KR20170137504A - Winch module for a cable robot - Google Patents

Abstract

The present invention relates to a winch module for a cable robot and, more specifically, relates to a winch module capable of preventing a cable from escaping and improve precision. The winch module winds or unwinds a cable connected to an end effector, comprising: a drum (110) to wind or unwind the cable (1); a motor (120) to rotate the drum (110) forwards or backwards; a tension adjustment unit (130) including a pair of a driving roller (131) and a driven roller (132) coming in contact with each other to rotate to supply prescribed tension to the cable (1) guided to the drum (110); and a drive force transfer unit to transfer a rotational drive force of the drum (110) to the driving roller (131).

Description

Winch Module for a Cable Robot {Winch module for a cable robot}

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a winch module of a cable robot, and more particularly to a winch module capable of preventing cable from escaping and improving precision.

Recently, the robot industry has made steady progress in technology and scale. Among them, a parallel type cable robot, which is a new type of robot, is a robot that replaces a link of a conventional robot with a cable, and has advantages such as a large working space, a large load, and a high speed movement. This type of robot uses a cable, so there is an advantage that a robot can move quickly and can make a wide working space.

Parallel cable robots are a type of robotic system that has great potential to be used in various applications such as industry, play, and environment. Specifically, it can be used for paint robots for painting ships, cleaning robots for cleaning the outer walls or windows of buildings, and crane robots for transferring heavy objects. In the cable park in Korea, there is a place where water sports can be enjoyed using a cable structure, and a play equipment using a cable is also developed and operated. In the environmental field, a water quality inspection cable robot capable of inspecting and managing water quality such as river or lake sea has been developed.

These cable robots are largely composed of a frame for determining the working space of the robot, a winch system installed on the frame for adjusting the cable length, and a working tool for connecting the cable from the winch. And a pulley that allows the cable to come out at various positions and heights.

Fig. 1 (a) is a schematic view of a general cable robot. Fig. 1 (a) is a schematic view of a cable robot, in which an end effector 10 capable of performing autonomous motion by connecting a plurality of cables and a winch module 20) < / RTI >

The winch modules 20 and 30 include a drum 20 on which the cable 1 is wound and a motor 30 for rotationally driving the drum 20. The motor 30 includes a control unit As shown in Fig. The cable 1 connected to the end effector 10 and the winch modules 20 and 30 is guided by a plurality of pulleys 41 and 42.

On the other hand, in a general cable robot, the winch modules 20 and 30 are fixed at specific positions to unwind or rewind the cable. If the power supply is wrong during operation or the cable 1 is broken, The cable 1 can be released from the cable 20.

For example, as illustrated in FIG. 1 (b), when the cable 1 is loosened in the drum 20 when the cable 1 is broken, the cable 1 can not be unwound, The cable 1 may be accumulated in the drum 20 and the cable 1 may be separated from the drum 20.

In such a case, there is an inconvenience that the operator must directly wind the cable 1 back onto the drum 20 to restore the winch module to a normal state. Generally, the winch module is installed at a high place, so that it is not easy for the operator to reach the winch module and the risk of accident is high.

In addition, the cable is wound along the outer circumferential surface of the drum 20 having a constant width. At this time, a length error occurs when the cable is wound / extended by the pitch of the section wound around the drum 20 It is difficult to precisely control the position of the end effector 10.

Japanese Patent Application Laid-Open No. 10-2015-0114136 (published on October 10, 2015)

SUMMARY OF THE INVENTION It is an object of the present invention to provide a winch module capable of preventing detachment of a cable and improving precision.

In order to achieve the above object, a winch module according to the present invention is a winch module in which a cable connected to an end effector is wound or unwound. The winch module includes a drum on which a cable is wound or unwound, A motor for; A tension regulator for providing a predetermined tension to the cable guided to the drum, the tension regulator comprising a pair of driving rollers and driven rollers which are rotated in contact with each other; And a driving force transmitting portion for transmitting the rotational driving force of the drum in synchronization with the driving roller.

Preferably, the driving force transmitting portion includes: a first timing pulley that rotates in the same rotational axis as the drum and performs rotational motion; And a second timing pulley interlocked with the first timing pulley and transmitting rotational motion to the driving roller.

More preferably, the drive roller further includes a third timing pulley having the same radius as the second timing pulley, wherein the first timing pulley, the second timing pulley, and the third timing pulley transmit drive force to one And the rotary drive is performed.

More preferably, the radius R of the drum, the radius r1 of the first tie pulley, the radius of the third timing pulley r3, and the radius r of the drive roller may be expressed by the following equations .

[Mathematical Expression]

; and p is the pitch (pitch) of the cable wound around the drum.

More preferably, the pulley is disposed in parallel with the drum and moves back and forth to guide the position of the cable. And a linear actuator for interlocking with the rotational motion of the second timing pulley to drive the pulley back and forth.

The winch module according to the present invention is provided with a tension adjusting portion having a driving force transmitting portion capable of maintaining the tension of a cable guided to the drum in cooperation with a rotating motion of a drum to be wound or unwound from a cable, It is possible to prevent the cable from being loosened due to the loss of the tension of the cable and to minimize the cumulative error of the length of the cable by pitch during the rotation of the drum, thereby improving the position control accuracy of the end effector.

1 (a) and 1 (b) are diagrams showing a general cable robot,
2 is a configuration diagram of a winch module according to the present invention,
3 is a block diagram of a winch module according to the present invention,
4 is a perspective view showing a preferred embodiment of a winch module according to the present invention;

The specific structure or functional description presented in the embodiment of the present invention is merely illustrative for the purpose of illustrating an embodiment according to the concept of the present invention, and embodiments according to the concept of the present invention can be implemented in various forms. And should not be construed as limited to the embodiments described herein, but should be understood to include all modifications, equivalents, and alternatives falling within the spirit and scope of the invention.

It is to be understood, however, that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The singular expressions include plural expressions unless the context clearly dictates otherwise. It will be further understood that the terms " comprises ", or "having ", and the like in the specification are intended to specify the presence of stated features, integers, But do not preclude the presence or addition of steps, operations, elements, parts, or combinations thereof.

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

2, the winch module of the present invention includes a drum 110 on which a cable 1 is wound or unwound, a motor 120 for driving the drum 110 in a forward or reverse direction, A tension adjusting unit 130 including a pair of driving rollers 131 and driven rollers 132 which are rotated in contact with each other; And a driving force transmitting portion for transmitting the rotational driving force of the drum 110 to the driving roller 131 in synchronization.

A plurality of pulleys 151 and 152 for guiding the cable 1 are provided between the drum 110 and the tension adjusting unit 130. In this embodiment, the pulleys 151 and 152 include a first pulley 151 that guides the cable 1 drawn out from the tension adjuster 130 in a direction parallel to the drum 110, a first pulley 151 And a second pulley 152 for guiding the cable 1 so that the cable 1 guided by the cable 110 can be wound on the drum 110 at a predetermined pitch. The first pulley 151 may be a fixed pulley while the second pulley 152 is provided with a separate driving unit so that the cable 1 can be moved back and forth in the direction of the central axis of the drum 110, (Not shown) may be arranged at predetermined intervals in the winding unit 110 so that winding / waving can be performed. That is, the second pulley 152 moves back and forth along the drum 110 in the course of winding and unwinding the cable to guide the winding / winding position of the cable 1 so that the cable wound around the drum 110 It is possible to precisely control the length of the cable by maintaining the same length. In this connection, in Japanese Patent Application Laid-Open No. 10-2011-0070593 (published on June 24, 2011), a wire winch capable of constantly guiding the winding / winding position per one rotation of the drum can be referred to.

The tension adjusting unit 130 includes a pair of driving rollers 131 and driven rollers 132 that are rotated in contact with each other so that the cable 1 is positioned between the driving roller 131 and the driven roller 132 Thereby providing a constant tension to the cable 1 that is guided to the drum 110.

The driving force transmitting unit synchronously transmits the rotational driving force of the drum 110, which is rotationally driven by the motor 120, to the driving roller 131.

2, the driving force transmitting portion includes a first timing pulley 141 that is installed at the same rotational axis as the drum 110, a second timing pulley 142 that is connected to the first timing pulley 141 by a belt 141a and is rotationally driven And the second timing pulley 142 is connected to the driving roller 131 and the shaft 142a to transmit the rotational driving force to the driving roller 131. [ In the present embodiment, the first timing pulley 141 and the second timing pulley 142 are illustrated as being driven by a belt 141a, but the present invention is not limited to this. It is to be understood that various known driving force transmitting means such as those described above may be used.

On the other hand, the length WR of the cable wound around the drum 110 can be expressed by the following equation (1).

[Equation 1]

; R is the radius of the drum, and p is the pitch spacing of the cable wrapped around the drum.

If the distance between the tension adjusting part 130 and the first pulley 151 is d and the distance between the first pulley 151 and the second pulley 152 is x0, Can be expressed as in Equation (2), and the total length L of the cable for one rotation of the drum 110 can be expressed by Equation (3).

&Quot; (2) "

&Quot; (3) "

가 발생될 때, L1과 L의 차이를 보정하기 위하여 장력조절부(130)에 의해

만큼 케이블(1)의 길이의 조정이 이루어지면 케이블(1)의 장력이 일정하게 유지될 수가 있다. 이때, 드럼(110)에 케이블(1)이 감기는 방향과 제2풀리(152)가 같은 방향으로 움직이면 '+' 부호를, 반대 방향으로 움직이면 '-' 부호를 취하여 보정이 이루어진다.In order to prevent the cable from being separated from the drum 110 when the cable 110 is wound or unwound from the drum 110, the first pulley 151 and the second pulley 151, which are caused by the rotation of the drum 110, 2 pulley 152,

The tension adjusting unit 130 corrects the difference between L1 and L

The tension of the cable 1 can be kept constant as long as the length of the cable 1 is adjusted. In this case, if the direction in which the cable 1 is wound on the drum 110 and the second pulley 152 move in the same direction, the '+' sign is shifted. If the second pulley 152 is shifted in the opposite direction, the symbol '-'

Therefore, the driving force transmitting portion of the present invention can maintain the tension of the cable 1 constant by interlocking with the rotational motion of the drum 110 so as to satisfy such a condition, thereby rotating the driving roller 131.

3 is a block diagram of a winch module according to the present invention.

Referring to FIG. 3, the first timing pulley 141, which is integrally rotated on the same axis as the drum 110 having the radius 'R', has a radius of 'r1', and the second timing pulley 142 has a first timing The driving roller 131 having the same radius 'r1' as the pulley 141 and having a radius 'r' is provided with a third timing pulley 131a having a radius 'r3'.

The first timing pulley 141, the second timing pulley 142 and the third timing pulley 131a are connected by a belt 141a to be rotationally driven. At this time, the pulleys 141, 142, The gear 131a may be formed in a tooth profile so that the driving force may be transmitted by a driving force transmitting element such as a chain.

As described above, when the condition for keeping the tension of the cable 1 constant is applied to the embodiment of FIG. 3, it can be represented by two relational expressions as shown in the following equation (4).

&Quot; (4) "

From Equation (4), the following Equation (5) can be obtained.

&Quot; (5) "

Accordingly, the radius R of the drum 110, the radius r of the driving pulley 131, and the radius of the first timing pulley 141, the third timing pulley 131a, So that the tension of the cable 1 is kept constant by the tension adjusting unit 130 in accordance with the rotational motion of the drum 110 to prevent the cable from being detached from the drum 110. [

4 is a perspective view showing a preferred embodiment of a winch module according to the present invention.

4, the winch module according to the present embodiment includes a drum 110 on which a cable 1 is wound or unwound on a base frame 101, A forward rotation or a reverse rotation drive is performed.

A first timing pulley 141 connected to a rotation axis integrally extending from the drum 110 and a second timing pulley 142 disposed in parallel to the first timing pulley 141 are provided. Preferably, as described in FIG. 3, the first timing pulley 141 and the second timing pulley 142 have the same radius.

A pair of driving rollers 131 and driven rollers 132 for guiding the cable 1 adjacent to the drum 110 and a third timing pulley 131a rotatable about the same axis as the driving roller 131, .

The first timing pulley 141, the second timing pulley 142, and the third timing pulley 131a are connected to each other by a belt 141a, and are synchronously rotated.

The second pulley 152 is disposed on the drum 110 and guides the position of the cable 1 wound or unwound by the drum 110 via the driving roller 131 and the driven roller 132.

Preferably, the second pulley 152 can be driven back and forth by a linear actuator that is moved back and forth along the drum 110 by the second timing pulley 142, and in this embodiment the second pulley 152 Is fixed to the movable block 153 which is provided in parallel with the drum 110 and is moved forward and backward by a ball screw 143 which is installed in the second timing pulley 142.

Preferably, the movable block 153 is moved back and forth by the guide rails 154 arranged in parallel with the ball screws 143.

The second pulley 152 configured in this manner is moved in the forward and backward direction along the drum 110 in cooperation with the rotation of the second timing pulley 142 to adjust the position of the cable 1 wound or unwound on the drum 110 It serves as a guide.

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 or scope of the inventions. It will be apparent to those of ordinary skill in the art.

1: cable 110: drum
120: motor 130:
131: drive roller 131a: third timing pulley
132: driven roller 141: first timing pulley
141a: Belt 142: Second timing pulley
142a: shaft 143: ball screw
151: first pulley 152: second pulley
153: movable block 154: guide rail

Claims (5)

A winch module in which a cable connected to an end effector is wound or unwound,
A drum in which a cable is wound or unwound,
A motor for driving the drum to rotate forward or backward;
A tension regulating unit including a pair of driving rollers and driven rollers which are rotated in contact with each other to provide a predetermined tension to a cable guided to the drum;
And a driving force transmitting portion for transmitting the rotational driving force of the drum in synchronization with the driving roller. The driving force transmitting device according to claim 1,
A first timing pulley that rotates in the same rotational axis as the drum and rotates;
And a second timing pulley interlocked with the first timing pulley to transmit rotational motion to the drive roller. 3. The apparatus of claim 2, wherein the drive roller further comprises a third timing pulley having the same radius as the second timing pulley, wherein the first timing pulley, the second timing pulley, And is connected by a transmission element so as to be rotationally driven. 4. The method according to claim 3, wherein the radius R of the drum, the radius r1 of the first tie pulley, the radius of the third timing pulley r3, and the radius r of the drive roller are expressed by the following equations Wherein the winch module is a winch module.
[Mathematical Expression]

; and p is the pitch (pitch) of the cable wound around the drum. [5] The apparatus of claim 4, further comprising: a pulley provided in parallel with the drum to move back and forth to guide the position of the cable;
And a linear actuator for interlocking with the rotational motion of the second timing pulley to drive the pulley back and forth.

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