Cable taking-up and paying-off device and cable taking-up and paying-off method for wire control robot

Abstract

The invention discloses a cable taking-up and paying-off device for a wire control robot. The cable taking-up and paying-off device for the wire control robot comprises a synchronous belt transmission mechanism, a cable winding mechanism, a cable arranging mechanism and a cable taking-up and paying-off motor. The synchronous belt transmission mechanism comprises a main driving synchronous belt wheel, a winding drum driving synchronous belt wheel, a lead screw driving synchronous belt wheel, a winding drum driving synchronous belt and a lead screw driving synchronous belt. The cable winding mechanism comprises a winding drum, a first winding drum support, a second winding drum support, a first winding drum bearing, a winding drum driving shaft, a winding drum driving wheel, a second winding drum bearing, a winding drum supporting shaft and a winding drum follower wheel. The cable arranging mechanism comprises a bidirectional lead screw, a first lead screw support, a second lead screw support, a first lead screw bearing, a second lead screw bearing, a lead screw sliding block, an unthreaded shaft and a cable guiding block. The invention further discloses a cable taking-up and paying-off method of the cable taking-up and paying-off device for the wire control robot. According to the cable taking-up and paying-off device and cable taking-up and paying-off method for the wire control robot, a cable can be taken up and paid off in order, the tightness is proper, the stability and effectiveness are good, the probability of intertwining and breaking of the cable is lowered, the practicability is high, and using and popularization are convenient.

Description

technical field [0001] The invention belongs to the technical field of robots, and in particular relates to a cable retracting device and a cable retracting method for a wired control robot. Background technique [0002] The power supply is the power source to ensure the robot's work, and the communication system ensures the two-way transmission of information between the mobile robot and the console, so that the operator can obtain the status and action information of the site and the robot itself, so as to effectively monitor and remotely operate the robot. There are two power supply methods for robots: external power supply and battery power supply. External power supply requires an external power line, and battery power supply has poor battery life. Robot communication methods include wireless communication and wired communication. The wireless module of wireless communication is small in size and easy to use. Convenient, but the bit error rate of data transmission is hi...

AI Technical Summary

Problems solved by technology

Adopting the cable laying method can reduce the occurrence of broken cables, but the cable releasing in the prior art mostly adopts passive cable releasing, such as the cable releasing device given in Li Yunwang's doctoral dissertation "Research on the Walking Mechanism of Mine Disaster Relief Robot". Composed of fiber optic winches and brackets, it adopts a passive cable release method. There is only a cable curling mechanism without a power source and a cable arrangement mechanism. For a long time, it is difficult to achieve good retraction, which will affect the next cable release; for this reason, it is necessary to consider the way of active cable release to achieve stable and reliable cable release and retraction by the robot. When using active cable release, It is also necessary to consider the issue of control to achieve the best control stability and effectiveness

Images