Conical capstan rope-driven linear driver

Abstract

The invention relates to the technical field of driving rope devices, and particularly discloses a conical capstan rope-driven linear driver which comprises a conical capstan, a driving device, a closed-loop rope and a pulley block. The surface of the conical winch is provided with at least one winding groove with the diameter gradually changing in the axial direction. The driving device is used for driving the conical winch to rotate; the closed-loop rope is wound on the winding groove and forms a closed path through the pulley block; and the diameter of the variable-diameter section of the closed-loop rope wound on the winding groove is changed through rotation of the conical winch, so that the length ratio of the first rope section to the second rope section is changed, and the second pulley is driven to do translational motion relative to the first pulley. Bidirectional antagonistic driving and flexible movement of bionic muscles are achieved through synchronous reverse rotation of the conical winches and staggered winding of winding grooves in one side or two sides in combination with the elastic characteristic of a closed-loop rope. The diameter gradient structure enables driving force and stroke parameterization to be adjustable, and a mechanical structure does not need to be reconstructed; the closed path and the multi-circle winding design thoroughly avoid the risk that the rope is loosened and disengaged from the groove.

Description

Technical Field

[0001] The present invention relates to the technical field of driving rope devices, in particular to a conical winch rope-driven linear driver. Background Art

[0002] The joint movements of humanoid and bionic robots are highly dependent on linear actuation methods that simulate biological muscles. This requires the actuator to achieve bidirectional antagonism while being lightweight, flexible, and having reliable transmission characteristics.

[0003] In the existing technology, although rigid transmission structures such as worm gears and lead screws can realize the conversion of rotational to linear motion, due to their complex mechanical structure and high friction loss, it is difficult to take into account the flexibility and low maintenance requirements required by bionics; and conventional rope drive solutions, such as the winch device disclosed in patent publication number CN115321399A, use a cylindrical winch as a rope drive device. Since the diameter is constant and the path length cannot be changed, it is essentially still limited to a unidirectional traction function. It can neither generate a muscle-like dynamic bidirectional drive effect nor the ability to adaptively adjust the stroke and output force, which ultimately limits its practicality in bionic scenarios.

[0004] Moreover, conventional winch devices generally have the problem of rope loosening and falling out of the groove after long-term use, which significantly restricts the long-term stability of the transmission. Summary of the Invention

[0005] In view of the above-mentioned deficiencies in the prior art, an object of the present invention is to provide a conical winch rope-driven linear actuator to solve the above-mentioned problems.

[0006] A conical winch rope-driven linear actuator, comprising: A conical capstan, the surface of which is provided with at least one winding groove with a gradually changing diameter along the axial direction; A driving device, used for driving the conical winch to rotate; A closed-loop rope, comprising a diameter-reducing section wound around the winding groove, and a first rope section and a second rope section respectively located on radial sides of the conical winch; a pulley assembly comprising a first pulley as a fixed end and a second pulley as a movable end, wherein the first rope segment is wound around the first pulley and the second rope segment is wound around the second pulley; The rotation of the conical winch changes the diameter of the variable diameter section of the closed-loop rope wound on the winding groove, thereby changing the length ratio of the first rope section to the second rope section, and driving the second pulley to translate relative to the first pulley.

[0007] Specifically, a single winding groove is provided on the surface of the conical winch, and the closed-loop rope is wound in the single-side winding groove to form a closed loop.

[0008] Specifically, the surface of the conical winch is provided with two symmetrical winding grooves, and the closed-loop rope is wound in the winding grooves on both sides to form a closed loop.

[0009] Specifically, the slide rail and the fixed base, slide rail base, and movable base arranged in sequence along the slide rail; The fixed base is fixed to the slide rail; The slide rail base and the movable base slide on the slide rail, and the movable base has a stroke twice that of the slide rail base; The driving device and the conical winch are arranged on the slide rail base; The first pulley is arranged on the fixed base, and the second pulley is arranged on the movable base.

[0010] Specifically, the conical winch rope-driven linear actuator includes two symmetrically arranged conical winches, and the two conical winches are respectively located on the upper and lower sides of the closed-loop rope path; The driving device drives the two conical winches to rotate synchronously in opposite directions.

[0011] Specifically, the driving device includes two first motors, and each of the first motors is engaged with a first driven gear at the end of the conical capstan through a first driving gear.

[0012] Specifically, the driving device includes a single second motor, the second motor is engaged with the second driven gear of one of the conical capstans via a second driving gear, and the second driven gears of the two conical capstans are engaged with each other.

[0013] Specifically, the conical winch rope-driven linear actuator further includes a tension maintaining device, which is arranged in the closed-loop rope path and is used to maintain the tension of the closed-loop rope.

[0014] Specifically, the tension maintaining device is a torsion spring rotating mechanism or a spring dragging mechanism, which acts on the closed-loop rope through the torsion spring rotating mechanism or the spring dragging mechanism to maintain the tension of the closed-loop rope.

[0015] Specifically, the winding groove is a single continuous spiral groove, and the speed difference of the closed-loop rope is controlled by gradual change in diameter.

[0016] Specifically, the diameter change of the conical capstan satisfies: T=M×(Rr), where: T is the linear driving force of the closed-loop rope; M is the output torque of the driving device; R is the rope winding radius of the large end of the tapered winch; r is the rope winding radius of the small end of the tapered winch.

[0017] Beneficial effects of the present invention: The conical winch rope-driven linear actuator of the present application includes a conical winch, a driving device, a closed-loop rope and a pulley set; the surface of the conical winch is provided with at least one winding groove with a gradually changing diameter along the axial direction; the driving device is used to drive the conical winch to rotate; the closed-loop rope is wound around the winding groove and forms a closed path through the pulley set; the rotation of the conical winch changes the diameter of the variable diameter section of the closed-loop rope wound around the winding groove, so as to change the length ratio of the first rope segment to the second rope segment, thereby driving the second pulley to translate relative to the first pulley. Through the synchronous reverse rotation of the conical winch and the staggered winding of the single-sided or double-sided winding grooves, combined with the elastic properties of the closed-loop rope, the bidirectional antagonistic drive and flexible movement of the bionic muscle are realized; the diameter gradient structure makes the driving force and stroke parameterizable and adjustable without the need to reconstruct the mechanical structure; the closed path and multi-turn winding design completely avoid the risk of the rope loosening and falling out of the groove. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 is a perspective view of a tapered winch rope-driven linear actuator of Example 1; Figure 2 This is a three-dimensional view of the conical winch rope-driven linear actuator of Example 1 with the cover removed; Figure 3 is a perspective view of a tapered winch, a closed-loop rope, and a pulley assembly of Example 1; Figure 4 A perspective view of a closed-loop rope of Example 1 wound around the double-sided winding grooves of a conical winch; Figure 5 This is a front view of the closed-loop rope of Example 1 wound around the winding grooves on both sides of the conical winch; Figure 6 is a perspective view of the conical winch and the driving device of Example 1; Figure 7 is a perspective view of a conical winch and a driving device of Example 2; Figure 8 is a perspective view of a tapered winch, a closed-loop rope, and a pulley assembly of Example 3; Figure 9 is a perspective view of a tapered winch, a closed-loop rope, and a pulley assembly of Example 4; Figure 10 A perspective view of a closed-loop rope of Example 4 wound around a single-side winding groove of a conical winch; Figure 11 Schematic diagram of the structure of the torsion spring rotation mechanism of Example 5 acting on the closed-loop rope to maintain the tension of the closed-loop rope; Figure 12 Schematic diagram of the structure of the spring drag mechanism of Example 6 acting on the closed-loop rope to maintain the tension of the closed-loop rope; Figure 13 Schematic diagram of the installation position of the tension maintaining device of Example 7.

[0019] The accompanying drawings are marked as follows: conical capstan 1, winding groove 11, first driven gear 12, second driven gear 13, driving device 2, first motor 21, first driving gear 22, second motor 23, second driving gear 24, closed-loop rope 3, reducing section 31, first rope section 32, second rope section 33, pulley block 4, first pulley 41, second pulley 42, slide rail 5, fixed base 51, slide rail base 52, movable base 53, torsion spring rotating mechanism 61, main shaft 611, torsion spring 612, swing arm 613, first tensioning pulley 614, spring dragging mechanism 62, second tensioning pulley 621, tension spring 622, cover 71, bearing 72. DETAILED DESCRIPTION

[0020] The present invention provides a conical winch rope-driven linear actuator. To make the objectives, technical solutions, and effects of the present invention more clear and explicit, the present invention is further described in detail below with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are intended only to illustrate the present invention and are not intended to limit the present invention.

[0021] In the description of the present invention, it should be understood that descriptions involving orientations, such as up, down, front, back, left, right, etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, they cannot be understood as limitations on the present invention.

[0022] Example 1 Please refer to Figures 1 to 6 The conical winch rope-driven linear drive of this embodiment includes two conical winches 1, a driving device 2, a closed-loop rope 3 and a pulley group 4; the conical winch 1 is provided with two winding grooves 11 with gradually changing diameters along the axial direction on the surface; the driving device 2 is used to drive the conical winch 1 to rotate; the closed-loop rope 3 includes a reducing section 31 wound around the winding groove 11, and a first rope section 32 and a second rope section 33 respectively located on both sides of the radial direction of the conical winch 1; the pulley group 4 includes two first pulleys 41 as fixed ends and two second pulleys 42 as movable ends, the first rope section 32 is sequentially wound around the two first pulleys 41, and the second rope section 33 is sequentially wound around the two second pulleys 42; the rotation of the conical winch 1 causes the diameter of the reducing section 31 of the closed-loop rope 3 wound around the winding groove 11 to change, so as to change the length ratio of the first rope section 32 to the second rope section 33, thereby driving the second pulley 42 to move translationally relative to the first pulley 41.

[0023] In this embodiment, the driving device 2 drives the two conical winches 1 to rotate synchronously in the opposite direction, and utilizes the winding groove 11 structure with a gradually changing axial diameter on its surface, so that the closed-loop rope 3 wound in the bilateral winding grooves 11 produces a speed difference due to the diameter difference during the retraction and release process, thereby changing the length ratio of the first rope segment 32 to the second rope segment 33. The two first pulleys 41 of the pulley group 4 can be set as fixed ends, and the two first pulleys 41 and 42 can be set as movable ends, and arranged at the position where the simulated robot skeleton needs to be contracted and driven, such as on the robot's upper arm, as the simulated muscle of the upper arm. Specifically, the first pulley 41 and the second pulley 42 are respectively arranged at the two ends of the position where the simulated muscle needs to be contracted and driven. Therefore, when the driving device 2 drives the two conical winches 1 to rotate synchronously in the opposite direction, it can drive the movable end of the pulley group 4 to move in a straight line, imitating the muscle contraction of the robot's upper arm.

[0024] Traditional rope retraction devices require the rope to be wrapped around the robot joint and fixed, which means that the driving part and the joint part are connected together, which is not conducive to assembly and maintenance; the structure of the present application is similar to a separate muscle structure, which can completely separate the driving part (the conical winch rope-driven linear drive of the present application) from the joint part of the robot, making it easy to assemble.

[0025] like Figure 3 As shown, the arrow in the figure points to the winding path of the closed-loop rope 3, which is specifically as follows: the conical winch 1 has two and is arranged up and down, and the surface of each conical winch 1 is provided with two symmetrical winding grooves 11, and the closed-loop rope 3 is wound around the four winding grooves 11 to form four diameter-reducing sections 31, and each diameter-reducing section 31 is respectively connected to the first rope section 32 and the second rope section 33 along the radial sides of the conical winch 1. The first rope section 32 is sequentially wound around the two first pulleys 41, and the second rope section 33 is sequentially wound around the two second pulleys 42, forming a closed-loop winding path as a whole.

[0026] This application simulates the flexible bionic effect of muscles through the elastic characteristics of the closed-loop rope 3 to achieve bidirectional antagonistic drive; at the same time, the closed-loop path structure constrains the closed-loop rope 3 inside the module, significantly reducing the risk of de-grooving; the gradual diameter change characteristics of the conical winch 1 enable the transmission ratio, driving force and stroke to be adjusted by changing the size without reconstructing the mechanical structure. Combined with the force line centering layout of the pulley group 4, the reliability and bionic adaptability of linear motion are achieved.

[0027] like Figure 4 As shown, the surface of the conical winch 1 is provided with two symmetrical winding grooves 11, and the closed loop rope 3 is wound in the winding grooves 11 on both sides to form a closed loop. Figure 3In the dual-winch layout shown, the dual winding grooves 11 of the upper and lower conical capstans 1 each wind the closed-loop rope 3 twice, for a total of four staggered windings. This multi-stage winding structure offsets off-load torque through geometric symmetry, resulting in a more balanced tension distribution in the closed-loop rope 3. Furthermore, the multiple windings significantly increase the contact area between the closed-loop rope 3 and the walls of the winding grooves 11, thereby increasing static friction and reducing the risk of slippage.

[0028] More importantly, the spatial staggered constraint effect formed by the four-fold winding ensures that the closed-loop rope 3 is always limited by the wall of the winding groove 11. Even if subjected to high-frequency vibration or impact load, the closed-loop rope 3 can still maintain close contact with the winding groove 11, fundamentally avoiding the problem of failure due to de-groove that is prone to occur in traditional single-point winding, and significantly improving the dynamic stability of the linear drive.

[0029] like Figure 1 and Figure 2 As shown, this embodiment also includes a slide rail 5 and a fixed base 51, a slide rail base 52, and a movable base 53 arranged in sequence along the slide rail 5; the fixed base 51 is fixed to the slide rail 5; the slide rail base 52 and the movable base 53 slide on the slide rail 5, and the stroke of the movable base 53 is twice the stroke of the slide rail base 52; the driving device 2 and the conical winch 1 are arranged on the slide rail base 52; the first pulley 41 is arranged on the fixed base 51, and the second pulley 42 is arranged on the movable base 53.

[0030] This embodiment uses two symmetrically arranged conical winches 1, which are respectively located at the upper and lower sides of the closed-loop rope 3 path; the driving device 2 drives the two conical winches 1 to rotate synchronously in opposite directions. The two conical capstans 1 are driven to rotate synchronously in the opposite direction by the driving device 2. The winding groove 11 structure with a gradually changing axial diameter on its surface is used to change the diameter of the reducing section 31 of the closed-loop rope 3 wound on the winding groove 11, so as to change the length ratio of the first rope section 32 to the second rope section 33, thereby driving the second pulley 42 to move translationally relative to the first pulley 41. The driving device 2 and the conical capstan 1 are arranged on a slide rail base 52, the first pulley 41 is arranged on a fixed base 51, and the second pulley 42 is arranged on a movable base 53. When the driving device 2 drives the two conical capstans 1 to rotate synchronously in the opposite direction, the slide rail base 52 and the movable base 53 slide along the slide rail 5, and the stroke of the movable base 53 is twice the stroke of the slide rail base 52. This movement is similar to the contraction principle of simulated muscles. When applied in robots, it can realize simulated muscle contraction movements.

[0031] like Figure 1-3In the dual-capstan arrangement shown, the upper and lower conical capstans 1 each wind a closed-loop rope 3 twice through two winding grooves 11, resulting in a total of four interlaced windings. Combined with the closed path formed by the pulley assembly 4, this converts rotational motion into linear displacement output. Specifically, when the fixed base 51 is set as the anchor point, the path change of the closed-loop rope 3 directly pulls the slide rail base 52 along the slide rail 5, driving the movable base 53 to generate a double stroke displacement, achieving a mechanical lever amplification effect.

[0032] The fixed base 51, the slide rail base 52 and the movable base 53 connected in series on the slide rail 5 form a linear arrangement structure. With the coordination of the force line centering layout of the pulley group 4, the axial accuracy of the linear motion is guaranteed, and the driving range is expanded through the double stroke output of the movable base 53, ultimately achieving the dynamic stability and adaptive driving capability required by the bionic muscle.

[0033] like Figure 6 As shown, the drive device 2 includes two first motors 21, each of which engages the first driven gear 12 at the end of the conical capstan 1 via a first driving gear 22. In this embodiment, the drive device 2 uses the two first motors 21 to drive the first driving gears 22 to engage the first driven gears 12 at the end of the conical capstan 1, forming a dual-channel independent transmission path. When the first motors 21 output torque, the meshing action of the first driving gears 22 and the first driven gears 12 drives the two conical capstans 1 to rotate in opposite directions at a preset speed ratio, synchronously retracting and releasing the closed-loop rope 3 wound around the winding grooves 11 on both sides.

[0034] The winding groove 11 is a single, continuous spiral groove, which controls the speed difference between the retraction and release of the closed-loop rope 3 by gradually changing its diameter. When the drive device 2 rotates the conical capstan 1, the closed-loop rope 3 continuously slides along the trajectory of the winding groove 11 from the large-diameter end to the small-diameter end (or vice versa). The linear change in the bottom radius of the winding groove 11 creates a speed difference between the retraction and release of the closed-loop rope 3. Specifically, the retraction and release length of the closed-loop rope 3 per unit rotation angle in the large-radius area is greater than that in the small-radius area.

[0035] This continuously gradient single continuous spiral groove structure enables the closed-loop rope 3 to always move along the groove, avoiding the risk of slot jumping in the traditional segmented groove body; at the same time, the coordinated design of the spiral rise angle and diameter change realizes the smooth increase and decrease of the rope path length in a single rotation of the conical winch 1, and cooperates with the closed-loop guidance of the pulley group 4 to accurately convert the speed difference into a uniform linear displacement output of the movable base 53.

[0036] like Figure 5As shown, the diameter variation of the conical capstan 1 satisfies the equation: T = M × (Rr), where T is the linear driving force of the closed-loop rope 3; M is the output torque of the drive unit 2; R is the rope radius at the large end of the conical capstan 1; and r is the rope radius at the small end of the conical capstan 1. The tapered diameter variation of the conical capstan 1 creates a leverage effect through the geometric difference (Rr), converting the output torque M of the drive unit 2 into the linear driving force T of the closed-loop rope 3, satisfying the equation T = M × (Rr). The principle behind this equation is that as the conical capstan 1 rotates, the reeling and unreeling speed of the closed-loop rope 3 at the large end radius R is greater than that at the small end radius r, resulting in a dynamic increase and decrease in the path length during a single rotation, thereby seamlessly converting the rotational torque difference into linear tension.

[0037] It should be noted that in this solution, the variable diameter design of the conical capstan 1 is key to achieving linear motion of the movable base 53. For example, the large-end winding radius can be set to 2.5 cm and the small-end winding radius to 1 cm. The "large-end winding radius" R refers to the equivalent turning radius of the closed-loop rope 3's contact point at the larger end of the conical capstan 1 (corresponding to a radius of 2.5 cm) under normal operating conditions. Correspondingly, the "small-end winding radius" r refers to the equivalent turning radius at the smaller end of the conical capstan 1 (corresponding to a radius of 1 cm). This design utilizes the radius difference (Rr) between the two ends as a geometric lever, linearly converting the output torque (M) of the drive device 2 into a linear driving force acting on the closed-loop rope 3. Furthermore, this radius difference ensures that the length of the closed-loop rope 3 at the large end (R) must be greater when winding or unwinding than at the small end (r) during the rotation of the conical capstan 1. This length difference is dynamically compensated by the closed-loop rope 3 dragging the slide rail base 52 with it.

[0038] This principle allows for stepless adjustment of the linear drive force T by adjusting the taper ratio (R / r), adapting to varying load requirements without modifying the transmission structure. Furthermore, the diameter difference (Rr) is directly correlated to linear displacement, achieving synergistic optimization of drive force and travel. The linear drive force T is evenly distributed across the four rope sections via symmetrical grooves, avoiding localized stress concentration. The constant preload generated by the gradual diameter change, combined with the closed-loop guidance of pulley block 4, maintains path stability during high-speed reciprocating motion.

[0039] Example 2 Please refer to Figure 7As shown, the difference between this embodiment and Example 1 is that the drive device 2 includes a single second motor 23, which engages the second driven gear 13 of one of the conical capstans 1 through a second driving gear 24, and the second driven gears 13 of the two conical capstans 1 are meshed with each other. In this embodiment, a single second motor 23 drives the second driving gear 24, which engages the second driven gear 13 of one of the conical capstans 1. At the same time, the second driven gears 13 of the two conical capstans 1 are meshed with each other, forming a three-stage gear transmission structure. When the motor 23 outputs torque, the second driving gear 24 drives one of the second driven gears 13 to rotate, which is then transmitted to the second driven gear 13 of the other capstan through gear meshing, so that the two conical capstans 1 rotate synchronously in opposite directions.

[0040] This design eliminates speed deviations between the two capstans through rigid gear meshing, ensuring that the retraction and release speeds of the closed-loop rope 3 are strictly matched within the winding grooves 11 on both sides. Compared with the dual-motor approach, the single-motor drive significantly reduces system complexity and energy consumption.

[0041] Example 3 Please refer to Figure 8 As shown, this embodiment differs from the first embodiment in that a conical capstan 1 is used. Two symmetrical winding grooves 11 are provided on the surface of the conical capstan 1. The closed-loop rope 3 is wound in the winding grooves 11 on both sides to form a closed loop. The pulley assembly 4 includes two first pulleys 41 provided on a fixed base 51 and two second pulleys 42 provided on a movable base 53.

[0042] This embodiment utilizes a single conical capstan 1, with two symmetrical winding grooves 11 on its surface, each of which winds a closed-loop rope 3 to form a closed loop. When the drive device 2 rotates the capstan, the closed-loop rope 3 within the winding grooves 11 gradually changes in diameter, resulting in a difference in retraction and extension speeds. This changes the length ratio of the first rope segment 32 to the second rope segment 33. The two first pulleys 41 of the fixed base 51 and the two second pulleys 42 of the movable base 53 work together to guide the change in the length ratio, converting it into a linear displacement output of the movable base 53. Using a single conical capstan 1 significantly simplifies the structure and reduces weight.

[0043] Example 4 Please refer to Figure 9 and Figure 10 As shown, this embodiment differs from the first embodiment in that a conical capstan 1 is used. A winding groove 11 is formed on the surface of the conical capstan 1. The closed-loop rope 3 is wound in a single-sided winding groove 11 to form a closed loop. The pulley assembly 4 includes two first pulleys 41 provided on a fixed base 51 and two second pulleys 42 provided on a movable base 53. The first side of the closed-loop rope 3 is wound around the two first pulleys 41, and the second side of the closed-loop rope 3 is wound around the two second pulleys 42, forming a stable closed loop.

[0044] Example 5 Please refer to Figure 11 As shown, the difference between this embodiment and Example 1 is that the conical winch rope-driven linear actuator of this embodiment further includes a tension maintaining device, which is a torsion spring rotating mechanism 61. The torsion spring rotating mechanism 61 acts on the closed-loop rope 3 to maintain the tension of the closed-loop rope 3. The torsion spring rotating mechanism 61 includes a large shaft 611 provided on the movable base 53, a swing arm 613 hinged to the end of the large shaft 611 via a torsion spring 612, and a first tensioning pulley 614 connected to the swinging end of the swing arm 613. The closed-loop rope 3 also passes around the first tensioning pulley 614. The torsion spring 612 exerts a torsional force, causing the swing arm 613 to continuously swing downward, thereby tightening the closed-loop rope 3 and maintaining a certain tension in the closed-loop rope 3.

[0045] Example 6 Please refer to Figure 12 As shown, the difference between this embodiment and Example 1 is that the conical winch rope-driven linear actuator of this embodiment further includes a tension maintaining device, which is a spring drag mechanism 62. The spring drag mechanism 62 acts on the closed-loop rope 3 to maintain the tension of the closed-loop rope 3. The spring drag mechanism 62 includes a second tensioning pulley 621 located below the perpendicular midline of the two second pulleys 42 and a tension spring 622 connected between the second tensioning pulley 621 and the movable base 53. The closed-loop rope 3 passes through the two second pulleys 42 and then around the second tensioning pulley 621. The tension of the tension spring 622 maintains a constant tension in the closed-loop rope 3.

[0046] Example 7 Please refer to Figure 13 As shown, if the tension maintaining devices of Examples 5 and 6 are applied to the conical winch rope-driven linear actuator of Example 3, the continuity of the tension will be separated after passing through the conical winch 1. That is, the tensioning structures of the left and right portions of the closed-loop rope 3 shown in the figure are not interconnected. Therefore, both portions need to be installed with the tension maintaining device of Example 5 or 6. The installation position of the left portion can be selected at one of A1, A2, and A3, and the installation position of the right portion can be selected at one of B1, B2, and B3. The arrangement of the tension maintaining devices of the conical winch rope-driven linear actuators of other embodiments is similar and will not be described in detail below.

[0047] The above specifically describes the preferred embodiments of the present invention, but the present invention is not limited to the embodiments. Those skilled in the art may make various equivalent modifications or substitutions without violating the spirit of the present invention. These equivalent modifications or substitutions are all included in the scope defined by the claims of the present invention.

Claims

1. A conical winch rope driven linear actuator, characterized in that: include: A conical capstan (1) having at least one winding groove (11) with a gradually changing diameter along the axial direction provided on its surface; A driving device (2) for driving the conical winch (1) to rotate; A closed-loop rope (3) comprising a diameter-reducing section (31) wound around the winding groove (11), and a first rope section (32) and a second rope section (33) respectively located on both radial sides of the conical winch (1); A pulley assembly (4) includes a first pulley (41) as a fixed end and a second pulley (42) as a movable end, wherein the first rope segment (32) is wound around the first pulley (41) and the second rope segment (33) is wound around the second pulley (42); The rotation of the conical winch (1) changes the diameter of the variable diameter section (31) of the closed-loop rope (3) wound around the winding groove (11), thereby changing the length ratio of the first rope section (32) to the second rope section (33), thereby driving the second pulley (42) to move in translation relative to the first pulley (41).

2. The conical winch rope-driven linear actuator according to claim 1, characterized in that: The surface of the conical winch (1) is provided with a single winding groove (11), and the closed-loop rope (3) is wound in the single-side winding groove (11) to form a closed loop.

3. The conical winch rope-driven linear actuator according to claim 1, characterized in that: The surface of the conical winch (1) is provided with two symmetrical winding grooves (11), and the closed-loop rope (3) is wound in the winding grooves (11) on both sides to form a closed loop.

4. The conical winch rope-driven linear actuator according to claim 1, characterized in that: Also includes: A slide rail (5) and a fixed base (51), a slide rail base (52), and a movable base (53) sequentially arranged along the slide rail (5); The fixed base (51) is fixed to the slide rail (5); The slide rail base (52) and the movable base (53) slide on the slide rail (5), and the travel of the movable base (53) is twice the travel of the slide rail base (52); The driving device (2) and the conical winch (1) are arranged on a slide rail base (52); The first pulley (41) is provided on the fixed base (51), and the second pulley (42) is provided on the movable base (53).

5. The conical winch rope-driven linear actuator according to any one of claims 1 to 3, characterized in that: It comprises two symmetrically arranged conical winches (1), located respectively on the upper and lower sides of the closed-loop rope (3) path; The driving device (2) drives the two conical winches (1) to rotate synchronously in opposite directions.

6. The conical winch rope-driven linear actuator according to claim 5, characterized in that: The driving device (2) comprises two first motors (21), each of which is engaged with a first driven gear (12) at the end of the conical capstan (1) via a first driving gear (22).

7. The conical winch rope-driven linear actuator according to claim 5, characterized in that: The driving device (2) includes a single second motor (23), the second motor (23) meshing with the second driven gear (13) of one of the conical capstans (1) via a second driving gear (24), and the second driven gears (13) of the two conical capstans (1) meshing with each other.

8. The conical winch rope-driven linear actuator according to claim 1, characterized in that: Also includes: A tension maintaining device is provided in the path of the closed-loop rope (3) and is used to maintain the tension of the closed-loop rope (3).

9. The conical winch rope-driven linear actuator according to claim 8, characterized in that: The tension maintaining device is a torsion spring rotating mechanism (61) or a spring dragging mechanism (62), which acts on the closed-loop rope (3) through the torsion spring rotating mechanism (61) or the spring dragging mechanism (62) to maintain the tension of the closed-loop rope (3).

10. The conical winch rope-driven linear actuator according to claim 1, characterized in that: The winding groove (11) is a single continuous spiral groove, and the speed difference of the closed-loop rope (3) is controlled by gradually changing its diameter.

11. The conical winch rope-driven linear actuator according to claim 1, characterized in that: The diameter change of the conical winch (1) satisfies: T=M×(Rr), where: T is the linear driving force of the closed-loop rope (3); M is the output torque of the driving device (2); R is the rope radius at the large end of the conical winch (1); r is the rope winding radius at the small end of the conical winch (1).

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