Single-source reducing winding drum self-tensioning rope transmission mechanism

Abstract

The invention discloses a single-source variable-diameter winding drum self-tensioning rope transmission mechanism which comprises a motor, a motor heightening flange, a speed reducer, a bidirectional electromagnetic clutch assembly, a variable-diameter winding drum assembly, a shell, a mechanism mounting flange, a rope, a support, an output flange, a pulley shaft and a fixed pulley. The motor, the motor heightening flange, the speed reducer, the bidirectional electromagnetic clutch assembly and the variable-diameter winding drum assembly are all coaxially installed on one side of the mechanism installation flange, the bidirectional electromagnetic clutch assembly can change the torque transmission path of the motor, and normal rotation or diameter change of a winding drum can be achieved; the bracket, the pulley shaft and the fixed pulley are sequentially mounted on the other side; the rope is wound on a winding drum of the variable-diameter winding drum assembly after winding around the fixed pulley by a half circle, the two ends are fixed to the winding drum, the output flange is connected to the rope in a pressing mode, and torque output can be achieved. The self-tensioning rope transmission mechanism of the single-source reducing winding drum is compact in structure and capable of achieving self-tensioning, does not need an independent tensioning driving source and can achieve constant force output of the rope.

Description

Technical Field

[0001] The invention relates to a single-source variable-diameter drum self-tensioning rope transmission mechanism, belonging to the field of flexible rope transmission. Background Art

[0002] Flexible rope transmission technology is a technology that realizes flexible friction transmission through a flexible rope with appropriate tension between the master and driven wheels. The typical pulley flexible rope transmission configuration is generally composed of a driving mechanism, a drum, a flexible rope, a pulley, a guide device, a tensioning device and a supporting device. It has the characteristics of easy processing, a small number of transmission parts, flexible layout, lightweight, smooth and noiseless transmission, etc. It is particularly suitable for application scenarios of remote drive in narrow spaces.

[0003] The tension adjustment method of the flexible rope plays a decisive role in the accuracy and load capacity of the flexible rope transmission. During the rope transmission process, due to factors such as external load changes, environmental vibrations, and internal friction, the rope becomes loose or tight, affecting the preload of the rope, which in turn causes changes in the rope stiffness ratio, ultimately affecting the accuracy and stability of the rope transmission system.

[0004] At present, the tensioning problem is mainly solved by external tensioning wheels and variable center distance adjustment. The patent involved [A tensioning device CN216519443U, authorized] shows a tensioning device as an auxiliary mechanism, which realizes tensioning adjustment by pulling the tensioning rod in the tensioning direction and cooperating with the ratchet pawl structure, but the disadvantage of this solution is that the manual tensioning and side pressure tensioning wheel will cause the system to be large in size and weight; the patent involved [Rope tensioning device, whole machine flutter wind test system and test method CN111044250B, authorized] shows a rope tensioning device, which realizes rope tensioning by controlling the position of the movable pulley through an electromagnetic clutch, but the disadvantage of this solution is that the external electromagnetic clutch and movable pulley pulling / energy release assembly increase the system volume and space. Summary of the invention

[0005] The technical problem solved by the present invention is: to overcome the shortcomings of the prior art and provide a single-source variable diameter drum self-tensioning rope transmission mechanism, which can realize high-precision rope transmission in a complex environment with large changes in internal and external loads through system self-tensioning in a limited installation space.

[0006] The technical solution of the present invention is:

[0007] A single-source variable diameter drum self-tensioning rope transmission mechanism, comprising: a motor, a motor heightening flange, a reducer, a bidirectional electromagnetic clutch assembly, a variable diameter drum assembly, a housing, a mechanism mounting flange, a rope, a bracket, an output flange, a pulley shaft and a fixed pulley;

[0008] The motor is fixed on the fixed flange of the reducer through the motor heightening flange, and the motor shaft of the motor is keyed to the input of the reducer; the fixed flange of the reducer is fixedly connected to the housing, and the fixed end of the bidirectional electromagnetic clutch assembly is fixedly connected to the housing, ensuring that the motor shaft, the output shaft of the reducer, and the input shaft of the bidirectional electromagnetic clutch are on the same axis;

[0009] The variable diameter drum assembly is fixed inside the shell and is installed coaxially with the two-way clutch assembly; the shell is fixed on one side of the mechanism mounting flange; the bracket is fixed on the other side of the mechanism mounting flange; the mechanism mounting flange has a mounting hole connected to the outside of the transmission mechanism; the fixed pulley is connected to the end of the bracket through the pulley shaft and can rotate freely; the rope passes through the bracket and the fixed flange after winding around the fixed pulley half a circle, and is then wound around the drum in the variable diameter drum assembly, and the end of the rope is fixed at the fixed position of the variable diameter drum assembly. When the variable diameter drum assembly rotates, the rope can be retracted and released; the output flange is crimped on the rope, which generates displacement when the rope is retracted and released, thereby realizing the output of the transmission mechanism.

[0010] Further, the bidirectional electromagnetic clutch assembly includes: a clutch input shaft, a clutch fixing flange, an elastic diaphragm, a double-end face gear clutch plate, a sliding bearing, an electromagnetic coil, a clutch input plate, and a fastening nut;

[0011] The clutch input shaft is fixed to the output shaft of the reducer by screws, and the output torque of the reducer is output; the clutch fixing flange is fixedly connected to the housing by screws; the elastic diaphragm is installed in the groove between the clutch fixing flange and the double-end face gear clutch plate, and its elastic force is used to support the double-end face gear clutch plate and the clutch fixing flange to maintain a certain gap; the double-end face gear clutch plate is radially fixed to the fixing flange by a sliding bearing and can rotate freely; the electromagnetic coil is installed in the groove of the fixing flange, and attracts the double-end face gear clutch plate to move axially when power is turned on; the clutch input plate is keyed to the clutch input shaft, and the two rotate synchronously; the fastening nut is tightened on the clutch input shaft to ensure the axial positioning accuracy of the two-way electromagnetic clutch assembly.

[0012] Furthermore, the variable diameter reel assembly includes: a lead screw nut, a conical push block, a reel petal, a reel top cover, a reel bottom cover, a first angular contact bearing, a bearing baffle, and a second angular contact bearing;

[0013] The lead screw nut is connected to the clutch input shaft through a trapezoidal thread and rotates coaxially; the tapered push block is sleeved on the outside of the lead screw nut and keyed, and is also keyed to the drum petal, so that the drum petal, lead screw nut, and tapered push block rotate coaxially at the same speed or are radially locked;

[0014] There are four reel petals, which are arranged in an array along the circumference of the clutch input shaft, installed on the outside of the conical push block and connected by a keyway to ensure that when the conical push block is axially extended and retracted, the reel petals are radially translated;

[0015] The drum cover is fixed to the housing axially through the first angular contact bearing. The upper and lower sides of the drum cover are provided with keyways that are keyed to the drum flaps, driving the drum flaps to rotate and ensuring radial directional translation of the drum flaps. The drum cover is connected to the double-end face gear clutch plate through a spline, allowing the double-end face gear clutch plate to drive the drum cover to rotate.

[0016] The bottom cover of the reel is connected to the top cover of the reel by screws, and the axial fixation of the variable diameter reel assembly as a whole and the housing is completed by the second angular contact bearing; the bearing baffle ensures the axial fixation of the second angular contact bearing;

[0017] The rope is fixed to the drum flap.

[0018] Furthermore, the bidirectional electromagnetic clutch assembly is used to change the torque transmission path of the motor to achieve normal rotation or diameter change of the variable diameter reel assembly.

[0019] Furthermore, when load output is required, the motor generates torque, which is transmitted to the clutch input plate through the reducer and the clutch input shaft. At this time, the electromagnetic coil is not energized, and the double-end face gear clutch plate is pressed against the top cover of the reel by the electromagnetic coil, so that the end face teeth of the double-end face gear clutch plate are engaged with the end face teeth of the clutch input plate. The torque is transmitted from the clutch input plate to the double-end face gear clutch plate, and drives the variable diameter reel assembly to rotate through the spline.

[0020] Furthermore, when load output is required, the screw nut and the conical push block rotate at a constant speed with the variable diameter drum assembly as a whole, without axial displacement and the drum diameter does not change; the rotation of the variable diameter drum assembly drives the rope to be retracted and released, and finally drives the output flange to reciprocate to achieve load force output.

[0021] Furthermore, when the rope preload needs to be increased by increasing the diameter of the drum, the control system issues a command, the electromagnetic coil is energized to generate magnetic force, the double end face gear clutch plate is attracted to move axially, and the end face gear is engaged with the end face gear of the clutch fixing flange, so that the variable diameter drum assembly cannot rotate;

[0022] Then the motor generates torque, which is transmitted to the clutch input shaft through the reducer. When the clutch input shaft rotates, the screw nut cannot rotate radially and thus produces downward axial translation, thereby pushing the conical push block to translate axially downward. The reel petal is axially fixed by the reel bottom cover and the reel top cover, and the conical push block pushes the reel petal to translate radially through the conical groove, thereby realizing the function of increasing the diameter of the reel.

[0023] Furthermore, when the diameter of the drum needs to be reduced, the motor moves in the opposite direction, the screw nut translates upward, and under the action of the pre-tightening force of the rope, the drum petal is pushed through the tapered hole and translates axially upward on the tapered push block until it is in close contact with the screw nut, thereby achieving the function of reducing the diameter of the drum.

[0024] Furthermore, the reel diameter adjustment dimension in the variable diameter reel assembly is converted by the absolute position encoder of the motor itself.

[0025] The beneficial effects of the present invention compared with the prior art are:

[0026] (1) The present invention innovatively proposes a single-source rope transmission device that adjusts the rope tension by changing the diameter of the drum. A two-way clutch is used to transmit the power of the driving source to the rope system or the tensioning device. The rope transmission system can achieve self-tensioning without adding an additional driving source. It has a compact structure and is driven by a single driving source.

[0027] (2) The present invention innovatively proposes a variable diameter reel component structure, which divides a common reel into four reel petals and has a built-in bidirectional electromagnetic clutch. The four reel petals are evenly distributed on the axis, the inner center hole is a tapered hole, and a tapered push block is configured. By switching the working mode of the electromagnetic clutch, the tapered push block can be driven by a motor to move axially, pushing the radial directional displacement of each reel petal with limited axial movement, thereby realizing the function of a variable diameter reel. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 This is a diagram showing the appearance of a flexible cable transmission mechanism in an embodiment of the present invention;

[0029] Figure 2 It is an internal cross-sectional view of a bidirectional electromagnetic clutch in an embodiment of the present invention;

[0030] Figure 3 Schematic diagram of a variable diameter reel assembly in an embodiment of the present invention;

[0031] Figure 4 This is a schematic diagram of the structure of the variable diameter reel before the diameter is changed in an embodiment of the present invention;

[0032] Figure 5 It is a schematic diagram of the structure of the variable diameter reel after the conical push block is displaced in an embodiment of the present invention. DETAILED DESCRIPTION

[0033] The specific embodiments of the present invention are further described in detail below with reference to the accompanying drawings.

[0034] The present invention proposes a single-source variable diameter drum self-tensioning rope transmission mechanism, comprising: a motor 1, a motor heightening flange 2, a reducer 3, a bidirectional electromagnetic clutch assembly 4, a variable diameter drum assembly 5, a housing 6, a mechanism mounting flange 7, a rope 8, a bracket 9, an output flange 10, a pulley shaft 11, and a fixed pulley 12. Among them, the motor, the motor heightening flange, the reducer, the bidirectional electromagnetic clutch assembly, and the variable diameter drum assembly are all coaxially mounted on one side of the mechanism mounting flange, and the bidirectional electromagnetic clutch assembly can change the torque transmission path of the motor, so as to realize the normal rotation or diameter change of the drum; the bracket, the pulley shaft, and the fixed pulley are sequentially installed on the other side; after the rope is wound around the fixed pulley for half a circle, it is wound on the drum (drum petal) of the variable diameter drum assembly, and both ends are fixed to the drum, and the output flange is crimped on the rope to realize torque output. The single-source variable diameter drum self-tensioning rope transmission mechanism disclosed by the present invention has a compact structure, can be self-tensioned, does not require a separate tensioning driving source, and can realize the constant force output of the rope.

[0035] Specifically, Figure 1 As shown, the motor 1 is fixed to the fixed flange of the reducer 3 through the motor heightening flange 2, and the motor shaft of the motor 1 is keyed to the input of the reducer 3; the fixed flange of the reducer 3 is connected to the housing 6 by screws, and the fixed end of the two-way electromagnetic clutch assembly 4 is connected to the housing 6 by screws, ensuring that the motor shaft, the output shaft of the reducer, and the input shaft of the two-way electromagnetic clutch are on the same axis; the reducing reel assembly 5 is axially fixed inside the housing 6 by a bearing and is coaxially installed with the two-way clutch assembly 4; the housing 6 is fixed to one side of the mechanism mounting flange 7 by screws; the bracket 9 is fixed to the other side of the mechanism mounting flange 7 by screws; the mechanism mounting flange 7 has a mounting hole connected to the outside of the mechanism; the fixed pulley 12 is connected to the bracket 9 through the pulley shaft 11 and can rotate freely; the rope 8 passes through the bracket 9 and the fixed flange 7 after winding around the fixed pulley 12 half a circle, and is wound on the drum in the variable diameter drum assembly 5. The end of the rope 8 is fixed at a fixed position of the variable diameter drum assembly 5. When the variable diameter drum assembly 5 rotates, the rope can be extended / tightened on one side; the output flange 10 is crimped on the rope 8, and can be displaced when the rope 8 is retracted and released to realize the output of the mechanism.

[0036] like Figure 2As shown, the bidirectional electromagnetic clutch assembly 4 includes: a clutch input shaft 13, a clutch fixing flange 14, an elastic diaphragm 15, a double-end face gear clutch plate 16, a sliding bearing 17, an electromagnetic coil 18, a clutch input disc 19, and a fastening nut 20. The clutch input shaft 13 is fixed to the output of the reducer 3 by screws, and can output the output torque of the reducer; the clutch fixing flange 14 is fixed to the housing 6 by screws; the elastic diaphragm 15 is installed in the groove between the clutch fixing flange 14 and the double-end face gear clutch plate 16, and its elastic force can support the double-end face gear clutch plate 16 to maintain a certain gap with the clutch fixing flange 14; the double-end face gear clutch plate 16 is radially fixed to the fixing flange 14 by the sliding bearing 17 and can rotate freely; the electromagnetic coil 18 is installed in the groove of the fixing flange 14, and can attract the double-end face gear clutch plate 16 to move axially when powered on; the clutch input disc 19 is keyed to the clutch input shaft 13, and the two can rotate synchronously; the fastening nut 20 is tightened on one side of the clutch input shaft 13 to ensure the axial positioning accuracy of the double-end face gear clutch assembly.

[0037] The present invention utilizes the working characteristics of a two-way clutch and a linear trapezoidal lead screw to realize the functions of the system through a small number of components. When the system is working normally, the lead screw and nut of the variable diameter reel drive assembly rotate together. When the reel diameter needs to be changed, the clutch connects the cover plate of the variable diameter reel to the fixed housing, thereby ensuring that the lead screw nut does not rotate radially, and the nut can be driven to move linearly when the lead screw rotates.

[0038] like Figure 3 As shown, the variable diameter reel assembly 5 includes: a lead screw nut 21, a conical push block 22, a reel petal 23, a reel top cover 24, a reel bottom cover 25, a first angular contact bearing 26, a bearing baffle 27, and a second angular contact bearing 28. The lead screw nut 21 is connected to the clutch input shaft 13 through a trapezoidal thread and can rotate coaxially; the conical push block 22 is sleeved on the outside of the lead screw nut 13 and keyed, and is also keyed to the reel petal 23, so that the reel petal 23, the lead screw nut 21, and the conical push block 22 can rotate coaxially at the same speed or be radially locked; there are four reel petals 23, which are arranged in an axial array along the clutch input shaft 13, installed on the lower side of the conical push block 22 and connected by a keyway to ensure that when the conical push block 22 is axially extended and retracted, the reel petals 23 can each translate radially; the reel top cover 24 is connected to the clutch input shaft 13 through the first angular contact bearing 2 6 is axially fixed to the housing 6, and keyways are provided on the upper and lower sides of the reel top cover 24 to key with the reel flap 23, which can drive the reel flap 23 to rotate, while ensuring that the reel flap 23 can be radially directional translated, and the reel top cover 24 is connected to the double end face gear clutch plate 16 through a spline, allowing the double end face gear clutch plate 16 to drive the reel top cover 24 to rotate; the reel bottom cover 25 is connected to the reel top cover 23 by screws, and the axial fixation of the variable diameter reel assembly 5 as a whole to the housing 6 is completed by the second angular contact bearing 28; the bearing baffle 27 ensures the axial fixation of the second angular contact bearing 28.

[0039] The rope is fixed to the drum flap 23 .

[0040] The variable diameter reel of the present invention divides the ordinary reel into four reel petals and has a built-in bidirectional electromagnetic clutch. The four reel petals are evenly distributed on the axis, the inner center hole is a tapered hole, and a tapered push block is configured. By switching the working mode of the electromagnetic clutch, the tapered push block can be driven by the motor to move axially, and the radial directional displacement of each reel petal with limited axial movement is promoted, thereby realizing the function of the variable diameter reel.

[0041] In the variable diameter reel component of the present invention, a trapezoidal lead screw nut is used to drive the conical push block to move axially, thereby realizing the diameter change of the reel. The trapezoidal lead screw has a self-locking function, and after the reel diameter change is completed, it can ensure that the diameter of the reel does not change during operation.

[0042] The present invention adopts a variable diameter drum to adjust the rope tension. Taking the current typical configuration as an example, the original drum diameter can be increased by 23%. The more turns and layers of rope wound on the drum, the greater the range of preload adjustment when the drum diameter is changed.

[0043] like Figure 4 As shown, the figure shows the state where the diameter of the reel does not change. When load output is required, the motor 1 generates torque, which is transmitted to the clutch input disc 19 through the reducer 3 and the clutch input shaft 13. At this time, the electromagnetic coil 18 is not energized, and the double-end face gear clutch plate 16 is pressed against the reel top cover 24 by the electromagnetic coil 18, so that the end face teeth of the double-end face gear clutch plate 16 are meshed with the end face teeth of the clutch input disc 19. The torque is transmitted from the clutch input disc 19 to the double-end face gear clutch plate 16, and the variable diameter reel assembly 5 is driven to rotate through the spline. At this time, since the lead screw nut 21 and the conical push block 22 rotate at the same speed with the entire assembly, no axial displacement occurs, and the reel diameter does not change. The rotation of the variable diameter reel assembly 5 drives the rope 8 to be retracted and released, and finally drives the output flange 10 to reciprocate to achieve load force output.

[0044] like Figure 5As shown, when the rope tension needs to be adjusted, taking the case where the drum diameter needs to be enlarged to increase the rope pretension as an example: the control system sends a command, the electromagnetic coil 18 is energized to generate magnetic force, and the double end face gear clutch plate 16 is attracted to move axially to ensure that the end face teeth are engaged with the end face teeth of the clutch fixing flange 14, ensuring that the variable diameter drum assembly 5 cannot rotate. Then the motor 1 generates torque, which is transmitted to the clutch input shaft 13 through the reducer 3. When the clutch input shaft 13 rotates, the lead screw nut 21 cannot rotate radially, so it produces downward axial translation, which pushes the conical push block 22 to translate downward axially. Since the drum flap 23 is axially fixed by the drum bottom cover 25 and the drum top cover 24, the conical push block 22 can push the drum flap 23 to translate radially through the conical groove, thereby increasing the diameter of the drum. When the diameter of the drum needs to be reduced, the motor moves in the opposite direction, and the lead screw nut 21 translates upward. Under the action of the preload force of the rope 8, the drum flap 23 pushes the conical push block 22 through the conical hole to translate axially upward until it is close to the lead screw nut 21, thereby reducing the diameter of the drum. The diameter adjustment size can be converted by the motor's own absolute position encoder. The state of the drum after the diameter is reduced is as follows: Figure 5 As shown in the picture on the right.

[0045] The compact design of the self-tensioning drive / transmission device of the present invention does not require increasing the volume of the original system and being arranged inside the drum. In a limited installation space, the self-tensioning of the soft rope transmission is completed by cooperating with the clutch and the variable diameter drum device, and automatic adjustment of the rope tension can be achieved in a limited installation space.

[0046] The present invention can be applied to the field of soft rope transmission. The diameter of the drum can be adjusted through a single driving source to adjust the preload of the rope. The output torque and speed of the rope drive mechanism can be detected and adjusted in real time through the control system to achieve constant tension rope transmission. In a limited installation space, high-precision rope transmission can be achieved under large external load changes in a complex environment. The prospect can be applied to engineering machinery, deformable aircraft, etc., with broad application prospects and economic benefits.

[0047] Parts of the present invention that are not described in detail belong to common knowledge among those skilled in the art.

Claims

1. A single-source variable diameter drum self-tensioning rope transmission mechanism, characterized in that include: A motor (1), a motor heightening flange (2), a reducer (3), a bidirectional electromagnetic clutch assembly (4), a variable diameter drum assembly (5), a housing (6), a mechanism mounting flange (7), a rope (8), a bracket (9), an output flange (10), a pulley shaft (11) and a fixed pulley (12); The motor (1) is fixed to the fixed flange of the reducer (3) through the motor heightening flange (2); the motor shaft of the motor (1) is keyed to the input of the reducer (3); the fixed flange of the reducer (3) is fixedly connected to the housing (6); the fixed end of the bidirectional electromagnetic clutch assembly (4) is fixedly connected to the housing (6), ensuring that the motor shaft, the output shaft of the reducer, and the input shaft of the bidirectional electromagnetic clutch are on the same axis; The variable diameter drum assembly (5) is fixed inside the housing (6) and is coaxially installed with the two-way clutch assembly (4); the housing (6) is fixed on one side of the mechanism mounting flange (7); the bracket (9) is fixed on the other side of the mechanism mounting flange (7); the mechanism mounting flange (7) has a mounting hole connected to the outside of the transmission mechanism; the fixed pulley (12) is connected to the end of the bracket (9) through the pulley shaft (11) and can rotate freely; the rope (8) is wound around the fixed pulley (12) for half a circle, passes through the bracket (9) and the fixed flange (7), and is then wound around the drum inside the variable diameter drum assembly (5); the end of the rope (8) is fixed at a fixed position of the variable diameter drum assembly (5), and when the variable diameter drum assembly (5) rotates, the rope can be retracted and released; the output flange (10) is crimped onto the rope (8), and displacement is generated when the rope (8) is retracted and released, thereby realizing the output of the transmission mechanism.

2. The single-source variable diameter drum self-tensioning rope transmission mechanism according to claim 1, characterized in that: The bidirectional electromagnetic clutch assembly (4) comprises: a clutch input shaft (13), a clutch fixing flange (14), an elastic diaphragm (15), a double end face gear clutch plate (16), a sliding bearing (17), an electromagnetic coil (18), a clutch input plate (19), and a fastening nut (20); The clutch input shaft (13) is fixed to the output shaft of the reducer (3) by screws to output the output torque of the reducer; the clutch fixing flange (14) is fixedly connected to the housing (6) by screws; the elastic diaphragm (15) is installed in the groove between the clutch fixing flange (14) and the double end face gear clutch plate (16), and its elastic force is used to support the double end face gear clutch plate (16) and the clutch fixing flange (14) to maintain a certain gap; the double end face gear clutch plate (16) is radially fixed to the fixing flange (14) by a sliding bearing (17) and can rotate freely; the electromagnetic coil (18) is installed in the groove of the fixing flange (14) and attracts the double end face gear clutch plate (16) to move axially when power is turned on; the clutch input plate (19) is keyed to the clutch input shaft (13), and the two rotate synchronously; the fastening nut (20) is screwed on the clutch input shaft (13) to ensure the axial positioning accuracy of the bidirectional electromagnetic clutch assembly.

3. The single-source variable diameter drum self-tensioning rope transmission mechanism according to claim 2, characterized in that: The variable diameter reel assembly (5) comprises: a lead screw nut (21), a conical push block (22), a reel flap (23), a reel top cover (24), a reel bottom cover (25), a first angular contact bearing (26), a bearing baffle (27), and a second angular contact bearing (28); The lead screw nut (21) is connected to the clutch input shaft (13) through a trapezoidal thread and rotates coaxially; the conical push block (22) is sleeved on the outside of the lead screw nut (21) and keyed, and is also keyed to the reel flap (23), so that the reel flap (23), the lead screw nut (21) and the conical push block (22) rotate coaxially at the same speed or are radially locked; There are four reel petals (23) arranged in an array along the circumference of the clutch input shaft (13), mounted on the outside of the conical push block (22) and connected by a keyway, so as to ensure that when the conical push block (22) is axially extended or retracted, the reel petals (23) are radially translated respectively; The reel top cover (24) is axially fixed to the housing (6) via a first angular contact bearing (26); both upper and lower sides of the reel top cover (24) are provided with keyways that are keyed to the reel flap (23), driving the reel flap (23) to rotate, while ensuring that the reel flap (23) performs radial directional translation; the reel top cover (24) is connected to the double end face gear clutch plate (16) via a spline, allowing the double end face gear clutch plate (16) to drive the reel top cover (24) to rotate; The reel bottom cover (25) is connected to the reel top cover (24) by screws, and the axial fixation of the variable diameter reel assembly (5) as a whole and the housing (6) is completed by the second angular contact bearing (28); the bearing baffle (27) ensures the axial fixation of the second angular contact bearing (28); The rope is fixed on the drum flap (23).

4. The single-source variable diameter drum self-tensioning rope transmission mechanism according to claim 3, characterized in that: The bidirectional electromagnetic clutch assembly is used to change the torque transmission path of the motor to achieve normal rotation or diameter change of the variable diameter reel assembly.

5. The single-source variable diameter drum self-tensioning rope transmission mechanism according to claim 3, characterized in that: When load output is required, the motor (1) generates torque, which is transmitted to the clutch input disc (19) via the reducer (3) and the clutch input shaft (13). At this time, the electromagnetic coil (18) is not energized, and the double-end face gear clutch plate (16) is pressed against the reel top cover (24) by the electromagnetic coil (18), so that the end face teeth of the double-end face gear clutch plate (16) are meshed with the end face teeth of the clutch input disc (19). The torque is transmitted from the clutch input disc (19) to the double-end face gear clutch plate (16), and the variable diameter reel assembly (5) is driven to rotate through the spline.

6. A single-source variable diameter drum self-tensioning rope transmission mechanism according to claim 5, characterized in that: When load output is required, the lead screw nut (21) and the conical push block (22) rotate at a constant speed along with the variable diameter reel assembly (5) as a whole, without axial displacement and without change in the reel diameter; the rotation of the variable diameter reel assembly (5) drives the rope (8) to be retracted and released, and finally drives the output flange (10) to reciprocate, thereby realizing load force output.

7. The single-source variable diameter drum self-tensioning rope transmission mechanism according to claim 3, characterized in that: When the rope preload is increased by increasing the diameter of the drum, the control system issues a command, the electromagnetic coil (18) is energized to generate magnetic force, the double end face gear clutch plate (16) is attracted to move axially, and the end face gear is engaged with the end face gear of the clutch fixing flange (14), so as to ensure that the variable diameter drum assembly (5) cannot rotate; Then the motor (1) generates torque, which is transmitted to the clutch input shaft (13) through the reducer (3). When the clutch input shaft (13) rotates, the lead screw nut (21) is unable to rotate radially and thus generates axial translation downward, thereby pushing the conical push block (22) to translate axially downward. The reel flap (23) is axially fixed by the reel bottom cover (25) and the reel top cover (24). The conical push block (22) pushes the reel flap (23) to translate radially through the conical groove, thereby realizing the function of increasing the diameter of the reel.

8. The single-source variable diameter drum self-tensioning rope transmission mechanism according to claim 7, characterized in that: When the diameter of the drum needs to be reduced, the motor moves in the opposite direction, the lead screw nut (21) moves upward, and under the action of the pre-tightening force of the rope (8), the drum flap (23) pushes the tapered push block (22) through the tapered hole and moves axially upward until it is in close contact with the lead screw nut (21), thereby achieving the function of reducing the diameter of the drum.

9. A single-source variable diameter drum self-tensioning rope transmission mechanism according to claim 7 or 8, characterized in that: The reel diameter adjustment dimension in the variable diameter reel assembly is converted by the motor's own absolute position encoder.

Images