Actuating device and jacking method

Abstract

The invention discloses an actuating device and a jacking method, and relates to the technical field of motion control, the actuating device comprises a chain assembly, a storage assembly and a driving system.The actuating device creatively adopts a winding type storage structure, multiple chain links are stored in a vortex-shaped groove of a storage disc, and the multiple chain links are arranged on the peripheral side of the driving system in a winding mode; the more the circles of the vortex-shaped grooves are designed, the number of the chain links capable of being stored can be increased in proportion, the telescopic ratio which is not lower than that of a traditional structure can be obtained under the condition that the transverse occupied space is not obviously increased, and the driving system drives the chain links to do spiral motion in the height direction; every two vertically adjacent chain links are meshed with each other through an arc-shaped groove and an arc-shaped boss, generated noise is more controllable, and the transverse anti-interference capacity can be improved. The jacking method comprises the steps that an actuating device is selected to conduct jacking or retracting according to needs, gear shaping is inserted into tooth grooves of a chain in a clearance mode, the chain is driven to do spiral motion, and therefore the noise is reduced. Jacking or withdrawing is achieved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of motion control, in particular to an actuating device and a jacking method. BACKGROUND

[0002] Mechanical actuating devices can be divided into large actuators used in stage machinery and micro actuators used in robots and other fields according to manufacturing size, and the actuating devices are mainly applied to jacking working conditions requiring a large elongation compression ratio.

[0003] In the prior art, 1, the actuating device only reduces the height in the vertical direction when it is in the retracted state, and a large layout space is required in the horizontal direction whether in the retracted state or the extended state, for example, the rigid chain for stage jacking disclosed in Chinese patent CN222066307U requires a large layout space in the horizontal direction, and if the length of the chain needs to be expanded, a larger horizontal transverse accommodation space is required, so the telescopic ratio is small; 2, the Chinese patent CN222066307U adopts gear and chain engagement, which produces a large noise, and is not suitable for some scenes with high noise control requirements; 3, the actuator with a push cable disclosed in Chinese patent CN102089553A uses a structure in which chain links are wound into a jacking cylinder, but this patent still has the problem of large transverse space occupation, and in this patent, the upper and lower chain link gaps are aligned in the height direction and form a straight gap, which causes the jacking cylinder to be unable to withstand the transverse load in a specific direction after jacking, and the stability is poor. SUMMARY

[0004] The present application provides an actuating device and a jacking method to solve the problems of large transverse floor area and large noise.

[0005] In a first aspect, the present application provides an actuating device, comprising: a chain assembly comprising a jacking cover and a chain formed by a plurality of chain links connected in sequence, the jacking cover being connected to one end of the chain; the chain links are sequentially provided with an arc-shaped groove, a tooth groove and an arc-shaped boss in the height direction, and when the chain links move in the direction of the cylindrical spiral line, the arc-shaped groove and the arc-shaped boss between the upper and lower adjacent chain links contact and slide relatively in the direction of the cylindrical spiral line; a receiving assembly comprising a first spiral section and a receiving disc, the first spiral section being coaxially arranged in the receiving disc, the first spiral section being provided with a first spiral groove in the direction of the cylindrical spiral line, the receiving disc being provided with a vortex-shaped groove, the inner opening of the vortex-shaped groove being in communication with one end of the first spiral groove, the vortex-shaped groove and the first spiral groove forming a channel for accommodating the chain, and the jacking cover being located above the first spiral section; The driving system comprises a power shaft, a rotating disc set, a pinion and a driving unit. The power shaft is coaxially and rotatably arranged at the inner side of the receiving assembly. The rotating disc set is coaxially arranged at the top end of the power shaft. The pinion is slidably arranged at the rotating disc set along the radial direction of the rotating disc set, and is used for being inserted into the tooth groove of the chain link and rotating with the rotating disc set to drive the chain link to move along the cylindrical helical line. The driving unit is arranged at one side of the pinion and is used for driving the pinion to move radially on the rotating disc set.

[0006] Preferably, the lower end surface of the jacking cover is configured as a helical surface extending along the direction of the cylindrical helical line. The helical surface is provided with an arc-shaped boss extending along the direction of the cylindrical helical line. The arc-shaped boss is arranged in the arc-shaped groove of the chain link.

[0007] Preferably, the chain link comprises a first inclined platform, a chain link body and a second inclined platform which are sequentially connected along the height direction. The upper top surface of the first inclined platform is configured as a first inclined surface. The side surface of the first inclined platform is provided with an arc-shaped groove. The chain link body is provided with a tooth groove. Two adjacent chain link bodies are movably connected to form a chain. The lower bottom surface of the second inclined platform is configured as a second inclined surface. The second inclined surface is provided with an arc-shaped boss. When the chain link body moves along the direction of the cylindrical helical line, the first inclined surface and the second inclined surface of the upper and lower adjacent two chain links are in sliding contact. The arc-shaped boss and the arc-shaped groove are in sliding contact along the direction of the cylindrical helical line.

[0008] Preferably, the length direction of the arc-shaped groove is configured as the direction of the cylindrical helical line. The cross-sectional shape of the arc-shaped groove is arc-shaped. The length direction of the arc-shaped boss is configured as the direction of the cylindrical helical line. The outer arc surface of the arc-shaped boss is in contact with the inner peripheral surface of the arc-shaped groove.

[0009] Preferably, the inner side of the tooth groove is provided with a chamfer portion for guiding the pinion to be inserted into the tooth groove along the radial direction.

[0010] Preferably, the length of the chain link satisfies the following formula one, so that the upper and lower adjacent two chain links are staggered in the height direction. ; wherein, L represents the length of a single chain link (102); L represents the length of a single chain link (102);

[0011] Preferably, the receiving assembly comprises a central cylindrical shell and a plurality of receiving discs which are axially spaced apart. The plurality of receiving discs are coaxially sleeved on the outer periphery of the central cylindrical shell. The first helical section is arranged on the top surface of the uppermost receiving disc. The vortex-shaped grooves of the axially adjacent two receiving discs are connected through the second helical section or the third helical section. The second helical section and the third helical section are alternately arranged in the height direction. The second spiral section is provided with a second spiral groove, and two ends of the second spiral groove are respectively communicated with outer side openings of two adjacent vortex grooves above and below; the third spiral section is provided with a third spiral groove, and two ends of the third spiral groove are respectively communicated with inner side openings of two adjacent vortex grooves above and below. The power rotating shaft of the driving system is coaxially arranged in the central cylindrical shell.

[0012] Preferably, the rotating disc set comprises two rotating discs coaxially connected, and the lower rotating disc is coaxially connected with the power rotating shaft; the rotating disc is provided with a plurality of sliding grooves arranged at intervals in the circumferential direction of the rotating disc; the pin teeth are slidingly arranged in the sliding grooves one by one; the driving unit is arranged between the two rotating discs, and the driving unit and the pin teeth are at the same horizontal height, for driving the pin teeth to be intermittently extended to the outside of the rotating disc.

[0013] Preferably, the driving unit comprises a fixed shaft and two cams stacked in the height direction of the fixed shaft; the fixed shaft is coaxially arranged in the power rotating shaft of the driving system; the two cams are respectively used for sliding contact with the pin teeth on the two rotating discs to realize that the plurality of pin teeth are intermittently pushed out to the outside of the rotating disc and inserted into the tooth groove of the chain link; the elastic reset member is connected between the pin teeth and the rotating disc.

[0014] Preferably, the angle of the cam satisfies the following formula two, so that at least one circumferentially adjacent pin tooth is inserted into the tooth groove of the chain link during the rotation of the plurality of pin teeth following the rotating disc; ; wherein, represents the push angle of the cam; represents the far rest angle of the cam; represents the return angle of the cam; represents the working angle of the cam, represents the central angle corresponding to a single chain link.

[0015] Preferably, the upper and lower two cams are arranged in a staggered manner and satisfy the following formula three, so that at least one adjacent pin tooth is inserted into the tooth groove of the chain link among the plurality of pin teeth on the upper and lower sides; ; wherein, represents the included angle of the center lines of the two cams.

[0016] Preferably, the thickness of the pin tooth and the tooth groove length of the chain link satisfy the following formula four, so that the chain link does not interfere with the pin tooth during the movement in the direction of the cylindrical spiral line; ; wherein, Pitch of the first helical groove.

[0017] In a second aspect, the application provides a jacking method using the actuating device, the jacking method comprising selecting to jacking up or retracting according to needs: When jacking up, the driving unit drives the insert teeth to be inserted into the tooth groove of the chain in a gap manner, the power shaft drives the rotating disc set and the insert teeth to rotate clockwise, the insert teeth drive the chain to move spirally upward along the height direction, the chain links in the storage disc are pushed by the insert teeth and move along the spiral line direction into the first helical groove, the first helical groove guides the chain to move along the height direction in a cylindrical helical line, and the jacking cover at the top end of the chain follows the movement of the chain to jacking up upward; When retracting, the driving unit drives the insert teeth to be inserted into the tooth groove of the chain in a gap manner, the power shaft drives the rotating disc set and the insert teeth to rotate counterclockwise, the insert teeth drive the chain to move spirally downward along the height direction, the chain above the first helical groove passes through the first helical groove and is guided into the spiral groove of the storage disc, the jacking cover at the top end of the chain follows the movement of the chain to retract downward, and the power shaft stops rotating when the descending height of the jacking cover reaches a threshold value.

[0018] The actuating device and the jacking method of the application have at least the following beneficial effects: The actuating device of the application innovatively adopts a winding storage structure, a plurality of chain links are stored in the spiral groove of the storage disc and are arranged in a winding manner on the outer circumferential side of the driving system. Since the diameter of the spiral groove gradually increases from inside to outside, the number of chain links that can be accommodated by the spiral groove increases from inside to outside. The more the number of turns of the spiral groove is designed, the more the number of chain links that can be accommodated will increase in proportion. Therefore, the application can achieve a telescoping ratio that is not lower than that of a conventional structure without significantly increasing the horizontal footprint. On the other hand, the driving system of the application drives the insert teeth to be inserted into the tooth groove of the chain link by the driving unit and to rotate with the rotating disc set, thereby driving the chain link to move spirally along the height direction under the guidance of the first helical groove. When the two adjacent chain links move spirally, they are engaged with each other through the arc-shaped groove and the arc-shaped boss, just like internal and external threads. Compared with the noise generated by the engagement of the conventional gear and chain, the noise generated by the engagement of the arc-shaped groove and the arc-shaped boss is more controllable. In specific scenarios, for example, when applied to a stage scene, the application has a strong advantage. The engagement of the arc-shaped groove and the arc-shaped boss can also improve the lateral anti-interference capability of the two chain links and ensure the stability of the plurality of chain links after being jacked up to form a cylinder. BRIEF DESCRIPTION OF DRAWINGS

[0019] Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are for purposes of illustration only and are not considered a limitation of the application. Moreover, like reference numerals are used to designate identical components throughout the specification. In the drawings: Figure 1is a structural diagram of the actuating device of example one, (A1) represents an axonometric view, (A2) represents an exploded view, arrow F1 represents the direction of the cylindrical helix; Figure 2 is an appearance diagram of the actuating device of example one, arrow F1 represents the direction of the cylindrical helix, arrow F2 represents the height direction; Figure 3 is a structural diagram of the jacking cover; Figure 4 is a structural diagram of the chain link, (B1) represents a front axonometric view of the chain link, (B2) represents a back axonometric view of the chain link, (B3) represents a front view of the chain link; Figure 5 is a diagram of the engagement of part of the chain links; Figure 6 is a diagram of the gap of part of the chain links; Figure 7 is a top view of part of the chain links after being connected in series; Figure 8 is a structural diagram of the storage assembly designed with one storage tray; Figure 9 is a structural diagram of the storage assembly designed with multiple storage trays; Figure 10 is Figure 9 a structural diagram of the storage assembly of the chain links; Figure 11 is a structural diagram of the drive system in example one, the rotating disc set is shown in an exploded state; Figure 12 is a structural diagram of the drive system in example two, the rotating disc set is shown in an exploded state; Figure 13 is a top view of the rotating disc and the pinion; Figure 14 is a top view of part of the chain links, the cam, the pinion, and the rotating disc; Figure 15 is a front view of the chain links and the pinion; Figure 16 is a sequence diagram of the gap-like extension of multiple pinions; Figure 17 is a jacking diagram of the actuating device, (C1) represents before jacking, (C2) represents after jacking; Figure 18 is a front view of the actuating device of example three; Figure 19 is Figure 18 an axonometric view of the power unit in example three; The explanation of the reference signs is as follows: 100, chain assembly; 101, jacking cover; 102, chain link; 102a, chain link gap; 103, arc-shaped groove; 104, tooth groove; 105, arc-shaped boss; 106, helical surface; 107, first inclined surface; 108, chain link body; 108a, notch portion; 108b, connecting column; 109, second inclined surface; 1010, chamfered portion; 1011, outer shell; 200, storage assembly; 201, first helical section; 202, storage disc; 203, first helical groove; 204, spiral groove; 205, central cylindrical shell; 206, second helical section; 207, third helical section; 208, second helical groove; 209, third helical groove; 300, drive system; 301, power rotating shaft; 302, rotating disc set; 302a, rotating disc; 303, pin gear; 304, drive unit; 304a, micro linear extension mechanism; 305, sliding groove; 306, fixed shaft; 307, cam; 308, elastic return member; 309, pin gear body; 3010, roller; 3011, spring connecting portion; 400, power unit; 401, bottom shell; 402, worm; 403, turbine; 404, hollow turbine shaft. DETAILED DESCRIPTION

[0020] The features and exemplary embodiments of the various aspects of the present application will be described in detail below with reference to the drawings. To make the purpose, technical solutions and advantages of the present application more clear, the present application will be further described in detail below with reference to the drawings and specific embodiments. It should be understood that the specific embodiments described herein are only intended to explain the present application, but not to limit the present application. The present application can be implemented without some of these specific details by those skilled in the art. The following description of the embodiments is only to provide a better understanding of the present application by showing examples of the present application.

[0021] It should be noted that, in this paper, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply that there is any such actual relationship or order between these entities or operations. Moreover, the terms "include", "contain" or any other variants thereof are intended to cover non-exclusive inclusion, so that the process, method, article or equipment including a series of elements not only includes those elements, but also includes other elements not explicitly listed or inherent to such process, method, article or equipment. Without more limitations, the elements defined by the statement "include" do not exclude the presence of other identical elements in the process, method, article or equipment including the elements.

[0022] Embodiment one: AsFigure 1 and Figure 2 As shown, this embodiment discloses an actuation device, which includes a chain assembly 100, a storage assembly 200, and a drive system 300. In this embodiment, preferably, the chain assembly 100, the storage assembly 200, and the drive system 300 are all disposed within the housing 1011 of the device.

[0023] like Figure 3 As shown, the chain assembly 100 includes a lifting cover 101 and multiple chain links 102. The lifting cover 101 is cylindrical in shape, and a hole for connecting to an external load is provided at the center of the lifting cover 101. The circumferential sidewall of the lifting cover 101 is cut along the cylindrical helical direction, so that at least a portion of the axial lower end face of the lifting cover 101 forms a helical surface 106 extending along the cylindrical helical direction. The helical surface 106 is provided with an arc-shaped boss 105, which extends a certain length along the cylindrical helical direction. Preferably, the length of the arc-shaped boss 105 is the same as the length of the helical surface 106.

[0024] like Figure 4 As shown, there are multiple links 102, which are connected in series to form a chain. In this embodiment, the first free end of the chain is fixedly connected to the circumferential side wall of the lifting cover 101, and the second free end of the chain is stored in the storage component 200.

[0025] like Figure 4 As shown, the link 102 includes a first inclined platform 107, a link body 108, and a second inclined platform 109. The first inclined platform 107 is disposed on the upper surface of the link body 108, and the second inclined platform 109 is disposed on the lower surface of the link body 108. The overall shape of the link body 108 is rectangular. The left and right sides of the link body 108 are respectively machined with a slot 108a and a connecting post 108b. The connecting post 108b of two adjacent links 102 passes through the slot 108a. The slot 108a is preferably a straight slot. The width and length of the straight slot are both greater than the outer diameter of the connecting post 108b, so as to realize the movable connection between two adjacent links 102. One link 102 located at the free end of the chain is fixedly connected to the circumferential side wall of the lifting cover 101. In this embodiment, it is further preferred that the width of the straight groove is 1.01 to 1.5 times the outer diameter of the connecting post, for example, 1.1 times or 1.2 times, and the length of the straight groove is 1.2 to 2 times the outer diameter of the connecting post, for example, 1.5 times or 1.8 times.

[0026] like Figure 4As shown, the upper top surface of the first inclined table 107 is configured as a first inclined surface, and the inner side surface of the first inclined table 107 towards the shaft center of the jacking cover 101 is provided with an arc-shaped groove 103, wherein the arc-shaped groove 103 is configured as a through groove, and the length direction of the arc-shaped groove 103 is configured as the direction of the cylindrical helix, and in the direction of the cylindrical helix, the depth of the arc-shaped groove 103 is from shallow to deep and then from deep to shallow. Such design can adapt to the arc of the arc-shaped boss 105 on the second inclined table 109.

[0027] As shown in Figure 4 , the center position of the chain link body 108 is provided with a tooth groove 104, the shape of the tooth groove 104 is rectangular, and the tooth groove 104 has sufficient length in the height direction so that the inserted tooth 303 inserted into the tooth groove 104 has a relative activity margin, and the two inner side surfaces of the tooth groove 104 in the horizontal direction are provided with chamfer portions 1010 for guiding the inserted tooth 303 of the driving system 300 to be smoothly inserted into the tooth groove 104.

[0028] As shown in Figure 5 , the lower surface of the second inclined table 109 is configured as a second inclined surface, and when the chain link 102 moves in the direction of the cylindrical helix, the first inclined surface and the second inclined surface of the two adjacent chain links 102 above and below can relatively contact and slide in the direction of the cylindrical helix to ensure the stability during jacking. The lower surface of the second inclined surface is provided with an arc-shaped boss 105, the length direction of the arc-shaped boss 105 is configured as the direction of the cylindrical helix, and the cross-sectional shape of the arc-shaped boss 105 matches the inner peripheral shape of the arc-shaped groove 103, when the chain link 102 moves in the direction of the cylindrical helix, the arc-shaped groove 103 and the arc-shaped boss 105 between the two adjacent chain links 102 above and below contact and relatively slide in the direction of the cylindrical helix, that is, the two adjacent chain links 102 above and below are engaged through the arc-shaped groove 103 and the arc-shaped boss 105, when engaged, the arc-shaped boss 105 is relatively inserted into the arc-shaped groove 103, and the outer arc surface of the arc-shaped boss 105 contacts the inner peripheral surface of the arc-shaped groove 103.

[0029] As shown in Figure 3 and Figure 4 , in this embodiment, the second inclined surface of the second inclined table 109 is provided with an arc-shaped boss 105, and the helical surface 106 of the jacking cover 101 is also provided with an arc-shaped boss 105, the shapes and sizes of the two arc-shaped bosses 105 are consistent, and only the lengths are different, both of which can be engaged with the arc-shaped groove 103 on the chain link 102.

[0030] In this embodiment, when the chain is in the retracted state, the chain is divided into a first segment and a storage segment in the height direction. The storage segment is stored in the storage tray 202 of the storage component 200, while the first segment is located in the first spiral segment 201 of the storage component 200. The lifting cover 101 of the chain component 100 is coaxially disposed directly above the first spiral segment 201. The free end of the first segment is fixedly connected to the lifting cover 101, and the arc-shaped grooves 103 of some links 102 in the first segment are engaged with the arc-shaped protrusions 105 on the lifting cover 101. After the chain is retracted to the limit state, the links 102 of the first segment that are engaged with the lifting cover 101 can no longer disengage from the arc-shaped protrusions 105 on the lifting cover 101.

[0031] like Figure 6 As shown, in this embodiment, preferably, when in the lifting or retracting state, a single link 102 moves in a cylindrical spiral around the height direction, and during the movement or after being lifted into place, two adjacent links 102 in the height direction are misaligned, so that the gaps 102a between two adjacent links in the height direction will not be aligned in the height direction and form a straight gap. Compared with the traditional technology, the gaps in this embodiment are alternately misaligned along the height direction, which can significantly improve the lateral anti-interference ability of multiple links 102 when in the lifting or retracting state.

[0032] In this embodiment, the length of a single link 102 is designed to satisfy the following formula, so that two adjacent links 102 are misaligned in the height direction.

[0033] ; like Figure 7 As shown in Formula 1 above, This indicates the length of a single link 102; The length of the side of the inscribed regular polygon of the cylindrical helix is ​​represented by the length of the cylindrical helix. In this embodiment, the trajectory of the cylindrical helix is ​​the cylindrical helix itself. The cylinder φ of the cylindrical helix has an inscribed regular polygon, which can be a regular triangle, square, pentagon, hexagon, heptagon, etc. The length of a single side of the inscribed regular polygon is represented by the length of the inscribed regular polygon described above. .

[0034] As can be seen from Formula 1, this embodiment designs the length of a single link 102 to be different from the side length of an inscribed regular polygon. Therefore, multiple adjacent links 102 cannot form a complete regular polygon. Consequently, the gaps in the upper link 102 and the gaps in the lower link 102 are misaligned in the height direction, ensuring that the chain will not tip over or disintegrate after being lifted.

[0035] like Figure 8As shown, the receiving assembly 200 includes a first spiral section 201 coaxially arranged on the upper top surface of a receiving disc 202, and the first spiral section 201 is provided with a first spiral groove 203, and the length direction of the first spiral groove 203 is configured as the direction of a cylindrical spiral line, and the shape of the receiving disc 202 is circular, and the receiving disc 202 is coaxially provided with a vortex groove 204, and the trace line of the vortex groove 204 is a planar vortex line, wherein the first spiral section 201 is coaxially arranged in the innermost circle of the vortex groove 204, and the inner side opening of the innermost circle of the vortex groove 204 is in communication with the first spiral groove 203, and the first spiral section 201 and the vortex groove 204 form a channel for accommodating the chain.

[0036] In the embodiment, the first spiral groove 203 on the first spiral section 201 guides the chain to move spirally upward or downward in the height direction, and the vortex groove 204 is used to receive most of the chain links 102.

[0037] As shown, Figure 9 The number of the receiving discs 202 can be one or more, and when the number of the receiving discs 202 is more than one, the shapes of the plurality of receiving discs 202 are consistent and are arranged in the height direction at intervals, and the plurality of receiving discs 202 are coaxially corresponding, and the vortex grooves 204 of the two adjacent receiving discs 202 in the height direction are communicated through the second spiral section 206 or the third spiral section 207.

[0038] As shown, Figure 9 In the embodiment, the receiving assembly 200 includes a central cylindrical shell 205 coaxially penetrating through the plurality of receiving discs 202, and the central cylindrical shell 205 and the receiving disc 202 are connected by welding, integral molding, bonding or screw connection, etc. The second spiral section 206 or the third spiral section 207 is arranged between the two adjacent receiving discs 202 in the height direction, wherein only one second spiral section 206 or one third spiral section 207 is arranged between the two receiving discs 202, and the second spiral section 206 and the third spiral section 207 are arranged in the height direction in turn and alternately.

[0039] As shown, Figure 9 In the embodiment, the second spiral section 206 is provided with a second spiral groove 208, and the trace direction of the second spiral groove 208 is consistent with the direction of the cylindrical spiral line, and the openings at both ends of the second spiral groove 208 are respectively in communication with the vortex grooves 204 on the upper and lower receiving discs 202, specifically, the openings of the outermost circles of the two vortex grooves 204.

[0040] Similarly, the third spiral section 207 is provided with a third spiral groove 209, the trajectory direction of the third spiral groove 209 is consistent with the direction of the cylindrical spiral line, and the two ends of the third spiral groove 209 are respectively communicated with the vortex-shaped grooves 204 on the upper and lower receiving discs 202, specifically, the openings of the innermost circles of the two vortex-shaped grooves 204 are respectively communicated.

[0041] In the present embodiment, three receiving discs 202 are provided, and the three receiving discs 202 are respectively referred to as a first receiving disc 202, a second receiving disc 202 and a third receiving disc 202 from top to bottom, the first spiral section 201 is coaxially arranged on the top surface of the first receiving disc 202, the second spiral section 206 is arranged between the first receiving disc 202 and the second receiving disc 202, the third spiral section 207 is arranged between the second receiving disc 202 and the third receiving disc 202, and so on. It can be understood that, assuming that there are a fourth receiving disc 202 and a fifth receiving disc 202, the vortex-shaped grooves 204 between the third receiving disc 202 and the fourth receiving disc 202 are communicated through the second spiral section 206, and the vortex-shaped grooves 204 between the fourth receiving disc 202 and the fifth receiving disc 202 are communicated through the third spiral section 207.

[0042] As shown in Figure 10 , by arranging most of the chain links 102 in the vortex-shaped grooves 204 through the plurality of receiving discs 202, the transverse space occupation can be significantly reduced.

[0043] As shown in Figure 11 , the driving system 300 includes a power shaft 301, a rotating disc group 302, a gear shaping 303 and a driving unit, and specifically as follows: As shown in Figure 11 , the power shaft 301 coaxially passes through the first spiral section 201 and the receiving disc 202 along the height direction, the power shaft 301 can rotate relative to the first spiral section 201 and the receiving disc 202, the power shaft 301 can be a structure with power, such as a motor plus a rotating shaft, or a rotating shaft with self-rotation ability after being connected with an external power unit. It can be understood that in the present embodiment, the receiving assembly 200 preferably includes a central cylindrical shell 205 and a plurality of receiving discs 202, so the power shaft 301 coaxially passes through the central cylindrical shell 205 and the plurality of receiving discs 202, a bearing can be arranged between the power shaft 301 and the central cylindrical shell 205 to ensure excellent rotation performance of the power shaft 301, and the top of the power shaft 301 is at the same height position as the first spiral section 201.

[0044] As shown in Figure 11As shown, the shape of the rotating disc set 302 is circular, the rotating disc set 302 is coaxially fixed on the top of the power rotating shaft 301, and can rotate with the power rotating shaft 301. The spline 303 is slidingly arranged on the rotating disc set 302, and the sliding direction is configured as the radial direction of the rotating disc set 302. The spline 303 is used to be inserted into the tooth groove 104 of the chain link 102 in the radial direction. Then, the rotating disc set 302 and the spline 303 rotate under the driving of the power rotating shaft 301, so that the spline 303 can move the chain link 102. Due to the guiding action of the first helical groove 203 and the meshing action of the upper and lower adjacent chain links 102, the chain link 102 moves along the direction of the cylindrical helix, thereby realizing the jacking or retracting of the jacking cover 101. In this embodiment, preferably, the number of splines 303 is multiple, and the multiple splines 303 are arranged at intervals in the circumferential direction of the rotating disc set 302.

[0045] As shown in the figure, Figure 11 In this embodiment, the rotating disc set 302 includes two rotating discs 302a fixedly connected coaxially, and the shape of the rotating disc 302a is circular. The upper and lower rotating discs 302a are arranged at intervals, and the lower rotating disc 302a is coaxially fixedly connected to the top of the power rotating shaft 301. Each rotating disc 302a is provided with a plurality of sliding grooves 305 arranged at intervals in the circumferential direction of the rotating disc 302a. The length direction of the sliding groove 305 is configured as the radial direction of the rotating disc 302a, one end of the sliding groove 305 is communicated to the outer circumferential surface of the rotating disc 302a, and the spline 303 is slidingly arranged in the sliding groove 305 one by one to realize the sliding extension or retraction of the spline 303 from the rotating disc 302a.

[0046] As shown in the figure, Figure 11 In this embodiment, the upper and lower double-layer rotating discs 302a are arranged, and each rotating disc 302a is provided with a plurality of splines 303. By controlling the extension and retraction of the spline 303, it is ensured that at least one spline 303 is arranged in the chain corresponding to the upper and lower double-layer rotating discs 302a. Then, the chain is driven in the forward and backward pushing and pulling mode to form a continuous driving force of the chain, while keeping the stress of the chain stable.

[0047] As shown in the figure, Figure 11 The driving unit and the spline 303 are located at the same horizontal height position, the driving unit is located on the side away from the chain link 102 of the spline 303, and the driving unit and the spline 303 are arranged in the radial direction of the rotating disc set 302. The driving unit drives the spline 303 to extend to the outside of the rotating disc set 302 and insert into the tooth groove 104 of the chain link 102. Among them, the driving unit and the spline 303 can adopt one-to-one mode or one-to-many mode, that is, the driving unit can correspondingly drive the spline 303 to extend, or one driving unit can synchronously drive multiple splines 303 to extend outward.

[0048] As shown in the figure, Figure 11As shown, in this preferred embodiment, the drive unit is configured as an existing micro linear telescopic mechanism 304a, such as an electric push rod. The drive unit is located in the turntable assembly 302 and drives the toothed gear 303 to extend and retract radially in a linear telescopic motion.

[0049] This embodiment also discloses a lifting method, which uses the actuator of this embodiment. The lifting method includes selecting to lift or retract as needed. During lifting, the drive unit drives the insert tooth 303 to be radially inserted into the tooth groove 104 of a chain link 102 that is aligned with it. The power shaft 301 rotates and drives the turntable 302a to rotate clockwise. The turntable 302a drives the insert tooth 303 and the chain link 102 that meshes with the insert tooth 303 to move. Since the chain link 102 is guided by the first spiral groove 203 and the two adjacent chain links 102 are engaged by the arc-shaped groove 103 and the arc-shaped boss 105, the chain link 102 is driven by the insert tooth 303 to move upward along the direction of the cylindrical spiral. The chain link 102 located in the vortex groove 204 is driven synchronously, sliding sequentially towards the first spiral groove 203 along the vortex line and engaging with the insert tooth 303 in sequence. Before the insert tooth 303 interferes with the bottom of the currently engaged tooth groove 104, the insert tooth 303 exits the current tooth groove 104, and the drive unit drives another insert tooth 303 to insert into another tooth groove 104 to ensure a continuous driving force on the chain. Therefore, the lifting cover 101 located at the top of the chain is lifted upward to a predetermined height following the cylindrical spiral line movement of the chain.

[0050] When retracted, the drive unit drives the insert tooth 303 to be inserted radially into the tooth groove 104 of a chain link 102 that is aligned with it. The power shaft 301 drives the turntable assembly 302 and the insert tooth 303 to rotate counterclockwise. The insert tooth 303 drives the chain to move downward in a spiral around the height direction. During the downward movement of the chain located above the first spiral groove 203, it slides through the first spiral groove 203 and is guided into the vortex groove 204 of the storage tray 202. The lifting cover 101 located at the top of the chain retracts downward with the movement of the chain. After the lifting cover 101 descends to the threshold height, the power shaft 301 stops rotating.

[0051] Example 2: like Figure 12 As shown, the difference between this embodiment two and embodiment one is that the driving unit 304 in this embodiment two is different from that in embodiment one.

[0052] like Figure 12As shown, the driving unit 304 of the second embodiment includes a fixed shaft 306 coaxially arranged inside the power rotating shaft 301, and two cams 307. The lower end of the fixed shaft 306 is fixed to an external structure or other structure, so that the fixed shaft 306 is fixed during the retracting and jacking processes, i.e., the fixed shaft 306 does not rotate with the power rotating shaft 301 and the rotating disc 302a.

[0053] As shown in FIG. 2, the driving unit 304 of the second embodiment includes a fixed shaft 306 coaxially arranged inside the power rotating shaft 301, and two cams 307. The lower end of the fixed shaft 306 is fixed to an external structure or other structure, so that the fixed shaft 306 is fixed during the retracting and jacking processes, i.e., the fixed shaft 306 does not rotate with the power rotating shaft 301 and the rotating disc 302a. Figure 12 As shown, the upper end of the fixed shaft 306 passes through the lower rotating disc 302a coaxially, and the two cams 307 are fixedly connected to the outer periphery of the fixed shaft 306 along the height direction. Preferably, the two cams 307 are arranged in a laminated manner, and in some other embodiments, the two cams 307 can be arranged in a spaced manner. When the rotating disc 302a and the pin gears 303 on the rotating disc 302a rotate circumferentially, the outer periphery of the cam 307 is in sliding contact with the pin gear 303, and the pin gear 303 is pushed to slide and extend or retract in the radial direction by the irregular outer periphery of the cam 307.

[0054] As shown in FIG. 2, the driving unit 304 of the second embodiment includes a fixed shaft 306 coaxially arranged inside the power rotating shaft 301, and two cams 307. The lower end of the fixed shaft 306 is fixed to an external structure or other structure, so that the fixed shaft 306 is fixed during the retracting and jacking processes, i.e., the fixed shaft 306 does not rotate with the power rotating shaft 301 and the rotating disc 302a. Figure 12 As shown in FIG. 2, the driving unit 304 of the second embodiment includes a fixed shaft 306 coaxially arranged inside the power rotating shaft 301, and two cams 307. The lower end of the fixed shaft 306 is fixed to an external structure or other structure, so that the fixed shaft 306 is fixed during the retracting and jacking processes, i.e., the fixed shaft 306 does not rotate with the power rotating shaft 301 and the rotating disc 302a.

[0055] In the present embodiment, the cam 307 is used as the telescopic driving component of the pin gear 303, and the rotation of the power rotating shaft 301 is used as the power to realize the intermittent extension and retraction of the pin gear 303. The overall structure is simple, and from the perspective of installation, the components such as the power rotating shaft 301 and the fixed shaft 306 are inserted into the central cylindrical shell 205 of the storage assembly 200, without the need for welding operations.

[0056] As shown in FIG. 2, the driving unit 304 of the second embodiment includes a fixed shaft 306 coaxially arranged inside the power rotating shaft 301, and two cams 307. The lower end of the fixed shaft 306 is fixed to an external structure or other structure, so that the fixed shaft 306 is fixed during the retracting and jacking processes, i.e., the fixed shaft 306 does not rotate with the power rotating shaft 301 and the rotating disc 302a. Figure 13 As shown in FIG. 2, the driving unit 304 of the second embodiment includes a fixed shaft 306 coaxially arranged inside the power rotating shaft 301, and two cams 307. The lower end of the fixed shaft 306 is fixed to an external structure or other structure, so that the fixed shaft 306 is fixed during the retracting and jacking processes, i.e., the fixed shaft 306 does not rotate with the power rotating shaft 301 and the rotating disc 302a.

[0057] As shown in FIG. 2, the driving unit 304 of the second embodiment includes a fixed shaft 306 coaxially arranged inside the power rotating shaft 301, and two cams 307. The lower end of the fixed shaft 306 is fixed to an external structure or other structure, so that the fixed shaft 306 is fixed during the retracting and jacking processes, i.e., the fixed shaft 306 does not rotate with the power rotating shaft 301 and the rotating disc 302a. Figure 13As shown, in the preferred embodiment, the pin tooth 303 comprises a pin tooth body 309, a roller 3010 and a spring connecting portion 3011, the pin tooth body 309 is slidingly arranged in the sliding groove 305 of the rotating disc 302a, the front end of the pin tooth body 309 is provided with a circular arc portion, which facilitates the pin tooth body 309 to be smoothly inserted into the tooth groove 104 of the chain link 102, the roller 3010 is fixedly or rollingly arranged on the upper surface of the pin tooth body 309, and the axial direction of the roller 3010 is configured as the height direction, the pin tooth 303 is in contact with the outer circumferential surface of the cam 307 through the outer circumferential surface of the roller 3010, and the spring connecting portion 3011 is used to connect one end of the elastic reset member 308.

[0058] In the preferred embodiment, the angle of the cam 307 satisfies the following formula two, so that at least one circumferentially adjacent pin tooth 303 can be inserted into the tooth groove 104 of the chain link 102 during the rotation of the rotating disc 302a. ; As shown, Figure 14 , represents the push angle of the cam 307; represents the far rest angle of the cam 307; represents the return angle of the cam 307; represents the working angle of the cam 307, represents the central angle corresponding to a single chain link 102, that is, the central angle corresponding to the axis of the cylindrical helical line as the center.

[0059] In the preferred embodiment, the angle of the cam 307 is designed so that at least one pin tooth 303 of the circumferentially arranged plurality of pin teeth 303 can be pushed by the cam 307 to be inserted into the chain link 102 during the rotation of the rotating disc 302a, so as to drive the chain link 102 to move in the direction of the cylindrical helical line.

[0060] In the preferred embodiment, the push angle, the far rest angle, the return angle and the near rest angle of the upper and lower cams 307 are equal, respectively, and the push angle of the cam 307 is equal to the return angle.

[0061] In the preferred embodiment, the upper and lower cams 307 are arranged in a staggered manner and satisfy the following formula three, so that at least one adjacent pin tooth 303 of the upper pin tooth 303 and the lower pin tooth 303 is inserted into the tooth groove 104 of the adjacent chain link 102. ; As shown, Figure 14 ​​As shown, the embodiment is designed by the angle of the two cams 307, so that the upper and lower pinion gears 303 are always kept one to one engaged with the links 102 to form the upper and lower continuous driving force, the whole structure is simple, easy to manufacture.

[0062] In the embodiment, the thickness of the pinion gear 303 and the length of the tooth groove 104 of the link 102 satisfy the following formula four, so that the tooth groove 104 of the link 102 does not interfere with the pinion gear 303 during the movement along the cylindrical helix; ; Among them, the pitch of the first helical groove 203 (as Figure 9 shown), the pitch of the first helical groove 203 is equal to the total length of the link 102 (as Figure 15 shown) is equal to the pitch of the helical surface 106 below the jacking cover 101 (as Figure 3 shown).

[0063] As Figure 15 shown, in the embodiment, since the link 102 is driven by the pinion gear 303 inserted in the tooth groove 104 to move along the cylindrical helix, the relative position of the tooth groove 104 and the pinion gear 303 in the height direction will gradually change, the inner bottom surface of the tooth groove 104 will gradually approach the lower surface of the pinion gear 303 and interfere, therefore, the thickness of the pinion gear 303 and the length of the tooth groove 104 of the link 102 need to be designed accordingly to meet the requirement that the tooth groove 104 has a margin for movement in the height direction relative to the pinion gear 303.

[0064] Please refer to Figure 13 again, in the embodiment, six pinion gears 303 are arranged on each rotating disc 302a, the six pinion gears 303 are arranged around 360 degrees, the circumferential included angle of two pinion gears 303 in the six pinion gears 303 is equal to the included angle of the cam 307, as Figure 13 shown, the maximum circumferential included angle of the adjacent two pinion gears is represented, and the remaining pinion gears 303 are arranged at equal intervals, in order to ensure that the chain can be engaged with the three pairs of pinion gears 303, preferably .

[0065] The second embodiment discloses a jacking method, using the actuating device of the second embodiment, the jacking method comprises selecting jacking or retracting as needed: During lifting, the drive unit 304 drives the insert teeth 303 to intermittently insert into the tooth grooves 104 of the chain. Specifically, the turntable 302a drives multiple insert teeth 303 to rotate cyclically from position one to position eight. Figure 16 As shown, positions one through eight are as follows: Position 1: The first tooth 303 of the lower layer is pushed out by the lower cam 307, the first tooth 303 of the upper layer is pushed out by the lower cam 307, and the remaining teeth 303 are in the retracted state; Position 2: The first and second insert teeth 303 of the lower layer are pushed out by the lower cam 307, and the first and second insert teeth 303 of the upper layer are pushed out by the upper cam 307, while the remaining insert teeth 303 are in the retracted state. Position 3: The first, second, and third insert teeth 303 of the lower layer are all pushed out by the lower cam 307, and the first, second, and third insert teeth 303 of the upper layer are all pushed out by the upper cam 307, while the remaining insert teeth 303 are in the retracted state. Position 4: The second, third, and fourth insert teeth 303 of the lower layer are all pushed out by the upper cam 307, while the other insert teeth 303 are in the retracted state. Position 5: The third, fourth, and fifth insert teeth 303 of the lower layer are all pushed out by the upper cam 307, while the remaining insert teeth 303 are in the retracted state. Position 6: The fourth, fifth, and sixth insert teeth 303 of the lower layer are all pushed out by the upper cam 307, while the remaining insert teeth 303 are in the retracted state. Position 7: The fifth and sixth insert teeth 303 of the lower layer are pushed out by the upper cam 307, while the remaining insert teeth 303 are in the retracted state. Position 8: The sixth tooth 303 of the lower layer is pushed out by the upper cam 307, and the sixth tooth 303 of the upper layer is pushed out by the upper cam 307, while the remaining teeth 303 are in the retracted state. like Figure 17As shown, during the rotation at positions one to eight, the power shaft 301 drives the turntable assembly 302 and the toothed gear 303 to rotate clockwise. The toothed gear 303 drives the chain to move spirally upwards around the height direction. The turntable 302a drives the toothed gear 303 and the chain link 102 meshing with the toothed gear 303 to move. Since the chain link 102 is guided by the first spiral groove 203 and the two adjacent chain links 102 are engaged by the arc-shaped groove 103 and the arc-shaped boss 105, the chain link 102 is driven by the toothed gear 303 along the cylindrical spiral line. The chain moves upward, and the chain links 102 located in the spiral groove 204 are driven synchronously, sliding sequentially towards the first spiral groove 203 along the spiral line and engaging with the insert teeth 303 in sequence. Before the insert teeth 303 interfere with the bottom of the currently engaged groove 104, the insert teeth 303 retract and exit the current groove 104, and the other insert teeth 303 are inserted into other grooves 104 to ensure a continuous driving force on the chain. Therefore, the lifting cover 101 located at the top of the chain is lifted upward to a predetermined height following the cylindrical spiral line movement of the chain.

[0066] When retracted, the drive unit 304 drives the insert teeth 303 to be intermittently inserted into the tooth grooves 104 of the chain. Specifically, the turntable 302a drives multiple insert teeth 303 to rotate cyclically at positions one to eight, as described above.

[0067] During the rotation at positions one to eight, the power shaft 301 drives the turntable assembly 302 and the toothed gear 303 to rotate counterclockwise. The toothed gear 303 drives the chain to move downward in a spiral motion around the height direction. As the chain above the first spiral groove 203 moves downward, it passes through the first spiral groove 203 and is guided into the vortex groove 204 of the storage tray 202. The lifting cover 101 at the top of the chain moves downward with the chain. After the lifting cover 101 reaches the threshold height, the power shaft 301 stops rotating.

[0068] Example 3: like Figure 18 As shown, the difference between this embodiment three and embodiment two is that the actuation device in this embodiment three further includes a power unit 400, which is connected to the power shaft 301 and is used to drive the power shaft 301 to rotate.

[0069] like Figure 19As shown, the power unit 400 comprises a bottom shell 401 connected to the bottom of the housing of the actuating device, a worm 402 and a turbine 403 both rotatably arranged in the bottom shell 401, the turbine 403 is coaxially arranged with the power rotating shaft 301, a hollow turbine shaft 404 is coaxially arranged in the turbine 403 and is keyed connected with the turbine 403, the upper end of the hollow turbine shaft 404 is keyed connected with the lower end of the power rotating shaft 301, a motor is connected with the worm 402 for driving the worm 402 to rotate, the worm 402 is drivingly connected with the turbine 403, and the turbine 403 drives the power rotating shaft 301 to rotate through the hollow turbine shaft 404.

[0070] Further, the fixed shaft 306 of the driving unit 304 coaxially passes through the hollow turbine shaft 404 and the turbine 403, and the fixed shaft 306 has no connection relationship with the hollow turbine shaft 404 and the turbine 403, the bottom of the fixed shaft 306 is fixedly connected with the bottom shell 401 of the power unit 400, so that the fixed shaft 306 remains not to rotate.

[0071] The above is only a specific implementation of the present application, and those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working process of the above-described system, module and unit can refer to the corresponding process in the foregoing method embodiments, which will not be described here. It should be understood that the protection scope of the present application is not limited to this, and any person skilled in the art can easily think of various equivalent modifications or replacements within the technical range disclosed in the present application, and these modifications or replacements should be covered within the protection scope of the present application.

Claims

1. An actuation device, characterized in that, include: The chain assembly (100) includes a lifting cover (101) and a chain formed by multiple chain links (102) connected in sequence. The lifting cover (101) is connected to one end of the chain. The chain links (102) are provided with arc-shaped grooves (103), toothed grooves (104) and arc-shaped bosses (105) in sequence along the height direction. When the chain links (102) move along the cylindrical helical direction, the arc-shaped grooves (103) and arc-shaped bosses (105) between two adjacent chain links (102) contact each other and slide relative to each other along the cylindrical helical direction. The storage assembly (200) includes a first spiral segment (201) and a storage tray (202). The first spiral segment (201) is coaxially disposed on the storage tray (202). The first spiral segment (201) is provided with a first spiral groove (203) along the direction of the cylindrical spiral line. The storage tray (202) is provided with a vortex groove (204). The inner opening of the vortex groove (204) is connected to one end of the first spiral groove (203). The vortex groove (204) and the first spiral groove (203) form a channel for accommodating the chain. The lifting cover (101) is located above the first spiral segment (201). The drive system (300) includes a power shaft (301), a turntable assembly (302), a toothed gear (303), and a drive unit. The power shaft (301) is coaxially and rotatably disposed inside the storage assembly (200). The turntable assembly (302) is coaxially disposed at the top of the power shaft (301). The toothed gear (303) is slidably disposed on the turntable assembly (302) along the radial direction of the turntable assembly (302) and is used to insert into the tooth groove (104) of the chain link (102) and rotate with the turntable assembly (302) to drive the chain link (102) to move along the cylindrical helical direction. The drive unit is disposed on one side of the toothed gear (303) and is used to drive the toothed gear (303) to move radially in the turntable assembly (302).

2. The actuation device according to claim 1, characterized in that, The lower end face of the lifting cover (101) is configured as a spiral surface (106) extending along the direction of the cylindrical spiral line. The spiral surface (106) is provided with an arc-shaped boss (105) extending along the direction of the cylindrical spiral line. The arc-shaped boss (105) is located in the arc-shaped groove (103) of the link (102).

3. The actuation device according to claim 1, characterized in that, The link (102) includes a first inclined platform (107), a link body (108), and a second inclined platform (109) connected sequentially along the height direction; the top surface of the first inclined platform (107) is configured as a first inclined surface, and the side of the first inclined platform (107) is provided with an arc-shaped groove (103); the link body (108) is provided with a tooth groove (104), and two adjacent link bodies (108) are movably connected to form a chain; the bottom surface of the second inclined platform (109) is configured as a second inclined surface, and the second inclined surface is provided with an arc-shaped boss (105); when the link body (108) moves along the cylindrical helical direction, the first inclined surface and the second inclined surface of two adjacent link (102) slide in contact, and the arc-shaped boss (105) and the arc-shaped groove (103) slide in contact along the cylindrical helical direction.

4. The actuation device according to claim 3, characterized in that, The length direction of the arc-shaped groove (103) is configured as a cylindrical helical direction, the cross-sectional shape of the arc-shaped groove (103) is arc-shaped, the length direction of the arc-shaped boss (105) is configured as a cylindrical helical direction, and the outer arc surface of the arc-shaped boss (105) contacts the inner circumferential surface of the arc-shaped groove (103).

5. The actuation device according to claim 3, characterized in that, The inner side of the tooth groove (104) is provided with a chamfer (1010) to guide the inserting tooth (303) to be inserted radially into the tooth groove (104).

6. The actuation device according to any one of claims 1 to 5, characterized in that, The length of the link (102) satisfies the following formula so that two adjacent links (102) are misaligned in the height direction; ； in, This indicates the length of a single link (102); This represents the side length of the regular polygon inscribed in the cylindrical helix.

7. The actuating device according to any one of claims 1 to 5, characterized in that, The storage assembly (200) includes a central cylindrical shell (205) and a plurality of storage trays (202) spaced apart along the axial direction of the central cylindrical shell (205). The plurality of storage trays (202) are coaxially sleeved on the outer periphery of the central cylindrical shell (205). The first spiral segment (201) is disposed on the top surface of the uppermost storage tray (202). The vortex grooves (204) of two axially adjacent storage trays (202) are connected by a second spiral segment (206) or a third spiral segment (207). The second spiral segment (206) and the third spiral segment (207) are alternately arranged in the height direction. The second spiral segment (206) is provided with a second spiral groove (208), and the two ends of the second spiral groove (208) are respectively connected to the outer openings of two adjacent vortex grooves (204); the third spiral segment (207) is provided with a third spiral groove (209), and the two ends of the third spiral groove (209) are respectively connected to the inner openings of two adjacent vortex grooves (204). The power shaft (301) of the drive system (300) is coaxial and rotatably disposed within the central cylindrical shell (205).

8. The actuation device according to claim 7, characterized in that, The turntable assembly (302) includes two turntables (302a) coaxially connected, with the lower turntable (302a) coaxially connected to the power shaft (301); The turntable (302a) is provided with multiple grooves (305) spaced apart along the circumference of the turntable (302a); the teeth (303) are slidably disposed in the grooves (305) in a corresponding manner; the drive unit is disposed between the two turntables (302a); the drive unit and the teeth (303) are at the same horizontal height; the drive unit is used to drive the teeth (303) to extend intermittently to the outside of the turntable (302a).

9. The actuation device according to claim 8, characterized in that, The drive unit (304) includes a fixed shaft (306) and two cams (307) stacked on the fixed shaft (306) in the height direction; the fixed shaft (306) is coaxially disposed in the power shaft (301) of the drive system (300); the two cams (307) are respectively used to slide relative to the teeth (303) on the two turntables (302a) so that multiple teeth (303) are intermittently pushed out to the outside of the turntable (302a) and inserted into the tooth groove (104) of the link (102); an elastic reset member (308) is connected between the teeth (303) and the turntable (302a).

10. The actuation device according to claim 9, characterized in that, The angle of the cam (307) satisfies the following formula two, so that during the rotation of the multiple teeth (303) following the turntable (302a), at least one Each circumferentially adjacent insert tooth (303) is inserted into the tooth groove (104) of the link (102); ； in, Indicates the push angle of the cam (307); Indicates the far-reach angle of the cam (307); Indicates the return angle of the cam (307); Indicates the working angle of the cam (307). This represents the central angle corresponding to a single link (102).

11. The actuation device according to claim 10, characterized in that, The two cams (307) are offset and satisfy the following formula three, so that among the multiple teeth (303) on both the upper and lower sides, there are at least one One adjacent insert tooth (303) is inserted into the tooth groove (104) of the link (102); ； in, This indicates the included angle between the centerlines of the two cams (307).

12. The actuation device according to claim 10 or 11, characterized in that, Thickness of the tooth (303) and the length of the tooth groove (104) of the link (102) The following formula four is satisfied so that the link (102) does not interfere with the tooth (303) during the movement along the cylindrical helix direction; ； in, This indicates the pitch of the first helical groove (203).

13. A lifting method, characterized in that, Using the actuating device according to any one of claims 1 to 12, the lifting method includes selecting to lift or retract as needed: During lifting, the drive unit drives the insert teeth (303) to be intermittently inserted into the tooth grooves (104) of the chain. The power shaft (301) drives the turntable assembly (302) and the insert teeth (303) to rotate clockwise. The insert teeth (303) drive the chain to move spirally upward around the height direction. The chain links (102) in the storage tray (202) are pushed by the insert teeth (303) and move towards the first spiral groove (203) along the vortex direction. The first spiral groove (203) guides the chain to move in a cylindrical spiral around the height direction. The lifting cover (101) located at the top of the chain is lifted upward with the movement of the chain. When retracted, the drive unit drives the insert teeth (303) to be intermittently inserted into the tooth grooves (104) of the chain. The power shaft (301) drives the turntable assembly (302) and the insert teeth (303) to rotate counterclockwise. The insert teeth (303) drive the chain to move downward in a spiral motion around the height direction. The chain located above the first spiral groove (203) passes through the first spiral groove (203) and is guided into the vortex groove (204) of the storage tray (202). The lifting cover (101) located at the top of the chain retracts downward with the movement of the chain. After the lifting cover (101) descends to the threshold height, the power shaft (301) stops rotating.

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