| The tail-cable is the lifeline of higher power operation and wire transmission teleoperation robot. The cable retraction device of a robot is an electromechanical device to storage tail-cable efficiently, reasonable, safely, especially suitable for the teleoperation robots which need high reliability, long cycle, long distance and high speed transmission. This dissertation focused on the design and research on the cable retraction device for teleoperation robot. The main contents include the following aspects:We analyzed the structure and function of tail-cable for a robot, and also analyzed the detail of the dragging force of a retraction device during the working process of the robot. Moreover, we designed the traversing mechanism and storage barrel size in detail.To overcome the problems that the existing impact of the reciprocating screw groove of the traversing mechanism, we optimized the design of groove by using sine curve transition, and achieved good results.Second, based on the initialization of the designing of cable releasing device, and the consideration of the overall stable performance of the device, we calculated the reference range of reasonable weight. Under this premise, we combined the robot structure design factors to design a tail-cable retractable device as the cable releasing type, and established the three-dimensional model. Combined with CAE simulation software ANSYS, we checked the structural strength of main parts of the device, which is proved to meet the strength requirements.The method proposed in this paper and the optimal design to the impact of the turning curve of grooved reciprocating screw have certain practical and academic contribution, and are verified in the project, and have important reference to the design of similar cable releasing device. With further research, the theoretical and practical applications of the device will be exhibited thoroughly, which makes the performance of teleoperation robot better. |
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