KR20130105143A - Winch and autonomous mobile apparatus including the same - Google Patents

Abstract

A winch and an autonomous moving device having the same are provided. Winch according to an exemplary embodiment of the present invention, the main frame; A drum shaft installed on the main frame; A wire drum mounted to the drum shaft to move in an extension direction of the drum shaft as the drum shaft rotates; A wire installed to be wound or unwound on the wire drum; A drive motor installed in the frame to rotate the drum shaft; And a reverse cam configured to reciprocate the wire drum along the drum shaft as the drive motor rotates, and a transmission unit configured to transmit rotational force of the drive motor to one side of the drum shaft and the reverse cam.

Description

Winch and autonomous mobile device including the same {Winch and autonomous mobile apparatus including the same}

The present invention relates to a winch and an autonomous mobile device including the same.

An autonomous platform equipped with a work robot is used to automatically perform work such as welding or cutting inside the block of the hull. The autonomous platform is operated to move inside the hull block using a plurality of wires to a platform on which the robot can be mounted.

Here, the platform can freely move inside the hull block by repeatedly performing a process of winding or unwinding the wires coupled to the hull block inner wall surface. Furthermore, the precise control of the length of the wire wound or unwound by the winch allows the platform to move to the desired position inside the hull block.

However, a winch that is generally used, when the wire drum constituting the winch rotates in a direction in which the wire is released without tensioning the wire, the wire between the wire drum and the wire discharge port may sag or sag.

These sagging wires are in a messy state even if they are tangled or not tangled with each other. In this state, when the winch winds up the wire, the wire is wound around the wire drum in a tangled or distorted state. Therefore, there is a problem in that the length of the wire wound or unwound by the winch cannot be precisely controlled.

In addition, a winch that is generally used, when the wire drum constituting the winch is rotated in a direction in which the wire is released without tensioning the wire, the wire tightly wound on the wire drum is loosened and a phenomenon of lifting occurs from the outer circumferential surface of the wire drum. do.

It is difficult to wind the wire tightly back to the wire drum while the wire is loosely loosened and lifted from the wire drum. Therefore, there was a problem in that the length of the wire wound or unwound by the winch could not be precisely controlled.

In order to solve such a problem, the inventor of the present invention has proposed a winch that can prevent the wire from sagging in Korean Patent Application No. 10-2009-0029628, such a winch is a layer of wire to the wire drum Since only the length of the wire can be wound, there was a problem that the size of the wire drum must be very large.

Korean Patent Application No. 10-2009-0029628

One embodiment of the present invention is to provide a winch and an autonomous mobile device having the same can be wound while a long length of wire having a small size.

According to an aspect of the invention, the main frame; A drum shaft installed on the main frame; A wire drum mounted to the drum shaft to move in an extension direction of the drum shaft as the drum shaft rotates; A wire installed to be wound or unwound on the wire drum; A drive motor installed in the frame to rotate the drum shaft; The winch includes a reverse cam for reciprocating the wire drum along the drum shaft as the drive motor rotates, and a transmission unit for transmitting the rotational force of the drive motor to one side of the drum shaft and the reverse cam.

The reverse cam may be arranged in parallel with the drum shaft so that the wire wound on the wire drum can be wound in one or more layers on the wire drum.

At this time, the reverse cam has a double helix groove is formed in the cylindrical cam rotatably formed by the transmission unit and the cylindrical cam can move along the double helix groove, one side of the slider connected to the wire drum It may include.

The length in which the double helix groove is formed among the extension lengths of the cylindrical cam may be 1/2 of the length that the wire drum can move along the drum shaft.

The transmission unit drive gear coupled to the drive shaft of the drive motor; A first transmission gear meshed with the drive gear; A second transmission gear installed on the same axis as the first transmission gear; A first drum gear coupled to the drum shaft; A second drum gear coupled to the drum shaft and engaged with the second transmission gear; And a camshaft gear engaged with the first drum gear and coupled to the reverse cam.

The winch may further include a tension control unit installed on the main frame to adjust the tension of the wire which is unwinded and wound on the wire drum.

The tension controller includes a tension controller frame coupled to the main frame; The tension adjusting unit frame includes a tension roller and a first pinch roller rotatably installed about axes parallel to the drum shaft, and the tension gear coupled to the rotation shaft of the tension roller is in the same direction as the drum shaft. It may be connected to the first or second drum gear installed on the drum shaft so as to rotate.

The winch may further include a torque limiter installed on the rotation shaft of the tension roller.

The winch may further include a one-way clutch installed on the rotation shaft of the tension roller.

The winch may include a tension measuring device installed on the tension adjusting unit frame to measure the tension of the wire caught on the tension roller.

The winch may further include a first encoder coupled to the drive motor to measure the speed of the drive motor.

The winch may further include a wire support part installed on the main frame to support movement of the wire unwinded and wound on the wire drum.

The wire support part is a wire support frame coupled to the main frame; And a support roller and a second pinch roller rotatably installed about the axes parallel to the drum shaft in the wire support frame, wherein the support roller and the second pinch while the wire is unwound and wound on the wire drum. It passes between the rollers and can be supported by the support rollers.

The winch may further include a second encoder installed on the rotation shaft of the support roller to measure a moving distance of the wire based on the amount of rotation of the support roller.

The winch may further include a wire guide part installed at the main frame to guide movement of the wire unwinded and wound on the wire drum.

The wire guide part has a through hole through which the wire passes, but the rotation block is rotatably installed on the main frame about an axis parallel to the direction in which the wire passes; A guide roller support frame coupled to the rotating block; And a guide roller rotatably installed on the guide roller support frame about an axis perpendicular to the extending direction of the wire passing through the through hole.

The wire guide part is installed on one side and the other side of the support rod installed on the outer circumferential surface side of the guide roller so that the wire is in contact with the outer circumferential surface of the guide roller, and supports both ends of the support rod, respectively. It may include a pair of link members rotatable about the axis of rotation of the roller.

At this time, a guide groove may be formed in the center of the support rod so that a part of the wire may be guided.

The wire guide portion may further include a wire guide tube coupled to the link member so that the wire passing through the guide roller and the support rod may pass therethrough.

According to another aspect of the present invention, there is provided an autonomous mobile device that is movable in a constant working space, comprising: a moving platform movably located inside the working space; Winch according to any one of claims 1 to 18 installed on the mobile platform; And a wire having one end coupled to a support defining the work space and the other end coupled to the winch, wherein the moving platform is coupled to a plurality of winches and the plurality of winches respectively installed on the moving platform. Thereby an autonomous moving device is provided, which is movable within the working space.

According to one embodiment of the present invention, the wire drum of the winch can be wound in multiple layers to install a long length of wire in the winch of a small size.

1 is a schematic diagram of an autonomous mobile device according to an embodiment of the present invention.
2 is a perspective view of a winch according to an embodiment of the present invention.
3 is a plan view of a winch according to an embodiment of the present invention.
4 is a cross-sectional view of the winch according to an embodiment of the present invention.
5 is a perspective view of the winch according to an exemplary embodiment of the present invention as seen from a direction different from that of FIG. 2.
6 to 10 are views for explaining a state in which the winch operating according to an embodiment of the present invention.

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings so that those skilled in the art may easily implement the present invention. The present invention may be embodied in many different forms and is not limited to the embodiments described herein. In order to clearly illustrate the present invention, parts not related to the description are omitted, and the same or similar components are denoted by the same reference numerals throughout the specification.

 1 is a view schematically showing an autonomous mobile device including a winch according to an embodiment of the present invention. The autonomous mobile device 10 is free to move in a constant working space 2, such as inside the block of the hull.

Referring to FIG. 1, the autonomous mobile device 10 includes a moving platform 20 and a wire 30. The moving platform 20 is located inside the workspace 2 during the moving process. The moving platform 20 includes a moving body 21 and a winch 22.

On the upper side of the moving body 21, a work device 50 capable of performing operations such as welding, cutting, painting, blasting and grit recovery may be mounted to be movable in the longitudinal direction of the moving body 21. Inside the movable body 21, components such as a battery capable of supplying electricity for driving the winch 22 and the like and a controller for controlling the movement of the movable body 21 are installed. In addition, a work device that can be mounted on the lower side of the movable body 21 can also be mounted to be movable in the longitudinal direction of the movable body 21.

A plurality of winches 22 are installed inside or outside the moving body 21. The winch 22 is coupled to the other end of the wire 30, one end of which is coupled to a support that defines the workspace 2. Here, the support defining the working space means the same as the partition wall partitioning the block of the hull, in addition to the various forms of the support is applied to this embodiment.

The autonomous mobile device 10 configured as described above uses the winch 22 to wind or unwind the wire 30 coupled with the winch 22 so that the moving platform 20 can move freely within the workspace 2. It works.

In this case the winch 22 is configured to precisely adjust the length of the wire 30 to be wound or unwound. Accordingly, the autonomous mobile device 10 is operated to precisely move the moving platform 20 to a desired position of the workspace 2.

Hereinafter, the winch according to an embodiment of the present invention will be described in more detail with reference to the drawings.

2 is a perspective view of a winch according to an embodiment of the present invention. 3 is a plan view of a winch according to an embodiment of the present invention. 4 is a cross-sectional view of the winch according to an embodiment of the present invention. 5 is a perspective view of the winch according to an exemplary embodiment of the present invention as seen from a direction different from that of FIG. 2.

2 to 5, the winch 22 according to an embodiment of the present invention includes a main frame 201, a drum shaft 234, a wire drum 230, a wire 30, and a driving motor 211. The reverse cam 240 and the transmission unit 200 are included.

The main frame 201 is a frame in which the components constituting the winch 22 are installed, and includes a horizontal frame 202 and a vertical frame 204.

Referring to FIG. 2, the upper side of the horizontal frame 202 includes components constituting the winch 22, for example, a drive motor 211, a wire drum 230, a reverse cam 240, and a transmission part 200. ) Is installed, the lower side of the horizontal frame 202 is formed to be coupled to one side inside the moving body (21).

One side of the horizontal frame 202 is a vertical frame 204 is formed. As can be seen in FIG. 2, the vertical frames 204 are arranged in an upright direction with respect to the horizontal frame 202.

According to one embodiment of the invention, the vertical frame 204 is provided with a wire guide portion 270, the tension adjustment unit 260 and the wire support 250. Referring to FIG. 2, the winch 22 according to the exemplary embodiment of the present invention has a wire drum 230 wound around the wire 30 at an upper side of the horizontal frame 202, and is unwound from the wire drum 230. The wire is formed to unwind in the left direction of the vertical frame 204 when viewed in FIG. 2 through the wire support part 250, the tension adjusting part 260, and the wire guide part 270 installed in the vertical frame 204.

One side of the horizontal frame 202 is provided with a drive motor 211. The drive motor 211 is a configuration for generating a driving force for rotating the wire drum 230 described later. In this embodiment, the driving motor 211 is formed to be located at the lower side of the vertical frame 204 and the left edge of the horizontal frame 202 as shown in FIG.

The reducer 212 is installed at the front side of the drive motor 211 to adjust the rotational speed of the drive motor 211.

A brake 215 and a first encoder 216 are provided on the rear side of the drive motor 211. The first encoder 216 measures the rotational speed of the drive motor 211, and the brake 215 serves to stop the drive motor 211.

In this case, the reduction gear 212, the brake 215, and the first encoder 216 connected to the driving motor 211 may be selectively installed in the driving motor 211.

The drive gear 214 is installed on the drive shaft 213 of the reduction gear 212 connected to the drive motor 211, and the transmission unit 200 is coupled to the drive gear 214.

According to an embodiment of the present invention, the transmission unit 200 is connected to the drive gear 214 to the rotational force generated by the drive motor 211 wire drum 230, tension adjustment unit 260 and reverse cam 240 To pass on. Hereinafter, the transmission unit 200 formed of a plurality of gears will be described first, and then the description of the wire drum 230, the tension control unit 260, and the reverse cam 240 connected to the transmission unit 200 will be described later. do.

The transmission part 200 includes a first transmission gear 221, a second transmission gear 223, a third transmission gear 228, a tension roller gear 229, a first drum gear 225, and a second drum gear ( 224, a camshaft gear 226.

The first transmission gear 221 rotates about the first transmission shaft 222 and is formed to engage with the driving gear 214.

The first transmission shaft 222 is provided with a second transmission gear 223 rotating together with the first transmission gear 221.

Referring to FIG. 2, a drum shaft 234 is positioned at a right side of the first transmission shaft 222, and a first drum gear 225 and a second drum gear 224 are installed at the drum shaft 234. . The drum shaft 234 is provided with a wire drum 230 to be described later.

The second drum gear 224 is meshed with the second transmission gear 223 described above and is formed to rotate together with the rotation of the second transmission gear 223. As the drum shaft 234 rotates, the wire drum 230 is formed to rotate together with the drum shaft 234.

The first drum gear 225 concentrically arranged with the second drum gear 224 is a camshaft gear rotatably installed on the camshaft 241 located at the right side of the drum shaft 234 as shown in FIG. It is formed to engage with 226. The cam cam 241 is provided with a reverse cam 240. According to one embodiment of the present invention, as the cam shaft 241 rotates, the reverse cam 240 operates to guide the wire 30 when the wire drum 230 installed on the drum shaft 234 rotates.

 Meanwhile, the third electric gear 228 is rotatably installed on the third electric gear shaft 227. The third transmission gear 228 is meshed with the second drum gear 224 so that the third transmission gear 228 rotates as the second drum gear 224 rotates.

Referring to FIG. 2, the tension roller gear 229 is meshed with the third electric gear 228. The tension roller gear 229 rotates about the tension roller shaft 262, and accordingly, the tension roller shaft 262 is formed to rotate when the tension roller gear 229 rotates.

The tension roller shaft 262 is positioned adjacent to the vertical frame 204 and one side of the tension adjusting unit 260 is formed to be supported by the vertical frame 204.

At this time, the tension roller shaft 262 is provided with a torque limiter 267 and a tension adjusting unit 260. The torque limiter 267 and the tension adjusting unit 260 will be described in detail later.

According to one embodiment of the present invention, as the drive gear 214 coupled to the drive motor 211 rotates, a plurality of gears coupled to the drive gear 214 simultaneously rotate to allow the wire drum 230 of the winch 22. As the wire moves, the wire 30 wound around the wire drum 230 is released or wound. In this way, the tension of the wire 30 is adjusted while the wire 30 is unwinded and wound.

2 and 3, when the drive gear 214 rotates clockwise, the first and second transmission gears 223 rotate counterclockwise. Then, the second drum gear 224 connected to the second transmission gear 223 and the first drum gear 225 coaxially arranged with the second drum gear 224 rotate in a clockwise direction. Then, the camshaft gear 226 engaged with the first transmission gear 221 and the third transmission gear 228 engaged with the second drum gear 224 rotate in the counterclockwise direction. When the second transmission gear 223 rotates counterclockwise, the tension roller gear 229 engaged with the third transmission gear 228 rotates clockwise.

At this time, the rotation speed of the drum shaft 234, the cam shaft 241 and the tension roller shaft 262 that rotates together with the rotation of the drive shaft 213 may vary depending on the gear ratio between the gears connected to each shaft. .

On the other hand, the wire drum 230 provided on the drum shaft 234 is a configuration for winding the wire 30, it is made of a cylindrical shape. In this embodiment, the wire drum 230 is installed on the drum shaft 234 to move along the drum shaft 234 as the drive shaft 213 rotates. To this end, the drum shaft 234 and the wire drum 230 may be coupled in a coupling manner such as a ball spline method.

At both ends of the wire drum 230 in the axial direction, disk flanges 236 and 237 are installed. Accordingly, the wire 30 is formed to be wound between one flange 236 and the other flange 237 of the wire drum 230.

3 and 4, the drum shaft 234 on which the wire drum 230 is installed is formed to have a length about twice the length of the wire drum 230 in the axial direction. The wire drum 230 is formed to move in a horizontal direction along the drum shaft 234 while the wire 30 wound around the wire drum 230 is unwound or wound.

Meanwhile, referring to FIGS. 4 and 5, the reverse cam 240 is installed at the side of the wire drum 230.

Reverse cam 240 includes cylindrical cam 242 and slider 244.

The cylindrical cam 242 is concentrically coupled to the camshaft 241 and is formed to rotate together as the camshaft 241 rotates. Cylindrical cam 242 is formed to be parallel to the drum shaft 234, as can be seen in Figure 3, is formed to have a length of about half the extension length of the drum shaft 234.

Double spiral grooves 243 are formed in the surface of the cylindrical cam 242 to guide the slider 244.

The slider 244 is formed to move in the axial direction of the cylindrical cam 242 along the double helix groove 243 as the cylindrical cam 242 rotates.

Slider 244 is coupled to one side flange 236 of wire drum 230. Accordingly, when the slider 244 moves along the double helix groove 243 of the cylindrical cam 242, the wire drum 230 may also move together with the slider 244.

At this time, since the drum shaft 234 which is the rotation shaft of the wire drum 230 and the cam shaft 241 of the reverse cam 240 are connected by the first drum gear 225 and the cam shaft gear 226, the drum shaft 234 ) And the camshaft 241 rotate at the same time, and the slider 244 moving along the cylindrical cam 242 of the camshaft 241 when the wire drum 230 moves while the drum shaft 234 rotates, the wire drum ( While moving along with 230, the movement direction of the wire drum 230 is controlled. Such a detailed description of the operation of the wire drum 230 and the slider 244 will be described later.

Meanwhile, referring to FIGS. 3 and 4, the tension frame 260 and the wire support part 250 are installed in the vertical frame 204.

The tension controller 260 includes a tension controller frame 261, a tension roller 263, a first pinch roller 265, and a load cell 280.

The tension controller frame 261 is installed on one side of the vertical frame 204 facing the wire drum 230.

As can be seen in FIG. 4, a tension roller 263 and a first pinch roller 265 respectively include a tension roller shaft 262 and a first pinch roller shaft 264 in the vertical direction. It is arranged to be rotatable about the center. Accordingly, the wire 30 that is unwound or wound from the wire drum 230 is formed to move between the tension roller 263 and the first pinch roller 265.

At this time, as can be seen in Figure 4, the position of the wire 30 passing through the tension roller 263 and the first pinch roller 265 is higher than the wire 30a of the state wound on the wire drum 230 Is located in.

On the other hand, the load cell 280 is installed below the tension roller 263. Referring to FIG. 4, a support protrusion 281 penetrates an insertion hole 268 formed below the tension roller 263 of the tension adjusting frame 261 in the upper portion of the load cell 280 to lower the tension roller 263. It is formed to be able to measure the pressure of the wire 30 applied to the tension roller 263 in contact with the side.

Since the wire 30a wound on the wire drum 230 is lower than the position of the wire 30 passing between the tension roller 263 and the first pinch roller 265, the wire 30 is made of the tension roller 263 and the first wire. During the passage between the pinch rollers 265, the magnitude of the pressure for pressing the tension roller 263 downward depends on the magnitude of the tension of the wire 30.

As described above, the pressure of the wire 30 pressurizing the tension roller 263 is measured, and the tension of the wire 30 is detected by adjusting the rotational speed of the wire drum 230 using the wire 30. Adjust.

3, a coupling 266 and a torque limiter 267 are installed on the tension roller shaft 262. In addition, a tension roller gear 229 is installed at one end side of the tension roller shaft 262 so that the tension roller shaft 262 may be rotated according to the rotation of the third transmission gear 228.

Coupling 266 may be a one way clutch. The one-way clutch blocks the rotational force transmitted to the tension roller 263 by the tension roller shaft 262 when the wire drum 230 rotates in the winding direction of the wire 30, and on the contrary, the wire drum 230 is connected to the wire 30. ) Rotates in the unwinding direction so that the rotational force is transmitted to the tension roller 263 by the tension roller shaft 262.

Accordingly, when the wire drum 230 rotates in the winding direction of the wire 30, the tension roller 263 is wound around the wire drum 230 without being affected by the rotational force transmitted by the tension roller shaft 262. It rotates due to friction with the wire 30.

On the other hand, when the wire drum 230 rotates in the direction of loosening the wire 30, the tension roller 263 is rotated by the rotational force transmitted by the tension roller shaft 262.

In this case, the tension roller 263 rotates in the direction in which the wire 30 faces the vertical frame 204. In this embodiment, as the tension roller 263 rotates in this manner, the wire 30 released from the wire drum 230 is pulled toward the vertical frame 204 due to friction with the tension roller 263, and the tension roller 263 and the wire. The wire 30 located between the drums 230 maintains tension.

In this regard, in the situation where the wire 30 is unwound from the wire drum 230, the tension roller 263 may be held at the same time to maintain tension of the wire 30 positioned between the tension roller 263 and the wire drum 230. The length of the wire 30, which is longer than the length of the loosening wire 30 of the air drum 230, must be rotated to pull toward the vertical frame 204, and for this purpose, the tension roller gear 229 and the meshed portion thereof are engaged. The gear ratio of the third drive gear 214 can be adjusted appropriately.

According to one embodiment of the present invention, the torque limiter 267 installed on the tension roller shaft 262 prevents excessive rotational force from being transmitted to the tension roller 263 by the tension roller shaft 262. In this case, the excessive rotational force means that the wire drum 230 is supported by the tension roller 263 and the tension roller 263 which rotate in the direction of discharging the wire 30 when the wire drum 230 rotates in the unwinding direction of the wire 30. Means a rotational force at least equal to the rotational force at the moment when the slip occurs.

Thus, by installing the torque limiter 267 on the tension roller shaft 262, it is possible to prevent the occurrence of slip between the tension roller 263 and the wire 30 supported by the tension roller 263, the slip It is possible to prevent damage to the wire by.

Meanwhile, according to an embodiment of the present invention, a wire support part 250 is formed between the tension control part 260 and the wire drum 230 to support the wire 30 moving toward the tension control part 260. .

The wire support part 250 includes a support roller 251 and a second pinch roller rotatably installed on the support roller shaft 252 and the second pinch roller shaft 254 respectively provided on one side of the tension adjuster frame 261. 253).

The support roller 251 and the second pinch roller 253 are installed adjacent to each other so that the wire 30 unwound from the wire drum 230 passes between the support roller 251 and the second pinch roller 253 to adjust the tension. To move between the tension roller 263 and the first pinch roller 265 of (260).

At this time, the number of rotations of the support roller 251 rotated by the wire 30 passing through the support roller 251 and the second pinch roller 253 with a second encoder 255 installed on the support roller shaft 252. Measure Accordingly, the moving length of the wire 30 may be measured by the second encoder 255.

On the other hand, according to one embodiment of the present invention, the tension adjusting unit 260 and the wire support 250 is located in the center of the vertical frame 204 in the horizontal direction in Figure 3, the wire 30 is always the same It is formed to be unwound from the wire drum 230 or wound on the wire drum 230 at the center of the vertical frame 204 where the position, that is, the tension adjuster 260 and the wire support 250, is located.

According to one embodiment of the present invention, the wire drum 230 is a drum shaft to maintain a constant position where the wire 30 is released or wound while the wire 30 is unrolled or wound on the wire drum 230. 234 is formed to move in the horizontal direction. More detailed description of the operation of the winch 22 will be described later.

Meanwhile, the wire 30 passing through the tension adjusting unit 260 is formed to pass through the wire guide unit 270.

As shown in FIG. 3, the wire guide part 270 is installed at the center of the vertical frame 204 in the horizontal direction. At this time, the wire guide part 270 is installed on the opposite side of the tension adjusting part 260 and the wire support part 250.

The wire guide part 270 may include a rotation block 271, a support 272, a link member 274, a support rod 275, and a wire guide tube 278.

2 and 4, the rotation block 271 is rotatably installed at the center of the vertical frame 204 by the bearing 273. At this time, the rotation block 271 is formed to be rotatable about an axis parallel to the direction in which the wire 30 passes.

On the other hand, the rotary block 271 is provided with a through hole 271a in the central portion of the rotary block 271 so that the wire 30 passing through the tension control unit 260 can pass through. The guide roller support frame 272 is provided on the front side of the rotation block 271 when defining the direction in which the wire 30 is discharged through the rotation block 271 to the front of the rotation block 271.

The guide roller support frame 272 is formed to rotate together with the rotation block 271. The guide roller shaft 277 is provided in the guide roller support frame 272, and the guide roller shaft 277 is arranged perpendicular to the extending direction of the wire 30.

The guide roller 276 is rotatably formed on the guide roller shaft 277. In this case, referring to FIG. 4, the wire 30 moving through the rotating block 271 toward the front side of the rotating block 271 is formed to be guided past the upper end of the guide roller 276.

On the other hand, the support rod 275 is provided in the outer peripheral surface side of the guide roller 276. The support rod 275 is formed so that both ends are supported by a pair of link members 274 rotatable about the guide roller shaft 277. A guide groove 275a is formed at the center of the support rod 275 so that a part of the wire 30 is in contact with the guide rod 275a.

The support rod 275 is formed to be rotatable along the outer circumferential surface of the guide roller 276 by the link member 274. Accordingly, the wire 30 can be stably guided along the outer circumferential surface of the guide roller 276, and the wire 30 is inclined at a predetermined angle with respect to the vertical frame as well as the vertical direction with respect to the vertical frame 204. Even if it is unwound or wound from the wire drum 230 in a state, the wire 30 can be stably guided.

On the other hand, the wire guide tube 278 is coupled to the pair of link members 274 so that the wire 30 passing through the guide roller 276 and the support rod 275 can pass therethrough.

The wire guide tube 278 is arranged perpendicular to the pair of link members 274 and is positioned at the center of the c-shaped frame 279 and passes between the guide roller 276 and the support rod 275. Is always formed to be unwound or wound past the wire guide tube 278.

The wire 30 guided by the wire guide portion 270 is finally guided by the wire guide tube 278 and finally escapes from the winch. The wire guide tube 278 prevents the wire 30 unwound from the wire drum 230 from twisting in a position beyond the winch 22 past the vertical frame 204 or from the wire guide portion 270.

Hereinafter, a process of operating the winch 22 according to an exemplary embodiment of the present invention will be described with reference to the accompanying drawings.

6 to 10 are views for explaining a state in which the winch operating according to an embodiment of the present invention. 6 is a view showing a state in which the wires of the winch are all wound on the wire drum. 7 is a view showing a state in which the wire of the winch is released from the wire drum. 8 is a view showing a state in which the wire of the winch is wound in one layer on a wire drum. 9 is a view showing a state in which the wire of the winch in the state of FIG. 8 is released from the wire drum. 10 is a view showing a state in which the wire of the winch in the state of FIG. 8 is wound around the wire drum.

The winch 22 according to the exemplary embodiment of the present invention is formed so that the wire 30 is wound on the wire drum 230 in a plurality of overlapping states. In the present embodiment, a state in which the wire 30 is overlapped in two layers on the wire drum 230 will be described.

Referring to FIG. 6, while the wires 30 of the winch 22 are all wound on the wires, the wire drum 230 remains in the position nearest to the second drum gear, that is, in the I position in FIG. 6. do.

At this time, the wire 30 extends toward the wire support part 250 in a state in which one side of the wire 30 is adjacent to one of the flanges 237 of the flange of the wire drum 230, and the wire 30 is extended to the wire drum 230. Keep wound in layers.

When the wire 30 is released in the state positioned in the I position as described above, as shown in FIG. 7, the wire 30 is released while the wire drum 230 moves horizontally along the drum shaft 234. At this time, the position (A) where the wire 30 is released is the center portion of the vertical frame in which the wire support part 250, the tension control part 260, and the wire guide part 270 are located, and this position is not changed.

As the wire drum 230 moves as the wire 30 overlapped with the wire drum 230 is unwound, the slider 244 coupled to the flange 236 of the wire 30 is also along the cylindrical cam 242. Move.

Thereafter, when all of the wires of one layer of the wires overlapped with the wire drum 230 are released, the wire drum is positioned at the II position as shown in FIG. 8. At this time, the wire drum 230 no longer moves in the horizontal direction because the slider 244 of the reverse cam 240 no longer moves in the horizontal direction (upward direction in FIG. 8). With the wire drum 230 positioned at this II position, the wire at the position where the wire 30 is released is positioned adjacent to the flange 236 associated with the slider 244.

If the wire drum 230 does not reach the II position while moving to the II position to release the wire 30 positioned at the I position as shown in FIG. 6, the wire 30 is moved back to the wire drum. In the case of winding the wire 230, the wire drum 230 is moved in a direction from the II position to the I position.

On the other hand, in the state where the wire drum 230 is located in the II position shown in Figure 8, if you want to continue to loosen the wire 30 to operate the drive motor in the direction of loosening the wire 30 as shown in Figure 9 Likewise, as the wire 30 continues to be released from the wire drum 230, the wire drum 230 moves in the direction from the II position to the I position (lower direction in FIG. 9). At this time, the wire drum 230 moves downward along the slider 244 coupled to the flange 236 of the wire drum 230. At this time, the position where the wire 30 is released from the wire drum 230 is maintained as it is.

On the other hand, in the state where the wire drum 230 is positioned in the II position shown in FIG. 8, when the wire 30 is to be wound again, the driving motor is operated in the direction in which the wire 30 is wound. As shown, the wire 30 is rewound to the wire drum 230 and moves in the direction in which the wire drum 230 moves from the II position to the I position (lower direction in FIG. 10). At this time, the wire drum 230 moves downward along the slider 244 coupled to the flange 236 of the wire drum 230. At this time, the position where the wire 30 is released from the wire drum 230 is maintained as it is.

That is, the wire drum 230 moves horizontally from the II position to the I position both when the wire 30 is wound on the wire drum 230 and when the wire 30 is unwound while the wire drum 230 is positioned at the II position. The wire 30 is wound or unwound, and thus, the cylindrical cam may be smoothly moved while the wire 30 is wound or unwound by the wire drum 230 while moving back and forth between the I and II positions. The length of which the double spiral grooves 243 are formed among the extension lengths of the 242 may be about half of the length of the wire drum 230 that can move along the drum shaft 234.

In this configuration, the wire drum 230 is guided along the reverse cam 240 while reciprocating a defined length along the drum shaft 234 so that the wire 30 is wound in a plurality of layers on the wire drum 230. It can be formed to be loosened or wound.

Therefore, the winch 22 according to the embodiment of the present invention can install a long length of wire to the wire drum without lengthening the axial extension of the wire drum 230.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the invention is not limited to the disclosed exemplary embodiments, It will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.

22 winch 201 main frame
210 Drive 200 Drive
230 wire drum 240 reverse cam
250 Wire Support 260 Tension Control
270 wire guide

Claims (21)

Main frame;
A drum shaft installed on the main frame;
A wire drum mounted to the drum shaft to move in an extension direction of the drum shaft as the drum shaft rotates;
A wire installed to be wound or unwound on the wire drum;
A drive motor installed in the frame to rotate the drum shaft;
A reverse cam for reciprocating the wire drum along the drum shaft as the drive motor rotates;
Winch including a transmission unit for transmitting the rotational force of the drive motor to one side of the drum shaft and the reverse cam.
The method of claim 1,
And the reverse cam is arranged side by side with the drum shaft so that a wire wound on the wire drum can be wound in one or more layers on the wire drum.
The method of claim 1,
The reverse cam is
A cylindrical cam formed with a double spiral groove and rotatably formed by the transmission unit;
The winch installed in the cylindrical cam can move along the double helix groove, one side includes a slider connected to the wire drum.
The method of claim 3, wherein
The length of which the double spiral groove is formed in the extension length of the cylindrical cam is 1/2 of the length that the wire drum can move along the drum axis.
The method of claim 1,
The transmission unit
A drive gear coupled to a drive shaft of the drive motor;
A first transmission gear meshed with the drive gear;
A second transmission gear installed on the same axis as the first transmission gear;
A first drum gear coupled to the drum shaft;
A second drum gear coupled to the drum shaft and engaged with the second transmission gear; And
A camshaft gear meshed with the first drum gear and coupled to the reverse cam;
Including, winch.
The method of claim 5, wherein
The winch further comprises a tension control unit installed on the main frame to adjust the tension of the wire unwinding and winding on the wire drum.
The method according to claim 6,
The tension control unit
A tension controller frame coupled to the main frame;
In the tension control unit frame, including a tension roller and a first pinch roller rotatably installed about the axis parallel to the drum shaft,
And the wire passes between the tension roller and the first pinch roller.
8. The method of claim 7,
The transmission unit
A tension roller gear coupled to the rotation shaft of the tension roller;
And a third transmission gear meshed between the tension roller gear and the first or second drum gear.
8. The method of claim 7,
The winch further comprises a torque limiter installed on the rotation axis of the tension roller.
8. The method of claim 7,
The winch further comprises a one-way clutch installed on the rotation shaft of the tension roller.
8. The method of claim 7,
And a tension measuring device installed on the tension adjusting part frame and capable of measuring the tension of the wire caught on the tension roller.
The method of claim 1,
And a first encoder coupled to the drive motor to measure a rotational speed of the drive motor.
The method of claim 1,
The winch further comprises a wire support installed on the main frame to support the movement of the wire unwinding and winding on the wire drum.
The method of claim 13,
The wire support is
A wire support frame coupled to the main frame;
In the wire support frame, including a support roller and a second pinch roller rotatably installed around the axis parallel to the drum shaft,
And the wire passes between the support roller and the second pinch roller while unwinding and winding on the wire drum.
15. The method of claim 14,
The winch further comprises a second encoder installed on the rotation shaft of the support roller to measure the moving distance of the wire based on the amount of rotation of the support roller.
The method of claim 1,
The winch is installed on the main frame further comprises a wire guide portion for guiding the movement of the wire is unwinded and wound on the wire drum.
17. The method of claim 16,
The wire guide portion
A rotation block having a through hole through which the wire passes, the rotation block being rotatably installed on the main frame about an axis parallel to a direction in which the wire passes;
A guide roller support frame coupled to the rotating block;
And a guide roller rotatably mounted to the guide roller support frame about an axis perpendicular to the extending direction of the wire passing through the through hole.
18. The method of claim 17,
The wire guide portion
A support rod installed on an outer circumferential surface side of the guide roller so that the wire is guided in contact with an outer circumferential surface of the guide roller;
The winch further comprises a pair of link members installed on one side and the other side of the guide roller to support both ends of the support rod, respectively, and rotatable about a rotation axis of the guide roller.
19. The method of claim 18,
The winch of the support rod is formed in the center of the guide groove so that a portion of the wire can be guided.
19. The method of claim 18,
The wire guide portion
And a wire guide tube coupled to the link member such that the wire passing through the guide roller and the support rod can pass therethrough.
An autonomous mobile device that can move in a constant working space,
A moving platform movably located within the work space;
The winch according to any one of claims 1 to 20 installed on the mobile platform; And
One end is coupled to a support defining the work space, and the other end is coupled to the winch,
And the movable platform is movable in the work space by a plurality of winches installed on the movable platform and wires respectively coupled to the plurality of winches.

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