| 摘要 |
PURPOSE:To have a winch driver followed up at the specified tension at all times by adding a velocity compensation value, made up of converting a wire tension deviation, to the velocity that is converted from travel speed of a traveling robot to rotational speed of the winch driver, and setting it down to a speed signal. CONSTITUTION:When travel motion of a traveling robot 1 meanders and so on, making a wire 3 loose to some extent, and the tension detected value of a tension sensor 8 becomes smaller than the setting value of a tension setter 10, a subtracter 13 outputs a negative tension deviation, whereby the rotational speed compensation value of a winch 2 being converted by a second operational means 9 comes to a negative value. If so, this negative value is added to a rotational speed command to be found by a first operational means 5 equal to travel speed of the traveling robot 1 by an adder 12. This driving command is given to a winch driver 6 and a delivery speed of the winch 2 is decreased, and when the wire 3 is stretched and its tension goes up more than the tension setting value, the subtracter 13 outputs a positive tension deviation, and thereby the speed compensation value of the winch 2 to be found by the second operational means 9 comes to a positive value, thus the wire delivery speed is increased. |
