Push-pull mechanism and adjusting device

Abstract

The invention provides a push-pull mechanism and an adjusting device. The push-pull mechanism comprises a body, a push-pull structure, a first limiting structure and a second limiting structure, the body is provided with a first cavity, and the push-pull structure is movably arranged in the first cavity; the first limiting structure is provided with a first limiting part which is movably arranged in the first direction; the second limiting structure is provided with a second limiting part which is movably arranged along a second direction; the first direction and the second direction intersect with the moving direction of the push-pull structure. The first limiting part and the second limiting part are close to the push-pull structure so as to limit movement of the push-pull structure in the first cavity. The first limiting part and the second limiting part are close to the push-pull structure at the same time, movement of the push-pull structure in the first cavity can be limited, and therefore the position of the push-pull structure is locked, the push-pull structure can be kept at the locking position for a long time, and the reliability of the push-pull structure is improved.

Description

Technical Field

[0001] The present application relates to the field of aerospace technology, and more specifically, to a push-pull mechanism and an adjusting device. Background Art

[0002] At present, common push-pull mechanisms cannot achieve self-locking, have poor reliability, and have high production and maintenance costs. Summary of the invention

[0003] In view of the shortcomings of the existing methods, the present application proposes a push-pull mechanism and an adjusting device to solve the technical problems of poor reliability of the push-pull mechanism and high production and maintenance costs in the related art.

[0004] In a first aspect, an embodiment of the present application provides a push-pull mechanism, comprising: a body, and a push-pull structure, a first limiting structure, and a second limiting structure arranged on the body; The body has a first cavity, and the push-pull structure is movably disposed in the first cavity; The first limiting structure has a first limiting portion movably arranged along a first direction; the second limiting structure has a second limiting portion movably arranged along a second direction; the first direction and the second direction each intersect with a moving direction of the push-pull structure; The first limiting portion and the second limiting portion are close to the push-pull structure to limit the movement of the push-pull structure in the first cavity.

[0005] Optionally, the push-pull structure is provided with a first matching portion for matching with the first limiting portion and a second matching portion for matching with the second limiting portion; The first limiting portion cooperates with the first matching portion to limit the movement of the push-pull structure toward one axial end of the first cavity; The second limiting portion cooperates with the second matching portion to limit the movement of the push-pull structure toward the other end of the first cavity axis.

[0006] Optionally, the body further comprises a second cavity and a third cavity each communicating with the first cavity; The first limiting structure comprises a first limiting rod movably arranged in the second cavity, and one end of the first limiting rod facing the push-pull structure is provided with a first inclined surface as a first limiting portion; The second limiting structure comprises a second limiting rod movably arranged in the third cavity, and one end of the second limiting rod facing the push-pull structure is provided with a second inclined surface as a second limiting portion; The first matching portion includes a third inclined surface matched with the first inclined surface; the second matching portion includes a fourth inclined surface matched with the second inclined surface; in: Along the direction from the center of the first cavity to the first end, the first inclined surface gradually inclines toward the side away from the axis of the first cavity; along the direction from the center of the first cavity to the second end, the second inclined surface gradually inclines toward the side away from the axis of the first cavity; or, Along the direction from the center of the first cavity to the first end, the first inclined surface gradually inclines toward the side close to the axis of the first cavity; along the direction from the center of the first cavity to the second end, the second inclined surface gradually inclines toward the side close to the axis of the first cavity.

[0007] Optionally, the push-pull mechanism includes at least one of the following: There is a first angle α1 between the first inclined surface and the axis of the first cavity, and the first angle α1 satisfies the following relationship: , where μ1 is the friction coefficient of the first inclined surface; There is a second angle α2 between the second inclined surface and the axis of the first cavity, and the second angle α2 satisfies the following relationship: , where μ2 is the friction coefficient of the second inclined surface.

[0008] Optionally, the first limiting structure is located on the first side of the first cavity, the second limiting structure is located on the second side of the first cavity, and the first limiting structure and the second limiting structure are distributed along the axial direction of the push-pull structure or around the axial direction of the push-pull structure; or, the first limiting structure and the second limiting structure are located on the same side of the first cavity and are distributed along the axial direction of the push-pull structure.

[0009] Optionally, the push-pull mechanism includes at least one of the following: The third inclined surface is concave inward or convex outward relative to the surface of the push-pull structure; The fourth inclined surface is concave inwards or convex outwards relative to the surface of the push-pull structure; The axes of the second cavity and the third cavity are parallel.

[0010] Optionally, the push-pull mechanism includes at least one of the following: The body includes a guide sleeve having a first cavity, the first cavity extending along a third direction; a portion of the outer wall surface of the push-pull structure is attached to the inner wall surface of the first cavity, and the inner wall surface of the first cavity is used to guide the movement of the push-pull structure along the third direction; The push-pull mechanism also includes a first driving structure arranged on the body, which is drivingly connected to the push-pull structure so that the push-pull structure has a moving state of moving in the first cavity and a locking state of stopping movement.

[0011] Optionally, the push-pull mechanism includes at least one of the following: The first driving structure includes a driving part and an output part connected to the driving part, the output part is hinged to the push-pull structure, and under the driving action of the driving part, the output part drives the push-pull structure to move; The first driving structure comprises a hydraulic cylinder, and a hydraulic lock is arranged on the pipeline of the hydraulic cylinder.

[0012] Optionally, the push-pull mechanism includes at least one of the following: The first limiting structure also includes a second driving structure, which is drivingly connected to the first limiting rod, so that the first limiting rod has a moving state in which it moves in the second cavity and a locking state in which it stops moving; The second limiting structure also includes a third driving structure, which is drivingly connected to the second limiting rod, so that the second limiting rod has a moving state of moving in the third cavity and a locking state of stopping movement.

[0013] In a second aspect, an embodiment of the present application provides an adjustment device, comprising the push-pull mechanism as described above.

[0014] The beneficial technical effects brought about by the technical solution provided by the embodiment of the present application include: In an embodiment of the present application, the push-pull structure moves in the first cavity of the main body to realize the push-pull function. Since the moving direction of the first limiting portion of the first limiting structure intersects with the moving direction of the push-pull structure, the first limiting portion can move closer to or away from the push-pull structure. Since the moving direction of the second limiting portion of the second limiting structure intersects with the moving direction of the push-pull structure, the second limiting portion can move closer to or away from the push-pull structure. By simultaneously bringing the first limiting portion and the second limiting portion close to the push-pull structure, the movement of the push-pull structure in the first cavity can be limited, thereby locking the position of the push-pull structure, allowing the push-pull structure to remain in the locked position for a long time, thereby improving the reliability of the push-pull structure and reducing production and maintenance costs.

[0015] Additional aspects and advantages of the present application will be partially given in the following description, which will become apparent from the following description, or will be understood through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the following description of the embodiments in conjunction with the accompanying drawings, in which: Figure 1 A schematic diagram of the structure of a push-pull mechanism provided in an embodiment of the present application; Figure 2 for Figure 1 A schematic diagram of the top view of the push-pull mechanism; Figure 3 for Figure 2 A schematic cross-sectional view of the push-pull mechanism along the JJ direction; Figure 4 for Figure 3 A partial enlarged view of the push-pull mechanism; Figure 5 for Figure 2 Another cross-sectional structural diagram of the middle push-pull mechanism along the JJ direction; Figure 6 for Figure 5 The enlarged structural diagram of the push-pull mechanism at P; Figure 7 for Figure 6 Force analysis diagram of the middle action point A; Figure 8 for Figure 6 Force analysis diagram of the action point B.

[0017] Reference numerals: 100- push-pull mechanism; 10-Ontology; 11-first cavity; 12-second cavity; 13-third cavity; 14-guide sleeve; 141-fourth through hole; 15-platform; 151-groove; 16-support seat; 161-seat body; 162-cover body; 163-first through hole; 164-fixed space; 165-second through hole; 166-third through hole; 167-accommodating cavity; 17-first guide cylinder; 18-second guide cylinder; 20- push-pull structure; 21-first matching part; 22-second matching part; 23-push-pull column; 231-first straight section; 232-first cone section; 233-second cone section; 234-second straight section; 235-third straight section; 236-fourth straight section; 24-connecting seat; 241-hinge hole; 30- first limiting structure; 31-first limiting portion; 32-first limiting rod; 321-first rod segment; 322-second rod segment; 33-second driving structure; 40- second limiting structure; 41 - second limiting portion; 42 - second limiting rod; 421 - third rod segment; 422 - fourth rod segment; 43 - third driving structure; 50-a first driving structure; 51-driving unit; 52-output unit; 60-pin. DETAILED DESCRIPTION

[0018] The embodiments of the present application are described below in conjunction with the drawings in the present application. It should be understood that the implementation methods described below in conjunction with the drawings are exemplary descriptions for explaining the technical solutions of the embodiments of the present application and do not constitute a limitation on the technical solutions of the embodiments of the present application.

[0019] Those skilled in the art will appreciate that, unless specifically stated, the "said" and "the" used herein may also include plural forms. It should be further understood that the term "including" used in the specification of the present application refers to the presence of the features, integers and / or components, but does not exclude the implementation of other features, information, data, steps, operations, elements, components and / or combinations thereof supported by the technical field. The term "and / or" used herein refers to at least one of the items defined by the term, for example, "A and / or B" can be implemented as "A", or as "B", or as "A and B".

[0020] In order to make the objectives, technical solutions and advantages of the present application clearer, the implementation methods of the present application will be further described in detail below in conjunction with the accompanying drawings.

[0021] At present, the push-pull mechanism mostly adopts the form of screw nut and oil cylinder to realize push-pull.

[0022] However, these traditional technical solutions mainly have the following shortcomings: 1. When the push-pull mechanism using the lead screw nut is used in a heavy-load environment, the lead screw diameter needs to be designed to be relatively large, which is difficult to produce and process, and the procurement cost is relatively high. At the same time, the structure assembly is complex. When the stroke is large, in order to ensure the stability of the structure, an additional guide structure needs to be added, which will further increase the cost; 2. The push-pull mechanism adopts the form of a screw nut. If the screw is deformed or damaged under the load, the screw will be scrapped and the maintenance and replacement cost will be high; 3. The push-pull mechanism in the form of a screw nut will connect multiple reducers in series when acting on heavy loads, thereby reducing the output torque of the motor or hydraulic motor. However, the corresponding structural motion transmission is more complicated, the failure rate is increased, and the reliability is reduced; 4. The push-pull mechanism adopts the oil cylinder form. Due to the self-leakage, it is impossible to ensure that the push-pull mechanism is in the required position for a long time. Especially under the high-pressure hydraulic environment, the self-unloading situation is relatively more serious; 5. If the push-pull mechanism adopts the oil cylinder form, if the hydraulic pipeline fails, the push-pull mechanism will immediately fail and the reliability is poor.

[0023] The push-pull mechanism and adjustment device provided in this application are intended to solve the above technical problems of related technologies.

[0024] The following is a detailed description of the technical solution of the present application and how the technical solution of the present application solves the above technical problems with specific embodiments. It should be noted that the following implementations can refer to, draw on or combine with each other, and the same terms, similar features and similar implementation steps in different implementations will not be described repeatedly.

[0025] The present application embodiment provides a push-pull mechanism 100, the structural schematic diagram of the push-pull mechanism 100 is as follows Figures 1 to 6 As shown, it includes: a main body 10 and a push-pull structure 20, a first limiting structure 30 and a second limiting structure 40 arranged on the main body 10.

[0026] The main body 10 has a first cavity 11, and the push-pull structure 20 is movably arranged in the first cavity 11; the first limiting structure 30 has a first limiting portion 31 movably arranged along the first direction; the second limiting structure 40 has a second limiting portion 41 movably arranged along the second direction; the first direction and the second direction each intersect with the moving direction of the push-pull structure 20; the first limiting portion 31 and the second limiting portion 41 are close to the push-pull structure 20 to limit the movement of the push-pull structure 20 in the first cavity 11.

[0027] In the embodiment of the present application, the main body 10 is used to support the push-pull structure 20 , the first limiting structure 30 and the second limiting structure 40 .

[0028] In the embodiment of the present application, the push-pull structure 20 moves in the first cavity 11 of the body 10 to realize the push-pull function. Since the moving direction (i.e., the first direction) of the first limiting portion 31 of the first limiting structure 30 intersects with the moving direction of the push-pull structure 20, the first limiting portion 31 can move closer to or away from the push-pull structure 20. Since the moving direction (i.e., the second direction) of the second limiting portion 41 of the second limiting structure 40 intersects with the moving direction of the push-pull structure 20, the second limiting portion 41 can move closer to or away from the push-pull structure 20. By bringing the first limiting portion 31 and the second limiting portion 41 close to the push-pull structure 20 at the same time, the movement of the push-pull structure 20 in the first cavity 11 can be limited, thereby locking the position of the push-pull structure 20, so that the push-pull structure 20 can be kept in the locked position for a long time, improving the reliability of the push-pull structure 20, and reducing the production and maintenance costs.

[0029] In the embodiment of the present application, the first limiting structure 30 and the second limiting structure 40 are used as locking components to lock the push-pull structure 20 .

[0030] Alternatively, if Figure 3 , Figure 5 and Figure 6 As shown, in the embodiment of the present application, the push-pull structure 20 is provided with a first matching portion 21 for matching with the first limiting portion 31 and a second matching portion 22 for matching with the second limiting portion 41 .

[0031] The first limiting portion 31 cooperates with the first matching portion 21 to limit the movement of the push-pull structure 20 toward one axial end of the first cavity 11 ; the second limiting portion 41 cooperates with the second matching portion 22 to limit the movement of the push-pull structure 20 toward the other axial end of the first cavity 11 .

[0032] In the embodiment of the present application, the first limiting portion 31 cooperates with the first matching portion 21 of the push-pull structure 20 to limit the movement of the push-pull structure 20 from one axial end of the first cavity 11. The second limiting portion 41 cooperates with the second matching portion 22 of the push-pull structure 20 to limit the movement of the push-pull structure 20 from the other axial end of the first cavity 11. By the first limiting portion 31, the second limiting portion 41 cooperates with the first matching portion 21 and the second matching portion 22 of the push-pull structure 20, the movement of the push-pull structure 20 can be limited from both ends (both ends of the axial direction of the first cavity 11), and the push-pull structure 20 can be locked in both directions, with good locking effect. The push-pull structure 20 can be kept in the locked position for a long time, the reliability of the push-pull structure 20 is improved, and the production and maintenance costs are reduced.

[0033] Alternatively, if Figure 3 As shown, in the embodiment of the present application, the main body 10 also has a second cavity 12 and a third cavity 13 respectively connected to the first cavity 11; the first limiting structure 30 includes a first limiting rod 32 movably arranged in the second cavity 12, and the first limiting rod 32 is provided with a first inclined surface at one end facing the push-pull structure 20, serving as a first limiting portion 31; the second limiting structure 40 includes a second limiting rod 42 movably arranged in the third cavity 13, and the second limiting rod 42 is provided with a second inclined surface at one end facing the push-pull structure 20, serving as a second limiting portion 41; the first matching portion 21 includes a third inclined surface matched with the first inclined surface; the second matching portion 22 includes a fourth inclined surface matched with the second inclined surface.

[0034] Among them: along the direction from the center of the first cavity 11 to the first end, the first inclined surface gradually inclines toward the side away from the axis L of the first cavity 11; along the direction from the center of the first cavity 11 to the second end, the second inclined surface gradually inclines toward the side away from the axis L of the first cavity 11.

[0035] In the embodiment of the present application, the second cavity 12 is connected to the first cavity 11, and the first limiting rod 32 of the first limiting structure 30 is provided with a first inclined surface (as a first limiting portion 31) at one end facing the push-pull structure 20. The first limiting rod 32 is movably arranged in the second cavity 12. The first limiting rod 32 has a locking position in which the first inclined surface passes through the second cavity 12 and extends into the first cavity 11, so that the first inclined surface cooperates with the third inclined surface of the first matching portion 21, thereby limiting the axial movement of the push-pull structure 20 toward one end of the first cavity 11, and an unlocking position in which the first inclined surface is retracted into the second cavity 12, so that the first inclined surface is released from the third inclined surface, thereby releasing the restriction on the axial movement of the push-pull structure 20 toward one end of the first cavity 11.

[0036] In the embodiment of the present application, the third cavity 13 is connected to the first cavity 11, and the second limiting rod 42 of the second limiting structure 40 is provided with a second inclined surface (as a second limiting portion 41) at one end facing the push-pull structure 20, and the second limiting rod 42 is movably arranged in the third cavity 13. The second limiting rod 42 has a locking position in which the second inclined surface passes through the third cavity 13 and extends into the first cavity 11, so that the second inclined surface cooperates with the fourth inclined surface of the second matching portion 22, thereby limiting the movement of the push-pull structure 20 toward the other end of the axis of the first cavity 11, and an unlocking position in which the second inclined surface is retracted into the third cavity 13, so that the second inclined surface is released from the fourth inclined surface, thereby releasing the restriction on the movement of the push-pull structure 20 toward the other end of the axis of the first cavity 11.

[0037] In the embodiment of the present application, the first end (eg, Figure 3 The first inclined surface gradually inclines toward the side away from the axis L of the first cavity 11, that is, the distance between the first inclined surface and the axis L of the first cavity 11 gradually increases. The third inclined surface matches the first inclined surface. Therefore, along the direction from the center of the first cavity 11 to the first end, the third inclined surface gradually moves away from the axis L of the first cavity 11, and the distance between the third inclined surface and the axis L of the first cavity 11 gradually increases. When the first limiting rod 32 is in the locked position, the first inclined surface cooperates with the third inclined surface, so that the push-pull structure 20 cannot move toward the second end (such as the upper end) of the first cavity 11 axial direction. Figure 3 When the first limiting rod 32 is in the unlocked position, the first inclined surface and the third inclined surface are released from the engagement, and the push-pull structure 20 can move toward the second end of the axial direction of the first cavity 11, and the first limiting portion 31 loses its function of limiting the movement of the push-pull structure 20.

[0038] In the embodiment of the present application, the center of the first cavity 11 points to the second end (such as Figure 3 The second inclined surface gradually inclines toward the side away from the axis L of the first cavity 11, that is, the distance between the second inclined surface and the axis L of the first cavity 11 gradually increases. The fourth inclined surface matches the second inclined surface. Therefore, along the direction from the center of the first cavity 11 to the second end, the fourth inclined surface gradually moves away from the axis L of the first cavity 11, and the distance between the fourth inclined surface and the axis L of the first cavity 11 gradually increases. When the second limiting rod 42 is in the locked position, the second inclined surface cooperates with the fourth inclined surface, so that the push-pull structure 20 cannot move toward the first end (such as the first end) of the first cavity 11 axial direction. Figure 3 When the second limiting rod 42 is in the unlocked position, the second inclined surface and the fourth inclined surface are released from the engagement, and the push-pull structure 20 can move toward the first end of the axial direction of the first cavity 11, and the second limiting portion 41 has no effect of limiting the movement of the push-pull structure 20.

[0039] In the embodiment of the present application, the first limiting rod 32 moves to a locking position in a direction close to the push-pull structure 20 (even if the first limiting portion 31 is close to the push-pull structure 20), so that the first inclined surface cooperates with the third inclined surface to limit the movement of the push-pull structure 20 toward the axial second end of the first cavity 11; the second limiting rod 42 moves to a locking position in a direction close to the push-pull structure 20 (even if the second limiting portion 41 is close to the push-pull structure 20), so that the second inclined surface cooperates with the fourth inclined surface to limit the movement of the push-pull structure 20 toward the axial first end of the first cavity 11.

[0040] By moving and maintaining the first limit rod 32 and the second limit rod 42 in the locked position, bidirectional locking of the push-pull structure 20 can be achieved, the locking effect is good, and the push-pull structure 20 can be kept in a locked state for a long time, the reliability and service life are improved, and the production and maintenance costs are reduced.

[0041] Of course, in some other optional embodiments of the present application, it can also be arranged according to actual needs: along the direction from the center of the first cavity 11 to the first end, the first inclined surface gradually inclines toward the side close to the axis of the first cavity 11; along the direction from the center of the first cavity 11 to the second end, the second inclined surface gradually inclines toward the side close to the axis of the first cavity 11.

[0042] Alternatively, if Figure 5 As shown, in the embodiment of the present application, there is a first angle α1 between the first inclined surface and the axis L of the first cavity 11, and the first angle α1 satisfies the following relationship: , where: μ1 is the friction coefficient of the first inclined surface.

[0043] In the embodiment of the present application, μ1 is the friction coefficient of the first inclined surface. The value of μ1 can be determined according to the material of the first limiting rod 32, so that according to the above relationship (i.e. ), the angle value of the first angle α1 between the first inclined surface and the axis L of the first cavity 11 can be determined, and the inclination angle of the first inclined surface relative to the axis L of the first cavity 11 can be obtained, and the first inclined surface can be designed. The first angle α1 satisfies the above relationship ( ), which can realize the restriction and locking effect on the axial movement of the push-pull structure 20 toward the second end of the first cavity 11.

[0044] In the embodiment of the present application, the third inclined surface is matched with the first inclined surface, so the inclination angle of the third inclined surface relative to the axis L of the first cavity 11 can be obtained according to the angle value of the first angle α1, and the third inclined surface can be designed.

[0045] Alternatively, if Figure 5 and Figure 6 As shown, in the embodiment of the present application, there is a second angle α2 between the second inclined surface and the axis of the first cavity 11, and the second angle α2 satisfies the following relationship: , where: μ2 is the friction coefficient of the second inclined surface.

[0046] In the embodiment of the present application, μ2 is the friction coefficient of the second inclined surface. The value of μ2 can be determined according to the material of the second limiting rod 42. Thus, according to the above relationship (i.e. ), the angle value of the second angle α2 between the second inclined surface and the axis L of the first cavity 11 can be determined, and the inclination angle of the second inclined surface relative to the axis L of the first cavity 11 can be obtained, and the second inclined surface can be designed. The second angle α2 satisfies the above relationship ( ) can realize the restriction and locking effect on the axial movement of the push-pull structure 20 toward the first end of the first cavity 11.

[0047] In the embodiment of the present application, the fourth inclined surface is matched with the second inclined surface, so the inclination angle of the fourth inclined surface relative to the axis L of the first cavity 11 can be obtained according to the angle value of the second angle α2, and the fourth inclined surface can be designed.

[0048] Optionally, in the embodiment of the present application, the first angle α1 and the second angle α2 have the same angle value. Of course, in other optional implementations, the first angle α1 and the second angle α2 may have different angle values ​​according to actual needs.

[0049] Of course, in some other optional implementations of the present application, the relationship ( ; where μ x is the friction coefficient of material x; α x is the angle between the x slope and the axis L of the first cavity 11; x can be 1, 2, 3, or 4, corresponding to the first slope, the second slope, the third slope, and the fourth slope, respectively, that is, α1 is the angle between the first slope and the axis L of the first cavity 11, α2 is the angle between the second slope and the axis L of the first cavity 11, α3 is the angle between the third slope and the axis L of the first cavity 11, and α4 is the angle between the fourth slope and the axis L of the first cavity 11) to determine the angle between the third slope and / or the fourth slope and the axis L of the first cavity 11, thereby determining the inclination angle of the first slope and / or the second slope relative to the axis L of the first cavity 11.

[0050] Below, as Figures 6 to 8 As shown, the working principle of the restriction and locking effect is explained by taking the second angle α2 as an example: Under the action of load force F, the principle of self-locking is as follows: The friction force on the second inclined plane is F f , satisfying the following relationship: F f =μ2F 12 =μ2F1×sinα2=μ2F×sinα2×sinα2; The thrust on the second inclined plane is F 11 , satisfying the following relationship: F 11 =F1×cosα2=F×sinα2×cosα2; When F f >F 11 When , self-locking can be formed, that is, the second angle α2 satisfies the following relationship: .

[0051] Wherein: F is the load force, the direction of which is parallel to the axis L of the first cavity 11; F1 is the component of the load force F in the direction perpendicular to the second inclined surface; F2 is the component of the load force F in the direction of the second inclined surface; F 11 is the force component F1 along the direction perpendicular to the axial direction L of the first cavity 11; F 12 It is the component force F1 along the axis L of the first cavity 11; the action point A is the equivalent point of the force of the push-pull column 23 of the push-pull structure 20 on the second limiting rod 42; the action point B is the equivalent point of the force of the second limiting rod 42 on the support surface of the guide sleeve 14.

[0052] In the embodiment of the present application, the inclination angle α of any one of the first inclined surface, the second inclined surface, the third inclined surface and the fourth inclined surface relative to the axis L of the first cavity 11 is x (x can be 1, 2, 3, 4) can be based on the relationship To get the tilt angle α x Satisfaction relationship The first inclined surface, the second inclined surface, the third inclined surface and the fourth inclined surface can realize a bidirectional self-locking function for the push-pull structure 20 .

[0053] Alternatively, if Figures 1 to 5 As shown, in the embodiment of the present application, the first limiting structure 30 is located at the first side of the first cavity 11, the second limiting structure 40 is located at the second side of the first cavity 11, and the first limiting structure 30 and the second limiting structure 40 are distributed along the axial direction of the push-pull structure 20. This arrangement can avoid the first limiting structure 30 and the second limiting structure 40 from interfering with each other, and the locking effect on the push-pull structure 20 will be more balanced.

[0054] Alternatively, if Figures 1 to 5 As shown, in the embodiment of the present application, the first limiting structure 30 and the second limiting structure 40 are located at opposite sides of the first cavity 11, and the first limiting structure 30 is close to the first axial end of the first cavity 11, and the second limiting structure 40 is close to the second axial end of the first cavity 11. Specifically, the first limiting structure 30 is arranged at a position slightly above the left side of the first cavity 11, and the second limiting structure 40 is arranged at a position slightly below the right side of the first cavity 11.

[0055] Of course, in some other optional embodiments of the present application, the first limiting structure 30 and the second limiting structure 40 can be distributed axially around the push-pull structure 20 according to actual needs, that is, the first limiting structure 30 and the second limiting structure 40 have the same horizontal height and are distributed circumferentially along the first cavity 11; or, the first limiting structure 30 and the second limiting structure 40 are located on the same side of the first cavity 11 and are distributed axially along the push-pull structure 20.

[0056] Alternatively, if Figure 3 and Figure 5 As shown, in the embodiment of the present application, the third inclined surface is recessed inward relative to the surface of the push-pull structure 20. This arrangement can save the space occupied by the push-pull structure 20, save materials, facilitate processing, and facilitate the guide sleeve 14 to guide the push-pull structure 20.

[0057] Alternatively, if Figure 3 , Figure 5 and Figure 6 As shown, in the embodiment of the present application, the fourth inclined surface is recessed inward relative to the surface of the push-pull structure 20. This arrangement can save the space occupied by the push-pull structure 20, save materials, facilitate processing, and facilitate the guide sleeve 14 to guide the push-pull structure 20.

[0058] Of course, in some other optional embodiments of the present application, the third inclined surface can be made to protrude outward relative to the surface of the push-pull structure 20 according to actual needs; or the fourth inclined surface can be made to protrude outward relative to the surface of the push-pull structure 20. Such an arrangement can also achieve the purpose of bidirectional locking of the push-pull structure 20 by cooperating with the first inclined surface and the third inclined surface, and the second inclined surface and the fourth inclined surface.

[0059] Alternatively, if Figure 3 As shown, in the embodiment of the present application, the axial directions of the second cavity 12 and the third cavity 13 are parallel. The axial direction of the second cavity 12 is parallel to the first direction, the axial direction of the third cavity 13 is parallel to the second direction, and the first direction is parallel to the second direction.

[0060] Specifically, Figure 3 As shown, in the embodiment of the present application, the first direction and the second direction are each perpendicular to the axial direction (ie, the third direction) of the first cavity 11. The axial direction of the first cavity 11 is parallel to the vertical direction, and the first direction and the second direction are each parallel to the horizontal direction.

[0061] Of course, in other optional embodiments, the axial direction of the second cavity 12 can be set to intersect with the axial direction of the first cavity 11 but not perpendicular to it according to actual needs. Such a setting can also achieve the purpose of the first limiting rod 32 moving along the axial direction of the second cavity 12, so that the first inclined surface cooperates with the third inclined surface to limit the movement of the push-pull structure 20. And / or, the axial direction of the third cavity 13 is set to intersect with the axial direction of the first cavity 11 but not perpendicular to it. Such a setting can also achieve the purpose of the second limiting rod 42 moving along the axial direction of the third cavity 13, so that the second inclined surface cooperates with the fourth inclined surface to limit the movement of the push-pull structure 20.

[0062] Alternatively, if Figure 1 , Figure 3 and Figure 5 As shown, in the embodiment of the present application, the main body 10 includes a guide sleeve 14 having a first cavity 11, and the first cavity 11 extends along a third direction; part of the outer wall surface of the push-pull structure 20 is attached to the inner wall surface of the first cavity 11, and the inner wall surface of the first cavity 11 is used to guide the movement of the push-pull structure 20 along the third direction.

[0063] In the embodiment of the present application, the length of the push-pull structure 20 and the guide sleeve 14 can be adjusted according to the size of the use stroke to improve the stability of the structure. The push-pull structure 20 and the guide sleeve 14 have a relatively simple structure. If damaged, the push-pull structure 20 and the guide sleeve 14 can be directly replaced, which is lower than the cost of replacing the lead screw or the oil cylinder in the related art. By setting the push-pull structure 20 and the guide sleeve 14, it not only plays a role in guiding and improving stability, but also plays a role in bearing radial force and bending moment. The structure is simple, the production cost is low, and the maintenance and replacement are convenient.

[0064] Alternatively, if Figure 1 , Figures 3 to 5 As shown, in the embodiment of the present application, the push-pull structure 20 includes a push-pull column 23 and a connection seat 24 connected to the push-pull column 23, and the connection seat 24 is used to connect with an external device. The push-pull column 23 includes a first straight section 231, a first cone section 232, a second cone section 233, and a second straight section 234 connected in sequence, and the second straight section 234 is connected to the connection seat 24. The end of the first straight section 231 away from the first cone section 232 is close to the second end of the first cavity 11 (i.e., as shown in FIG. Figure 4 The radial dimension of the first cone section 232 gradually decreases from the first straight section 231 to the second cone section 233, and the outer wall surface of the first cone section 232 forms a fourth inclined surface, which serves as the second matching portion 22. The radial dimension of the first cone section 232 gradually increases from the first cone section 232 to the second straight section 234, and the outer wall surface of the second cone section 233 forms a third inclined surface, which serves as the first matching portion 21. The end of the second straight section 234 away from the second cone section 233 is close to the first end of the first cavity 11 (i.e., Figure 4 shown at the top).

[0065] Alternatively, if Figure 4 As shown, in the embodiment of the present application, the radial dimensions of the first straight section 231 and the second straight section 234 are the same, and their respective outer wall surfaces are in contact with the inner wall surface of the first cavity 11. The outer wall surface of the first straight section 231 and the outer wall surface of the second straight section 234 cooperate with the inner wall surface of the first cavity 11 to achieve a guiding effect on the movement of the push-pull column 23.

[0066] Of course, in other optional embodiments, the radial dimensions of the first straight segment 231 and the second straight segment 234 can be set to be different according to actual needs. In this case, the outer wall surface of the one with the larger radial dimension of the first straight segment 231 and the second straight segment 234 fits against the inner wall surface of the first cavity 11 to achieve guidance.

[0067] Alternatively, if Figure 4 As shown, in the embodiment of the present application, the push-pull column 23 further includes a third straight section 235, and the second straight section 234 is connected to the connecting seat 24 through the third straight section 235. The body 10 also includes a platform 15 connected to the guide sleeve 14, and the platform 15 is located at the first end of the guide sleeve 14 (i.e., Figure 4 As shown in the upper end, the platform 15 is provided with a groove 151, which is connected to the first cavity 11 and has a radial dimension larger than the first cavity 11. The groove 151 forms a step with the first cavity 11. The radial dimension of the third straight section 235 is larger than the radial dimension of the first cavity 11 and smaller than the radial dimension of the groove 151. Therefore, the third straight section 235 can be accommodated in the groove 151, but cannot enter the first cavity 11. The third straight section 235 is restricted at the step, so that the push-pull structure 20 cannot move toward the second end (i.e., as shown in the upper end) of the first cavity 11 in the axial direction. Figure 4 lower end as shown).

[0068] Alternatively, if Figure 4 and Figure 6 As shown, in the embodiment of the present application, the push-pull column 23 further includes a fourth straight section 236 , and the first tapered section 232 is connected to the second tapered section 233 via the fourth straight section 236 .

[0069] Alternatively, if Figure 1 and Figure 3 As shown, in the embodiment of the present application, the connecting seat 24 is a hinge seat. The hinge seat is provided with a hinge hole 241 for realizing hinge connection.

[0070] Alternatively, if Figure 1 , Figure 3 and Figure 5 As shown, in the embodiment of the present application, the push-pull mechanism 100 also includes a first driving structure 50 arranged on the main body 10, and the first driving structure 50 is drivingly connected to the push-pull structure 20, so that the push-pull structure 20 has a moving state of moving in the first cavity 11 and a locked state of stopping movement.

[0071] In the embodiment of the present application, the body 10 carries the first driving structure 50. The first driving structure 50 is used as an actuator to apply a load to the push-pull structure 20 to drive the push-pull structure 20. Under the driving action, the push-pull structure 20 moves in the first cavity 11 and is in a moving state. When the first driving structure 50 stops driving, the push-pull structure 20 stops moving. At this time, on the one hand, the first driving structure 50 stops driving, which can keep the push-pull structure 20 in the stop position to achieve self-locking as the first heavy locking. On the other hand, the push-pull structure 20 can be bidirectionally locked from both ends of the moving direction of the push-pull structure 20 through the first limiting structure 30 and the second limiting structure 40, which serves as the second heavy locking. Through the first driving structure 50, the first limiting structure 30 and the second limiting structure 40, the push-pull structure 20 can be double-locked at any stop position, which can improve the reliability of the locking.

[0072] Alternatively, if Figure 3 and Figure 5 As shown, in the embodiment of the present application, the first driving structure 50 includes a driving part 51 and an output part 52 connected to the driving part 51 , the output part 52 is hinged to the push-pull structure 20 , and under the driving action of the driving part 51 , the output part 52 drives the push-pull structure 20 to move.

[0073] In the embodiment of the present application, the output part 52 is hinged to the push-pull structure 20. When the load is not along the movement direction of the push-pull structure 20, the radial force and bending moment load are borne by the structure of the push-pull column 23 and the guide sleeve 14, avoiding the first drive structure 50 and other actuators from directly bearing the load, thereby protecting the key components.

[0074] Alternatively, if Figure 1 , Figure 3 and Figure 5 As shown, in the embodiment of the present application, the main body 10 includes a support base 16 connected to the guide sleeve 14 , and the driving part 51 is disposed on the support base 16 .

[0075] Alternatively, if Figure 1 , Figure 3 and Figure 5As shown, in the embodiment of the present application, the support seat 16 includes a seat body 161 and a cover body 162 connected to each other. The seat body 161 has a receiving cavity 167 and a first through hole 163 connected to the receiving cavity 167. The cover body 162 is arranged on the seat body 161 and encloses a fixed space 164 with the seat body 161. The cover body 162 has a second through hole 165 connected to the fixed space 164. The guide sleeve 14 is connected to the cover body 162. Part of the driving part 51 is accommodated in the receiving cavity 167, and the driving part 51 is fixedly installed in the fixed space 164 after passing through the first through hole 163. The output part 52 passes through the second through hole 165, and the driving part 51 drives the output part 52 to extend or retract. The second through hole 165 avoids the output part 52 to ensure that the output part 52 can be smoothly extended and retracted.

[0076] Alternatively, if Figure 1 , Figure 3 and Figure 5 As shown, in the embodiment of the present application, a third through hole 166 communicating with the accommodating cavity 167 is provided on the side wall of the seat body 161 , which can reduce the weight of the seat body 161 .

[0077] Alternatively, if Figure 3 and Figure 5 As shown, in the embodiment of the present application, the output portion 52 is hinged to the first straight section 231 of the push-pull column 23 through the pin 60. A fourth through hole 141 is provided on the side wall of the guide sleeve 14, through which the pin 60, the output portion 52 and the first straight section 231 are easily assembled or disassembled.

[0078] Alternatively, if Figure 3 and Figure 5 As shown, in the embodiment of the present application, the first driving structure 50 includes a hydraulic cylinder, and a hydraulic lock is provided on the pipeline of the hydraulic cylinder. The use of an oil cylinder (i.e., a hydraulic cylinder) or other actuator acting on the push-pull column 23 has a simpler structure, simpler installation and maintenance operations, and low cost compared to the push-pull mechanism in the form of a lead screw nut in the related art. The hydraulic cylinder is used as an actuator cylinder, and a hydraulic lock is added to the pipeline of the actuator cylinder to achieve self-locking and improve the reliability of locking.

[0079] Optionally, in the embodiment of the present application, the cylinder barrel and cylinder head of the hydraulic cylinder serve as the driving part 51 , and the piston and piston rod serve as the output part 52 .

[0080] Alternatively, if Figure 1 , Figures 3 to 5 As shown, in the embodiment of the present application, the first limiting structure 30 also includes a second driving structure 33, which is drivingly connected to the first limiting rod 32, so that the first limiting rod 32 has a moving state of moving in the second cavity 12 and a locked state of stopping movement.

[0081] Alternatively, if Figure 1 and Figure 3 As shown, in the embodiment of the present application, the body 10 further includes a first guide cylinder 17 having a second cavity 12, and the first guide cylinder 17 is connected to the guide sleeve 14. The second driving structure 33 is mounted on the first guide cylinder 17. The first guide cylinder 17 has a guiding effect on the movement of the first limiting rod 32 in the second cavity 12.

[0082] In the embodiment of the present application, the second driving structure 33 drives the first limiting rod 32. Under the driving action, the first limiting rod 32 moves in the second cavity 12 and is in a moving state. When the second driving structure 33 stops driving, the first limiting rod 32 stops moving, and the first limiting rod 32 can be kept in the stopped position to achieve self-locking. The first limiting rod 32 can be driven to move and remain in the locked position by the second driving structure 33, thereby locking the push-pull column 23.

[0083] Optionally, the second driving structure 33 can be a hydraulic cylinder, and a hydraulic lock is provided on the pipeline of the hydraulic cylinder. The hydraulic cylinder is used to act on the first limit rod 32, and the structure is simpler, and the installation and maintenance operation are simple and the cost is low. The hydraulic cylinder is used as the locking cylinder 1, and a hydraulic lock is added to the pipeline of the locking cylinder 1, which can achieve self-locking and improve the reliability of locking. The piston rod of the hydraulic cylinder can be used as the first limit rod 32, or fixedly connected to the first limit rod 32.

[0084] Alternatively, if Figure 4 As shown, in the embodiment of the present application, the first limiting rod 32 includes a first rod segment 321 and a second rod segment 322 connected to each other, the first rod segment 321 is connected to the second driving structure 33, and the second rod segment 322 has a first inclined surface at one end away from the first rod segment 321.

[0085] Alternatively, if Figure 4 As shown, in the embodiment of the present application, the radial dimension of the second rod segment 322 is greater than the radial dimension of the first rod segment 321, and the outer wall surface of the second rod segment 322 is in contact with the inner wall surface of the second cavity 12, and the outer wall surface of the second rod segment 322 cooperates with the inner wall surface of the second cavity 12 to achieve guidance.

[0086] Of course, in other optional embodiments, the radial dimension of the first rod segment 321 can be set to be the same as the radial dimension of the second rod segment 322 according to actual needs; or, the radial dimension of the first rod segment 321 can be set to be larger than the radial dimension of the second rod segment 322. In this case, the outer wall surface of the first rod segment 321 fits against the inner wall surface of the second cavity 12, and the outer wall surface of the first rod segment 321 cooperates with the inner wall surface of the second cavity 12 to achieve guidance.

[0087] Alternatively, if Figure 1 , Figures 3 to 5As shown, in the embodiment of the present application, the second limiting structure 40 also includes a third driving structure 43, which is drivingly connected to the second limiting rod 42, so that the second limiting rod 42 has a moving state of moving in the third cavity 13 and a locked state of stopping movement.

[0088] Alternatively, if Figure 1 and Figure 3 As shown, in the embodiment of the present application, the body 10 further includes a second guide cylinder 18 having a third cavity 13, and the second guide cylinder 18 is connected to the guide sleeve 14. The third driving structure 43 is mounted on the second guide cylinder 18. The second guide cylinder 18 has a guiding effect on the movement of the second limiting rod 42 in the third cavity 13.

[0089] In the embodiment of the present application, the third driving structure 43 drives the second limiting rod 42. Under the driving action, the second limiting rod 42 moves in the third cavity 13 and is in a moving state. When the third driving structure 43 stops driving, the second limiting rod 42 stops moving, and the second limiting rod 42 can be kept in the stopped position to achieve self-locking. The third driving structure 43 can drive the second limiting rod 42 to move and remain in the locked position, thereby locking the push-pull column 23.

[0090] Optionally, the third driving structure 43 can be a hydraulic cylinder, and a hydraulic lock is provided on the pipeline of the hydraulic cylinder. The hydraulic cylinder is used to act on the second limiting rod 42, and the structure is simpler, and the installation and maintenance operation are simple, and the cost is low. The hydraulic cylinder is used as the locking cylinder 2, and a hydraulic lock is added to the pipeline of the locking cylinder 2, which can achieve self-locking and improve the reliability of locking. The piston rod of the hydraulic cylinder can be used as the second limiting rod 42, or fixedly connected to the second limiting rod 42.

[0091] Alternatively, if Figure 4 As shown, in the embodiment of the present application, the second limiting rod 42 includes a third rod segment 421 and a fourth rod segment 422 connected to each other, the third rod segment 421 is connected to the third driving structure 43, and the fourth rod segment 422 is provided with a second inclined surface at one end away from the third rod segment 421.

[0092] Alternatively, if Figure 4 As shown, in the embodiment of the present application, the radial dimension of the fourth rod segment 422 is greater than the radial dimension of the third rod segment 421, and the outer wall surface of the fourth rod segment 422 is attached to the inner wall surface of the third cavity 13, and the outer wall surface of the fourth rod segment 422 cooperates with the inner wall surface of the third cavity 13 to achieve guidance.

[0093] Of course, in other optional embodiments, the radial dimension of the third rod segment 421 can be set to be the same as the radial dimension of the fourth rod segment 422 according to actual needs; or, the radial dimension of the third rod segment 421 can be set to be larger than the radial dimension of the fourth rod segment 422. In this case, the outer wall surface of the third rod segment 421 fits the inner wall surface of the third cavity 13, and the outer wall surface of the third rod segment 421 cooperates with the inner wall surface of the third cavity 13 to achieve guidance.

[0094] The present application provides a push-pull mechanism that adopts multiple locking methods and has a two-way locking function.

[0095] In the embodiment of the present application, a double locking method of adding a hydraulic lock and self-locking of the inclined surface at the front end of the locking cylinder is adopted by the execution cylinder and the locking cylinder (including locking cylinder 1 and locking cylinder 2) pipelines to achieve bidirectional locking at any position within the travel range of the push-pull structure, improve the reliability of the locking, and solve the problems of poor reliability of the current push-pull mechanism and high production and maintenance costs.

[0096] Optionally, in the embodiment of the present application, the execution cylinder and the locking cylinder can adopt other layouts, both of which can realize the double locking mode of hydraulic lock and inclined plane self-locking. The locking cylinder can be replaced with other actuators, such as electric push rods, linear modules, etc., which can realize inclined plane self-locking.

[0097] Optionally, in the embodiment of the present application, the locking cylinder can also be replaced with a screw lift with a reverse self-locking function, and the execution cylinder pipeline adopts a hydraulic lock and a bevel self-locking to achieve triple locking.

[0098] In the embodiment of the present application, the connecting seat 24 and the push-pull column 23 push and pull the load under the action of the first driving structure 50. When the push-pull position meets the use requirements, the first driving structure 50 stops driving (specifically, it can be locked by executing the hydraulic lock of the oil cylinder), and then the second driving structure 33 drives the first inclined surface of the front end of the first limiting rod 32 to extend and cooperate with the third inclined surface of the push-pull column 23, and the third driving structure 43 drives the second inclined surface of the front end of the second limiting rod 42 to extend and cooperate with the fourth inclined surface of the push-pull column 23 to lock the push-pull column 23. At the same time, the second driving structure 33 and the third driving structure 43 stop driving (specifically, they can be locked by the locking oil cylinder 1 and the locking oil cylinder 2 hydraulic locks). If the locking oil cylinder fails, the extended end of the locking oil cylinder forms a self-locking (bidirectional locking) under the action of the load, thereby ensuring the locking of the push-pull mechanism.

[0099] The push-pull mechanism provided in the embodiment of the present application can be applied to the field of aerospace technology, and can be used for leveling, locking, and supporting equipment such as a launch platform or a launch vehicle, as well as for pulling work of equipment such as a wire rope. Of course, the push-pull mechanism provided in the embodiment of the present application can also be applied to any field and equipment that needs to realize functions such as push-pull and locking according to actual needs, without limitation.

[0100] Based on the same inventive concept, an embodiment of the present application provides an adjusting device, which includes: the push-pull mechanism 100 as described above.

[0101] In the embodiment of the present application, the adjusting device further includes a component to be adjusted, and the component to be adjusted is connected to the connecting seat 24 of the push-pull mechanism 100 .

[0102] Optionally, the component to be adjusted includes a flexible member such as a steel wire rope. The flexible member such as a steel wire rope can pass through and be tied to the hinge hole 241 of the connecting seat 24. Of course, the component to be adjusted can also include a rigid member, which is hinged or fixedly connected to the connecting seat 24 through the hinge hole 241.

[0103] It should be noted that in the embodiments of the present application, the adjusting device can be any device or equipment that needs to realize the push-pull and lock functions, without limitation.

[0104] Optionally, in the embodiment of the present application, the adjusting device may be a launching platform or a launching vehicle, etc.

[0105] It should be noted that, since the adjusting device of the embodiment of the present application includes the push-pull mechanism of the embodiment of the present application, the adjusting device of the embodiment of the present application also has the above-mentioned beneficial effects of the push-pull mechanism of the embodiment of the present application, which will not be repeated here.

[0106] By applying the embodiments of the present application, at least the following beneficial effects can be achieved: In an embodiment of the present application, the push-pull structure moves in the first cavity of the main body to realize the push-pull function. Since the moving direction of the first limiting portion of the first limiting structure intersects with the moving direction of the push-pull structure, the first limiting portion can move closer to or away from the push-pull structure. Since the moving direction of the second limiting portion of the second limiting structure intersects with the moving direction of the push-pull structure, the second limiting portion can move closer to or away from the push-pull structure. By simultaneously bringing the first limiting portion and the second limiting portion close to the push-pull structure, the movement of the push-pull structure in the first cavity can be limited, thereby locking the position of the push-pull structure, allowing the push-pull structure to remain in the locked position for a long time, thereby improving the reliability of the push-pull structure and reducing production and maintenance costs.

[0107] In the description of the present application, the directions or positional relationships indicated by words such as "center", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside" and "outside" are based on the exemplary directions or positional relationships shown in the accompanying drawings. They are for the convenience of describing or simplifying the description of the embodiments of the present application, and do not indicate or imply that the referred device or component must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be understood as limitations on the present application.

[0108] The terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of this application, unless otherwise specified, "plurality" means two or more.

[0109] In the description of this application, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a direct connection, or an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0110] In the description of this specification, specific features, structures, materials or characteristics may be combined in an appropriate manner in any one or more embodiments or examples.

[0111] The above is only a partial implementation method of the present application. It should be pointed out that for ordinary technicians in this technical field, without departing from the technical concept of the scheme of the present application, other similar implementation methods based on the technical ideas of the present application are also within the protection scope of the embodiments of the present application.

Claims

1. A push-pull mechanism, characterized in that: include: A main body and a push-pull structure, a first limiting structure and a second limiting structure arranged on the main body; The body has a first cavity, and the push-pull structure is movably disposed in the first cavity; The first limiting structure has a first limiting portion movably arranged along a first direction; the second limiting structure has a second limiting portion movably arranged along a second direction; the first direction and the second direction each intersect with a moving direction of the push-pull structure; The first limiting portion and the second limiting portion are close to the push-pull structure to limit the movement of the push-pull structure in the first cavity.

2. The push-pull mechanism according to claim 1, characterized in that: The push-pull structure is provided with a first matching portion for matching with the first limiting portion and a second matching portion for matching with the second limiting portion; The first limiting portion cooperates with the first matching portion to limit the movement of the push-pull structure toward one axial end of the first cavity; The second limiting portion cooperates with the second matching portion to limit the movement of the push-pull structure toward the other end of the first cavity axis.

3. The push-pull mechanism according to claim 2, characterized in that: The body also has a second cavity and a third cavity each communicating with the first cavity; The first limiting structure comprises a first limiting rod movably disposed in the second cavity, and one end of the first limiting rod facing the push-pull structure is provided with a first inclined surface as the first limiting portion; The second limiting structure comprises a second limiting rod movably disposed in the third cavity, and one end of the second limiting rod facing the push-pull structure is provided with a second inclined surface as the second limiting portion; The first matching portion includes a third inclined surface matched with the first inclined surface; the second matching portion includes a fourth inclined surface matched with the second inclined surface; in: Along the direction from the center of the first cavity to the first end, the first inclined surface gradually inclines toward the side away from the axis of the first cavity; along the direction from the center of the first cavity to the second end, the second inclined surface gradually inclines toward the side away from the axis of the first cavity; or, Along the direction from the center of the first cavity to the first end, the first inclined surface gradually inclines toward the side close to the axis of the first cavity; along the direction from the center of the first cavity to the second end, the second inclined surface gradually inclines toward the side close to the axis of the first cavity.

4. The push-pull mechanism according to claim 3, characterized in that: Include at least one of the following: There is a first angle α1 between the first inclined surface and the axis of the first cavity, and the first angle α1 satisfies the following relationship: , where μ1 is the friction coefficient of the first inclined surface; A second angle α2 is formed between the second inclined surface and the axis of the first cavity, and the second angle α2 satisfies the following relationship: , where μ2 is the friction coefficient of the second inclined surface.

5. The push-pull mechanism according to claim 3, characterized in that: The first limiting structure is located at a first side of the first cavity, the second limiting structure is located at a second side of the first cavity, and the first limiting structure and the second limiting structure are distributed along the axial direction of the push-pull structure or around the axial direction of the push-pull structure; or The first limiting structure and the second limiting structure are located on the same side of the first cavity and are distributed along the axial direction of the push-pull structure.

6. The push-pull mechanism according to claim 3, characterized in that: Include at least one of the following: The third inclined surface is concave inward or convex outward relative to the surface of the push-pull structure; The fourth inclined surface is concave inward or convex outward relative to the surface of the push-pull structure; The axes of the second cavity and the third cavity are parallel.

7. The push-pull mechanism according to any one of claims 1 to 6, characterized in that: Include at least one of the following: The body includes a guide sleeve having the first cavity, and the first cavity extends along a third direction; a portion of the outer wall surface of the push-pull structure is attached to the inner wall surface of the first cavity, and the inner wall surface of the first cavity is used to guide the movement of the push-pull structure along the third direction; The push-pull mechanism further includes a first driving structure disposed on the body, the first driving structure being drivingly connected to the push-pull structure so that the push-pull structure has a moving state of moving in the first cavity and a locking state of stopping movement.

8. The push-pull mechanism according to claim 7, characterized in that: Include at least one of the following: The first driving structure includes a driving part and an output part connected to the driving part, wherein the output part is hinged to the push-pull structure, and under the driving action of the driving part, the output part drives the push-pull structure to move; The first driving structure comprises a hydraulic cylinder, and a hydraulic lock is arranged on the pipeline of the hydraulic cylinder.

9. The push-pull mechanism according to any one of claims 3 to 6, characterized in that: Include at least one of the following: The first limiting structure further includes a second driving structure, the second driving structure is drivingly connected to the first limiting rod, so that the first limiting rod has a moving state of moving in the second cavity and a locking state of stopping movement; The second limiting structure further includes a third driving structure, and the third driving structure is drivingly connected to the second limiting rod, so that the second limiting rod has a moving state of moving in the third cavity and a locking state of stopping movement.

10. A regulating device, characterized in that: It comprises the push-pull mechanism as claimed in any one of claims 1 to 9.

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