JPH06255896A - Cable winding device - Google Patents
Cable winding deviceInfo
- Publication number
- JPH06255896A JPH06255896A JP6288493A JP6288493A JPH06255896A JP H06255896 A JPH06255896 A JP H06255896A JP 6288493 A JP6288493 A JP 6288493A JP 6288493 A JP6288493 A JP 6288493A JP H06255896 A JPH06255896 A JP H06255896A
- Authority
- JP
- Japan
- Prior art keywords
- cable
- state
- drum
- tension
- guide pulleys
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H75/00—Storing webs, tapes, or filamentary material, e.g. on reels
- B65H75/02—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks
- B65H75/34—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks specially adapted or mounted for storing and repeatedly paying-out and re-storing lengths of material provided for particular purposes, e.g. anchored hoses, power cables
- B65H75/38—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks specially adapted or mounted for storing and repeatedly paying-out and re-storing lengths of material provided for particular purposes, e.g. anchored hoses, power cables involving the use of a core or former internal to, and supporting, a stored package of material
- B65H75/40—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks specially adapted or mounted for storing and repeatedly paying-out and re-storing lengths of material provided for particular purposes, e.g. anchored hoses, power cables involving the use of a core or former internal to, and supporting, a stored package of material mobile or transportable
- B65H75/42—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks specially adapted or mounted for storing and repeatedly paying-out and re-storing lengths of material provided for particular purposes, e.g. anchored hoses, power cables involving the use of a core or former internal to, and supporting, a stored package of material mobile or transportable attached to, or forming part of, mobile tools, machines or vehicles
- B65H75/425—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks specially adapted or mounted for storing and repeatedly paying-out and re-storing lengths of material provided for particular purposes, e.g. anchored hoses, power cables involving the use of a core or former internal to, and supporting, a stored package of material mobile or transportable attached to, or forming part of, mobile tools, machines or vehicles attached to, or forming part of a vehicle, e.g. truck, trailer, vessel
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H75/00—Storing webs, tapes, or filamentary material, e.g. on reels
- B65H75/02—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks
- B65H75/34—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks specially adapted or mounted for storing and repeatedly paying-out and re-storing lengths of material provided for particular purposes, e.g. anchored hoses, power cables
- B65H75/38—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks specially adapted or mounted for storing and repeatedly paying-out and re-storing lengths of material provided for particular purposes, e.g. anchored hoses, power cables involving the use of a core or former internal to, and supporting, a stored package of material
- B65H75/44—Constructional details
- B65H75/4418—Arrangements for stopping winding or unwinding; Arrangements for releasing the stop means
- B65H75/4428—Arrangements for stopping winding or unwinding; Arrangements for releasing the stop means acting on the reel or on a reel blocking mechanism
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H75/00—Storing webs, tapes, or filamentary material, e.g. on reels
- B65H75/02—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks
- B65H75/34—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks specially adapted or mounted for storing and repeatedly paying-out and re-storing lengths of material provided for particular purposes, e.g. anchored hoses, power cables
- B65H75/38—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks specially adapted or mounted for storing and repeatedly paying-out and re-storing lengths of material provided for particular purposes, e.g. anchored hoses, power cables involving the use of a core or former internal to, and supporting, a stored package of material
- B65H75/44—Constructional details
- B65H75/4481—Arrangements or adaptations for driving the reel or the material
- B65H75/4484—Electronic arrangements or adaptations for controlling the winding or unwinding process, e.g. with sensors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H75/00—Storing webs, tapes, or filamentary material, e.g. on reels
- B65H75/02—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks
- B65H75/34—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks specially adapted or mounted for storing and repeatedly paying-out and re-storing lengths of material provided for particular purposes, e.g. anchored hoses, power cables
- B65H75/38—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks specially adapted or mounted for storing and repeatedly paying-out and re-storing lengths of material provided for particular purposes, e.g. anchored hoses, power cables involving the use of a core or former internal to, and supporting, a stored package of material
- B65H75/44—Constructional details
- B65H75/4481—Arrangements or adaptations for driving the reel or the material
- B65H75/4486—Electric motors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H2701/00—Handled material; Storage means
- B65H2701/50—Storage means for webs, tapes, or filamentary material
- B65H2701/53—Adaptations of cores or reels for special purposes
- B65H2701/537—Stopping the winding or unwinding of reels which do not feature spring motors
Landscapes
- Storing, Repeated Paying-Out, And Re-Storing Of Elongated Articles (AREA)
- Tension Adjustment In Filamentary Materials (AREA)
Abstract
Description
【０００１】[0001]
【産業上の利用分野】本発明は、例えば有線遠隔操縦車
両等に搭載されるケーブル巻取装置に係り、特にケーブ
ルドラムに対するケーブルの巻取り及び繰出しを自動的
に行う場合に好適なケーブル巻取装置に関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a cable winding device mounted on, for example, a cable remote-controlled vehicle, and more particularly to a cable winding device suitable for automatically winding and unwinding a cable from a cable drum. Regarding the device.
【０００２】[0002]
【従来の技術】例えば、水中作業ロボット・消防作業ロ
ボット等の各種作業ロボットや無人搬送車両等の有線遠
隔操縦車両は、電力線や信号線等を収納したケーブルを
介して操縦基地の操縦装置により遠隔操縦される構造と
なっている。この種の有線遠隔操縦車両では、作業を行
わない時は車両に搭載したケーブルドラムにケーブルを
自動的に巻取り収納しておく一方、作業時には車両の作
業状態等に応じてケーブルドラムに対しケーブルを自動
的に巻取ったり繰出したりしている。2. Description of the Related Art For example, various work robots such as underwater work robots and fire-fighting work robots and wired remote control vehicles such as unmanned transfer vehicles are remotely controlled by a control device at a control base via a cable containing power lines and signal lines. It is a structure that can be operated. In this type of wired remote control vehicle, when the work is not performed, the cable is automatically wound up and stored in the cable drum installed in the vehicle. Is automatically wound up and out.
【０００３】ところで、操縦装置による有線遠隔操縦車
両の操縦時において、車両の移動動作に追従させてケー
ブルドラムに対するケーブルの巻取り／繰出しを自動的
に行う場合には、ケーブル張力が一定張力となるように
駆動制御部でケーブルドラムの回転を制御している。こ
の場合、ケーブル張力は、ケーブルに対し直角方向から
プーリ等により力を加えた時のプーリの変位に基づき検
出している。By the way, when the cable remote control vehicle is controlled by the control device, when the cable winding / unwinding is automatically performed with respect to the cable drum by following the movement operation of the vehicle, the cable tension becomes a constant tension. As described above, the drive control unit controls the rotation of the cable drum. In this case, the cable tension is detected based on the displacement of the pulley when a force is applied to the cable from the direction perpendicular to the cable by a pulley or the like.
【０００４】[0004]
【発明が解決しようとする課題】しかしながら、前述し
た従来の有線遠隔操縦車両の場合、ケーブル張力を検出
するためにケーブルへ直角方向からプーリ等で力を加え
る構造となっているため、ケーブルドラムに対するケー
ブルの巻取り／繰出し時におけるケーブル張力を「０」
にすることができず、従って、車両の作業時や移動時等
に車両が旋回動作等を行うと、車両の旋回方向内側へケ
ーブルが引き寄せられるという問題があった。However, in the case of the above-mentioned conventional wired remote-controlled vehicle, since the structure is such that a force is applied to the cable from a direction perpendicular to the cable with a pulley or the like to detect the cable tension, "0" for the cable tension when winding / unwinding the cable
Therefore, there is a problem that when the vehicle makes a turning motion when the vehicle is working or moving, the cable is pulled inward in the turning direction of the vehicle.
【０００５】[0005]
【発明の目的】本発明は、上記従来例の有する不都合を
改善し、特にケーブルドラムに対するケーブルの巻取り
／繰出し時におけるケーブル張力が零となるように制御
し、ケーブルドラムを搭載した車両の旋回方向内側へケ
ーブルが引寄せられる不具合を防止したケーブル巻取装
置の提供を目的とする。It is an object of the present invention to improve the disadvantages of the above-mentioned conventional example, and in particular, control so that the cable tension at the time of winding / unwinding the cable with respect to the cable drum is zero, and the vehicle equipped with the cable drum is turned. An object of the present invention is to provide a cable winding device that prevents a problem that the cable is pulled inward in the direction.
【０００６】[0006]
【課題を解決するための手段】本発明は、ケーブルの巻
取り／繰出しを行うケーブルドラムと、該ケーブルドラ
ムのケーブル巻取り／繰出し側に且つケーブル軸方向に
所定間隔を置いて各々配設され前記ケーブルを圧着状態
でガイドするガイドプーリと、該ガイドプーリを回転駆
動するモータとを備え、前記両ガイドプーリ間のケーブ
ルが緊張状態と弛緩状態との中間に相当する中立状態に
位置しているか否かを検出する位置検出手段を装備し、
該位置検出手段により検出した前記両ガイドプーリ間に
おけるケーブルが前記中立状態に位置するように前記モ
ータの回転制御を行う制御手段を具備する構成としてい
る。これにより、前記目的を達成しようとするものであ
る。SUMMARY OF THE INVENTION The present invention provides a cable drum for winding / unwinding a cable, and a cable drum on the cable winding / unwinding side of the cable drum and at a predetermined interval in the axial direction of the cable. Is provided with a guide pulley for guiding the cable in a crimped state and a motor for rotationally driving the guide pulley, and is the cable between the guide pulleys positioned in a neutral state corresponding to an intermediate state between a tension state and a relaxation state? Equipped with position detection means to detect whether
A control means is provided for controlling the rotation of the motor so that the cable between the guide pulleys detected by the position detection means is positioned in the neutral state. This is intended to achieve the above-mentioned object.
【０００７】[0007]
【作用】本発明によれば、ケーブル巻取装置のケーブル
ドラムに対するケーブルの巻取り／繰出し時において、
位置検出手段が、両ガイドプーリ間のケーブルが緊張状
態と弛緩状態との中間に相当する中立状態にあるか否か
を検出すると、制御手段は、位置検出手段により検出し
たケーブルの位置状態に基づき、両ガイドプーリ間のケ
ーブルが中立状態となるようにモータの回転制御を行
う。これにより、ケーブルドラムに対するケーブルの巻
取り／繰出し時におけるケーブル張力を零に保つことが
可能となる。従って、本発明のケーブル巻取装置を、例
えば操縦装置によりケーブルを介して遠隔操縦される遠
隔操縦車両に搭載した場合には、従来のように遠隔操縦
車両の旋回時にケーブルが旋回方向内側へケーブルが引
き寄せられる不具合を防止することができる。これによ
り、遠隔操縦車両の走行軌跡内にケーブルを配置するこ
とが可能となる。According to the present invention, at the time of winding / unwinding the cable with respect to the cable drum of the cable winding device,
When the position detecting means detects whether or not the cable between the guide pulleys is in the neutral state corresponding to an intermediate state between the tension state and the loosening state, the control means determines the position state of the cable detected by the position detecting means. , The rotation of the motor is controlled so that the cable between both guide pulleys is in a neutral state. This makes it possible to maintain the cable tension at the time of winding / unwinding the cable with respect to the cable drum at zero. Therefore, when the cable winding device of the present invention is mounted on, for example, a remote-controlled vehicle that is remotely controlled by the control device via the cable, the cable is moved inward in the turning direction when the remote-controlled vehicle turns as in the conventional case. It is possible to prevent the problem of being attracted. This allows the cables to be placed within the travel path of the remotely controlled vehicle.
【０００８】[0008]
【実施例】以下、本発明のケーブル巻取装置を有線遠隔
操縦車両に適用してなる実施例を図面に基づいて説明す
る。DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment in which the cable winding device of the present invention is applied to a wired remote control vehicle will be described below with reference to the drawings.
【０００９】本実施例のケーブル巻取装置の構成を図１
及び図２に基づき説明すると、ケーブル巻取装置１は、
操縦基地に設置された操縦装置によりケーブル２を介し
て遠隔操縦される遠隔操縦車両３に搭載されている。遠
隔操縦車両３は、複数の車輪３Ａ，３Ｂ・・・を備えて
おり、遠隔操縦車両３の上面部には、１対の支持部材
４，５が垂設されると共に、両支持部材４，５の間に
は、軸６が水平状態で配設されており、軸６には、ケー
ブル２を巻取り収納するケーブルドラム７が回転可能に
支持されている。FIG. 1 shows the configuration of the cable winding device of this embodiment.
2 will be described with reference to FIG.
It is mounted on a remote-controlled vehicle 3 which is remotely controlled via a cable 2 by a control device installed at a control base. The remote-controlled vehicle 3 is provided with a plurality of wheels 3A, 3B ..., On the upper surface of the remote-controlled vehicle 3, a pair of support members 4 and 5 are vertically installed, and both support members 4 and 5 are provided. A shaft 6 is horizontally arranged between the cables 5, and a cable drum 7 for winding and storing the cable 2 is rotatably supported on the shaft 6.
【００１０】ケーブルドラム７の近傍には、制御ボック
ス１７により制御されるドラム駆動用モータ８が配設さ
れており、該ドラム駆動用モータ８の回転軸に固定した
プーリ９とケーブルドラム７の軸６に固定したプーリ１
０との間には、無端ベルト１１が掛け渡されている。ド
ラム駆動用モータ８は、プーリ９，１０，無端ベルト１
１を介してケーブルドラム７を回転駆動するようになっ
ている。A drum driving motor 8 controlled by a control box 17 is disposed in the vicinity of the cable drum 7, and a pulley 9 fixed to the rotating shaft of the drum driving motor 8 and a shaft of the cable drum 7. Pulley 1 fixed to 6
An endless belt 11 is stretched between 0 and 0. The drum driving motor 8 includes pulleys 9 and 10 and an endless belt 1.
The cable drum 7 is rotatably driven via 1.
【００１１】ケーブルドラム７のケーブル巻取り／繰出
し側には、ケーブル２へ当接するローラ１２が軸１２Ａ
を介して支持台１３に配設されると共に、支持台１３の
軸１３Ａの基端部には、ポテンショメータ１４が配設さ
れており、更に、支持台１３と基部１５との間には、張
力スプリング１６が配設されている。ポテンショメータ
１４は、ケーブル２へ当接したローラ１２の回転角に基
づき，ケーブルドラム７と後述するケーブル張力検出部
２１のガイドプーリ２４，２５との間のケーブル張力を
検出し、制御ボックス１７へ出力するようになってい
る。On the cable winding / unwinding side of the cable drum 7, a roller 12 that contacts the cable 2 is provided on the shaft 12A.
A potentiometer 14 is provided at the base end portion of the shaft 13A of the support base 13 while being mounted on the support base 13 via the A spring 16 is provided. The potentiometer 14 detects the cable tension between the cable drum 7 and the guide pulleys 24 and 25 of the cable tension detection unit 21, which will be described later, based on the rotation angle of the roller 12 contacting the cable 2, and outputs it to the control box 17. It is supposed to do.
【００１２】また、遠隔操縦車両３の端部には、１対の
支持部材１８，１９が垂設されると共に、両支持部材１
８，１９の間には、軸２０が配設されており、軸２０に
は、ケーブルケース２１Ａを備えたケーブル張力検出部
２１が配設されている。この場合、軸２０の内部には、
ケーブル張力検出部２１を図１の状態（遠隔操縦車両３
の車輪３Ａ，３Ｂと圧着ローラ３７（後述）とが同一水
平面上に位置する状態）に保持するための原位置復帰バ
ネ（図示略）と，ストッパ機構とが内蔵されている。A pair of support members 18 and 19 are vertically provided at the end of the remote control vehicle 3 and both support members 1 and 19 are provided.
A shaft 20 is arranged between 8 and 19, and a cable tension detector 21 having a cable case 21A is arranged on the shaft 20. In this case, inside the shaft 20,
The cable tension detection unit 21 is set to the state of FIG. 1 (remote control vehicle 3
An original position return spring (not shown) for holding the wheels 3A, 3B and the pressure roller 37 (described later) on the same horizontal plane) and a stopper mechanism are incorporated.
【００１３】ケーブルケース２１Ａの外部には、ガイド
プーリ駆動用モータ２２の本体部と，ポテンショメータ
２３の本体部とが配設されている。ケーブルケース２１
Ａの内部には、ケーブル２を圧着してガイドする１対の
ガイドプーリ２４，２５が軸２６，２７に各々軸支され
ており、ガイドプーリ２４の軸２６とガイドプーリ駆動
用モータ２２の軸２８との間には、無端ベルト２９が掛
け渡されている。ガイドプーリ駆動用モータ２２は、無
端ベルト２９を介してガイドプーリ２４，２５を適宜回
転駆動するようになっている。Outside the cable case 21A, the main body of the guide pulley driving motor 22 and the main body of the potentiometer 23 are arranged. Cable case 21
Inside A, a pair of guide pulleys 24 and 25 for crimping and guiding the cable 2 are axially supported by shafts 26 and 27, respectively. The shaft 26 of the guide pulley 24 and the shaft of the guide pulley driving motor 22 are provided. An endless belt 29 is stretched between 28. The guide pulley drive motor 22 is adapted to drive the guide pulleys 24, 25 via an endless belt 29 as appropriate.
【００１４】また、ケーブルケース２１Ａの内部には、
ケーブル２の変位を検出する１対のダンスローラ３０，
３１がケーブル２を挟持する状態で軸３２，３３を介し
て支持部材３４に軸支されており、支持部材３４には、
連結部材３５を介してポテンショメータ２３が連結され
ている。この場合、ダンスローラ３０，３１は、軸３
２，３３の動きがケーブルケース２１Ａの孔部２１Ｂで
規制される範囲で移動可能とされている。Also, inside the cable case 21A,
A pair of dance rollers 30 for detecting the displacement of the cable 2,
31 is rotatably supported by a support member 34 via shafts 32 and 33 while holding the cable 2 therebetween.
The potentiometer 23 is connected via the connecting member 35. In this case, the dance rollers 30 and 31 have the shaft 3
The movements of 2, 33 are movable within a range regulated by the hole 21B of the cable case 21A.
【００１５】ケーブル２が図２の状態Ｐ１（中立状態）
から状態Ｐ２（引っ張り状態）または状態Ｐ３（たるみ
状態）へ変位すると、これに伴いダンスローラ３０，３
１が上述した規制範囲内で移動する結果、連結部材３５
が回動するようになっている。これにより、ポテンショ
メータ２３は、ダンスローラ３０，３１で検出したケー
ブル変位を連結部材３５を介して電気信号へ変換し制御
ボックス１７へ出力するようになっている。更に、ケー
ブルケース２１Ａの内部には、圧着ローラ３６が軸３７
に軸支されており、遠隔操縦車両３の移動に伴い回転す
るようになっている。The cable 2 is in the state P1 (neutral state) shown in FIG.
From the state P2 (pulled state) or the state P3 (slackened state), the dance rollers 30, 3 are accompanied by this.
As a result of 1 moving within the regulation range described above, the connecting member 35
Is designed to rotate. As a result, the potentiometer 23 converts the cable displacement detected by the dance rollers 30, 31 into an electric signal via the connecting member 35 and outputs the electric signal to the control box 17. Further, the pressure roller 36 is attached to the shaft 37 inside the cable case 21A.
It is rotatably supported by and is rotated as the remote-controlled vehicle 3 moves.
【００１６】次に、上記の如く構成した本実施例のケー
ブル巻取装置の動作を説明する。Next, the operation of the cable winding device of this embodiment constructed as described above will be described.
【００１７】操縦装置による遠隔操縦車両３の操縦時に
おいて、ケーブルドラム７に対するケーブル２の繰出し
／巻取りを行う場合、遠隔操縦車両３の移動に伴いケー
ブル張力検出部２１の圧着ローラ３６が回転するが、こ
の時、ガイドプーリ２４，２５と圧着ローラ３６との間
のケーブル２は、図２の位置Ｐ２で示す引っ張り状態と
なるか又は位置Ｐ３で示すたるみ状態となる。この場
合、ケーブル２が引っ張り状態となる時は直線状とな
り、ケーブル２がたるみ状態となる時はケーブル剛性，
ケーブル自重，ケーブルケース２１Ａの孔部２１Ｂの規
制により下方へ垂れ下がる。When the cable 2 is unwound / wound on the cable drum 7 during the operation of the remote-controlled vehicle 3 by the control device, the crimping roller 36 of the cable tension detector 21 rotates as the remote-controlled vehicle 3 moves. However, at this time, the cable 2 between the guide pulleys 24 and 25 and the pressure bonding roller 36 is in the pulled state shown in the position P2 in FIG. 2 or in the slack state shown in the position P3. In this case, when the cable 2 is in a pulled state, it becomes a straight line shape, and when the cable 2 is in a slack state, the cable rigidity,
The cable hangs downward due to its own weight and regulation of the hole 21B of the cable case 21A.
【００１８】ケーブル２が引張り状態又はたるみ状態へ
変位すると、ダンスローラ３０，３１が上述した規制範
囲内で移動し、これに伴い連結部材３５が回動する結
果、ポテンショメータ２３は、ケーブル変位を電気信号
へ変換し制御ボックス１７へ出力する。制御ボックス１
７は、ダンスローラ３０，３１が中立状態となるよう
に，即ちケーブル２が中立状態となるように（図２参
照）、ガイドプーリ駆動用モータ２２を回転制御してガ
イドプーリ２４，２５を駆動し、ケーブル２の引張り状
態又はたるみ状態を修正する。When the cable 2 is displaced to the tensioned state or the slackened state, the dance rollers 30 and 31 move within the above-described regulation range, and the connecting member 35 rotates accordingly. It is converted into a signal and output to the control box 17. Control box 1
7 rotates the guide pulley drive motor 22 to drive the guide pulleys 24 and 25 so that the dance rollers 30 and 31 are in a neutral state, that is, the cable 2 is in a neutral state (see FIG. 2). Then, the tension state or the slack state of the cable 2 is corrected.
【００１９】また、制御ボックス１７は、ガイドプーリ
駆動用モータ２２と連動させてドラム駆動用モータ８も
駆動し、ポテンショメータ１５により検出したケーブル
ドラム７及びケーブル張力検出部２１のガイドプーリ２
４，２５間のケーブル張力に基づき、前記区間のケーブ
ル張力が一定の張力となるように、ドラム駆動用モータ
８を回転制御する。The control box 17 also drives the drum drive motor 8 in conjunction with the guide pulley drive motor 22 to detect the cable drum 7 detected by the potentiometer 15 and the guide pulley 2 of the cable tension detector 21.
Based on the cable tension between Nos. 4 and 25, the drum driving motor 8 is rotationally controlled so that the cable tension in the section becomes constant.
【００２０】上述したように、本実施例のケーブル巻取
装置によれば、ケーブルドラム７とケーブル張力検出部
２１のガイドプーリ２４，２５との間のケーブル張力が
一定となるように，且つガイドプーリ２４，２５と圧着
ローラ３６との間のケーブルが中立状態となるように制
御を行う構成としているため、ケーブルドラム７に対す
るケーブル２の巻取り／繰出し時におけるケーブル張力
を零以下に保つことができる。従って、従来のように遠
隔操縦車両の作業時や移動時等に旋回動作等を行った際
に，ケーブルが車両旋回方向内側へ引き寄せられケーブ
ルにねじれ等が発生する不具合を防止することができ
る。これにより、遠隔操縦車両３の走行軌跡内にケーブ
ル２を配置することが可能となる。As described above, according to the cable winding device of the present embodiment, the cable tension between the cable drum 7 and the guide pulleys 24 and 25 of the cable tension detecting portion 21 is kept constant, and the guide is performed. Since the cable between the pulleys 24 and 25 and the pressure roller 36 is controlled to be in a neutral state, the cable tension at the time of winding / unwinding the cable 2 with respect to the cable drum 7 can be maintained at zero or less. it can. Therefore, it is possible to prevent a problem that the cable is pulled inward in the turning direction of the vehicle and twisted or the like when the turning operation or the like is performed during the operation or movement of the remotely controlled vehicle as in the related art. As a result, the cable 2 can be arranged within the traveling locus of the remote-controlled vehicle 3.
【００２１】次に、本発明の変形例について説明する。Next, a modification of the present invention will be described.
【００２２】図３は本変形例によるケーブル張力検出部
の要部の構成図であり、本変形例が上記実施例と相異す
る点は、上記実施例ではポテンショメータ２３，ダンス
ローラ３０，３１によりケーブル２の状態（中立状態／
引っ張り状態／たるみ状態）を検出したが、本変形例で
は例えばラインセンサ，１次元イメージスキャナ等の光
学検出装置４１によりケーブル２の状態（中立状態／引
っ張り状態／たるみ状態）を検出する構成とした点であ
る。FIG. 3 is a block diagram of the essential parts of the cable tension detecting portion according to this modification. The difference between this modification and the above embodiment is that the potentiometer 23 and the dance rollers 30 and 31 are used in the above embodiment. Cable 2 state (neutral state /
Although the pulling state / slacking state) is detected, in this modification, the optical detecting device 41 such as a line sensor or a one-dimensional image scanner detects the state of the cable 2 (neutral state / pulling state / slacking state). It is a point.
【００２３】光学検出装置４１は、光源４２と，該光源
４２から発した光を受光する例えばラインセンサ，１次
元イメージスキャナ等から成る光検出部４３と，該光検
出部４３の検出信号を制御ボックス１７へ出力するフラ
ットケーブル４４とから構成されている。光学検出装置
４１によりケーブル２の状態（中立状態／引っ張り状態
／たるみ状態）を検出し，制御ボックス１７へ出力する
と、制御ボックス１７は、上記実施例と同様にケーブル
２が中立状態となるように制御する。即ち、本変形例に
おいても、上記実施例と同様の効果を奏することができ
る。The optical detection device 41 controls a light source 42, a light detection section 43 for receiving the light emitted from the light source 42, such as a line sensor or a one-dimensional image scanner, and a detection signal of the light detection section 43. It is composed of a flat cable 44 that outputs to the box 17. When the optical detector 41 detects the state of the cable 2 (neutral state / pulled state / slack state) and outputs it to the control box 17, the control box 17 causes the cable 2 to be in the neutral state as in the above embodiment. Control. That is, also in this modification, the same effect as that of the above-described embodiment can be obtained.
【００２４】[0024]
【発明の効果】以上説明したように、本発明のケーブル
巻取装置によれば、両ガイドプーリ間におけるケーブル
の状態が緊張状態と弛緩状態との中間に相当する中立状
態となるようにモータの回転制御を行う構成としている
ため、ケーブルドラムに対するケーブルの巻取り／繰出
し時におけるケーブル張力を零に保つことが可能とな
り、従って、本発明のケーブル巻取装置を、例えば操縦
装置によりケーブルを介して遠隔操縦される遠隔操縦車
両に搭載した場合には、従来のように遠隔操縦車両の旋
回時にケーブルが旋回方向内側へケーブルが引き寄せら
れる不具合を防止することができ、これにより、遠隔操
縦車両の走行軌跡内にケーブルを配置することが可能と
なる等、顕著な効果を奏することができる。As described above, according to the cable winding device of the present invention, the motor of the motor is arranged so that the state of the cable between the two guide pulleys becomes a neutral state corresponding to an intermediate state between the tension state and the relaxation state. Since the configuration is such that the rotation is controlled, it is possible to maintain the cable tension at the time of winding / unwinding the cable with respect to the cable drum, and therefore, the cable winding device of the present invention can be used, for example, by the control device via the cable. When mounted on a remote-controlled vehicle that is remotely controlled, it is possible to prevent the problem of the cable being pulled toward the inside of the turning direction when the remote-controlled vehicle turns, as in the conventional case. A remarkable effect can be achieved such that the cable can be arranged in the locus.
【図１】本発明を適用した本実施例のケーブル巻取装置
の構成を示す斜視図である。FIG. 1 is a perspective view showing a configuration of a cable winding device according to an embodiment of the present invention.
【図２】図１に示すケーブル巻取装置のケーブル張力検
出部の説明図である。FIG. 2 is an explanatory diagram of a cable tension detection unit of the cable winding device shown in FIG.
【図３】変形例によるケーブル張力検出部の説明図であ
る。FIG. 3 is an explanatory diagram of a cable tension detection unit according to a modified example.
１ ケーブル巻取装置 ２ ケーブル ８ ドラム駆動用モータ １４ ポテンショメータ １７ 制御手段としての制御ボックス ２１ 位置検出手段としてのケーブル張力検出部 ２２ モータとしてのガイドプーリ駆動用モータ ２３ ポテンショメータ ２４，２５ ガイドプーリ ３６ 圧着ローラ 1 Cable winding device 2 Cable 8 Drum drive motor 14 Potentiometer 17 Control box as control means 21 Cable tension detection part as position detection means 22 Guide pulley drive motor as motor 23 Potentiometer 24, 25 Guide pulley 36 Crimping roller
Claims (1)
ルドラムと、該ケーブルドラムのケーブル巻取り／繰出
し側に且つケーブル軸方向に所定間隔を置いて各々配設
され前記ケーブルを圧着状態でガイドするガイドプーリ
と、該ガイドプーリを回転駆動するモータとを備え、 前記両ガイドプーリ間のケーブルが緊張状態と弛緩状態
との中間に相当する中立状態に位置しているか否かを検
出する位置検出手段を装備し、 該位置検出手段により検出した前記両ガイドプーリ間に
おけるケーブルが前記中立状態に位置するように前記モ
ータの回転制御を行う制御手段を具備したことを特徴と
するケーブル巻取装置。1. A cable drum for winding / unwinding a cable, and a cable drum which is arranged on the cable winding / unwinding side of the cable drum at a predetermined interval in the cable axial direction and guides the cable in a crimped state. A position detecting means that includes a guide pulley and a motor that rotationally drives the guide pulley, and detects whether or not the cable between the guide pulleys is in a neutral state corresponding to an intermediate state between a tension state and a relaxation state. And a control means for controlling the rotation of the motor so that the cable between the guide pulleys detected by the position detection means is positioned in the neutral state.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP5062884A JP3050349B2 (en) | 1993-02-26 | 1993-02-26 | Cable winding device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP5062884A JP3050349B2 (en) | 1993-02-26 | 1993-02-26 | Cable winding device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH06255896A true JPH06255896A (en) | 1994-09-13 |
| JP3050349B2 JP3050349B2 (en) | 2000-06-12 |
Family
ID=13213139
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP5062884A Expired - Lifetime JP3050349B2 (en) | 1993-02-26 | 1993-02-26 | Cable winding device |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP3050349B2 (en) |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2850366A1 (en) * | 2003-01-28 | 2004-07-30 | Sides | Fire engine hose reel having hose drum with reducer motor/clutch and detector lifting clutch when effort detected/otherwise stopping drum movement |
| AT510353A1 (en) * | 2010-07-15 | 2012-03-15 | Rosendahl Masch Gmbh | DEVICE FOR SMOOTHING AND / OR PROFILING A METALLIC COAT OF A CABLE |
| CN102777207A (en) * | 2012-06-29 | 2012-11-14 | 李玉存 | Underground mining multifunctional vehicle |
| CN105752766A (en) * | 2016-04-01 | 2016-07-13 | 从光梅 | Cable winding and unwinding device based on cable arrangement by motors |
| CN105966999A (en) * | 2016-04-01 | 2016-09-28 | 从光梅 | Cable take-up and pay-off device based on hydraulic transmission cable arranging |
| CN106744078A (en) * | 2017-02-05 | 2017-05-31 | 青岛海科佳电子设备制造有限公司 | A kind of sprinkling irrigation cable car |
| CN106995166A (en) * | 2017-04-26 | 2017-08-01 | 吴刚 | Multi-functional cable draw off gear |
| CN107143751A (en) * | 2017-05-17 | 2017-09-08 | 上海誉帆环境科技有限公司 | A kind of extra long distance pipeline TV detector |
| CN107601179A (en) * | 2017-08-04 | 2018-01-19 | 王应祥 | A kind of water band baler |
| KR20190014673A (en) * | 2017-08-03 | 2019-02-13 | 삼성중공업 주식회사 | Driving robot |
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| KR101919250B1 (en) | 2017-09-27 | 2018-11-15 | 주식회사 코릴 | Mobile alternative maritime power system |
-
1993
- 1993-02-26 JP JP5062884A patent/JP3050349B2/en not_active Expired - Lifetime
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2850366A1 (en) * | 2003-01-28 | 2004-07-30 | Sides | Fire engine hose reel having hose drum with reducer motor/clutch and detector lifting clutch when effort detected/otherwise stopping drum movement |
| AT510353A1 (en) * | 2010-07-15 | 2012-03-15 | Rosendahl Masch Gmbh | DEVICE FOR SMOOTHING AND / OR PROFILING A METALLIC COAT OF A CABLE |
| CN102777207A (en) * | 2012-06-29 | 2012-11-14 | 李玉存 | Underground mining multifunctional vehicle |
| CN105752766B (en) * | 2016-04-01 | 2018-09-11 | 从光梅 | A kind of hawser draw off gear based on motor winding displacement |
| CN105966999A (en) * | 2016-04-01 | 2016-09-28 | 从光梅 | Cable take-up and pay-off device based on hydraulic transmission cable arranging |
| CN105752766A (en) * | 2016-04-01 | 2016-07-13 | 从光梅 | Cable winding and unwinding device based on cable arrangement by motors |
| CN106744078A (en) * | 2017-02-05 | 2017-05-31 | 青岛海科佳电子设备制造有限公司 | A kind of sprinkling irrigation cable car |
| CN106995166A (en) * | 2017-04-26 | 2017-08-01 | 吴刚 | Multi-functional cable draw off gear |
| CN107143751A (en) * | 2017-05-17 | 2017-09-08 | 上海誉帆环境科技有限公司 | A kind of extra long distance pipeline TV detector |
| KR20190014673A (en) * | 2017-08-03 | 2019-02-13 | 삼성중공업 주식회사 | Driving robot |
| CN107601179A (en) * | 2017-08-04 | 2018-01-19 | 王应祥 | A kind of water band baler |
| EP3859925A1 (en) * | 2020-01-28 | 2021-08-04 | Sandvik Mining and Construction Oy | Arrangement, vehicle and method |
| WO2021152042A1 (en) * | 2020-01-28 | 2021-08-05 | Sandvik Mining And Construction Oy | Arrangement, vehicle and method for cable winding and unwinding |
Also Published As
| Publication number | Publication date |
|---|---|
| JP3050349B2 (en) | 2000-06-12 |
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