Locking structure suitable for linear transmission mechanism and locking clamping stagnation fault processing method

Abstract

The invention relates to a locking structure suitable for a linear transmission mechanism and a locking clamping stagnation fault processing method, and belongs to the field of aerospace equipment. Comprising a fixed part, a movable part, a locking device and a linear transmission device, wherein the fixing piece is of a horizontally-placed box body structure; the moving part is arranged in an inner cavity of the fixed part; the linear transmission device is fixed to the side wall of the fixed part, and the output end of the linear transmission device is connected with the movable part. The moving part is driven by the linear transmission device to move in the inner cavity of the fixed part in the horizontal direction; the locking device is fixedly arranged on the side wall of the fixed part, and the position of the locking device corresponds to that of the movable part, so that the position of the movable part relative to the fixed part is locked; the clamping stagnation fault of the linear transmission mechanism in the locking process is effectively solved, the flight reliability of an aircraft is improved, and the high-reliability and high-precision use requirements of aerospace equipment are met.

Description

Technical Field

[0001] The invention belongs to the field of aerospace equipment and relates to a locking structure suitable for a linear transmission mechanism and a locking jam fault processing method. Background Art

[0002] In the current cutting-edge research of aircraft, improving the cruising range and maneuverability of aircraft by changing the shape of the aircraft's wing surface is an important research hotspot. After the aircraft changes the shape of the wing surface, it is particularly important to stably and reliably maintain the changed state of the wing surface. The whole process can be summarized as follows: when the shape of the aircraft wing surface needs to be changed, the linear transmission mechanism drives the telescopic wing to move to the position to be locked, and then the locking device starts to work. The locking device pushes the extension length of the locking pin in the locking hole, and finally achieves the position locking of the aircraft wing surface.

[0003] When an aircraft is flying at high speed, vibration, impact, and high temperature will cause deformation of the local structure of the aircraft wing surface. The change in the shape of the local structure will easily cause the locking device to get stuck. If the locking device fails to lock in place properly, the aircraft wing surface will be in a free state, resulting in serious consequences such as loss of control of the aircraft attitude. Therefore, optimizing the design of the locking device, accurately detecting the stuck fault of the locking device, and taking effective measures to solve the stuck fault are of great significance to the stable flight of the aircraft.

[0004] According to the investigation, the implementation methods of the locking device of the linear transmission mechanism are mainly divided into two categories: active locking and passive locking:

[0005] (1) Passive locking method, represented by Chinese patent CN116119000A, which is named as a wing surface locking mechanism, consists of a wing surface fixed end, a wing surface folding end, a connecting component, a spring lock pin component, etc. Before installation, the elastic element is compressed to store energy, and the elastic energy is passively released to push the lock pin into the lock pin hole. Although the outer wall of the lock pin hole in this invention is provided with a guide cone surface, it cannot completely eliminate the risk of the lock pin being stuck, and the passive solution cannot actively control the displacement of the lock pin, and does not have the ability to solve the lock pin stuck fault in the flight state.

[0006] (2) Active locking method, represented by Chinese patent CN221251786U, entitled a drone wing folding and locking mechanism, including a wing fixing member, a wing rotation shaft and a conical pin inserted into the middle of the wing fixing member, the wing fixing member is connected to the wing rotation beam through the wing rotation shaft and the conical pin, and the wing rotation beam is connected to the wing surface and the rotating electric push rod. The locking surface assembly in this invention is a conical pin and a conical pin hole. When the conical pin and the conical pin hole are in an eccentric state, a jamming fault occurs during the locking process. At this time, if the thrust of the rotating electric push rod is increased to force the conical pin to move, the jamming fault can only be solved within a certain eccentric range. This treatment method is prone to stalling the motor and causing equipment damage, and the conical docking structure is very likely to be locally damaged under eccentric extrusion conditions and produce debris and excess materials, further exacerbating the jamming degree.

[0007] After investigation, no literature related to the method of handling stuck faults in the aircraft wing locking process has been found. The following studies on the method of handling stuck faults have been found:

[0008] (1) For example, Chinese patent CN110857029A is entitled as a hybrid vehicle clutch solenoid valve stuck processing method and system, and vehicle. The specific method is to periodically flush the solenoid valve with a certain preset current. If the stuck fault disappears after flushing, the vehicle resumes normal operation. Otherwise, a solenoid valve fault signal is generated. Next, according to the current operating mode of the vehicle, a corresponding preset algorithm is selected to control the vehicle to continue running to protect the relevant components of the vehicle. The method described in this patent does not introduce in detail the underlying logic of how to detect the stuck solenoid valve. The solution to the stuck is to switch different operating modes to protect the equipment, but it does not fundamentally solve the stuck fault problem.

[0009] (2) For example, Chinese patent CN114458158B is entitled as a vibration drilling and unstuck method. The specific method is to install an vibration component on the drill bit, detect the "support pressure" of the drill string through the control module, and then select the adaptive vibration mode to knock the well wall through vibration to loosen the mud and sand at the drill bit position, and finally achieve the purpose of unstuck the drill bit. The method described in this patent is to solve the jamming problem by "destroying" the jammed position structure through external energy. The system structure is complex, the control accuracy is not high, the processing time is long, it is destructive to the equipment and environment, and the applicable environment is very limited. Summary of the invention

[0010] The technical problem solved by the present invention is: to overcome the shortcomings of the prior art, to propose a locking structure suitable for a linear transmission mechanism and a locking jam fault handling method, to effectively solve the jam fault of the linear transmission mechanism during the locking process, to improve the flight reliability of the aircraft, and to meet the high reliability and high precision use requirements of aerospace equipment.

[0011] The solution of the present invention is:

[0012] A locking structure applicable to a linear transmission mechanism, comprising a fixed part, a moving part, a locking device and a linear transmission device;

[0013] Among them, the fixed part is a horizontally placed box structure; the moving part is arranged in the inner cavity of the fixed part; the linear transmission device is fixed at the side wall of the fixed part, and the output end of the linear transmission device is connected to the moving part; the moving part is driven to move horizontally in the inner cavity of the fixed part by the linear transmission device; the locking device is fixed at the side wall of the fixed part, and the position of the locking device corresponds to the moving part, so as to lock the position of the moving part relative to the fixed part.

[0014] In the above-mentioned locking structure applicable to the linear transmission mechanism, the fixing member includes a fixing member housing, a slide rail, a fixing flange and a locking flange;

[0015] Among them, the fixing part shell is a horizontally placed rectangular shell structure; the slide rails are arranged on the two inner wall surfaces of the fixing part shell; the middle surface of the slide rails is provided with slide rail holes; the fixing flange is arranged on the front end surface of the fixing part shell to realize the fixed installation of the linear transmission device; the locking flange is arranged on the outer wall surface of the fixing part shell to realize the installation of the locking device; and a transition hole is arranged in the middle of the locking flange.

[0016] In the above-mentioned locking structure applicable to the linear transmission mechanism, the moving member includes a moving body, a slider and a moving flange;

[0017] Among them, the moving body is a horizontally arranged rectangular structure, and a cone is arranged at the front end of the moving body; the slider is arranged on the two side walls of the moving body; the middle surface of the slider is provided with a slider hole; the moving flange is arranged on the rear end surface of the moving body for installing a linear transmission device; the fixed part and the moving part are connected by a slide rail and a slider, so that the moving part can slide horizontally inside the fixed part.

[0018] In the above-mentioned locking structure suitable for linear transmission mechanism, the cross-sections of the three holes, namely the transition hole, the slide rail hole and the slider hole, are in an overlapping state; a plurality of convex semicircles are evenly arranged on the four sides of the transition hole; the size of the convex semicircle is a semicircle with a diameter of 1.5 mm, and the material made thereof is a graphene / copper-based composite material.

[0019] In the above-mentioned locking structure suitable for linear transmission mechanism, the locking device includes an electric cylinder, a mounting flange, a telescopic rod and a locking pin; the position of the locking device is fixed by the mounting flange; the locking pin is connected to the telescopic rod; the electric cylinder provides power energy to push and pull the telescopic rod for translational movement; the telescopic rod drives the locking pin to extend and retract in the locking hole to realize the locking function of the locking device.

[0020] In the above-mentioned locking structure suitable for the linear transmission mechanism, the linear transmission device includes an electric cylinder, a fixed flange, a telescopic rod and a movable flange; the mounting flange realizes the position fixation of the linear transmission device; the movable flange is fixed on the telescopic rod to realize the fixed connection with the moving part; the electric cylinder provides power energy, and pushes and pulls the telescopic rod to drive the movable flange to translate.

[0021] In the above-mentioned locking structure suitable for the linear transmission mechanism, the locking device is fixed to the locking flange of the fixed part by 4 screws; the linear transmission device connects the fixed flange with the fixed flange of the fixed part by 4 screws; the linear transmission device connects the movable flange with the movable flange of the movable part by 4 screws; the linear transmission device drives the telescopic movement of the movable flange by controlling the telescopic rod, thereby realizing the telescopic movement of the movable part driven by the movable flange inside the fixed part.

[0022] The method for handling a stuck fault in the locking process of the locking structure applicable to the linear transmission mechanism includes:

[0023] S1, start the startup program;

[0024] S2, the linear transmission device drives the moving part 2 to push the moving part to the position to be locked;

[0025] S3, the locking device executes the locking instruction and drives the locking pin to pass through the locking hole;

[0026] S4, recording the movement time T and movement travel L of the locking device at a fixed sampling frequency;

[0027] S5, setting the running time required for the locking device to achieve the extension amount L0 as T0; judging the running time T of the locking device to determine whether T≥T0 is satisfied; if the result is yes, executing step S3; if the result is no, executing step S6;

[0028] S6, compare the movement stroke L and the extension amount L0 of the locking pin to determine whether L≥L0 is satisfied; if the result is no, execute step S7; if the result is yes, execute step S8;

[0029] S7, process the stuck fault, and after the process is completed, repeat step S7;

[0030] S8. The program ends.

[0031] In the above locking process stuck fault processing method, in S7, the specific process of processing the stuck fault is:

[0032] S71, recording the working current of the locking device as I1 at a fixed sampling frequency;

[0033] S72, judging whether the working state of the locking device is locked normally or locked and stuck; and outputting the judgment result of the working state of the locking device; when the judgment result is locked and stuck, executing step S76; when the judgment result is locked normally, executing step S73;

[0034] S73, the locking device continues to execute the locking instruction;

[0035] S74, program operation ends;

[0036] S75, controlling the linear transmission device to drive the moving part to increase the extension amount by △L1;

[0037] S76, judging whether the working state of the locking device is normal locking or locked stuck, if the output result is normal locking, executing step S73; if the output result is locked stuck, executing step S73;

[0038] S77, determine whether the current of the locking device satisfies I>I1; if the output result is no, repeat step S75; if the output result is yes, execute step S78;

[0039] S78, controlling the linear transmission device to drive the moving part to reduce the extension amount by △L1;

[0040] S79, judging whether the working state of the locking device is normal locking or stuck locking. If the output result is normal locking, executing step 73; if the output judgment result is stuck locking, repeating step S78.

[0041] In the above-mentioned method for handling the stuck fault during the locking process, in S72, the specific process of determining whether the working state of the locking device is normal locking or stuck locking is as follows:

[0042] S721, recording the working current of the locking device as I at a fixed sampling frequency;

[0043] S722, determine whether I is greater than I0, and output the determination result; if the output result is no, execute step 723; if the output result is yes, execute step S724;

[0044] S723, output the result "No", and execute step S725;

[0045] S724: Output result “yes”, and execute step S725;

[0046] S725, the program runs to the end.

[0047] The beneficial effects of the present invention compared with the prior art are:

[0048] (1) The present invention provides a locking device suitable for a linear transmission mechanism, wherein the shape and size of the cross section of the locking pin of the locking device are reduced by 0.96 to 0.99 relative to the locking hole in the same proportion, and convex circles made of a graphene / copper-based composite material are evenly arranged on the transition surface of the locking hole, which not only improves the friction force of the latch during the locking process, but also converts the debris "excess" that falls off due to the collision and extrusion between the locking pin and the transition surface of the locking hole into a self-lubricating "lubricant", which helps to alleviate the degree of sticking of the locking device;

[0049] (2) The present invention uses a jamming fault processing module to adaptively eliminate the jamming gap between the locking pin and the locking hole, and gradually and iteratively shortens the eccentric distance between the locking pin and the locking hole, thereby effectively solving the jamming fault that is very likely to occur in the locking process of the linear transmission mechanism;

[0050] (3) The present invention can adaptively adjust the jamming clearance between the locking pin and the locking hole, thereby avoiding damage to the locking structure and jamming of the locking device components caused by jamming failure, and effectively protecting the product equipment;

[0051] (4) The present invention can determine the operating status of the mechanism through simple criteria, which simplifies the detection and analysis process and saves system operation time. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] Figure 1 It is an overall schematic diagram of the locking structure of the present invention;

[0053] Figure 2 This is a schematic diagram of the coordination between the fixed part and the movable part of the present invention;

[0054] Figure 3 It is a schematic diagram of each hole of the present invention;

[0055] Figure 4 It is a schematic diagram of the locking device of the present invention;

[0056] Figure 5 It is a schematic diagram of the linear transmission device of the present invention;

[0057] Figure 6 It is a schematic diagram of the installation of the locking structure of the present invention;

[0058] Figure 7 It is a schematic diagram of the locking state of the present invention. DETAILED DESCRIPTION

[0059] The present invention will be further described below in conjunction with the embodiments.

[0060] The present invention provides a locking structure suitable for a linear transmission mechanism and a method for handling a jamming fault during a locking process. A convex circular structure is added to the transition surface of a locking hole to improve the lubrication effect of the locking process. The linear transmission mechanism and the locking device are controlled in a coordinated manner. A method for adaptively eliminating jamming clearance is utilized to effectively solve the jamming fault of the linear transmission mechanism during the locking process, thereby improving the flight reliability of the aircraft and meeting the high-reliability and high-precision use requirements of aerospace equipment.

[0061] Suitable for locking structure of linear transmission mechanism, such as Figure 1 As shown, it specifically includes a fixed part 1, a moving part 2, a locking device 3 and a linear transmission device 4. Among them, the fixed part 1 is a horizontally placed box structure; the moving part 2 is arranged in the inner cavity of the fixed part 1; the linear transmission device 4 is fixed at the side wall of the fixed part 1, and the output end of the linear transmission device 4 is connected to the moving part 2; the moving part 2 is driven to move horizontally in the inner cavity of the fixed part 1 by the linear transmission device 4; the locking device 3 is fixedly arranged at the side wall of the fixed part 1, and the position of the locking device 3 corresponds to the moving part 2, so as to lock the position of the moving part 2 relative to the fixed part 1.

[0062] like Figure 2 As shown, the fixing member 1 includes a fixing member housing, a slide rail 1-1, a fixing flange 1-2 and a locking flange 1-3. The fixing member housing is a horizontally placed rectangular parallelepiped housing structure; the slide rail 1-1 is arranged on the two inner wall surfaces of the fixing member housing; the middle surface of the slide rail 1-1 is provided with a slide rail hole 1-1-1; the fixing flange 1-2 is arranged on the front end surface of the fixing member housing to realize the fixed installation of the linear transmission device 4; the locking flange 1-3 is arranged on the outer wall surface of the fixing member housing to realize the installation of the locking device 3; and a transition hole 1-3-1 is arranged in the middle of the locking flange 1-3.

[0063] The movable member 2 includes a movable body, a slider 2-1 and a movable flange 2-2; wherein the movable body is a horizontally arranged rectangular structure, and a cone is arranged at the front end of the movable body; the slider 2-1 is arranged on the two side walls of the movable body; a slider hole 2-1-1 is arranged on the middle surface of the slider 2-1; the movable flange 2-2 is arranged on the rear end surface of the movable body for installing a linear transmission device 4; the fixed member 1 and the movable member 2 are connected by the slide rail 1-1 and the slider 2-1, so that the movable member 2 can slide horizontally inside the fixed member 1.

[0064] like Figure 3 As shown, the cross-sections of the transition hole 1-3-1, the slide rail hole 1-1-1 and the slider hole 2-1-1 are in an overlapping state; a plurality of convex semicircles 1-3-1-1 are evenly arranged on the four sides of the transition hole 1-3-1; the size of the convex semicircle 1-3-1 is a semicircle with a diameter of 1.5 mm, and the material made is a graphene / copper-based composite material.

[0065] like Figure 4 As shown, the locking device 3 includes an electric cylinder 3-1, a mounting flange 3-2, a telescopic rod 3-3 and a locking pin 3-4; the position of the locking device 3 is fixed by the mounting flange 3-2; the locking pin 3-4 is connected to the telescopic rod 3-3; the electric cylinder 3-1 provides power energy to push and pull the telescopic rod 3-3 for translational movement; the telescopic rod 3-3 drives the locking pin 3-4 to extend and retract in the locking hole to realize the locking function of the locking device 3.

[0066] like Figure 5 As shown, the linear transmission device 4 includes an electric cylinder 4-1, a fixed flange 4-2, a telescopic rod 4-3 and a movable flange 4-4; the mounting flange 4-2 realizes the position fixation of the linear transmission device 4; the movable flange 4-4 is fixed on the telescopic rod 4-3 to realize the fixed connection with the movable part 2; the electric cylinder 4-1 provides power energy, and pushes and pulls the telescopic rod 4-3 to drive the movable flange 4-4 to translate.

[0067] like Figure 6 As shown, the locking device 3 is fixed to the locking flange 1-3 of the fixed part 1 by four screws 7; the linear transmission device 4 connects the fixed flange 4-2 with the fixed flange 1-2 of the fixed part 1 by four screws 5; the linear transmission device 4 connects the movable flange 4-4 with the movable flange 2-2 of the movable part 2 by four screws 6; the linear transmission device 4 drives the movable flange 4-4 to telescopic movement by controlling the telescopic rod 4-3, thereby realizing that the movable flange 4-4 drives the movable part 2 to telescopic movement inside the fixed part 1.

[0068] like Figure 7 As shown, in the present invention, when the state of the locking device 3 in executing the locking action process is defined as normal locking, the working current of the locking device 3 is defined as I0, the extension and retraction amount of the locking pin 3-4 pushed by the locking device 3 is L0 (L0=C0, that is, the locking pin 3-4 is completely inserted into the locking hole), and the operating time required for the locking device 3 to achieve the extension and retraction amount L0 is T0; the working current of the locking device 3 in the current working state is defined as I, the total operating time of the locking device 3 in the current working state is defined as T, and the completed stroke of pushing the locking pin 3-4 in the current working state of the locking device 3 is defined as L.

[0069] In the present invention, the locking device 3 pushes the locking pin 3-4 to extend and retract at a uniform speed (2 mm / s in the present invention), and the linear transmission mechanism 4 drives the moving part 2 to extend and retract at a uniform speed (5 mm / s in the present invention). When the locking device 3 is in a locked state, that is, the locking pin 3-4 and the locking hole have mechanical position interference, and the locking device 3 is in a locked state. At this moment, the working current I of the locking device 3 reaches the current protection upper limit, and I>I0 is bound to occur. Therefore, in the present invention, whether I>I0 is satisfied is used as the core criterion for judging whether the locking device 3 is stuck.

[0070] A method for handling a stuck fault in a locking process of a locking structure of a linear transmission mechanism specifically comprises the following steps:

[0071] S1. Start the startup procedure.

[0072] S2. The linear transmission device 4 drives the moving member 2 to push the moving member 2 to a position to be locked.

[0073] S3, the locking device 3 executes the locking instruction and drives the locking pin 3-4 to pass through the locking hole.

[0074] S4. Record the movement time T and movement distance L of the locking device 3 at a fixed sampling frequency.

[0075] S5. Set the operating time required for the locking device 3 to achieve the telescopic amount L0 as T0; judge the operating time T of the locking device 3 to determine whether T≥T0 is satisfied; when the result is yes, execute step S3; when the result is no, execute step S6.

[0076] S6. Compare the movement stroke L and the extension amount L0 of the locking pin 3-4 to determine whether L≥L0 is satisfied; when the result is no, execute step S7; when the result is yes, execute step S8.

[0077] S7, process the stuck fault, and after processing is completed, repeat step S7.

[0078] The specific process of handling the stuck fault is as follows:

[0079] S71 . Record the working current of the locking device 3 as I1 at a fixed sampling frequency.

[0080] S72, determine whether the working state of the locking device 3 is locked normally or locked and stuck; and output the judgment result of the working state of the locking device 3; when the judgment result is locked and stuck, execute step S76; when the judgment result is locked normally, execute step S73.

[0081] The specific process of judging whether the working state of the locking device 3 is normal locking or stuck locking is as follows:

[0082] S721. Record the working current of the locking device 3 as I at a fixed sampling frequency.

[0083] S722, determine whether I is greater than I0, and output the determination result; if the output result is no, execute step 723; if the output result is yes, execute step S724.

[0084] S723: Output the result “No” and execute step S725.

[0085] S724. Output the result "yes", and execute step S725.

[0086] S725, the program runs to the end.

[0087] S73: The locking device 3 continues to execute the locking instruction.

[0088] S74, program execution ends.

[0089] S75, control the linear transmission device 4 to drive the moving member 2 to increase the extension and contraction amount by ΔL1.

[0090] S76, judging whether the working state of the locking device 3 is normal locking or stuck locking, if the output result is normal locking, executing step S73; if the output result is stuck locking, executing step S73.

[0091] S77, determine whether the current of the locking device 3 satisfies I>I1; if the output result is no, repeat step S75; if the output result is yes, execute step S78.

[0092] S78, control the linear transmission device 4 to drive the moving member 2 to reduce the extension and contraction amount by ΔL1.

[0093] S79, judging whether the working state of the locking device 3 is normal locking or stuck locking. If the output result is normal locking, executing step 73; if the output judgment result is stuck locking, repeating step S78.

[0094] S8. The program ends.

[0095] The present invention provides a locking device suitable for a linear transmission mechanism. The shape and size of the cross section of a locking pin of the locking device are reduced by 0.96 to 0.99 relative to the locking hole in the same proportion. Convex circles made of a graphene / copper-based composite material are evenly arranged on the transition surface of the locking hole. While improving the friction force of the pin during the locking process, the "excess matter" of debris that falls off due to collision and extrusion between the locking pin and the transition surface of the locking hole is converted into a self-lubricating "lubricant", which helps to alleviate the degree of sticking of the locking device.

[0096] The present invention provides an automated processing method for a stuck fault in a locking process. Through a stuck fault processing module, the stuck clearance between a locking pin and a locking hole is adaptively eliminated, and the eccentric distance between the locking pin and the locking hole is gradually and iteratively shortened, thereby effectively solving the stuck fault that is very likely to occur in a linear transmission mechanism during the locking process.

[0097] The jamming fault processing module described in the present invention can adaptively adjust the jamming clearance between the locking pin and the locking hole, thereby avoiding damage to the locking structure and stalling of the locking device components due to a jamming fault, and effectively protecting product equipment.

[0098] The stuck fault detection and judgment module of the present invention has a simple process structure and can judge the operation status of the mechanism through simple judgment criteria, thus simplifying the detection and analysis process and saving system operation time.

[0099] Although the present invention has been 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 to the technical solution of the present invention by using the methods and technical contents disclosed above without departing from the spirit and scope of the present invention. Therefore, any simple modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solution of the present invention shall fall within the protection scope of the technical solution of the present invention.

Claims

1. A locking structure suitable for a linear transmission mechanism, characterized in that: It comprises a fixed part (1), a movable part (2), a locking device (3) and a linear transmission device (4); The fixed part (1) is a box structure placed horizontally; the moving part (2) is arranged in the inner cavity of the fixed part (1); the linear transmission device (4) is fixed on the side wall of the fixed part (1), and the output end of the linear transmission device (4) is connected to the moving part (2); the moving part (2) is driven by the linear transmission device (4) to move in the inner cavity of the fixed part (1) along the horizontal direction; the locking device (3) is fixed on the side wall of the fixed part (1), and the position of the locking device (3) corresponds to the moving part (2), so as to lock the position of the moving part (2) relative to the fixed part (1).

2. The locking structure applicable to a linear transmission mechanism according to claim 1, characterized in that: The fixing member (1) comprises a fixing member housing, a slide rail (1-1), a fixing flange (1-2) and a locking flange (1-3); The fixing part housing is a horizontally placed rectangular parallelepiped housing structure; the slide rail (1-1) is arranged on two inner wall surfaces of the fixing part housing; the middle surface of the slide rail (1-1) is provided with a slide rail hole (1-1-1); the fixing flange (1-2) is arranged on the front end surface of the fixing part housing to realize fixed installation of the linear transmission device (4); the locking flange (1-3) is arranged on the outer wall surface of the fixing part housing to realize the installation of the locking device (3); and a transition hole (1-3-1) is arranged in the middle of the locking flange (1-3).

3. The locking structure for a linear transmission mechanism according to claim 2, characterized in that: The moving member (2) comprises a moving body, a sliding block (2-1) and a moving flange (2-2); The movable body is a horizontally arranged rectangular parallelepiped structure, and a cone is arranged at the front end of the movable body; a slider (2-1) is arranged on two side walls of the movable body; a slider hole (2-1-1) is arranged on the middle surface of the slider (2-1); a movable flange (2-2) is arranged on the rear end surface of the movable body for installing a linear transmission device (4); the fixed part (1) and the movable part (2) are connected by a slide rail (1-1) and a slider (2-1), so that the movable part (2) can slide horizontally inside the fixed part (1).

4. The locking structure applicable to a linear transmission mechanism according to claim 3, characterized in that: The cross sections of the three holes, namely the transition hole (1-3-1), the slide rail hole (1-1-1) and the slider hole (2-1-1), are in an overlapping state; a plurality of convex semicircles (1-3-1-1) are evenly arranged on the four sides of the transition hole (1-3-1); the convex semicircle (1-3-1) has a size of a semicircle with a diameter of 1.5 mm and is made of a graphene / copper-based composite material.

5. The locking structure applicable to a linear transmission mechanism according to claim 4, characterized in that: The locking device (3) comprises an electric cylinder (3-1), a mounting flange (3-2), a telescopic rod (3-3) and a locking pin (3-4); the mounting flange (3-2) is used to fix the position of the locking device (3); the locking pin (3-4) is connected to the telescopic rod (3-3); the electric cylinder (3-1) provides power energy to push and pull the telescopic rod (3-3) for translational movement; the telescopic rod (3-3) drives the locking pin (3-4) to extend and retract in the locking hole, so as to realize the locking function of the locking device (3).

6. The locking structure applicable to a linear transmission mechanism according to claim 5, characterized in that: The linear transmission device (4) comprises an electric cylinder (4-1), a fixed flange (4-2), a telescopic rod (4-3) and a movable flange (4-4); the mounting flange (4-2) realizes the position fixation of the linear transmission device (4); the movable flange (4-4) is fixed on the telescopic rod (4-3) to realize the fixed connection with the movable part (2); the electric cylinder (4-1) provides power energy, pushes and pulls the telescopic rod (4-3) to drive the movable flange (4-4) to move horizontally.

7. The locking structure for a linear transmission mechanism according to claim 6, characterized in that: The locking device (3) is fixed to the locking flange (1-3) of the fixing member (1) by means of four screws (7); the linear transmission device (4) connects the fixing flange (4-2) to the fixing flange (1-2) of the fixing member (1) by means of four screws (5); the linear transmission device (4) connects the moving flange (4-4) to the moving flange (2-2) of the moving member (2) by means of four screws (6); the linear transmission device (4) drives the moving flange (4-4) to perform telescopic movement by controlling the telescopic rod (4-3), thereby realizing the telescopic movement of the moving member (2) driven by the moving flange (4-4) inside the fixing member (1).

8. The method for handling a stuck fault in a locking process of a locking structure of a linear transmission mechanism according to claim 1, characterized in that: include: S1, start the startup program; S2, the linear transmission device (4) drives the moving member 2 to push the moving member (2) to a position to be locked; S3, the locking device (3) executes the locking instruction and drives the locking pin (3-4) to pass through the locking hole; S4, recording the movement time T and movement distance L of the locking device (3) at a fixed sampling frequency; S5, setting the operating time required for the locking device (3) to achieve the telescopic amount L0 as T0; judging the operating time T of the locking device (3) to determine whether T≥T0 is satisfied; When the result is yes, execute step S3; when the result is no, execute step S6; S6, comparing the movement stroke L and the extension amount L0 of the locking pin (3-4) to determine whether L≥L0 is satisfied; When the result is no, execute step S7; When the result is yes, execute step S8; S7, process the stuck fault, and after the process is completed, repeat step S7; S8. The program ends.

9. The method for handling a stuck fault in a locking process according to claim 8, characterized in that: In S7, the specific process of handling the stuck fault is as follows: S71, recording the working current of the locking device (3) as I1 at a fixed sampling frequency; S72, judging whether the working state of the locking device (3) is normal locking or locked; and outputting the judgment result of the working state of the locking device (3); when the judgment result is locked and stuck, executing step S76; when the judgment result is normal locking, executing step S73; S73, the locking device (3) continues to execute the locking instruction; S74, program operation ends; S75, controlling the linear transmission device (4) to drive the moving member (2) to increase the extension amount by ΔL1; S76, judging whether the working state of the locking device (3) is normal locking or stuck locking, if the output result is normal locking, executing step S73; if the output result is stuck locking, executing step S73; S77, determine whether the current of the locking device (3) satisfies I>I1; if the output result is no, repeat step S75; if the output result is yes, execute step S78; S78, controlling the linear transmission device (4) to drive the moving member 2 to reduce the extension amount by ΔL1; S79, judging whether the working state of the locking device (3) is normal locking or stuck locking. If the output result is normal locking, execute step 73; if the output judgment result is stuck locking, repeat step S78.

10. The method for handling a stuck fault in a locking process according to claim 9, characterized in that: In S72, the specific process of determining whether the working state of the locking device (3) is normal locking or stuck locking is as follows: S721, recording the working current of the locking device (3) as I at a fixed sampling frequency; S722, determine whether I is greater than I0, and output the determination result; if the output result is no, execute step 723; if the output result is yes, execute step S724; S723, output result "No", execute step S725; S724, output result "yes", execute step S725; S725, the program runs to the end.

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