| 摘要 |
<p>PURPOSE:To avoid the dip or excessive tension of a cable while a self-travelling robot is travelling by a method wherein a cable take-up torque calculation table peculiar to a bent route is set up by a cable pay-off/take-up means to control the pay-off and take-up of the cable. CONSTITUTION:When a self-travelling robot 3 travels forward, a cable pay-off length and a cable take-up torque are measured by a cable pay-off length detecting means 6 and a cable take-up torque detecting means 5 respectively and the detected results are transmitted to a cable pay-off/take-up control means 9. Further, a cable tension measured by a cable tension detecting means 8 on the self-travelling robot 3 side and the travelling position datum of a travelling position detecting means 7 which measures the travelling position of the self- travelling robot 3 are respectively transmitted to the cable pay-off/take-up means 9. Then the system control of a cable take-up apparatus 1, a cable 2 and the self-travelling robot 3 is performed in accordance with the informations transmitted from the respective detecting means 5-8. With this constitution, the pulling torque of the cable 2 can be controlled while the self-travelling robot 3 is travelling.</p> |
