Cable Winding System

Abstract

To provide a cable winding system capable of suppressing excessive pulling of a power feed cable and excessive slackening of the power feed cable during winding or delivering of the power feed cable for a mobile body which is wound on a cable reel device.SOLUTION: A cable winding system 100 comprises: a cable 2 for feeding power to a mobile body 1; and a control device that includes a reel 31, a motor 32, and a detection sensor 33 for detecting the pulling state of the cable 2 and controls rotation of an output shaft on the basis of the detection result of the detection sensor 33. When slackening of a target 22 is detected by the detection sensor 33, a first speed reduction / stop process for gradually stopping rotation of the reel 31 for a speed reduction time is performed. When pulling of the target 22 is detected by the detection sensor 33, a first acceleration / resuming process for gradually rotating the reel 31 to resume normal-rotation driving for an acceleration time is performed.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to a cable winding system. [Background technology]

[0002] There is known a self-propelled agitator that moves back and forth in a treatment tank for a fermentation treatment plant that is arranged in a straight line with a predetermined width (see Patent Document 1). This type of agitator agitates organic waste (chicken manure, etc.) contained in the treatment tank while moving back and forth along the longitudinal direction of the treatment tank in order to efficiently compost the organic waste. Such an agitator is equipped with motorized devices (devices powered by electricity) such as motorized wheels that move along rails on the side walls arranged in the longitudinal direction of the treatment tank and an electric agitator that agitates the organic waste (chicken manure, etc.) contained in the treatment tank. For this reason, the agitator is equipped with a power supply cable for supplying power from an external power source to these motorized devices.

[0003] The power supply cable is used in a state where it is wound around a cable reel device (cord reel mechanism). The cable reel device has a reel section (reel drum) that winds and unwinds the power supply cable, and by controlling the rotation of this reel section, the length of the power supply cable arranged between the external power source and the stirring device is appropriately adjusted. The rotation of the reel section is controlled by controlling the rotation of the motor that drives the reel section. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2003-144890 A Summary of the Invention [Problem to be solved by the invention]

[0005] The size of the annular power supply cable wound around the reel (diameter around the reel) changes depending on the length (winding amount) of the power supply cable wound around the reel. In other words, even if the rotation speed of the reel is constant, the speed at which the power supply cable is actually wound around the reel and the speed at which the power supply cable is unwound from the reel change appropriately depending on the winding amount (winding amount) of the power supply cable, etc.

[0006] Therefore, for example, if the speed at which the power supply cable is paid out is too slow compared to the moving speed of the stirring device when the power supply cable is paid out, the power supply cable paid out from the reel section is pulled too tightly, and the power supply cable itself is subjected to a load. On the other hand, if the speed at which the power supply cable is paid out is too fast compared to the moving speed of the stirring device when the power supply cable is paid out, the power supply cable after being paid out from the reel section becomes too loose and tangled, and there is a risk that the cable reel device will not operate normally.

[0007] Furthermore, when winding up the power supply cable, if the unwinding speed of the power supply cable is too slow compared to the moving speed of the agitator, the power supply cable before being wound up on the reel section may become too slack and tangled, causing the cable reel device to malfunction. On the other hand, when winding up the power supply cable, if the winding speed of the power supply cable is too fast compared to the moving speed of the agitator, the power supply cable being wound up on the reel section may be pulled too much, causing a load to be placed on the power supply cable itself.

[0008] An object of the present invention is to provide a cable winding system that prevents a power supply cable for a moving body from being pulled excessively or from sagging excessively when winding or unwinding the power supply cable wound around a cable reel device. [Means for solving the problem]

[0009] The means for solving the above problems are as follows. <1> a reel unit around which the cable is wound while holding the other end of the cable, and which is capable of forward drive that rotates in one direction so that the cable is unwound when the moving body moves forward, and reverse drive that rotates in the reverse direction so that the cable is wound when the moving body moves backward, a motor including an output shaft that rotates in one direction for the forward drive of the reel unit, or rotates in the reverse direction for the reverse drive of the reel unit, and a detection sensor that detects a tension of a target portion consisting of a portion of the cable extending from the reel unit side to the one end side, the cable reel device moving forward or backward together with the moving body, and a control device that controls the rotation of the output shaft based on a detection result of the detection sensor, a control device for executing, when the detection sensor detects slack in the target part during forward movement of the moving body, a first deceleration / stop process for gradually stopping the rotation of the reel part over a predetermined deceleration time T1, and a first acceleration / resumption process for gradually rotating the reel part over a predetermined acceleration time T2 to resume the forward drive when the detection sensor detects tension in the target part after the first deceleration / stop process, and, when the moving body is moving backward, a second deceleration / stop process for gradually stopping the rotation of the reel part over the deceleration time T1 when the detection sensor detects tension in the target part, and a second acceleration / resumption process for gradually rotating the reel part over the acceleration time T2 to resume the reverse drive when the detection sensor detects slack in the target part after the second deceleration / stop process.

[0010] <2> a reel section around which the cable is wound while holding the other end of the cable, and which is capable of forward drive that rotates in one direction so that the cable is unwound when the mobile body moves forward, and reverse drive that rotates in the reverse direction so that the cable is wound when the mobile body moves backward; a motor including an output shaft that rotates in one direction for the forward drive of the reel section, or rotates in the reverse direction for the reverse drive of the reel section; a detection sensor that detects the tension of a target portion consisting of a portion of the cable extending from the reel section side to the one end side, the cable reel device being disposed on the external power source side; and a control device that controls the rotation of the output shaft based on the detection result of the detection sensor. wherein, when the detection sensor detects slack in the target part during forward movement of the moving body, the control device executes a first deceleration / stop process to gradually stop the rotation of the reel part over a predetermined deceleration time T1, and when the detection sensor detects tension in the target part after the first deceleration / stop process, a first acceleration / resumption process to gradually rotate the reel part over a predetermined acceleration time T2 and resume the forward drive, and when the detection sensor detects tension in the target part during backward movement of the moving body, the control device executes a second deceleration / stop process to gradually stop the rotation of the reel part over the deceleration time T1, and when the detection sensor detects slack in the target part after the second deceleration / stop process, a second acceleration / resumption process to gradually rotate the reel part over the acceleration time T2 and resume the reverse drive.

[0011] <3> The control device is an inverter control device. <1> or <2> 2. A cable winding system as described in claim 1.

[0012] <4> The moving body is a self-propelled mixing device having an agitator for mixing organic waste. <1> ~ <3> 13. A cable winding system according to any one of claims 1 to 12. Effect of the Invention

[0013] According to the present invention, it is possible to provide a cable winding system in which the power supply cable for a moving body wound around a cable reel device is prevented from being pulled excessively or from sagging excessively when the power supply cable is wound up or unwound. [Brief description of the drawings]

[0014] [Figure 1] 1 is a right side view of a cable winding system according to a first embodiment. [Diagram 2] Top view of the cable winding system [Diagram 3] Rear view of the mixing device [Figure 4] Right side view of the cable reel device [Diagram 5] Top view of cable reel device [Figure 6] An explanatory diagram showing a schematic diagram of the agitator moving forward on the forward path. [Figure 7] A graph showing the relationship between the rotation speed of the reel and time when the agitator advances along the forward path, and the on / off state of the detection sensor. [Figure 8] A schematic diagram showing the state in which the detection sensor detects tension in the target part when the power supply cable is being pulled out. [Figure 9] A schematic diagram showing the state in which the detection sensor detects slack in the target part when the power supply cable is being pulled out. [Figure 10] A schematic diagram showing the agitator moving backward on the return path. [Figure 11] A graph showing the relationship between the reel rotation speed and time when the agitator moves backward on the return route, and the on / off state of the detection sensor. [Figure 12] A schematic diagram showing the state in which the detection sensor detects tension in the target part when winding up the power supply cable. [Figure 13] A schematic diagram illustrating the state in which the detection sensor detects slack in the target part when winding up the power supply cable. [Figure 14]FIG. 1 is an explanatory diagram of a cable winding system according to a second embodiment. [Figure 15] FIG. 13 is an explanatory diagram showing two detection sensors provided in a cable reel device according to another embodiment; [Figure 16] FIG. 13 is an explanatory diagram showing two detection sensors provided in a cable reel device according to another embodiment; DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0015] <Embodiment 1> A cable winding system 100 according to a first embodiment of the present invention will be described below with reference to Figs. 1 to 13. Fig. 1 is a right side view of the cable winding system 100 according to the first embodiment. The cable winding system 100 is a system that automatically reels out and reels in a power supply cable 2 for an agitator 1 in accordance with the movement of the agitator 1 (moving body). Such a cable winding system 100 mainly includes an agitator 1, a power supply cable (cable) 2, a cable reel device 3, and a control device 5.

[0016] The agitator 1 is a device that agitates organic waste (chicken manure, etc.) in a treatment tank 6 for a fermentation treatment plant, which is provided in a straight line with a predetermined width, while moving back and forth along the longitudinal direction of the treatment tank 6 in order to compost the organic waste. FIG. 1 shows the right side of the agitator 1. The front side (front side) of the agitator 1 is shown on the right side of FIG. 1, and the rear side (rear side) of the agitator 1 is shown on the left side of FIG. 1. In this specification, the movement of the agitator 1 to the right side of FIG. 1 is referred to as "forward", and the movement of the agitator 1 to the left side of FIG. 1 is referred to as "backward". In this specification, the treatment tank 6 through which the agitator 1 passes when moving forward is referred to as the "outward path", and the treatment tank 6 through which the agitator 1 passes when moving backward is referred to as the "return path".

[0017] FIG. 2 is a top view of the cable winding system 100. The right side of FIG. 2 shows the front side (front side) of the agitator 1, and the left side of FIG. 2 shows the rear side (back side) of the agitator 1. The treatment tank 6 is a facility for composting organic waste (chicken manure, etc.), and has an elongated rectangular shape overall. The treatment tank 6 has an elongated rectangular shape and includes a concrete floor surface 61 on which organic waste is placed, and a pair of side walls 62 that are erected on the edge of the long side of the floor surface 61 and are arranged in parallel with each other while maintaining a distance from each other in the width direction of the floor surface 61. Of these side walls 62, the side wall 62 shown on the upper side of FIG. 2 is referred to as the "left side wall 62L", and the side wall 62 shown on the lower side of FIG. 2 is referred to as the "right side wall 62R".

[0018] The side wall 62 is formed so as to extend straight in one direction. The side wall 62 is made of, for example, a concrete wall, and has a rectangular shape extending long in one direction as a whole. A rail 7 is laid on the upper end surface of such a side wall 62. The rail 7 is provided along the longitudinal direction (one direction) of the side wall 62. One rail 7 is provided on each of the upper end surface of the left side wall 62L and the upper end surface of the right side wall 62R.

[0019] FIG. 3 is a rear view of the agitation device 1. The agitation device 1 mainly includes a main body 11, wheels 12, and an agitation unit 13. The wheels 12 include a pair of left and right front wheels 12a provided on the front side of the main body 11, and a pair of left and right rear wheels 12b provided on the rear side of the main body 11. The front wheels 12a and the rear wheels 12b are drive wheels driven by motors 14 and 15 for traveling, respectively. The front wheels 12a are driven by the motor 14, and the rear wheels 12b are driven by the motor 15. The motors 14 and 15 are each provided on the main body 11. The motors 14 and 15 are driven by power supplied via the power supply cable 2. For convenience of explanation, FIG. 3 shows the cable reel device 3 without the power supply cable 2.

[0020] The main body 11 is supported by two front wheels 12a and two rear wheels 12b. The front wheels 12a and rear wheels 12b arranged on the left side of the agitator 1 (main body 11) are placed on rails 7 provided on the left side wall 62L. The front wheels 12a and rear wheels 12b arranged on the right side of the agitator 1 (main body 11) are placed on rails 7 provided on the right side wall 62R. The main body 11 of such an agitator 1 advances on a forward path from one end side to the other end side of the treatment tank 6 and moves backward on a return path from the other end side to the one end side of the treatment tank 6 by moving each wheel 12 along the rails 7 while holding the agitator 13.

[0021] The forward movement (movement on the forward path) and backward movement (movement on the return path) of the agitator 1 are usually performed at a predetermined speed (constant speed). When the agitator 1 moving forward on the forward path of the treatment tank 6 reaches the end of the forward path (the other end of the treatment tank 6), the moving direction of the agitator 1 is switched under the control of the control device 5, and the agitator 1 moves backward toward the one end of the treatment tank 6. When the agitator 1 moving backward on the return path of the treatment tank 6 reaches the end of the return path (the one end of the treatment tank 6), the moving direction of the agitator 1 is switched under the control of the control device 5, and the agitator 1 moves forward toward the other end of the treatment tank 6. The agitator 1 moves back and forth in the treatment tank 6, alternately repeating such forward and backward movements.

[0022] The agitator 13 is a device for agitating the organic waste contained in the treatment tank 6, and while held in the main body 11 of the agitator 1, reciprocates in the treatment tank 6 while agitating the organic waste. The agitator 13 has a roughly cylindrical rotor 13a that can rotate in one direction (forward rotation) and in the opposite direction (reverse rotation), and a plurality of claws 13b that protrude from the circumferential surface of the rotor 13a. The rotor 13a rotates by receiving power from an agitation motor 13c. The motor 13c is provided in the main body 11. A power transmission mechanism (such as a chain) 13d is provided between the rotor 13a and the output shaft of the motor 13c, and when the output shaft of the motor 13c rotates, the rotor 13a rotates.

[0023] When the agitator 1 moves forward, the rotor 13a of the agitator 13 rotates clockwise (the same rotation direction as the wheels 12 when moving forward) in FIG. 1. When the agitator 1 moves backward, the rotor 13a of the agitator 13 rotates counterclockwise (the same rotation direction as the wheels 12 when moving backward) in FIG. 1. When the direction of travel of the agitator 1 changes, the rotation direction of the rotor 13a also changes to the opposite direction. The agitator motor 13c is driven by power supplied via the power supply cable 2, like the traveling motors 14 and 15 described above.

[0024] The power supply cable 2 is a cable for supplying power from an external power source 4 to each component of the cable winding system 100, such as the agitator 1, the cable reel device 3, and the control device 5. The power supply cable 2 is elongated (long-length) and flexible. One end 2a of the power supply cable 2 is provided with a connector 21, which is connected to a mating connector of the external power source 4, thereby electrically connecting the one end 2a of the power supply cable 2 to the external power source 4. In this embodiment, the external power source 4 is disposed near one end side of the treatment tank 6 (the starting end side of the outward path and the terminal end side of the return path). The other end side of the power supply cable 2 is connected to the cable reel device 3, as described later.

[0025] The power supply cable 2 is set in advance to a sufficient length so as to supply power to the agitator 1 and the like when the agitator 1 moves back and forth in the treatment tank 6. Such a power supply cable 2 is used in a state in which it is wound around the cable reel device 3. The length of the power supply cable 2 is, for example, 50 m. However, the length of the power supply cable 2 is not limited to this, and in other embodiments, it may be, for example, about 10 m to 300 m.

[0026] Fig. 4 is a right side view of the cable reel device 3, and Fig. 5 is a top view of the cable reel device 3. The cable reel device 3 is an electric device that holds the power supply cable 2 in a wound state and reels out and winds the power supply cable 2 in association with the reciprocating movement of the agitator 1. The cable reel device 3 of this embodiment is attached to the right side of the agitator 1 (main body 11) so as to be able to move (forward and backward) together with the agitator 1. The cable reel device 3 mainly includes a reel unit 31, a motor 32, and a detection sensor 33. For ease of explanation, Fig. 4 shows the cable reel device 3 with the power supply cable 2 removed.

[0027] The reel unit 31 includes a drum unit 31a that holds the other end of the power supply cable 2. The drum unit 31a is cylindrical and holds the other end of the power supply cable 2. The power supply cable 2 is wound around the circumferential surface of the drum unit 31a. A cord reel shaft 31b extending in the left-right direction is provided at the center of the reel unit 31 (drum unit 31a). When the cord reel shaft 31b rotates, the entire reel unit 31 rotates. A sprocket (gear) 34a of the power transmission mechanism 34 is fitted onto one end 31b1 of the cord reel shaft 31b. The end 31b1 of the cord reel shaft 31b is supported in a rotatable state by a bearing 341 of the power transmission mechanism 34.

[0028] Further, a slip ring 35 having a ring-shaped electrode portion that rotates synchronously with the cord reel shaft 31b and a brush-shaped electrode portion is provided on the other end 31b2 side of the cord reel shaft 31b. The other end of the power supply cable 2 held by the drum portion 31a is electrically connected to the brush-shaped electrode portion of the slip ring 35. As shown in Fig. 5, the slip ring 35 is installed in a storage box 37 provided on the right side surface side of the cable reel device 3. For ease of explanation, Fig. 5 shows the storage box 37 and a part of the reel portion 31 (drum portion 31a, etc.) cut horizontally.

[0029] The power supply cable 2 is wound around the reel section 31 (drum section 31a) in such a manner that the power supply cable 2 is wound from the top to the bottom while moving from the rear to the front, and from the bottom to the top while moving from the front to the rear. That is, the power supply cable 2 is wound around the reel section 31 (drum section 31a) in a clockwise direction when the other end side held by the reel section 31 is used as a reference in FIG. 4 etc. When the power supply cable 2 is wound around the reel section 31 in such a direction, the power supply cable 2 is more reliably prevented from being pulled excessively or from sagging excessively when the power supply cable 2 is wound up or unwound.

[0030] Such a reel unit 31 can be driven in a forward direction to rotate in one direction so that the power supply cable 2 is unwound when the agitator 1 moves forward, and in a reverse direction to rotate in the other direction so that the power supply cable 2 is wound up when the agitator 1 moves backward.

[0031] When the agitator 1 moves forward, the power supply cable 2 is gradually unwound (pulled out) from the reel unit 31 so that the length of the power supply cable 2 arranged between the external power source 4 and the reel unit 31 gradually increases with the movement of the agitator 1 (in other words, the number of turns (amount) of the power supply cable 2 wound around the reel unit 31 decreases). The power supply cable 2 is unwound by rotating the reel unit 31 from the front side to the rear side and from the top side to the bottom side with the cord reel shaft 31b as the center of rotation. The rotation of the reel unit 31 in one direction so that the power supply cable 2 is unwound when the agitator 1 moves forward is called "forward rotation drive". The forward rotation drive of the reel unit 31 is shown as a counterclockwise rotation (arrow CCW in FIG. 4) in FIG. 4 and the like. In addition, in the case of this embodiment, the reel unit 31 rotates in the opposite direction to the wheel 12 when moving forward when the agitator 1 moves forward.

[0032] When the agitator 1 moves backward, the power supply cable 2 is gradually wound around the reel unit 31 (drum unit 31a) so that the length of the power supply cable 2 arranged between the external power source 4 and the reel unit 31 gradually shortens as the agitator 1 moves (in other words, so that the number of turns (amount) of the power supply cable 2 wound around the reel unit 31 increases). The power supply cable 2 is wound by rotating the reel unit 31 from the rear side to the front side and from the upper side to the lower side about the cord reel shaft 31b as the center of rotation. In other words, when the power supply cable 2 is wound, the reel unit 31 (drum unit 31a) rotates in the opposite direction to the direction when the power supply cable 2 is unwound. The rotation of the reel unit 31 in the opposite direction so that the power supply cable 2 is wound when the agitator 1 moves backward is referred to as "reverse drive". The reverse drive of the reel unit 31 is shown as a clockwise rotation (arrow CW in FIG. 4) in FIG. 4 and the like. In addition, in the case of this embodiment, the reel portion 31 during winding rotates in the opposite direction to the wheel 12 during reverse travel.

[0033] The motor 32 is a drive source for driving the reel unit 31 in a forward or reverse direction, and is, for example, a hollow gear motor. The motor 32 has an output shaft (hollow output shaft) 32a that rotates in one direction to drive the reel unit 31 in a forward direction, or rotates in the opposite direction to drive the reel unit 31 in a reverse direction. A rod-shaped rotating shaft 36 extending in the left-right direction is attached to the output shaft 32a, and the rotating shaft 36 rotates with the rotation of the output shaft 32a. One end 36a of the rotating shaft 36 is connected to the output shaft 32a of the motor 32. A sprocket (gear) 34b of the power transmission mechanism 34 is attached to the other end 36b of the rotating shaft 36 in a manner that the sprocket (gear) 34b is fitted to the outside of the other end 36b. Such other end 36b is supported in a rotatable state by a bearing 342 of the power transmission mechanism 34. A known alignment mechanism 36c is provided at the center of the rotating shaft 36 in the longitudinal direction to ensure that the power supply cable 2 is evenly wound around the reel portion 31. The motor 32 is driven by power supplied through the power supply cable 2.

[0034] The power transmission mechanism 34 is a mechanism for transmitting the output of the motor 32 to the cord reel shaft 31b of the reel unit 31 (drum unit 31a). The power transmission mechanism 34 includes a sprocket 34a attached to the cord reel shaft 31b, a sprocket 34b attached to the rotating shaft 36, an idler 34c, a bracket 34d, and the like.

[0035] The idler (sprocket adapter) 34c is a gear that is rotatably attached to the bracket 34d via a support (tightener) 343. A bearing 341 that supports the end 31b1 of the cord reel shaft 31b is attached to the front side of the bracket 34d, and a bearing 342 that supports the end 36b of the rotating shaft 36 is attached to the rear side of the bracket 34d. The sprocket 34a, idler 34c, and sprocket 34b are aligned in a row from the front to the rear in this order, and a loop-shaped chain (not shown) for transmitting power is hung on these.

[0036] The cable reel device 3 includes a frame 38 formed by assembling longitudinal metallic materials into a frame shape. The reel unit 31, the motor 32, the storage box 36, the bracket 34d (the power transmission mechanism 34), etc. are attached to the frame 38.

[0037] The detection sensor 33 is a sensor that detects the tension of the target portion 22, which is a portion of the power supply cable 2 extending from the reel portion 31 side to the one end 2a side. The detection sensor 33 is provided on the rear side of the cable reel device 3 as shown in Fig. 1. The detection sensor 33 detects the approach or separation of a metal fitting. The detection sensor 33 will be described in detail later.

[0038] The control device 5 controls the rotation (rotation speed) of the output shaft 32a of the motor 32 based on the detection result of the detection sensor 33. The control device 5 is composed of an inverter control device, and appropriately changes the rotation speed of the output shaft 32a of the motor 32 by an inverter control method.

[0039] Here, the process executed by the control device 5 when the agitator 1 advances on the forward path will be described with reference to Fig. 6 to Fig. 9. Fig. 6 is an explanatory diagram that shows a schematic view of the agitator 1 advancing on the forward path, Fig. 7 is a graph that shows a schematic view of the relationship between the rotation speed of the reel unit 31 and time and the on / off state of the detection sensor when the agitator 1 advances on the forward path, Fig. 8 is an explanatory diagram that shows a schematic view of the detection sensor 33 detecting the tension of the target unit 22 when the power supply cable 2 is being paid out, and Fig. 9 is an explanatory diagram that shows a schematic view of the detection sensor 33 detecting the slack of the target unit 22 when the power supply cable 2 is being paid out.

[0040] When the agitator 1 advances on the forward path, the agitator 1 moves in a direction away from the external power source 4, so that the power supply cable 2 is gradually unwound from the reel unit 31 of the cable reel device 3. The moving speed of the agitator 1 when moving forward is not particularly limited as long as it does not impair the object of the present invention, but is preferably set to a predetermined value (constant value), for example. At this time, it is preferable to match the rotation speed of the reel unit 31 provided in the cable reel device 3 to be approximately the same as the moving speed of the agitator 1. In particular, it is preferable to set the rotation speed of the reel unit 31 to be slightly faster than the moving speed of the agitator 1. In the case of this embodiment, for example, the reel unit 31 is controlled by the control device 5 to rotate at a pulse speed of 60 Hz.

[0041] Furthermore, when the agitator 1 moves forward, the detection sensor (proximity sensor) 33 detects the position of a metal fitting (opposing metal fitting) 332 that moves up and down depending on the tension of the target part 22 unwound from the reel part 31. As shown in Fig. 8, the detection sensor 33 is held by a bracket-shaped holding part 331 provided on the upper rear side of a frame part 38 included in the cable reel device 3. The detection sensor 33 is held by the holding part 331 with the detection part 33a at the tip side facing downward. The detection sensor 33 is provided with a cable (signal line, power line) 33b, and the detection result of the detection sensor 33 is transmitted to the control device 5 using this cable 33b.

[0042] Furthermore, the cable reel device 3 is provided with an opposing fitting 332 made of a metal fitting on the side opposing the detection portion 33a of the detection sensor 33. The opposing fitting 332 covers the power supply cable 2 from above and includes a plate-shaped ceiling portion 332a facing the detection sensor 33 and a plate-shaped support wall 332b supporting the ceiling portion 332a. The support wall 332b of the opposing fitting 332 is attached to an arm portion 333 extending in the front-rear direction of the agitator 1.

[0043] The arm 333 is generally elongated in the front-rear direction, and one end 333a arranged on the front side is supported by a rotating shaft 334. Therefore, the arm 333 can swing up and down around the rotating shaft 334. The rotating shaft 334 is provided in a cable passage 335 fixed to the holding part 331. The cable passage 335 is a member that supports the root side of the power supply cable 2 extending from the reel part 31 side to the rear side of the agitator 1 in a state in which the power supply cable 2 is passed in the front-rear direction. The cable passage 335 includes a pair of rotatable guide rollers 336, 337 arranged vertically side by side. The power supply cable 2 is arranged to pass between the guide roller 337 arranged on the lower side and the guide roller 336 arranged on the upper side in the front-rear direction and to be sandwiched between them. The lower guide roller 337 is attached to the above-mentioned rotating shaft 334 in a freely rotatable state.

[0044] The arm 333 also includes a pair of rotatable guide rollers 338, 339 arranged vertically side by side on the other end 333b side that is arranged on the rear side of the agitator 1. The power supply cable 2 is arranged to be sandwiched between the guide roller 339 arranged on the lower side and the guide roller 338 arranged on the upper side while passing between them in the front-rear direction.

[0045] When the agitator 1 moves forward, the detection sensor (proximity sensor) 33 has a normally closed (NC) contact, and for example, when the ceiling portion 332a of the facing metal fitting 332, which is the detection target, is within the detection area (near the detection portion 33a) of the detection sensor 33 as shown in Fig. 8, the detection sensor 33 is in the OFF state. Also, when the ceiling portion 332a of the facing metal fitting 332, which is the detection target, is not within the detection area (near the detection portion 33a) of the detection sensor 33 as shown in Fig. 9, the detection sensor 33 is in the ON state.

[0046] When the agitator 1 starts to move forward, the target portion 22 of the power supply cable 2 is stretched and taut in the front-rear direction as shown in Fig. 8. At this time, the detection sensor 33 is in the OFF state. As shown in the graph of Fig. 7, when the agitator 1 continues to move forward with the reel unit 31 driven in the forward direction at a constant rotation speed, if the payout speed of the power supply cable 2 is faster than the forward speed (movement speed) of the agitator 1, the target portion 22 of the power supply cable 2 becomes slack and hangs down from the front side to the rear side as shown in Fig. 9. At this time, the detection sensor 33 is in the ON state.

[0047] As shown in the graph of FIG. 7, when the detection sensor 33 is turned on at time t1 to detect slack in the target portion 22 of the power supply cable 2, the control device 5 executes a first deceleration / stop process to gradually stop the rotation of the reel unit 31 over a predetermined deceleration time T1 (for example, 0.1 to 5 seconds). The control device 5 does not stop the rotation of the reel unit 31 at time t1, but stops the rotation of the reel unit 31 at time t2 when the predetermined deceleration time T1 has elapsed from time t1. The control device 5 may, for example, gradually reduce the pulse speed (Hz) of the reel unit 31 over the predetermined deceleration time T1 from time t1 when the detection sensor 33 detects the ON state. By gradually stopping the rotation of the reel unit 31 over the deceleration time T1 in this manner, a sudden change in the tension applied to the power supply cable 2 is suppressed.

[0048] Furthermore, as shown in the graph of Fig. 7, after the rotation of the reel unit 31 stops at time t2 (after the first deceleration / stop process), as the agitator 1 continues to move forward, the slack in the target portion 22 of the power supply cable 2 is gradually eliminated, and then the target portion 22 of the power supply cable 2 is stretched and taut in the front-rear direction again, as shown in Fig. 8. In this case, as shown in the graph of Fig. 7, when the detection sensor 33 turns OFF at time t3 to detect the tautness of the target portion 22 of the power supply cable 2, the control device 5 executes a first acceleration / resumption process in which the reel unit 31 is gradually rotated over a predetermined acceleration time T2 (e.g., 0.1 to 10 seconds) to resume normal rotation of the reel unit 31 at a constant rotation speed. The control device 5 does not return the rotation speed of the reel unit 31 to the normal rotation speed (constant value) during normal forward driving at time t3, but returns the rotation speed of the reel unit 31 to the original speed (e.g., pulse speed: 60 Hz) at time t4 when a predetermined acceleration time T2 has elapsed since time t3. For example, the control device 5 may gradually increase the pulse speed (Hz) of the reel unit 31 over a predetermined acceleration time T2 from time t3 when the detection sensor 33 detects the OFF state. By gradually rotating the reel unit 31 over the acceleration time T2 in this manner, a sudden change in the tension applied to the power supply cable 2 is suppressed. Note that the acceleration time T2 and the deceleration time T1 may be set to the same time (value), but it is preferable to set the acceleration time T2 longer than the deceleration time T1 (for example, it is preferable to set the acceleration time T2 to 5 to 12 times longer than the deceleration time T1).

[0049] When the agitator 1 moves forward, the detection sensor 33 alternately detects the slack and tension of the target portion 22 of the power supply cable 2, and the control device 5 alternately executes the above-mentioned first deceleration / stop process and the first acceleration / restart process. This prevents the power supply cable 2 being unwound from the cable reel device 3 from being subjected to excessive tension for a long period of time, and prevents excessive slack from occurring for a long period of time.

[0050] In this manner, when the agitator 1 advances along the forward path, the power supply cable 2 is prevented from being excessively pulled or from being excessively slackened when the power supply cable 2 wound around the cable reel device 3 is unwound. In particular, in the case of this embodiment, the rotation of the reel unit 31 is gradually stopped over the deceleration time T1, and the reel unit 31 is gradually rotated over the acceleration time T2, so that a sudden change in the tension applied to the power supply cable 2 is prevented when the power supply cable 2 is unwound.

[0051] Next, the process executed by the control device 5 when the agitator 1 moves backward on the return path will be described with reference to Fig. 10 to Fig. 13. Fig. 10 is an explanatory diagram that shows a schematic view of the agitator 1 moving backward on the return path, Fig. 11 is a graph that shows a schematic view of the relationship between the reel rotation speed and time and the on / off state of the detection sensor when the agitator 1 moves backward on the return path, Fig. 12 is an explanatory diagram that shows a schematic view of the detection sensor 33 detecting the tension of the target portion 22 when the power supply cable 2 is wound up, and Fig. 13 is an explanatory diagram that shows a schematic view of the detection sensor 33 detecting the slack of the target portion 22 when the power supply cable 2 is wound up.

[0052] When the agitator 1 moves backward on the return route, the agitator 1 moves in a direction approaching the external power source 4, so that the power supply cable 2 is gradually wound around the reel unit 31 of the cable reel device 3. The moving speed of the agitator 1 when moving backward is not particularly limited as long as it does not impair the object of the present invention, but it is preferable to set it to a predetermined value (constant value), for example, as in the case of moving forward. At this time, it is preferable to match the rotation speed of the reel unit 31 provided in the cable reel device 3 to be approximately the same as the moving speed of the agitator 1, as in the case of moving forward. In particular, it is preferable to set the rotation speed of the reel unit 31 to be slightly faster than the moving speed of the agitator 1, as in the case of moving forward.

[0053] When the agitator 1 moves backward, the detection sensor (proximity sensor) 33 detects the position of the metal fitting (opposing metal fitting) 332 which moves up and down depending on the tension of the target portion 22 of the power supply cable 2 wound around the reel portion 31.

[0054] When the agitator 1 moves backward, the detection sensor (proximity sensor) 33 has a normally open (NO) contact, and for example, when the ceiling portion 332a of the facing metal fitting 332, which is the detection target, is not within the detection area (near the detection portion 33a) of the detection sensor 33 as shown in Fig. 12, the detection sensor 33 is in the OFF state. Also, when the ceiling portion 332a of the facing metal fitting 332, which is the detection target, is within the detection area (near the detection portion 33a) of the detection sensor 33 as shown in Fig. 13, the detection sensor 33 is in the ON state.

[0055] When the agitator 1 starts to move backward on the return path, the target portion 22 of the power supply cable 2 is in a sagging state, drooping from the front side to the rear side, as shown in Fig. 12. At this time, the detection sensor 33 is in an OFF state. Then, as shown in the graph of Fig. 11, when the agitator 1 continues to move backward with the reel unit 31 driven in the reverse direction at a constant rotation speed, if the winding speed of the power supply cable 2 is faster than the backward speed (movement speed) of the agitator 1, the target portion 22 of the power supply cable 2 is in a stretched and taut state in the front-rear direction, as shown in Fig. 13. At this time, the detection sensor 33 is in an ON state.

[0056] 11, when the detection sensor 33 turns ON at time t11 to detect tension in the target portion 22 of the power supply cable 2, the control device 5 executes a second deceleration / stop process to gradually stop the rotation of the reel portion 31 over a predetermined deceleration time T1. The control device 5 does not stop the rotation of the reel portion 31 at time t11, but stops the rotation of the reel portion 31 at time t12 when the predetermined deceleration time T1 has elapsed from time t11. The control device 5 may, for example, gradually reduce the pulse speed (Hz) of the reel portion 31 over the predetermined deceleration time T1 from time t11 when the detection sensor 33 detects the ON state.

[0057] 11, when the agitator 1 continues to move backward after the rotation of the reel unit 31 stops at time t12 (after the second deceleration / stop process), the tension of the target portion 22 of the power supply cable 2 is gradually released, and then the target portion 22 of the power supply cable 2 becomes slack so as to hang down from the front side to the rear side again as shown in Fig. 12. In this case, as shown in the graph of Fig. 11, when the detection sensor 33 turns OFF at time t13 to detect the slack of the target portion 22 of the power supply cable 2, the control device 5 executes a second acceleration / resumption process in which the reel unit 31 is gradually rotated over a predetermined acceleration time T2 to resume the reverse driving of the reel unit 31 at a constant rotation speed. The control device 5 does not return the rotation speed of the reel unit 31 to the normal rotation speed during reverse drive (constant value) at time t13, but returns the rotation speed of the reel unit 31 to the original speed (e.g., pulse speed: 60 Hz) at time t14, which is a predetermined acceleration time T2 after time t13. The control device 5 may, for example, gradually increase the pulse speed (Hz) of the reel unit 31 over the predetermined acceleration time T2 from time t13 when the detection sensor 33 detects the OFF state.

[0058] When the agitator 1 moves backward, the tension and slack of the target portion 22 of the power supply cable 2 are alternately detected by the detection sensor 33, and the control device 5 alternately executes the second deceleration / stop process and the second acceleration / restart process described above. This prevents the power supply cable 2 being wound around the cable reel device 3 from being subjected to excessive tension for a long period of time, or from being left with excessive slack for a long period of time.

[0059] In this manner, when the agitator 1 moves backward on the return path, the power supply cable 2 is prevented from being pulled excessively or from becoming excessively slack when the power supply cable 2 wound around the cable reel device 3 is wound up. In particular, in the case of this embodiment, the rotation of the reel unit 31 is gradually stopped over the deceleration time T1, and the reel unit 31 is gradually rotated over the acceleration time T2, so that a sudden change in the tension applied to the power supply cable 2 is prevented when the power supply cable 2 is wound up.

[0060] <Embodiment 2> Next, a cable winding system 100A according to a second embodiment of the present invention will be described with reference to Fig. 14. Fig. 14 is an explanatory diagram of the cable winding system 100A according to the second embodiment. In the cable winding system 100A of this embodiment, a cable reel device 3A is installed on the ground near an external power source 4A. In other words, the cable winding system 100A is placed separately from the agitator (moving body) 1A so as not to move together with the agitator (moving body) 1A. Such a cable winding system 100A mainly includes an agitator 1A, a power supply cable (cable) 2A, a cable reel device 3A, and a control device 5A.

[0061] The agitator (moving body) 1A moves forward in one direction or backward in the opposite direction, similar to embodiment 1. The agitator 1A moves forward in the forward direction or backward in the return direction, similar to embodiment 1, by the wheels 12A being driven along a rail (not shown).

[0062] One end 2Aa of the power supply cable 2A is connected to the agitator 1A, and the other end supplies power supplied from an external power source 4A to the agitator 1A. The other end of the power supply cable 2A is held by a reel part provided in the cable reel device 3A. In this embodiment, a power supply side cable 23A is used to connect between the cable reel device 3A and the external power source 4A. One end 23Aa of the power supply side cable 23A is provided with a connector 21A, and the connector 21A is connected to a mating connector provided in the external power source 4A, so that the one end 23Aa of the power supply side cable 23A is electrically connected to the external power source 4A. The other end of the power supply side cable 23A is attached to the cable reel device 3A so as to be electrically connected to the other end of the power supply cable 2A.

[0063] The cable reel device 3A includes a reel unit 31A around which the power supply cable 2A is wound while holding the other end of the power supply cable 2A. The reel unit 31A can be driven in a forward direction to rotate in one direction so that the power supply cable 2A is unwound when the agitator 1A moves forward, and can be driven in a reverse direction to rotate in the opposite direction so that the power supply cable 2A is wound when the agitator 1A moves backward.

[0064] When the power supply cable 2A is unwound from the reel portion 31A, the reel portion 31A rotates counterclockwise in Fig. 14. In this embodiment, the reel portion 31A rotates in the opposite direction to the rotation direction of the wheel 12A of the agitator 1A when moving forward (clockwise in Fig. 14).

[0065] Furthermore, when the power supply cable 2A is wound around the reel portion 31A, the reel portion 31A rotates clockwise in Fig. 14. In this embodiment, the reel portion 31A rotates in the direction opposite to the rotation direction of the wheels 12A of the agitator 1A when moving backward (counterclockwise in Fig. 14).

[0066] The cable reel device 3A is an electrically-driven device that holds the power supply cable 2A in a wound state and reels out and reels the power supply cable 2A in association with the reciprocating movement of the agitator 1A, as in the first embodiment. As in the first embodiment, the cable reel device 3A of this embodiment includes a reel unit 31A, a motor, a detection sensor 33A, a power transmission mechanism that transmits the output of the motor to the cord reel shaft of the reel unit 31A (drum unit), a frame unit 38A, a control device 5A, etc. As described above, the cable reel device 3A is disposed on the external power source 4A side.

[0067] The motor includes an output shaft that rotates in one direction to drive the reel unit 31A in a forward direction, or rotates in a reverse direction to drive the reel unit 31A in a reverse direction.

[0068] The cable reel device 3A also has a detection sensor 33A that detects the tension of a target portion 22A that is a portion of the power supply cable 2A extending from the reel portion 31A side to the one end 2Aa side. The mechanism by which the detection sensor 33A detects the tension (tension, slack) of the target portion 22A is the same as in the first embodiment.

[0069] Similar to the first embodiment, the control device 5A controls the rotation of the output shaft of the motor based on the detection result of the detection sensor 33A.

[0070] Here, a process executed by the control device 5A when the agitator 1A advances along the forward path (when moving to the right in FIG. 14) will be described. When the agitator 1A advances along the forward path, the agitator 1A moves in a direction away from the external power source 4A, and therefore the power supply cable 2A is gradually reeled out from the reel portion 31A of the cable reel device 3A.

[0071] The moving speed of the agitator 1A during forward movement is not particularly limited as long as it does not impair the object of the present invention, but is preferably set to a predetermined value (constant value), for example. At this time, it is preferable to adjust the rotation speed of the reel unit 31A provided in the cable reel device 3A so that it is approximately the same as the moving speed of the agitator 1A. In particular, it is preferable to set the rotation speed of the reel unit 31A to be slightly faster than the moving speed of the agitator 1A. In the case of this embodiment, for example, the reel unit 31A is controlled by the control device 5A so that it rotates at a pulse speed of 60 Hz.

[0072] When the agitator 1A moves forward, the detection sensor (proximity sensor) 33A has a normally closed (NC) contact, and for example, when the ceiling of the opposing metal fitting, which is the detection target, is within the detection area (near the detection part) of the detection sensor 33A, the detection sensor 33A is in the OFF state. Also, when the ceiling of the opposing metal fitting, which is the detection target, is not within the detection area (near the detection part) of the detection sensor 33A, the detection sensor is in the ON state.

[0073] When the agitator 1 starts moving forward, the target portion 22 of the power supply cable 2 is stretched and taut in the front-rear direction, and the detection sensor 33 is in the OFF state at this time. If the agitator 1A continues moving forward with the reel unit 31A rotating forward at a constant rotation speed, and the payout speed of the power supply cable 2A is faster than the forward speed (movement speed) of the agitator 1A, the target portion 22A of the power supply cable 2A becomes slack and hangs down from the rear side to the front side of the cable reel device 3A. The detection sensor 33A is in the ON state at this time.

[0074] When the detection sensor 33A is turned on to detect slack in the target portion 22A of the power supply cable 2A, the control device 5A executes a first deceleration / stop process to gradually stop the rotation of the reel portion 31A over a predetermined deceleration time T1, as in the first embodiment. For example, the control device 5A may gradually reduce the pulse speed (Hz) of the reel portion 31A over a predetermined deceleration time T1 from the point in time when the detection sensor 33A detects the ON state. By gradually stopping the rotation of the reel portion 31A over the deceleration time T1 in this manner, a sudden change in the tension applied to the power supply cable 2A is suppressed.

[0075] After the rotation of the reel part 31A stops (after the first deceleration / stop process), when the agitator 1A continues to move forward, the slack in the target part 22A of the power supply cable 2A is gradually eliminated, and then the target part 22A of the power supply cable 2A is stretched in the front-rear direction again and becomes taut. In this case, when the detection sensor 33A turns OFF at a predetermined time (time), and the tautness of the target part 22A of the power supply cable 2A is detected, the control device 5A executes the first acceleration / restart process to gradually rotate the reel part 31A from the predetermined time (time) for a predetermined acceleration time T2, and to restart the forward rotation of the reel part 31A at a constant rotation speed, as in the first embodiment. The control device 5A may, for example, gradually increase the pulse speed (Hz) of the reel part 31A for a predetermined acceleration time T2 from the time (time) when the detection sensor 33A detects the OFF state. In this manner, by gradually rotating the reel portion 31 over the acceleration time T2, a sudden change in the tension applied to the power supply cable 2 is suppressed.

[0076] In this way, when the agitator 1A moves forward, the detection sensor 33A alternately detects the slack and tension of the target portion 22A of the power supply cable 2A, and the control device 5A alternately executes the first deceleration / stop process and the first acceleration / restart process described above. This prevents excessive tension from being applied to the power supply cable 2A reeled out from the cable reel device 3A for a long period of time, and prevents excessive slack from being generated for a long period of time.

[0077] In this manner, when the agitator 1A, which is separate from the cable reel device 3A, advances on the forward path, the power supply cable 2A is prevented from being excessively pulled or from becoming excessively slack when the power supply cable 2A wound around the cable reel device 3A is unwound. In particular, in the case of this embodiment, the rotation of the reel part 31A is gradually stopped over the deceleration time T1, and the reel part 31A is gradually rotated over the acceleration time T2, so that a sudden change in the tension applied to the power supply cable 2A is prevented when the power supply cable 2A is unwound.

[0078] Next, the process executed by the control device 5A when the agitator 1 moves backward on the return route (when moving to the left in FIG. 14) will be described. When the agitator 1A moves backward on the return route, the agitator 1A moves in a direction approaching the external power source 4A, so that the power supply cable 2A is gradually wound around the reel part 31A of the cable reel device 3A. The moving speed of the agitator 1A when moving backward is not particularly limited as long as it does not impair the object of the present invention, but it is preferable to set it to a predetermined value (constant value), for example, as in the case of moving forward. At this time, it is preferable to adjust the rotation speed of the reel part 31A provided in the cable reel device 3A so that it is approximately the same as the moving speed of the agitator 1A, as in the case of moving forward. In particular, it is preferable to set the rotation speed of the reel part 31A to be slightly faster than the moving speed of the agitator 1A, as in the case of moving forward.

[0079] When the agitator 1A moves backward, the detection sensor (proximity sensor) 33A detects the position of a metal fitting (opposing metal fitting) that moves up and down depending on the tension of the target portion 22A of the power supply cable 2A wound around the reel portion 31A.

[0080] When the agitator 1A moves backward, the detection sensor (proximity sensor) has a normally open (NO) contact, and if the ceiling of the opposing metal fitting, which is the detection target, is not within the detection area (near the detection part) of the detection sensor 33A, the detection sensor 33A is in the OFF state. Also, if the ceiling of the opposing metal fitting, which is the detection target, is within the detection area (near the detection part) of the detection sensor 33A, the detection sensor 33A is in the ON state.

[0081] When the agitator 1A starts to move backward on the return path, the target portion 22A of the power supply cable 2A is in a sagging state, drooping from the rear side to the front side of the cable reel device 3A. At this time, the detection sensor 33A is in an OFF state. When the agitator 1A continues to move backward with the reel unit 31A driven in the reverse direction at a constant rotation speed, if the winding speed of the power supply cable 2A is faster than the backward speed (movement speed) of the agitator 1A, the target portion 33A of the power supply cable 2A is in a stretched and taut state in the front-rear direction. At this time, the detection sensor 33A is in an ON state.

[0082] When the detection sensor 33A becomes ON at a predetermined time (time instant), and thus the tension of the target portion 22A of the power supply cable 2A is detected, the control device 5A executes a second deceleration / stop process for gradually stopping the rotation of the reel portion 31A over a predetermined deceleration time T1. For example, the control device 5A may gradually reduce the pulse speed (Hz) of the reel portion 31A over the predetermined deceleration time T1 from the time (time instant) when the detection sensor 33A detects the ON state.

[0083] Furthermore, when the agitator 1A continues to move backward after the rotation of the reel unit 31A stops (after the second deceleration / stop process), the tension of the target portion 22A of the power supply cable 2A is gradually released, and then the target portion 22A of the power supply cable 2A again becomes slack so as to hang down from the rear side to the front side of the cable reel device 3A. In this case, when the detection sensor 33A becomes OFF at a predetermined time (time), and the slack of the target portion 22A of the power supply cable 2A is detected, the control device 5A executes a second acceleration / resumption process in which the reel unit 31A is gradually rotated over a predetermined acceleration time T2, and the reverse drive of the reel unit 31A is resumed at a constant rotation speed. For example, the control device 5A may gradually increase the pulse speed (Hz) of the reel unit 31A over a predetermined acceleration time T2 from the time (time) when the detection sensor 33A detects the OFF state.

[0084] When the agitator 1A moves backward, the detection sensor 33A alternately detects the tension and slack of the target portion 22A of the power supply cable 2A, and the control device 5A alternately executes the second deceleration / stop process and the second acceleration / restart process described above. This prevents excessive tension from being applied to the power supply cable 2A being wound around the cable reel device 3A for a long period of time, and prevents excessive slack from being generated for a long period of time.

[0085] In this manner, when the agitator 1A, which is separate from the cable reel device 3A, moves backward on the return path, the power supply cable 2A is prevented from being pulled excessively and the power supply cable 2 is prevented from being excessively slackened when the power supply cable 2A wound around the cable reel device 3A is wound up. In particular, in the case of this embodiment, the rotation of the reel part 31A is gradually stopped over the deceleration time T1, and the reel part 31A is gradually rotated over the acceleration time T2, so that a sudden change in the tension applied to the power supply cable 2A is prevented when the power supply cable 2A is wound up.

[0086] <Other embodiments> The present invention is not limited to the embodiments described above and illustrated in the drawings, and the following embodiments, for example, are also included within the technical scope of the present invention.

[0087] (1) In the first embodiment, the rotation direction of the wheel 12 in the agitator 1 and the rotation direction of the reel unit 31 in the cable reel device 3 are opposite to each other, but the present invention is not limited to this. In other embodiments, the power supply cable may be wound around the reel unit of the cable reel device so that the rotation direction of the reel unit is the same as the rotation direction of the wheel when moving forward or backward. For example, when the agitator 1 moves forward, the wheel 12 rotates clockwise, and the reel unit 31 of the cable reel device 3 rotates clockwise when the power supply cable 2 is unreeled. Also, when the agitator 1 moves backward, the wheel 12 rotates counterclockwise, and the reel unit 31 of the cable reel device 3 rotates counterclockwise when the power supply cable 2 is reeled.

[0088] (2) In embodiment 2, the rotation direction of wheel 12A in agitator 1A and the rotation direction of reel portion 31A in cable reel device 3A are different from each other. However, the present invention is not limited to this. In other embodiments, the power supply cable may be wound around the reel portion of the cable reel device so that the rotation direction of the reel portion and the rotation direction of the wheel are the same when moving forward or backward.

[0089] (3) In the above embodiments 1 and 2, the moving body is an agitation device that agitates organic waste, but the present invention is not limited to this. In other embodiments, for example, the moving body may be an agitation device that agitates inorganic materials such as steel slag, or further, the moving body may be another device that is not an agitation device (for example, a cleaning device that moves while spraying water).

[0090] (4) In the above-mentioned first and second embodiments, one detection sensor is used to detect the tension of the power supply cable. However, the present invention is not limited to this. In other embodiments, for example, as shown in Figs. 15 and 16, two detection sensors 33B, 133B may be used. Figs. 15 and 16 are explanatory diagrams showing two detection sensors 33B, 133B included in a cable reel device 3B of another embodiment. Fig. 15 shows a state in which the target portion 22B of the power supply cable 2B is sagging so as to hang down from the front side to the rear side, and Fig. 16 shows a state in which the target portion 22B of the power supply cable 2B is stretched in the front-rear direction. The detection sensor 33B is held in a manner to be disposed above the power supply cable 2B by a bracket-shaped holding portion 331B provided on the upper rear side of the frame portion 38B included in the cable reel device 3B, as in the first embodiment. The power supply cable 2B is passed through the cable passing portion 335B in the front-rear direction. The base side of the power supply cable 2B extending from the reel unit 31B to the rear side of the cable reel device 3B is supported by the cable passing unit 335B. The cable passing unit 335B is fixed to the holding unit 331B. A rotating shaft 334B is provided on the cable passing unit 335B, and a longitudinal arm unit 333B extending in the front-rear direction swings up and down around the rotating shaft 334B. The arm unit 333B includes a pair of guide rollers 338B, 339B arranged vertically side by side, as in the first embodiment.

[0091] A facing metal fitting 332B made of a metal fitting is provided on the arm portion 333B so as to face the detection portion 33Ba of the detection sensor 33B when the arm portion 333B is raised and to face the detection portion 133Ba of the detection sensor 133B when the arm portion 333B is lowered. The facing metal fitting 332B is generally U-shaped. The facing metal fitting 332B includes a plate-shaped ceiling portion 332Ba that can face the upper detection sensor 33B while covering the power supply cable 2B from above, a plate-shaped support wall 332Bb that supports the ceiling portion 332Ba, and a plate-shaped bottom portion 332Bc that is fixed to the lower end of the support wall 332Bb and is arranged parallel to the ceiling portion 332Ba while maintaining a gap therebetween. One end of the bottom portion 332Bc is fixed to the lower end of the support wall 332Bb, and the other end of the bottom portion 332Bc is fixed to the arm portion 333B.

[0092] When the arm portion 333B is raised, the detection portion 33Ba of the detection sensor 33B disposed on the upper side faces the ceiling portion 332Ba of the facing metal fitting 332B. The detection sensor 33B detects the state in which the target portion 22B of the power supply cable 2B is stretched and taut. When the arm portion 333B is lowered, the detection portion 133Ba of the detection sensor 133B disposed on the lower side faces the bottom portion 332Bc of the facing metal fitting 332B. The detection sensor 133B detects the state in which the target portion 22B of the power supply cable 2B is sagging. The detection sensor 133B is supported by a support member (not shown) fixed to the cable passage portion 335. In this way, the tension of the power supply cable 2B may be detected using two detection sensors 33B and 133B. [Explanation of symbols]

[0093] 100... cable winding system, 1... agitator (moving body), 2... power supply cable (cable), 22... target part, 3... cable reel device, 31... reel part, 31a... drum part, 31b... cord reel shaft, 32... motor, 32a... output shaft, 33... detection sensor, 34... power transmission mechanism, 36... rotating shaft, 37... storage box, 38... frame part, 4... external power source, 5... control device, 6... treatment tank, 7... rail, 12... wheel, 13... agitator part

Claims

1. A moving body that moves forward in one direction or backward in the opposite direction; a cable having one end connected to an external power source and configured to supply power to the moving object; a cable reel device which moves forward or backward together with the moving body, the cable being wound around the reel unit while holding the other end of the cable, and which is capable of forward drive which rotates in one direction so that the cable is unwound when the moving body moves forward, and reverse drive which rotates in the reverse direction so that the cable is wound when the moving body moves backward, a motor including an output shaft which rotates in one direction for the forward drive of the reel unit, or rotates in the reverse direction for the reverse drive of the reel unit, and a detection sensor which detects the tension of a target portion consisting of a portion of the cable extending from the reel unit side to the one end side, A cable winding system comprising: a control device that controls rotation of the output shaft based on a detection result of the detection sensor, The control device includes: When the detection sensor detects slack in the target portion during forward movement of the movable body, a first deceleration / stop process is executed to gradually stop the rotation of the reel portion over a predetermined deceleration time T1, and when the detection sensor detects tension in the target portion after the first deceleration / stop process, a first acceleration / restart process is executed to gradually rotate the reel portion over a predetermined acceleration time T2 to restart the forward rotation drive; and When the detection sensor detects tension in the target part while the moving body is moving backward, a second deceleration / stopping process is executed to gradually stop the rotation of the reel part over the deceleration time T1, and when the detection sensor detects slack in the target part after the second deceleration / stopping process, a second acceleration / resumption process is executed to gradually rotate the reel part over the acceleration time T2 to resume the reverse drive.

2. A moving body that moves forward in one direction or backward in the opposite direction; a cable having one end connected to the moving body and having the other end supply power from an external power source to the moving body; a cable reel device disposed on the external power source side, the cable being wound around the reel unit while holding the other end of the cable, and capable of forward drive which rotates in one direction so that the cable is unwound when the moving body moves forward, and reverse drive which rotates in the reverse direction so that the cable is wound when the moving body moves backward, a motor including an output shaft which rotates in one direction for the forward drive of the reel unit, or rotates in the reverse direction for the reverse drive of the reel unit, and a detection sensor which detects a tension of a target portion consisting of a portion of the cable extending from the reel unit side to the one end side, the cable reel device being disposed on the external power source side; A cable winding system comprising: a control device that controls rotation of the output shaft based on a detection result of the detection sensor, The control device includes: When the detection sensor detects slack in the target portion during forward movement of the movable body, a first deceleration / stop process is executed to gradually stop the rotation of the reel portion over a predetermined deceleration time T1, and when the detection sensor detects tension in the target portion after the first deceleration / stop process, a first acceleration / restart process is executed to gradually rotate the reel portion over a predetermined acceleration time T2 to restart the forward rotation drive; and When the detection sensor detects tension in the target part while the moving body is moving backward, a second deceleration / stopping process is executed to gradually stop the rotation of the reel part over the deceleration time T1, and when the detection sensor detects slack in the target part after the second deceleration / stopping process, a second acceleration / resumption process is executed to gradually rotate the reel part over the acceleration time T2 to resume the reverse drive.

3. 3. The cable winding system according to claim 1, wherein the control device is an inverter control device.

4. 3. The cable winding system according to claim 1, wherein the moving body is a self-propelled stirring device having an agitator for stirring the organic waste.

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