Actuation device and jacking method

Abstract

The application discloses an actuating device and a jacking method, relates to the technical field of motion control, and comprises a chain assembly, a storage assembly and a driving system. The application adopts a winding type storage structure, a plurality of chain links are stored in a vortex groove of the storage disc, and the plurality of chain links are arranged in a winding mode on the outer circumferential side of the driving system. The more the number of the vortex groove is, the more the number of the chain links that can be stored is increased in proportion. In the case that the transverse space is not significantly increased, the telescopic ratio that is not lower than that of a traditional structure can be obtained. The driving system drives the chain links to move in a spiral mode along the height direction. Two adjacent chain links in the up and down directions are engaged with each other through an arc-shaped groove and an arc-shaped boss, the noise generated is more controllable, and the transverse anti-interference capability can be improved. The jacking method comprises selecting the actuating device according to the requirement to jack up or retract, inserting into the tooth groove of the chain through a gear insertion gap, and driving the chain to move in a spiral mode, so that the jacking up or retracting is realized.

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:

[0006] The chain assembly comprises a jacking cover and a chain formed by a plurality of chain links connected in sequence, and the jacking cover is 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 are in contact and relatively slide in the direction of the cylindrical spiral line;

[0007] The receiving assembly comprises a first spiral segment and a receiving disc, and the first spiral segment is coaxially arranged in the receiving disc; the first spiral segment is provided with a first spiral groove in the direction of the cylindrical spiral line, the receiving disc is provided with a vortex groove, the inner side opening of the vortex groove is in communication with one end of the first spiral groove, the vortex groove and the first spiral groove form a channel for accommodating the chain, and the jacking cover is located above the first spiral segment;

[0008] The driving system comprises a power shaft, a rotating disc set, a pinion and a driving unit. The power shaft is coaxially and rotationally 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 slidingly arranged at the rotating disc set along the radial direction of the rotating disc set, 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 helix. The driving unit is arranged at one side of the pinion, used for driving the pinion to move in the radial direction of the rotating disc set.

[0009] Preferably, the lower end surface of the jacking cover is configured as a helical surface extending along the direction of the cylindrical helix. The helical surface is provided with an arc-shaped boss extending along the direction of the cylindrical helix. The arc-shaped boss is arranged in the arc-shaped groove of the chain link.

[0010] Preferably, the chain link comprises a first inclined platform, a chain link body and a second inclined platform connected in sequence 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 helix, 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 helix.

[0011] Preferably, the length direction of the arc-shaped groove is configured as the direction of the cylindrical helix. 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 helix. The outer arc surface of the arc-shaped boss is in contact with the inner peripheral surface of the arc-shaped groove.

[0012] Preferably, the inner side of the tooth groove is provided with a chamfer portion, used for guiding the pinion to be inserted into the tooth groove along the radial direction.

[0013] 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.

[0014] ;

[0015] wherein, L represents the length of a single chain link (102); L represents the length of a single chain link (102);

[0016] Preferably, the receiving assembly comprises a central cylindrical shell and a plurality of receiving discs arranged axially and 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 sequence in the height direction.

[0017] The second spiral section is provided with a second spiral groove, and two ends of the second spiral groove are communicated with outer side openings of two adjacent vortex grooves respectively; the third spiral section is provided with a third spiral groove, and two ends of the third spiral groove are communicated with inner side openings of two adjacent vortex grooves respectively.

[0018] The power rotating shaft of the driving system is coaxially arranged in the central cylindrical shell.

[0019] 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, and the driving unit is arranged between the two rotating discs, the driving unit and the pin teeth are at the same horizontal height, and the driving unit is used to drive the pin teeth to be intermittently extended to the outside of the rotating disc.

[0020] 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 to slidingly contact 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.

[0021] 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;

[0022] ;

[0023] Among them, 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.

[0024] 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;

[0025] ;

[0026] Among them, represents the included angle of the center lines of the two cams.

[0027] Preferably, the thickness of the pin tooth is and the length of the tooth groove of the chain link is Satisfy the following formula four, so that the chain in the process of moving along the cylindrical helix does not interfere with the gear;

[0028] ;

[0029] Wherein, The pitch of the first spiral groove.

[0030] In a second aspect, the application provides a jacking method using the actuating device, the jacking method comprising selecting jacking or retracting as needed:

[0031] When jacking, the driving unit drives the gear to be inserted into the tooth groove of the chain in a gap manner, the power shaft drives the rotating disc set and the gear to rotate clockwise, the gear drives the chain to move spirally upward along the height direction, the chain links in the storage disc are pushed by the gear and move along the spiral line direction into the first spiral groove, the first spiral groove guides the chain to move along the height direction in a cylindrical helix, and the jacking cover at the top of the chain follows the movement of the chain to jack upward;

[0032] When retracting, the driving unit drives the gear to be inserted into the tooth groove of the chain in a gap manner, the power shaft drives the rotating disc set and the gear to rotate counterclockwise, the gear drives the chain to move spirally downward along the height direction, the chain above the first spiral groove passes through the first spiral groove and is guided into the spiral groove of the storage disc, the jacking cover at the top 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.

[0033] The actuating device and the jacking method of the application have at least the following beneficial effects:

[0034] The actuating device of the application innovatively adopts a winding storage structure, and a plurality of chain links are wound and arranged on the outer periphery of the driving system in the spiral groove of the storage disc. Since the diameter of the spiral groove gradually increases from inside to outside, the number of chain links that can be accommodated in 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 proportionally, so that the application can achieve a telescoping ratio not lower than that of a traditional structure without significantly increasing the horizontal footprint. On the other hand, the driving system of the application drives the gear to be inserted into the tooth groove of the chain link by the driving unit and rotates with the rotating disc set, thereby driving the chain link to move spirally along the height direction under the guidance of the first spiral groove. The upper and lower adjacent chain links are engaged with each other through the arc-shaped groove and the arc-shaped boss when spirally moving, which can be engaged with each other like internal and external threads. Compared with the noise generated by the engagement of the traditional gear and chain, the noise is more controllable. The application has strong advantages in specific scenarios, such as being applied to stage scenes. The engagement of the arc-shaped groove and the arc-shaped boss can also improve the lateral anti-interference ability of the two chain links and ensure the stability of the plurality of chain links after being jacked upward to form a cylinder. BRIEF DESCRIPTION OF DRAWINGS

[0035] 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 accompanying drawings are included to provide a better understanding of the preferred embodiments, and are not intended to be limiting of the application. Moreover, in the drawings, like reference numerals denote similar parts throughout the several views. In the drawings:

[0036] Figure 1 is a structural diagram of the actuating device of Example 1, (A1) represents an axonometric view, (A2) represents an exploded view, and arrow F1 represents the direction of the cylindrical helix;

[0037] Figure 2 is an appearance diagram of the actuating device of Example 1, arrow F1 represents the direction of the cylindrical helix, and arrow F2 represents the height direction;

[0038] Figure 3 is a structural diagram of the jacking cover;

[0039] 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, and (B3) represents a front view of the chain link;

[0040] Figure 5 is a diagram of the engagement of a portion of the chain links;

[0041] Figure 6 is a diagram of the gap of a portion of the chain links;

[0042] Figure 7 is a top view of a portion of the chain links after being connected in series;

[0043] Figure 8 is a structural diagram of a storage assembly designed with one storage tray;

[0044] Figure 9 is a structural diagram of a storage assembly designed with multiple storage trays;

[0045] Figure 10 is a structural diagram of the storage assembly of Figure 9 storing the chain links;

[0046] Figure 11 is a structural diagram of the drive system of Example 1, with the rotary disc set shown in an exploded state;

[0047] Figure 12 is a structural diagram of the drive system of Example 2, with the rotary disc set shown in an exploded state;

[0048] Figure 13 is a top view of the rotary disc and the pinion;

[0049] Figure 14 is a top view of the partial link, cam, spline, and turntable;

[0050] Figure 15 is a front view of the link and spline;

[0051] Figure 16 is a sequential view of the plurality of splines extending in a gap-like manner;

[0052] Figure 17 is a schematic view of the actuating device jacking up, (C1) before jacking up, (C2) after jacking up;

[0053] Figure 18 is a front view of the actuating device of Example Three;

[0054] Figure 19 is Figure 18 is an isometric view of the power unit;

[0055] The explanation of the reference signs is as follows:

[0056] 100, chain assembly; 101, jacking cover; 102, link; 102a, link gap; 103, arc-shaped groove; 104, spline groove; 105, arc-shaped boss; 106, helical surface; 107, first inclined table; 108, link body; 108a, notched portion; 108b, connecting column; 109, second inclined table; 1010, chamfered portion; 1011, outer shell;

[0057] 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;

[0058] 300, drive system; 301, power rotating shaft; 302, turntable assembly; 302a, turntable; 303, spline; 304, drive unit; 304a, micro linear extension mechanism; 305, sliding groove; 306, fixed shaft; 307, cam; 308, elastic return member; 309, spline body; 3010, roller; 3011, spring connecting portion;

[0059] 400, power unit; 401, bottom shell; 402, worm; 403, turbine; 404, hollow turbine shaft. DETAILED DESCRIPTION

[0060] The features and exemplary embodiments of various aspects of this application will be described in detail below. To make the objectives, technical solutions, and advantages of this application clearer, the application will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only intended to explain this application and not to limit it. For those skilled in the art, this application can be implemented without some of these specific details. The following description of the embodiments is merely to provide a better understanding of this application by illustrating examples.

[0061] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising..." does not exclude the presence of additional identical elements in the process, method, article, or apparatus that includes the element.

[0062] Example 1:

[0063] like Figure 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.

[0064] 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.

[0065] like Figure 4As 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.

[0066] 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.

[0067] like Figure 4 As shown, the top surface of the first inclined platform 107 is configured as a first inclined surface. An arc-shaped groove 103 is provided on the inner side of the first inclined platform 107 facing the axis of the lifting cover 101. The arc-shaped groove 103 is configured as a through groove. The length direction of the arc-shaped groove 103 is configured as a cylindrical spiral direction. In the cylindrical spiral direction, the depth of the arc-shaped groove 103 goes from shallow to deep and then from deep to shallow. This design can adapt to the curvature of the arc-shaped boss 105 on the second inclined platform 109.

[0068] like Figure 4 As shown, a toothed groove 104 is provided at the center of the link body 108. The toothed groove 104 is rectangular in shape and has sufficient length in the height direction so that the insert teeth 303 inserted into the toothed groove 104 have a relatively movable margin. The toothed groove 104 has chamfered portions 1010 on two inner sides in the horizontal direction. The chamfered portions 1010 are used to guide the insert teeth 303 of the drive system 300 to be smoothly inserted into the toothed groove 104.

[0069] like Figure 5As shown, the lower surface of the second inclined platform 109 is configured as a second inclined surface, and when the chain link 102 moves along the cylindrical helix direction, the first inclined surface and the second inclined surface of the two adjacent chain links 102 can relatively slide in contact along the cylindrical helix direction to ensure 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 cylindrical helix direction, the cross-sectional shape of the arc-shaped boss 105 matches the inner peripheral shape of the arc-shaped groove 103, and when the chain link 102 moves along the cylindrical helix direction, the arc-shaped groove 103 and the arc-shaped boss 105 between the two adjacent chain links 102 in the upper and lower directions are in contact and relatively slide along the cylindrical helix direction, that is, the two adjacent chain links 102 in the upper and lower directions are engaged through the arc-shaped groove 103 and the arc-shaped boss 105, and 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 is in contact with the inner peripheral surface of the arc-shaped groove 103.

[0070] As shown in the drawings, Figure 3 and Figure 4 In this embodiment, the second inclined surface of the second inclined platform 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, and both can be engaged with the arc-shaped groove 103 on the chain link 102.

[0071] In this embodiment, when the chain is in the retracted state, the chain is divided into a first section of chain and a storage section of chain in the height direction, the storage section of chain is stored in the storage disc 202 of the storage assembly 200, and the first section of chain is located in the first helical section 201 of the storage assembly 200. The jacking cover 101 of the chain assembly 100 is coaxially arranged above the first helical section 201, the free end of the first section of chain is fixedly connected with the jacking cover 101, and the arc-shaped grooves 103 of part of the chain links 102 in the first section of chain are engaged with the arc-shaped bosses 105 on the jacking cover 101. After the chain is retracted to the limit state, the part of the chain links 102 engaged with each other between the first section of chain and the jacking cover 101 cannot be disengaged from the arc-shaped bosses 105 on the jacking cover 101.

[0072] As shown in the drawings, Figure 6 In this embodiment, it is preferred that in the jacking or retracted state, a single chain link 102 moves along a cylindrical helix in the height direction, and in the movement process or after jacking to the position, two adjacent chain links 102 in the height direction are misaligned, so that the two adjacent chain link gaps 102a in the height direction are not aligned and form a straight line gap. Compared with the prior art, the gap of the present embodiment is alternately misaligned in the height direction, which can significantly improve the transverse anti-interference ability of multiple chain links 102 in the jacking or retracted state.

[0073] In the embodiment, the length of the single link 102 satisfies the following formula one, so that the two adjacent links 102 in the height direction are staggered.

[0074] ;

[0075] As shown in Figure 7 , in the above formula one, represents the length of the single link 102; represents the side length of the inscribed regular polygon of the cylindrical spiral line, that is, the trajectory line in the direction of the cylindrical spiral line in the embodiment is the cylindrical spiral line, and the cylinder φ of the cylindrical spiral line has an inscribed regular polygon, which can be a regular triangle, a regular quadrilateral, a regular pentagon, a regular hexagon, a regular heptagon, etc., wherein the single side length of the inscribed regular polygon is represented as the above .

[0076] As can be seen from the formula one, the length of the single link 102 in the embodiment is designed to be not equal to the single side length of the inscribed regular polygon, so that the adjacent multiple links 102 cannot form a complete regular polygon, and the gap of the link 102 on the upper side is staggered with the gap of the link 102 on the lower side in the height direction, so as to ensure that the chain after jacking will not be tilted and disassembled.

[0077] As shown in Figure 8 , the receiving assembly 200 includes a first spiral section 201 and a receiving disc 202, the first spiral section 201 is coaxially arranged on the upper top surface of the receiving disc 202, the first spiral section 201 is provided with a first spiral groove 203, the length direction of the first spiral groove 203 is configured as the direction of the cylindrical spiral line, the shape of the receiving disc 202 is circular, the receiving disc 202 is coaxially provided with a vortex groove 204, and the trajectory 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 communicated with the first spiral groove 203, and the first spiral section 201 and the vortex groove 204 form a channel for accommodating the chain.

[0078] 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 links 102.

[0079] As shown in Figure 9 , the number of the receiving disc 202 can be one or more, when the number of the receiving disc 202 is multiple, the shapes of the multiple receiving discs 202 are consistent and are arranged in the height direction, the multiple receiving discs 202 are coaxially corresponding, and the vortex grooves 204 of the two receiving discs 202 between the two receiving discs 202 adjacent in the height direction are communicated through the second spiral section 206 or the third spiral section 207.

[0080] As shown in Figure 9 the embodiment, the storage assembly 200 preferably comprises a central cylindrical shell 205 and a plurality of storage disks 202 (three storage disks 202 are shown in the embodiment), the central cylindrical shell 205 coaxially passes through the plurality of storage disks 202, and the central cylindrical shell 205 and the storage disks 202 are connected by welding, integral molding, bonding or screw connection, etc. A second spiral section 206 or a third spiral section 207 is arranged between two adjacent storage disks 202 in the height direction, wherein only one second spiral section 206 or one third spiral section 207 is arranged between the two storage disks 202, and the second spiral section 206 and the third spiral section 207 are alternately arranged in the height direction.

[0081] As shown in Figure 9 the embodiment, the second spiral section 206 is provided with a second spiral groove 208, the trace direction of the second spiral groove 208 is consistent with the direction of the cylindrical spiral line, and the two end openings of the second spiral groove 208 are respectively communicated with the vortex grooves 204 on the upper and lower storage disks 202, specifically, the two end openings are respectively communicated with the openings of the outermost circle of the two vortex grooves 204.

[0082] Similarly, the third spiral section 207 is provided with a third spiral groove 209, the trace direction of the third spiral groove 209 is consistent with the direction of the cylindrical spiral line, and the two end openings of the third spiral groove 209 are respectively communicated with the vortex grooves 204 on the upper and lower storage disks 202, specifically, the two end openings are respectively communicated with the openings of the innermost circle of the two vortex grooves 204.

[0083] In the embodiment, three storage disks 202 are provided, and the three storage disks 202 are respectively referred to as a first storage disk 202, a second storage disk 202 and a third storage disk 202 from top to bottom, the first spiral section 201 is coaxially arranged on the top surface of the first storage disk 202, the second spiral section 206 is arranged between the first storage disk 202 and the second storage disk 202, the third spiral section 207 is arranged between the second storage disk 202 and the third storage disk 202, and the like. It can be understood that, assuming that there are a fourth storage disk 202 and a fifth storage disk 202, the vortex grooves 204 between the third storage disk 202 and the fourth storage disk 202 are communicated through the second spiral section 206, and the vortex grooves 204 between the fourth storage disk 202 and the fifth storage disk 202 are communicated through the third spiral section 207.

[0084] As shown in Figure 10 most of the chain links 102 are stored in the vortex grooves 204 through the plurality of storage disks 202, which can significantly reduce the horizontal space occupation.

[0085] As shown in Figure 11As shown, the drive system 300 includes a power shaft 301, a turntable assembly 302, a gear 303, and a drive unit, as detailed below:

[0086] like Figure 11 As shown, the power shaft 301 coaxially passes through the first helical segment 201 and the storage tray 202 along the height direction. The power shaft 301 can rotate relative to the first helical segment 201 and the storage tray 202. The power shaft 301 can be a self-powered structure, such as a motor with a shaft, or it can be a shaft that has the ability to rotate after being connected to an external power unit. It is understood that in this embodiment, the storage component 200 preferably includes a central cylindrical shell 205 and multiple storage trays 202. Therefore, the power shaft 301 coaxially passes through the central cylindrical shell 205 and multiple storage trays 202. A bearing can be provided between the power shaft 301 and the central cylindrical shell 205 to ensure the excellent rotational performance of the power shaft 301. The top of the power shaft 301 is at the same height as the first helical segment 201.

[0087] like Figure 11 As shown, the turntable assembly 302 is circular in shape and is coaxially fixed to the top of the power shaft 301, allowing it to rotate with the power shaft 301. The insert teeth 303 are slidably disposed on the turntable assembly 302 in the radial direction. The insert teeth 303 are used to insert radially into the tooth grooves 104 of the chain link 102. Then, the turntable assembly 302 and the insert teeth 303 rotate under the drive of the power shaft 301, causing the insert teeth 303 to move the chain link 102 together. Due to the guiding effect of the first helical groove 203 and the meshing action of adjacent chain links 102, the chain link 102 moves along a cylindrical helical line, thereby achieving the lifting or retraction of the lifting cover 101. Preferably, in this embodiment, there are multiple insert teeth 303, spaced apart circumferentially on the turntable assembly 302.

[0088] like Figure 11 As shown, in this embodiment, the turntable assembly 302 includes two turntables 302a that are coaxially and fixedly connected. The turntables 302a are circular in shape, and the two turntables 302a are spaced apart. The lower turntable 302a is coaxially and fixedly connected to the top of the power shaft 301. Each turntable 302a is provided with multiple sliding grooves 305, which are spaced apart along the circumference of the turntable 302a. The length direction of the sliding grooves 305 is configured to be radial to the turntable 302a. One end of the sliding groove 305 is connected to the outer circumferential surface of the turntable 302a. The insert teeth 303 are slidably disposed in the sliding grooves 305, so that the insert teeth 303 can slide out or retract from the turntable 302a.

[0089] like Figure 11As shown, in the embodiment, double-layered rotary plates 302a are arranged, and each rotary plate 302a is provided with a plurality of inserts 303, the inserts 303 are controlled to extend and retract, so that at least one insert 303 is arranged in the position corresponding to each chain of the double-layered rotary plates 302a, and then the chain is driven in the forward and backward pushing and pulling manner to form continuous driving force of the chain, and the stability of the chain is maintained.

[0090] As shown in the figure, Figure 11 The driving unit is located at the same horizontal position as the inserts 303, and the driving unit is located at the side away from the chain link 102, and the driving unit and the insert 303 are arranged in the radial direction of the rotary plate group 302, the driving unit drives the insert 303 to extend to the outside of the rotary plate group 302 and insert into the tooth groove 104 of the chain link 102, wherein the driving unit and the insert 303 can adopt one-to-one or one-to-many mode, that is, the driving unit can drive the insert 303 to extend one by one, or a driving unit can synchronously drive multiple inserts 303 to extend outward.

[0091] As shown in the figure, Figure 11 In the preferred embodiment, the driving unit is configured as an existing micro linear extension mechanism 304a, such as an electric push rod, etc., the driving unit is arranged in the rotary plate group 302, and drives the insert 303 to extend linearly in the radial direction.

[0092] The embodiment also discloses a jacking method, the jacking method uses the actuating device of the embodiment, and the jacking method comprises the following steps of:

[0093] When jacking, the driving unit drives the insert 303 to insert into the tooth groove 104 of one chain link 102 aligned with the insert 303 in the radial direction, the power rotating shaft 301 rotates and drives the rotary plate 302a to rotate clockwise, the rotary plate 302a drives the insert 303 and the chain link 102 engaged with the insert 303 to move, because the chain link 102 is guided by the first spiral groove 203 and the two adjacent chain links 102 above and below are engaged through the arc-shaped groove 103 and the arc-shaped boss 105, the chain link 102 is driven by the insert 303 to move upward along the direction of the cylindrical spiral line, and the chain link 102 located in the vortex groove 204 is synchronously driven to slide along the vortex line direction and sequentially engage with the insert 303, before the insert 303 interferes with the bottom of the tooth groove 104 currently engaged, the insert 303 exits the tooth groove 104, the driving unit drives another insert 303 to insert into another tooth groove 104, so as to form continuous driving force on the chain, and thus the jacking cover 101 at the top of the chain is jacked upward to a predetermined height along the cylindrical spiral line of the chain.

[0094] 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.

[0095] Example 2:

[0096] 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.

[0097] like Figure 12 As shown, the drive unit 304 of this embodiment includes a fixed shaft 306 and two cams 307. The fixed shaft 306 is coaxially disposed inside the power shaft 301. The lower end of the fixed shaft 306 is fixed to an external structure or other structure, so that the fixed shaft 306 can be in a fixed state during the retraction and lifting processes, that is, the fixed shaft 306 does not rotate together with the power shaft 301 and the turntable 302a.

[0098] like Figure 12 As shown, the upper end of the fixed shaft 306 coaxially passes through a turntable 302a located below it. Two cams 307 are sleeved and fixedly connected to the outer periphery of the fixed shaft 306 along the height direction. Preferably, the two cams 307 are arranged in close overlap. In other embodiments, the two cams 307 can also be arranged at intervals. When the turntable 302a and the tooth 303 on the turntable 302a rotate circumferentially, the outer peripheral surface of the cam 307 slides in contact with the tooth 303, and the irregular outer peripheral surface of the cam 307 pushes the tooth 303 to slide out and retract in a radially intermittent manner.

[0099] like Figure 12 As shown, in this embodiment, there are two turntables 302a and two cams 307. The tooth 303 on the first turntable 302a is called the lower tooth 303, and the tooth 303 on the second turntable 302a is called the upper tooth 303. The cam 307 on the upper side is called the upper cam 307, and the cam 307 on the lower side is called the lower cam 307. The upper cam 307 and the lower cam 307 are respectively engaged with the lower tooth 303 and the upper tooth 303, thereby realizing that the cam 307 pushes the upper tooth 303 and the lower tooth 303 to extend and retract intermittently.

[0100] In this embodiment, the cam 307 is used as the telescopic drive component of the tooth 303. The intermittent extension and retraction of the tooth 303 can be achieved by using the rotation of the power shaft 301 as the power source. The overall structure is simple. From the perspective of installation, in this embodiment, the power shaft 301, the fixed shaft 306 and other components can be inserted into the central cylindrical shell 205 of the storage assembly 200 without the need for welding.

[0101] like Figure 13 As shown, in this preferred embodiment, an elastic reset member 308 is connected between the insert tooth 303 and the turntable 302a. The elastic reset member 308 includes a spring. The two ends of the elastic reset member 308 are respectively connected to the insert tooth 303 and the turntable 302a. The deformation direction of the elastic reset member 308 is consistent with the sliding direction of the insert tooth 303, and the elastic reset member 308 has an elastic reset force that drives the insert tooth 303 toward the axis of the turntable 302a.

[0102] like Figure 13 As shown, in this preferred embodiment, the tooth 303 includes a tooth body 309, a roller 3010, and a spring connecting part 3011. The tooth body 309 is slidably disposed in the groove 305 of the turntable 302a. The front end of the tooth body 309 is provided with an arc portion, which facilitates the tooth body 309 to be smoothly inserted into the tooth groove 104 of the chain link 102. The roller 3010 is fixedly or rolled on the upper surface of the tooth body 309, and the axial direction of the roller 3010 is configured in the height direction. The tooth 303 contacts the outer peripheral surface of the cam 307 through the outer peripheral surface of the roller 3010. The spring connecting part 3011 is used to connect to one end of the elastic reset member 308.

[0103] In this preferred embodiment, the angle of the cam 307 satisfies the following formula two, so that at least one of the multiple teeth 303, while rotating with the turntable 302a, has... Each circumferentially adjacent insert tooth 303 can be inserted into the tooth groove 104 of the link 102;

[0104] ;

[0105] like Figure 14 As shown, This indicates the push angle of cam 307; This indicates the far-repose angle of cam 307; Indicates the return angle of cam 307; This indicates the working angle of cam 307. This represents the central angle corresponding to a single link 102, that is, the central angle corresponding to a single link 102 with the axis of the cylindrical helix as the center.

[0106] The angle of the cam 307 is designed in this embodiment, so that during the rotation of the rotating disc 302a, the cam 307 can push at least one of the plurality of pin teeth 303 arranged in the circumferential direction to insert into the chain link 102, so as to drive the chain link 102 to move along the cylindrical helical line.

[0107] In this embodiment, the push angle, the far rest angle, the return angle and the near rest angle of the upper and lower cams 307 correspond to each other respectively, wherein the push angle of the cam 307 is equal to the return angle.

[0108] In this embodiment, preferably, the upper and lower cams 307 are arranged in a staggered manner and satisfy the following formula three, so that in the upper pin teeth 303 and the lower pin teeth 303, at least one adjacent pin tooth 303 is inserted into the tooth groove 104 of the adjacent chain link 102.

[0109]

[0110] As shown in Figure 14 , the placing angle of the two cams 307 is designed in this embodiment, so that under the driving of the double-layer cam 307, the upper pin teeth 303 and the lower pin teeth 303 always have one to pin teeth 303 engaged with the chain link 102, forming a continuous driving force of upper and lower layers, and the whole structure is simple and easy to manufacture.

[0111] In this embodiment, preferably, the thickness of the pin tooth 303 and the length of the tooth groove 104 of the chain link 102 satisfy the following formula four, so that the tooth groove 104 of the chain link 102 does not interfere with the pin tooth 303 during the movement along the cylindrical helical line.

[0112]

[0113] wherein, the pitch of the first helical groove 203 (as shown in Figure 9 ), the pitch of the first helical groove 203 is equal to the total length of the chain link 102 (as shown in Figure 15 ), which is equal to the pitch of the helical surface 106 below the jacking cover 101 (as shown in ). Figure 3

[0114] As shown in Figure 15 ​​​​As shown, in this embodiment, since the chain link 102 is driven to move in a cylindrical spiral line by the spline 303 inserted into the tooth groove 104, the relative position of the tooth groove 104 and the spline 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 spline 303 and interfere, therefore, the thickness of the spline 303 and the length of the tooth groove 104 of the chain link 102 need to be designed accordingly to meet the requirement that the tooth groove 104 has a margin for the height direction movement relative to the spline 303.

[0115] Please refer again to Figure 13 In this embodiment, six splines 303 are arranged on each rotating disc 302a, and the six splines 303 are arranged along 360 degrees, and the circumferential included angle of two of the six splines 303 is equal to the included angle of the cam 307, as shown in Figure 13 , The maximum circumferential included angle of the adjacent two splines is represented, and the remaining splines 303 are arranged at equal intervals, and in order to ensure that the chain can be engaged with the three pairs of splines 303, preferably .

[0116] This embodiment two discloses a jacking method, using the actuating device of this embodiment two, the jacking method includes selecting jacking or retracting as required:

[0117] When jacking, the driving unit 304 drives the splines 303 to be inserted into the tooth groove 104 of the chain in a gap mode, specifically, the rotating disc 302a drives the plurality of splines 303 to rotate in positions one to eight, as shown in Figure 16 , positions one to eight are as follows:

[0118] Position one: the first spline 303 in the lower layer is pushed out by the lower cam 307, the first spline 303 in the upper layer is pushed out by the lower cam 307, and the remaining splines 303 are in the retracted state;

[0119] Position two: the first spline 303 and the second spline 303 in the lower layer are pushed out by the lower cam 307, the first spline 303 and the second spline 303 in the upper layer are pushed out by the upper cam 307, and the remaining splines 303 are in the retracted state;

[0120] Position three: the first spline 303, the second spline 303 and the third spline 303 in the lower layer are pushed out by the lower cam 307, the first spline 303, the second spline 303 and the third spline 303 in the upper layer are pushed out by the upper cam 307, and the remaining splines 303 are in the retracted state;

[0121] 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.

[0122] 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.

[0123] 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.

[0124] 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.

[0125] 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.

[0126] like Figure 17 As 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.

[0127] 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.

[0128] 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.

[0129] Example 3:

[0130] 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.

[0131] like Figure 19 As shown, the power unit 400 includes a base shell 401, a worm gear 402, a turbine 403, a motor (not shown), and a hollow turbine shaft 404. The base shell 401 is connected to the bottom of the actuator housing. The worm gear 402 and the turbine 403 are rotatably disposed within the base shell 401. The turbine 403 is coaxially disposed with the power shaft 301. The hollow turbine shaft 404 is coaxially disposed within the turbine 403 and is keyed to the turbine 403. The upper end of the hollow turbine shaft 404 is keyed to the lower end of the power shaft 301. The motor is connected to the worm gear 402 to drive the worm gear 402 to rotate. The worm gear 402 is connected to the turbine 403 via a transmission connection. The turbine 403 drives the power shaft 301 to rotate via the hollow turbine shaft 404.

[0132] Furthermore, the fixed shaft 306 of the drive unit 304 coaxially passes through the hollow turbine shaft 404 and the turbine 403, and the fixed shaft 306 is not connected to the hollow turbine shaft 404 and the turbine 403. The bottom of the fixed shaft 306 is fixedly connected to the bottom shell 401 of the power unit 400 so that the fixed shaft 306 remains stationary.

[0133] The above merely describes a specific implementation of the present application. Those skilled in the art can clearly understand the specific working processes of the system, modules and units described above for the convenience and brevity of description, and can refer to the corresponding processes in the foregoing method embodiments, which will not be described herein again. 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 by 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 by The chain assembly (100) comprises a jacking cover (101) and a chain formed by a plurality of chain links (102) connected in sequence, the jacking cover (101) is connected with one end of the chain, and the chain link (102) is sequentially provided with an arc-shaped groove (103), a tooth groove (104) and an arc-shaped boss (105) in the height direction, when the chain link (102) moves along the cylindrical spiral line, the arc-shaped groove (103) and the arc-shaped boss (105) between the upper and lower adjacent two chain links (102) are in contact and relatively slide along the cylindrical spiral line. The storage assembly (200) comprises a first spiral section (201) and a storage disc (202), the first spiral section (201) is coaxially arranged in the storage disc (202), the first spiral section (201) is provided with a first spiral groove (203) in the cylindrical spiral line direction, the storage disc (202) is provided with a vortex groove (204), the inner side opening of the vortex groove (204) is communicated with 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, and the jacking cover (101) is located above the first spiral section (201). The storage assembly (200) comprises a central cylindrical shell (205) and a plurality of storage discs (202) arranged axially and spaced apart along the central cylindrical shell (205), the plurality of storage discs (202) are coaxially sleeved on the outer periphery of the central cylindrical shell (205), the first spiral section (201) is arranged on the top surface of the uppermost one of the storage discs (202), the vortex grooves (204) of the axially adjacent two storage discs (202) are communicated through a second spiral section (206) or a third spiral section (207), the second spiral section (206) and the third spiral section (207) are sequentially and alternately arranged in the height direction; the second spiral section (206) is provided with a second spiral groove (208), and the two ends of the second spiral groove (208) are respectively communicated with the outer side openings of the upper and lower adjacent two vortex grooves (204); the third spiral section (207) is provided with a third spiral groove (209), and the two ends of the third spiral groove (209) are respectively communicated with the inner side openings of the upper and lower adjacent two vortex grooves (204); wherein, the power rotating shaft (301) of the driving system (300) is coaxially and rotationally arranged in the central cylindrical shell (205). The driving system (300) comprises a power rotating shaft (301), a rotating disc group (302), a pinion (303) and a driving unit, the power rotating shaft (301) is coaxially and rotationally arranged in the inner side of the storage assembly (200); the rotating disc group (302) is coaxially arranged at the top end of the power rotating shaft (301), the pinion (303) is slidingly arranged in the rotating disc group (302) in the radial direction of the rotating disc group (302), is used for being inserted into the tooth groove (104) of the chain link (102) and rotating with the rotating disc group (302) to drive the chain link (102) to move along the cylindrical spiral line; the driving unit is arranged on one side of the pinion (303) and is used for driving the pinion (303) to move in the radial direction of the rotating disc group (302). ​ The rotating disc set (302) comprises two rotating discs (302a) coaxially connected, the lower rotating disc (302a) is coaxially connected with the power rotating shaft (301); the 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 pin teeth (303) are slidingly arranged in the sliding grooves (305) one by one; the driving unit is arranged between the two rotating discs (302a), the driving unit is at the same horizontal height as the pin teeth (303), and is used to drive the pin teeth (303) to be intermittently extended to the outside of the rotating disc (302a).

2. The actuation device of claim 1, wherein, The lower end surface of the jacking cover (101) is configured as a spiral surface (106) extending along the cylindrical spiral line direction, and the spiral surface (106) is provided with an arc-shaped boss (105) extending along the cylindrical spiral line direction, and the arc-shaped boss (105) is arranged in the arc-shaped groove (103) of the chain link (102).

3. The actuation device of claim 1, wherein, The chain link (102) comprises a first inclined table (107), a chain link body (108) and a second inclined table (109) connected in sequence in the height direction; the upper top surface of the first inclined table (107) is configured as a first inclined surface, and the side surface of the first inclined table (107) is provided with an arc-shaped groove (103); the chain link body (108) is provided with a tooth groove (104), and two adjacent chain link bodies (108) are movably connected to form a chain; the lower bottom surface of the second inclined table (109) is configured as a second inclined surface, and the second inclined surface is provided with an arc-shaped boss (105); when the chain link body (108) moves along the cylindrical spiral line direction, the first inclined surface and the second inclined surface of the upper and lower two adjacent chain links (102) are in sliding contact, and the arc-shaped boss (105) and the arc-shaped groove (103) are in sliding contact along the cylindrical spiral line direction.

4. The actuation device of claim 3, wherein, The length direction of the arc-shaped groove (103) is configured as the cylindrical spiral line 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 the cylindrical spiral line direction, and the outer arc surface of the arc-shaped boss (105) is in contact with the inner circumferential surface of the arc-shaped groove (103).

5. The actuation device of claim 3, wherein, The inner side of the tooth groove (104) is provided with a chamfer portion (1010) for guiding the pin tooth (303) to be inserted into the tooth groove (104) along the radial direction.

6. The actuation device according to any one of claims 1 to 5, characterized in that The length of the chain link (102) satisfies the following formula one, so that the upper and lower two adjacent chain links (102) are staggered in the height direction; ； wherein, denotes the length of a single link (102); denotes the side length of a regular polygon inscribed in a cylindrical helix.

7. The actuation device of claim 1, wherein, The driving unit (304) comprises a fixed shaft (306) and two cams (307) stacked in the height direction on the fixed shaft (306); the fixed shaft (306) is coaxially arranged in the power rotating shaft (301) of the driving system (300); the two cams (307) are respectively used for sliding contact with the pin teeth (303) on the two rotating discs (302a) to realize that the plurality of pin teeth (303) are intermittently pushed out to the outside of the rotating disc (302a) and inserted into the tooth groove (104) of the chain link (102); the pin tooth (303) and the rotating disc (302a) are connected with an elastic reset member (308).

8. The actuation device of claim 7, wherein, The angle of the cam (307) satisfies the following formula two, so that at least one circumferentially adjacent insert gear (303) is inserted into the tooth groove (104) of the chain link (102) during the rotation of the rotating disc (302a) ​ ； wherein, denotes the push angle of the cam (307); denotes the far rest angle of the cam (307); denotes the return angle of the cam (307); denotes the working angle of the cam (307), denotes the central angle of the single link (102).

9. The actuation device of claim 8, wherein, The upper and lower cams (307) are arranged in staggered manner and satisfy the following formula three, so that in the plurality of gear teethings (303) on the upper and lower sides, at least one adjacent gear teething (303) is inserted into the tooth groove (104) of the chain link (102). ​ ； wherein denotes the included angle of the center lines of the two cams (307).

10. An actuating device according to claim 8 or 9, characterised in that thickness of the splines (303) and the length of the tooth space (104) of the link (102) satisfy the following equation four, so that the link (102) does not interfere with the splines (303) during movement in the direction of the cylindrical helix; ； wherein denotes the pitch of the first helical groove (203).

11. A method of jacking, characterized in that, The jacking method comprises selecting jacking or retracting as required using the actuating device of any one of claims 1 to 10: During the jacking, the driving unit drives the pin teeth (303) to be inserted into the tooth grooves (104) of the chain in a gap mode, the power shaft (301) drives the rotating disc group (302) and the pin teeth (303) to rotate clockwise, the pin teeth (303) drive the chain to move upward along the height direction in a spiral mode, the chain links (102) in the storage disc (202) are pushed by the pin teeth (303) and move along the spiral line direction towards the first spiral groove (203), the first spiral groove (203) guides the chain to move along the height direction in a cylindrical spiral line mode, and the jacking cover (101) at the top end of the chain follows the movement of the chain to be jacked upward; During the retraction, the driving unit drives the pin teeth (303) to be inserted into the tooth grooves (104) of the chain in a gap mode, the power shaft (301) drives the rotating disc group (302) and the pin teeth (303) to rotate counterclockwise, the pin teeth (303) drive the chain to move downward along the height direction in a spiral mode, the chain above the first spiral groove (203) passes through the first spiral groove (203) and is guided into the spiral groove (204) of the storage disc (202), the jacking cover (101) at the top end of the chain follows the movement of the chain to be retracted downward, and the power shaft (301) stops rotating when the descending height of the jacking cover (101) reaches a threshold value.

Images