at least one of the plurality of rotating wheels 5a is rotationally driven, the endless traveling zone 5b that engages with the rotating wheels 5a rotates in this rotation direction. As a result, the crawler type traveling device 10 travels on the ground surface.

The present invention can be applied to the moving device 10 other than the crawler type traveling device. The moving device 10 to which the present invention is applied may be, for example, a vehicle that has wheels as the moving mechanism 5 and runs on the ground surface by being rotationally driven by the wheels coming into contact with the ground surface. In another example, the moving device 10 may be a robot having walking legs as the moving mechanism 5.

The moving device 10 may include the manipulator 7 provided in the main body 3. The manipulator 7 has, for example, as shown in FIG. 3A, a plurality of links 7a that are rotatably connected to each other. A work execution unit 7b is attached to the tip of the manipulator 7. The work execution unit 7b is, for example, a hand or a tool. The manipulator 7 operates relative to the main body 3 based on an operation command signal described later. Thereby, the work executing unit 7b may perform, for example, work for removing obstacles such as rubble or rock, restoration work such as erosion control, embankment, structure installation, or loading, transporting, or transporting earth or sand or rock. ..

The moving device 10 may include the camera 9 provided on the main body 3. The camera 9 is arranged at a position for capturing one or both of the following (1) and (2). When the camera 9 captures both (1) and (2), the camera 9 capturing (1) and the camera 9 capturing (2) may be separately provided.
(1) Area on the moving direction side of the moving device 10 (2) Area in which the work execution unit 7b of the manipulator 7 performs work

The mobile device 10 may be provided with a camera for acquiring other image data (for example, image data showing the situation at the disaster site) or a radiation measuring instrument for measuring the radiation dose.

(Remote control)
The movement of the mobile device 10 can be controlled by a remote control device 11 provided in a remote control area X outside the mobile device 10 as shown in FIG. The remote control device 11 has an operation unit 11a that can be operated by a person, and the operation unit 11a is configured by, for example, a lever or a button. The remote control device 11 generates a command signal for the mobile device 10 based on an operation performed on the operation unit 11a. The command signal may be a movement command signal related to the movement of the moving device 10 or an operation command signal related to the operation of the manipulator 7. The movement command signal may be a signal that commands a movement direction or a movement speed. The operation command signal may be a signal instructing the operation of the manipulator 7 with respect to the main body 3 or a signal instructing the operation of the work executing unit 7b (for example, the hand). The remote control device 11 transmits the generated command signal to the movement control device 13 or the motion control device 15 of the mobile device 10 through the communication cable 21 described below.

The movement control device 13 receives the movement command signal transmitted from the remote control device 11, and controls the movement (for example, movement direction or movement speed) of the movement device 10 based on this movement command signal. The operation control device 15 receives the operation command signal transmitted from the remote control device 11, and controls the operation of the manipulator 7 or the work execution unit 7b based on the operation command signal.

The remote control device 11 may have a display 11b. The display 11b displays the image data captured by the camera 9 described above. This image data is displayed on the display 11b by being transmitted from the mobile device 10 provided with the camera 9 to the remote control device 11 through the communication cable 21. The display 11b and the operation unit 11a are arranged so that a person can operate the operation unit 11a while looking at the image data displayed on the display 11b.

(Cable feeding device)
A cable feeding device 20 for remotely controlling the mobile device 10 by wire by the remote control device 11 will be described. The cable payout device 20 according to the embodiment of the present invention pays out the communication cable 21 from the mobile device 10 as the mobile device 10 moves. The tip of the extended communication cable 21 may be connected to the remote control device 11 or may be connected to a relay device. The relay device relays communication between the remote control device 11 and the tip of the communication cable 21. The cable feeding device 20 includes a cable housing portion 23 and a hole forming body 25 provided in the moving device 10.

The cable housing portion 23 houses the communication cable 21. Although the communication cable 21 is an optical cable that transmits an optical signal in the present embodiment, it may be an electric wire cable that transmits an electric signal. One end of the communication cable 21 is connected to the movement control device 13 and the operation control device 15 provided in the movement device 10 and the camera 9, the middle portion thereof is accommodated in the cable accommodation portion 23, and the other end side portion thereof is the cable. It can be fed out from the housing portion 23. The cable housing portion 23 is a reel in FIGS. 2 and 3, but may be a box in which the communication cable 21 is housed in a spirally wound state, or may have another configuration. ..

The communication cable 21 is wound around the reel 23. The reel 23 is provided on the main body 3 so as to be rotatable in either a winding direction in which the communication cable 21 is wound or a winding direction in which the communication cable 21 is unwound. The tension of the communication cable 21 generated by the movement of the moving device 10 causes the reel 23 to rotate and the communication cable 21 to be unwound from the reel 23. The reel 23 has an outer peripheral surface 23a around which the communication cable 21 is wound. The outer peripheral surface 23 a has a radius of curvature equal to or larger than the allowable minimum bending radius of the communication cable 21. The allowable minimum bending radius is 30 mm in one example, but is not limited to this value and is determined according to the type of the communication cable 21 and the like.

The hole forming body 25 forms a guide hole 25a for passing the communication cable 21 unwound from the reel 23 and guiding the communication cable 21 to the outside of the moving device 10. In the present embodiment, the hole forming body 25 is arranged above the main body 3. In FIG. 3, the hole forming body 25 is arranged above the reel 23. The hole forming body 25 is preferably made of a material having a small friction coefficient (for example, Teflon (registered trademark)) so that the friction between the hole forming body 25 and the reel 23 becomes small.

FIG. 4A is a partially enlarged view of FIG. 3A and shows the hole forming body 25. 4B is a sectional view taken along line BB in FIG. 4A, and FIG. 4C is a sectional view taken along line 4C-4C in FIG. 4B. The hole forming body 25 surrounds the inner peripheral surface 25b that defines the guide hole 25a, the outer peripheral surface 25c that surrounds the guide hole 25a outside the guide hole 25a, and the outlet 25a1 of the guide hole 25a that defines the outlet 25a1. And an outlet end R1 including an end 25d. The outlet end 25d is an end in the direction of the center line C extending through each center of the guide hole 25a, as shown in FIG. 4(B). The outlet end 25d is shown by a broken line in FIG. In FIG. 4A, the broken line showing the outlet end 25d is the boundary between the inner peripheral surface 25b and the outer peripheral surface 25c.

FIG. 4B shows a cross section of the hole forming body 25 by an imaginary plane including a straight line in contact with the center line C at the outlet 25a1.

The cross section of the hole forming body 25 by the above-described virtual plane has a pair of cross section portions S1 and S2 that sandwich the guide hole 25a. In each of the cross-sections S1 and S2, the inner peripheral surface 25b and the outer peripheral surface 25c are drawn at the exit end R1 with a curvature radius that is equal to or larger than the allowable minimum bending radius of the communication cable 21 as a whole. In the present embodiment, in each of the cross-sections S1 and S2, the inner peripheral surface 25b and the outer peripheral surface 25c are lined up at the outlet end R1 so that lines L1 approaching each other as they move to the outlet end 25d side and joined to each other at the outlet end 25d. Eggplant In other words, in each of the cross-sections S1 and S2, the inner peripheral surface 25b extends away from the center line C as it moves to the outlet end 25d side at the outlet end R1, and the outer peripheral surface 25c exits at the outlet end R1. The inner peripheral surface 25b and the outer peripheral surface 25c form a line L1 as they extend toward the center line C as they move to the end 25d side. The line L1 is drawn as a whole with a radius of curvature equal to or larger than the allowable minimum bending radius of the communication cable 21. The contents of this paragraph apply to the cross section of the hole forming body 25 by any imaginary plane including the straight line in contact with the center line C at the outlet 25a1.

FIG. 4(B) is also a cross section of the hole forming body 25 (that is, each cross section S1, S2) by a virtual plane including a straight line in contact with the center line C at the inlet 25a2. The hole forming body 25 has an inlet end portion R2 that includes an inlet end 25e that surrounds the inlet 25a2 of the guide hole 25a and defines the inlet 25a2. In each of the cross-sections S1 and S2, the inner peripheral surface 25b is drawn at the entrance end R2 with a radius of curvature that is greater than or equal to the minimum allowable bending radius of the communication cable 21 as a whole. In this embodiment, in each of the cross-sections S1 and S2, the inner peripheral surface 25b forms a line L2 that extends away from the center line C to the inlet end 25e as it moves to the inlet end 25e side. The line L2 is generally drawn with a radius of curvature that is equal to or larger than the minimum allowable bending radius of the communication cable 21. The content of this paragraph is applicable to the cross section of the hole forming body 25 by the virtual plane in any direction as long as the virtual plane includes a straight line in contact with the center line C at the inlet 25a2.

In one example, in each of the cross-sections S1 and S2, the inner peripheral surface 25b and the outer peripheral surface 25c are drawn at the inlet end R2 with a curvature radius that is equal to or larger than the allowable minimum bending radius of the communication cable 21 as a whole. In this case, in each of the cross-sections S1 and S2, the inner peripheral surface 25b and the outer peripheral surface 25c form a line L3 that is closer to each other at the entrance end R2R1 and moves toward the entrance end 25e side and is coupled to each other at the entrance end 25e. Good. The line L3 is generally drawn with a radius of curvature equal to or larger than the minimum allowable bending radius of the communication cable 21.

In the above description "overall drawn with a radius of curvature not less than the minimum allowable bending radius of the communication cable 21", the communication cable 21 is drawn on a line drawn as such (hereinafter referred to as a section line). It means that it does not have to be bent at a radius smaller than the allowable minimum bending radius in the state of being extended along the curved line or straight line with a constant or changing radius equal to or larger than the allowable minimum bending radius. In this sense, local small unevenness that does not bend to the extent that it damages the communication cable 21 may be present in the cross-section line. Further, the cross-section line may include a straight line portion (that is, a portion having an infinite radius of curvature).

In this embodiment, in each of the cross-sections S1 and S2, the inner peripheral surface 25b is drawn from the inlet end 25e to the outlet end 25d with a line having a radius of curvature equal to or larger than the allowable minimum bend radius of the communication cable 21. This line may include a straight line portion.

In the present embodiment, the direction of the outlet 25a1 of the hole forming body 25 (that is, the direction orthogonal to the surface of the outlet 25a1) is a direction other than the vertical direction. That is, in a state where the main body 3 of the moving device 10 is in a horizontal posture, the direction of the outlet 25a1 of the guide hole 25a is an oblique direction (oblique downward direction in a desirable example) or a horizontal direction with respect to the horizontal direction, The hole forming body 25 is attached to the main body 3. The "state in which the main body 3 is in the horizontal posture" means a state in which both the front-rear direction and the left-right direction of the main body 3 face the horizontal direction. In the present application, the direction of the outlet 25a1 means the direction from the inside of the guide hole 25a to the outlet 25a1, and the direction of a straight line in contact with the center line C at the outlet 25a1.

5 and 6 are plan views illustrating the effect of the orientation of the outlet 25a1 other than the vertical direction.
FIG. 5 shows a case different from the present embodiment, in which the outlet 25a1 is oriented in the upward vertical direction. FIG. 5A is a plan view, and FIG. 5B is an enlarged perspective view showing the hole forming body 25 of FIG. 5A. In FIG. 5, when the orientation of the main body 3 changes by an angle α (FIG. 5A) larger than 180 degrees, the relative position of the communication cable 21 with respect to the main body 3 changes from the position of the communication cable indicated by reference numeral 21A to reference numeral 21B. It changes to the position of the communication cable shown by. At this time, if there is no device for applying tension (for example, the tension adjusting device 200 of FIG. 1), the communication cable 21 is in contact with the upper surface of the hole forming body 25 by friction due to its own weight (FIG. 5(B)). Stays in. Therefore, there is a possibility that the communication cable 21 that hangs down from the upper surface of the hole forming body 25 by its own weight may wrap around immediately below the hole forming body 25 and be entangled with the hole forming body 25 as indicated by reference numeral 21B. As a result, the smoothness of feeding the communication cable 21 may decrease.

FIG. 6 shows the case of this embodiment. FIG. 6A is a plan view, and FIG. 6B is an enlarged perspective view showing the hole forming body 25 of FIG. 6A. In FIG. 6, when the orientation of the main body 3 changes by an angle α (FIG. 6(A)) larger than 180 degrees, the relative position of the communication cable 21 with respect to the main body 3 changes from the position of the communication cable 21A to the reference numeral 21B. It changes to the position of the communication cable shown by. At this time, the communication cable 21 is stably positioned at the lower portion of the inner peripheral surface 25b (for example, the lowest point Pb in FIG. 6B) at the outlet 25a1 due to its own weight. Therefore, the communication cable 21 does not wrap around from directly below the hole forming body 25 from the upper surface of the hole forming body 25. Therefore, even if there is no device for applying tension (for example, the tension adjusting device 200 of FIG. 1), the communication cable 21 is not entangled with the hole forming body 25 as indicated by reference numeral 21B, and the smoothness of feeding the communication cable 21 is maintained. it can.

When the main body 3 of the moving device 10 is in the horizontal posture and the outlet 25a1 is oriented obliquely upward with respect to the horizontal direction, the oblique upward direction is, for example, 45 degrees from the vertical direction. The direction may be tilted by an angle equal to or more than a degree.

The size of the guide hole 25a is twice or more the above-mentioned allowable minimum bending radius over the entire area of the guide hole 25a from the inlet 25a2 to the outlet 25a1. Here, the “dimension of the guide hole 25a” means the dimension of the cross section (for example, the cross section of FIG. 4C) by the virtual plane orthogonal to the center line C of the guide hole 25a. In addition, the "dimension of the cross section" means the smallest dimension among the dimensions in the direction of each straight line passing through the center of the cross section. In FIG. 4C as an example, since the guide hole 25a has a circular cross section, the size of the guide hole 25a is the inner diameter D of the guide hole 25a. It should be noted that the size of the guide hole 25a does not need to be considered because the thickness of the communication cable 21 is smaller than the above-mentioned allowable minimum bending radius.

FIG. 7, which corresponds to FIG. 4B, is a diagram for explaining the effect of the size of the guide hole 25a. The communication cable 21 unwound from the reel 23 may still maintain the loop-shaped portion when wound on the reel 23 as shown in FIG. 7(A). This loop-shaped portion may be crushed by the inner peripheral surface 25b when passing through the guide hole 25a as shown in FIG. Even in such a case, since the size of the guide hole 25a is twice or more the allowable minimum bending radius, even if the loop-shaped portion is crushed in the guide hole 25a, the radius of curvature of the loop-shaped portion can be set to the allowable minimum bending radius. Can be kept above.

Further, in the present embodiment, the outlet 25a1 of the guide hole 25a faces the outside of the moving device 10 on the side opposite to the manipulator 7. This can prevent the communication cable 21 from the outlet 25a1 from being caught by the manipulator 7.

In the present embodiment, the hole forming body 25 is attached to the antenna column 26. The antenna column 26 is provided on the main body 3. In FIG. 3, the base of the antenna column 26 is connected to the main body 3. The antenna column 26 extends upward with the main body 3 in a horizontal posture. A wireless communication antenna 26a is attached to the upper end of the antenna column 26.

The antenna column 26 is elastically deformed. Therefore, the antenna column 26 has an elastic portion 26b made of an elastic material such as a spring or rubber. In FIG. 3, the elastic portion 26b is a root portion of the antenna support column 26. The elastic portion 26b may form an intermediate portion of the antenna column 26. The hole forming body 25 is attached to the antenna support column 26 via a rod-shaped member 28. In the example of FIG. 3, the antenna pillar 26 is attached with the attachment portion 28a of the rod-shaped member 28 above the elastic portion 26b. The rod-shaped member 28 extends in the vertical direction in FIG. 3, and the hole forming body 25 is attached to an intermediate portion of the rod-shaped member 28. The entire antenna support 26 may be made of an elastic material.

As described above, since the hole forming body 25 is attached to the antenna support column 26, the hole forming body 25 can be positioned above the main body 3. Further, since the antenna support column 26 is elastically deformable, the hole forming body 25 should be repositioned so that the antenna support column 26 is elastically deformed even if it hits an obstacle during movement of the moving device 10 so as to be removed from the obstacle. You can

Note that the mobile device 10 may be remotely controlled by wireless communication using the antenna 26a as a backup means when a problem occurs in the communication cable 21, for example.

The hole forming body 25 is in a state where the main body 3 of the moving device 10 is in a horizontal posture, and the axis C0 is oriented in a direction inclined with respect to the vertical direction (for example, a direction inclined by an angle within 45 degrees from the vertical direction) or the vertical direction. It may be attached to the main body 3 so as to be rotatable around it. As a result, the direction of the outlet 25a1 follows the direction in which the communication cable 21 exits from the outlet 25a1. A configuration example in which the hole forming body 25 is rotatable will be described with reference to FIG. 7.

8A corresponds to the partially enlarged view of FIG. 3A, but shows a configuration example 1 in which the hole forming body 25 is rotatable. In FIG. 7A, illustration of the communication cable 21, the reel 23, etc. is omitted. 8B is a cross-sectional view taken along the line 8B-8B of FIG. In FIGS. 8A and 8B, a hole 28a1 penetrating in the direction of the axis C0 is formed in the attachment portion 28a of the rod-shaped member 28. The antenna column 26 is inserted into the hole 28a1. Further, a stopper 22 is coupled to the antenna column 26, and the stopper 22 supports the mounting portion 28a from below so as to be rotatable about the axis C0. With this configuration, the hole forming body 25 is rotatable with the rod-shaped member 28 around the axis C0, that is, around the antenna support column 26. The hole 28a1 and the antenna column 26 are circular in the cross section of FIG. 8B.

FIG. 8C corresponds to the partially enlarged view of FIG. 3B, but shows a configuration example 2 when the hole forming body 25 is rotatable. 8D is a cross-sectional view taken along line 8D-8D of FIG. 8C and 8D, a hole 25f1 penetrating in the direction of the axis C0 is formed in the mounting portion 25f of the hole forming body 25. The rod-shaped member 28 is inserted into the hole 25f1. Further, a stopper 24 is coupled to the rod-shaped member 28, and the stopper 24 supports the mounting portion 25f from below so as to be rotatable about the axis C0. With this configuration, the hole forming body 25 is rotatable about the axis C0, that is, about the rod-shaped member 28. The hole 25f1 and the rod-shaped member 28 are circular in cross section in FIG.

When the antenna column 26 and the rod-shaped member 28 are not provided, the hole forming body 25 is rotatably attached to the main body 3 in a direction inclined with respect to the vertical direction or about an axis oriented in the vertical direction by another configuration. It may be attached.

(Remote operation of reel)
The cable feeding device 20 may have a function of remotely controlling the reel 23. FIG. 9 is a block diagram showing a configuration for remotely operating the reel 23. The cable feeding device 20 further includes a rotation driving device 31, a reel control device 33, and a camera 35 provided in the moving device 10, and a reel operating device 37 provided in the remote control area X.

The rotation driving device 31 is capable of rotating the reel 23 in the winding direction described above, and is, for example, a motor as shown in FIGS. 2 and 3.

The reel control device 33 receives a winding command signal described later from the reel operating device 37, and controls the rotation driving device 31 based on the winding command signal to control the rotation of the reel 23.

The camera 35 is provided in the moving device 10 and at least one of the passage area of the communication cable 21 between the reel 23 and the hole forming body 25, the inlet 25a2 of the guide hole 25a, and the outlet 25a1 of the guide hole 25a (FIG. 2). And the range including all) in the example of FIG. Image data captured by the camera 35 (hereinafter referred to as cable image data) is transmitted from the mobile device 10 to the reel operating device 37 in the remote control area X through the communication cable 21. Note that the camera 35 is attached to the upper end of the rod-shaped member 28 in FIG. 3, and its imaging range is the range on the lower side when viewed from the camera 35.

The reel operating device 37 is provided in the remote control area X for remotely controlling the rotation of the reel 23. The reel operating device 37 has a display 37a and an operating portion 37b for remotely controlling the rotation of the reel 23. The reel operating device 37 receives the cable image data captured by the camera 35 through the communication cable 21, and displays the cable image data on the display 37a. A person can perform an operation for instructing the rotation of the reel 23 in the winding direction (hereinafter referred to as a winding operation) on the operation unit 37b. The display 37a and the operation unit 37b are arranged so that a person can operate the operation unit 37b while viewing the cable image data displayed on the display 37a. When a person performs a winding operation on the operation unit 37b, the reel operating device 37 generates a winding instruction signal and transmits the winding instruction signal to the reel control device 33 of the moving device 10 through the communication cable 21. The above-described operations may be performed by one unit by incorporating the entire function of the reel operating device 37 into the remote control device 11.

The reel control device 33 rotates the reel 23 in the winding direction by controlling the rotation drive device 31 based on the winding command signal received from the reel operating device 37. This rotation amount can be determined by the winding operation. For example, when the operation unit 37b is a button, the reel operation device 37 and the reel control device 33 are configured so that the reel 23 rotates in the winding direction for the length of time that a person is pressing the button 37b.

According to the cable feeding device 20 having the function of remotely controlling the reel 23, a person can see the cable image data displayed on the display 37a to determine whether or not the communication cable 21 is loose. When the communication cable 21 is slack, a person can rotate the reel 23 in the winding direction by operating the operation unit 37b. Therefore, it is possible to remove the looseness of the communication cable 21 without providing an expensive tension adjusting device (for example, the tension adjusting device 200 of FIG. 1) that automatically applies constant tension to the communication cable 21.

The present invention is not limited to the above-described embodiments, and it goes without saying that various modifications can be made without departing from the gist of the present invention.

For example, the hole forming body 25 may be formed as shown in FIG. 10, for example. 10(A) shows the hole forming body 25 seen from the horizontal direction, and FIG. 10(B) is a sectional view taken along line 10B-10B of FIG. 10(A). In FIG. 10, the hole forming body 25 has a shape in which two three-dimensional ring-shaped portions are combined, and is configured such that an external space is interposed while the guide hole 25a extends from the inlet 25a2 to the outlet 25a1. In this case, the other points of the cable feeding device 20 may be the same as those described above.

3 main body, 5 moving mechanism, 5a rotating wheel, 5b endless running belt, 7 manipulator, 7a link, 7b work execution unit, 9 camera, 10 moving device (crawler type running device), 11 remote control device, 11a operation unit, 11b Display, 13 Movement control device, 15 Operation control device, 20 Cable feeding device, 21 Communication cable, 22 Stopper, 23 Cable accommodating part (reel), 23a Outer peripheral surface, 24 Stopper, 25 Hole forming body, 25a Guide hole, 25a1 Exit , 25a2 inlet, 25b inner peripheral surface, 25c outer peripheral surface, 25d outlet end, 25e inlet end, 25f mounting portion, 25f1 hole, 26 antenna support, 26b elastic portion, 28 rod member, 28a mounting portion, 28a1 hole, 31 rotational drive Device, 33 reel control device, 35 camera, 37 reel operating device, 37a display, 37b operating part (button), 40 moving device, 41 main body, 42 reel, 43 to 45 roll, 46 communication cable, 47 guide tube, 47a exit , 48 tension line, 49 potentiometer roll, 51 movable roll, 52 spring, 100 cable feeding device, 200 tension adjusting device, C center line, C0 shaft, R1 outlet end, R2 inlet end, S1, S2 cross section, X Remote control area

Claims (9)

A cable payout device capable of paying out the communication cable from a mobile device provided with a cable housing part housing a communication cable,
A hole forming body that is provided in the moving device and that forms a guide hole that guides the communication cable extending from the cable housing portion to the outside of the moving device;
The hole forming body includes an inner peripheral surface that defines the guide hole, an outer peripheral surface that surrounds the guide hole outside the guide hole, and an outlet end that surrounds the outlet of the guide hole and defines the outlet. Has an outlet end,
In the cross section of the hole forming body by a virtual plane including a straight line that is in contact with the center line of the guide hole at the outlet, the inner peripheral surface and the outer peripheral surface are, at the outlet end portion, generally the minimum allowable communication cable. A cable feeding device drawn with a radius of curvature greater than the bending radius. In a state where the main body of the moving device is in a horizontal posture, the hole forming body is provided with respect to the main body so that the direction of the outlet of the guide hole is a direction oblique to the horizontal direction or a horizontal direction. The cable payout device according to claim 1, which is attached. The cable feeding device according to claim 1 or 2, wherein a size of the guide hole is twice or more the allowable minimum bending radius. The hole forming body has an inlet end portion that includes an inlet end that surrounds the inlet of the guide hole and defines the inlet,
In the cross section of the hole forming body by a virtual plane including a straight line contacting the center line of the guide hole at the inlet, the inner peripheral surface at the inlet end has a radius of curvature not less than the allowable minimum bending radius as a whole. A cable payout device according to claim 1, 2 or 3 as depicted. The main body of the moving device is provided with a manipulator,
The cable feeding device according to any one of claims 1 to 4, wherein the outlet of the guide hole is on the opposite side of the manipulator and faces the outside of the moving device. The main body of the moving device is provided with an elastically deformable antenna column extending upward in a state where the main body is in a horizontal posture, and a wireless communication antenna provided on an upper end portion of the antenna column,
The cable feeding device according to claim 1, wherein the hole forming body is attached to the antenna support column. The hole forming body is rotatably attached to the main body of the moving device so as to be rotatable about an axis inclined in the vertical direction or an axis oriented in the vertical direction in a state where the main body of the moving device is in a horizontal posture. The cable feeding device according to any one of items 1 to 6. The cable feeding device according to claim 1, wherein the cable housing portion is a reel around which the communication cable is wound and which can unwind the communication cable. A rotation driving device that drives the reel to rotate;
A reel control device for controlling the rotation drive device,
A camera provided in the moving device, which captures an area including at least one of a passage area of a communication cable between the reel and the hole forming body, an inlet of the guide hole, and an outlet of the guide hole,
A reel operation device having a display and an operation unit for remotely controlling the rotation of the reel,
The reel operating device is
(A) Image data captured by the camera is received through the communication cable, and the image data is displayed on the display,
(B) When an operation for instructing the rotation of the reel in the winding direction for winding the communication cable is performed on the operation unit, a winding command signal is generated, and the winding command signal is transmitted through the communication cable. Send to the reel controller of the moving device,
The cable reel-out device according to claim 8, wherein the reel control device controls the rotation drive device based on the winding command signal to rotate the reel in the winding direction.

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