Motorized cable reel

Abstract

Constant tension cable unwinder with a motor configured to drive a drum in one direction of cable unwinding and in one direction of cable winding, and a control unit configured to generate motor drive commands to maintain constant cable tension. Figure 1 to be published

Description

Title of the invention: Motorized cable unwinder Technical field

[0001] The invention relates to the field of automatic cable winders / unwinders, the function of such a device consisting of automatically winding and unwinding a cable by integrating different functions, such as that of maintaining constant tension in the cable. State of the prior art

[0002] The automatic cable winding devices according to the prior art have the disadvantage of not optimally managing situations in which the vehicle transporting the automatic winder takes turns. In these situations the vehicle risks rolling over the cable, which can cause the cable to be destroyed.

[0003] Document CN111960198A describes a robot that collects underwater waste with an automatic cable winding device, see Figures 1 to 3. CN111960198A discloses a magnetic powder clutch that detects the force of the operator to retract and unwind the cable, adjusts the rotation speed of the output shaft, and then adjusts the rotation speed of the spool to ensure that the force exerted by the operator on the cable is always constant, thus protecting the cable and the winding motor. However, this device has the following disadvantages: the detection of the traction force is carried out at the magnetic powder clutch, which protects the motor, but makes the device unresponsive. In addition, the motor is always kept activated and there is a lot of friction in the clutch, the motor management is not progressive. This implementation is heavy, complex, and consumes a lot of energy.

[0004] Document WO8402430A1 describes a control system for a driven cable reel mounted on a vehicle, in which the reel is adapted to pay out and unpay an electric cable to power the vehicle, such as a mine car. The control system modifies the torque supplied to drive the reel so as to maintain a relatively constant tension on the cable by using a sensor which determines the diameter of the reel, cf. claim 5. However, this device has the following disadvantages: the cable is wound and unwound at a constant speed, which poses a problem if the vehicle accelerates or takes turns. This embodiment does not allow for tension management during vehicle acceleration situations.

[0005] Document US4569489 describes a cable tension control device for an electric mining vehicle. The vehicle is of the trailing electric cable type wound on a cable reel mounted on the vehicle. The cable reel includes a motor for rotating the reel in the direction of cable winding when the vehicle is moving toward a power source and for preventing free winding of the reel when said cable is paid out when the vehicle is moving away from the power source. The device includes a sensor for measuring the amount of electrical cable on the spool and uses this detected amount of cable to control the driving torque of the motor in direct proportion to the detected amount of cable on the spool. The same detected amount of cable is used to control the braking torque developed by the motor when the motor is driven by the reel as when the cable is withdrawn during movement of the vehicle away from the power source.However, this device has the following disadvantages: the cable is wound and unwound at a constant speed, which poses a problem if the vehicle accelerates or takes turns. This design does not allow for tension management during vehicle acceleration situations.

[0006] A general objective of the invention is to provide a device which makes it possible to solve the identified drawbacks, implementing a simplified design and allowing increased responsiveness. Statement of the invention

[0007] The present invention relates to a constant tension unwinding module, said constant tension unwinding module comprising a frame, a drum provided with a hollow cylindrical body comprising an inner surface and an outer surface and axially limited by two flanges, a cable of a determined length and configured to be wound in turns around the drum, a motor configured to drive the drum in a direction of rotation for unwinding the cable and in a direction of rotation for winding the cable, a control unit configured to generate motor control commands, a torque limiter, said torque limiter being placed between the drum and the motor, a rotating collector configured to connect one end of the cable, a fixing device configured to apply a tensile force to a second end of the cable and a cable guiding device.

[0008] According to the implementation of the invention, the control unit is connected to an encoder and is configured to maintain a substantially constant tensile force on the cable.

[0009] The invention aims to provide optimal operation, responsive to the circumstances of use of the device.

[0010] According to one embodiment of the invention, a reducer is arranged between the motor and the torque limiter.

[0011] According to another embodiment of the invention, the motor is arranged on an axis which substantially coincides with the axis of the drum and preferably the motor and the torque limiter are arranged axially in a space formed by the two flanges of the drum and the inner surface.

[0012] According to another embodiment of the invention, the cable comprises at least one optical fiber, at least one metal wire, at least one tensile strength cable, at least one sheath or a combination of two or more of said elements and the cable is connected to a flange.

[0013] According to another embodiment of the invention, the length of the cable can vary between 10 and 5000 meters.

[0014] According to another embodiment of the invention, the guiding device comprises at least one horizontal roller, at least one vertical roller or preferably a combination of a pair of horizontal rollers and a pair of vertical rollers and the guiding device preferably further comprises a cutting box, said cutting box being arranged in rotational connection with the drum preferably by means of a toothed belt.

[0015] According to another embodiment of the invention, the control unit is configured to transmit a set of engine control states as a function of at least one factor among: a. an encoder speed V and an encoder acceleration A, derived from the signal coming from the encoder, b. an assessment of the length of the cable wound on the drum, c. a set of operating parameters of the constant tension unwinder module, d. a set of parameters external to the constant voltage unwinder module.

[0016] According to another embodiment of the invention, According to another embodiment of the invention, the set of motor control states comprises the following states: a. In the initial state on an encoder speed interval V between Vd and Ve, the control unit supplies the motor with a PI power, (the motor applies a torque lower than the disengagement torque of the torque limiter, the motor remains coupled to the drum) b. If the encoder speed V is less than Vd, the control unit supplies the motor with PI power; c. If the encoder speed V is greater than Ve, the control unit supplies the motor with power P2.

[0017] According to a variant, the set of motor control states comprises the following states: a. In the initial state over an encoder speed interval V between Vd and Ve, the control unit supplies the motor with a power PI, b. If the encoder speed V is less than Vd: c. If the encoder acceleration A is substantially zero or positive, the control unit supplies the motor with zero power PO, d. If the encoder acceleration A is negative, the control unit supplies the motor with PI power; e. If the encoder speed V is greater than Ve, the control unit supplies the motor with power P2.

[0018] According to another embodiment of the invention, the frame is provided with at least one fixing interface, said at least one fixing interface being provided with at least one connection element and preferably three connection elements, said at least one fixing interface being arranged to removably lock the frame of the constant tension unwinding module on one or two elements external to the constant tension unwinding module and in which, said at least one fixing interface is arranged to make a mechanical connection and preferably in addition an electrical and / or fluidic connection.

[0019] According to another embodiment of the invention, the second end of the cable is provided for connecting to a remote module.

[0020] The present invention also relates to a robot provided with an interface arranged to lock a constant tension unwinding module, said robot being arranged to communicate with said constant tension unwinding module, preferably bidirectionally, to transmit at least one set of external parameters to the constant tension unwinding module comprising at least one indication of the movement of the robot.

[0021] Other characteristics and advantages of the method according to the invention will appear on reading the following description of non-limiting examples of embodiments, with reference to the appended figures described below. List of figures

[0022] [Fig.l]

[0023] [Fig.l] illustrates, schematically and in a non-limiting manner, a constant tension unwinding module according to one embodiment of the invention.

[0024] [Fig.2]

[0025] [Fig. 2] illustrates, schematically and in a non-limiting manner, a constant tension unwinding module according to one embodiment of the invention.

[0026] [Fig.3]

[0027] [Fig. 3] illustrates, schematically and in a non-limiting manner, a detail of the central part of the constant tension unwinding module according to one embodiment of the invention.

[0028] [Fig.4]

[0029] [Fig.4] illustrates, schematically and in a non-limiting manner, a detail of the cable guide part.

[0030] [Fig.5]

[0031] [Fig. 5] illustrates, schematically and in a non-limiting manner, one side of the constant tension unwinder module according to an embodiment of the invention with a toothed transmission belt.

[0032] [Fig.6]

[0033] [Fig.6] illustrates, schematically and in a non-limiting manner, another side of the constant tension unwinding module according to an embodiment of the invention.

[0034] [Fig.7]

[0035] [Fig.7] illustrates, schematically and in a non-limiting manner, a detail of the cable guide part.

[0036] [Fig.8]

[0037] [Fig.8] illustrates, schematically and in a non-limiting manner, a detail of the cable guide part.

[0038] [Fig.9]

[0039] [Fig.9] illustrates, schematically and in a non-limiting manner, a detail of the central part of the constant tension unwinding module according to one embodiment of the invention.

[0040] [Fig. 10]

[0041] [Fig. 10] illustrates, schematically and in a non-limiting manner, a diagram of operation of the motor control according to one embodiment of the invention. Detailed description of the invention

[0042] The embodiments described below being in no way limiting, it will be possible in particular to consider variants of the invention comprising only a selection of characteristics described, subsequently isolated from the other characteristics described, if this selection of characteristics is sufficient to confer a technical advantage or to differentiate the invention compared to the state of the prior art. This selection comprises at least one characteristic, preferably functional without structural details, or with only a part of the structural details if this part only is sufficient to confer a technical advantage or to differentiate the invention compared to the state of the prior art.

[0043] The invention consists of automatically winding and unwinding a cable, while maintaining a constant tension. Indeed, when the constant tension unwinding module is locked onto a robot, there is a risk that, if the cable is on the ground while the robot turns on itself, the robot will be caused to roll over the cable, which can cause it to be damaged. The constant tension unwinding module of The invention proposes to solve this problem by keeping the cable in the air, at least near the robot. A series of difficulties can be identified to achieve this objective. Indeed, the tension of the cable is established by the traction force to unwind the cable and the rotational torque applied to the drum. The objective of the invention is to facilitate the unwinding of the cable while maintaining sufficient tension to prevent the cable from coming into contact with the tracks or wheels of the robot. Another objective of the invention is to carry out a winding and unwinding operation of the cable with significant accelerations, which implies significant reactivity. This can be achieved by reducing the inertia of the device and by progressively assisting the winding and unwinding action of the cable.The reduction of inertia can be achieved with a simplified, more compact mechanism, with miniaturization of the system and with the activation of the motor in freewheel mode. Progressive responsiveness can be achieved through fine management of operating modes, by performing a fine analysis of the speed and acceleration of the cable flow at the outlet of the constant tension unwinding module.

[0044] If the field of application of the invention in the present description focuses on robots, it is obvious that the constant tension unwinder module can be used on any vehicle with wheels, tracks, floats and in any field of application.

[0045] For reasons of simplification, the constant tension winder and unwinder module will hereinafter simply be referred to as the constant tension unwinder module.

[0046] Vehicles and robots in particular can be operated remotely. However, there are applications that require the use of a cable. As a reminder, wired connectivity can be used to secure the connection between the operator and the robot, for example when the robot operates in tunnels, underground passages, buildings, parking lots, places presenting a risk to humans such as nuclear power, mine clearance, military and others.

[0047] Taking the example of nuclear power, an obvious need is to avoid human exposure to radioactivity. In addition, a specific need can be identified, which consists of not embedding electronics in the robot, which means in particular the prohibition of using a wireless transmission card.

[0048] In the field of mine clearance, it is often necessary to control the robot when there is frequency jamming. Again, the use of wireless communication is incompatible with this use case.

[0049] When the robot operates in places where wireless transmission may be disrupted, such as tunnels, underground passages, buildings or parking lots, it is essential to secure the connection with the robot using a wired connection.

[0050] In addition, the wired connection can be useful for transferring large data streams, such as one or more high-definition video streams, knowing that certain robot applications may require transmitting the data stream from 8 to 12 cameras, sensors of all types such as infrared, electromagnetic, radioactivity, etc.

[0051] The cable or wired connection can also be used as a breadcrumb trail, to navigate the robot in tunnels with branches, in buildings with routes on several levels, with forks or simply if the robot is moving in a space with reduced visibility such as the scene of a fire. In addition, the cable can also be used by humans, by connecting as a lifeline, to find the path that allows returning to the starting point.

[0052] It is for these reasons that the wired connection remains more secure and more efficient.

[0053] The present invention relates to a constant tension unwinding module comprising a chassis (1). The chassis can have an overall geometric shape of the parallelepiped type, see in [Fig.l] and [Fig.2] but any other general shape such as more rounded, truncated, pyramidal or other shapes can also be chosen according to needs. This chassis can be made of plastic, metal, non-metal or an assembly of several materials. The production of the chassis can implement processes such as mechanical welding, 3D printing, bolting, riveting, etc.

[0054] The choice of materials as well as the technological manufacturing choices also individually concern each sub-assembly making up the module.

[0055] The module according to the invention also comprises a drum provided with a hollow cylindrical body (3) comprising an inner surface (4) and an outer surface (5) and axially limited by two flanges (2). The drum is illustrated in [Fig.l] to 9. According to one embodiment of the invention, the flanges can be symmetrical or asymmetrical. The latter case allows optimal integration of the components. Indeed, [Fig.3] shows the particularity of the left flange, which is hollow. A hollow flange can accommodate certain devices in order to protect them from exposure to risks such as friction, bad weather, etc.

[0056] The module according to the invention also comprises a cable (6) of a determined length and configured to be wound in turns around the drum. The dimensioning of the drum is interdependent on the characteristics of the cable intended to be wound in turns. Generally, the more rigid the cable, the greater the diameter of the hollow cylindrical body will be.

[0057] The module according to the invention also comprises a motor (7). The motor is of the synchronous or asynchronous electric type and is configured to drive the drum in a direction of rotation of unwinding of the cable (6) and in a direction of rotation of winding of the cable (6).

[0058] The module according to the invention also comprises a control unit (8) configured to generate commands for driving the motor (7). This control unit can be equipped with at least one microprocessor, specialized circuits for sending logic and / or power commands to the motor, circuits for analog and / or logic inputs, CAN BUS type communication circuits with other devices, encryption circuits, protection circuits and any other circuit according to the implementation needs.

[0059] The module according to the invention also comprises a torque limiter (9), said torque limiter (9) being placed between the drum and the motor (7). This torque limiter can be of any type, for example purely mechanical, electromechanical, magnetic powder, oil circulation or other, depending on the need for the implementation. The torque limiter can be calibrated to have a single decoupling threshold or several decoupling thresholds according to different operating modes, it can have a progressive sliding range or can decouple abruptly. In a variant, the torque limiter can also be controlled by the control unit.

[0060] The module according to the invention also comprises a rotating collector (14) configured to connect one end of the cable (6). The rotating collector makes it possible to make an electrical connection between a static part and a mobile, rotating part. The rotating collector is placed substantially on the axis of rotation of the drum, see [Fig. 3]. Advantageously, a converter can be placed between the end of the cable and the rotating collector to convert the signals transmitted by an optical fiber to a protocol of the RJ45 type. Advantageously, the converter can be placed in a hollow space of the left flange in [Fig. 3], where an orifice can also be seen for the passage of the cable between a side where the cable is housed in spirals, in the center of [Fig. 3] to the side where this hollow space is found.

[0061] The module according to the invention also comprises a fixing device (11) configured to apply a tensile force to a second end of the cable (6). This fixing device is visible in [Fig.l] and can, advantageously, comprise a carabiner to allow simple, rapid and secure lashing. Obviously, any other fixing means can be used to ensure the lashing of the cable to a stable point.

[0062] The module according to the invention also comprises a cable guiding device (12). Such a guiding device is shown in [Fig.4]. The guiding device guides the cable in order to ensure optimal winding of the cable onto the drum.

[0063] The module according to the invention also comprises an encoder (18). The role of this encoder is to provide information on the flow of the cable in a winding and unwinding direction. This encoder can be of any type, for example optical or magnetic.

[0064] The module according to the invention also comprises that the control unit is configured to maintain a substantially constant traction force on the cable (6). The control unit integrates at least the signal coming from the encoder. In this case, the control unit can detect in which direction the cable is flowing, namely winding or unwinding. The control unit can comprise different motor control modes which are activated according to the analysis of the encoder signal. These control states make it possible to obtain the maintenance of substantially constant traction of the cable.

[0065] According to one embodiment of the invention, a reducer (13) is arranged between the motor (7) and the torque limiter (9). [Fig. 3] represents a possible implementation of the reducer, which has a role of adapting the intrinsic characteristics of the motor to the torque and rotational speed requirements of the drum. The reducer is of the mechanical type and can comprise any type of mechanism, for example with an epicyclic, hypocycloid or helical train, with straight wheels, etc. Advantageously, the reducer is very compact to allow easy positioning in a reduced space. According to a variant of this embodiment, the motor (7) is arranged on an axis which substantially coincides with the axis of the drum and preferably the motor (7) and the torque limiter (9) are arranged axially in a space formed by the two flanges (2) of the drum and the inner surface (4).This variant allows the assembly consisting of the motor, reducer and torque limiter to be housed in the center of the drum. This variant allows for a compact, lightweight, solid and reliable assembly. In the rest of the description, we will refer to the motor torque, which will represent the torque of the motor or the torque at the output of the reducer, as the case may be.

[0066] According to one embodiment of the invention, the cable (6) comprises at least one optical fiber, at least one metal wire, at least one tensile strength cable, at least one sheath or a combination of two or more of said elements and the cable (6) is connected to a flange (23), see [Fig.9]. In this [Fig.9] it can be seen that the flange is mounted sheltered, inside the left flange. A variant of this embodiment is to use a glass fiber which provides satisfactory mechanical strength, while providing a sufficient data flow while allowing to have a cable with a reduced radius. A variant of this embodiment is to implement a length of the cable (6) which can vary between 10 and 5000 meters. Depending on the cable technology, and to the extent that a cable with a reduced radius can be used, a very long length can be wound, thus providing a very wide radius of the robot's field of operation.According to this embodiment, the robot can also be connected electrically. This can be particularly advantageous in . circumstances where one plans to power the robot and / or if one wants to communicate with the robot by means of electrical signals. Alternatively, one can also consider transferring electrical power in the opposite direction, from the robot to the base.

[0067] According to one embodiment of the invention, the guide device (12) comprises at least one horizontal roller (15), at least one vertical roller (16) or preferably a combination of a pair of horizontal rollers and a pair of vertical rollers. [Fig. 4] shows an implementation of the preferred embodiment, with a pair of horizontal rollers and a pair of vertical rollers. Knowing that the cable exiting the module can be oriented in any direction and at any angle relative to a face of the module, the two pairs of rollers make it possible to center the cable substantially towards the center of a face of the module, which allows for orderly winding in turns on the drum. An alternative would be to use a single roller in certain embodiments.Alternatively, it is possible to consider positioning the roller(s) dynamically, depending on the angle that the cable makes with a face of the module and / or depending on the positioning of the turn across the width of the drum. According to a variant of this embodiment, the guide device (12) preferably further comprises a shunting box (17). Advantageously, said shunting box (17) can be arranged in rotational connection with the drum, preferably by means of a toothed belt. This variant is visible in [Fig. 5]. It shows a pulley located on the axis of the drum, at the bottom of [Fig. 5] and a second pulley located on an axis of the shunting box. In this variant, the rotation ratio between the two axes is 1:1. This ratio may be different in another mounting configuration. Winding is the action of winding an object in an orderly manner, in our case the cable, see details in [Fig.5], [Fig.6], [Fig.7] and [Fig.8]. The action of trancaner consists of winding the cable turn by turn and layer by layer. It is achieved by delaying the angle of the cable on the winding by a few degrees with a winding speed depending on this angle delay. Concretely, the cable is wound turn by turn, the angle delay decreases upon arrival at one of the two ends of the winding support, its winding speed is then reduced. When touching the edge, the cable delay angle is then 0°, the winding speed is reduced to the lowest, the cable will then wind in the other direction on the lower layer and so on. The purpose of this action is to save space on the support and also to allow automatic unwinding.

[0068] According to one embodiment of the invention, the control unit (8) is configured to transmit a set of control states of the motor (7) as a function of at least one factor among: a. an encoder speed V and an encoder acceleration A, derived from the signal coming from the encoder (18), b. an evaluation of the length of the cable (6) wound on the drum, c. a set of operating parameters of the constant tension unwinding module, d. a set of parameters external to the constant tension unwinding module. In this embodiment, the control unit performs an integration of the signal received from the encoder. This integration makes it possible to obtain initially the speed and respectively the positive or negative acceleration of the flow movement of the cable. The control unit can also integrate other parameters such as the length of the wound cable. This length can be calculated from the information received from the encoder, which makes it possible to index the number of revolutions of the drum and on the basis of the total length of the cable.The cable length thus calculated can, for example, give information on the inertia of the drum, which is greater when a large part of the cable is wound up, on the risk of having a significant sag if a large length of cable is unwound. In this variant, the control unit can adjust a set of motor control states more precisely. In another variant, the control unit can adjust a set of motor control states more precisely by integrating internal parameters in the module such as the ambient temperature, a warning mode when the drum is empty, etc.In another variant, the control unit can adjust a set of motor control states more finely by integrating parameters external to the module, such as for example information concerning the robot's acceleration, its speed, the angular variations of its trajectory such as when it turns, takes turns, goes up or down a slope, stops in emergency stop mode, etc.

[0069] The motor is controlled by the control unit, which is in communication with the motor. Indeed, in one embodiment, the motor can inform the control unit of its rotation speed. This makes it possible to avoid placing a sensor on the motor shaft.

[0070] For ease of understanding, we will detail the operating states of the motor using the diagram in [Fig. 10]. According to this diagram, we will discuss three operating states, numbered in circles 1, 2 and 3, according to variation intervals of the encoder speed V. To simplify the explanations, we take three distinct power levels, namely PO, PI and P2. In the diagram of [Fig. 10] these power levels are constant. However, the control unit can be designed to apply the powers PI and P2 in a variable manner, in the form of a sinusoid, arithmetic variation, logarithmic, parabolic or any other variation according to the parameters to be optimized. The parameters to be optimized can be the search for a progressive engagement of the torque limiter, an anticipation of the inertia of the drum, or other. The inertia of the drum can be estimated, in turn, based on the length of the cable remaining on the drum.

[0071] In one embodiment, a cable tension detection sensor may be placed in the space between the spooling device and the cable guide cylinders, in a central area in [Fig.8]. This sensor may be in the form of an articulated finger, with one end in contact with the cable, preferably fixed to the spooling device, in order to follow the translational movement of the cable, and may exert bending pressure on the cable, in order to detect changes in the cable tension. The signal from this sensor may be integrated into the control unit in order to optimize the management of the unwinding module.

[0072] According to one embodiment of the invention, the set of control states of the motor (7) comprises the following states:

[0073] a. In the initial state over an encoder speed interval V between Vd and Ve, the control unit (8) supplies the motor (7) with a power PL In this operating state, the motor applies a torque lower than the disengagement torque of the torque limiter and therefore the motor remains coupled to the drum. The cable is static or unwinding or winding at very low speed. The control unit applies the power PL to the motor In this drum speed interval, the slightest variation in cable tension in one direction or the other will either: - Drive the drum and motor if an operator pulls on the cable or - Wind the cable slowly if the tension decreases slightly.

[0074] b. If the speed of the encoder V is less than Vd: In this state, the cable is removed from the unwinder and we can imagine an operator who is unwinding the cable. He therefore applies a tension to the cable greater than the limit torque. In this state, the torque of the drum is greater than the torque of the motor so the limiter decouples the motor. If the control unit (8) supplies the motor (7) with a power PI, the motor will continue to rotate. The advantage of this operating mode is that if the tension in the cable is released, the torque limiter will immediately reconnect the motor to the drum, thus restoring tension in the cable. The disadvantage of this operating mode is that the torque limiter is continually in friction. A variant of this state allows the motor to operate in freewheel mode. Thus, two cases are distinguished as follows:

[0075] bl. If the encoder acceleration A is substantially zero or positive, the control unit (8) supplies the motor (7) with zero power PO. In this variant the motor is no longer supplied, it is in freewheel mode, the limiter couples the motor to the drum. In other words, the motor is stopped and is electronically disengaged, which means that it does not produce counter-torque. This variant makes it possible to avoid premature wear of the torque limiter and reduces the inertia of the drum.

[0076] b2. If the encoder acceleration A is negative, the control unit (8) supplies the motor (7) with PI power. In other words, when the drum decelerates, which means that the tension in the cable is reduced, the control unit applies the PI control power to the motor. This allows the cable tension to be quickly restored.

[0077] c. If the encoder speed V is greater than Ve, then the control unit (8) supplies the motor (7) with a power P2, greater than PI. In this state, care is taken to prevent the tension in the cable from being too low, so the torque limiter recouples the motor to the drum. As an example, we can imagine that the cable is being wound faster than the speed Ve. In other words, we can encounter this state when the module, mounted on a robot, returns to the starting point.

[0078] According to one embodiment of the invention, the chassis (1) is provided with at least one fixing interface (20, 21). In [Fig.l] one can see such an interface 21 below the module and another interface 20 above the module. Said at least one fixing interface (20, 21) is provided with at least one connection element and preferably three connection elements. In [Fig.l] one can distinguish a configuration with three connection elements. Advantageously, the connection elements may comprise one or more grooves in order to achieve rotational locking. Advantageously, the connection elements may have a generally conical shape, more preferably a truncated cone. This allows easy centering with other connection elements of the male / female type. In this case, the fixing interface 21 may comprise female connection elements and the fixing interface 20 may comprise male connection elements.Obviously, the female and male connection elements can be reversed, depending on the assembly requirements. Said at least one fixing interface (20, 21) is arranged to removably lock the chassis of the constant tension unwinding module on one or two elements external to the constant tension unwinding module and in which. In other words, one fixing interface is used to connect the module to another device, such as for example a robot. A second fixing interface can be used to connect another device on top of the module. Said at least one fixing interface (20, 21) is arranged to make a mechanical connection and preferably also an electrical and / or fluid connection. Indeed, electrical, power and signal connections can be placed in the center of the connection elements, as well as a fluid connection, for example to fight a fire.Interface 21 can be used to attach the unwinder module to a robot.

[0079] The present invention relates to a robot provided with an interface arranged to lock a constant tension unwinder module. The robot fixing interface is compatible with the module attachment interface. In other words, the robot is provided, on its top, with an interface of the type interface 20, which is brought into contact with the attachment interface 21 when the module is mounted on the robot. Once contact has been made between the two interfaces, a device makes it possible to lock the module on the robot. When the locking is achieved, the robot can begin to communicate with the constant tension unwinding module. This communication can follow standard protocols such as CAN BUS, preferably bidirectionally. Among the parameter sets which are then communicated, we can mention those external to the constant tension unwinding module. Advantageously, the robot can inform the module with at least one indication of the robot's movement. This indication of the movement can consist of speed and acceleration.In addition, angular indications regarding the robot's inclination relative to the horizontal plane, vibrations, faulty operating modes can be communicated between the robot and the module, in order to adjust a cable tension different from that of the normal operating mode. For example, the cable can be so slack as to be grounded or on the contrary, the control unit can be made to cause jolts in the cable when necessary.

[0080] According to one embodiment of the invention, the second end of the cable (6) is provided for connecting to a remote module (22), see [Fig. 1]. The remote module may include a conversion switch between the optical fiber and an RJ45 type protocol, which allows the connection to be made with a control computer or a remote control.

[0081] According to one embodiment of the invention, the robot further comprises wireless transmission means. In this embodiment of the invention, the cable is used for reasons other than data communication. For example, the cable can be used for the transfer of electrical power, as a breadcrumb trail to facilitate the return of an operator, etc.

[0082] According to one embodiment of the invention, the robot may be provided with movement means which are adapted to move on the surface of a ground or a fluid, underwater in a fluid or in the air. Depending on the requirements, a combination of two or more of said movement means may also be envisaged. Indeed, the robot may be required to move in buildings, in tunnels, on boats, in nuclear power plants, on hard ground but also on the surface of water or even under the surface of water. According to one embodiment, the movement means comprise at least one wheel, at least one pair of wheels, a flotation device and / or tracks. In a preferred embodiment, the robot may be equipped with tracks. Examples

[0083] The advantages of the device according to the invention appear more clearly on reading the application example below.

[0084] In order to implement the robot, the following steps can be described: a. Lock the constant tension unwinder module onto the robot; b. Secure the end of the cable with the fixing device, by a loop arranged substantially close to its end, to a fixed attachment point, preferably by means of a carabiner; c. Connect the remote module; d. As appropriate, connect the lifeline of at least one operator to the cable; e. Guide the robot on a mission path and return it to the starting point; f. Detach the cable from the fixed attachment point of the remote module; g. Unlock the constant tension unwinder module from the robot.

[0085] It goes without saying that the invention is not limited to the embodiments of the recesses described above as examples; on the contrary, it encompasses all variant embodiments. Of course, the invention is not limited to the examples just described and numerous adjustments can be made to these examples without departing from the scope of the invention. Furthermore, the various features, forms, variants and embodiments of the invention can be combined with each other in various combinations to the extent that they are not incompatible or mutually exclusive.

Claims

Claims

1. Constant tension unwinding module comprising a frame (1), a drum provided with a hollow cylindrical body (3) comprising an inner surface (4) and an outer surface (5) and axially limited by two flanges (2), a cable (6) of a determined length and configured to be wound in turns around the drum, a motor (7) configured to drive the drum in a direction of rotation for unwinding the cable (6) and in a direction of rotation for winding the cable (6), a control unit (8) configured to generate commands for controlling the motor (7), a torque limiter (9), said torque limiter (9) being placed between the drum and the motor (7) and having one or more decoupling thresholds for decoupling or coupling the motor and the drum, a rotating collector (14) configured to connect one end of the cable (6),a fixing device (11) configured to apply a tensile force to a second end of the cable (6), a cable guiding device (12), characterized in that the control unit is connected to an encoder (18) and said control unit is configured to maintain a substantially constant tensile force on the cable (6).,

2. Constant tension unwinding module according to the preceding claim, wherein a reducer (13) is arranged between the motor (7) and the torque limiter (9).

3. Constant tension unwinding module according to any one of the preceding claims, wherein the motor (7) is arranged on an axis which substantially coincides with the axis of the drum and preferably the motor (7) and the torque limiter (9) are arranged axially in a space formed by the two flanges (2) of the drum and the inner surface (4).

4. A constant tension unwinding module according to any preceding claim, wherein the cable (6) comprises at least one optical fiber, at least one metal wire, at least one tensile strength cable, at least one sheath or a combination of two or more of said elements and the cable (6) is connected to a flange (23).

5. Constant tension unwinding module according to any one of the preceding claims, wherein the length of the cable (6) can vary between 10 and 5000 meters.

6. Constant tension unwinding module according to any one of the preceding claims, wherein the guide device (12) comprises at least one horizontal roller (15), at least one vertical roller (16) or preferably a combination of a pair of horizontal rollers and a pair of vertical rollers and the guide device (12) preferably further comprises a traverse housing (17), said traverse housing (17) being arranged in rotational connection with the drum preferably by means of a toothed belt.

7. Constant tension unwinding module according to any one of the preceding claims, in which the control unit (8) is configured to transmit a set of control states of the motor (7) as a function of at least one factor among: a. an encoder speed V and an encoder acceleration A, derived from the signal coming from the encoder (18); b. an assessment of the length of the cable (6) wound on the drum; c. a set of operating parameters of the constant tension unwinder module; d. a set of parameters external to the constant tension unwinder module.

8. Constant voltage unwinding module according to the preceding claim, in which the set of control states of the motor (7) comprises the following states: a. In the initial state over an encoder speed interval V between Vd and Ve, the control unit (8) supplies the motor (7) with a power PI and the motor applies a torque lower than the threshold or at least one of the decoupling thresholds of the torque limiter, so that the motor remains coupled to the drum; b. If the speed of the encoder V is less than Vd, the control unit (8) supplies the motor (7) with a PI power and the motor applies a torque greater than or equal to the threshold or at least one of the decoupling thresholds of the torque limiter so that the limiter decouples the motor and the drum; c. If the encoder speed V is greater than Ve, the control unit (8) supplies the motor (7) with a power P2 and the motor applies a torque lower than the threshold or at least one of the decoupling thresholds of the torque limiter, so that the motor remains coupled to the drum.

9. A constant tension unwinding module according to claim 7, wherein the set of driving states of the motor (7) comprises the following states: a. In the initial state over an encoder speed interval V between Vd and Ve, the control unit (8) supplies the motor (7) with a power PI and the motor applies a torque lower than the threshold or at least one of the decoupling thresholds of the torque limiter, so that the motor remains coupled to the drum; b. If the encoder speed V is less than Vd: i. If the encoder acceleration A is substantially zero or positive, the control unit (8) supplies the motor (7) with zero power PO, and the motor applies a torque lower than the threshold or at least one of the decoupling thresholds of the torque limiter, so that the motor, in freewheel mode, remains coupled to the drum; ii. If the encoder acceleration A is negative, the control unit (8) supplies the motor (7) with a PI power and the motor applies a torque lower than the threshold or at least one of the decoupling thresholds of the torque limiter, so that the motor remains coupled to the drum; c. If the encoder speed V is greater than Ve, the control unit (8) supplies the motor (7) with a power P2 and the motor applies a torque lower than the threshold or at least one of the decoupling thresholds of the torque limiter, so that the motor remains coupled to the drum.

10. A constant tension unwinder module according to any preceding claim, wherein the frame (1) is provided of at least one fixing interface (20, 21), said at least one fixing interface (20, 21) being provided with at least one connection element and preferably three connection elements, said at least one fixing interface (20, 21) being arranged to removably lock the frame of the constant tension unwinding module on one or two elements external to the constant tension unwinding module and in which, said at least one fixing interface (20, 21) is arranged to make a mechanical connection and preferably in addition an electrical and / or fluidic connection.

11. A constant tension unwinder module according to any preceding claim, wherein the second end of the cable (6) is provided for connecting to a remote module (22).

12. A robot provided with an interface arranged to lock a constant tension unwinding module according to any one of the preceding claims, said robot being arranged to communicate with said constant tension unwinding module, preferably bidirectionally, to transmit at least one set of external parameters to the constant tension unwinding module comprising at least one indication of the movement of the robot.

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