SE501904C2 - Device for handling a cable for eg self-propelled work machine - Google Patents

Device for handling a cable for eg self-propelled work machine

Info

Publication number
SE501904C2
SE501904C2 SE9303794A SE9303794A SE501904C2 SE 501904 C2 SE501904 C2 SE 501904C2 SE 9303794 A SE9303794 A SE 9303794A SE 9303794 A SE9303794 A SE 9303794A SE 501904 C2 SE501904 C2 SE 501904C2
Authority
SE
Sweden
Prior art keywords
vehicle
cable
electrical connection
robot
arm
Prior art date
Application number
SE9303794A
Other languages
Swedish (sv)
Other versions
SE9303794D0 (en
SE9303794L (en
Inventor
Goeran L Bergqvist
Original Assignee
Byggrobotik I Goeteborg Ab
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Byggrobotik I Goeteborg Ab filed Critical Byggrobotik I Goeteborg Ab
Priority to SE9303794A priority Critical patent/SE501904C2/en
Publication of SE9303794D0 publication Critical patent/SE9303794D0/en
Priority to PCT/SE1994/001071 priority patent/WO1995013982A1/en
Priority to AU10805/95A priority patent/AU1080595A/en
Publication of SE9303794L publication Critical patent/SE9303794L/en
Publication of SE501904C2 publication Critical patent/SE501904C2/en

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H75/00—Storing webs, tapes, or filamentary material, e.g. on reels
    • B65H75/02—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks
    • B65H75/34—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks specially adapted or mounted for storing and repeatedly paying-out and re-storing lengths of material provided for particular purposes, e.g. anchored hoses, power cables
    • B65H75/38—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks specially adapted or mounted for storing and repeatedly paying-out and re-storing lengths of material provided for particular purposes, e.g. anchored hoses, power cables involving the use of a core or former internal to, and supporting, a stored package of material
    • B65H75/40—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks specially adapted or mounted for storing and repeatedly paying-out and re-storing lengths of material provided for particular purposes, e.g. anchored hoses, power cables involving the use of a core or former internal to, and supporting, a stored package of material mobile or transportable
    • B65H75/42—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks specially adapted or mounted for storing and repeatedly paying-out and re-storing lengths of material provided for particular purposes, e.g. anchored hoses, power cables involving the use of a core or former internal to, and supporting, a stored package of material mobile or transportable attached to, or forming part of, mobile tools, machines or vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H75/00—Storing webs, tapes, or filamentary material, e.g. on reels
    • B65H75/02—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks
    • B65H75/34—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks specially adapted or mounted for storing and repeatedly paying-out and re-storing lengths of material provided for particular purposes, e.g. anchored hoses, power cables
    • B65H75/38—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks specially adapted or mounted for storing and repeatedly paying-out and re-storing lengths of material provided for particular purposes, e.g. anchored hoses, power cables involving the use of a core or former internal to, and supporting, a stored package of material
    • B65H75/44—Constructional details
    • B65H75/4402—Guiding arrangements to control paying-out and re-storing of the material
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2701/00—Handled material; Storage means
    • B65H2701/30—Handled filamentary material
    • B65H2701/34—Handled filamentary material electric cords or electric power cables

Landscapes

  • Manipulator (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Current-Collector Devices For Electrically Propelled Vehicles (AREA)
  • Electric Cable Arrangement Between Relatively Moving Parts (AREA)

Abstract

The invention concerns a handling device for a cable (7) extending between a point of electrical connection (11) and a driver-less, electrically operated working vehicle or a working machine (1), across a surface. Guide and control means direct the vehicle (1) along a predetermined path (13, 15, 17) on the surface (2). The vehicle is provided with a cable storage means (4) and with cable-feeding means (6), said means controlled for coordination with the operation of the vehicle (1). The feeding means are arranged, at the pace of the vehicle speed, to so pay out the cable (7) from the vehicle as the latter moves away from the electrical connection point (11) and to so pull in the cable (7) as the vehicle moves closer to the connection point (11) that the path of movement of said vehicle (1) is always left unobstructed to allow the vehicle to carry out its working operations.

Description

(H CD .4 10 15 20 25 30 35 \0 CD Jb 2 Detta uppmonterings- och nedmonteringsarbete innebär en komplikation för utförande av fordonets eller maskinens arbete från det ena rumet till det andra. (H CD .4 10 15 20 25 30 35 \ 0 CD Jb 2 This disassembly and disassembly work involves a complication of performing the work of the vehicle or machine from one room to the other.

Genom uppfinningen har tillkommit en anordning, som löser ovannämnda problem och är mycket ändamålsenlig. Det som utmärker denna anordning framgår av efterföljande patentkrav. Vid utförande av ett arbete med hjälp av en självgående, eldriven arbetsmaskin eller liknande enligt beskrivningen ovan tillförsäkrar anordningen, att kabeln alltid har ett läge, så att den icke riskerar att skadas samtidigt som dess läge kan styras så, att den icke ligger i vägen för det arbete som skall utföras.Through the invention, a device has been added which solves the above-mentioned problems and is very expedient. The features of this device are set out in the appended claims. When carrying out work by means of a self-propelled, electric working machine or the like as described above, the device ensures that the cable always has a position so that it does not risk being damaged while its position can be controlled so that it does not get in the way of the work to be performed.

Uppfinningen skall i det följande närmare beskrivas med hänvisning till de bifogade ritningarna, på vilka: Fig. l visar i perspektiv en arbetsmaskin i form av en robot, som är försedd med anordningen enligt uppfin- ningen, och Fig. 2-4 i planvy schematiskt visar ett exempel på ett arbetssätt för en sådan robot.The invention will be described in more detail below with reference to the accompanying drawings, in which: Fig. 1 shows in perspective a working machine in the form of a robot, which is provided with the device according to the invention, and Figs. 2-4 in plan view schematically shows an example of a working method for such a robot.

Såsom utföringsexempel för beskrivning av anordningen enligt uppfinningen har valts en arbetsmaskin i form av en robot 1, som är avsedd att utföra ett ytarbete på ett ny- gjutet betonggolv 2. Roboten 1 är försedd med en elektrisk framdrivningsanordning och en laserstyrutrustning, med hjälp av vilken robotens 1 läge i rummet successivt kan fastställas och som är ansluten till en inbyggd dator, i vilken är inprogrammerad en viss färdväg över betonggolvet 2. Roboten 1 är vidare försedd med redskap 3, exempelvis för glättning av betonggolvet 2.As an exemplary embodiment for describing the device according to the invention, a working machine in the form of a robot 1 has been chosen, which is intended to perform a surface work on a newly cast concrete floor 2. The robot 1 is provided with an electric propulsion device and a laser control equipment, by means of which the position of the robot 1 in the room can be successively determined and which is connected to a built-in computer, in which a certain route is programmed over the concrete floor 2. The robot 1 is further provided with tools 3, for example for smoothing the concrete floor 2.

I anordningen enligt uppfinningen ingår ett kabel- magasin, som kan utgöras av en kabeltrumma 4, som är vrid- bar kring en axel 5. Matarorgan 6 är anordnade att mata kabel 7 på eller av trumman 4. Kabeln 7 sträcker sig upp och ut genom roboten 1 utefter en arm 8, som är försedd med löprullar 9 och ett löphjul 10 vid sin fria ände och som är svängbar till godtyckligt vinkelläge över roboten l. Från löphjulet 10 sträcker sig kabeln 7 ner mot golvet 10 15 20 25 30 35 501 904 3 2 och följer detta fram till en elanslutning ll. Såväl vridningshastigheten hos trummans 4 axel 5 och organens 6 matarhastighet av kabel pá eller av trumman 4 som armens 8 svängning till olika vinkellägen är styrda av datorns program för det arbete som skall utföras.The device according to the invention includes a cable magazine, which can be constituted by a cable drum 4, which is rotatable about a shaft 5. Feed means 6 are arranged to feed cable 7 on or off the drum 4. The cable 7 extends up and out through the robot 1 along an arm 8, which is provided with impellers 9 and an impeller 10 at its free end and which is pivotable to any angular position over the robot 1. From the impeller 10 the cable 7 extends down to the floor 10 15 20 25 30 35 501 904 3 2 and follows this until an electrical connection ll. Both the rotational speed of the shaft 5 of the drum 4 and the feed speed of the means 6 of cable on or of the drum 4 and the pivoting of the arm 8 to different angular positions are controlled by the computer program for the work to be performed.

Anordningens funktion skall beskrivas i det följande med hänvisning till fig. 2-4, som visar ett utförings- exempel. När kabeln 7 kopplats till elanslutningen 11, kan roboten l förflyttas till ett från elanslutningen ll räk- nat bortre hörn. Laserutrustningen känner i detta läge av storleken och formen pà det rum, där golvet 2 skall be- handlas, och datorn gör ett program för den färdväg, som roboten 1 skall följa. Armen 8 ställes in i den vinkel, som visas i fig. 2. Roboten l startar och följer en förut- bestämd väg i pilens 12 riktning. Synkront med robotens 1 hastighet matas kabel 7 av trumman 4 och ut genom roboten 1 ned på govet 2 i sådan takt, att kabeln 7 lägger sig osträckt, dvs utan eller med endast ringa mekanisk belast- ning, pà golvet 2 vid sidan av den bana 13 som behandlas av roboten 1.The operation of the device will be described in the following with reference to Figs. 2-4, which show an embodiment. When the cable 7 is connected to the electrical connection 11, the robot 1 can be moved to a far corner from the electrical connection 11. In this position, the laser equipment senses the size and shape of the room where the floor 2 is to be treated, and the computer makes a program for the route that the robot 1 is to follow. The arm 8 is set at the angle shown in Fig. 2. The robot 1 starts and follows a predetermined path in the direction of the arrow 12. Synchronously with the speed of the robot 1, cable 7 is fed by the drum 4 and out through the robot 1 down to the floor 2 at such a rate that the cable 7 lies unstretched, ie without or with only a small mechanical load, on the floor 2 next to the track 13 which is processed by the robot 1.

När roboten 1 kommit till motsatta sidan av rummet och programstyrt vänt, sker likaledes programstyrt en svängning av armen 8 till det i fig. 3 visade läget. Robo- ten 1 arbetar nu tillbaka i pilens 14 riktning. Samtidigt ges information till kabeltrummans 4 drivning och till ma- tarorganen 6 att dra in kabel 7 i roboten l och mata pá denna pá trumman 4. Kabeln 7 fångas på detta sätt löpande automatiskt upp och riskerar därför icke att skadas eller ligga hindrande i vägen för robotens 1 fortsatta arbete.When the robot 1 has reached the opposite side of the room and is programmed in a reversed manner, the arm 8 is also programmed in a programmed manner to the position shown in Fig. 3. Robot 1 now works backwards in the direction of the arrow 14. At the same time, information is given to the drive of the cable drum 4 and to the feeder means 6 to pull cable 7 into the robot 1 and feed it onto the drum 4. The cable 7 is caught in this way continuously automatically and therefore does not risk being damaged or obstructed. the robot's continued work.

När roboten 1 nått slutet av sin bana 15 vänder den igen programenligt, armen 8 svänger till läget i fig. 4, som överensstämmer med läget i fig. 2, och kabeltrumman 4 och matarorganen 6 erhåller pá nytt information om att mata ut kabel 7 i takt med robotens 1 framdrivningshas- tighet i pilens 16 riktning, varvid en ny bana 17 behand- las under successiv avläggning av kabel 7 utanför denna bana. 501 904- 10 15 20 25 30 35 4 Uppfinningen är icke begränsad till det visade och beskrivna utföringsexemplet utan kan varieras pá flera sätt inom ramen för efterföljande patentkrav. Sålunda kan exempelvis kabeltrumman 4 elimineras, och kabeln 7 helt enkelt läggas ut i en slinga på bottnen av roboten 1, varvid matarorganen 6 tillser att kabeln 7 matas in och avlägges i jämna slingvarv.When the robot 1 has reached the end of its path 15, it turns again programmatically, the arm 8 pivots to the position in Fig. 4, which corresponds to the position in Fig. 2, and the cable drum 4 and the feed means 6 again receive information on feeding out cable 7 in rate of the robot 1's propulsion speed in the direction of the arrow 16, whereby a new path 17 is treated during successive laying of cable 7 outside this path. The invention is not limited to the exemplary embodiment shown and described, but can be varied in several ways within the scope of the appended claims. Thus, for example, the cable drum 4 can be eliminated, and the cable 7 is simply laid out in a loop on the bottom of the robot 1, the feeder means 6 ensuring that the cable 7 is fed in and laid in even loop turns.

Vid en något enklare variant av anordningen enligt uppfinningen kan armen 8 vara fritt svängbar, när rörelse- schemat för roboten 1 är sådant, att redan en lätt drag- ning i kabeln 7 förorsakar armen 8 att ställa in sig auto- matiskt till ett läge, så att roboten 1 lämnas fri väg.In a slightly simpler variant of the device according to the invention, the arm 8 can be freely pivotable, when the movement scheme of the robot 1 is such that even a slight pull in the cable 7 causes the arm 8 to adjust itself automatically to a position, so that robot 1 is left free.

Anordningen enligt uppfinningen kan komma till an- vändning vid en mängd olika tillämpningar hos arbetsfordon eller maskiner för en mängd typer av arbeten och där maskinen eller roboten styrs med olika medel.The device according to the invention can be used in a variety of applications of work vehicles or machines for a variety of types of work and where the machine or robot is controlled by different means.

Claims (1)

1. 0 15 20 25 30 35 501 904 5 PATENTKRAV Anordning för att hantera en kabel (7), som sträcker sig mellan en elanslutning (ll) och ett fordon (l), som kan utgöra ett förarlöst, eldrivet arbetsfordon eller en självgående, eldriven arbetsmaskin, vilket fordon är anordnat att successivt förflytta sig fram över ett underlag (2), exempelvis för bearbetning av detta, och är försett med styrmedel för att leda fordonet (l) utefter en viss förutbestämd bana (13, 15, 17) på underlaget (2), och att fordonet (1) därjämte är försett med ett kabel- magasin (4) och matarorgan (6), vilka är styrda i sam- ordning med framförandet av fordonet (1) och är anordnade att i takt med fordonets (1) hastighet mata ut kabeln (7) frán fordonet (1), när detta avlägsnar sig från elanslut- ningen (ll), och dra in kabeln (7), när fordonet (1) närmar sig elanslutningen (ll), k ä n n e t e c k n a d d ä r a v, att fordonet (1) dessutom är försett med en arm (8), vilken kabeln (7) löper och vilken sträcker sig upp över och utanför fordonet (1), samt att nämnda arm (8) är styrt svängbar relativt fordonet (l) till förvalda vinkellägen, vilka är beräknade med hänsyn till fordonets (1) inprogrammerade rörelsebana (13, 15, 17), i syfte att i varje läge hålla undan kabeln (7) och lämna fordonet (1) fri väg. utefterDevice for handling a cable (7) extending between an electrical connection (ll) and a vehicle (l), which may be a driverless, electric work vehicle or a self-propelled vehicle, electric work machine, which vehicle is arranged to move successively over a surface (2), for example for processing thereof, and is provided with control means for guiding the vehicle (1) along a certain predetermined path (13, 15, 17) on the substrate (2), and that the vehicle (1) is further provided with a cable magazine (4) and feed means (6), which are controlled in coordination with the driving of the vehicle (1) and are arranged to, in step with the vehicle (1) speed out the cable (7) from the vehicle (1), when it moves away from the electrical connection (ll), and pull in the cable (7), when the vehicle (1) approaches the electrical connection (ll), k ä characterized in that the vehicle (1) is further provided with an arm (8), which cable (7) runs and which extends up over o ch outside the vehicle (1), and that said arm (8) is controlled pivotable relative to the vehicle (1) to preselected angular positions, which are calculated with regard to the programmed path (13, 15, 17) of the vehicle (1), in order to in each position keep the cable (7) away and leave the vehicle (1) freeway. along
SE9303794A 1993-11-16 1993-11-16 Device for handling a cable for eg self-propelled work machine SE501904C2 (en)

Priority Applications (3)

Application Number Priority Date Filing Date Title
SE9303794A SE501904C2 (en) 1993-11-16 1993-11-16 Device for handling a cable for eg self-propelled work machine
PCT/SE1994/001071 WO1995013982A1 (en) 1993-11-16 1994-11-15 Cable handling device
AU10805/95A AU1080595A (en) 1993-11-16 1994-11-15 Cable handling device

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
SE9303794A SE501904C2 (en) 1993-11-16 1993-11-16 Device for handling a cable for eg self-propelled work machine

Publications (3)

Publication Number Publication Date
SE9303794D0 SE9303794D0 (en) 1993-11-16
SE9303794L SE9303794L (en) 1995-06-17
SE501904C2 true SE501904C2 (en) 1995-06-19

Family

ID=20391776

Family Applications (1)

Application Number Title Priority Date Filing Date
SE9303794A SE501904C2 (en) 1993-11-16 1993-11-16 Device for handling a cable for eg self-propelled work machine

Country Status (3)

Country Link
AU (1) AU1080595A (en)
SE (1) SE501904C2 (en)
WO (1) WO1995013982A1 (en)

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102011080082A1 (en) * 2011-07-29 2013-01-31 Kiekert Ag Bearing device with cable guide for an electric vehicle
WO2017066842A1 (en) * 2015-10-21 2017-04-27 Micro-X Limited Rotary keeper for cabling
CN113148777B (en) * 2021-04-28 2022-10-21 四川航电微能源有限公司 Mobile two-end wire take-up and pay-off device and control method thereof

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3632906A (en) * 1970-09-14 1972-01-04 Caterpillar Mitsubishi Ltd Cable winder on tractor
DE3209294A1 (en) * 1982-03-13 1983-09-22 M.A.N. Maschinenfabrik Augsburg-Nürnberg AG, 4200 Oberhausen RAILWAY UNDERGROUND VEHICLE
AU589226B2 (en) * 1985-10-30 1989-10-05 Evans Deakin Industries Limited Cable reel

Also Published As

Publication number Publication date
SE9303794D0 (en) 1993-11-16
WO1995013982A1 (en) 1995-05-26
SE9303794L (en) 1995-06-17
AU1080595A (en) 1995-06-06

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