KR20200126499A - Winch device for wire operated according to the tension - Google Patents

Abstract

The present invention relates to a wire winch device operated according to tension. A wire winch device operated according to tension according to an aspect of the present invention comprises: a drum for unwinding a wire therefrom or winding a wire thereon in a rotation direction; a motor connected to a rotary shaft of the drum by a timing belt so as to rotate the drum; a guide part connected to the rotary shaft of the drum by the timing belt and guiding a wire to the drum while rotating in conjunction with the drum; a wire alignment part connected to the rotary shaft of the drum by the timing belt and guiding the wire to be wound on or released from the drum while moving in the widthwise direction of the drum in conjunction with the drum; a tension part positioned between the guide part and the drum to apply tension to the wire; a measurement part positioned between the guide part and the tension part to measure the tension of the wire guided by the guide part; a speed encoder connected to the rotary shaft of the drum to measure of a rotation speed of the rotary shaft of the drum; and a controller for controlling a rotation speed and a rotation direction of the rotary shaft of the motor based on the tension measured by the measurement part and the rotation speed measured by the speed encoder. The present invention can adjust tension applied to a wire by automatically adjusting the winding or releasing speed of the wire.

Description

Wire winch device that operates according to tension {WINCH DEVICE FOR WIRE OPERATED ACCORDING TO THE TENSION}

The present invention relates to a wire winch device that operates according to tension, and more particularly, a wire winch that operates according to tension that automatically unwinds or winds the wire by measuring the tension of the wire as the tension of the wire changes. It relates to the device.

In general, inspection of defects in buildings, large ships, and large tanks requires the operator to visually inspect defects. However, there is a problem in that it is difficult for workers to access dangerous terrain or places where it is difficult to enter a high location or inside, and a safety risk may occur.

Conventionally, a drone equipped with a camera was put into a place where it is difficult for a worker to access it to take an image. However, considering that the maximum flight time of a wireless drone is about 20 to 30 minutes, it is impossible to perform tasks with a wireless drone at once. In addition, since strong lighting is required to inspect defects, if a wireless drone is equipped with a lighting device to illuminate a strong light for inspection, the flight time of the wireless drone will be shorter than the above time. In fact, there is a problem in performing work while continuously changing the battery of the wireless drone as it takes at least an hour for the standard survey time of one Veloster tank. So, in order to solve the power shortage of wireless drones, wired drones connected with power and wires are being used to perform tasks. However, there is a problem in that wired drones connected by wires have a long line length as they move, making it difficult for a person to wind or unwind.

In addition, conventionally, wires of wired drones can be wound or unwound through a controllable winch drum, but if the wired drone moves rapidly due to a gust or quick start, the unwinding or winding of the wire does not accurately follow the movement of the wired drone. there is a problem. Due to the rapid movement of the drone, a strong tension is generated in the wire, which can cause the drone to fall or break the wire.

(Patent Document 1) US9446858B2

(Non-Patent Document 1) Fagiano, Systems of Tethered Multicopters: Modeling and Control Design. volume 50, July 2017.

It is an object of the present invention to solve the above problems, and to provide a wire winch device that operates according to a tension capable of automatically unwinding or winding a wire by measuring the tension generated in the wire as the tension of the wire changes. .

Another object of the present invention is to provide a wire winch device that operates according to a tension capable of adjusting the rotational speed of a drum for winding or unwinding a wire in response to a sudden change in winding or unwinding of a wire.

Another object of the present invention is to provide a wire winch device that operates according to a tension capable of winding a wire or preventing twisting of the wire occurring depending on the product.

The object of the present invention is not limited to the above-mentioned object, and other objects that are not mentioned will be clearly understood from the following description.

A wire winch device operating according to a tension according to an aspect of the present invention for achieving the above object includes a drum that unwinds or winds a wire according to a rotation direction, and a motor that is connected with a timing belt to a rotation axis of the drum to rotate the drum. , A guide part that guides the wire to the drum while being rotated in connection with the drum by a timing belt connected to the rotating shaft of the drum, and a guide part that guides the wire to the drum while rotating in conjunction with the drum. A wire alignment unit guiding winding or unwinding, a tension unit applying tension to the wire between the guide unit and the drum, and a measuring unit measuring the tension of the wire guided by the guide unit between the guide unit and the tension unit, It includes a speed encoder connected to the rotational shaft of the drum to measure the rotational speed of the rotational shaft of the drum, and a controller that controls the rotational speed and direction of the rotational axis of the motor based on the tension measured by the measurement unit and the rotational speed measured by the speed encoder. do.

The present invention can expect the following effects.

According to the present invention, the tension applied to the wire can be adjusted by measuring the tension of the wire and the speed of the drum winding the wire as the wire is wound and unwound on the drum, and automatically adjusting the speed at which the wire is unwound or wound.

In addition, according to the present invention, the wire can be constantly wound or unwound on the drum around which the wire is wound, thereby preventing the wire tangling phenomenon that may occur when the wire is unwound or wound.

1 and 2 are views for explaining a wire winch device operating according to tension according to an embodiment of the present invention.
3 and 4 are views for explaining a drum of a wire winch device operating according to tension according to an embodiment of the present invention.
5 to 7 are views for explaining a guide part of a wire winch device operating according to tension according to an embodiment of the present invention.
8 and 9 are views for explaining a wire alignment unit of a wire winch device operating according to tension according to an embodiment of the present invention.
10 is a view for explaining a tension unit and a measurement unit of a wire winch device operating according to tension according to an embodiment of the present invention.
11 is a view for explaining a tension unit of a wire winch device operating according to tension according to an embodiment of the present invention.
12 is a flowchart for explaining the control of a wire winch device operating according to tension according to another embodiment of the present invention.

Advantages and features of the present invention, and a method of achieving them will become apparent with reference to the embodiments described below in detail together with the accompanying drawings. However, the present invention is not limited to the embodiments disclosed below, but will be implemented in various forms different from each other, and only these embodiments make the disclosure of the present invention complete, and those skilled in the art to which the present invention pertains. As provided to completely inform the scope of the invention to the person, the invention is only defined by the description of the claims. On the other hand, terms used in the present specification are for describing exemplary embodiments, and are not intended to limit the present invention. In this specification, the singular form also includes the plural form unless specifically stated in the phrase. Hereinafter, an embodiment of the present invention will be described in detail with reference to the accompanying drawings.

The present invention relates to a wire winch device that measures the tension of a wire and controls the rotational speed of a motor to unwind or wind the wire.

1 and 2 are views for explaining a wire winch device operating according to tension according to an embodiment of the present invention.

A wire winch device operating according to tension according to an embodiment of the present invention includes a frame 10, a motor 20, a drum 30, a guide part 40, a wire alignment part 60, and a tension part 70. , A measurement unit 80, a speed measurement encoder 90, and a controller 100 may be included.

The frame 10 includes the motor 20, the drum 30, the guide unit 40, the wire alignment unit 60, the tension unit 70, the measurement unit 80, the speed measurement encoder 90, and the controller. It has an internal accommodation space in which 100 can be installed.

The motor 20 may be installed on the upper left side of the frame 10.

The rotation axis of the motor 20 may be a forward rotation or a reverse rotation.

The rotating shaft of the motor 20 has a drive pulley 21 at one end.

The driving pulley 21 is connected to the first timing belt 22.

3 and 4 are views for explaining the drum 30 of the wire winch device operating according to tension according to an embodiment of the present invention.

The drum 30 may be installed in the center of the frame 10.

The drum 30 is connected to the wire and can be wound or unrolled according to the direction of rotation.

The plurality of supports 31 are vertically installed on the lower surface of the frame 10 and each has a hole through which the rotational axis of the drum 30 can pass therethrough.

Both ends of the rotation shaft of the drum 30 may be installed so that the drum is rotatable between the plurality of supports 31 by passing through the plurality of supports 31.

A first pulley 32, a second pulley 33, and a third pulley 34 are provided on the rotating shaft of the drum 30.

The first pulley 32 is provided on a rotation shaft of the drum 30 between the drum 30 and the support 31.

The second pulley 33 is provided on the rotation shaft of the drum 30 outside the support 31.

The third pulley 34 is provided on the rotation shaft of the drum 30 between the first pulley 32 and the support 31.

The first pulley 32 is connected to the first timing belt 22.

The rotation shaft of the drum 30 is connected to the rotation shaft of the motor 20 through the first timing belt 22.

As the motor 20 is driven, the rotating shaft of the drum 30 is interlocked and rotated.

The rotational shaft of the drum 30 may be rotated in the same direction as the rotational direction of the rotational shaft of the motor 20.

As the drum 30 is rotated according to the rotational direction of the rotating shaft of the drum 30, the drum 30 may wind or unwind a wire.

The second pulley 33 is connected to the second timing belt 35.

The third pulley 34 is connected to the third timing belt 36.

5 to 7 are views for explaining a guide part 40 of a wire winch device that operates according to tension according to an embodiment of the present invention.

The guide part 40 may be installed on the right side of the upper surface of the frame 10 and the drive shaft 41, the gear box 42, the driven shaft 43, the drive roller 44, the rotary roller 45, the support ( 47).

The drive shaft 41 is provided with a drive shaft pulley 48 at one end and a gear at the other end.

The drive shaft pulley 48 is connected to the second timing belt 35.

The second timing belt 35 connected to the drive shaft 41 connects the drive shaft 41 and the rotation shaft of the drum 30.

The gearbox 42 is provided with holes on one side and the other side, respectively, and a plurality of spur gears therein.

The drive shaft 41 is connected to the gearbox 42 so as to be rotatable through one side of the gearbox 42.

The gear provided at the other end of the drive shaft 41 is connected by meshing with a spur gear provided inside the gearbox 42.

As the drive shaft 41 rotates, the spur gear provided in the gearbox 42 rotates.

The driven shaft 43 is provided with a gear at one end and a drive roller 44 is connected to the other end.

The driven shaft 43 is connected to the support 47 and the gearbox 42 so as to be rotatable through a hole on the other side of the gearbox 42.

The support 47 may be installed outside the gearbox 42.

The gear provided at one end of the driven shaft 43 is connected by meshing with a spur gear provided in the gearbox 42.

The driven shaft 43 is rotated as the spur gear provided inside the gearbox 42 is rotated.

The drive roller 44 is formed between the support 47 and the gear box 42 and rotates as the driven shaft 43 rotates.

The rotary roller 45 is connected to the outer surface of the support 47 and the gearbox 42 so that both ends of the rotary shaft are rotatable.

The rotary roller 45 may be formed parallel to the driving roller 44 and may have a gap through which a wire passes between the driving roller 44 and the driving roller 44.

Spring plungers 46 may be installed on the outer surfaces of the support 47 and the gearbox 42, respectively.

A groove is formed on the outer surface of the gearbox 42 and the support 47 connected to the rotation axis of the rotation roller 45, so that the rotation axis of the rotation roller 45 has a rotation axis of the drive roller 44. It is possible to move in any direction.

The plurality of spring plungers 46 may be formed between one end of the rotation shaft of the rotation roller 45 and the support 47, and between the other end of the rotation shaft of the rotation roller and the outer surface of the gearbox 42.

The plurality of spring plungers 46 are configured to push the rotation axis of the rotation roller 45 in the direction of the rotation axis of the driving roller 44 by using an elastic force.

As the rotating shaft of the drum 30 rotates, the drive shaft 41 is rotated in connection with the rotating shaft of the drum 30.

As the drive shaft 41 rotates, the driven shaft 43 connected through the spur gear of the gearbox 42 rotates.

As the driven shaft 43 rotates, the driving roller 44 rotates.

The rotating roller 45 is connected to the driving roller 44 by a wire passed between the driving roller 44 and the driving roller 44.

The rotating roller 45 is rotated as the driving roller 44 rotates and the wire passes between the driving roller 44 and the rotating roller 45.

The guide part 40 may interlock with the drum 30 to guide the wire to the drum 30 inside the frame 10.

The guide part 40 guides the wire that has passed between the drive roller 44 and the rotary roller 45 to be wound around the drum 30 as the drive roller 44 rotates in conjunction with the drum 30 Guide to be released to the outside of the frame (10).

8 and 9 are views for explaining the wire alignment unit 60 of the wire winch device operating according to tension according to an embodiment of the present invention.

The wire alignment unit 60 may be installed under the frame 10.

The wire alignment unit 60 includes a rotating screw shaft 61, a moving alignment bar 62, and a plurality of support bars 65.

The wire alignment unit 60 may adjust the position where the wire passing through the guide unit 40 is wound around the drum 30 between the drum 30 and the guide unit 40.

The rotation screw shaft 61 is installed to be rotatable through each of the plurality of supports 64 fixed vertically to the lower portion of the frame 10.

The rotating screw shaft 61 is provided with a male screw on the outer surface.

The rotary screw shaft 61 is provided with a rotary screw shaft pulley 63 at one end.

The rotary screw shaft pulley 63 is engaged with the third timing belt 36 and is connected to the third timing belt 36.

The rotation screw shaft 61 is connected to the third timing belt 36 through the provided rotation screw shaft pulley 63.

The third timing belt 36 connected to the rotation screw shaft 61 connects the rotation screw shaft 61 and the rotation shaft of the drum 30.

The rotary screw shaft pulley 63 is engaged with the third timing belt 36 and is connected to the third timing belt 36.

The rotation screw shaft 61 is connected to the third timing belt 36 through the provided rotation screw shaft pulley 63.

The third timing belt 36 connected to the rotation screw shaft 61 connects the rotation screw shaft 61 and the rotation shaft of the drum 30.

When the third timing belt 36 is rotated as the rotating shaft of the drum 30 rotates, the rotating screw shaft 61 of the wire alignment unit 60 is interlocked and rotated.

The moving alignment bar 62 is provided with a female screw hole 66 having a female screw on the inner surface at one end.

The female screw hole 66 of the moving alignment bar 62 corresponds to the male screw of the rotating screw shaft 61.

The moving alignment bar 62 is provided with an alignment roller 67 at the other end.

The moving alignment bar 62 is connected to the rotation screw shaft 61 by engaging the female thread groove of the provided female thread hole 66 and the male thread curve provided on the outer surface of the rotation screw shaft 61.

The plurality of support bars 65 are formed to be parallel to the screw rotation shaft 61.

The plurality of support bars 65 may pass through one side of the moving alignment bar 62 and be connected to each of the plurality of support bars 64.

The plurality of support bars 65 support the movement alignment bar 62 so that the movement alignment bar 62 does not rotate along the rotational direction of the rotation screw shaft 61 as the rotation screw shaft 61 rotates.

The plurality of support bars 65 support the movable alignment bar 62 so that the movable alignment bar 62 can linearly move along the rotation screw shaft 61 in the width direction of the drum 30.

The alignment roller 67 guides the wire to the drum 30 as the wire guided through the guide portion 40 is caught and the drum 30 rotates.

Depending on the rotation direction of the rotating screw shaft 61, the female screw hole 66 provided in the movable alignment bar 62 is wound or unwound on the rotating screw shaft 61, and the movable alignment bar 62 is the width of the drum 30. It moves along the rotation screw shaft 61 in the direction.

The alignment roller 67 guides the moving alignment bar 62 to be wound or unrolled in alignment with the drum 30 as the moving alignment bar 62 moves along the rotation screw shaft 61 in the width direction of the drum 30.

10 and 11 are views for explaining a tension unit 70 of a wire winch device that operates according to tension according to an embodiment of the present invention.

The tension part 70 may be installed on the lower side of the frame 10.

The tension unit 70 generates tension in the wire between the guide unit 40 and the drum 30.

The tension part 70 includes a support 71, a support bar 72, a roller 73, and a tension spring 74.

The support 71 is fixed to the frame 10 and connected to one side so that the support bar 72 is rotatable.

The roller 73 may be connected to be rotatable at both ends of the support bar 72.

The support 71 is installed on the inner side of the frame 10 and may be connected to one end of the support 71 so that the center of the support bar 72 is rotatable.

The tension spring 74 may have one side connected to one side of the support bar 72 and the other side connected to the frame 10 side.

The tension spring 74 pulls the support bar 72 connected to one side in the direction of the other side connected to the frame 10.

The roller 73 is a wire between the guide portion 40 and the drum 30 is hung and rotates along the movement of the wire.

The support bar 72 may be rotated on the support 71 according to the movement of the wire hanging on the roller 73.

As the drum 30 rotates, when the wire is wound or unwound, the tension of the wire may change.

The roller 73 receives the pulling force of the tension spring 74 applied to the support bar 72 through the support bar 72.

The roller 73 provides the supplied force as a tension to the wire so that the tension of the wire between the drum 30 and the guide part 40 is kept constant.

10 is a view for explaining the measuring unit 80 of the wire winch device operating according to the tension according to an embodiment of the present invention.

The measurement unit 80 is installed on the upper right side of the frame 10 to detect and measure the tension of the wire guided by the guide unit 40 between the guide unit 40 and the tension unit 70 through the load cell. (S100).

The measurement unit 80 includes a support roller 82, a tension roller 81, an encoder roller 83, and a load cell.

The support roller 82 and the encoder roller 83 are arranged at a distance from each other to pass through the guide portion 40 to take a wire guided to the drum 30, and the tension roller 81 is the support roller 82 And the encoder roller 83 to catch the wire.

That is, the wire is caught in a zigzag between the support roller 82, the tension roller 81, and the encoder roller 83. The load cell is installed on the rotation shaft of the tension roller 81 and measures tension, which is the force that the wire pushes the tension roller 81 to the upper right side of the frame 10 (S100).

As the tension increases, the force of pushing the tension roller 81 toward the upper right side of the frame 10 increases, and as the tension decreases, the force pushing the tension roller 81 toward the upper right side of the frame 10 increases. Decrease.

The tension roller 81 measures the tension of the wire applied to the tension roller 81 according to the tension of the wire using a load cell (S100).

The encoder roller 83 may measure the length of the wire unwound from the drum 30 based on the direction and number of times that the hanging wire is wound around the drum 30 and rotated according to the unwinding.

2 and 4 are diagrams for explaining the speed measurement encoder 90 of the wire winch device operating according to tension according to an embodiment of the present invention.

The speed measuring encoder 90 is installed on the side of the drum 30 to be connected to the rotating shaft.

The speed measuring encoder 90 measures the rotational speed of the rotating shaft of the drum 30 (S200).

Here, the rotational speed of the rotational shaft of the drum 30 includes the rotational speed of the rotational shaft of the drum 30 and the rotational direction of the rotational shaft of the drum 30.

2 and 4 are views for explaining a controller 100 of a wire winch device operating according to tension according to an embodiment of the present invention.

The controller 100 is installed on the lower surface of the frame 10 and on the side of the drum 30 and is formed to be connected to the measuring unit 80 and the speed measuring encoder 90.

The controller 100 controls the rotation speed of the rotation shaft of the motor 20 based on the tension measured by the measurement unit 80 and the rotation speed measured by the speed measurement encoder 90 (S300).

However, when the tension measured by the measuring unit 80 is a tension within a preset tension range, the controller 100 sets the rotation speed of the rotation axis of the motor 20 as a constant speed when the rotation axis of the drum 30 is in a rotation state. The motor 20 is controlled to maintain the rotating state (S300).

When the tension measured by the measurement unit 80 is a tension that falls within a preset tension range, the controller 100 maintains a stopped state of the rotation shaft of the motor 20 when the rotation shaft of the drum 30 is stopped. ) To control (S300).

When the rotation shaft of the drum 30 is stopped, the controller 100 is configured to increase the rotation speed of the motor 20 in the reverse direction when the tension measured by the measurement unit 80 exceeds a preset tension. ) To control (S300).

For example, when a drone to which one end of a wire is connected moves in a direction away from the frame 10 in a stopped state, the tension of the wire connected to the drone increases. The controller 100 controls the motor 20 to rotate in a direction in which the wire wound around the drum 30 is released so that the tension of the wire is reduced. Here, since the rotational direction of unwinding the wire wound around the drum 30 is the direction in which the rotational axis of the motor 20 rotates in the reverse direction, the controller 100 is configured to increase the speed of the rotational axis of the motor 20 in the reverse direction. ) To control.

When the rotational shaft of the drum 30 is stopped, the controller 100 is the motor 20 so that the rotational speed of the motor 20 increases in the forward direction when the tension measured by the measurement unit 80 is less than a preset tension. To control (S300).

For example, when a drone to which one end of the wire is connected moves in a direction closer to the frame 10 in a stopped state, the tension of the wire connected to the drone decreases. The controller 100 controls the motor 20 to rotate in a direction in which the wire wound around the drum 30 is wound so that the tension of the wire is increased. Here, since the rotational direction of winding the wire wound around the drum 30 is the direction in which the rotational shaft of the motor 20 rotates in the forward direction, the controller 100 is configured to increase the speed of the rotational axis of the motor 20 in the forward direction. ) To control.

When the rotation axis of the drum 30 is rotated in the reverse direction, the controller 100 is a motor so that the speed at which the rotation axis of the motor 20 rotates in the reverse direction is reduced when the tension measured by the measurement unit 80 exceeds a preset tension. Control (20) (S300).

When the rotation axis of the drum 30 is rotated in the reverse direction, the controller 100 is configured to increase the speed at which the rotation axis of the motor 20 rotates in the reverse direction when the tension measured by the measurement unit 80 is less than a preset tension. 20) is controlled (S300).

When the rotation axis of the drum 30 is rotated in the forward direction, the controller 100 is configured to increase the speed at which the rotation axis of the motor 20 rotates in the forward direction when the tension measured by the measurement unit 80 exceeds a preset tension. Control (20) (S300).

When the rotation axis of the drum 30 is rotated in the forward direction, the controller 100 is configured to reduce the speed at which the rotation axis of the motor 20 rotates in the forward direction when the tension measured by the measurement unit 80 is less than a preset tension. 20) is controlled (S300).

The driving roller 44 of the guide unit 40 is controlled to rotate in the forward direction as the controller 100 controls the rotation shaft of the motor 20 to rotate in the forward direction (S400).

The driving roller 44 of the guide unit 40 is controlled to rotate in the reverse direction as the controller 100 controls the rotation shaft of the motor 20 to rotate in the reverse direction (S400).

The driving roller 44 of the guide part 40 is controlled to increase the rotational speed as the controller 100 controls the rotational speed of the rotational shaft of the motor 20 to increase (S400).

The driving roller 44 of the guide unit 40 is controlled to decrease the rotational speed as the controller 100 controls the rotational speed of the rotational shaft of the motor 20 to decrease (S400).

The moving alignment bar 62 of the wire alignment unit 60 controls the direction in which the controller 100 moves in the width direction of the drum as the controller 100 controls the rotation axis of the motor 20 to rotate in the forward direction (S400).

The moving alignment bar 62 of the wire alignment unit 60 is controlled to increase the speed of movement in the width direction of the drum as the controller 100 controls the rotation speed of the rotation shaft of the motor 20 to increase (S400). .

The moving alignment bar 62 of the wire alignment unit 60 is controlled to decrease the speed of movement in the width direction of the drum as the controller 100 controls the rotation speed of the rotation shaft of the motor 20 to decrease (S400). .

Those of ordinary skill in the art to which the present invention pertains will appreciate that the present invention can be implemented in other specific forms without changing the technical spirit or essential features thereof. Therefore, it should be understood that the embodiments described above are illustrative in all respects and not limiting. The scope of the present invention is indicated by the scope of the claims to be described later rather than the detailed description, and all changes or modified forms derived from the scope of the claims and their equivalent concepts should be interpreted as being included in the scope of the present invention.

10: frame,
20: motor, 21: drive pulley, 22: first timing belt,
30: drum, 31: support, 32: first pulley, 33: second pulley, 34: third pulley, 35: second timing belt, 36: third timing belt,
40: guide, 41: drive shaft, 42: gearbox, 43: driven shaft, 44: drive roller, 45: rotary roller, 46: spring plunger, 47: support, 48: drive shaft pulley,
60: wire alignment part, 61: rotating screw shaft, 62: moving alignment bar, 63: rotating screw shaft pulley, 64: support, 65: support bar, 66: female threaded hole, 67: alignment roller,
70: tension part, 71: support, 72: support bar, 73: roller, 74: tension spring,
80: measuring unit, 81: tension roller, 82: support roller, 83: encoder roller,
90: speed measuring encoder,
100: controller.

Claims (10)

A drum for unwinding or winding the wire according to the direction of rotation;
A motor connected to the rotation shaft of the drum with a timing belt to rotate the drum;
A guide part connected to the rotating shaft of the drum by a timing belt to guide the wire to the drum while rotating in association with the drum;
A wire alignment unit connected to the rotating shaft of the drum by a timing belt to guide the wire to be wound or unwound in the drum while moving in the width direction of the drum in connection with the drum;
A tension part for applying tension to the wire between the guide part and the drum;
A measuring unit for measuring the tension of the wire guided by the guide unit between the guide unit and the tension unit;
A speed encoder connected to the rotational shaft of the drum and measuring a rotational speed of the rotational shaft of the drum; And
A controller controlling a rotational speed and a rotational direction of the rotational shaft of the motor based on the tension measured by the measurement unit and the rotational speed measured by the speed encoder;
Wire winch device operating according to the tension comprising a. The method of claim 1, wherein the measuring unit,
A support roller on which the wire guided through the guide part is caught; And
Further comprising a; tension roller for measuring the tension applied to the wire
Wire winch device that operates according to the tension. The method of claim 1, wherein the controller,
In the case where the rotating shaft of the drum is stopped,
When the tension measured by the measuring unit exceeds a preset tension, the motor is controlled to increase the speed at which the rotation shaft of the motor rotates in the reverse direction,
If the tension measured by the measuring unit is less than a preset tension, controlling the motor to increase the speed at which the rotation shaft of the motor rotates in the forward direction
Wire winch device that operates according to the tension. The method of claim 1, wherein the controller,
In the case that the rotating shaft of the drum rotates in the reverse direction,
When the tension measured by the measuring unit exceeds a preset tension, the motor is controlled so that the speed at which the rotation shaft of the motor rotates in the reverse direction is reduced,
If the tension measured by the measuring unit is less than a preset tension, controlling the motor to increase the speed at which the rotation shaft of the motor rotates in the reverse direction
Wire winch device that operates according to the tension. The method of claim 1, wherein the controller,
When the rotating shaft of the drum is rotated in the forward direction,
When the tension measured by the measuring unit exceeds a preset tension, the motor is controlled to increase the speed at which the rotation shaft of the motor rotates in the forward direction,
When the tension measured by the measuring unit is less than a preset tension, controlling the motor to reduce the speed at which the rotation shaft of the motor rotates in the forward direction
Wire winch device that operates according to the tension. The method of claim 1, wherein the controller,
When the tension measured by the measurement unit is a tension that falls within a preset tension range,
When the rotating shaft of the drum is in a rotating state, the rotational speed of the rotating shaft of the motor is set to a constant speed, and the rotating state is maintained,
Controlling to maintain the stopped state of the rotation shaft of the motor when the rotation shaft of the drum is stopped
Wire winch device that operates according to the tension. The method of claim 1, wherein the guide unit,
A drive shaft having one end connected to the rotation shaft of the drum with a timing belt and having a gear at the other end;
A gearbox having a spur gear therein, each having a hole on one side and the other side, wherein the drive shaft penetrates the hole on one side so that the gear provided on the drive shaft is rotatably engaged with the spur gear;
A driven shaft having a gear at one end, and having one end passing through the hole on the other side of the gearbox so that the gear provided at one end is connected to mesh with the spur gear and is rotatable as the spur gear rotates;
A driving roller connected to the other end of the driven shaft and rotated as the driven shaft rotates; And
A rotating roller formed parallel to the driving roller and having a gap through which the wire passes between the driving roller and the rotating roller; further comprising
Wire winch device that operates according to the tension. The method of claim 7,
As the controller controls the rotation direction of the rotation shaft of the motor, the rotation direction of the driving roller is controlled to rotate in a forward or reverse direction,
Controlled to increase or decrease the rotational speed of the driving roller as the controller controls the rotational speed of the rotational shaft of the motor
Wire winch device that operates according to the tension. The method of claim 1, wherein the wire alignment unit,
A rotation screw shaft connected to the rotation shaft of the drum by a timing belt, interlocking with the rotation shaft, and having a male screw formed on an outer surface thereof;
A moving alignment bar having a female screw hole provided on an inner surface of the female screw corresponding to the male screw of the rotary screw shaft at one end, connected to the rotary screw shaft, and moving in the width direction of the drum according to the rotational direction of the rotary screw shaft;
An alignment roller installed at the other end of the movable alignment bar and the wire is caught on one side; And
A support bar formed parallel to the screw shaft and supporting the moving alignment bar so as not to rotate along the rotational direction of the rotary screw shaft as the rotary screw shaft rotates;
Wire winch device operating according to the tension that further comprises. The method of claim 9,
As the controller controls the rotation direction of the rotation shaft of the motor, the movement alignment bar is controlled in a direction in which the moving alignment bar moves in the width direction of the drum,
As the controller controls the rotational speed of the rotational shaft of the motor, the movement alignment bar is controlled to increase or decrease the speed of movement in the width direction of the drum.
Wire winch device that operates according to the tension.

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