Single-source parallel driving multi-stage layered meshing double-telescopic executing mechanism

Abstract

The invention discloses a single-source parallel driving multi-stage layered meshing double-telescopic executing mechanism which adopts a combined form of single-source coaxial parallel driving, multi-stage layered meshing synchronous transmission and symmetrical nesting heavy-load guide rail sliding. Parallel synchronous high-precision cooperative movement of the double telescopic executing mechanisms and large-scale deformation extension in a limited space and under a heavy-load working condition can be achieved, and the problems that in the deformation process of the long and narrow airfoil of the aircraft under the heavy-load working condition, the positions are not synchronous, stress is not uniform, and the bearing capacity is weak are solved. Synchronous driving and two-side coaxial transmission of the multiple sets of gear and rack telescopic mechanisms can be achieved through the two-way motor, synchronous driving and synchronous operation of the double-multi-stage telescopic mechanism can be guaranteed, and the force fighting influence is reduced. The multi-stage arm cylinder can reduce the deformation of the mechanism in horizontal use through a multi-layer nested heavy-load guide rail mode. According to the multi-stage linkage layered meshing telescopic execution mechanism, each telescopic arm cylinder is provided with a corresponding movement guide wheel and an up-down matched rack, so that each stage of telescopic arm cylinder can move synchronously.

Description

Technical Field

[0001] The invention relates to the technical field of deformation mechanisms, in particular to a single-source parallel-driven multi-stage layered meshing double-telescopic actuator. Background Art

[0002] A telescopic mechanism is a mechanism that changes its length by telescoping. It is usually driven by hydraulics, motors, etc. It has the functional characteristics of compact structure, small space occupation, and long working space. It is widely used in fields that need to adapt to different working distances, such as aircraft deformable wing surfaces and engineering crane mechanical arms. At present, the use of multi-stage telescopic hydraulic cylinders to achieve telescopic movement has disadvantages such as low power density; the use of multi-linked screws to achieve multi-stage telescopic movement has disadvantages such as poor load-bearing capacity. Summary of the invention

[0003] In order to solve the problem of controlling heavy-load, large-stroke and high-precision synchronous telescopic motion under the limited volume space conditions of aircraft wing surfaces, the present invention provides a single-source parallel-driven multi-stage layered engagement double telescopic actuator. Through a single-drive source and multi-stage linkage layered engagement, the double telescopic actuators can realize parallel synchronous high-precision coordinated motion, with uniform output force transmission and strong load-bearing capacity.

[0004] In a first aspect, a single-source parallel-driven multi-stage hierarchical meshing double-telescopic actuator is provided, comprising a fixed base plate, a gear rack multi-stage telescopic mechanism, a motor drive unit, and an arm tube support plate;

[0005] The rack and pinion multi-stage telescopic mechanism is fixed to a fixed bottom plate; the rack and pinion multi-stage telescopic mechanism has a double-arm structure, and an arm tube support plate is fixed between the double arms of the rack and pinion multi-stage telescopic mechanism; the motor drive unit is fixed to the arm tube support plate; under the drive of the motor drive unit, the telescopic arm tube of the rack and pinion multi-stage telescopic mechanism can be extended or retracted;

[0006] The single arm of the gear rack multi-stage telescopic mechanism includes a fixed arm tube, a primary telescopic arm tube, and a secondary telescopic arm tube; the fixed arm tube is installed on a fixed bottom plate and an arm tube support plate; in a retracted state, the primary telescopic arm tube is accommodated in the fixed arm tube, and the secondary telescopic arm tube is accommodated in the primary telescopic arm tube;

[0007] The fixed arm tube is provided with a primary cavity on the side facing the primary gear; the outer wall of the primary telescopic arm tube facing the primary cavity is provided with a primary rack; the primary gear passes through the primary cavity and meshes with the primary rack, so that the primary telescopic arm tube can telescope in the fixed arm tube under the drive of the primary gear; the primary rack is installed in the middle position of the outer surface of the upper plate of the primary telescopic arm tube;

[0008] A secondary cavity is provided on the side of the first-level telescopic arm tube away from the first-level rack, and a secondary gear is provided on the groove wall of the secondary cavity, and the secondary gear moves with the first-level telescopic arm tube; a secondary auxiliary rack is provided on the inner wall of the fixed arm tube facing the secondary cavity; a secondary rack is provided on the outer wall of the second-level telescopic arm tube facing the secondary cavity; the secondary gear is in the second-level cavity, meshing with the secondary auxiliary rack on the outside and meshing with the secondary rack on the inside; in the axial direction, the second-level cavity together with the secondary gear is located in the middle position of the first-level telescopic arm tube; the secondary rack and the secondary auxiliary rack correspond to the two sides of the secondary gear respectively; the secondary auxiliary rack is arranged close to the opening of the fixed arm tube; the secondary rack is arranged close to the root of the second-level telescopic arm tube.

[0009] In combination with the first aspect, in certain implementations of the first aspect, when the first-level telescopic arm cylinder is driven, the secondary gear provided on the first-level telescopic arm cylinder moves along with the first-level telescopic arm cylinder; the meshing stroke of the secondary gear and the secondary auxiliary rack corresponds to the moving stroke of the first-level telescopic arm cylinder; through the meshing of the secondary gear and the secondary rack, the secondary telescopic arm cylinder and the first-level telescopic arm cylinder move in the same direction, and the moving stroke of the secondary telescopic arm cylinder relative to the first-level telescopic arm cylinder matches the moving stroke of the first-level telescopic arm cylinder relative to the fixed arm cylinder.

[0010] In combination with the first aspect, in some implementations of the first aspect, the inner surfaces of the side plates on both sides of the fixed arm tube are both installed with primary guide rail grooves; the outer surfaces of the side plates on both sides of the primary telescopic arm tube are both installed with primary guide rails; the primary telescopic arm tube is slidably connected to the primary guide rail groove of the fixed arm tube through the primary guide rail; the length of the primary guide rail groove is equal to the length of the fixed arm tube; the length of the primary guide rail is equal to the length of the primary telescopic arm tube;

[0011] Secondary guide rail grooves are installed on the inner surfaces of the side plates on both sides of the first-level telescopic arm tube, and secondary guide rails are installed on the outer surfaces of the side plates on both sides of the second-level telescopic arm tube; the second-level telescopic arm tube is slidably connected with the secondary guide rail grooves of the first-level telescopic arm tube through the secondary guide rails; the length of the secondary guide rail grooves is equal to the length of the first-level telescopic arm tube, and the length of the secondary guide rails is equal to the length of the second-level telescopic arm tube.

[0012] In conjunction with the first aspect, in some implementations of the first aspect, at least one of the following is satisfied:

[0013] The length of the first-stage rack is equal to 4 / 5 of the length of the first-stage telescopic arm tube and is flush with the bottom of the first-stage telescopic arm tube;

[0014] The length of the secondary rack is equal to 1 / 2 of the length of the secondary telescopic arm tube and is flush with the bottom of the secondary telescopic arm tube;

[0015] The secondary auxiliary rack is equal to 1 / 2 of the length of the fixed arm tube and is flush with the front end of the fixed arm tube.

[0016] In combination with the first aspect, in certain implementations of the first aspect, the single arm of the rack and pinion multi-stage telescopic mechanism 2 further includes a three-stage telescopic arm cylinder; in the retracted state, the three-stage telescopic arm cylinder is accommodated in the two-stage telescopic arm cylinder;

[0017] A three-stage cavity is arranged on the side of the second-stage telescopic arm tube away from the second-stage rack, and a three-stage gear is arranged on the groove wall of the three-stage cavity, and the three-stage gear moves with the second-stage telescopic arm tube; a three-stage auxiliary rack is arranged on the inner wall of the first-stage telescopic arm tube facing the three-stage cavity; a three-stage rack is arranged on the outer wall of the three-stage telescopic arm tube facing the three-stage cavity; the three-stage gear is in the three-stage cavity, meshing with the three-stage auxiliary rack on the outside and meshing with the three-stage rack on the inside; axially, the three-stage cavity together with the three-stage gear is located in the middle position of the second-stage telescopic arm tube; the three-stage rack and the three-stage auxiliary rack correspond to the two sides of the three-stage gear respectively; the three-stage auxiliary rack is arranged close to the opening of the first-stage telescopic arm tube; the three-stage rack is arranged close to the root of the three-stage telescopic arm tube.

[0018] In combination with the first aspect, in certain implementations of the first aspect, when the secondary telescopic arm cylinder is driven, the third-stage gear arranged on the secondary telescopic arm cylinder moves along with the secondary telescopic arm cylinder; the meshing stroke of the third-stage gear and the third-stage auxiliary rack corresponds to the moving stroke of the secondary telescopic arm cylinder; through the meshing of the third-stage gear and the third-stage rack, the third-stage telescopic arm cylinder and the secondary telescopic arm cylinder move in the same direction, and the moving stroke of the third-stage telescopic arm cylinder relative to the secondary telescopic arm cylinder matches the moving stroke of the secondary telescopic arm cylinder relative to the first-stage telescopic arm cylinder.

[0019] In combination with the first aspect, in certain implementations of the first aspect, three-level guide rail grooves are installed on the inner surfaces of the side panels on both sides of the secondary telescopic arm tube, and three-level guide rails are installed on the outer surfaces of the side panels on both sides of the third-level telescopic arm tube; the third-level telescopic arm tube is slidably connected to the third-level guide rail groove of the secondary telescopic arm tube through the third-level guide rail; the length of the third-level guide rail is equal to the length of the third-level telescopic arm tube; the length of the third-level guide rail groove is equal to the length of the secondary telescopic arm tube; the length of the third-level guide rail is equal to the length of the third-level telescopic arm tube.

[0020] In conjunction with the first aspect, in some implementations of the first aspect, at least one of the following is satisfied:

[0021] The length of the third-stage rack is equal to 1 / 2 of the length of the third-stage telescopic arm tube and is flush with the bottom of the third-stage telescopic arm tube;

[0022] The length of the third-stage auxiliary rack is equal to 1 / 2 of the length of the first-stage telescopic arm tube, and the front end of the first-stage telescopic arm tube is flush.

[0023] In combination with the first aspect, in certain implementations of the first aspect, the motor drive unit includes a bidirectional motor, a drive shaft, two couplings and two primary gears; the bidirectional motor is fixed on the arm tube support plate by screws; the drive shaft rotates bidirectionally under the drive of the bidirectional motor; the two couplings are respectively fixed on the two arms of the gear rack multi-stage telescopic mechanism; the two ends of the drive shaft respectively pass through the two couplings to be connected with the corresponding primary gears; the primary gear is located near the opening of the gear rack multi-stage telescopic mechanism.

[0024] In combination with the first aspect, in certain implementations of the first aspect, the rack and pinion multi-stage telescopic mechanism is provided with a front end position limiter and a bottom position limiter on each stage of the telescopic arm tube to prevent scratching or hitting the bottom;

[0025] The gear rack multi-stage telescopic mechanism is also provided with a multi-stage laser ranging sensor for measuring the telescopic position of each stage of the telescopic arm tube.

[0026] Compared with the prior art, the solution provided by the present invention includes at least the following beneficial technical effects:

[0027] The combination of single-source coaxial parallel drive, multi-level hierarchical meshing synchronous transmission and symmetrically nested heavy-load guide rail sliding can realize high-precision coordinated motion of dual telescopic actuators in parallel and synchronously, and large-scale deformation and extension in limited space and heavy-load conditions, solving the problems of asynchronous position, uneven force and weak load-bearing capacity of the narrow wing of the aircraft during deformation under heavy-load conditions.

[0028] The bidirectional motor can realize the synchronous drive of multiple sets of gear rack telescopic mechanisms. The coaxial transmission on both sides can ensure the synchronous drive and operation of the dual multi-stage telescopic mechanisms, reducing the influence of force disputes. The multi-stage arm tube can reduce the deformation of the mechanism when it is used horizontally by means of multi-layer nested heavy-duty guide rails. By installing a laser sensor at the bottom of the fixed arm tube, the movement position of each level of the arm tube can be measured in real time. Because it is installed at the bottom of the arm tube, the influence of the wing surface temperature on the electrical system can be reduced under the premise of ensuring reliable use. The multi-stage linkage layered meshing telescopic actuator can realize the synchronous movement of each level of the telescopic arm tube by setting corresponding motion guide wheels and upper and lower matching racks on each telescopic arm tube. There are position limiters before and after each level of the telescopic arm tube to ensure that the telescopic arm tube will not be scratched or hit the bottom during the movement. The multi-stage telescopic mechanism is a flat design, and at least two sets of gear rack multi-stage telescopic mechanisms can be arranged, which is conducive to application in narrow and long spaces such as aircraft wing surfaces. According to the wing surface size constraints, multiple sets of gear rack multi-stage telescopic mechanisms can be selected for transmission. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 This is a schematic diagram of the retracted state of the double telescopic actuator driven in parallel by a single source.

[0030] Figure 2 This is a schematic diagram of the extended state of the double telescopic actuator driven in parallel by a single source.

[0031] Figure 3 It is a schematic diagram of the extended state of the multi-stage linkage layered meshing telescopic actuator.

[0032] Figure 4 It is a cross-sectional view of the extended state of the multi-stage linkage layered meshing telescopic actuator.

[0033] Figure 5 It is a schematic diagram of the retracted state of the multi-stage linkage layered meshing telescopic actuator.

[0034] Figure 6 It is a cross-sectional view of the retracted state of the multi-stage linkage layered meshing telescopic actuator.

[0035] Explanation of reference numerals: 1-fixed bottom plate; 2-gear rack multi-stage telescopic mechanism; 3-motor drive unit; 4-arm tube support plate; 5-rib plate; 2.1-bidirectional motor; 2.2-drive shaft; 2.3-coupling; 2.4-primary gear; 3.1-fixed arm tube; 3.2-primary telescopic arm tube; 3.3-secondary telescopic arm tube; 3.4-third-stage telescopic arm tube; 3.5-laser distance sensor; 3.6-primary rack; 3. 7-primary guide rail groove; 3.8-primary guide rail; 3.9-secondary guide rail groove; 3.10-third-level auxiliary rack; 3.11-secondary gear; 3.12-front end position limiter; 3.13-bottom position limiter; 3.14-secondary guide rail; 3.15-secondary rack; 3.16-third-level guide rail groove; 3.17-third-level guide rail; 3.18-third-level rack; 3.19-third-level gear; 3.20-secondary auxiliary rack. DETAILED DESCRIPTION

[0036] The present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0037] like Figure 1 As shown, the present invention provides a single-source parallel-driven multi-stage hierarchical meshing double telescopic actuator, comprising a motor drive unit 3, a gear rack multi-stage telescopic mechanism 2, a fixed base plate 1, and an arm tube support plate 4.

[0038] The rack and pinion multi-stage telescopic mechanism 2 is fixed to the fixed base plate 1. Driven by the motor drive unit 3, the telescopic arm tube of the rack and pinion multi-stage telescopic mechanism 2 can be extended or retracted. The rack and pinion multi-stage telescopic mechanism 2 can have a double-arm structure, and the arm tube support plate 4 is fixed between the double arms of the rack and pinion multi-stage telescopic mechanism 2 to ensure the stability of the structure of the rack and pinion multi-stage telescopic mechanism 2. The motor drive unit 3 can be fixed on the arm tube support plate 4.

[0039] like Figure 2As shown, the motor drive unit 3 includes a bidirectional motor 2.1, a drive shaft 2.2, two couplings 2.3 and two primary gears 2.4. The bidirectional motor 2.1 is fixedly mounted on the arm tube support plate 4 by screws. The drive shaft 2.2 rotates under the drive of the bidirectional motor 2.1. The bidirectional motor 2.1 can be driven in both forward and reverse directions, thereby driving the primary gear 2.4 to rotate in any forward and reverse angles through the drive shaft 2.2. The two couplings 2.3 can be fixed on the two arms of the gear rack multi-stage telescopic mechanism 2 respectively. The two ends of the drive shaft 2.2 are connected to the corresponding primary gear 2.4 through the two couplings respectively. The primary gear 2.4 can be located near the opening of the gear rack multi-stage telescopic mechanism 2.

[0040] Combination Figures 3 to 6 The single arm of the rack and pinion multi-stage telescopic mechanism 2 includes a fixed arm tube 3.1, a primary telescopic arm tube 3.2, and a secondary telescopic arm tube 3.3. The fixed arm tube 3.1 is installed on the fixed bottom plate 1 and the arm tube support plate 4 through a rib plate 5. In the retracted state, the primary telescopic arm tube 3.2 is accommodated in the fixed arm tube 3.1, and the secondary telescopic arm tube 3.3 is accommodated in the primary telescopic arm tube 3.2.

[0041] The fixed arm tube 3.1 is provided with a primary cavity on the side facing the primary gear 2.4. The outer wall of the primary telescopic arm tube 3.2 facing the primary cavity may be provided with a primary rack 3.6. The primary gear 2.4 may pass through the primary cavity and mesh with the primary rack 3.6, so that the primary telescopic arm tube 3.2, driven by the primary gear 2.4, telescopes in the fixed arm tube 3.1. The primary rack 3.6 may be installed in the middle of the outer surface of the upper plate of the primary telescopic arm tube 3.2.

[0042] In some embodiments, Figure 3 As shown, the inner surfaces of the side plates on both sides of the fixed arm tube 3.1 are installed with primary guide grooves 3.7. The outer surfaces of the side plates on both sides of the primary telescopic arm tube 3.2 are installed with primary guide rails 3.8. The primary telescopic arm tube 3.2 is slidably connected to the primary guide groove 3.7 of the fixed arm tube 3.1 through the primary guide rails 3.8. The length of the primary guide groove 3.7 can be equal to the length of the fixed arm tube 3.1. The length of the primary guide rail 3.8 can be equal to the length of the primary telescopic arm tube 3.2.

[0043] In some embodiments, to ensure the driving range, the length of the first-stage rack 3.6 is approximately equal to 4 / 5 of the length of the first-stage telescopic arm tube 3.2, and is flush with the bottom of the first-stage telescopic arm tube 3.2.

[0044] The first telescopic arm tube 3.2 is provided with a second cavity on the side away from the first rack 3.6, and a second gear 3.11 can be provided on the groove wall of the second cavity, and the second gear 3.11 can move with the first telescopic arm tube 3.2. The fixed arm tube 3.1 can be provided with a second auxiliary rack 3.20 on the inner wall facing the second cavity. The second telescopic arm tube 3.3 can be provided with a second rack 3.15 on the outer wall facing the second cavity. The second gear 3.11 is in the second cavity, meshing with the second auxiliary rack 3.20 on the outside and meshing with the second rack 3.15 on the inside. In the axial direction, the second cavity together with the second gear 3.11 can be located in the middle of the first telescopic arm tube 3.2; the second rack 3.15 and the second auxiliary rack 3.20 can correspond to the two sides of the second gear 3.11 respectively. The second auxiliary rack 3.20 can be arranged close to the opening of the fixed arm tube 3.1. The secondary rack 3.15 can be arranged close to the root of the secondary telescopic arm tube 3.3.

[0045] When the primary telescopic arm cylinder 3.2 is driven, the secondary gear 3.11 provided on the primary telescopic arm cylinder 3.2 moves with the primary telescopic arm cylinder 3.2. The meshing stroke of the secondary gear 3.11 and the secondary auxiliary rack 3.20 can correspond to the moving stroke of the primary telescopic arm cylinder 3.2. Through the meshing of the secondary gear 3.11 and the secondary rack 3.15, the secondary telescopic arm cylinder 3.3 and the primary telescopic arm cylinder 3.2 move in the same direction, and the moving stroke of the secondary telescopic arm cylinder 3.3 relative to the primary telescopic arm cylinder 3.2 matches the moving stroke of the primary telescopic arm cylinder 3.2 relative to the fixed arm cylinder 3.1.

[0046] In some embodiments, the inner surfaces of the side panels on both sides of the primary telescopic arm tube 3.2 are both installed with secondary guide rail grooves 3.9, and the outer surfaces of the side panels on both sides of the secondary telescopic arm tube 3.3 are both installed with secondary guide rails 3.14. The secondary telescopic arm tube 3.3 is slidably connected to the secondary guide rail groove 3.9 of the primary telescopic arm tube 3.2 through the secondary guide rail 3.14. The length of the secondary guide rail groove 3.9 can be equal to the length of the primary telescopic arm tube 3.2, and the length of the secondary guide rail 3.14 can be equal to the length of the secondary telescopic arm tube 3.3.

[0047] In some embodiments, considering the travel and weight reduction, the length of the secondary rack 3.15 can be approximately equal to 1 / 2 of the length of the secondary telescopic arm tube 3.3, and flush with the bottom of the secondary telescopic arm tube 3.3.

[0048] In some embodiments, considering the stroke and weight reduction, the secondary auxiliary rack 3.20 may be approximately equal to 1 / 2 of the length of the fixed arm tube 3.1 and flush with the front end of the fixed arm tube 3.1.

[0049] In some embodiments, the single arm of the rack and pinion multi-stage telescopic mechanism 2 further includes a third-stage telescopic arm cylinder 3.4. In the retracted state, the third-stage telescopic arm cylinder 3.4 is accommodated in the second-stage telescopic arm cylinder 3.3.

[0050] The secondary telescopic arm cylinder 3.3 is provided with a tertiary cavity on the side away from the secondary rack 3.15, and a tertiary gear 3.19 may be provided on the groove wall of the tertiary cavity, and the tertiary gear 3.19 may move with the secondary telescopic arm cylinder 3.3. The primary telescopic arm cylinder 3.1 may be provided with a tertiary auxiliary rack 3.10 on the inner wall facing the tertiary cavity. The outer wall of the tertiary telescopic arm cylinder 3.3 facing the tertiary cavity may be provided with a tertiary rack 3.18. The tertiary gear 3.19 is in the tertiary cavity, meshing with the tertiary auxiliary rack 3.10 on the outside and meshing with the tertiary rack 3.18 on the inside. In the axial direction, the tertiary cavity together with the tertiary gear 3.19 may be located in the middle of the secondary telescopic arm cylinder 3.3; the tertiary rack 3.18 and the tertiary auxiliary rack 3.10 may correspond to the two sides of the tertiary gear 3.19 respectively. The third-level auxiliary rack 3.10 can be arranged near the opening of the first-level telescopic arm tube 3.1. The third-level rack 3.18 can be arranged near the root of the third-level telescopic arm tube 3.4.

[0051] When the secondary telescopic arm cylinder 3.3 is driven, the third-stage gear 3.19 provided on the secondary telescopic arm cylinder 3.3 moves along with the secondary telescopic arm cylinder 3.3. The meshing stroke of the third-stage gear 3.19 and the third-stage auxiliary rack 3.10 can correspond to the moving stroke of the secondary telescopic arm cylinder 3.3. Through the meshing of the third-stage gear 3.19 and the third-stage rack 3.18, the third-stage telescopic arm cylinder 3.3 and the secondary telescopic arm cylinder 3.3 move in the same direction, and the moving stroke of the third-stage telescopic arm cylinder 3.3 relative to the secondary telescopic arm cylinder 3.3 matches the moving stroke of the secondary telescopic arm cylinder 3.3 relative to the first telescopic arm cylinder 3.1.

[0052] In some embodiments, the inner surfaces of the side panels on both sides of the secondary telescopic arm tube 3.3 are installed with tertiary guide grooves 3.16, and the outer surfaces of the side panels on both sides of the tertiary telescopic arm tube 3.4 are installed with tertiary guide rails 3.17. The tertiary telescopic arm tube 3.4 is slidably connected to the tertiary guide groove 3.16 of the secondary telescopic arm tube 3.3 through the tertiary guide rail. The length of the tertiary guide rail can be equal to the length of the tertiary telescopic arm tube 3.4. The length of the tertiary guide groove 3.16 can be equal to the length of the secondary telescopic arm tube 3.3. The length of the tertiary guide rail 3.17 can be equal to the length of the tertiary telescopic arm tube 3.4.

[0053] In some embodiments, considering the travel and weight reduction, the length of the tertiary rack 3.18 can be approximately equal to 1 / 2 of the length of the tertiary telescopic arm tube 3.4, and flush with the bottom of the tertiary telescopic arm tube 3.4.

[0054] In some embodiments, considering the travel and weight reduction, the length of the third-stage auxiliary rack 3.10 can be approximately equal to 1 / 2 of the length of the first-stage telescopic arm tube 3.2, and the front end of the first-stage telescopic arm tube 3.2 is flush.

[0055] In some embodiments, the first-stage telescopic arm cylinder 3.2, the second-stage telescopic arm cylinder 3.3, and the third-stage telescopic arm cylinder 3.4 may be provided with a front end position limiter 3.12 and a bottom position limiter 3.13 to prevent scratching or hitting the bottom.

[0056] In some embodiments, the single-source parallel-driven multi-stage hierarchical meshing double telescopic actuator also includes a multi-stage laser ranging sensor 3.5. Specifically, it can include a primary laser ranging sensor, a secondary laser ranging sensor, and a tertiary laser ranging sensor, all of which are installed at the bottom of the fixed arm tube 3.1. The primary laser ranging sensor shines a laser on the bottom of the primary telescopic arm tube 3.2 to measure the telescopic position of the primary telescopic arm tube 3.2 in real time. The secondary laser ranging sensor shines a laser on the bottom of the secondary telescopic arm tube 3.3 to measure the telescopic position of the secondary telescopic arm tube 3.3 in real time. The tertiary laser ranging sensor shines a laser on the bottom of the tertiary telescopic arm tube 3.4 to measure the telescopic position of the tertiary telescopic arm tube 3.4 in real time.

[0057] In some embodiments, the wing size constraint means that for a narrow and long wing, the gear rack multi-stage telescopic mechanism 2 can be designed to be flat, and at least two sets of gear rack multi-stage telescopic mechanisms 2 can be arranged. The gear rack multi-stage telescopic mechanism 2 can increase the number of arm tubes according to the telescopic length.

[0058] The synchronous driving principle of the single-source parallel drive multi-stage hierarchical meshing double telescopic actuator:

[0059] (1) The bidirectional motor 2.1 rotates and transmits the motion to the primary gears 2.4 on the left and right sides synchronously through the drive shafts 2.2 and couplings 2.3 on the left and right sides.

[0060] (2) Taking the left side of the rack and pinion multi-stage telescopic mechanism 2 as an example, the left first-stage gear 2.4 transfers the motion to the first-stage rack 3.6 through the meshing motion of the rack and pinion, thereby driving the first-stage telescopic arm tube 3.2 to perform telescopic motion; during the motion, the first-stage guide rail 3.8 always slides in the first-stage guide rail groove 3.7 on the fixed arm tube 3.1, the first-stage laser ranging sensor measures the motion position of the first-stage telescopic arm tube 3.2 in real time, and the front end position limiter 3.12 and the bottom position limiter 3.13 prevent scratching or hitting the bottom.

[0061] (3) Driven by the primary telescopic arm tube 3.2, the secondary gear 3.11 synchronously engages with the secondary auxiliary rack 3.20 and the secondary rack 3.15, and transmits the movement in the same direction and proportional to the movement of the primary telescopic arm tube 3.2 to the secondary rack 3.15, thereby driving the secondary telescopic arm tube 3.3 to perform telescopic movement; during the movement, the secondary guide rail 3.14 always slides in the secondary guide rail groove 3.9 on the primary telescopic arm tube 3.2, the secondary laser ranging sensor measures the movement position of the secondary telescopic arm tube 3.3 in real time, and the front end position limiter 3.12 and the bottom position limiter 3.13 prevent the secondary telescopic arm tube 3.3 from being scratched or hitting the bottom.

[0062] (4) Driven by the secondary telescopic arm tube 3.3, the tertiary gear 3.19 synchronously engages with the tertiary auxiliary rack 3.10 and the tertiary rack 3.18 to transfer the movement in the same direction and proportional to the movement of the secondary telescopic arm tube 3.2 to the tertiary rack 3.15, thereby driving the tertiary telescopic arm tube 3.3 to perform telescopic movement; during the movement, the tertiary guide rail 3.17 always slides in the tertiary guide rail groove 3.16 on the secondary telescopic arm tube 3.3, the tertiary laser ranging sensor measures the movement position of the tertiary telescopic arm tube 3.3 in real time, and the front end position limiter 3.12 and the bottom position limiter 3.13 prevent the tertiary telescopic arm tube 3.3 from being scratched or hitting the bottom.

[0063] (5) The movement principle of the right side of the rack and pinion multi-stage telescopic mechanism 2 refers to (2) to (4), and the left and right sides of the rack and pinion multi-stage telescopic mechanism move synchronously.

[0064] Although the present invention is disclosed as above in the form of a preferred embodiment, it is not intended to limit the present invention. Any person skilled in the art may make possible changes and modifications without departing from the spirit and scope of the present invention. Therefore, the scope of protection of the present invention shall be based on the scope defined by the claims of the present invention.

Claims

1. A single-source parallel-driven multi-stage hierarchical meshing double telescopic actuator, characterized in that: It comprises a fixed base plate (1), a gear rack multi-stage telescopic mechanism (2), a motor drive unit (3), and an arm tube support plate (4); The gear rack multi-stage telescopic mechanism (2) is fixed to a fixed base plate (1); the gear rack multi-stage telescopic mechanism (2) has a double-arm structure, and an arm tube support plate (4) is fixed between the double arms of the gear rack multi-stage telescopic mechanism (2); the motor drive unit (3) is fixed on the arm tube support plate (4); under the drive of the motor drive unit (3), the telescopic arm tube of the gear rack multi-stage telescopic mechanism (2) can be extended or retracted; The single arm of the rack and pinion multi-stage telescopic mechanism (2) comprises a fixed arm tube (3.1), a first-stage telescopic arm tube (3.2), and a second-stage telescopic arm tube (3.3); the fixed arm tube (3.1) is mounted on a fixed base plate (1) and an arm tube support plate (4); in a retracted state, the first-stage telescopic arm tube (3.2) is accommodated in the fixed arm tube (3.1), and the second-stage telescopic arm tube (3.3) is accommodated in the first-stage telescopic arm tube (3.2); The fixed arm tube (3.1) is provided with a primary cavity on a side facing the primary gear (2.4); the outer wall of the primary telescopic arm tube (3.2) facing the primary cavity is provided with a primary rack (3.6); the primary gear (2.4) passes through the primary cavity and meshes with the primary rack (3.6), so that the primary telescopic arm tube (3.2) is driven by the primary gear (2.4) to telescope in the fixed arm tube (3.1); The first-stage rack (3.6) is installed at the middle position of the outer surface of the upper plate of the first-stage telescopic arm tube (3.2); The first telescopic arm cylinder (3.2) is provided with a second cavity on a side away from the first rack (3.6); a second gear (3.11) is provided on the groove wall of the second cavity, and the second gear (3.11) moves with the first telescopic arm cylinder (3.2); the fixed arm cylinder (3.1) is provided with a second auxiliary rack (3.20) on the inner wall facing the second cavity; the second telescopic arm cylinder (3.3) is provided with a second rack (3.15) on the outer wall facing the second cavity; the second gear (3.11) is in the second cavity, The secondary rack (3.20) is meshed with the secondary auxiliary rack (3.20) on the outside and is meshed with the secondary rack (3.15) on the inside. In the axial direction, the secondary cavity together with the secondary gear (3.11) is located in the middle of the primary telescopic arm tube (3.2). The secondary rack (3.15) and the secondary auxiliary rack (3.20) correspond to the two sides of the secondary gear (3.11) respectively. The secondary auxiliary rack (3.20) is arranged close to the opening of the fixed arm tube (3.1). The secondary rack (3.15) is arranged close to the root of the secondary telescopic arm tube (3.3).

2. The single-source parallel-driven multi-stage hierarchical meshing double telescopic actuator according to claim 1 is characterized in that: When the primary telescopic arm cylinder (3.2) is driven, the secondary gear (3.11) arranged on the primary telescopic arm cylinder (3.2) moves along with the primary telescopic arm cylinder (3.2); the meshing stroke of the secondary gear (3.11) and the secondary auxiliary rack (3.20) corresponds to the moving stroke of the primary telescopic arm cylinder (3.2); through the meshing of the secondary gear (3.11) and the secondary rack (3.15), the secondary telescopic arm cylinder (3.3) and the primary telescopic arm cylinder (3.2) move in the same direction, and the moving stroke of the secondary telescopic arm cylinder (3.3) relative to the primary telescopic arm cylinder (3.2) matches the moving stroke of the primary telescopic arm cylinder (3.2) relative to the fixed arm cylinder (3.1).

3. The single-source parallel-driven multi-stage hierarchical meshing double-telescopic actuator according to claim 1 is characterized in that: The inner surfaces of the side plates on both sides of the fixed arm tube (3.1) are both provided with primary guide grooves (3.7); the outer surfaces of the side plates on both sides of the primary telescopic arm tube (3.2) are both provided with primary guide rails (3.8); the primary telescopic arm tube (3.2) is slidably connected with the primary guide groove (3.7) of the fixed arm tube (3.1) through the primary guide rail (3.8); the length of the primary guide groove (3.7) is equal to the length of the fixed arm tube (3.1); the length of the primary guide rail (3.8) is equal to the length of the primary telescopic arm tube (3.2); Secondary guide rail grooves (3.9) are installed on the inner surfaces of the side plates on both sides of the primary telescopic arm tube (3.2), and secondary guide rails (3.14) are installed on the outer surfaces of the side plates on both sides of the secondary telescopic arm tube (3.3); the secondary telescopic arm tube (3.3) is slidably connected to the secondary guide rail grooves (3.9) of the primary telescopic arm tube (3.2) through the secondary guide rails (3.14); the length of the secondary guide rail grooves (3.9) is equal to the length of the primary telescopic arm tube (3.2), and the length of the secondary guide rails (3.14) is equal to the length of the secondary telescopic arm tube (3.3).

4. The single-source parallel-driven multi-stage hierarchical meshing double-telescopic actuator according to claim 1 is characterized in that: At least one of the following is met: The length of the first-stage rack (3.6) is equal to 4 / 5 of the length of the first-stage telescopic arm tube (3.2), and is flush with the bottom of the first-stage telescopic arm tube (3.2); The length of the secondary rack (3.15) is equal to 1 / 2 of the length of the secondary telescopic arm tube (3.3), and is flush with the bottom of the secondary telescopic arm tube (3.3); The secondary auxiliary rack (3.20) is equal to 1 / 2 of the length of the fixed arm tube (3.1) and is flush with the front end of the fixed arm tube (3.1).

5. The single-source parallel-driven multi-stage hierarchical meshing double telescopic actuator according to any one of claims 1 to 4, characterized in that: The single arm of the gear rack multi-stage telescopic mechanism (2) further comprises a three-stage telescopic arm cylinder (3.4); in a retracted state, the three-stage telescopic arm cylinder (3.4) is accommodated in the two-stage telescopic arm cylinder (3.3); The secondary telescopic arm cylinder (3.3) is provided with a third-stage cavity on a side away from the secondary rack (3.15); a third-stage gear (3.19) is provided on the groove wall of the third-stage cavity, and the third-stage gear (3.19) moves with the secondary telescopic arm cylinder (3.3); the first-stage telescopic arm cylinder (3.1) is provided with a third-stage auxiliary rack (3.10) on the inner wall facing the third-stage cavity; the third-stage telescopic arm cylinder (3.3) is provided with a third-stage rack (3.18) on the outer wall facing the third-stage cavity; the third-stage gear (3.19) is inside the third-stage cavity, The third-stage rack (3.10) is meshed with the third-stage auxiliary rack (3.10) on the outside and is meshed with the third-stage rack (3.18) on the inside. In the axial direction, the third-stage cavity together with the third-stage gear (3.19) is located in the middle of the second-stage telescopic arm cylinder (3.3). The third-stage rack (3.18) and the third-stage auxiliary rack (3.10) correspond to the two sides of the third-stage gear (3.19) respectively. The third-stage auxiliary rack (3.10) is arranged close to the opening of the first-stage telescopic arm cylinder (3.1). The third-stage rack (3.18) is arranged close to the root of the third-stage telescopic arm cylinder (3.4).

6. The single-source parallel-driven multi-stage hierarchical meshing double-telescopic actuator according to claim 5 is characterized in that: When the secondary telescopic arm cylinder (3.3) is driven, the third-stage gear (3.19) arranged on the secondary telescopic arm cylinder (3.3) moves along with the secondary telescopic arm cylinder (3.3); the meshing stroke of the third-stage gear (3.19) and the third-stage auxiliary rack (3.10) corresponds to the moving stroke of the secondary telescopic arm cylinder (3.3); through the meshing of the third-stage gear (3.19) and the third-stage rack (3.18), the third-stage telescopic arm cylinder (3.3) and the secondary telescopic arm cylinder (3.3) move in the same direction, and the moving stroke of the third-stage telescopic arm cylinder (3.3) relative to the secondary telescopic arm cylinder (3.3) matches the moving stroke of the secondary telescopic arm cylinder (3.3) relative to the primary telescopic arm cylinder (3.1).

7. The single-source parallel-driven multi-stage hierarchical meshing double-telescopic actuator according to claim 5 is characterized in that: The inner surfaces of the side plates on both sides of the secondary telescopic arm cylinder (3.3) are both provided with three-level guide rail grooves (3.16), and the outer surfaces of the side plates on both sides of the third-level telescopic arm cylinder (3.4) are both provided with three-level guide rails (3.17); the third-level telescopic arm cylinder (3.4) is slidably connected with the third-level guide rail grooves (3.16) of the secondary telescopic arm cylinder (3.3) through the three-level guide rails; the length of the three-level guide rails is equal to the length of the third-level telescopic arm cylinder (3.4); the length of the three-level guide rail grooves (3.16) is equal to the length of the secondary telescopic arm cylinder (3.3); and the length of the three-level guide rails (3.17) is equal to the length of the three-level telescopic arm cylinder (3.4).

8. The single-source parallel-driven multi-stage hierarchical meshing double-telescopic actuator according to claim 5 is characterized in that: At least one of the following is met: The length of the third-stage rack (3.18) is equal to 1 / 2 of the length of the third-stage telescopic arm tube (3.4), and is flush with the bottom of the third-stage telescopic arm tube (3.4); The length of the third-stage auxiliary rack (3.10) is equal to 1 / 2 of the length of the first-stage telescopic arm tube (3.2), and the front end of the first-stage telescopic arm tube (3.2) is flush.

9. The single-source parallel-driven multi-stage hierarchical meshing double-telescopic actuator according to claim 1 is characterized in that: The motor drive unit (3) comprises a bidirectional motor (2.1), a drive shaft (2.2), two couplings (2.3) and two primary gears (2.4); the bidirectional motor (2.1) is fixedly mounted on an arm tube support plate (4) by means of screws; the drive shaft (2.2) rotates bidirectionally under the drive of the bidirectional motor (2.1); the two couplings (2.3) are respectively fixed to the two arms of the gear rack multi-stage telescopic mechanism (2); the two ends of the drive shaft (2.2) respectively pass through the two couplings and are connected to the corresponding primary gears (2.4); the primary gear (2.4) is located near an opening of the gear rack multi-stage telescopic mechanism (2).

10. The single-source parallel-driven multi-stage hierarchical meshing double-telescopic actuator according to claim 1, characterized in that: The gear rack multi-stage telescopic mechanism (2) is provided with a front end position limiter (3.12) and a bottom position limiter (3.13) on each stage of the telescopic arm tube to prevent scratching or hitting the bottom; The gear rack multi-stage telescopic mechanism (2) is also provided with a multi-stage laser distance measuring sensor (3.5) for measuring the telescopic position of each stage of the telescopic arm tube.

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