A single-source parallel drive multi-stage layered engagement double telescopic actuator

Abstract

The present invention discloses a single-source parallel-driven multi-stage hierarchical meshing double telescopic actuator, which adopts a combination of single-source coaxial parallel drive, multi-stage hierarchical meshing synchronous transmission, and symmetrically nested heavy-load guide rail sliding. It can realize the parallel synchronous high-precision coordinated movement of the double telescopic actuators and large-scale deformation and extension under limited space and heavy-load conditions, solving the problems of position asynchrony, uneven force, and weak load-bearing capacity of the narrow wing surface of the aircraft during the deformation process under heavy-load conditions. The synchronous drive of multiple sets of gear rack telescopic mechanisms can be achieved by a bidirectional motor, and the coaxial transmission on both sides can ensure the synchronous drive and synchronous operation of the dual multi-stage telescopic mechanisms, reducing the influence of force disputes. The multi-stage arm tube can reduce the deformation amount of the mechanism when it is used horizontally by means of multi-layer nested heavy-load guide rails. The multi-stage linkage hierarchical meshing telescopic actuator realizes the synchronous movement of each stage of the telescopic arm tube by arranging corresponding motion guide wheels and upper and lower matching racks on each telescopic arm tube.

Description

Technical Field

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

[0002] A telescopic mechanism changes its length by extending and retracting, typically driven by hydraulics or motors. It boasts compact structure, small footprint, and long-range operation. It is widely used in applications such as aircraft wing morphing and crane arms that require adaptability to varying operating distances. Currently, multi-stage telescopic hydraulic cylinders, which achieve this motion, suffer from low power density, while multi-linked screws, which achieve this, suffer from poor load-bearing capacity. Summary of the Invention

[0003] In order to solve the problem of controlling heavy-load, large-stroke, 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 rack and pinion 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 base plate; the rack and pinion multi-stage telescopic mechanism has a double-arm structure, and the arm tube support plate is fixed between the two 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 rack and pinion multi-stage telescopic mechanism includes a fixed arm tube, a first-stage telescopic arm tube, and a second-stage telescopic arm tube; the fixed arm tube is mounted on a fixed base plate and an arm tube support plate; in the retracted state, the first-stage telescopic arm tube is accommodated in the fixed arm tube, and the second-stage telescopic arm tube is accommodated in the first-stage telescopic arm tube;

[0007] The fixed arm tube is provided with a primary cavity on the side facing the primary gear; a primary rack is provided on the outer wall of the first-stage telescopic arm tube facing the primary cavity; the primary gear passes through the primary cavity and meshes with the primary rack, so that the first-stage telescopic arm tube is driven by the primary gear to telescope within the fixed arm tube; the primary rack is installed in the middle of the outer surface of the upper plate of the first-stage telescopic arm tube;

[0008] The first-level telescopic arm tube is provided with a secondary cavity on the side 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; the fixed arm tube is provided with a secondary auxiliary rack on the inner wall facing the secondary cavity; the second-level telescopic arm tube is provided with a secondary rack on the outer wall facing the second-level cavity; the second-level gear is in the second-level cavity, meshing with the second-level auxiliary rack on the outside and meshing with the second-level rack on the inside; in the axial direction, the second-level cavity together with the second-level gear is located in the middle position of the first-level telescopic arm tube; the second-level rack and the second-level auxiliary rack correspond to the two sides of the second-level gear respectively; the second-level auxiliary rack is arranged near the opening of the fixed arm tube; the second-level rack is arranged near 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 tube is driven, the secondary gear provided on the first-level telescopic arm tube moves along with the first-level telescopic arm tube; the meshing stroke of the secondary gear and the secondary auxiliary rack corresponds to the moving stroke of the first-level telescopic arm tube; through the meshing of the secondary gear and the secondary rack, the secondary telescopic arm tube and the first-level telescopic arm tube move in the same direction, and the moving stroke of the secondary telescopic arm tube relative to the first-level telescopic arm tube matches the moving stroke of the first-level telescopic arm tube relative to the fixed arm tube.

[0010] In conjunction with the first aspect, in certain implementations of the first aspect, primary guide rail grooves are installed on the inner surfaces of the side panels on both sides of the fixed arm tube; primary guide rails are installed on the outer surfaces of the side panels on both sides of the first-level telescopic arm tube; the first-level telescopic arm tube is slidably connected to the primary guide rail grooves of the fixed arm tube via the primary guide rails; the length of the primary guide rail grooves is equal to the length of the fixed arm tube; and the length of the primary guide rails is equal to the length of the first-level telescopic arm tube.

[0011] Secondary guide rail grooves are installed on the inner surfaces of the side panels on both sides of the first-level telescopic arm tube, and secondary guide rails are installed on the outer surfaces of the side panels on both sides of the second-level telescopic arm tube; the second-level telescopic arm tube is slidingly connected to 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 certain 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] The secondary telescopic arm tube is provided with a three-stage cavity on the side away from the secondary rack, and a three-stage gear is provided on the groove wall of the three-stage cavity, and the three-stage gear moves with the secondary telescopic arm tube; the first-stage telescopic arm tube is provided with a three-stage auxiliary rack on the inner wall facing the three-stage cavity; the third-stage telescopic arm tube is provided with a three-stage rack on the outer wall 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; in the axial direction, 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 near the opening of the first-stage telescopic arm tube; the three-stage rack is arranged near 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 tube is driven, the third-stage gear provided on the secondary telescopic arm tube moves along with the secondary telescopic arm tube; the meshing stroke of the third-stage gear and the third-stage auxiliary rack corresponds to the moving stroke of the secondary telescopic arm tube; through the meshing of the third-stage gear and the third-stage rack, the third-stage telescopic arm tube and the secondary telescopic arm tube move in the same direction, and the moving stroke of the third-stage telescopic arm tube relative to the secondary telescopic arm tube matches the moving stroke of the secondary telescopic arm tube relative to the first-stage telescopic arm tube.

[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 slidingly connected to the third-level guide rail groove of the second-level 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 second-level 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 certain 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-level auxiliary rack is equal to 1 / 2 of the length of the first-level telescopic arm tube, and the front end of the first-level 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 first-stage gears; the bidirectional motor is fixed to 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 to the two arms of the gear rack multi-stage telescopic mechanism; the two ends of the drive shaft pass through the two couplings and are connected to the corresponding first-stage gears; the first-stage 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 rack and pinion 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.

[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 achieve high-precision coordinated motion of dual telescopic actuators in parallel and synchronously, as well as large-scale deformation and extension in confined space and heavy-load conditions, solving the problems of asynchronous position, uneven force, and weak load-bearing capacity of the narrow wing surfaces of aircraft during deformation under heavy-load conditions.

[0028] Bidirectional motors enable synchronous drive of multiple rack-and-pinion telescopic mechanisms. Coaxial transmission on both sides ensures synchronized operation of the dual-stage telescopic mechanisms, minimizing the effects of force distortion. The multi-stage telescopic mechanism utilizes multiple layers of nested, heavy-duty guide rails to minimize deformation during horizontal operation. Laser sensors installed at the base of the fixed arm provide real-time position measurement of each stage. This location minimizes the impact of wing surface temperature on electrical systems while ensuring reliable operation. The multi-stage, linked, layered meshing telescopic actuator utilizes corresponding guide wheels and upper and lower mating racks on each telescopic arm, ensuring synchronized movement of each stage. Position limiters at the front and rear of each stage prevent the arm from sliding out of position or hitting the bottom during movement. The multi-stage telescopic mechanism features a flat design, allowing for the deployment of at least two rack-and-pinion mechanisms, making it suitable for applications in narrow and long spaces, such as aircraft wings. Depending on wing size constraints, multiple rack-and-pinion mechanisms can be used for transmission. BRIEF DESCRIPTION OF THE DRAWINGS

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

[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 This is a schematic diagram of the extended state of the multi-stage linkage layered meshing telescopic actuator.

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

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

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

[0035] Explanation of reference numerals: 1 - fixed base plate; 2 - rack and pinion 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 - tertiary telescopic arm tube; 3.5 - laser ranging 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-stage 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-stage guide rail groove; 3.17-third-stage guide rail; 3.18-third-stage rack; 3.19-third-stage gear; 3.20-secondary auxiliary rack. DETAILED DESCRIPTION

[0036] The present invention will be described in further 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 drive multi-stage hierarchical meshing double telescopic actuator, including 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 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 dual-arm structure, with the arm support plate 4 fixed between the two arms to ensure the structural stability of the rack-and-pinion multi-stage telescopic mechanism 2. The motor drive unit 3 can be fixed to the arm 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 fixed to 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 or reverse angle through the drive shaft 2.2. The two couplings 2.3 can be fixed respectively on the two arms of the rack and pinion multi-stage telescopic mechanism 2. The two ends of the drive shaft 2.2 pass through the two couplings and are connected to the corresponding primary gear 2.4. The primary gear 2.4 can be located near the opening of the rack and pinion multi-stage telescopic mechanism 2.

[0040] Combine Figures 3 to 6 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 the fixed base plate 1 and the arm tube support plate 4 via ribs 5. In the retracted state, the first-stage telescopic arm tube 3.2 is housed within the fixed arm tube 3.1, and the second-stage telescopic arm tube 3.3 is housed within the first-stage 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. A primary rack 3.6 can be provided on the outer wall of the primary telescopic arm tube 3.2 facing the primary cavity. The primary gear 2.4 can pass through the primary cavity and mesh with the primary rack 3.6, allowing the primary telescopic arm tube 3.2 to telescope within the fixed arm tube 3.1 under the drive of the primary gear 2.4. The primary rack 3.6 can be mounted in the middle of the outer surface of the upper plate of the primary telescopic arm tube 3.2.

[0042] In some embodiments, as Figure 3 As shown, primary guide rail grooves 3.7 are installed on the inner surfaces of the side panels on both sides of the fixed arm tube 3.1. Primary guide rails 3.8 are installed on the outer surfaces of the side panels on both sides of the primary telescopic arm tube 3.2. The primary telescopic arm tube 3.2 is slidably connected to the primary guide rail grooves 3.7 of the fixed arm tube 3.1 via the primary guide rails 3.8. The length of the primary guide rail grooves 3.7 can be equal to the length of the fixed arm tube 3.1. The length of the primary guide rails 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 primary telescopic arm tube 3.2 has a secondary cavity on the side facing away from the primary rack 3.6. A secondary gear 3.11 can be mounted on the wall of this secondary cavity, allowing it to move with the primary telescopic arm tube 3.2. The fixed arm tube 3.1 can have a secondary auxiliary rack 3.20 mounted on its inner wall facing the secondary cavity. The secondary telescopic arm tube 3.3 can have a secondary rack 3.15 mounted on its outer wall facing the secondary cavity. Within this cavity, the secondary gear 3.11 meshes with the secondary auxiliary rack 3.20 on the outside and with the secondary rack 3.15 on the inside. Axially, the secondary cavity and the secondary gear 3.11 can be located in the middle of the primary telescopic arm tube 3.2. The secondary rack 3.15 and the secondary auxiliary rack 3.20 can correspond to either side of the secondary gear 3.11. The secondary auxiliary rack 3.20 can be positioned near 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 boom 3.2 is driven, the secondary gear 3.11 mounted on it moves with it. The meshing stroke of the secondary gear 3.11 and the secondary auxiliary rack 3.20 corresponds to the travel of the primary telescopic boom 3.2. The meshing of the secondary gear 3.11 and the secondary rack 3.15 causes the secondary telescopic boom 3.3 to move in the same direction as the primary telescopic boom 3.2, and the travel of the secondary telescopic boom 3.3 relative to the primary telescopic boom 3.2 matches the travel of the primary telescopic boom 3.2 relative to the fixed boom 3.1.

[0046] In some embodiments, secondary guide rail grooves 3.9 are installed on the inner surfaces of the side panels 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 panels 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 via the secondary guide rails 3.14. The length of the secondary guide rail grooves 3.9 can be equal to the length of the primary telescopic arm tube 3.2, and the length of the secondary guide rails 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 travel 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 tube 3.3 is provided with a tertiary cavity on the side facing away from the secondary rack 3.15. A tertiary gear 3.19 can be mounted on the groove wall of the tertiary cavity, and the tertiary gear 3.19 can move with the secondary telescopic arm tube 3.3. The primary telescopic arm tube 3.1 can be provided with a tertiary auxiliary rack 3.10 on the inner wall facing the tertiary cavity. The tertiary rack 3.18 can be mounted on the outer wall of the tertiary telescopic arm tube 3.3 facing the tertiary cavity. The tertiary gear 3.19 meshes with the tertiary auxiliary rack 3.10 on the outer side of the tertiary cavity and with the tertiary rack 3.18 on the inner side. Axially, the tertiary cavity and the tertiary gear 3.19 can be located in the middle of the secondary telescopic arm tube 3.3; the tertiary rack 3.18 and the tertiary auxiliary rack 3.10 can correspond to either side of the tertiary gear 3.19, respectively. The third-stage auxiliary rack 3.10 can be arranged near the opening of the first-stage telescopic arm tube 3.1. The third-stage rack 3.18 can be arranged near the root of the third-stage telescopic arm tube 3.4.

[0051] When the secondary telescopic boom 3.3 is driven, the tertiary gear 3.19 mounted on the secondary telescopic boom 3.3 moves with it. The meshing stroke of the tertiary gear 3.19 and the tertiary auxiliary rack 3.10 corresponds to the travel of the secondary telescopic boom 3.3. The meshing of the tertiary gear 3.19 and the tertiary rack 3.18 causes the tertiary telescopic boom 3.3 and the secondary telescopic boom 3.3 to move in the same direction. The travel of the tertiary telescopic boom 3.3 relative to the secondary telescopic boom 3.3 matches the travel of the secondary telescopic boom 3.3 relative to the primary telescopic boom 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 each mounted with a tertiary guide rail groove 3.16, and the outer surfaces of the side panels on both sides of the tertiary telescopic arm tube 3.4 are each mounted with a tertiary guide rail 3.17. The tertiary telescopic arm tube 3.4 is slidably connected to the tertiary guide rail groove 3.16 of the secondary telescopic arm tube 3.3 via the tertiary guide rail. The tertiary guide rail can be equal in length to the tertiary guide rail groove 3.16 of the tertiary telescopic arm tube 3.3. The tertiary guide rail 3.17 can be equal in length to 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 all be provided with a front end position limiter 3.12 and a bottom position limiter 3.13 to prevent them from being scratched or hitting the bottom.

[0056] In some embodiments, the single-source parallel-driven multi-stage layered meshing dual-telescopic actuator further includes a multi-stage laser ranging sensor 3.5. Specifically, this may include a primary laser ranging sensor, a secondary laser ranging sensor, and a tertiary laser ranging sensor, all mounted at the bottom of the fixed arm tube 3.1. The primary laser ranging sensor projects a laser beam onto the bottom of the primary telescopic arm tube 3.2, measuring the telescopic position of the primary telescopic arm tube 3.2 in real time. The secondary laser ranging sensor projects a laser beam onto the bottom of the secondary telescopic arm tube 3.3, measuring the telescopic position of the secondary telescopic arm tube 3.3 in real time. The tertiary laser ranging sensor projects a laser beam onto the bottom of the tertiary telescopic arm tube 3.4, measuring 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 narrow wings, the rack and pinion multi-stage telescopic mechanism 2 can be designed flat, and at least two sets of rack and pinion multi-stage telescopic mechanisms 2 can be arranged. The rack and pinion 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 engagement double telescopic actuator:

[0059] (1) The bidirectional motor 2.1 rotates and transmits the motion to the first-stage 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 transmits 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 the first-stage telescopic arm tube 3.2 from being scratched or hitting the bottom.

[0061] (3) Driven by the primary telescopic arm tube 3.2, the secondary gear 3.11 engages with the secondary auxiliary rack 3.20 and the secondary rack 3.15 in a gear-rack meshing motion, and transmits the motion in the same direction and proportional to the motion 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 motion; during the motion, 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 motion 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 engages with the tertiary auxiliary rack 3.10 and the tertiary rack 3.18 in a gear-rack meshing motion, and transmits the motion in the same direction and proportional to the motion 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 motion; during the motion, 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 motion 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 above in terms of preferred embodiments, 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 drive multi-stage layered engagement 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 rack and pinion multi-stage telescopic mechanism (2) is fixed to a fixed base plate (1); the rack and pinion 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 rack and pinion multi-stage telescopic mechanism (2); a 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 rack and pinion 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 first-level cavity on a side facing the first-level gear (2.4); the outer wall of the first-level telescopic arm tube (3.2) facing the first-level cavity is provided with a first-level rack (3.6); the first-level gear (2.4) passes through the first-level cavity and meshes with the first-level rack (3.6), so that the first-level telescopic arm tube (3.2) is driven by the first-level gear (2.4) to telescope within 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 the side facing away from the first rack (3.6), and a second gear (3.11) is provided on the groove wall of the second cavity. The second gear (3.11) moves along 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 and the secondary gear (3.11) are 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 near the opening of the fixed arm tube (3.1). The secondary rack (3.15) is arranged near the root of the secondary telescopic arm tube (3.3).

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

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

4. The single-source parallel drive multi-stage hierarchical engagement double telescopic actuator according to claim 1, characterized in that: Meet at least one of the following: 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 drive multi-stage hierarchical engagement double telescopic actuator according to any one of claims 1 to 4, characterized in that: The single arm of the rack and pinion 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 the side facing 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 following the secondary telescopic arm cylinder (3.3); the first-stage telescopic arm cylinder (3.2) 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 (3.4) 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 with the third-stage rack (3.18) on the inside. In the axial direction, the third-stage cavity and the third-stage gear (3.19) are located in the middle of the second-stage telescopic arm tube (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 near the opening of the first-stage telescopic arm tube (3.2). The third-stage rack (3.18) is arranged near the root of the third-stage telescopic arm tube (3.4).

6. The single-source parallel drive multi-stage hierarchical engagement double telescopic actuator according to claim 5, characterized in that: 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) corresponds to the movement 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 (3.4) and the secondary telescopic arm cylinder (3.3) move in the same direction, and the movement stroke of the third-stage telescopic arm cylinder (3.4) relative to the secondary telescopic arm cylinder (3.3) matches the movement stroke of the secondary telescopic arm cylinder (3.3) relative to the first telescopic arm cylinder (3.2).

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

8. The single-source parallel drive multi-stage hierarchical engagement double telescopic actuator according to claim 5, characterized in that: Meet at least one of the following: 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 half 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 drive multi-stage hierarchical engagement double telescopic actuator according to claim 1, 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 first-stage 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 bidirectionally under the drive of the bidirectional motor (2.1); the two couplings (2.3) are respectively fixed to the two arms of the rack and pinion multi-stage telescopic mechanism (2); the two ends of the drive shaft (2.2) pass through the two couplings and are connected to the corresponding first-stage gears (2.4); the first-stage gears (2.4) are located near the opening of the rack and pinion multi-stage telescopic mechanism (2).

10. The single-source parallel drive multi-stage layered engagement double telescopic actuator according to claim 1, characterized in that: The rack and pinion 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 rack and pinion 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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