Rotary to linear transmission
A mechanical linkage, for use on original equipment or for replacement of existing hydraulic ram based actuators, comprises a rotary to linear transmission. The transmission provides two co-rotatable capstans of different diameters, and two idler wheels spaced on a longitudinally slidable linkage. The capstans are linked to a first of the idler wheels by means of a pulley line wound from the first capstan, around the wheel, and then back to the second capstan. The first capstan is also linked by means of a pulley line to the second idler wheel, and the second capstan likewise to the second idler wheel by a third pulley line. The difference in diameters causes a differential winding of the various lengths of pulley line between the idler wheels and the capstans, which urges the linkage to slide relative to the capstans. Cooperation of the two capstan/idler wheel combinations compensates for possible backlash.
1. A rotary to linear transmission comprising:
a body member
first and second drive capstans rotatable in unison about a common axis relative to said body member, said first capstan having smaller diameter than said second capstan;
first and second idler pulley means rotatable about axes parallel to said capstan axis, the capstans being interposed between the first and second idler pulley means;
a linkage member supporting said first and second idler pulleys for rotation on their axes and retaining said axes at a particular relative distance, said linkage member being engaged relative to said body member for non-arcuate and substantially linear motion;
first pulley line means windingly engaged about the first capstan, the first idler pulley, and the second capstan;
second pulley line means windingly engaged about the first capstan and the second idler pulley means in the same direction as the first pulley line means; and
third pulley line means windingly engaged about the second capstan and the second idler pulley means in the same direction as the first and second pulley line means;
such that rotation of said capstans in unison is operable to cause differential winding of said first, second and third pulley line means in cooperation and thereby urging of said idler pulleys and said linkage member in said substantially linear engagement of said linkage member relative to said capstans.
2. A transmission in accordance with claim 1 and wherein the first, second and third pulley line means are pre-tensioned.
3. A transmission in accordance with claim 2 and further comprising a tensioning adjuster for adjusting the pre-tensioning of the first, second and third pulley line means.
4. A transmission in accordance with claim 3 wherein the tensioning adjuster comprises a tensioning adjuster pin operable to adjust the relative distance between the axes of rotation of the idler pulley means.
5. A transmission in accordance with claim 1 wherein the first and second idler pulley means are substantially cylindrical pulley wheels.
6. A transmission in accordance with claim 5 wherein the pulley wheels comprise pulley line engagement means.
7. A transmission in accordance with claim 1 wherein the capstans are provided with pulley line engagement means.
8. A transmission in accordance with claim 7 wherein the pulley line engagement means comprises helical tracks.
9. A transmission in accordance with claim 1 wherein at least one of the first, second and third pulley line means comprise cables.
10. A transmission in accordance with claim 9 wherein the cables are of metal wire construction.
11. A transmission in accordance with claim 1 and further comprising a drive motor engaged with the capstans for rotational drive thereof.
12. A transmission in accordance with claim 11 wherein the drive motor is electrical.
13. A transmission in accordance with claim 12 wherein the drive motor is engaged to drive the capstans directly.