Conical capstan rope drive linear actuator

Abstract

The present application relates to the technical field of driving rope device, and specifically discloses a kind of conical capstan rope drive linear driver, including conical capstan, driving device, closed loop rope and pulley block;Conical capstan surface is equipped with at least one along the axial diameter gradually changed wire slot;Driving device is used to drive the rotation of the conical capstan;Closed loop rope is wound in the wire slot and forms closed path by pulley block;The rotation of conical capstan makes the diameter of the variable diameter section of closed loop rope wound in the wire slot change, to change the length ratio of first rope section and second rope section, drive second pulley relative to first pulley translational motion.By the synchronous reverse rotation of conical capstan and the staggered winding of one side or both sides of wire slot, combined with the elastic properties of closed loop rope, the bidirectional antagonistic drive and flexible movement of bionic muscle are realized;Diameter gradually changed structure makes driving force, stroke parameter adjustable, without reconstructing mechanical structure;Closed path and multi-turn winding design completely avoid the risk of rope slackening and off-slot.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of driving rope devices, in particular to a conical capstan rope-driven linear actuator. BACKGROUND

[0002] The joint movement of humanoid and bionic robots is highly dependent on the linear driving mode that simulates biological muscles, which requires the drive to achieve bidirectional antagonistic action, while having the characteristics of lightweight, flexibility and reliable transmission.

[0003] In the prior art, rigid transmission structures such as worm gears and lead screws can achieve rotation-to-linear motion conversion, but due to their complex mechanical structure and high frictional losses, they are difficult to balance the flexibility and low maintenance requirements required by bionics; and conventional rope driving schemes, such as the capstan device disclosed in patent publication CN115321399A, use a cylindrical capstan as a rope driving device, which cannot change the path length due to its constant diameter, and is essentially still limited to one-way traction function, which cannot generate dynamic bidirectional driving effect similar to muscle, and lacks adaptive adjustment capability for stroke and output force, ultimately limiting its practicality in bionic scenarios.

[0004] Moreover, conventional capstan devices generally have the problem of rope slackening and disengaging after long-term use, which significantly restricts the long-term stability of the transmission. SUMMARY

[0005] In view of the deficiencies of the prior art described above, the purpose of the present application is to provide a conical capstan rope-driven linear actuator to solve the above problems.

[0006] A conical capstan rope-driven linear actuator, comprising:

[0007] a conical capstan having at least one winding groove with a diameter that gradually changes along the axial direction;

[0008] a driving device for driving the conical capstan to rotate;

[0009] a closed loop rope including a variable diameter section wound around the winding groove, and a first rope section and a second rope section located on the two sides of the conical capstan in the radial direction, respectively;

[0010] a pulley block including a first pulley as a fixed end and a second pulley as a movable end, the first rope section being wound around the first pulley, and the second rope section being wound around the second pulley;

[0011] The rotation of the conical capstan changes the diameter of the variable diameter section of the closed loop rope wound around the winding groove, thereby changing the length ratio of the first rope section and the second rope section, and driving the second pulley to move translationally relative to the first pulley.

[0012] Specifically, the conical winch surface is provided with a single winding groove, and the closed loop rope is wound in the single-sided winding groove to form a closed loop.

[0013] Specifically, the conical winch surface is provided with two symmetrical winding grooves, and the closed loop rope is wound in the double-sided winding groove to form a closed loop.

[0014] Specifically, the slide rail and the fixed base, the slide rail base and the movable base arranged along the slide rail in sequence;

[0015] The fixed base is fixed to the slide rail;

[0016] The slide rail base and the movable base slide on the slide rail, and the stroke of the movable base is twice the stroke of the slide rail base;

[0017] The driving device and the conical winch are arranged on the slide rail base;

[0018] The first pulley is arranged on the fixed base, and the second pulley is arranged on the movable base.

[0019] Specifically, the conical winch rope drive linear drive includes two symmetrical conical winches, and the two conical winches are located on the upper and lower sides of the closed loop rope path respectively;

[0020] The driving device drives the two conical winches to rotate in reverse synchronously.

[0021] Specifically, the driving device includes two first motors, and each first motor engages the first driven gear at the end of the conical winch through a first driving gear.

[0022] Specifically, the driving device includes a single second motor, the second motor engages the second driven gear of one of the conical winches through a second driving gear, and the second driven gears of the two conical winches engage with each other.

[0023] Specifically, the conical winch rope drive linear drive further includes a tension maintaining device, which is arranged in the closed loop rope path and used to maintain the tension of the closed loop rope.

[0024] Specifically, the tension maintaining device is a torsion spring rotating mechanism or a spring dragging mechanism, which acts on the closed loop rope to maintain the tension of the closed loop rope.

[0025] Specifically, the winding groove is a single continuous spiral groove, and the diameter gradually changes to control the difference between the closing and opening speeds of the closed loop rope.

[0026] Specifically, the diameter of the conical winch changes to meet T=M×(R-r), where:

[0027] T is the linear driving force of the closed loop rope;

[0028] M is the output torque of the driving device;

[0029] R is the large end winding radius of the conical winch;

[0030] r is the small end winding radius of the conical winch.

[0031] The beneficial effects of the present application:

[0032] The conical winch rope-driven linear driver of the present application comprises a conical winch, 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 a diameter gradually changing along the axial direction. The driving device is used to drive the rotation of the conical winch. The closed loop rope is wound around the winding groove and forms a closed path through the pulley block. 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 section and the second rope section, and drive the translational movement of the second pulley 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 groove, combined with the elastic properties of the closed loop rope, the bidirectional antagonistic driving and flexible movement of the bionic muscle are realized. The diameter gradually changing structure makes the driving force and stroke parameter adjustable without the need to reconfigure the mechanical structure. The closed path and the multi-turn winding design completely avoid the risk of rope slackening and falling out of the groove. BRIEF DESCRIPTION OF DRAWINGS

[0033] Figure 1 It is a perspective view of the conical winch rope-driven linear driver of Example 1.

[0034] Figure 2 It is a perspective view of the conical winch rope-driven linear driver of Example 1 without the shell.

[0035] Figure 3 It is a perspective view of the conical winch, closed loop rope and pulley block of Example 1.

[0036] Figure 4 It is a perspective view of the closed loop rope wound around the double-sided winding groove of the conical winch of Example 1.

[0037] Figure 5 It is a front view of the closed loop rope wound around the double-sided winding groove of the conical winch of Example 1.

[0038] Figure 6 It is a perspective view of the conical winch and driving device of Example 1.

[0039] Figure 7 It is a perspective view of the conical winch and driving device of Example 2.

[0040] Figure 8A perspective view of a cone winch, closed loop rope and pulley block of Example 3;

[0041] Figure 9 A perspective view of a cone winch, closed loop rope and pulley block of Example 4;

[0042] Figure 10 A perspective view of a closed loop rope of Example 4 being wound in a single side winding groove of a cone winch;

[0043] Figure 11 A structural schematic view of a torsion spring rotating mechanism of Example 5 acting on the closed loop rope to maintain tension of the closed loop rope;

[0044] Figure 12 A structural schematic view of a spring dragging mechanism of Example 6 acting on the closed loop rope to maintain tension of the closed loop rope;

[0045] Figure 13 A schematic view of an installation position of a tension maintaining device of Example 7.

[0046] The reference signs are: cone winch 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, variable diameter 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, large shaft 611, torsion spring 612, swing arm 613, first tensioning wheel 614, spring dragging mechanism 62, second tensioning wheel 621, tension spring 622, cover 71, bearing 72. DETAILED DESCRIPTION

[0047] The present application provides a cone winch rope drive linear actuator, in order to make the purpose, technical scheme and effect of the present application more clear and definite, the following will be further described in detail with reference to the drawings and examples. It should be understood that the specific examples described herein are only used to explain the present application, and are not used to limit the present application.

[0048] In the description of the present application, it should be understood that the orientation description, such as the orientation or position relationship indicated by up, down, front, back, left, right and the like, is based on the orientation or position relationship shown in the drawings, which is only for the convenience of describing the present application and simplifying the description, and is not intended to indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, therefore it cannot be understood as a limitation on the present application.

[0049] Example 1

[0050] Please refer to Figures 1 to 6The linear driver of the conical winch rope drive of the embodiment comprises two conical winches 1, a driving device 2, a closed loop rope 3 and a pulley block 4; the surface of the conical winch 1 is provided with two winding grooves 11 which gradually change in diameter along the axial direction; the driving device 2 is used to drive the rotation of the conical winch 1; the closed loop rope 3 comprises a variable diameter section 31 wound on the winding groove 11, and a first rope section 32 and a second rope section 33 respectively located on the two radial sides of the conical winch 1; the pulley block 4 comprises two first pulleys 41 as fixed ends and two second pulleys 42 as movable ends, the first rope section 32 is sequentially wound through the two first pulleys 41, and the second rope section 33 is sequentially wound through the two second pulleys 42; the rotation of the conical winch 1 changes the diameter of the variable diameter 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 and the second rope section 33, and drive the translational movement of the second pulley 42 relative to the first pulley 41.

[0051] The embodiment drives the synchronous reverse rotation of the two conical winches 1 by the driving device 2, utilizes the winding groove 11 structure which gradually changes in diameter along the axial direction of the surface, makes the closed loop rope 3 wound in the double-sided winding groove 11 generate a speed difference in the process of winding and unwinding due to the diameter difference, so as to change the length ratio of the first rope section 32 and the second rope section 33, can set the two first pulleys 41 of the pulley block 4 as fixed ends, the two first pulleys 41 and the two second pulleys 42 as movable ends, and arrange them at the positions where the simulation robot skeleton needs to be contracted and driven, such as arranging them on the robot arm as the simulation muscle of the arm, and specifically arranging the first pulley 41 and the second pulley 42 at the two ends of the position where the simulation muscle needs to be contracted and driven, so that when the driving device 2 drives the synchronous reverse rotation of the two conical winches 1, the movable end of the pulley block 4 can be driven to move linearly, simulating the muscle contraction of the robot arm.

[0052] The traditional rope winding and unwinding device needs to wind the rope to the joint of the robot, that is, the driving part is connected with the joint part, which is not conducive to assembly and maintenance; and the structure of the application is similar to a separate muscle structure, which can completely separate the driving part (the conical winch rope drive of the application) from the joint part of the robot, facilitating assembly.

[0053] As shown in Figure 3 The arrow direction in the figure is the winding path of the closed loop rope 3, and the specific process is as follows: the conical winch 1 has two and is arranged in upper and lower positions, the surface of each conical winch 1 is provided with two symmetrical winding grooves 11, the closed loop rope 3 is wound on the four winding grooves 11 to form four variable diameter sections 31, each variable diameter section 31 is connected with the first rope section 32 and the second rope section 33 respectively on the two radial sides of the conical winch 1, the first rope section 32 is sequentially wound through the two first pulleys 41, the second rope section 33 is sequentially wound through the two second pulleys 42, and the whole forms a closed loop winding path.

[0054] The present application simulates the flexible bionic effect of muscles through the elastic properties of the closed loop rope 3, realizes bidirectional antagonistic driving; at the same time, the closed loop path structure constrains the closed loop rope 3 inside the module, significantly reduces the risk of off-slot; the diameter gradient characteristics of the conical winch 1 make the transmission ratio, driving force and stroke adjustable by changing the size, without reconstructing the mechanical architecture, combined with the force line centering layout of the pulley block 4, realizes the reliability and bionic adaptability of linear motion.

[0055] As shown in Figure 4 , the conical winch 1 is provided with two symmetrical winding grooves 11, and the closed loop rope 3 forms a closed loop after winding in the double-sided winding groove 11. In particular, as shown in Figure 3 , the double-winding groove 11 of the upper conical winch 1 and the double-winding groove 11 of the lower conical winch 1 are wound with the closed loop rope 3 twice respectively, realizing a total of four times of staggered winding. This multi-stage winding structure offsets the eccentric load moment through geometric symmetry, making the tension distribution of the closed loop rope 3 more balanced; at the same time, the multi-turn winding greatly increases the contact area of the closed loop rope 3 and the groove wall of the winding groove 11, reduces the risk of slipping by increasing the static friction force.

[0056] More importantly, the spatial staggered constraint effect formed by four times of winding makes the closed loop rope 3 always limited by the groove wall of the winding groove 11, so that even under high-frequency vibration or impact load, the closed loop rope 3 can still maintain close winding with the winding groove 11, fundamentally avoiding the off-slot failure problem easily occurred in traditional single-point winding, and significantly improving the dynamic stability of linear driving.

[0057] As shown in Figure 1 and Figure 2 , the present embodiment further includes a slide rail 5, and a fixed base 51, a slide rail base 52 and a movable base 53 arranged along the slide rail 5 in sequence; 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 that 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.

[0058] The embodiment adopts two symmetrically arranged conical winches 1, and the two conical winches 1 are respectively located on the upper and lower sides of the path of the closed loop rope 3; the driving device 2 drives the two conical winches 1 to synchronously rotate reversely. By driving the two conical winches 1 to synchronously rotate reversely through the driving device 2, the diameter of the variable diameter section 31 of the closed loop rope 3 wound on the winding groove 11 is changed by using the winding groove 11 structure with the diameter gradually changing along the axial direction of the surface, so as to change the length ratio of the first rope section 32 and the second rope section 33, drive the second pulley 42 to move translationally relative to the first pulley 41, and 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. When the driving device 2 drives the two conical winches 1 to synchronously rotate reversely, 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 muscle, and can realize the contraction action of simulated muscle when applied to a robot.

[0059] As shown in the double winch layout, Figures 1-3 the upper and lower conical winches 1 are wound with the closed loop rope 3 twice through two winding grooves 11, forming a total of four times of staggered winding, and combining the closed path formed by the pulley block 4 to convert the rotary motion into linear displacement output. In particular, when the fixed base 51 is set as an anchoring point, the path change of the closed loop rope 3 directly pulls the slide rail base 52 to slide along the slide rail 5, and drives the movable base 53 to generate double stroke displacement, realizing the mechanical lever amplification effect.

[0060] The fixed base 51, the slide rail base 52 and the movable base 53 are arranged in series on the slide rail 5 to form a linear arrangement structure, which not only guarantees the axial accuracy of linear motion, but also expands the driving range through the double stroke output of the movable base 53, and finally realizes the dynamic stability and adaptive driving ability required by the bionic muscle.

[0061] As shown in the double winch layout, Figure 6 the driving device 2 includes two first motors 21, and each first motor 21 is engaged with the first driven gear 12 at the end of the conical winch 1 through the first driving gear 22. In this scheme, the driving device 2 drives the first driving gear 22 to engage with the first driven gear 12 at the end of the conical winch 1 through the two first motors 21, forming a double-channel independent transmission path. When the first motor 21 outputs torque, the engagement of the first driving gear 22 and the first driven gear 12 drives the two conical winches 1 to rotate reversely at a preset speed ratio, synchronously winding and unwinding the closed loop rope 3 wound on the double-sided winding groove 11.

[0062] The winding groove 11 is a single continuous spiral groove, and the speed difference of the closed loop rope 3 is controlled by the diameter change. When the driving device 2 drives the cone-shaped winch 1 to rotate, the closed loop rope 3 continuously slides along the track of the winding groove 11 from the large diameter end to the small diameter end (or in the opposite direction), and the speed difference of winding and unwinding is generated due to the linear change of the bottom radius of the winding groove 11, that is, the length of the closed loop rope 3 in the unit angle of rotation in the large radius area is greater than that in the small radius area.

[0063] The continuous and gradually changing single continuous spiral groove structure makes the closed loop rope 3 always move along the groove, avoiding the risk of jumping the groove of the traditional segmented groove body; at the same time, the coordinated design of the spiral angle and the diameter change realizes the smooth increase and decrease of the rope path length in a single rotation of the cone-shaped winch 1, and cooperates with the closed loop guide of the pulley block 4 to accurately convert the speed difference into uniform linear displacement output of the movable base 53.

[0064] As shown in Figure 5 , the diameter change of the cone-shaped winch 1 satisfies: T = M x (R-r), wherein: 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 winding radius of the large end of the cone-shaped winch 1; r is the winding radius of the small end of the cone-shaped winch 1. The diameter change structure of the cone-shaped winch 1 forms a lever effect through the geometric difference (R-r), which converts the output torque M of the driving device 2 into the linear driving force T of the closed loop rope 3, satisfying the relationship T = M x (R-r). The principle of this formula is that when the cone-shaped winch 1 rotates, the winding and unwinding 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 dynamic increase and decrease of the path length in a single rotation, so as to seamlessly convert the rotational torque difference into linear tension.

[0065] It should be noted that in the present scheme, the variable diameter design of the cone-shaped winch 1 is the key to realize the 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, wherein the "large end winding radius" R refers to the equivalent turning radius of the contact point of the closed loop rope 3 winding around the larger diameter end of the cone-shaped winch 1 (corresponding to a radius of 2.5 cm) in the normal working state; correspondingly, the "small end winding radius" r refers to the equivalent winding turning radius of the smaller diameter end of the cone-shaped winch 1 (corresponding to a radius of 1 cm). This design uses the radius difference (R-r) of the two ends as a geometric lever to linearly convert the output torque (M) of the driving device 2 into the linear driving force acting on the closed loop rope 3. At the same time, the radius difference makes the closed loop rope 3 in the large end (R) winding or unwinding length greater than that in the small end (r) during the rotation of the cone-shaped winch 1, and this length difference is dynamically balanced and compensated by the closed loop rope 3 dragging the slide rail base 52 to move.

[0066] This principle allows the linear driving force T to be adjusted steplessly by adjusting the taper ratio (R / r), without changing the transmission structure to adapt to different load requirements; at the same time, the diameter difference (R-r) is directly related to the linear displacement, so that the driving force and the stroke are optimized. The linear driving force T is evenly distributed to the four rope sections through the symmetrical grooves, avoiding local stress concentration; and the constant pre-tightening force generated by the diameter change cooperates with the closed-loop guiding of the pulley set 4 to maintain the path stability during high-speed reciprocating motion.

[0067] Embodiment 2

[0068] Please refer to Figure 7 The difference between this embodiment and embodiment 1 is that the driving device 2 includes a single second motor 23, the second motor 23 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 engage each other. This embodiment drives the second driving gear 24 through a single second motor 23, engages the second driven gear 13 of one of the conical capstans 1, and at the same time, the second driven gears 13 of the two conical capstans 1 engage 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, and then transmits it to the second driven gear 13 of the other capstan through gear engagement, so that the two conical capstans 1 rotate synchronously in opposite directions.

[0069] This design eliminates the speed deviation of the double capstans through rigid gear engagement, ensuring that the speed of the closed-loop rope 3 in the double-sided winding groove 11 strictly matches. Compared with the double-motor method, single-motor driving significantly reduces system complexity and energy consumption.

[0070] Embodiment 3

[0071] Please refer to Figure 8 The difference between this embodiment and embodiment 1 is that it uses a single conical capstan 1, and the surface of the conical capstan 1 is provided with two symmetrical winding grooves 11, and the closed-loop rope 3 forms a closed loop after being wound in the double-sided winding groove 11. The pulley set 4 includes two first pulleys 41 arranged on the fixed base 51 and two second pulleys 42 arranged on the movable base 53.

[0072] This embodiment uses a single conical capstan 1, and the surface of the conical capstan 1 is provided with two symmetrical winding grooves 11, and the closed-loop rope 3 forms a closed loop after being wound in the double-sided winding groove 11. When the driving device 2 drives the capstan to rotate, the closed-loop rope 3 in the double-sided winding groove 11 has a difference in winding and unwinding speed due to the gradual change in diameter, thereby changing the length ratio of the first rope section 32 and the second rope section 33; through the cooperation of the two first pulleys 41 of the fixed base 51 and the two second pulleys 42 of the movable base 53, the length ratio change of the first rope section 32 and the second rope section 33 is converted into the linear displacement output of the movable base 53. Using a single conical capstan 1 can significantly simplify the structure and reduce the weight.

[0073] Example 4

[0074] Please refer to Figure 9 and Figure 10 The difference between this embodiment and Example 1 is that a conical winch 1 is used, and the conical winch 1 is provided with a winding groove 11 on the surface, and the closed loop rope 3 is wound in the winding groove 11 on one side to form a closed loop. The pulley block 4 includes two first pulleys 41 provided on the fixed base 51 and two second pulleys 42 provided on the movable base 53, and the first side of the closed loop rope 3 is wound through the two first pulleys 41, and the second side of the closed loop rope 3 is wound through the two second pulleys 42 to form a stable closed loop.

[0075] Example 5

[0076] Please refer to Figure 11 The difference between this embodiment and Example 1 is that the conical winch rope-driven linear drive of this embodiment further includes a tension maintaining device, which is a torsion spring rotating mechanism 61 that 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 through a torsion spring 612, a first tension pulley 614 connected to the swing end of the swing arm 613, and the closed loop rope 3 also winds through the first tension pulley 614. The torsion spring 612 has a torsion force that always swings the swing arm 613 downward, thereby tensioning the closed loop rope 3 and maintaining a certain tension of the closed loop rope 3.

[0077] Example 6

[0078] Please refer to Figure 12 The difference between this embodiment and Example 1 is that the conical winch rope-driven linear drive of this embodiment further includes a tension maintaining device, which is a spring dragging mechanism 62 that acts on the closed loop rope 3 to maintain the tension of the closed loop rope 3. The spring dragging mechanism 62 includes a second tension pulley 621 provided below the vertical line between the two second pulleys 42, and a tension spring 622 connected between the second tension pulley 621 and the movable base 53; the closed loop rope 3 also winds through the second tension pulley 621 at the position passing through the two second pulleys 42, and through the tension of the tension spring 622, the closed loop rope 3 is always maintained at a certain tension.

[0079] Example 7

[0080] Please refer to Figure 13As shown, if the tension maintaining device of example 5 and example 6 is applied in the conical capstan rope drive linear driver of example 3, the continuity of the tension will be interrupted after passing through the barrier of the conical capstan 1, that is, the tension structure of the left part and the right part of the closed loop rope 3 in the figure is not communicated, therefore, both parts need to be installed with the tension maintaining device of example 5 or example 6; wherein the installation position of the left part can be selected at one of A1, A2, A3, and the installation position of the right part can be selected at one of B1, B2, B3. The tension maintaining device arrangement of the conical capstan rope drive linear driver of other examples is similar, and the following will not be described here.

[0081] The preferred embodiments of the present application are described above, but the present application is not limited to the described embodiments, and those skilled in the art can make various equivalent modifications or replacements without departing from the spirit of the present application. These equivalent modifications or replacements are all included in the scope defined by the claims of the present application.

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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