KR101866321B1 - Overhead electric cable installation system - Google Patents

Abstract

[0001] The present invention relates to a system for laying a machined cable line, characterized in that it comprises at least a frame on which a track or a wheel is rollingly moved to move from a ground surface, and a claw unit mounted with a drum on which a wire wound on the frame is wound ; A drive motor connected to the track and the wheels for imparting a moving force, and a driving motor connected to the drum to provide a driving force; A calculating module electrically connected to the moving motor to output a moving signal according to a command, and a loosening module electrically connected to the operating motor and outputting a loosening signal according to movement; And a compensator that is electrically connected between the movement module and the release module to output a correction signal for correcting the release signal so as to compensate for a time difference delayed until the actual movement according to the command and a tension of the electric wire varying according to movement and unlocking, Module.
Accordingly, the present invention can reduce the airflow by replacing the robot with a robot that automatically performs the hypothesis work, and can automatically cope with various variables depending on the know-how of the worker, thereby maximizing the completeness of the overall work As a main point.

Description

{Overhead electric cable installation system}

The present invention relates to a system for installing a processing line such as a trolley wire or a transmission line, and more specifically, to a robot that can replace a dangerous work performed in a high air, thereby contributing to improvement in work completion And to a hypothetical system as a machined wire.

Normally, a working wire is a dangerous task to do in a high place that can not be easily handled by humans, and the most important problem in this task is to design and set the wire to maintain a constant tension.

When a wire is installed, this tension is maximized near the support point of the wire because the force pulling the wire overlaps with the force due to the weight of the wire itself, and is minimized at the center position between the support points.

In this hypothetical working line, if the tension is too large or too small, it will cause an accident. Therefore, it is necessary to make a strong connection within the allowable range of the mechanical strength of the wire to satisfy the hypothetical condition.

In other words, the tension is very important in the design and construction work of the wire, and the control of the tension is carried out by the driver's experiential knowledge of the winch cranes by the triangular measuring method using the following document. The main purpose of this work is to adjust the tension so that the tension is held constant while the wire cable is unwound from the drum.

Therefore, it is necessary to precisely control the cable in order to maintain the constant tension. However, there is a problem that robots are interfered with each other in complex tasks such as control of position and force, force and attitude control, resulting in insufficient work.

Korean Patent Publication No. 10-1999-0042913 entitled "Bypass Device of High-voltage Wire & Korean Patent Registration No. 10-0344522 entitled " Korean Patent Registration No. 10-0658156 entitled " Airwired cable vehicle with cable bobbin device " Korean Patent Registration No. 10-0842283 entitled "

Accordingly, it is an object of the present invention to solve the above-mentioned conventional problems, and it is an object of the present invention to solve the above-mentioned problems, Which is capable of maximizing the completeness of the wire.

In order to achieve the above object, the present invention provides a system for installing a working cable line, the system comprising: a frame mounted with a track or a wheel rolling at least from a ground to move from the ground; ; A drive motor connected to the track and the wheels for imparting a moving force, and a driving motor connected to the drum to provide a driving force; A calculating module electrically connected to the moving motor to output a moving signal according to a command, and a loosening module electrically connected to the operating motor and outputting a loosening signal according to movement; And a compensator that is electrically connected between the movement module and the release module to output a correction signal for correcting the release signal so as to compensate for a time difference delayed until the actual movement according to the command and a tension of the electric wire varying according to movement and unlocking, And a module.

It should be understood, however, that the terminology or words of the present specification and claims should not be construed in an ordinary sense or in a dictionary, and that the inventors shall not be limited to the concept of a term It should be construed in accordance with the meaning and concept consistent with the technical idea of the present invention based on the principle that it can be properly defined. Therefore, the embodiments described in the present specification and the configurations shown in the drawings are merely the most preferred embodiments of the present invention, and not all of the technical ideas of the present invention are described. Therefore, It is to be understood that equivalents and modifications are possible.

As described above, the present invention can replace a hazardous work performed in a high air by a robot, thereby reducing the workload required for the work, and then, while the robot moves and unwinds the wire, It is possible to maximize the completeness of the overall work by treating the variable tension wires so as to maintain the same tension.

BRIEF DESCRIPTION OF THE DRAWINGS Fig. 1 and Fig. 2 illustrate examples of a cabling unit according to an embodiment of the present invention; Fig.
3 is a block diagram generally showing a hypothetical system according to the present invention;

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

The present invention relates to a system for installing a machining line, and is provided with a machining cable having a lead line unit (10), a drive module (20), a calculation unit (30) and a compensation module System.

1 and 2, a frame 11 on which an orbit or a wheel for rolling motion is moved so as to move at least from the ground as shown in Fig. 1 and Fig. 2, a frame 11, The drum 15 wound with the electric wire C is mounted. Here, the drum 15 is provided with a sensor for measuring the tension of the electric wire C released for the feedforward control.

A drive module 20 for imparting a driving force necessary for a work is mounted on the lead wire unit 10. The driving module 20 is composed of a moving motor 21 connected to a track or a wheel as shown in FIG. 2, and an operating motor 25 connected to the drum 15 to give a driving force, as shown in FIG. That is, by the operation of the moving motor 21, the lead wire unit 10 moves forward and backward from the ground, and the wire C wound by the operation of the operating motor 25 is reliably released.

At this time, the arithmetic unit 30 and the compensation module 40, which output signals to the drive module 20 according to the sequence set as shown in FIGS. 1 and 2, are incorporated in the lead wire unit 10. 3, the calculating unit 30 is composed of a moving module 31 and a releasing module 35. The moving module 31 is electrically connected to the moving motor 21 to output a moving signal according to the command, The module 35 is electrically connected to the operation motor 25 and outputs a release signal according to the movement.

The compensation module 40 is electrically connected between the movement module 31 and the release module 35 so as to compensate for the time difference delayed until the actual movement and the tension of the electric wire varying according to the movement and unloading And outputs a correction signal for correcting the release signal.

In this system, the frame 11 is moved to the other side by the moving motor 21 and the operation motor 25 is moved to the side of the drum 15 when the work instruction is called with the electric wire C fixed on one side of the temporary section. And then the wire C is pulled out with a predetermined tension to complete the work.

That is, the formula for the operation when the command is invoked the mobile module 31, as shown below ① movement distance (X), ② pass signal (G _M), ③ a load torque (T _L), ④ the drive motor input voltage (V _a) And outputs a moving signal to the moving motor 31 through the motor.

R ₁ : radius of drive wheel n ₁ : gear ratio

θ _L : rotational angular displacement θ _M : rotational motor rotational angle displacement

A _m : amplification ratio R _a : armature resistance

L _a : electronic inductance K _E : induced electromotive force constant

K _T : Torque constant

B: rolling friction coefficient g: gravitational acceleration

M: Lead wire unit mass

K _mp : proportional constant T _mi : integral constant

V *: Setting speed V _enco : Detection speed

In addition, the unloading module 35 operates through the formula of the wire tension (T _W ), the movement amount and the unloading amount difference (T _W ), the operation motor control signal (G), and the inertia moment (J ₂ ) And outputs a release signal to the motor 35.

E: Young's modulus S: Wire cross-sectional area

l: wire length from fixed point K _W : wire elastic constant

C: Dynamic friction constant <ES = 1.4 ㅧ 10 ³ kgf>

V _ro : Lead wire unit speed V _Wi : Wire unwinding speed

<Operation The generated torque of the motor is directly proportional to the command voltage, and the proportional constant is C ₁ >

N ₂ : tension transmission ratio ratio J ₂ : moment of inertia moment of inertia

T _M : torque of motor for tension generation operation R ₂ : radius of tension generating torque

T _D : Dynamic friction of the drum

Here, the electric wire C has a problem of interference because the weight and the moving distance of the electric wire C vary during the hypothesis. The tension is directly related to the traveling speed of the wire 10 and the influence thereof changes as the length and time of the wire C change.

Therefore, it is necessary to compensate for the influence of disturbance by treating the influence of each other as a disturbance in order to suppress the interference between the moving system and the tension system when they constitute a mixed system. That is, the compensation module 40 outputs the following correction signal V _F to feed-forward the tension command in response to the movement acceleration.

K _F : Acceleration coefficient a (t): Cycle unit acceleration

K _S : Step coefficient T _start : Start time of movement

T _delay : Delay time for command

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, a specific embodiment of the present invention will be described.

<Experimental Environment>

The hypothetical system can be constructed as shown in FIG. 3. The mobile module 31 performs PID control by the above-mentioned equations (1), (2), (3) and (4). Then, the release module 41 is similarly controlled by the equations (5) and (7) and the torque controller C1 described above. In addition, the equation of motion including tension measurement and unit movement is composed by the equations (5) and (8), and the compensation module (40) is constituted by the equation (9). The tension control measures the tension, obtains the control output from the error compared with the command value, and performs PID compensation to improve the responsiveness and normal characteristics. The result of the control operation is compared with the torque command value and output to the servo controller of the operation motor 25. The servo controller follows the command torque and controls the torque of the operation motor 25. [

<Experimental Method>

As shown in the figure below, the wire harness is used. The control devices are installed on the lead wire unit. The control command is commanded from the PC and the response result is recorded on the digital oscilloscope. This is an experiment of step response in which the torque command value is input in a stepwise manner. In other words, the torque was set in advance so that the wire did not become loose, and a larger torque command value was applied in that state.

<Experimental Conditions>

Table 1 shows the parameter constants of the lead wire unit and the moving module used in the experiment, and Table 2 shows the parameter constants of the wire and the releasing module.

A _mp 15 K _T 0.0647 Nm / A R ₁ 0.078 R _a 1.3Ω B 0.001 L 1.7mH n ₁ 1/20 K _E 0.0649 V / (rad / s) M 100Kg J ₁ 0.00079 kg · ㎡ K _p 4.0 T _i ?? 0.3sec

g 9.8m / s K _p 3.0 m 0.3 T _i 1.0 ρ wire line density 0.17 T _D 2.0 K ₁ 2/8 * 30 J ₂ 2.21 kg · ㎡ K _F 0.5 R ₂ 0.075 k _w 1.4e + 3N / m T _wd 1.0 c _a 0.001 f ₁ 10 c _b 1.0 f ₂ 10 n ₂ 1/30 C ₃ 7.16kgf / V

<Experiment 1>

Experiment 1 shows the simulation results (a) and (b) of the feedforward control (uncorrected) at the start of movement of the unit at l = 1 m, target tension T * = 6 kgf, 5 cm / s ² , (B).

Experimental results show that the tension at the starting point of movement is overshoot but it reaches the steady state soon.

<Experiment 2>

Experiment 2 shows simulation results (a) and (b) with feedforward mixing control (corrected) when the unit starts to move, with the electric line length l = 1 m, the target tension T * = 6 kgf, the acceleration 5 cm / s ² and the moving speed 6 m / (B).

Experimental results show that the tension response disappears at the starting point of movement rather than the feed forward. Therefore, it can be seen that the effect of the feedforward of the present invention is effective.

<Experiment 3>

Experiment 3 jeonseongil the l = 1m, the target tension T * = 6kgf, an acceleration feed-forward control in the mixing 10㎝ / s ^2, the moving speed 6m / s condition (correct) the simulation results (a) when the mobile unit starts and (B).

Experimental results show that the tension is overshoot at the starting point of movement, but the steady state is reached soon. In this experiment, it is seen that the tension fluctuation is large at the starting point when the unit is moving at a different acceleration and the vibration is controlled at the constant speed. Therefore, it can be seen that the effect of the feedforward of the present invention is effective.

On the other hand, the solid line of the trapezoidal waveform shown in the graph of this experiment is the target speed (ref. Of velocity), the dotted line is the velocity, the solid line drawn in the middle scale 6 is the target tension (ref. Of tension) The dotted line that converges while oscillating is the detect tension.

It will be apparent to those skilled in the art that various modifications and variations can be made in the present invention without departing from the spirit and scope of the invention as defined by the appended claims. It is therefore intended that such variations and modifications fall within the scope of the appended claims.

C: wire 10: lead wire unit
11: frame 15: drum
20: Driving module 21: Moving motor
25: operation motor 30:
31: transfer module 35: release module
40: Compensation module

Claims (2)

CLAIMS What is claimed is:
A cage unit to which at least a frame mounted with an orbit or a wheel for rolling movement from the ground, and a drum on which a wire wound on the frame is wound;
A drive motor connected to the track and the wheels for imparting a moving force, and a driving motor connected to the drum to provide a driving force;
A calculating module electrically connected to the moving motor to output a moving signal according to a command, and a loosening module electrically connected to the operating motor and outputting a loosening signal according to movement; And
A compensating module which is electrically connected between the moving module and the unloading module to output a compensation signal for correcting the unloading signal so as to compensate for the time difference delayed until the actual movement according to the command and the tension of the electric wire varying with movement and unloading, , &Lt; / RTI &gt;
The compensation module

And outputs a correction signal according to the following equation: &lt; EMI ID = 1.0 &gt;
K _F : Acceleration coefficient a (t): Cycle unit acceleration
K _S : Step coefficient T _start : Start time of movement
T _delay : Delay time for command delete

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