A motion module electric cable drive mechanism

Abstract

The application discloses a kind of motion module electric cable drive mechanisms, including drive motor, ring frame base, cable drive screw, follow-up guiding device, thread and positive device, the end of thread is connected with the mover of motion module.Drive motor is coaxially connected with cable drive screw, and spiral thread groove is provided on cable drive screw.Follow-up guiding device includes front guide block and the front guide wheel mounted thereon, rear guide block and the rear guide wheel mounted thereon, and two parallelly arranged guide stop shafts.Positive device includes positive connecting block and positive wheel, and the positive connecting block is connected and fixed with ring frame base, and the positive wheel is installed on positive connecting block, and drive motor is fixedly installed on ring frame base, to drive cable drive screw to rotate in positive direction and reverse direction, and cable drive screw drives thread wound in its spiral thread groove by friction.The application has the advantages of compact structure, accurate control, adjustable driving force, strong adaptability, etc., and is suitable for various motion module scenes requiring reciprocating motion drive.

Description

Technical Field

[0001] This invention belongs to the field of motion control technology, and specifically relates to an electric cable-driven mechanism for a motion module. Background Technology

[0002] In the field of motion control technology, electric cable-driven mechanisms are widely used in various motion modules to drive movers to achieve reciprocating motion due to their advantages such as smooth transmission, flexible structure, and small space occupation. Traditional motion module drive methods mainly include lead screw transmission, rack and pinion transmission, and ordinary cable drive. Lead screw transmission mechanisms achieve linear motion through the meshing of a lead screw and nut, and have the advantages of high positioning accuracy and strong load-bearing capacity. However, they have problems such as complex structure, difficult installation and maintenance, and easy vibration and noise during high-speed motion. Moreover, the lead screw is limited by the linear drive type, and its length also limits the stroke extension of the motion module, making it unsuitable for complex motion scenarios with high requirements for structural simplicity. Rack and pinion transmission mechanisms transmit power through the meshing of gears and racks, and can achieve long stroke motion. However, they have drawbacks such as transmission backlash, rapid wear, and the need for regular lubrication. In precision control scenarios, the meshing error of the rack and pinion can affect the motion accuracy. At the same time, this mechanism occupies a large space, which is not conducive to the miniaturization design of equipment. Conventional cable-driven transmission mechanisms transmit power by driving a drum to wind the cord using a motor. While relatively simple in structure, they suffer from several technical bottlenecks: First, achieving precise cord winding and structural simplicity is difficult. Cord stacking and misalignment during winding lead to low winding accuracy, and adding a complex winding mechanism further complicates the overall structure. Second, achieving equal-length winding and unwinding at both ends of the cord is challenging. In scenarios requiring bidirectional synchronous drive, two independent drive systems are often needed, increasing equipment cost and space requirements. Third, the matching between the number of spiral winding turns and the driving force is poor. Too few turns result in insufficient driving force, while too many turns lead to cord winding disorder, affecting transmission stability. Furthermore, existing cable-driven mechanisms have a fixed cord output direction, resulting in poor adaptability and difficulty meeting the installation layout requirements of different motion modules. Additionally, the cord experiences significant wear during operation, impacting the mechanism's lifespan. Therefore, there is an urgent need for a motion module electric cable drive mechanism that can solve the above problems, achieving the technical effects of unified precise cable routing and simplified structure, equal length extension and retraction of the two cable ends, on-demand matching of driving force, and high adaptability. Summary of the Invention

[0003] The purpose of this invention is to solve the technical problems of existing motion module cable-driven mechanisms, such as the contradiction between precise cable routing and structural simplification, difficulty in equal-length cable extension and retraction, poor matching of driving force, and insufficient adaptability, and to provide a motion module electric cable-driven mechanism with a compact structure, precise control, and adjustable driving force.

[0004] To solve the above-mentioned technical problems, the technical solution of the present invention is: an electric cable-driven mechanism for a motion module, comprising a drive motor, a ring frame base, a cable-driven screw, a follow-up guide device, a cable, and a forwarding device, wherein the end of the cable is connected to the motion module; the drive motor is coaxially connected to the cable-driven screw, and the cable-driven screw is provided with a helical groove; the follow-up guide device includes a front guide block and a front guide wheel mounted thereon, a rear guide block and a rear guide wheel mounted thereon, and two parallel guide anti-rotation optical shafts on the left and right sides, the front guide block and the rear guide block... There is a threaded hole in the center, the diameter, lead, and direction of rotation of which are the same as the thread diameter, lead, and direction of rotation of the helical groove of the cable drive screw. The cable drive screw is screwed into the threaded hole through threaded engagement. A through hole is symmetrically arranged at the same position on both sides of the threaded hole of the front guide block and the rear guide block. The diameter of the through hole is the same as the diameter of the guide anti-rotation optical shaft. The two guide anti-rotation optical shafts pass through the through holes to constrain the front guide block and the rear guide block to only perform linear motion in the same direction along the axis of the cable drive screw when driven by the screw's rotation. A spacing is maintained between the strands of the wire, slightly larger than an integer multiple of the lead of the cable drive screw thread. This multiple equals the number of spiral turns of the wire in the spiral groove of the cable drive screw. The number of spiral turns corresponds to the magnitude of the driving force. The forward device includes a forward connecting block and a forward wheel. The forward connecting block is fixed to the ring frame base via threaded fasteners. The forward wheel is mounted on the forward connecting block, allowing the wire to change its exit position around the forward wheel, aligning the axes of the front and rear exit wires. The drive motor is mounted via threaded fasteners. Fixed on the ring frame base, the driven cable screw rotates in both directions. The cable screw drives the wire wound in its helical groove through friction. One end of the wire passes through the through hole on the ring frame base after passing over the front guide wheel that moves forward and backward. The other end passes over the rear guide wheel and the forward wheel that move forward and backward. The front and rear wires move in equal length in the coaxial direction, one winding and one unwinding. The wire grooves of the front guide wheel, the rear guide wheel, and the forward wheel are on the same plane as the two ends of the wire extending from the threaded groove of the cable screw.

[0005] Preferably, the front and rear leads of the lead are simultaneously connected and fixed to the mover of the motion module, driving the mover to reciprocate on the preset track of the motion module.

[0006] Preferably, the ring frame base has a threaded through hole on its side for connecting and fixing the cable drive mechanism to the base of the bracket or motion module using threaded fasteners.

[0007] Preferably, for each revolution of the cable-driven screw, the cable leads forward or backward by a distance S1 = πd - p, where d is the equivalent diameter of the cable-driven screw's helical groove friction driving the cable, and p is the lead of the cable-driven screw's helical groove. This allows the cable to precisely control the movement of the motion module's mover. Simultaneously, the front guide block and the rear guide block move in the same direction in a straight line for one cable-driven screw helical groove lead distance p, ensuring that the relative position and attitude relationship between the cable and the front and rear guide wheels remains unchanged.

[0008] Preferably, the drive motor is a stepper motor or a servo motor, which can achieve precise control of the rotation angle, speed and direction, thereby accurately controlling the coaxial cable-driven screw to output the same rotation angle, speed and direction.

[0009] Preferably, the cord is made of high-strength wear-resistant fiber rope or steel wire rope, and the diameter of the cord is adapted to the groove width of the spiral groove on the cable drive screw to ensure a tight fit between the cord and the spiral groove.

[0010] Preferably, the inner walls of the guide grooves of the front guide wheel, rear guide wheel and forward wheel are provided with wear-resistant coatings, and the groove shape of the guide groove matches the cross-sectional shape of the line, reducing wear and slippage during the movement of the line.

[0011] Preferably, the guide anti-rotation optical shaft is inserted through the through hole on the ring frame base from the side where the ring frame base connects to the forward connecting block, then through two symmetrically arranged through holes on the rear guide block and the front guide block, and finally inserted into the blind hole on the other side of the ring frame base.

[0012] Preferably, the effective stroke length L of the helical groove of the cable-driven screw can be customized according to the motion module's mover stroke S2 ​​requirement, L=(S2 / S1+n)*p, where n is the number of spiral turns of the thread in the helical groove of the cable-driven screw.

[0013] The beneficial effects of this invention are:

[0014] 1. The electric cable-driven mechanism for a motion module provided by this invention balances precise cable routing with a simplified structure: Through the coordinated design of the spiral groove of the cable-driven screw and the follow-up guide device, the cable is constrained by the groove during winding, avoiding stacking offset and achieving precise cable routing; at the same time, there is no need to set up an additional complex cable routing mechanism, and the coaxial connection between the drive motor and the cable-driven screw further simplifies the transmission structure, resulting in a small overall space occupation and solving the contradiction between precise cable routing and structural simplification in traditional cable-driven mechanisms.

[0015] 2. This invention achieves equal-length winding and precise matching: By adjusting the cable output direction through the forward wheel of the forward device, the axes of the front and rear cable outputs are aligned. Combined with the threaded transmission of the cable drive screw and the follower guide block, the two cable output ends can achieve equal-length winding and unwinding. The newly added effective stroke calculation formula for the cable drive screw, L=(S2 / S1+n)*p, allows for precise customization of the screw length according to the mover stroke requirements, resulting in stronger adaptability. It eliminates the need for two independent drive systems, reducing equipment costs.

[0016] 3. The driving force of the present invention is matched as needed: the distance between the front guide block and the rear guide block is adapted to the number of winding turns of the cord. By adjusting the number of winding turns, different driving forces can be flexibly matched. The more winding turns, the greater the friction and the stronger the driving force, thus meeting different load requirements.

[0017] 4. This invention offers precise control and wide adaptability: The drive motor supports either a stepper motor or a servo motor, allowing for precise control of the rotation angle, speed, and direction. Combined with the motion distance calculation of S1=πd-p, it achieves high-precision positioning of the mover. The guide anti-rotation optical shaft adopts a "through hole + blind hole" installation method, making the assembly more stable. At the same time, the ring frame base is equipped with threaded through holes, allowing for adjustment of the cable outlet direction to adapt to different installation layouts.

[0018] 5. The invention features low wear and long service life: the wire and the wire groove fit tightly together, the wire groove is coated with a wear-resistant coating, and the surface of the guide anti-rotation optical shaft is coated with a lubricating layer, which reduces wear and slippage during the movement process and extends the service life of the mechanism.

[0019] 6. This invention solves the technical problems existing in the existing clue-driven control device for motion modules, such as the contradiction between precise wiring and simplified structure, the difficulty in achieving equal length of the two ends of the clue with one winding and the other unwinding, and the poor matching between the number of spiral windings of the clue and the driving force. It has the advantages of compact structure, precise control, adjustable driving force, and strong adaptability, and is suitable for various motion module scenarios that require reciprocating motion drive. Attached Figure Description

[0020] Figure 1 This is an assembly schematic diagram of an electric cable-driven mechanism for a motion module according to the present invention;

[0021] Figure 2 This is a schematic diagram of the cooperation structure between the cable-driven screw and the follower guide device of the present invention;

[0022] Figure 3 This is a schematic diagram of the forward device structure and the direction of the cord winding and exiting of the present invention;

[0023] Figure 4 This is a schematic diagram showing the connection between the present invention and the moving part of the motion module.

[0024] Explanation of reference numerals in the attached drawings: 1. Drive motor; 2. Ring frame base; 3. Cable drive screw; 4. Follow-up guide device; 41. Front guide block; 42. Front guide wheel; 43. Rear guide block; 44. Rear guide wheel; 45. Guide anti-rotation optical shaft; 5. Cable; 51. Front cable outlet; 52. Rear cable outlet; 6. Forward device; 61. Forward connecting block; 62. Forward wheel; 7. Mover; 8. Motion module. Detailed Implementation

[0025] The present invention will be further described below with reference to the accompanying drawings and specific embodiments:

[0026] like Figures 1 to 4As shown, the present invention provides an electric cable-driven mechanism for a motion module, comprising a drive motor 1, a ring frame base 2, a cable-driven screw 3, a follower guide device 4, a lead wire 5, and a forwarding device 6. The end of the lead wire 5 is connected to the mover of the motion module 8. The drive motor 1 is coaxially connected to the cable-driven screw 3, which has a helical groove. The follower guide device 4 includes a front guide block 41 and a front guide wheel 42 mounted thereon, a rear guide block 43 and a rear guide wheel 44 mounted thereon, and two parallel guide anti-rotation optical shafts 45. The front guide block 41 and the rear guide block 43 have a threaded hole at their center, the diameter, lead, and direction of rotation of which are the same as the thread diameter, lead, and direction of rotation of the helical groove of the cable-driven screw 3. The cable-driven screw 3 is screwed into the threaded hole through a threaded fit. A through hole is symmetrically arranged at the same position on both sides of the threaded hole of the front guide block 41 and the rear guide block 43. The diameter of the through hole is the same as the diameter of the guide anti-rotation optical shaft 45. The two guide anti-rotation optical shafts 45 pass through the through holes to constrain the front guide block 41 and the rear guide block 43 to only make linear motion in the same direction along the axis of the cable drive screw 3 when they are rotated by the cable drive screw 3. A spacing of the thread 5 is left between the front guide block 41 and the rear guide block 43. The spacing is slightly larger than an integer multiple of the thread lead of the cable drive screw 3. The multiple is equal to the number of spiral turns of the thread 5 in the spiral groove of the cable drive screw 3. The number of spiral turns of the thread 5 corresponds to the magnitude of the driving force. The forward device 6 includes a forward connecting block 61 and a forward wheel 62. The forward connecting block 61 is connected and fixed to the ring frame base 2 by threaded fasteners. The forward wheel 62 is mounted on the forward connecting block 61. The lead wire 5 can change its exit position around the forward wheel 62, so that the axes of the front lead wire 51 and the rear lead wire 52 coincide. The drive motor 1 is mounted and fixed to the ring frame base 2 by threaded fasteners, driving the cable drive screw 3 to rotate in the forward and reverse directions. The cable drive screw 3 drives the lead wire 5 wound in its spiral groove through friction. One end of the lead wire 5 passes through the forward guide wheel 42 and then through the through hole on the ring frame base 2 to become the front lead wire 51. The other end passes through the forward guide wheel 44 and the forward wheel 62 to become the rear lead wire 52. The front lead wire 51 and the rear lead wire 52 move in the same direction with equal lengths of retraction and release. The guide grooves of the front guide wheel 42, the rear guide wheel 44, and the forward wheel 62 are on the same plane as the two ends of the wire 5 extending from the threaded groove of the cable drive screw 3.

[0027] The drive motor 1 is a stepper motor or a servo motor, which can achieve precise control of the rotation angle, speed and direction, thereby accurately controlling the coaxial cable drive screw 3 to output the same rotation angle, speed and direction.

[0028] The effective stroke length L of the spiral groove of the cable-driven screw 3 can be customized according to the stroke S2 ​​requirement of the motion module. L = (S2 / S1 + n) * p, where n is the number of spiral turns of the thread 5 in the spiral groove of the cable-driven screw 3.

[0029] In this embodiment, specifically: the drive motor 1 is fixed to one end of the ring frame base 2 by threaded fasteners and coaxially connected to the cable drive screw 3. The connection is specifically achieved through a coupling to ensure synchronous transmission of rotation angle and speed. The ring frame base 2 has a frame structure with threaded through holes on its side for fixing to an external bracket or motion module base. Both ends of the cable drive screw 3 are rotatably connected to the ring frame base 2 via bearings. Specifically, the inner ring of the bearing is fitted onto the cable drive screw 3, and the outer ring of the bearing is connected to the ring frame base 2. Figure 3 As shown, the cable-driven screw 3 is machined with a continuous helical groove. The groove lead p = 4 mm and the equivalent diameter d = 20 mm. According to the formula S1 = πd - p, the movement distance of the wire 5 is S1 = 3.14 × 20 - 4 = 58.8 mm for each rotation of the cable-driven screw. Assuming the motion module's mover stroke S2 ​​= 500 mm and the number of wire winding turns n = 3 turns, according to the effective stroke length formula L = (S2 / S1 + n) * p, we calculate L = (500 / 58.8 + 3) × 4 ≈ (8.51 + 3) × 4 ≈ 46.1 mm. Therefore, in this embodiment, the effective stroke length of the cable-driven screw 3 is customized to 50 mm, rounded for machining.

[0030] The ring-shaped base 2 has a concave frame structure in the middle, with a trapezoidal cross-section at one end and a rectangular cross-section at the other end. Threaded through holes are provided on the side of the ring-shaped base 2 for connecting and fixing the cable-driven mechanism to the existing bracket or the base of the motion module 8 using threaded fasteners. In this embodiment, there are four threaded through holes on one side of the ring-shaped base 2, arranged in an array.

[0031] For each revolution of the cable-driven screw 3, the driving line 5 moves forward or backward a distance S1 = πd - p, where d is the equivalent diameter of the spiral groove of the cable-driven screw 3 that drives the cable 5, and p is the lead of the spiral groove of the cable-driven screw 3. This allows the cable 5 to precisely control the movement of the mover in the motion module. Simultaneously, the front guide block 41 and the rear guide block 43 move linearly in the same direction for one spiral groove lead p of the cable-driven screw 3, ensuring that the relative position and attitude between the cable 5 and the front guide wheel 42 and the rear guide wheel 44 remain constant. During the movement of the driving line 5, the relative attitude between the cable guide and the positive position remains unchanged, allowing for better precise control of the mover's position. The "positive position and attitude" refers to the relative position and attitude between the cable 5 and the front guide wheel 42 and the rear guide wheel 44.

[0032] In this embodiment, the central threaded holes of the front guide block 41 and the rear guide block 43 are matched with the groove parameters of the cable drive screw 3. Two through holes are symmetrically provided on both sides of the threaded holes. The diameter of the through holes is φ=10mm, which is consistent with the diameter of the guide anti-rotation optical shaft 45. The guide anti-rotation optical shaft 45 is inserted through the through hole 10 on the ring frame base 2 from the side where it is connected to the forward connecting block 61, then through the two through holes of the rear guide block 43 and the front guide block 41, and then inserted into the blind hole 9 on the other side of the ring frame base 2 to achieve a stable installation. The surface of the optical shaft is coated with grease to form a lubricating layer.

[0033] The distance between the front guide block 41 and the rear guide block 43 is set to 15mm, slightly larger than three times the lead of the cable drive screw 3, i.e., 4mm × 3 = 12mm. Therefore, the wire 5 is wound three times on the cable drive screw 3, providing a stable driving force. The front guide wheel 42 and the rear guide wheel 44 are mounted on the corresponding guide blocks by hex socket head cap screws. The width of the wire groove is adapted to the diameter of the wire 5, which is φ = 2mm. The inner wall of the groove is coated with a wear-resistant ceramic coating. The wire 5 is made of high-strength steel wire rope, with both ends fixed and wound in the wire groove of the cable drive screw 3 in opposite directions.

[0034] The front exit line 51 and the rear exit line 52 of the clue 5 are simultaneously connected and fixed to the mover of the motion module, driving the mover to reciprocate on the preset track of the motion module.

[0035] The thread 5 is made of high-strength wear-resistant fiber rope or steel wire rope. The diameter of the thread 5 is matched with the groove width of the spiral groove on the cable drive screw 3 to ensure that the thread 5 fits tightly with the spiral groove.

[0036] The motion module 8 is a mature existing technology device, such as a linear module. The motion module 8 is equipped with a mover 7, which is also a mature existing technology device. The mover 7 is installed on the track of the motion module 8.

[0037] In use, the front cable 51 and the rear cable 52 are both fixed to the mover 7 of the motion module 8, and the mover 7 slides in contact with the track of the motion module 8. When the drive motor 1 rotates forward, the cable drive screw 3 rotates clockwise, driving the cable 5 through the friction between the cable groove and the cable 5. The front cable 51 retracts and the rear cable 52 extends, causing the mover 7 to move along the track towards the front guide block 41. When the drive motor 1 rotates in reverse, the cable drive screw 3 rotates counterclockwise, the front cable 51 extends and the rear cable 52 retracts, causing the mover 7 to move in the opposite direction.

[0038] In this embodiment, if a servo motor is selected, its rotation angle can be accurate to 0.1°, and the corresponding accuracy of the movement distance of the thread 5 is 58.8mm / 360 ×0.1≈0.0163mm. If a stepper motor is selected, corresponding precision control can be achieved through microstepping drive to meet different cost and precision requirements. At the same time, the number of winding turns of the thread 5 can be adjusted according to the load requirements. If the driving force needs to be increased, the distance between the front guide block 41 and the rear guide block 43 can be increased to increase the number of winding turns of the thread; if the driving force needs to be reduced, the number of winding turns can be reduced, which has strong adaptability.

[0039] The servo motor can be selected based on usage requirements: servo motors with accuracy down to 0.001° are available from established brands such as Panasonic, Mitsubishi, Inovance, and Delta. Stepper motors commonly come in two basic step angle types: 1.8°, the most common type, with 200 steps / revolution; and 0.9°, a high-precision type, with 400 steps / revolution. This invention allows for selection based on actual usage requirements. When selecting a 1.8° stepper motor, the movement distance accuracy of line 5 is approximately 58.8mm / 360×1.8≈0.294mm.

[0040] In other embodiments, the lead of the cable-driven screw 3 can be customized according to the stroke requirements of the motion module, such as 6mm or 10mm. The drive motor 1 can be selected as a stepper motor or a servo motor depending on the scenario; the stepper motor is used for low-cost scenarios, and the servo motor is used for high-precision scenarios. The thread 5 can be made of high-strength fiber rope or other wear-resistant materials; the number of guide anti-rotation optical shafts 45 can be adjusted to 4 according to the stability requirements of the guide block, without affecting the technical effect of the present invention.

[0041] The inner walls of the wire grooves of the front guide wheel 42, the rear guide wheel 44 and the forward wheel 62 are provided with wear-resistant coatings, and the groove shape of the wire groove matches the cross-sectional shape of the wire 5, reducing wear and slippage during the movement of the wire 5.

[0042] In this embodiment, the wear-resistant coating material is roughened hard anodizing / micro-arc oxidation (MAO), specifically for lead screws. MAO is the optimal electrochemical ceramicization process for "wear resistance + friction increase" on aluminum / magnesium / titanium lead screws. It generates a rough ceramic layer in situ through high-voltage micro-arc discharge, achieving a friction coefficient of 0.3–0.6 and a hardness of 1000–1800 HV. It is metallurgically bonded to the substrate and does not peel off. Its characteristics include: forming a micro-rough hard layer on the surface, providing anti-slip, wear-resistant, and corrosion-resistant properties. It is suitable for aluminum lead screws / guide shafts and applications requiring anti-slip positioning. Steel lead screws require prior aluminum / titanium plating for transition.

[0043] After the guiding anti-rotation optical axis 45 passes through the through hole on the ring frame base 2 from the side where the ring frame base 2 is connected to the forward connecting block 61 and is inserted, it passes through the two symmetrically arranged through holes on the rear guiding block 43 and the front guiding block 41, and then is inserted into the blind hole on the other side frame of the ring frame base 2. The cross-section of the front guiding block 41 has a left-right symmetric structure in the shape of a Chinese character 'zhong'. The through hole on the front guiding block 41 is parallel to the threaded hole provided thereon. The threaded hole on the front guiding block 41 is located on the cylindrical part of the front guiding block 41, and the through hole on the front guiding block 41 is located at the other end of the front guiding block 41. The rear guiding block 43 has the same structure as the front guiding block 41 and also has a left-right symmetric structure.

[0044] In this embodiment, the forward connecting block 61 is fixedly connected to the ring frame base 2 by an inner hexagon bolt. The wire grooves of the forward wheel 62, the front guiding wheel 42, and the rear guiding wheel 44 are located in the same plane to ensure that the force on the wire 5 is evenly distributed when the wire 5 moves. One end of the wire 5 bypasses the front guiding wheel 42 and then passes through the through hole on the ring frame base 2 to form a front wire outlet 51, and the other end forms a rear wire outlet 52 after bypassing the rear guiding wheel 44 and the forward wheel 62. The axes of the front wire outlet 51 and the rear wire outlet 52 coincide.

[0045] Those of ordinary skill in the art will realize that the embodiments described herein are for helping the reader understand the principles of the present invention, and it should be understood that the protection scope of the present invention is not limited to such specific statements and embodiments. Those of ordinary skill in the art can make various other specific deformations and combinations without departing from the essence of the present invention based on the technical revelations disclosed in the present invention, and these deformations and combinations are still within the protection scope of the present invention.

Claims

1. An electric cable-driven mechanism for a motion module, characterized in that: The system includes a drive motor (1), a ring frame base (2), a cable-driven screw (3), a follower guide device (4), a line (5), and a forwarding device (6). The end of the line (5) is connected to the motion module (8). The drive motor (1) is coaxially connected to the cable-driven screw (3), and the cable-driven screw (3) is provided with a spiral groove. The follower guide device (4) includes a front guide block (41) and a front guide wheel (42) mounted thereon, a rear guide block (43) and a rear guide wheel (44) mounted thereon, and two parallel guide anti-rotation optical shafts (45) on the left and right. The front guide block (41) and the rear guide block (44) are... 3) has a threaded hole at its center, the diameter, lead and direction of rotation of which are the same as the thread diameter, lead and direction of rotation of the spiral groove of the cable drive screw (3). The cable drive screw (3) is screwed into the threaded hole through the threaded fit. A through hole is symmetrically arranged at the same position on both sides of the threaded hole of the front guide block (41) and the rear guide block (43), the diameter of which is the same as the diameter of the guide anti-rotation optical shaft (45). The two guide anti-rotation optical shafts (45) pass through the through hole respectively, and are used to constrain the front guide block (41) and the rear guide block (43) to only make linear motion in the same direction along the axis of the cable drive screw (3) when they are rotated by the cable drive screw (3). A spacing is left between the front guide block (41) and the rear guide block (43) for the winding of the thread (5). The spacing is slightly larger than an integer multiple of the thread lead of the cable drive screw (3). The multiple is equal to the number of spiral windings of the thread (5) in the spiral groove of the cable drive screw (3). The number of spiral windings of the thread (5) corresponds to the magnitude of the driving force. The forward device (6) includes a forward connecting block (61) and a forward wheel (62). The forward connecting block (61) is connected and fixed to the ring frame base (2) by threaded fasteners. The forward wheel (62) is installed on the forward connecting block (61). The thread (5) can change its exit position around the forward wheel (62) so that the axes of the front exit (51) and the rear exit (52) coincide. The drive motor (1) drives the thread through the screw... The threaded fastener is installed and fixed on the ring frame base (2), driving the cable drive screw (3) to rotate in the forward and reverse directions. The cable drive screw (3) drives the wire (5) wound in its spiral groove through friction. One end of the wire (5) passes through the front guide wheel (42) that moves forward and backward, and then passes through the through hole on the ring frame base (2) to become the front exit wire (51). The other end passes through the rear guide wheel (44) and the forward wheel (62) that move forward and backward to become the rear exit wire (52). The front exit wire (51) and the rear exit wire (52) move in equal length in the coaxial direction. The wire grooves of the front guide wheel (42), the rear guide wheel (44), and the forward wheel (62) and the two ends of the wire (5) that extend from the thread groove of the cable drive screw (3) are located on the same plane.

2. The electric cable-driven mechanism for a motion module according to claim 1, characterized in that: The front line (51) and rear line (52) of the line (5) are simultaneously connected and fixed to the mover (7) of the motion module (8), driving the mover (7) to reciprocate on the preset track of the motion module (8).

3. The electric cable-driven mechanism for a motion module according to claim 1, characterized in that: The ring frame base (2) has a threaded through hole on its side, which is used to connect and fix the cable drive mechanism to the base of the bracket or motion module (8) by means of threaded fasteners.

4. The electric cable-driven mechanism for a motion module according to claim 1, characterized in that: For each rotation of the cable-driven screw (3), the driving line (5) moves forward or backward by a distance S1 = πd - p, where d is the equivalent diameter of the spiral groove of the cable-driven screw (3) that drives the driving line (5) to move forward, and p is the lead of the spiral groove of the cable-driven screw (3). This allows the driving line (5) to precisely control the movement of the moving part of the motion module. At the same time, the front guide block (41) and the rear guide block (43) move in the same direction in a straight line for a distance p of the spiral groove lead of the cable-driven screw (3), so that the relative position and attitude relationship between the driving line (5) and the front guide wheel (42) and the rear guide wheel (44) remains unchanged.

5. The electric cable-driven mechanism for a motion module according to claim 1, characterized in that: The drive motor (1) is a stepper motor or a servo motor, which can achieve precise control of the rotation angle, speed and direction, thereby precisely controlling the coaxial cable drive screw (3) to output the same rotation angle, speed and direction.

6. The electric cable-driven mechanism for a motion module according to claim 1, characterized in that: The thread (5) is made of high-strength wear-resistant fiber rope or steel wire rope. The diameter of the thread (5) is matched with the groove width of the spiral groove on the cable drive screw (3) to ensure that the thread (5) fits tightly with the spiral groove.

7. The electric cable-driven mechanism for a motion module according to claim 1, characterized in that: The inner walls of the wire grooves of the front guide wheel (42), rear guide wheel (44) and forward wheel (62) are provided with wear-resistant coatings, and the groove shape of the wire groove matches the cross-sectional shape of the wire (5), reducing wear and slippage during the movement of the wire (5).

8. The electric cable-driven mechanism for a motion module according to claim 1, characterized in that: The guide anti-rotation optical shaft (45) is inserted through the through hole on the ring frame base (2) from the side where it connects with the forward connecting block (61), then through two through holes symmetrically arranged on the rear guide block (43) and the front guide block (41), and then into the blind hole on the other side of the ring frame base (2).

9. The electric cable-driven mechanism for a motion module according to claim 1, characterized in that: The effective stroke length L of the spiral groove of the cable-driven screw (3) can be customized according to the stroke S2 ​​requirement of the motion module. L = (S2 / S1 + n) * p, where n is the number of spiral windings of the thread (5) in the spiral groove of the cable-driven screw (3).

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