JPH0659981B2 - Control device for feeding and winding a cable for a mobile unit - Google Patents

Description

Description: TECHNICAL FIELD The present invention relates to a feeding / winding control device for a cable for a moving body that moves to a distant position such as a traveling robot.

2. Description of the Related Art When moving a moving body having a drive source such as a traveling motor to a narrow portion, for example, a cable for supplying electric power to the drive source is connected. This cable is used for feeding or winding the cable through the feeding / winding device. At that time, conventionally, a cable tension detecting unit is provided only on the feeding / winding device side, and the moving body and the feeding / winding device are provided. The cable tension between the take-up devices is detected, and the cable is paid out according to the movement of the moving body based on the detection. However, in the conventional device of this type, when viewed from the pay-out winding device side, the tension detector of the cable normally operates when the moving body moves forward to perform good pay-out control, but when the moving body moves backward, When winding up the cable, the tension detector does not operate even if the cable is loose on the moving body side due to the friction between the cable and the floor surface, or the detector does not detect even if there is tension. Occurs, and the cable is excessively wound or loosened, which hinders the movement of the moving body.

SUMMARY OF THE INVENTION The present invention has been made in view of the above problems, and an object of the present invention is to provide a cable feeding and winding device that does not hinder the movement of the moving body even when the moving body is retracted.

SUMMARY OF THE INVENTION According to the present invention, a cable tension detecting unit is provided on each of a cable feeding / winding device side and a moving body side, and at the time of cable feeding, a forward command and a detection signal from the tension detecting unit on the feeding / winding side are present for a fixed time only. The cable is fed out, and at the time of winding, the winding is stopped for a certain period of time under the condition that there is a backward command and a detection signal from the moving body side tension setting section.

Embodiment One embodiment of the present invention will be described in detail below with reference to the drawings.

In FIG. 1, reference numeral 1 denotes a moving body having a drive mechanism that moves forward and backward according to a control command. Reference numeral 2 denotes a cable, which is a cable for supplying electric power to the mobile body 1 and for transmitting a signal. A first tension detector 3 is provided on the moving body 1 side to detect the tension of the cable on the moving body side. Reference numeral 4 is a drive roller, and the drive roller 4 is rotatably attached to a support shaft 5 and is driven by a motor. The support shaft 5 is fixed to the base 6. Reference numerals 7 and 8 respectively denote guide rings, which are arranged in front of and behind the drive roller 4 and fixed to the base 6 to guide the cable 2. Reference numerals 9 and 10 respectively denote guide rollers. The guide rollers 9 and 10 are arranged above the drive roller 4, and although not shown, a spring presses the cable 2 toward the surface of the drive roller 4 to drive it. With the rotation of the roller 4, the cable 2 is paid out and wound. A tension detecting roller 11 is rotatably attached to one end of a lever 12, and the other end of the lever 12 is pivotally attached to the support shaft 5. Reference numeral 13 denotes a second tension detecting portion mounted between the lever 12 and the fixed portion, and these 4 to 13 constitute a cable feeding and winding device.

Fig. 2 shows the control device of the feeding and winding device.
Is a tension detecting circuit for converting the tension detected by the tension detecting section 3 into an electric signal, and 21 is a tension detecting circuit for converting the tension detected by the tension detecting section 13 into an electric signal. , 21 are introduced into the logic circuit 22. A and B are forward and backward commands output to the logic circuit 22, respectively. 23 is a time circuit, and this time circuit 23 is T
The feeding operation time of ₁ and the winding stop time of T ₂ are set. Reference numeral 24 is a drive circuit, and 25 is a motor for driving the drive roller 4.

The operation of the present invention configured as described above will be described.

When the forward movement command A is given to the moving body 1, the moving body 1 moves forward through the built-in drive mechanism. At that time, the forward movement command A is also applied to the logic circuit 22. When the moving body 1 moves forward,
Since the cable 2 is pulled toward the moving body, the tension detecting unit 3,
Reference numeral 13 detects tension respectively and outputs detection signals C and D to the logic circuit 22 via the tension detection circuits 20 and 21, respectively. The logic circuit 22 enables the forward / backward commands A and B as priority commands to enable the detection signal on the tension detecting unit 13 side when the forward command A is input, and when the backward command B is input, the tension detecting unit 3 is provided. It is logically configured so that the side detection signal is enabled. The logic circuit 22 is configured to output a feeding command under the AND condition of the forward command A and the tension detection signal D, and stop the winding command under the NAND condition of the reverse command B and the tension detection signal C. ing. Therefore, now that the forward circuit is given, the logic circuit is
As shown in FIG. 3, 22 outputs the payout command E at time t ₁ , and the motor 25 is driven via the time limit circuit 23 and the drive circuit 24. The drive roller 4 is therefore rotated and the cable 2 is paid out with the help of the guide rollers 9 and 10. At this time, the rotation speed of the motor 25 is determined so that the feeding and winding speed is higher than the traveling speed of the moving body 1 (for example, 1.2 to 1.5 times or more the traveling speed of the moving body). 2 is delivered before the traveling of the moving body 1 and the detection signal D of the tension detecting portion 13 disappears at time t _{2 in} FIG. However, the time limit circuit 23 is triggered by the delivery command,
Since the command E is continuously output for the time T _{1, the} motor 25 rotates until the time t ₃ and the cable 2 is fed out. The feeding is stopped from the time t _3, but the moving body 1 further advances, and when the tension detecting unit 13 detects the tension again at the time t ₄ , the feeding command is issued to the motor 25 in the same manner as described above, and the feeding is started. To be done. In the same manner, the feeding and stopping of feeding are repeated to move the moving body 1 forward.

Next, when a reverse command B is issued to the mobile unit 1, the mobile unit 1 starts reverse, and at the same time, the reverse command B is also input to the logic circuit 22, which logic circuit 22 is shown in FIG. As shown by, the winding command F is immediately issued at time t ₁ to rotate the motor 25 in the winding direction. Therefore, cable 2
Is wound up at a speed higher than the traveling speed of the moving body 1 by the action of the driving roller 4 and the guide rollers 9 and 10. At time t ₂ , the tension detecting unit 3 detects the tension and the detection signal C
Is input to the logic circuit 22, the winding command F is lost and the motor 25 is stopped. This stop is continued for a time T ₂ set by the timing circuit 23, stop the motor 25 is not performed continuously winding even summer without tension detection signal C even during this T _2. When the time t ₃ is reached and the set time period T ₂ has elapsed, the winding command F is given to the motor 25 again without the detection signal C.
Is output. In the same manner, the winding operation and the winding stop operation are repeated, and the moving body 1 returns to the initial position.

In the above embodiment, the case where the speed of the motor is not controlled has been described. However, when the speed range of the moving body 1 is large, a speed control element is incorporated in the drive circuit 24 to
It is also possible to introduce a speed control signal into the drive circuit 23 through the logic circuit 22 as shown by a dotted line in the figure, and feed it out at a speed corresponding to the speed of the moving body to change the winding speed.

EFFECTS OF THE INVENTION As described above, according to the present invention, a tension detecting unit is provided on each of the cable winding / winding device side and the moving body side, and the cable feeding or the winding is stopped for a certain period of time depending on the presence or absence of the tension detection signal. It was done like this. As a result, the cable tension can be reliably detected when the moving body moves forward and backward, and T ₁
T tension only and becomes cable during the time that the moving body is pulled by the setting value or more tension momentarily by the _second time provided Sugiya, slack is not connexion mobile is likely to operate. Generally, due to the inertia of the rotor of the motor and the motor load, there is a delay in the start-up of the motor rotation and a delay in the stop time when the power is turned on and off, but if the cable tension is detected due to this delay time, Therefore, the motor may cause hunting. However, in the present invention, since the feeding time and the winding stop time are specified by T ₁ T _2, hunting does not occur, and since the number of times the motor is stopped and started is reduced, heat generation of the motor is reduced. Further, since the number of times of stopping and starting is reduced, the on / off control of the motor can be performed by the relay, and the circuit is simplified.

[Brief description of drawings]

1 is a schematic configuration diagram of the present invention, FIG. 2 is a block diagram of a motor control device applied to the present invention, FIG. 3 is a time chart for feeding a cable, and FIG. 4 is a time chart for winding a cable. . 1 ... moving body, 2 ... cable, 3,13 ... tension detecting section, 4 ... driving roller, 9,10 ... guide roller,
22 …… Logic circuit, 23 …… Time circuit, 24 …… Drive circuit, 25 …… Motor.

Claims (1)

[Claims] 1. A cable, wherein one end of a cable is attached to a moving body, and the cable is fed and wound by a feeding and winding device having a driving roller as the moving body moves. The body is provided with a first tension detecting portion for detecting the tension of the cable, the feeding and winding device is provided with a second tension detecting portion, and the feeding signal is a feeding signal as a detection signal of the second tension detecting portion when the moving body is moving forward. And a logic circuit that outputs a winding stop signal by the detection signal of the first tension detecting portion when the moving body is moving backward, and a feeding signal and a winding stop signal from this logic circuit are output for a fixed time respectively. And a time limit circuit for controlling the motor for the drive roller.