CN115674162B - A wire rope drive unit with one-way clutch - Google Patents

Abstract

The present invention relates to a wire rope drive unit with one-way clutch, comprising a housing and a driving assembly, wherein the housing comprises a support seat, a wire wheel seat and a spring cover which are fixedly assembled from bottom to top in sequence, and the driving assembly comprises a reduction motor, a torque sensor, a driving wheel, a limit block, a wire wheel, a volute spring and a wire rope, wherein the bottom end of the support seat is fixed on the reduction motor, and the torque sensor, the driving wheel, the wire wheel and the volute spring are horizontally arranged in the housing from bottom to top in sequence, the torque sensor is connected to the output end of the reduction motor, the driving wheel is fixedly connected to the torque sensor, the wire wheel and the driving wheel are matched through bearings and convex blocks, the volute spring is sleeved on a clamping column and connected to the clamping column, one end of the wire rope is wound on the wire wheel, and the other end of the wire rope passes through the housing for connecting a load. The present invention can respectively simulate three working modes: the concentric contraction process of the muscle, the eccentric contraction process of the muscle and the relaxation state of the muscle, and has comprehensive functions and wide application.

Description

A wire rope drive unit with one-way clutch

Technical Field

The invention relates to the technical field of wearable robots, and in particular to a wire rope drive unit with a one-way clutch.

Background technique

In recent years, wearable robots have gradually emerged and flourished. Rope drive has gradually become a mainstream transmission method widely used in the design of wearable robots due to its advantages such as large load-to-weight ratio, high speed-to-precision ratio, fast response speed, good compliance, flexible working mode, and strong environmental adaptability. As the core component of wearable robots, the drive unit is similar to the skeletal muscle in the human musculoskeletal system and is the power source for the operation of the entire system. For human skeletal muscle, there are usually three working modes: concentric contraction, eccentric contraction and relaxation. In short, human skeletal muscle can both contract and relax. However, since steel wire can only transmit tension, traditional rope drive units can only simulate the concentric contraction state of muscles, which will interfere with and constrain the other two working states of the target muscle groups of wearable robots.

Summary of the invention

The purpose of the present invention is to provide a wire rope drive unit with a one-way clutch to solve the problem that the traditional rope drive unit in the prior art can only simulate the concentric contraction state of the muscle, but will cause interference and constraints to the eccentric contraction and relaxation state.

To achieve the above object, the present invention adopts the following technical solutions:

The present invention provides a wire rope drive unit with one-way clutch, comprising:

The housing comprises a support seat, a wire wheel seat and a spring cover which are fixedly assembled in sequence from bottom to top, and the support seat is a cylindrical structure with openings at both ends;

A driving assembly, the driving assembly comprising a reduction motor, a torque sensor, a driving wheel, a limit block, a wire wheel and a scroll spring, the reduction motor having a mounting hole on a housing at an output end thereof, the bottom end of the support seat being fixed to the mounting hole of the reduction motor, the torque sensor, the driving wheel, the wire wheel and the scroll spring being horizontally arranged in the housing from bottom to top in sequence;

The torque sensor is connected to the output end of the reduction motor, the driving wheel is fixedly connected to the torque sensor, an arc-shaped through groove is provided on the outer side wall of the support seat along the circumferential direction of the support seat, the limit block is slidably connected in the arc-shaped through groove, the torque sensor is provided with a signal cable, and the limit block is provided with a through hole for the signal cable to pass from the inside of the support seat to the outside of the support seat;

A downwardly protruding connecting column is integrally formed in the middle of the bottom surface of the wire wheel, and a concave first assembly groove is formed on the bottom end surface of the connecting column. Two first convex blocks arranged opposite to each other are integrally formed on the inner side wall of the first assembly groove, and the two first convex blocks divide the space in the first assembly groove into adjacent first and second cavities, and the area of the first cavity is larger than that of the second cavity. A second assembly groove with a top opening is provided in the middle of the driving wheel, and the second assembly groove is rotatably connected to the connecting column through a first bearing. A second convex block that fits into the first cavity is integrally formed on the inner bottom surface of the second assembly groove, so that the second convex block can slide freely along the inner side wall of the first cavity, and the sliding stroke of the second convex block in the first cavity is equal to the sliding stroke of the limit block in the arc-shaped through groove.

A clamping column protruding upward is integrally formed in the middle of the upper surface of the wire wheel, the volute spring is sleeved on the clamping column, the inner end of the volute spring is connected to the clamping column, and the outer end of the volute spring is connected to the spring cover;

One end of the steel wire rope is wound around the wire wheel, and the other end of the steel wire rope passes through the housing for connecting a load.

Furthermore, the torque sensor includes a disc-shaped housing, the housing of the torque sensor is connected to the output end of the reduction motor through a flange, the signal cable is led upward from the middle of the torque sensor housing, and the line body of the signal cable placed above the torque sensor is fixed on the upper surface of the torque sensor housing, and a cable embedding groove is provided on the bottom surface of the driving wheel for the signal cable to be embedded from bottom to top.

Furthermore, a wire rope lead-out hole is opened on the outer wall of the support seat at one end side of the arc-shaped through groove, a fixing seat is fixed in the wire rope lead-out hole, a horizontal sheath tube is provided on the outer side of the support seat, the sheath tube is a cylindrical structure with two ends open, and one end of the sheath tube is connected to the fixing seat, wherein a channel is formed in the fixing seat for leading the wire rope from the support seat into the sheath tube.

Furthermore, an annular winding groove is formed on the outer side wall of the wire wheel, a vertical through hole is opened on the upper surface of the wire wheel, and an arc groove is opened on the upper surface of the wire wheel, one end of the arc groove extends and is connected to the through hole, and the other end of the arc groove extends and is connected to the winding groove, one end of the wire rope is fixedly connected with a pin, the pin is fitted in the through hole, and the rope body of the wire rope extends along the arc groove and is wound in the winding groove.

Furthermore, a slot is provided at the top of the clamping column in the vertical direction, a fixing column arranged in the vertical direction is fixedly connected to the top inner wall of the spring cover, the inner end of the spiral spring is a straight plate structure, and the inner end of the spiral spring is inserted into the slot in a top-to-bottom direction, the outer end of the spiral spring is a bent folding plate structure, and the outer end of the spiral spring is hooked on the fixing column.

Furthermore, the wire wheel seat is a cylindrical structure with an opening at the top, the bottom surface of the wire wheel seat is fixed to the upper end surface of the support seat, and a connecting hole is provided on the bottom surface of the wire wheel seat for the clamping column to pass upward, the connecting hole and the clamping column are connected by a second bearing, the spring cover is fixed on the top opening of the wire wheel seat to form a closed chamber in the wire wheel seat, the torque sensor, driving wheel and wire wheel are all arranged in the support seat, and the spiral spring is arranged in the wire wheel seat.

Furthermore, plastic gaskets are respectively fixed between the inner bottom surface of the wire wheel seat and the spiral spring, and between the top inner wall of the spring cover and the spiral spring.

The present invention adopts the above technical solution, which has the following beneficial effects:

By setting a shell and a driving component, based on the sliding stroke of the second protrusion in the first cavity being equal to the sliding stroke of the limit block in the arc-shaped through groove, the pre-tightening force of the volute spring is used to make the wire rope always subjected to a force in the contraction direction, that is, when the reduction motor is not connected, a load is applied to the end of the wire rope, and the wire rope drives the wire wheel to rotate clockwise, and when the load is removed, the wire rope is retracted, and the driving wheel remains stationary during this process; when the reduction motor is connected, the load pulls the wire wheel to rotate clockwise until the first protrusion on the wire wheel contacts the second protrusion of the driving wheel, the reduction motor starts in the counterclockwise direction, and the second protrusion of the driving wheel drives the first protrusion on the wire wheel The block rotates, and in this process the reduction motor actively applies force to pull the load; when the reduction motor is connected, and the load pulls the wire wheel to rotate clockwise until the first protrusion on the wire wheel contacts the second protrusion of the driving wheel, the reduction motor starts the damping mode, and the first protrusion on the wire wheel drives the second protrusion of the driving wheel to rotate. In this process, the reduction motor passively applies damping force to slow down the movement of the load, thereby simulating the muscle relaxation state, the muscle concentric contraction process and the muscle eccentric contraction process according to the running state of the wire wheel, so that the wire rope drive unit of the present invention has comprehensive functions, wide applicability, and is easy to popularize.

BRIEF DESCRIPTION OF THE DRAWINGS

Various other advantages and benefits will become apparent to those of ordinary skill in the art by reading the detailed description of the preferred embodiments below. The accompanying drawings are only for the purpose of illustrating the preferred embodiments and are not to be considered as limiting the present invention. Throughout the accompanying drawings, the same reference numerals are used to represent the same components. In the accompanying drawings:

FIG1 is an exploded schematic diagram of the overall structure of a wire rope drive unit provided by an embodiment of the present invention;

FIG2 is a schematic diagram of the overall structural assembly of a wire rope drive unit provided by an embodiment of the present invention;

FIG3 is a schematic side view of the structure of a driving wheel of a wire rope drive unit provided by an embodiment of the present invention;

FIG4 is a schematic side view of the structure of a wire pulley of a wire rope drive unit provided in an embodiment of the present invention;

FIG5 is a schematic top view of the structure of a wire pulley of a wire rope drive unit provided in an embodiment of the present invention;

FIG6 is a schematic top view of the structure of a wire rope drive unit provided in an embodiment of the present invention;

7 is a bottom view of a wire pulley of a wire rope drive unit provided by an embodiment of the present invention;

FIG8 is a schematic diagram of a top view of a driving wheel of a wire rope drive unit provided by an embodiment of the present invention;

FIG. 9 is a schematic diagram of the assembly structure of a scroll spring and a spring cover of a wire rope drive unit provided in an embodiment of the present invention.

The symbols in the accompanying drawings represent the following:

1. Support seat; 2. Wire wheel seat; 3. Spring cover; 4. Reducer motor; 5. Torque sensor; 6. Driving wheel; 7. Limit block; 8. Wire wheel; 9. Volute spring; 10. Wire rope; 11. Signal cable; 12. Cable embedding groove; 13. Arc-shaped through groove; 14. Through hole; 15. Arc-shaped groove; 16. Pin column; 17. Wire rope lead-out hole; 18. Fixed seat; 19. Sheath; 20. Connecting column; 21. First protrusion; 22. First cavity; 23. Second cavity; 24. Second assembly groove; 25. First bearing; 26. Second protrusion; 27. Snap-on column; 28. Slot; 29. Fixed column; 30. Second bearing; 31. Plastic gasket; 32. Winding groove.

Detailed ways

The exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. Although the exemplary embodiments of the present invention are shown in the accompanying drawings, it should be understood that the present invention can be implemented in various forms and should not be limited by the embodiments described herein. On the contrary, these embodiments are provided in order to enable a more thorough understanding of the present invention and to fully convey the scope of the present invention to those skilled in the art.

Since the traditional rope drive unit can only simulate the concentric contraction state of the muscle, it will interfere with and constrain the eccentric contraction and relaxation state. The present invention provides a wire rope drive unit with a one-way clutch, including a housing and a drive assembly, the housing including a support seat, a wire wheel seat and a spring cover fixedly assembled from bottom to top, the drive assembly including a reduction motor, a torque sensor, a driving wheel, a limit block, a wire wheel, a scroll spring and a wire rope, based on the sliding stroke of the second protrusion in the first cavity being equal to the sliding stroke of the limit block in the arc-shaped through groove, the pre-tightening force of the scroll spring is used to make the wire rope always subject to the force in the contraction direction, so that the muscle concentric contraction process, the muscle eccentric contraction process and the muscle relaxation state can be simulated according to the matching state of the wire wheel and the reduction motor.

The scheme of the present invention is described in detail below through examples.

Example

As shown in FIG. 1 and FIG. 2 , the present invention provides a wire rope drive unit with a one-way clutch, including a housing and a drive assembly, which is specifically configured as follows:

The housing includes a support seat 1, a wire wheel seat 2 and a spring cover 3 which are fixedly assembled in sequence from bottom to top. The support seat 1 is a cylindrical structure with openings at both ends. The driving assembly includes a reduction motor 4, a torque sensor 5, a driving wheel 6, a limit block 7, a wire wheel 8, a scroll spring 9 and a wire rope 10. The reduction motor 4 has a mounting hole on the housing at its output end, the bottom end of the support seat 1 is fixed on the mounting hole of the reduction motor 4, and the torque sensor 5, the driving wheel 6, the wire wheel 8 and the scroll spring 9 are horizontally arranged in the housing from bottom to top.

Furthermore, the torque sensor 5 is connected to the output end of the reduction motor 4, and a signal cable 11 is provided on the torque sensor 5. The driving wheel 6 is fixedly connected to the torque sensor 5. Preferably, the torque sensor 5 includes a disc-shaped housing. The housing of the torque sensor 5 is connected to the output end of the reduction motor 4 through a flange. The signal cable 11 is led upward from the middle of the housing of the torque sensor 5, and the line body of the signal cable 11 placed above the torque sensor 5 is fixed on the upper surface of the housing of the torque sensor 5. A cable embedding groove 12 (refer to FIG. 3) is provided on the bottom surface of the driving wheel 6 for the signal cable 11 to be embedded from bottom to top. The signal cable 11 is bundled through the cable embedding groove 12 to prevent the signal cable 11 from affecting the fixed assembly between the torque sensor 5 and the driving wheel 6.

An arcuate through groove 13 is provided on the outer wall of the support seat 1 along the circumferential direction of the support seat 1, and the limit block 7 is slidably connected in the arcuate through groove 13. A through hole is provided on the limit block 7 for the signal cable 11 to pass from the inside of the support seat 1 to the outside of the support seat 1. Through the arrangement of this structure, when the reduction motor 4 is running, the torque sensor 5 rotates and drives the driving wheel 6 to rotate synchronously. Preferably, the limit block 7 can be fixed to the outer wall of the driving wheel 6 by screw connection, so that the limit block 7 is driven by the reduction motor 4 to slide in the arcuate through groove 13, and the cooperation of the limit block 7 and the arcuate through groove 13 constitutes a mechanical limit in the rotation process of the driving wheel 6.

Furthermore, one end of the wire rope 10 is wound around the wire wheel 8, and the other end of the wire rope 10 passes through the housing for connecting the load. Specifically, as shown in Figures 4 and 5, an annular winding groove 32 is formed on the outer wall of the wire wheel 8, a vertical through hole 14 is provided on the upper surface of the wire wheel 8, and an arc groove 15 is provided on the upper surface of the wire wheel 8. One end of the arc groove 15 extends and is connected to the through hole 14, and the other end of the arc groove 15 extends and is connected to the winding groove 32. A pin 16 is fixedly connected to one end of the wire rope 10 (referring to Figure 1), and the pin 16 is fitted in the through hole 14, and the rope body of the wire rope 10 extends along the arc groove 15 and is wound in the winding groove 32. Through the arrangement of this structure, one end of the wire rope 10 is stably fixed on the wire wheel by the cooperation of the pin 16 and the through hole 14, and the structural arrangement of the arc groove 15 enables the wire rope 10 to be stably wound in the winding groove 32 of the wire wheel 8 when it is contracted. In addition, a wire rope outlet hole 17 is provided on the outer wall of the support seat 1 at one end side of the arc through groove 13, and a fixed seat 18 is fixed in the wire rope outlet hole 17. A horizontal sheath tube 19 is provided on the outer side of the support seat 1. The sheath tube 19 is a cylindrical structure with two ends opened, and one end of the sheath tube 19 is connected to the fixed seat 18 (refer to Figures 1 and 6). Among them, a channel is formed in the fixed seat 18 for guiding the wire rope 10 from the support seat 1 to the sheath tube 19. Through the arrangement of this structure, it is convenient to smoothly control the wire rope 10 to extend or retract under the guidance of the sheath tube 19.

Further, as shown in FIG. 4 and FIG. 7 , a downwardly protruding connecting column 20 is integrally formed in the middle of the bottom surface of the wire wheel 8. A concave first assembly groove is formed on the bottom end surface of the connecting column 20. Two first protrusions 21 arranged opposite to each other are integrally formed on the inner side wall of the first assembly groove, and the two first protrusions 21 divide the space in the first assembly groove into adjacent first cavities 22 and second cavities 23. The area of the first cavity 22 is larger than the area of the second cavity 23. The middle part of the driving wheel 6 has a second assembly groove 24 with a top opening (refer to FIG. 1 and FIG. 8 ), and the second assembly groove 24 is rotatably connected to the connecting column 20 through a first bearing 25. A second protrusion 26 is integrally formed on the inner bottom surface of the second assembly groove 24 to fit in the first cavity 22, so that the second protrusion 26 can slide freely along the inner side wall of the first cavity 22. And the sliding stroke of the second protrusion 26 in the first cavity 22 is equal to the sliding stroke of the limit block 7 in the arc-shaped through groove 13. Preferably, the top view structures of the first bump 21 and the second bump 26 are both “V” shaped structures.

Through the arrangement of this structure, the arrangement of the first bearing 25 is used to make the driving wheel 6 and the wire wheel 8 rotate independently. Based on the sliding stroke of the second protrusion 26 in the first cavity 22 being equal to the sliding stroke of the limit block 7 in the arc-shaped through groove 13, the wire wheel 8 can control the wire rope 10 to always be subjected to the force in the contraction direction (counterclockwise in this embodiment) under the preload force of the volute spring, that is, when the reduction motor 4 is not connected, the end of the wire rope 10 is loaded, and the wire rope 10 drives the wire wheel 8 to rotate, and the wire rope 10 is retracted after the load is removed, and the driving wheel 6 can remain motionless during this process; when the reduction motor 4 is connected, the load pulls the wire wheel 8 to rotate clockwise until the first protrusion 21 on the wire wheel 8 contacts the second protrusion 26 on the driving wheel 6, and the reduction motor 4 is started in the counterclockwise direction at this time, and the second protrusion 26 of the driving wheel 6 drives the first protrusion 21 on the wire wheel 8 to rotate, thereby driving the wire wheel 8 to rotate, and the reduction motor 4 actively applies force in this process, which plays a role in pulling the load.

Further, in combination with FIG. 1 and FIG. 4 , a clamping column 27 protruding upward is integrally formed in the middle of the upper surface of the wire wheel 8, and the volute spring 9 is sleeved on the clamping column 27, and the inner end of the volute spring 9 is connected to the clamping column 27, and the outer end of the volute spring 9 is connected to the spring cover 3. Specifically, a slot 28 is provided at the top of the clamping column 27 in the vertical direction. In combination with FIG. 9 , a fixing column 29 arranged in the vertical direction is fixedly connected to the top inner wall of the spring cover 3. The inner end of the volute spring 9 is a straight plate structure, and the inner end of the volute spring 9 is inserted into the slot 28 from top to bottom. The outer end of the volute spring 9 is a bent folded plate structure, and the outer end of the volute spring 9 is hooked on the fixing column 29. Through the arrangement of this structure, the volute spring 9 can be fixed.

Further, looking back at Figures 1 and 2, the wire wheel seat 2 is a cylindrical structure with an opening at the top. The bottom surface of the wire wheel seat 2 is fixed to the upper end surface of the support seat 1, and a connecting hole for the clamping column 27 to pass upward is provided on the bottom surface of the wire wheel seat 2. The connecting hole and the clamping column 27 are connected by a second bearing 30. The spring cover 3 is fixed on the top opening of the wire wheel seat 2, so that a closed chamber is formed in the wire wheel seat 2. The torque sensor 5, the driving wheel 6 and the wire wheel 8 are all arranged in the support seat 1, and the volute spring 9 is arranged in the wire wheel seat 2. Among them, plastic gaskets 31 are fixed between the inner bottom surface of the wire wheel seat 2 and the volute spring 9, and between the top inner wall of the spring cover 3 and the volute spring 9. Through the setting of this structure, before the spring cover 3 is fixed to the wire wheel seat 2, the volute spring 9 needs to be rotated counterclockwise for multiple turns to pre-tighten the volute spring 9, so that the pre-tightening force of the volute spring 9 is used to make the wire rope 10 always subject to the force in the contraction direction.

Based on the above-mentioned wire rope drive unit structure, the concentric muscle contraction process, the eccentric muscle contraction process and the muscle relaxation state can be simulated respectively:

Imitate the concentric contraction process of muscles: the one-way clutch is engaged, the reduction motor 4 actively rotates counterclockwise to drive the wire wheel 8 to rotate and collect the rope, and transmits power to the actuator. In this process, the reduction motor 4 does positive work and consumes electrical energy;

Imitate the process of muscle eccentric contraction: the one-way clutch is engaged, the wire wheel 8 drives the reduction motor 4 to passively rotate clockwise to release the rope, and at the same time, the passive damping circuit in the drive circuit of the reduction motor 4 will generate a damping force. During this process, the reduction motor 4 is in a braking state and does negative work. The passively generated electrical energy can be effectively collected;

Simulate the state of muscle relaxation: the one-way clutch is disengaged, the wire rope 10 is only in a low tension state under the pre-tightening force of the volute spring 9, and the wire wheel 8 can move freely within the stroke range. During this process, the reduction motor 4 does not do work and there is no power loss.

The wire rope drive unit of the present invention has the following advantages:

1. The wire rope drive unit of the present invention integrates a mechanical one-way clutch, a scroll spring 9 and a passive damping circuit only on the basis of a traditional rope drive unit, which is easy to implement and has strong adaptability;

2. The wire rope drive unit of the present invention has the ability to simulate three working modes: concentric contraction, eccentric contraction and relaxation of muscles, and has comprehensive functions and wide application.

3. The wire rope drive unit of the present invention is composed of a driving wheel 6, a wire wheel 8 and a spiral spring 9 to form a purely mechanical one-way clutch, which has a simple structure, a compact layout, a low manufacturing cost, and is easy to implement and promote.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims (5)

1. A wire rope drive unit with one-way clutch, characterized in that the wire rope drive unit comprises: The housing comprises a support seat, a wire wheel seat and a spring cover which are fixedly assembled in sequence from bottom to top, and the support seat is a cylindrical structure with openings at both ends; A driving assembly, the driving assembly comprising a reduction motor, a torque sensor, a driving wheel, a limit block, a wire wheel, a scroll spring and a wire rope, the reduction motor is fixed on the support seat, and the torque sensor, the driving wheel, the wire wheel and the scroll spring are horizontally arranged in the housing from bottom to top; The torque sensor is connected to the output end of the reduction motor, the driving wheel is fixedly connected to the torque sensor, an arc-shaped through groove is provided on the outer side wall of the support seat along the circumferential direction of the support seat, the limit block is slidably connected in the arc-shaped through groove, the torque sensor is provided with a signal cable, and the limit block is provided with a through hole for the signal cable to pass from the inside of the support seat to the outside of the support seat; A downwardly protruding connecting column is integrally formed in the middle of the bottom surface of the wire wheel, and a concave first assembly groove is formed on the bottom end surface of the connecting column. Two first convex blocks arranged opposite to each other are integrally formed on the inner side wall of the first assembly groove, and the two first convex blocks divide the space in the first assembly groove into adjacent first and second cavities, and the area of the first cavity is larger than that of the second cavity. A second assembly groove with a top opening is provided in the middle of the driving wheel, and the second assembly groove is rotatably connected to the connecting column through a first bearing. A second convex block that fits into the first cavity is integrally formed on the inner bottom surface of the second assembly groove, so that the second convex block can slide freely along the inner side wall of the first cavity, and the sliding stroke of the second convex block in the first cavity is equal to the sliding stroke of the limit block in the arc-shaped through groove. A clamping column protruding upward is integrally formed in the middle of the upper surface of the wire wheel, the volute spring is sleeved on the clamping column, the inner end of the volute spring is connected to the clamping column, and the outer end of the volute spring is connected to the spring cover; One end of the steel wire rope is wound around the wire wheel, and the other end of the steel wire rope passes through the housing to be connected to a load; A slot is formed at the top of the clamping column in the vertical direction, a fixing column arranged in the vertical direction is fixedly connected to the top inner wall of the spring cover, the inner end of the scroll spring is a straight plate structure, and the inner end of the scroll spring is inserted into the slot in a top-to-bottom direction, the outer end of the scroll spring is a bent folding plate structure, and the outer end of the scroll spring is hooked on the fixing column; The wire wheel seat is a cylindrical structure with an opening at the top, the bottom surface of the wire wheel seat is fixed to the upper end surface of the support seat, and a connecting hole is provided on the bottom surface of the wire wheel seat for the clamping column to pass upward, the connecting hole and the clamping column are connected by a second bearing, the spring cover is fixed on the top opening of the wire wheel seat to form a closed chamber in the wire wheel seat, the torque sensor, the driving wheel and the wire wheel are all arranged in the support seat, and the spiral spring is arranged in the wire wheel seat. 2. A wire rope drive unit with a one-way clutch according to claim 1, characterized in that: the torque sensor includes a disc-shaped shell, the shell of the torque sensor is connected to the output end of the reduction motor through a flange, the signal cable is led upward from the middle of the torque sensor shell, and the line body of the signal cable placed above the torque sensor is fixed on the upper surface of the torque sensor shell, and a cable embedding groove is provided on the bottom surface of the driving wheel for the signal cable to be embedded from bottom to top. 3. A wire rope drive unit with one-way clutch according to claim 2, characterized in that: a wire rope lead-out hole is opened on the outer wall of the support seat at one end side of the arc-shaped through groove, a fixed seat is fixed in the wire rope lead-out hole, and a horizontal sheath tube is provided on the outside of the support seat, the sheath tube is a cylindrical structure with openings at both ends, and one end of the sheath tube is connected to the fixed seat, wherein a channel is formed in the fixed seat for leading the wire rope from the support seat to the sheath tube. 4. A wire rope drive unit with one-way clutch according to claim 3, characterized in that: an annular winding groove is formed on the outer side wall of the wire wheel, a vertical through hole is opened on the upper surface of the wire wheel, and an arc groove is opened on the upper surface of the wire wheel, one end of the arc groove extends and is connected to the through hole, the other end of the arc groove extends and is connected to the winding groove, one end of the wire rope is fixedly connected with a pin, the pin is fitted in the through hole, and the rope body of the wire rope extends along the arc groove and is wound in the winding groove. 5. A wire rope drive unit with one-way clutch according to claim 1, characterized in that plastic gaskets are fixed between the inner bottom surface of the wire wheel seat and the spiral spring, and between the top inner wall of the spring cover and the spiral spring.