Double self-locking fault-tolerant anti-stuck multi-stage electro-mechanical actuator

Abstract

The double self-locking fault-tolerant anti-jamming multi-stage electromechanical actuator has normal working mode, higher safety and reliability, and larger working stroke. The technical scheme is as follows: a first upper steel ball and a first lower steel ball are arranged outside a first piston, and together with an internally encapsulated anti-jamming assembly, a first anti-jamming fault-tolerant self-locking assembly is formed, and the first piston cylinder is driven by a main lead screw pair to make first extension and retraction movement in the outer cylinder movement cavity; a secondary piston head is extended into the secondary piston head by a bearing end limit free end secondary lead screw, and a secondary anti-jamming fault-tolerant self-locking assembly in the secondary piston cylinder piston head is driven by a sleeved secondary lead screw nut to make secondary extension and retraction movement in the first piston cylinder movement cavity, forming a double-channel movement link with the main motor and the secondary motor electromechanical actuator as independent units, the lead screw pair as an execution mechanism, and the main and secondary lead screws as driving members to drive the two-stage piston cylinders, and the two sets of anti-jamming fault-tolerant self-locking assemblies are unlocked and locked to convert the movement relationship.

Description

Technical Field

[0001] This invention belongs to the field of electromechanical servo technology, and in particular relates to a double-ended locking, long-stroke extension and retraction structure for use in electromechanical actuators, and a safety emergency unlocking, extension and locking structure for non-similar energy emergency mechanical equipment. More specifically, this invention relates to an innovative structure that significantly reduces the structural length of an electromechanical actuator with locking function within a specified stroke. Background Technology

[0002] Electromechanical actuators, as core components of electromechanical servo systems, are energy conversion devices used to achieve linear reciprocating motion or oscillating motion less than 360° of a working mechanism. Their main function is to receive control commands, convert electrical energy into mechanical energy, overcome external load torque, and achieve a predetermined speed and position. The basic components of a common electromechanical actuator are as follows: motor, gearbox, transmission components, ball screw pair, outer cylinder assembly, piston cylinder assembly, self-locking assembly, etc. For load-bearing components, ball screw pairs or planetary roller screw pairs are mostly chosen. Planetary roller screw pairs, with their multi-point contact thread principle, offer relatively greater load-bearing capacity and higher transmission accuracy, making them the preferred component currently. Electromechanical actuators with self-locking devices commonly use ball locks, which are typically composed of a ball, a locking groove, a conical piston, and a spring. They are usually locked by a mechanical lock within the actuator cylinder, preventing movement caused by external forces when stopped at a defined position. However, in high-reliability and high-safety applications, the transmission components are prone to jamming, sticking, and jamming, significantly limiting their application and making it difficult to meet higher reliability requirements in flight control. In applications with limited installation space or long working stroke requirements, such as aircraft landing gear retraction and extension, and cabin door retraction and extension, commonly used single-stage electromechanical actuators suffer from long overall dead-structure lengths, poor motor output response speed and accuracy, and relatively complex systems. The reduction mechanism, combined with a ball screw or roller screw, converts the rotational motion of the motor into the linear motion of the actuating mechanism. This structure places high demands on motor performance, especially during high-speed reciprocating motion of the actuator cylinder, resulting in high system costs. Furthermore, ball screws or roller screws are prone to fatigue pitting under dynamic loads, affecting the system's transmission accuracy and leading to poor reliability, thus failing to meet the requirements of limited installation space. In addition, existing electromechanical actuators use single-motor control, resulting in a fixed actuator cylinder movement range and poor redundancy in the single-motor control system. Although large working strokes can be achieved through multi-stage electromechanical actuators, conventional multi-stage electromechanical actuators still use a brake to lock the motor shaft for mechanical locking, which is unreliable and has a lower load-bearing capacity than mechanical locks, thus limiting their practicality. To address the issue of single-point failures in the transmission components of electromechanical actuators, existing conventional multi-stage electromechanical actuators employ redundant transmission mechanism designs. However, they still face single-point failure problems such as lead screw jamming. If it cannot be guaranteed that multi-stage electromechanical actuators can isolate faults and achieve emergency operation in emergency situations, the application range of multi-stage electromechanical actuators will be greatly limited. A composite quadruple-redundant electromechanical actuator system consists of two electrically redundant brushless DC motors. Each brushless DC motor stator has two sets of three-phase windings, powered simultaneously by two identical power drive circuits. The system has four independent electrical channels. As long as any two electrical channels are functioning normally, the system can complete the task, but performance will be somewhat degraded.Electrically redundant quadruple-running actuators require four sets of windings to be installed in a single stator, which increases the stator / rotor diameter of the motor, leading to increased rotational inertia and decreased speed. Furthermore, because multiple windings are installed in a single stator, isolating faults such as short circuits and high temperatures is difficult. While a quadruple-running actuator can easily disconnect the faulty path when one path is open-circuited, leaving the other normal paths unaffected, the multiple windings in the redundant structure, installed on a single stator, mean that a short circuit in one path cannot be easily isolated. Otherwise, a large current will be induced in the faulty winding, affecting the operation of the entire system. Summary of the Invention

[0003] The purpose of this invention is to address the problems existing in the prior art by providing a solution with a simple structure, a normal operating mode, higher safety and reliability, a larger working stroke, small installation space, and the ability to resolve jamming, sticking, and clogging faults. It also features emergency unlocking, extension, and reliable locking of the piston cylinder, facilitating its application in more fields. This effectively solves the problem of poor locking capability and inability to resolve single-point faults such as lead screw jamming in conventional multi-stage electromechanical actuators.

[0004] The technical solution adopted by this invention to solve its technical problem is: a double self-locking fault-tolerant anti-jamming multi-stage electromechanical actuator, comprising: a drive unit that converts the rotational motion of the radially symmetrical main motor 1 and auxiliary motor 27 on both sides of the outer cylinder 3 into the mechanical energy of the reducer linkage screw pair and screw nut in the transmission cavity; and at least two stages of piston cylinders in which the annular sealed piston head performs telescopic motion in the cylinder body of the outer cylinder 3. The characteristic feature is that: a radially connected high-pressure chamber is formed on the outer cylinder body at the tail end of the outer cylinder 3, and an emergency air port 5 drives the first-stage piston head through a high-pressure medium; a first-stage upper steel ball 6 is provided on the outer ring surface of the first-stage piston head, locked in the annular cloth locking groove and the annular arc locking groove of the inner wall of the outer cylinder; and a first-stage lower steel ball 10 is locked in the annular cloth locking groove close to the inner wall of the outer cylinder 3, and in the first-stage piston cylinder 14, two stages of piston cylinders are present. The anti-jamming assembly encapsulated in the stepped hole forms a first-stage anti-jamming fault-tolerant self-locking assembly connected to the fixed bearing of the third-stage stepped hole. The main lead screw 4 drives the first-stage piston cylinder 14 to perform a first-stage telescopic movement in the outer cylinder 3. The auxiliary lead screw 16, which is restricted to the free end by the bearing end, extends into the second-stage piston head. By engaging the auxiliary lead screw nut 22, it drives the second-stage anti-jamming fault-tolerant self-locking assembly in the piston head of the second-stage piston cylinder 23 to perform a second-stage telescopic movement in the first-stage piston cylinder 14. This forms a dual-channel motion link with the main motor 1 and auxiliary motor 27 as independent electromechanical actuators, the lead screw pair 16 as the actuator, and the main and auxiliary lead screws as the driving components to drive the two-stage piston cylinders. This link establishes a locking and unlocking motion conversion relationship between the two sets of anti-jamming fault-tolerant self-locking assemblies.

[0005] Compared with the prior art, the present invention has the following advantages:

[0006] This invention uses an electromechanical actuator as an independent unit and a lead screw pair as the execution mechanism. Through the motion conversion relationship between two sets of lead screws and nuts, with the nut acting as the driving element to drive the lead screw and nut, motion conversion is achieved, solving the problem of small stroke in a single electromechanical actuator. Simultaneously, by designing a lockable and lockable upper-level steel ball 6 and lower-level steel ball 10 mechanical lock between the outer cylinder 3 and the first-stage piston cylinder 14, the main motor 1 can drive the first-stage piston cylinder 14 to lock at the upper and lower ends of the outer cylinder 3 and reliably unlock it. Compared with the traditional electromechanical actuator structure and function, this invention has higher safety and reliability, and can resolve jamming, stagnation, and blockage faults.

[0007] The present invention designs a lockable and lockable mechanical lock between the primary piston cylinder 14 and the secondary piston cylinder 23, consisting of a secondary upper steel ball 17 and a secondary lower steel ball 21. The auxiliary motor 27 can drive the secondary piston cylinder 23 to lock at the upper and lower ends of the primary piston cylinder 14 and reliably unlock it. This mechanical lock locks the piston cylinder in the extended and retracted positions, solving the problem that conventional multi-stage electromechanical actuators cannot withstand large loads because the brakes lock the motor shaft.

[0008] This invention incorporates an anti-jamming mechanism that can be unlocked by a high-pressure medium between the main screw nut sleeve 11, the main screw nut 12, and the bearing sleeve 15. In the event of jamming in the transmission mechanism such as the screw pair, the high-pressure medium unlocks the anti-jamming mechanism and the mechanical locks of the first-stage upper steel ball 6 and the second-stage upper steel ball 17, respectively driving the first-stage piston cylinder 14 and the second-stage piston cylinder 23 to extend under the load. This solves the single-point problem of conventional multi-stage electromechanical actuators being unable to extend the piston cylinder due to screw pair jamming, thereby improving the safety and reliability of the flight control system. Attached Figure Description

[0009] Figure 1 This is a schematic diagram of the piston cylinder retracted state structure of the double self-locking, fault-tolerant, anti-jamming multi-stage electromechanical actuator of the present invention.

[0010] Figure 2 yes Figure 1 A schematic diagram of the splined drive shaft meshing pair lead screw spline.

[0011] Figure 3 yes Figure 1 Schematic diagram of the piston cylinder in its retracted / extended state.

[0012] In the diagram: 1. Main motor; 2. Main drive gear; 3. Outer cylinder; 4. Main lead screw; 5. Emergency air port; 6. First-stage upper steel ball; 7. First-stage upper lock bushing; 8. First-stage locking spring; 9. First-stage lower lock bushing; 10. First-stage lower steel ball; 11. Main lead screw nut sleeve; 12. Main lead screw nut; 13. Upper edge locking steel ball; 14. First-stage piston cylinder; 15. Bearing sleeve; 16. Secondary lead screw; 17. Secondary upper steel ball; 18. Secondary upper lock bushing; 19. Secondary locking spring; 20. Secondary lower lock bushing; 21. Secondary lower steel ball; 22. Secondary lead screw nut; 23. Secondary piston cylinder; 24. Lower edge locking steel ball; 25. Anti-jamming bushing; 26. Anti-jamming spring; 27. Secondary motor; 28. Secondary drive gear; 29. ​​Spline sleeve drive shaft.

[0013] The present invention will be further described below with reference to the accompanying drawings and embodiments, and other innovative features will become apparent. However, this does not limit the invention to the scope of the described embodiments. All these concepts should be considered as part of the disclosure of this technology and the scope of protection of this invention. Detailed Implementation

[0014] See Figures 1-3 In the preferred embodiment described below, the double self-locking fault-tolerant anti-jamming multi-stage electromechanical actuator includes: a drive unit that converts the rotational motion of the radially symmetrical main motor 1 and auxiliary motor 27 on both sides of the outer cylinder 3 into the mechanical energy of the reducer linkage screw pair and screw nut in the transmission cavity; and at least two stages of piston cylinders in which the annular sealed piston head performs telescopic motion in the cylinder body of the outer cylinder 3. A radially connected high-pressure chamber is formed on the outer cylinder body at the tail end of the outer cylinder 3, and an emergency air port 5 drives the first-stage piston head through a high-pressure medium. The outer ring surface of the first-stage piston head is provided with a first-stage upper steel ball 6 locked in the annular locking groove and the annular arc locking groove of the inner wall of the outer cylinder, and a first-stage lower steel ball 10 locked in the annular locking groove close to the inner wall of the outer cylinder 3. Together with the anti-jamming assembly encapsulated in the two-step bore of the first-stage piston cylinder 14, they form a first-stage anti-jamming fault-tolerant self-locking assembly connected to the bearing fixed in the three-step bore. The first-stage piston cylinder 14 is driven by the main screw 4 moving pair in the outer cylinder 3 moving cavity. The first stage of the piston moves in a telescopic motion. The secondary lead screw 16, which is at the bearing end and restricts the free end, extends into the second stage piston head. By engaging the secondary lead screw nut 22, it drives the second stage anti-jamming fault-tolerant self-locking assembly in the piston head of the second stage piston cylinder 23. This causes the piston to move in a telescopic motion within the motion chamber of the first stage piston cylinder 14. This forms a dual-channel motion link with the main motor 1 and the secondary motor 27 as independent electromechanical actuators, the lead screw 16 as the actuator, and the main and secondary lead screws as the driving components to drive the two stages of the piston cylinder. This link allows for the locking and unlocking motion conversion between the two sets of anti-jamming fault-tolerant self-locking assemblies.

[0015] The drive unit includes: an end gear transmission system that drives the main lead screw 4 to rotate via the meshing of the output shaft gear of the main motor 1 with the main drive gear, and an end gear transmission system that meshes the output shaft gear of the auxiliary motor 27 with the splined sleeve drive shaft 29 via the meshing of the auxiliary drive gear 28. The transmission system has multiple gears that transmit power to the interconnected output ends of multiple interconnected gears.

[0016] High-pressure medium enters the high-pressure chamber at the tail of the outer cylinder 3 from the emergency air port 5, driving the first-level anti-jamming fault-tolerant self-locking component to unlock the first-level upper steel ball 6. The first-level anti-jamming fault-tolerant self-locking component unlocks the second-level upper steel ball 17, respectively driving the first-level piston cylinder 14 and the second-level piston cylinder 23 to release jamming, jamming, and blockage faults, and overcome the load to achieve reliable locking and unlocking movements of emergency extension, retraction, and locking.

[0017] The first-level anti-jamming fault-tolerant self-locking assembly includes: a first-level upper steel ball 6 locked in the annular locking groove of the outer end of the first-level piston and the annular arc locking groove of the inner wall of the outer cylinder; and a first-level lower steel ball 10 locked in the annular locking groove and close to the inner wall of the outer cylinder 3. The first-level upper steel ball 6 and the first-level lower steel ball 10 are controlled to roll and lock and unlock. The first-level locking spring 8 is symmetrically constrained in the annular groove of the main screw nut sleeve 11 between the first-level upper locking bushing 7 and the first-level lower locking bushing 9. The first-level locking spring 8 is assembled on the hollow blind hole annular sealing flange end cover sleeve on the right side of the main screw nut 12. The anti-jamming spring 26 fitted on the flange end cover sleeve is constrained to the anti-jamming bushing 25 at the bottom of the hollow blind hole. The upper edge locking steel ball 13 and the lower edge locking steel ball 24 are locked in the steel ball guide hole along the opening direction of the main screw nut 12 and constrained on the outer annular surface of the chamfered end of the anti-jamming bushing 25.

[0018] The first-level anti-jamming fault-tolerant self-locking component, through the bearing sleeve 15 bearing limited by the end face of the main screw nut 12, forms a high-pressure medium that can be entered from the emergency air port 5, realizing the first-level high-pressure medium unlocking anti-jamming mechanism for locking, stopping, and unlocking the main screw 4 moving pair, as well as the bearing sleeve 15 anti-jamming locking.

[0019] In the event of jamming, stagnation, or blockage of the main lead screw 4 motion pair transmission mechanism, the first-stage high-pressure medium unlocking anti-blockage mechanism uses the first-stage upper steel ball 6 and the first-stage lower steel ball 10 in the front-rear direction of the first-stage piston head generatrix to mechanically lock and selectively engage with the outer cylinder 3 between the locked and unlocked positions. It also uses the second-stage upper steel ball 17 and the second-stage lower steel ball 21 in the front-rear direction of the second-stage piston head generatrix to mechanically lock and selectively engage with the first-stage piston cylinder 14 between the locked and unlocked positions. This drives the first-stage piston cylinder 14 and the second-stage piston cylinder 23 to overcome external loads and extend or retract in an emergency with variable stroke.

[0020] The secondary anti-jamming fault-tolerant self-locking assembly includes: a secondary upper steel ball 17 that is locked in the annular cloth locking groove on the outer end of the secondary piston and the annular arc locking groove on the inner wall of the secondary piston cylinder; and a secondary lower steel ball 21 that is locked in the annular cloth locking groove and closely attached to the inner wall of the secondary piston cylinder 23. The secondary upper steel ball 17 and the secondary lower steel ball 21 are controlled to roll and lock and unlock, and the secondary locking spring 19 is symmetrically constrained in opposite directions between the secondary upper locking bushing 18 and the secondary lower locking bushing 20 between the annular groove retaining ring of the annular sealing pair screw nut 22.

[0021] In an alternative embodiment, under normal operating conditions, the output shaft gear of the main motor 1 meshes with the end gear of the main lead screw 4 via the main transmission gear 2. The main lead screw 4 is constrained by the ball bearing in the outer cylinder 3 via the end necking groove, which drives the main lead screw 4 to rotate in the transmission cavity of the first-stage piston cylinder 14. The main lead screw nut 12 acts as the driving element, driving the first-stage upper locking bushing 7 with a hollow stepped hole at the tail of the first-stage piston cylinder 14 to move to the right. This disengages the first-stage upper steel ball 6 in the locking line in the front-to-back direction from the locking ring groove on the inner wall of the outer cylinder, thereby unlocking the mechanical lock. At the same time, it drives the retracted first-stage piston cylinder 14 to extend out of the outer cylinder 3 to overcome the external load torque and complete the rated thrust output.

[0022] The output shaft gear of the auxiliary motor 27 meshes with the end gear of the rotating shaft 29 through the auxiliary transmission gear 28, driving the splined sleeve transmission shaft 29 in the hollow cylinder of the main screw 4 to rotate. This drives the auxiliary screw 16, which is limited by the bearing sleeve 15 and fitted on the external spline teeth of the splined sleeve transmission shaft 29, to rotate together. The auxiliary screw nut 22 acts as the driven element, driving the secondary upper locking bushing 18, which has a hollow stepped hole at the tail of the secondary piston cylinder 23 that is telescopic in the primary piston cylinder 14, to move to the right. This causes the secondary upper steel ball 17, which is locked on the upper steel ball guide hole in the front and rear directions of the busbar, to disengage from the locking ring groove on the inner wall of the primary piston cylinder 14, thus unlocking the mechanical lock. At the same time, it drives the retracted secondary piston cylinder 23 to extend out of the port of the primary piston cylinder 14, overcoming the external load torque and completing the rated thrust output.

[0023] The inner ring of the thrust angular contact ball bearing installed in the hollow stepped hole at the tail of the outer cylinder 3 is axially limited between the stepped ring groove of the main screw 4 and the inner ring groove of the outer cylinder, bearing the load of the main screw 4. The bearing sleeve 15, which is coupled to the main screw nut 12, is axially limited on the upper stepped shaft of the auxiliary screw 16 through the inner ring of the bidirectional thrust angular contact ball bearing in the hollow stepped hole, bearing the load of the auxiliary screw 16.

[0024] The first-stage piston cylinder 14 is hollow and faces the bottom of the outer cylinder 3 cavity. The first-stage piston head generatrix has an upper steel ball guide hole for mounting the first-stage upper steel ball 6 and a lower steel ball guide hole for mounting the first-stage lower steel ball 10. The inner wall of the outer cylinder 3 has a first-stage upper ring locking groove and a first-stage lower ring locking groove that are positioned relative to the upper steel ball guide hole and correspond to the first-stage upper steel ball 6 and the first-stage lower steel ball 10, respectively.

[0025] The secondary piston head, which is sealed in the stepped inner wall of the primary piston cylinder 14 in the direction of its extension, has upper and lower steel ball guide holes in the front and rear directions, respectively, for mounting secondary upper steel balls 17 and secondary lower steel balls 21. The inner wall of the primary piston cylinder 14 has secondary upper and secondary lower ring lock grooves corresponding to the secondary upper steel balls 17. The stepped hole wall of the secondary piston head is sealed with symmetrical secondary upper lock bushings 18 and 20 facing each other. The secondary locking spring 19 is constrained to the end face of the ring disc at both ends of the ring groove of the auxiliary screw nut 22, and the secondary upper steel balls 17 and 21 locked in the steel ball guide holes of the secondary piston head are constrained to the outer ring surface of the chamfered ends of the secondary upper lock bushings 18 and 20. This constitutes a mechanical locking mechanism for locking, locking, unlocking and unlocking the secondary piston head as it extends outward from the bottom of the primary piston cylinder 14 into the secondary piston cylinder 23.

[0026] During operation, the main motor 1 drives the main lead screw 4 and the main lead screw nut 12 to rotate. The upper edge step of the lead screw nut 12 pushes the main lead screw nut sleeve 11 to the right. The upper edge step of the main lead screw nut sleeve 11 pushes the first-stage upper lock bushing 7 to the right, causing the first-stage upper steel ball 6 to disengage from the lock ring groove on the inner ring wall of the outer cylinder 3. The mechanical lock is unlocked, and the right end face of the main lead screw nut sleeve 11 pushes the first-stage piston cylinder 14 and the auxiliary lead screw 16 to extend.

[0027] When the first-stage piston cylinder 14 moves to the limit locking cavity position of the outer cylinder 3, the first-stage lower steel ball 10 is opposite to the first-stage lower locking groove of the outer cylinder 3. Under the action of the first-stage locking spring 8, the chamfered surface of the first-stage lower locking bushing 9 pushes the first-stage lower steel ball 10 into the first-stage lower locking groove, restricting the movement of the first-stage lower steel ball 10 and realizing the mechanical locking of the first-stage lower steel ball 10, thereby locking the first-stage piston cylinder 14. The output shaft gear of the auxiliary motor 27 drives the end gear of the splined sleeve transmission shaft 29 through the auxiliary transmission gear 28, which drives the auxiliary lead screw 16 to rotate, thereby driving the auxiliary lead screw nut 22 to push the second-stage upper locking bushing 18 to the right, causing the second-stage upper steel ball 17 on the outer ring surface of the second-stage piston head to disengage from the chamfered surface of the second-stage upper locking bushing 18, realizing the mechanical lock unlocking. The right end face of the auxiliary lead screw nut 22 pushes the second-stage piston cylinder 23 to extend out of the first-stage piston cylinder 14.

[0028] When the secondary piston cylinder 23 moves to the extreme position of the primary piston cylinder 14, the secondary lower steel ball 21 is opposite to the secondary lower locking groove of the primary piston cylinder 14. Under the action of the secondary locking spring 19, the secondary lower locking bushing 20 pushes the secondary lower steel ball 21 into the secondary lower locking groove. The secondary lower locking bushing 20 is engaged with the chamfered surface at the lower end of the secondary lower steel ball 21, restricting the movement of the secondary lower steel ball 21 and realizing the mechanical locking of the secondary lower steel ball 21, thereby locking the secondary piston cylinder 23.

[0029] If the motor fails or any transmission mechanism jams, a non-electrical energy source, such as a high-pressure medium, enters the inner cavity of the actuator's outer cylinder 3 from the emergency air port 5 of the outer cylinder 3. The high-pressure medium pushes the anti-jamming bushing 25, which is sealed in the open cylinder of the main screw nut 12, to overcome the elastic force of the anti-jamming spring 26 and move to the left. The upper edge locking steel ball 13 and the lower edge locking steel ball 24 are disengaged from the locking groove of the main screw nut sleeve 11, thereby unlocking the anti-jamming mechanism. That is, the main screw nut sleeve 11, the main screw nut 12, and the bearing sleeve 15 are disengaged.

[0030] The high-pressure medium pushes the first-stage upper lock bushing 7 and the first-stage upper steel ball 6 out of the chamfered surface of the first-stage upper lock bushing 7, and the mechanical lock of the first-stage upper steel ball 6 is unlocked. At the same time, the high-pressure medium pushes the second-stage upper lock bushing, and the second-stage upper steel ball 17 out of the chamfered surface of the second-stage upper lock bushing, and the mechanical lock of the second-stage upper steel ball 17 is unlocked. The high-pressure medium drives the first-stage piston cylinder 9 and the second-stage piston cylinder 12 of the ring seal to extend over the load, completing the emergency extension piston cylinder action.

[0031] Although the present invention has been described in conjunction with some preferred embodiments, the invention is not limited to these embodiments. Rather, the invention is intended to encompass all alternatives, modifications, and equivalents, provided that such alternatives are included within the core spirit and scope of the invention as defined by the appended claims.

Claims

1. A double self-locking, fault-tolerant, anti-jamming multi-stage electromechanical actuator, comprising: The drive unit that converts the rotational motion of the main motor (1) and auxiliary motor (27) symmetrically arranged on both radial sides of the outer cylinder (3) into the mechanical energy of the reducer linkage screw pair and screw nut in the transmission cavity, and the at least two-stage piston cylinder with the ring-sealed piston head making telescopic motion in the cylinder body of the outer cylinder (3), is characterized in that: a radially connected high-pressure chamber is formed on the outer cylinder body at the tail end of the outer cylinder (3), and an emergency air port (5) for driving the first-stage piston head through the high-pressure medium is provided. The outer ring surface of the first-stage piston head is provided with a first-stage upper steel ball (6) that is locked in the ring cloth locking groove and the ring arc locking groove of the inner wall of the outer cylinder, and a first-stage lower steel ball (10) that is locked in the ring cloth locking groove close to the inner wall of the outer cylinder (3), which together with the anti-jamming component encapsulated in the two-step hole in the first-stage piston cylinder (14) are fixedly connected to the three-step hole. The first-stage anti-jamming fault-tolerant self-locking assembly connected by the bearing is driven by the main screw (4) motion pair to make a first-stage extension and retraction motion in the outer cylinder (3) motion cavity; the auxiliary screw (16) with the bearing sleeve (15) end extending to the restricted free end extends into the second-stage piston head, and drives the second-stage anti-jamming fault-tolerant self-locking assembly in the second-stage piston cylinder (23) piston head through the sleeve auxiliary screw nut (22) to make a second-stage extension and retraction motion in the first-stage piston cylinder (14) motion cavity, forming a dual-channel motion link with the main motor (1) and auxiliary motor (27) electromechanical actuators as independent units, the auxiliary screw (16) as the actuator, and the main and auxiliary screws as the active components to drive the two-stage piston cylinders, and the locking and unlocking motion conversion relationship between the two sets of anti-jamming fault-tolerant self-locking assemblies; The first-level anti-jamming fault-tolerant self-locking assembly includes: a first-level upper steel ball (6) locked in the annular cloth locking groove on the outer end of the first-level piston and the annular arc locking groove on the inner wall of the outer cylinder, and a first-level lower steel ball (10) locked in the annular cloth locking groove and closely attached to the inner wall of the outer cylinder (3). The first-level upper steel ball (6) and the first-level lower steel ball (10) are controlled to roll and lock and unlock, and the first-level locking spring (8) is symmetrically constrained between the annular grooves of the annular seal main screw nut sleeve (11). Bushing (7) and first-level lower locking bushing (9) are assembled on the hollow blind hole ring sealing flange end cover sleeve on the right side of the main screw nut (12). The anti-jamming spring (26) fitted on the flange end cover sleeve is constrained to the anti-jamming bushing (25) at the bottom of the hollow blind hole. The upper edge locking steel ball (13) and lower edge locking steel ball (24) are locked in the steel ball guide hole along the opening direction of the main screw nut (12) and constrained on the outer ring surface of the chamfered end of the anti-jamming bushing (25). The secondary anti-jamming fault-tolerant self-locking assembly includes: a secondary upper steel ball (17) locked in the annular locking groove on the outer end of the secondary piston and the annular arc locking groove on the inner wall of the secondary piston cylinder, and a secondary lower steel ball (21) locked in the annular locking groove and closely attached to the inner wall of the secondary piston cylinder (23). The secondary upper steel ball (17) and the secondary lower steel ball (21) are controlled to roll and lock and unlock, and the secondary locking spring (19) is symmetrically constrained in opposite directions between the secondary upper locking bushing (18) and the secondary lower locking bushing (20) between the annular groove and the retaining ring of the screw nut (22) of the annular sealing pair.

2. The dual self-locking fault-tolerant anti-jamming multi-stage electromechanical actuator as described in claim 1, characterized in that: The drive unit includes: an end gear transmission system that drives the main screw (4) to rotate by meshing the output shaft gear of the main motor (1) with the main transmission gear, and an end gear transmission system that meshes the output shaft gear of the auxiliary motor (27) with the spline sleeve transmission shaft (29) through the auxiliary transmission gear (28).

3. The dual self-locking fault-tolerant anti-jamming multi-stage electromechanical actuator as described in claim 1, characterized in that: High-pressure medium enters the high-pressure chamber at the tail of the outer cylinder (3) from the emergency air port (5), driving the first-level anti-jamming fault-tolerant self-locking component to unlock the first-level upper steel ball (6), and the second-level anti-jamming fault-tolerant self-locking component to unlock the second-level upper steel ball (17), respectively driving the first-level piston cylinder (14) and the second-level piston cylinder (23) to release the jamming, jamming, and blockage faults, and overcome the load to realize the emergency extension, retraction, reliable locking and unlocking movement.

4. The dual self-locking fault-tolerant anti-jamming multi-stage electromechanical actuator as described in claim 1, characterized in that: The first-level anti-jamming fault-tolerant self-locking component forms a high-pressure medium that can be entered from the emergency air port (5) through the bearing sleeve (15) bearing that limits the end face of the main screw nut (12), thereby realizing the first-level high-pressure medium unlocking anti-jamming mechanism for locking, stopping, unlocking, and unlocking the main screw (4) moving pair, preventing jamming, jamming, and jamming, and preventing jamming of the bearing sleeve (15).

5. The dual self-locking fault-tolerant anti-jamming multi-stage electromechanical actuator as described in claim 1, characterized in that: In the event of jamming, stagnation, or blockage of the lead screw motion pair transmission mechanism, the first-stage high-pressure medium unlocking anti-blockage mechanism can selectively engage with the outer cylinder (3) between the locked and unlocked positions by mechanically locking the first-stage upper steel ball (6) and the first-stage lower steel ball (10) in the front-rear direction of the first-stage piston head generatrix. It can also selectively engage with the first-stage piston cylinder (14) between the locked and unlocked positions by mechanically locking the second-stage upper steel ball (17) and the second-stage lower steel ball (21) in the front-rear direction of the second-stage piston head generatrix. This drives the first-stage piston cylinder (14) and the second-stage piston cylinder (23) to overcome external loads and extend or retract in an emergency with variable stroke.

6. The dual self-locking fault-tolerant anti-jamming multi-stage electromechanical actuator as described in claim 1, characterized in that: In normal working mode, the output shaft gear of the main motor (1) meshes with the end gear of the main screw (4) through the main transmission gear (2). The main screw (4) is constrained by the ball bearing in the outer cylinder (3) through the end necking groove, which drives the main screw (4) to rotate in the transmission cavity of the first-stage piston cylinder (14). The main screw nut (12) acts as the driving element, driving the first-stage upper lock bushing (7) with a hollow stepped hole at the tail of the first-stage piston cylinder (14) to move to the right. This causes the first-stage upper steel ball (6) in the front and rear direction of the locking line to disengage from the lock ring groove on the inner wall of the outer cylinder, thereby unlocking the mechanical lock. At the same time, it drives the retracted first-stage piston cylinder (14) to extend out of the outer cylinder (3) to overcome the external load torque and complete the rated thrust output.

7. The dual self-locking fault-tolerant anti-jamming multi-stage electromechanical actuator as described in claim 1, characterized in that: The output shaft gear of the auxiliary motor (27) meshes with the end gear of the spline sleeve drive shaft (29) through the auxiliary transmission gear (28), driving the spline sleeve drive shaft (29) in the hollow cylinder of the main screw (4) to rotate. This drives the auxiliary screw (16) which is limited by the bearing sleeve (15) and fitted on the outer spline teeth of the spline sleeve drive shaft (29) to rotate together. The auxiliary screw nut (22) acts as the driven member, driving the secondary upper locking bushing (18) with a hollow stepped hole at the tail of the secondary piston cylinder (23) which is telescopic in the primary piston cylinder (14) to move to the right. This causes the secondary upper steel ball (17) locked on the upper steel ball guide hole in the front and rear directions of the busbar to disengage from the locking ring groove on the inner wall of the primary piston cylinder (14), thus unlocking the mechanical lock. At the same time, it drives the retracted secondary piston cylinder (23) to extend out of the port of the primary piston cylinder (14), overcoming the external load torque and completing the rated thrust output.

8. The dual self-locking fault-tolerant anti-jamming multi-stage electromechanical actuator as described in claim 1, characterized in that: The inner ring of the thrust angular contact ball bearing installed in the hollow stepped hole at the tail of the outer cylinder (3) is axially limited between the stepped ring groove of the main screw (4) and the inner ring groove of the outer cylinder, bearing the load of the main screw (4). The bearing sleeve (15) coupled to the main screw nut (12) is axially limited on the upper stepped shaft of the auxiliary screw (16) through the inner ring of the bidirectional thrust angular contact ball bearing in the hollow stepped hole, bearing the load of the auxiliary screw (16).

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