JPH0524164Y2 - - Google Patents

Description

[Detailed Description of the Invention] [Industrial Application Field] The present invention relates to a control cable with a sensor. More specifically, the present invention relates to a control cable with a sensor capable of physically transmitting force and detecting relative displacement between an inner cable and an outer casing.

[Prior Art] A control cable generally includes an inner cable and an outer casing for slidably or rotatably guiding the inner cable.

Inner cables are generally composed of a single metal wire or twisted wires made of metal, synthetic resin, or the like. Also used are toothed cables in which spiral teeth are provided around the core wire.

As the outer casing, a flexible material such as a metal spiral pipe with synthetic resin laminated on the inner and outer peripheries is used, but a rigid metal pipe may also be used.

The control cable configured in this manner transmits the operation to the other end by pulling, pushing, pulling, or rotating one end of the inner cable. Operation can be divided into two types: those that transmit force accurately and those that primarily transmit an amount of operation accurately, but are usually used when obtaining an appropriate amount of operation with a certain range of force. Ru.

[Problems to be solved by the invention] By the way, since the inner cable and the outer casing are made of metal wires as mentioned above, elastic elongation or permanent elongation occurs. Therefore, it is difficult to accurately control the manipulated variable. In other words, certain operations (for example,
Even if a Lmm pulling operation is applied, there is no guarantee that the same movement (Lmm pulling into the outer casing) will occur at the other end, and there is usually some error involved.

For this reason, conventional control cables can only provide accurate operating amounts in certain cases, such as when the driven member is stopped by a stopper.
There is a problem in that the scope of its use is limited.

SUMMARY OF THE INVENTION An object of the present invention is to provide a control cable that can accurately transmit a desired amount of operation to a driven device in order to expand the scope of application of the conventional control cable.

[Means for solving the problem] The control cable of the present invention is a control cable for physically transmitting force and displacement, which is composed of an outer casing and an inner cable that is guided by the outer casing and moves in the axial direction. In the output side part, there is a reference scale provided on either the outer casing or the inner cable for measuring the amount of movement of the inner cable, and a reference scale provided on the other side to measure the amount of movement of the inner cable based on the reference scale. A configuration is adopted in which a displacement sensor for transmitting a displacement signal is attached, which is comprised of a detection means for detecting the displacement signal.

[Operation] In the present invention, when the inner cable is operated and moved in the axial direction, the detection means of the sensor detects the displacement relative to the reference scale at the output side portion based on the reference scale.
The amount of movement of the output side portion of the inner cable is detected. Additionally, the sensor can send a displacement signal to an indicator or controller.

Therefore, by correcting the manipulated variable based on the obtained detected value, the manipulated variable of the control valve can be accurately controlled. In this case, even if elastic or permanent elongation occurs in the control cable, the amount of movement on the driven side is always detected, so such elongation does not affect the detected value and accurate control is possible. Become.

[Example] Next, embodiments of the present invention will be described.

FIG. 1 is a sectional view of the output side portion of the control cable A according to the first embodiment of the present invention, FIG. 2 is a conceptual diagram showing the configuration of the displacement sensor a, and FIG. 3 is a diagram of the displacement sensor a having a direction identification function. A conceptual diagram showing the configuration, FIG. 4 is a graph showing the output waveform of the displacement sensor a shown in FIG. 3, and FIG. 5 is a graph showing the output waveform of the displacement sensor a shown in FIG. 3.
, FIG. 6 is a sectional view showing another configuration example of the displacement sensor a in the first embodiment, FIG. 7 is a sectional view of the output side portion of the control cable B related to the second embodiment, and FIG. 8 is a displacement A conceptual diagram showing the configuration of sensor b, FIG. 9 is a sectional view of the output side portion of control cable C according to the third embodiment, and FIG. 10 shows the configuration of displacement sensor c provided with a direction identification function in the third embodiment. Conceptual diagram, FIG. 11 is a sectional view of the output side portion of the control cable D according to the fourth embodiment, FIG. 12a is an explanatory diagram showing another configuration example of the displacement sensor d in the fourth embodiment, and FIG. 12b is the embodiment. 4 is a conceptual diagram showing the configuration of the displacement sensor d having a direction identification function; FIG. 13 is a sectional view of the output side portion of the control cable E according to the fifth embodiment;
FIG. 14 is a conceptual diagram showing the configuration of a displacement sensor e having a direction identification function in the fifth embodiment, FIG. 15 is a sectional view of the output side portion of the control cable F according to the sixth embodiment, and FIG. 16 is the embodiment. 7 is a sectional view of the output side portion of the control cable G related to FIG.

Embodiment 1 FIG. 1 shows a cross section of the output side portion of a control cable A according to this embodiment. The inner cable 1 is inserted into the outer casing 2, and when pushed or pulled by an operation side portion (not shown), the inner cable 1 is guided by the outer casing 2 and moved in the axial direction. A rigid rod 3 is connected to the tip of the output side portion of the inner cable 2, and a driven member Z to be operated is connected to the tip. 4 is rod 3
The guide pipe is provided with a case 5 for mounting the displacement sensor a.

The displacement sensor a in this embodiment employs a magnetic scale (for example, Magnescale (trade name) manufactured by Sony Magnescale Co., Ltd.),
It consists of a scale 11 and a magnetic head 12 for detecting the magnetic scale of the scale 11. As shown in FIG.
-N is a round bar or ribbon-shaped member on which a magnetic pattern is recorded, and the magnetic head 12 includes an output coil 13 and an input coil 14 having a gap g at the tip.
It consists of a core wound with In such a magnetic scale a, the output voltage E is deformed by the magnetic flux φ of the scale 11, and the maximum voltage (positive voltage) occurs when the gap g is at the NN position, and the minimum voltage when the gap g is at the SS position. (negative voltage), changes to zero voltage at the intermediate position between NN and SS, and has the characteristic of outputting in a sine wave shape.
In this embodiment, the scale 11 is mounted on the rod 3, and the magnetic head 12 is mounted inside the case 5. Therefore, when the inner cable 1 moves, the magnetic head 12 receives a sine wave output signal with a number of pulses corresponding to the amount of movement, and by counting this, the amount of movement can be determined. Reference numeral 6 denotes a manipulated variable measuring section, which is provided with a Schmitt circuit that converts the sine wave output signal into a rectangular wave signal, a counter that counts the digitized output signal, a display that displays the number of counts, and the like.

In this embodiment, when the inner cable 1 is pushed or pulled, the scale 11 passes over the magnetic head 12 and the magnetic head 12 outputs a number of pulse signals corresponding to the amount of movement.
The amount of movement of the inner cable 1 is detected by counting it with the operation amount measuring section 6.

In addition, if the scale of the scale 11 is as coarse as 0.2 mm as in the above example, an electric circuit for dividing it finely into 1/20 or 1/200 is provided in the manipulated variable measuring section 6.
Measurement accuracy can be increased to 10 μm or 1 μm.

FIG. 3 shows an example in which the movement of the inner cable 1 in the pushing direction and the movement in the pulling direction are distinguished. In this example, the magnetic scale a is 2
The magnetic heads 12a and 12b are arranged so as to be shifted from each other by 1/4 pitch of the magnetic pattern of the scale 11. Therefore, two magnetic heads 12
As shown in Figure 4, the output terminals a and 12b provide output waveforms Ea and Eb with a 1/4 phase shift, so by utilizing the difference in phase, the push direction and pull direction can be determined. Be able to determine direction.

As described above, in this embodiment, the inner cable 1
Since the amount of movement is obtained as an electrical signal, it can be read directly on the display and can be operated while visually confirming it. Furthermore, by feeding back the obtained movement amount to the controller via an appropriate compensation circuit, it can also be used for feedback control. In that case, the manipulated variable measuring section 6 may be provided with a detector section for electrically increasing the precision of the detected value to 1 μm or 10 μm, and an output section for amplifying and D/A conversion, as shown in FIG. A servo mechanism can be constructed by connecting the final output from the output section to a control section such as a servo motor or a servo cylinder. If the manipulated variable measuring section 6 is provided with a storage section in which a positioning value is set in advance and a calculation section that compares and calculates the set value and the detected value, positioning control becomes possible.

In this embodiment, as shown in FIG.
A scale 11 was installed on the rod 3, and a magnetic head 12 was installed on the case 5 (that is, on the outer casing 2 side).However, as shown in FIG. You can attach them separately. In addition, by using a makome scale instead of the magnetic scale a, the control cable A of this embodiment can also be used.
can be configured.

Embodiment 2 In the control cable B of this embodiment shown in FIG. 7, a semiconductor magnetoresistive element displacement sensor b is employed as the displacement sensor b.

The displacement sensor b, as shown in FIG.
It consists of a raster plate 21 in which two magnetoresistive elements 21a and 21b, each having a large number of fine metal patterns arranged on a semiconductor thin film, are arranged in series on a substrate, and a magnet 22 that moves over the raster plate 21. . Therefore, the magnet 22 is connected to the two magnetoresistive elements 21
When the magnets a and 21b are at the center, their electrical resistances are balanced, but when the magnet 22 is displaced to either side, the magnetic resistance on the displaced side increases, and the resistance on the opposite side decreases, so this resistance By extracting changes differentially, a displacement signal with excellent linearity with respect to the magnitude of displacement can be obtained.

In this embodiment, as shown in FIG.
The raster plate 21 is placed in the case 5, and the magnet 2 is placed in the case 5.
2 are respectively attached to rods 3 connected to the output side portion of the inner cable 1, and the magnets 22 move over the magnetic resistance elements 21a and 21b in conjunction with the operation of the inner cable 1. Although not shown, the raster plate 21 and the magnet 22 may be attached to the rod 3 and the case 5, respectively.

With the above configuration, also in this embodiment,
The amount of movement of the inner cable 1 is measured by the displacement sensor b.
, and can be measured and displayed by the operation amount measuring section 6. Note that the operation amount measuring section 6 can be configured substantially the same as in the first embodiment, but the displacement sensor b
Since the output is an analog signal, the arithmetic unit etc. may be constructed using analog elements, and if a digital arithmetic unit or the like is used, it may be constructed by inserting an AD converter.

Therefore, this embodiment can also be applied to manual control performed by directly reading the amount of movement of the inner cable 1, or to a servo mechanism constructed by feedback of detected values.

Note that in the configuration of this embodiment, even if the semiconductor magnetoresistive element displacement sensor b is replaced with an electromagnetic induction type sensor (for example, Inductosin (trade name)), a similar control cable with a sensor can be configured. In that case, the scale of the electromagnetic induction sensor may be attached to the case 5, and the slider may be attached to the rod 3. Alternatively, the scale may be attached to the rod 3 and the slider may be attached to the case 5. When the slider comes over the comb-shaped pattern of the scale to which alternating current is applied, the induced voltage in the comb-shaped pattern of the slider reaches its maximum at the position where the comb teeth of the scale and slider face each other, and the voltage is half-pitch. It becomes zero at the shifted position, and reaches a maximum at the next resistance position with an opposite phase. This change is repeated every pitch when the slider slides due to the movement of the inner cable 1, so the amount of movement of the inner cable 1 can be detected by counting this pulse signal.

Embodiment 3 In the control cable C of this embodiment shown in FIG. 9, a linear potentiometer c is employed as the displacement sensor c. This potentiometer c is a linear resistor 31 with voltage applied to both ends.
and a slider 32 that slides on the resistor 31, and a voltage corresponding to the sliding position of the slider 32 is divided and taken out to produce a displacement signal representing the amount of displacement.

In this embodiment, as shown, a resistor 31 is attached to the case 5 as a reference scale, and a slider 32 is attached to the rod 3 connected to the output side portion of the inner cable 1 as a detection means. Note that the resistor 31 may be attached to the rod 3 and the slider 32 may be attached to the case 5, contrary to the case shown in the drawings.

In this embodiment as well, when the driven member Z is moved by pushing and pulling the inner cable 1 on the operating side, the current position of the driven member Z can be obtained from the output voltage of the potentiometer c.

In addition, when it is necessary to distinguish the left and right movement of the driven member Z around the reference position, it is advisable to form a bridge circuit using two fixed resistors 33 as shown in FIG.
When 2 is at the midpoint of resistor 31, the output voltage is zero, and if it moves to the left from that point, it becomes positive, and if it moves to the right, it becomes negative, making it possible to distinguish between left and right.

As the operation amount measuring section 6, the same one as in the second embodiment is used.

With the above configuration, this embodiment can also be applied to manual control performed by directly reading the displacement of the driven member Z, or to a servo mechanism configured by feedback of the detected value.

In this embodiment, a magnetoresistive element is used as the resistor instead of the contact potentiometer, a non-contact potentiometer is used in which a magnet is used instead of the slider, or a photoconductive element is used between the resistor and the conductor. It can also be constructed using a non-contact type potentiometer consisting of a strip-shaped conductive electrode provided with cells and an optical slit. In those cases, it is preferable to attach the magnet or optical slit to the rod 3, and the magnetoresistive element or conductive electrode to the case 5, respectively. Furthermore, the magnet or optical slit may be attached to the case 5, and the magnetoresistive element or conductive electrode may be attached to the rod 3.

Example 4 In the control cable D of this example shown in FIG. 11, the inner cable 1 itself is used as a reference scale for the displacement sensor d, and an optical coupling sensor is used as the detection means.

The inner cable 1 of this embodiment is a toothed cable in which a urethane tube is wound between the teeth. 41 is a reflector, which is composed of black teeth 42 and a white urethane tube wrapped between the teeth 42. This reflector 41 appears on the surface of the inner cable 1 at a constant pitch and constitutes the scale of the reference scale. As shown in FIG. 12, a reflector 44 to which a reflective tape or the like is attached on the surface of the rod 3 may be configured to appear alternately with non-reflective portions 43 at a constant pitch.

The optically coupled sensor 45 constituting the detector is an LED
It consists of a light emitting element 46 such as a phototransistor or a photodiode, and a light receiving element 47 such as a phototransistor or photodiode.The light projected from the light emitting element 46 is reflected by a reflector 41 on the inner cable 1, and when the light is received by the light receiving element 47, a pulse signal is generated. It's becoming like that. As the operation amount measuring section 6, the same one as that in the first embodiment is used.

Therefore, when the inner cable 1 is pushed or pulled on the operation side, a pulse signal corresponding to the amount of movement of the inner cable 1 is sent to the optical coupling sensor 45.
The amount of movement of the inner cable 1 is detected by counting it with the operation amount measuring section 6.

Furthermore, as shown in FIG. 12, two optically coupled sensors 45a and 45b are used. When they are arranged with a 1/4 pitch shift from the reflector 44, pulse signals with a 1/4 phase shift can be obtained.
Movement in the pushing direction and pulling direction can be identified by the phase difference.

With the above configuration, this embodiment can also be applied to manual control performed by directly reading the displacement of a driven member, or to a servo mechanism configured by feedback of detected values.

In the embodiment shown in FIGS. 12a and 12b, the reflector 44 may be attached to the case connected to the outer casing 2, and the optically coupled sensor 45 may be attached to the rod 3.

Embodiment 5 In the control cable E of this embodiment shown in FIG. 13, a rod 3 having unevenness in the axial direction is used as the scale of the displacement sensor e, and a proximity switch 52 is used as the detection means.

In this embodiment, protrusions 51 are provided at equal intervals on the rod 3 connected to the output side portion of the inner cable 1, and the number of protrusions 51 corresponds to the maximum movement amount of the inner cable 1. A proximity switch 52 is mounted within the case 5. In this configuration, each time the convex portion 51 approaches the detection surface of the proximity switch 52, the proximity switch 52 emits a pulse signal. Note that as the operation amount measuring section 6, the same one as that in the first embodiment is used.

Therefore, when the inner cable 1 is pushed or pulled on the operation side, a pulse signal corresponding to the amount of movement of the inner cable 1 is sent to the proximity switch 52.
The amount of movement of the inner cable 1 is detected by counting the amount of movement in the operation amount measuring section 6.

Furthermore, as shown in Figure 14, if two proximity switches 52a, 52b are used and arranged with a 1/4 pitch offset, pulse signals with a 1/4 phase shift can be obtained, making it possible to distinguish between push and pull movements based on the phase difference.

Furthermore, in the embodiment, the convex portion 51 is
The proximity switch 51 may be attached to the rod 3.

With the above configuration, this embodiment can also be applied to a servo mechanism configured by direct reading of the displacement of the driven member and feedback of manual control and detection.

Embodiment 6 The control cable F of this embodiment shown in FIG. 15 has a configuration in which a large number of proximity sensors 61 are arranged as displacement sensors f.

In this embodiment, a convex portion 6, which is an object to be detected, is attached to the rod 3 connected to the output side portion of the inner cable 1.
2, and a number of proximity switches 61 corresponding to the maximum amount of movement of the inner cable 1 are arranged at positions along the movement path of the rod 3 inside the case 5. Therefore, among the several proximity switches 61, one proximity switch 61 that is sensitive to the approach of the convex portion 62 will emit a detection signal, but it is difficult to determine in which position the proximity switch 61 is located. Accordingly, the amount of movement of the inner cable 1 can be detected. It is preferable that the position of the proximity switch 61 that is emitting the detection signal is displayed on the operation amount measuring section 6 by a lamp or other suitable means. In order to improve the resolution, the greater the number of proximity switches 61, the better. Therefore, it is preferable to arrange as many small proximity switches 61 as possible along the axial direction of the rod 3.

In addition, in this embodiment, a proximity switch 61 is attached to the rod 3.
A necessary number of protrusions 62 may be arranged and attached within the case 5.

With the above configuration, this embodiment can also be suitably used for manual control performed by directly reading the displacement of the driven member Z.

Embodiment 7 The control cable G of this embodiment shown in FIG. 16 has a configuration in which a large number of optically coupled sensors 71 are arranged as displacement sensors g.

This embodiment is similar in principle to the sixth embodiment, in which a reflector 72, which is an object to be detected, is attached to the rod 3 connected to the output side portion of the inner cable 1, and the rod 3 in the case 5 is attached to the rod 3 connected to the output side portion of the inner cable 1. A required number of optically coupled sensors 71 are arranged at positions along the movement route. This optical coupling sensor 71 is the same as that in Example 4, and is composed of a light emitting element such as an LED and a light receiving element such as a phototransistor or photodiode. When it receives light, it generates an electrical signal. Therefore, among the several optically coupled sensors 71, one optically coupled sensor 71 that is sensitive to the approach of the reflector 72 will emit a detection signal, but it depends on the position of the optically coupled sensor 71.
Depending on whether this is the case, the amount of movement of the inner cable 1 can be detected. As the operation amount measuring section 6, the same one as in the sixth embodiment is used. In this embodiment as well, it is preferable to increase the number of optically coupled sensors 71 as much as possible in order to improve the resolution. Further, in this embodiment, the optical coupling sensor 71
The necessary number of reflectors 72 may be attached to the rod 3 and the reflector 72 may be attached to the case 5.

With the above configuration, this embodiment can also be suitably used for manual control performed by directly reading the displacement of the driven member Z.

Embodiment 8 In the fifth and sixth embodiments, the proximity switches 52 and 61 are used, but a control cable with a sensor can also be constructed by replacing these with limit switches.

That is, Example 5 shown in FIGS. 13-14
In this case, if the proximity switches 52, 52a, and 52b are replaced with limit switches, each time the limit switch comes into contact with the convex portion 51, it is turned on, so that a pulse signal is generated and the amount of movement of the inner cable 1 can be measured. This is possible. Note that a limit switch may be attached to the rod 3, and a necessary number of convex portions 51 may be arranged in the case 5.

Furthermore, in Example 6 shown in FIG.
Even if the proximity switch 61 is replaced with a limit switch, the limit switch is turned on every time it comes into contact with the convex portion 62, so that the amount of movement of the inner cable 1 can be measured. Also in this case, it is of course possible to attach a limit switch to the rod 3 and arrange the necessary number of protrusions 62 in the case 5.

Control cables related to various embodiments have been described above, but such control cables can be used, for example, with remote control devices inside a nuclear reactor,
It can be applied to various industrial machines such as optical axis adjustment devices for lights, shutter and valve opening/closing devices, and blind adjustment devices. Furthermore, when configuring a servo mechanism using the control cable, the current value of the inner cable 1 detected by the displacement sensor is directly transmitted to a driving element (especially an electric driving element) such as a servo motor or a unit of a servo valve and a hydraulic cylinder. Alternatively, feedback may be provided via an appropriate compensation circuit. The control section of such a servo mechanism can be composed of, for example, a microcomputer. Such a servo mechanism can be applied to, for example, a drive transmission mechanism for a robot, a shutter or valve adjustment mechanism, and the like.

[Effects of the invention] The control cable with the sensor of the invention has the following effects:
Since the current position of the driven member can be detected accurately, very accurate position control can be achieved by intervening a suitable indicator or control device. Moreover, it can therefore be widely applied to fields that require accurate manipulated variables.

[Brief explanation of drawings]

FIG. 1 is a sectional view of the output side portion of the control cable A according to the first embodiment of the present invention, FIG. 2 is a conceptual diagram showing the configuration of the displacement sensor a, and FIG. 3 is a diagram of the displacement sensor a having a direction identification function. A conceptual diagram showing the configuration, FIG. 4 is a graph showing the output waveform of the displacement sensor a shown in FIG. 3, and FIG. 5 is a graph showing the output waveform of the displacement sensor a shown in FIG. 3.
, FIG. 6 is a sectional view showing another configuration example of the displacement sensor a in the first embodiment, FIG. 7 is a sectional view of the output side portion of the control cable B related to the second embodiment, and FIG. 8 is a displacement A conceptual diagram showing the configuration of sensor b, FIG. 9 is a sectional view of the output side portion of control cable C according to the third embodiment, and FIG. 10 shows the configuration of displacement sensor c provided with a direction identification function in the third embodiment. Conceptual diagram, FIG. 11 is a sectional view of the output side portion of the control cable D according to the fourth embodiment, FIG. 12a is an explanatory diagram showing another configuration example of the displacement sensor d in the fourth embodiment, and FIG. 12b is the embodiment. 4 is a conceptual diagram showing the configuration of the displacement sensor d having a direction identification function; FIG. 13 is a sectional view of the output side portion of the control cable E according to the fifth embodiment;
FIG. 14 is a conceptual diagram showing the configuration of a displacement sensor e having a direction identification function in the fifth embodiment, FIG. 15 is a sectional view of the output side portion of the control cable F according to the sixth embodiment, and FIG. 16 is the embodiment. 7 is a sectional view of the output side portion of the control cable G related to FIG. Main symbols in the drawing, 1... Inner cable, 2
...Outer casing, 3... Rod, 5...
Case, 6... Manipulated amount measuring unit, 11... Magnetic scale, 12... Magnetic head, 21... Raster plate, 22... Magnet, 31... Resistor, 32...
... Slider, 41 ... Reflector, 42 ... Non-reflective portion, 45 ... Optical coupling switch, 51 ... Convex portion, 5
2... Proximity switch, 61... Proximity switch, 6
2... Convex portion, 71... Optical coupling switch, 72...
reflector.

Claims (1)

[Scope of Claim for Utility Model Registration] 1. In the output side portion of a control cable for physically transmitting force and displacement, which consists of an outer casing and an inner cable that is guided by the outer casing and moves in the axial direction, the outer casing and a reference scale for measuring the amount of movement of the inner cable, which is provided on one of the inner cables, and a detection means that is provided on the other and detects the amount of movement of the inner cable based on the reference scale. A control cable with a sensor is attached with a displacement sensor for transmitting the displacement signal. 2. The control cable with a sensor according to claim 1, wherein the displacement sensor is a magnetic scale, the scale is attached to the inner cable side, and the magnetic head is attached to the outer casing side. 3. The control cable with a sensor according to claim 1, wherein the displacement sensor is a magnetic scale, the scale is attached to the outer casing side, and the magnetic head is attached to the inner cable side. 4. The control cable with a sensor according to claim 1, wherein the displacement sensor is a semiconductor magnetoresistive element displacement sensor, a magnet is attached to the inner cable side, and a raster plate is attached to the outer casing side. 5. The displacement sensor is a semiconductor magnetoresistive element displacement sensor, and the magnet is on the outer casing side,
A control cable with a sensor according to claim 1, wherein a raster plate is attached to each inner cable side. 6. The displacement sensor is an electromagnetic induction sensor,
A control cable with a sensor according to claim 1, wherein the slider is attached to the inner cable side and the scale is attached to the outer casing side. 7. The displacement sensor is an electromagnetic induction sensor,
A control cable with a sensor according to claim 1, wherein the slider is attached to the outer casing and the scale is attached to the inner cable. 8. The control cable with a sensor according to claim 1, wherein the displacement sensor is a linear potentiometer, the slider is attached to the inner cable side, and the resistor is attached to the outer casing side. 9. The control cable with a sensor according to claim 1, wherein the displacement sensor is a linear potentiometer, the slider is attached to the outer casing side, and the resistor is attached to the inner cable side. 10 The displacement sensor includes light reflectors provided at equal intervals on the surface of the end rod of the inner cable along the axial direction thereof, and an optical coupling sensor attached to the outer casing side and sensitive to the light reflector. A control cable with a sensor as set forth in claim 1 of the utility model registration claim. 11 The displacement sensor includes a light reflector provided on the surface of the inner cable itself so as to be exposed at regular intervals along the axial direction of the inner cable itself, and a light coupling sensor attached to the outer casing side and sensitive to the reflector. A control cable with a sensor according to claim 1 of the utility model registration claim, comprising: 12 The displacement sensor is composed of light reflectors provided on the outer casing side at regular intervals along the axial direction thereof, and an optically coupled sensor attached to the inner cable side and sensitive to the light reflectors. A control cable with a sensor according to claim 1 of the utility model registration claim. 13 The displacement sensor is composed of convex portions provided at equal intervals on the surface of the end rod of the inner cable along the axial direction thereof, and a proximity switch attached to the outer casing side and sensitive to the convex portions. A control cable with a sensor according to claim 1 of the utility model registration claim. 14 A practical device in which the displacement sensor is composed of convex portions provided on the outer casing side at regular intervals along the axial direction thereof, and a proximity switch attached to the inner cable side and sensitive to the convex portions. A control cable with a sensor according to claim 1 of the patent registration claim. 15 The displacement sensor includes one convex portion attached to the end rod of the inner cable, and a proximity switch sensitive to the convex portions arranged in large numbers on the outer casing side along the moving direction of the inner cable. A control cable with a sensor according to claim 1 of the utility model registration claim. 16 Claims for Utility Model Registration in which the displacement sensor comprises one convex portion attached to the outer casing side and a plurality of proximity switches sensitive to the convex portions arranged on the end rod of the inner cable. Control cable with sensor as described in item 1. 17 The displacement sensor includes one reflector attached to the end rod of the inner cable, and a plurality of optically coupled sensors arranged on the outer casing side along the moving direction of the inner cable and sensitive to the reflectors. A control cable with a sensor according to claim 1 of the utility model registration claim. 18 The displacement sensor comprises one reflector attached to the outer casing side and a plurality of optically coupled sensors arranged on the end rod of the inner cable and sensitive to the reflectors. Control cable with sensor described in item 1. 19. The displacement sensor includes convex portions provided at equal intervals on the surface of the end rod of the inner cable along the axial direction thereof, and a limit switch that is attached to the outer casing side and operates by contacting the convex portions. A control cable with a sensor according to claim 1 of the utility model registration claim, comprising: 20 The displacement sensor is composed of convex portions provided on the outer casing side at equal intervals along the moving direction of the inner cable, and a limit switch that is attached to the inner cable side and operates by coming into contact with the convex portions. A control cable with a sensor according to claim 1 of the utility model registration claim. 21 A limit switch that operates when the displacement sensor comes into contact with one convex portion attached to the end rod of the inner cable and a plurality of convex portions arranged on the outer casing side along the moving direction of the inner cable. A control cable with a sensor according to claim 1 of the utility model registration claim, comprising: 22 A utility model in which the displacement sensor comprises one convex portion attached to the outer casing side and a limit switch that is activated by abutting against the convex portions arranged in large numbers on a rod connected to the inner cable. A control cable with a sensor according to claim 1.