KR101848713B1 - Automatic cable storage device that synchronizes the movement of the elastic rubber band on Coiled Cable - Google Patents

Abstract

The present invention relates to an automatic cable retracting apparatus, and more particularly, to an automatic cable retracting apparatus for an automatic cable retracting apparatus for a cable harvesting apparatus which, when exploring a submarine or collecting a sample using a robot arm or a movable apparatus including the same, And more particularly, to a cable automatic retractor in which elastic movement of a rubber band is synchronized with a coiled cable so as to maintain power supply and communication supply smoothly within an operating range of a measuring instrument.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic cable storage device for synchronizing an elastic movement of a rubber band with a coiled cable,

The present invention relates to an automatic cable retracting apparatus, and more particularly, to an automatic cable retracting apparatus for an automatic cable retracting apparatus for a cable harvesting apparatus which, when exploring a submarine or collecting a sample using a robot arm or a movable apparatus including the same, And more particularly, to a cable automatic retractor in which elastic movement of a rubber band is synchronized with a coiled cable so as to maintain power supply and communication supply smoothly within an operating range of a measuring instrument.

In general, in order to carry out marine fisheries resource development and management, biotechnological research for the development of drugs and new materials, and aquatic ecosystem impact studies related to climate change and environmental pollution, it is necessary to monitor the condition of the ocean floor, The acquisition of the necessary sample, the sample survey, and the data measurement must be secured.

The traditional way of doing this is by connecting harvesting equipment on a long line, usually on a ship, from several tens of meters to several thousands of meters deep down to a remote monitoring or sampling, or in the case of shallow water, Most of the samples were collected.

Especially, in case of ship collection, box core, sediment grab, trawl trolleys, and net are mostly used. In this case, since the long line is drawn from the ship to the sea floor and sampling is attempted from a long distance, accuracy of sampling position is low. , There is a disadvantage in that selection by time is impossible.

In addition, in the case of sampling by diver, selection by divers is possible, but there is a limitation in diving time, all decisions must be made by the diver alone, and there is a disadvantage in that it is impossible to work in the seabed beyond the submersible water depth.

In recent years, a variety of monitoring, sampling, and analytical tools have been developed, including temperature sensors for high temperature measurement, cameras, and deep-sea minerals field analyzers using laser plasma. By using these instruments, .

However, in performing submarine survey, submarine survey, and underwater work using exploratory surveying equipment, it is necessary to monitor the condition of undersea surface, rocks or submarine structures away from the submersible or underwater robot, collect samples, (Sensor or actuator) is operated by using a robotic arm or a similar moving device to grasp the device and then bring it into contact with or close to the sea floor or an offshore structure, where the cable connected to the device is expanded And after the end of the work mission the device should be retrieved and stored in submersible or underwater robots.

In such a situation, if the extended cable is suspended in the water, there is a problem of tangling to the propulsion device or other attachment device when the submersible or underwater robot is moved. If the cable is not tangled, the cable may interfere with the underwater observation due to shaking along the current , Making it difficult to work underwater.

In order to solve this problem, it is necessary to make a storage box capable of winding cables by spiraling. However, considering the maximum radius of curvature of the underwater cable, it is not suitable for exploration and measurement equipment which does not have much spare space because it takes a lot of space. It is necessary to have a structure for opening and closing the lid of the storage box. In this structure, since the waterproof function can be maintained, there arises a secondary problem such as a complicated configuration required for waterproofing.

Korean Patent Registration No. 10-0201336 (Mar. 13, 1999) 'Automatic Measurement System of Water Quality Using a Cylindrical Syringe Unit' Korea Patent Registration No. 10-0299576 (Jun. 11, 2001) 'Automatic Sampling Device for Water Quality Inspection' Korea Patent Registration No. 10-0566541 (Mar. 24, 2006) 'Automatic Drainer' Korea Patent Registration No. 10-0672966 (Jan. 16, 2007) 'Automatic Drainer' Korean Patent Registration No. 10-0880871 (Jan. 21, 2009) 'Automatic sampling device and method using head space' Korean Patent Registration No. 10-0986215 (2010.10.01.) 'Workspace control and automatic control master system of remote control underwater robot arm' Korea Patent Registration No. 10-1469611 (Dec. 1, 2014) 'Water-borne river sediment collection and watering multiple device using unmanned ship'

SUMMARY OF THE INVENTION Accordingly, the present invention has been made to solve the above-mentioned problems occurring in the prior art, and it is an object of the present invention to provide a robot arm or a movable instrument including the robot arm for exploring a seabed or collecting a sample, The main object of the present invention is to provide a cable automatic retracting device in which elastic movement of a rubber band is synchronized with a coiled cable so that power and communication supply can be smoothly maintained within the operating range of the surveying instrument when the measuring equipment is operated.

According to an aspect of the present invention, there is provided a surveying instrument comprising: a cylindrical protective housing fixed to one side of a surveying instrument main body; A pair of slide holes penetrating the protective housing in the radial direction and extending in the longitudinal direction by a predetermined length; A coiled cable embedded in the protective housing, one end connected to a controller of the surveying instrument, and the other end connected to the mission execution device; A sliding bar fitted to the slide hole and arranged to catch the cable; A first rubber band which is bound to a fixing plate fixed at one end of the housing and whose other end is bound to the sliding bar; A second rubber band having one end fixed to the sliding bar and the other end fixed to the mission performing device; And a plurality of rubber band fixing members for connecting and securing the second rubber band and the cable to synchronize the elastic movement of the elastic band with the coil cable.

At this time, the fixing plate is also bolted to the main body of the probe.

In addition, a trumpet tube is integrally provided at the other end of the protective housing to smoothly guide the pull-out mouth of the cable.

In addition, a plurality of water holes are further formed in the circumferential direction in the fall-back pipe.

Also, the first rubber band is bound to the sliding bar by a one-point fixed type or a two-point fixed type.

According to the present invention, when operating an exploration instrument used in the sea such as exploring the seabed or taking samples by using a robot arm or a movable instrument including the robot arm, The effect of keeping the supply smooth can be obtained.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is an exemplary view for explaining a cable automatic receiving apparatus in which elastic movement of a rubber band according to a first embodiment of the present invention is synchronized with a coiled cable. FIG.
FIG. 2 is an exemplary view showing a state in which a rubber band is stretched before and after use, in which a protective housing of a cable automatic receiving apparatus in which the elastic movement of a rubber band according to the first embodiment of the present invention is synchronized with a coil-
FIG. 3 is an exemplary view showing a state in which a rubber band is stretched before and after use, in which a protective housing of a cable automatic receiving apparatus in which elastic movement of a rubber band according to the second embodiment of the present invention is synchronized with a coil-
4 (a) and 4 (b) schematically illustrate an example of an operation of an elastic string installed inside a cable automatic receiving apparatus in which the elastic movement of the elastic string according to the first and second embodiments of the present invention is synchronized with a coil- FIG.
FIG. 5 is an exemplary photograph showing an actual production example of a cable automatic receiving apparatus in which elastic movement of a rubber band according to the present invention is synchronized with a coiled cable, and an example in which the cable is automatically mounted.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings.

Before describing the present invention, the following specific structural or functional descriptions are merely illustrative for the purpose of describing an embodiment according to the concept of the present invention, and embodiments according to the concept of the present invention may be embodied in various forms, And should not be construed as limited to the embodiments described herein.

In addition, since the embodiments according to the concept of the present invention can make various changes and have various forms, specific embodiments are illustrated in the drawings and described in detail herein. However, it should be understood that the embodiments according to the concept of the present invention are not intended to limit the present invention to specific modes of operation, but include all modifications, equivalents and alternatives falling within the spirit and scope of the present invention.

In addition, the present invention can be applied to a surveying instrument, such as a submersible or underwater robot operating in water, for surveying the undersea, for exploring the undersea, or for underwater operation, (Such as sensors or actuators) that enable them to be monitored by using a robot arm or a similar moving mechanism. The device is picked up and brought into contact with or close to the sea floor or the offshore structure. In this process, a communication line for sending and receiving signals according to the movement of the device and a power line for supplying power are connected by an underwater cable Therefore, this underwater cable can be expanded and contracted together.

To this end, in the present invention, the length is increased at the time of expansion using the coil type cable, the length is automatically reduced at the time of contraction (recovery), and the cable is prevented from being damaged by external shock or disturbance at the time of contraction .

[First Embodiment]

1 and 2, a first embodiment according to the present invention includes a protective housing 100 fixed to one side of a surveying instrument main body.

The protective housing 100 is formed into a cylindrical shape with both open ends, and both ends are opened.

A pair of slit-shaped slide holes 110 are formed in the outer circumferential surface of the protective housing 100 in a lengthwise direction of the protective housing 100 so as to be symmetrical in the radial direction.

At this time, the protective housing 100 is formed by molding with synthetic resin, preferably PVC.

A sliding bar 120 having a length longer than the diameter of the protective housing 100 is inserted into the slide hole 110 of the protective housing 100. A pin 122 So that the sliding bar 120 can be slid in the longitudinal direction of the protective housing 100 along the slide hole 110 without being detached from the slide hole 110.

In addition, a fixing plate 130 is integrally formed at one end of the protective housing 100. The fixing plate 130 is fixed with a synthetic resin, preferably PVC, by a bonding method. It is of course possible to form them integrally.

In this case, the fixing plate 130 serves as a kind of flange for fixing the protective housing 100 to one side of the probe main body (not shown).

That is, the fixing plate 130 can be installed in such a manner that a plurality of bolts are fastened in a state of being in surface contact with each other.

One end of the cable 140 passes through the fixing plate 130 and is electrically connected to a controller (not shown) through the fixing plate 130. The cable 140 is inserted into the protective housing 100 in a coil- Connected.

At this time, the cable 140 includes a power line and a communication line.

In addition, the other end of the cable 140 is exposed through the protective housing 100 and is illustrated as being connected to various mission-performing devices S, for example, a temperature sensor in the illustrated example of FIG. 4 , But it is needless to say that the mission execution device may be various types such as a camera.

The trunk tube 150 is fixed to the end of the protective housing 100 opposite to the fixed plate 130. The trunk tube 150 is preferably made of synthetic resin, particularly PVC, and is preferably bonded and fixed.

Since the fallopian tube 150 has an enlarged shape toward the mission execution device S, the cable 140 guides the cable 140 so that it can be smoothly drawn out without being caught when it is extended or contracted.

In addition, a plurality of water holes 152 are formed along the peripheral surface of the fallopian tube 150. In particular, at least two water holes 152 are preferably formed symmetrically in the radial direction, Thereby allowing the hydraulic pressure to be reduced.

Since the cable 140 is installed before the sliding bar 120 when the sliding bar 120 is inserted and installed, the sliding bar 120 always interferes with the cable 140, As the sliding bar 120 is stretched, the sliding bar 120 is also moved in a direction to extend together.

Here, it is necessary to provide means for returning to the home position after the sliding bar 120 moves. By this means, as shown in Figs. 1, 2 and 4A, two rubber bands, namely, first and second rubber bands R1 The first and second rubber strips R1 and R2 may be fixedly mounted on the sliding bar 120 by a single point.

At this time, the first rubber band R1 is a rubber band which is extended or contracted inside the protective housing 100, and the second rubber band R2 is extended outside the protective housing 100, It is an elastic rubber band.

One end of the first elastic band R1 is fixed to a part of the fixing plate 130 and the other end is fixed to the sliding bar 120. To this end, a binding member 124 is inserted in the middle of the length of the sliding bar 120, As shown in FIG.

4 (a) and 4 (b) may be fastened to both ends of the sliding bar 120 to prevent the sliding bar 120 from slipping off.

When the binding member 124 is provided, the other end of the first rubber band R is fixed to the binding member 124 at one point.

One end of the second rubber band R2 is also fixed to the sliding bar 120. If there is a binding member 124, it may be fixed to the binding member 124. [

In addition, the other end of the second rubber band R2 is bound to the mission execution device S.

Therefore, it is preferable that the one-point fixed type first and second rubber strands R1 and R2 according to the first embodiment of the present invention have one straight line as shown in the figure.

In this case, the first and second rubber strands (R1, R2) are arranged to penetrate the inside of the cable (140) twisted in a coil shape. Particularly, the rubber bars A plurality of rubber band fixing members 160 are provided on the two rubber bands R2 so as to be synchronized with the movement of the cable 140.

The rubber band fixing member 160 is a kind of fixing bar and is fixed at both ends across the coil diameter of the cable 140 in the radial direction and a part of the length of the rubber band fixing member 160, And is fixed to the second rubber band R2.

The reason why the rubber band fixing member 160 is provided only on the second rubber band R2 is that the portion extending from the protective housing 100 in the water while being drawn out is the second rubber band R2.

In operation, when the cable 140 is stretched, when the cable 140 is pulled by pulling the end of the cable 140, the coil 140 is stretched to extend the first and second rubber strands R1 and R2, The second rubber band R2 is extended to the outside of the protective housing 100. [

The return to the home position at the home position is pulled together with the cable 140 due to the elastic returning force of the first and second rubber strands R1 and R2 which are increased as the external force is removed, and returned to the original position.

This is due to the rubber band fixing member 160 for synchronizing the elastic returning force of the first and second rubber strands R1 and R2 with the cable 140. [

In particular, the first elastic strands R1 provide a resilient return force by connecting the fixing plate 130 and the sliding bar 120 to each other while adjusting the length of the elastic member in the protective housing 100, (1) is the contraction and expansion movement of the section.

The second rubber band R2 binds the sliding bar 120 and the mission performing device S to each other to a maximum extent of a robot arm or a similar moving mechanism (e.g., a human hand or a simple link structure) The elastic return force is regulated to an elongated length, which refers to the contraction and expansion movement of the section (2) in FIG. 4 (a).

[Second Embodiment]

The cable automatic storage device in which the elastic movement of the elastic band according to the second embodiment of the present invention is synchronized with the coiled cable can deform the other end of the first elastic band R1 into two fixed types as shown in Fig.

This is for smoother and more stable operation.

That is, the end of the first rubber band R1 fixed to the sliding bar 120 is divided into two and fixed at two points, and the first rubber band R2 fixed at one point is fixed to the first rubber band R1 So that a more stable and smooth operation can be realized.

Therefore, the remaining configuration and operation are the same as those of the first embodiment except for the structure in which the fixed points are separately formed in the shape of 'Y' as shown in FIGS. 3 and 4 (b) and fixed at two points.

The storage device according to the present invention having such a configuration is fabricated in the form as shown in FIG. 5 and installed in the surveying instrument.

With this configuration, even when the robot arm moves freely within the operation range of the robot arm or the similar moving mechanism, the cable 140 is always lifted into the protective housing 100 according to the movement, It maintains stable connection without holding down, and it is stored, thereby preventing an accident such as breakage, and providing the effect that accurate mission can be performed.

100: housing 110: slide hole
120: Sliding bar 130: Fixing plate
140: Cable 150: Fallopian tube

Claims (5)

A cylindrical protective housing fixed to one side of the probe instrument;
A pair of slide holes penetrating the protective housing in the radial direction and extending in the longitudinal direction by a predetermined length;
A coiled cable embedded in the protective housing, one end connected to a controller of the surveying instrument, and the other end connected to the mission execution device;
A sliding bar fitted to the slide hole and arranged to catch the cable;
A first rubber band which is bound to a fixing plate fixed at one end of the housing and whose other end is bound to the sliding bar;
A second rubber band having one end fixed to the sliding bar and the other end fixed to the mission performing device;
And a plurality of rubber band fixing members for connecting and securing the second rubber band and the cable to synchronize the elastic movement of the elastic band with the coil cable.
The method according to claim 1,
Wherein the fixed plate is bolted to the main body of the surveying instrument, wherein the elastic movement of the elastic band is synchronized with the coiled cable.
The method according to claim 1,
Wherein the protective housing is integrally provided at the other end thereof with a trumpet tube so as to smoothly guide the outgoing mouth of the cable to the automatic cable storage device synchronized with the coiled cable.
The method of claim 3,
Wherein a plurality of water holes are formed in the tubular trunk in a circumferential direction, and the elastic movement of the elastic band is synchronized with the coiled cable.
The method according to claim 1,
Wherein the first elastic band is bound to the sliding bar by a one-point fixed type or a two-point fixed type, wherein the elastic movement of the elastic band is synchronized with the coiled cable.

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