A two-stage actuator with a two-way anchored double-layer planetary roller screw structure

Abstract

A two-stage actuator with a bidirectional anchoring double-layer planetary roller screw structure belongs to the field of automated mechanical equipment and includes a first-stage actuator housing, a second-stage actuator housing, a bidirectional anchoring mechanism, a first-stage transmission mechanism, and a second-stage transmission mechanism. The first-stage actuator housing is sleeved outside the first-stage transmission mechanism, and the two are connected by interference fit. The second-stage actuator housing is sleeved outside the second-stage transmission mechanism, and the two are connected by interference fit. The first-stage transmission mechanism is nested outside the second-stage transmission mechanism, and the two are coaxial, constituting a two-stage transmission system for achieving large-stroke actuation in a limited space. The bidirectional anchoring mechanism is connected to the first-stage transmission mechanism, and the bidirectional anchoring mechanism is connected to the second-stage actuator housing through a split conical pin to achieve the anti-rotation function of the entire mechanism. The bidirectional anchoring mechanism is connected to the second-stage transmission mechanism in a clearance fit manner. The present invention has the characteristics of small installation space, good anti-rotation effect, and large load-bearing capacity.

Description

Technical Field

[0001] The present invention relates to the field of automated mechanical equipment, and in particular to a two-stage actuator with a bidirectionally anchored double-layer planetary roller screw structure. Background Art

[0002] In recent years, with the steady improvement of my country's scientific and technological level, people have put forward higher requirements for the degree of automation. As an indispensable part of industrial automation systems, linear actuators play a vital role in various fields. For example, in the material sorting of production lines, linear actuators can push the specified materials to the screened position range; for example, in the application of humanoid robots, linear actuators can imitate the straight and curved motion of human limbs through telescopic motion. Therefore, it is very necessary to design a new structure of actuators with a larger thrust density ratio. Among them, the use of planetary roller screw pairs to realize the mutual conversion between rotational motion and linear motion has the advantages of large bearing capacity, high transmission accuracy and long service life. However, for the various complex structural forms of planetary roller screw pairs, large stroke motion in a limited installation space has become a major problem that needs to be solved. Today, when planetary roller screw pairs are used as mechanical transmission devices, the most commonly used structural forms are standard, reverse, differential, etc. These structures rely on the engagement of the threaded pair to complete the motion. Therefore, the axial design size of the device often depends on the range of motion. This results in the linear actuator based on planetary roller screw pairs being unable to be used in installation spaces with limited space. In limited scenarios, the application and promotion of planetary roller screws are greatly hindered; not only that, when considering designing the structure of the actuator as a superposition of multiple layers of planetary roller screw pairs, the anti-rotation measures of the multiple components responsible for the output motion of the planetary roller screw pairs are also of paramount importance. Today's anti-rotation measures are mostly achieved by relying on directional external loads. However, this measure has certain limitations and is not universally applicable to a variety of load types. There is also an eccentric design to achieve anti-rotation, but this structural design brings certain difficulties to the processing and assembly process, especially for the anti-rotation of multi-layer structures. The uncertainty brought by the above methods will also be greatly increased. Therefore, how to design a small installation space, good anti-rotation effect, large load capacity, high transmission accuracy, and ensure the compatibility of linear actuators with movement within a large stroke range is the key to promoting planetary roller screws and linear actuators. Summary of the Invention

[0003] Based on the above problems, the present invention proposes a two-stage actuator with a bidirectional anchoring double-layer planetary roller screw structure. This device is provided with two-stage split actuator housings and two drive motors, and the loading positions of the external load are respectively set on the two-stage actuator housings, ensuring the independence of movement and the accessibility of positions within two stroke ranges; two-stage transmission mechanisms are provided, and the arrangement form of the inner and outer layers ensures the compactness of the device and the installation portability of the large-stroke actuator; a bidirectional anchoring mechanism is provided, and the anti-rotation stability of the planetary roller screw components in the two-stage transmission mechanism is ensured by using spline fitting; the realization of the above parts utilizes the transmission cooperation of the motor-driven mechanical device, making the entire device of the present invention have the characteristics of small installation space, good anti-rotation effect, large load-bearing capacity, high transmission accuracy, etc. It solves the problems of large installation size, poor anti-rotation effect, small load-bearing capacity, and low transmission accuracy of existing actuators when moving within a large stroke range.

[0004] A two-stage actuator with a bidirectional anchoring double-layer planetary roller screw structure includes a first-stage actuator housing, a second-stage actuator housing, a bidirectional anchoring mechanism, a first-stage transmission mechanism, and a second-stage transmission mechanism; both the first-stage transmission mechanism and the second-stage transmission mechanism are driven by a motor through gears to achieve power transmission; the second-stage transmission mechanism is sleeved outside the bidirectional anchoring mechanism to achieve the guiding effect of axial movement within two stroke ranges.

[0005] Among them, the first-stage actuator housing is sleeved outside the first-stage transmission mechanism through two deep groove ball bearings and two thrust bearings, and the two are connected by interference fit to achieve the bearing of axial load and the support of radial load between the first-stage actuator housing and the first-stage transmission mechanism; the second-stage actuator housing is sleeved outside the second-stage transmission mechanism through two ball screw bearings; the two are connected by interference fit to achieve the bearing of axial load and the support of radial load between the second-stage actuator housing and the second-stage transmission mechanism.

[0006] The first-stage transmission mechanism is nested outside the second-stage transmission mechanism, and the two are coaxial; the first-stage transmission mechanism and the second-stage transmission mechanism constitute a two-stage transmission system by sharing the same component and arranging concentrically with the inner and outer layers nested, so as to achieve large-stroke actuation within a limited space.

[0007] One end of the bidirectional anchoring mechanism is fixedly connected to the first-stage transmission mechanism, and the other end of the bidirectional anchoring mechanism is connected to the second-stage actuator housing through an open split pin to achieve the anti-rotation effect of the entire mechanism.

[0008] The described two-way anchoring mechanism includes an opening taper pin, a single-sided threaded hole spline shaft, a single-sided pin hole hollow shaft, and a fixed cover; one side of the single-sided pin hole hollow shaft with a pin hole is connected to the secondary actuating housing through the opening taper pin, and the other side without a pin hole is provided with an internal spline, which is connected and cooperated with the single-sided threaded hole spline shaft to ensure the axial movement during the secondary actuation process and realize the anti-rotation function during the secondary actuation process; the fixed cover is connected to the single-sided threaded hole spline shaft and the primary transmission mechanism respectively through screws to realize the fixation of the relative position and the anti-rotation function during the primary actuation process.

[0009] The described primary transmission mechanism includes a primary actuating gear, a primary actuating nut, several primary actuating rollers, two primary actuating cages, and a primary actuating lead screw; the secondary transmission mechanism includes a secondary actuating gear, a secondary actuating lead screw, several secondary actuating rollers, and two secondary actuating cages. The primary actuating lead screw is hollow and provided with an internal thread, which can simultaneously realize the nut function in the secondary transmission mechanism; the primary actuating nut, the primary actuating lead screw, and the primary actuating housing together form the sealed space of the outer planetary roller screw mechanism, and the primary actuating lead screw, the secondary actuating lead screw, and the fixed cover together form the sealed space of the inner planetary roller screw mechanism to ensure the internal cleanliness of the transmission system; the primary actuating gear driven by the motor is connected to the primary actuating nut through two flat keys, and the two flat keys are symmetrically arranged on the same generatrix to realize the movement of the reverse planetary roller screw mechanism driven by the primary actuating nut within the first-stage stroke; the secondary actuating gear is connected to the secondary actuating lead screw through two flat keys, and the two flat keys are symmetrically arranged on the same generatrix to realize the movement of the reverse planetary roller screw mechanism driven by the secondary actuating lead screw within the second-stage stroke.

[0010] Both the described primary transmission mechanism and the secondary transmission mechanism are driven by the motor through gears.

[0011] A primary sealing ring is arranged between the end cover of the primary actuating housing and the primary actuating lead screw to ensure the internal cleanliness of the primary transmission mechanism.

[0012] A secondary sealing ring is arranged between the primary transmission mechanism and the secondary actuating lead screw to ensure the internal cleanliness of the secondary transmission mechanism.

[0013] One first hinge is vertically arranged on each side of the outer surface of the primary actuating housing, and a second hinge is horizontally arranged at the end of the secondary actuating housing. The horizontal distance between the first hinge and the second hinge is the action distance M of the actuator, and the actuation stroke ranges of both the primary transmission mechanism and the secondary transmission mechanism are 0 to M.

[0014] The several first-stage actuating rollers are evenly arranged outside the first-stage actuating lead screw, maintaining double meshing of thread and gear with the first-stage actuating lead screw. The first-stage actuating nut is sleeved outside the first-stage actuating rollers and is in threaded engagement with the several first-stage actuating rollers. The first-stage actuating rollers can move along the axis between the first-stage actuating nut and the first-stage actuating lead screw. Two first-stage actuating cages are evenly provided with holes equal in number to the first-stage actuating rollers, and are respectively sleeved on the two ends of the several first-stage actuating rollers; this is used to maintain the stability of the operation of the first-stage actuating rollers. The several second-stage actuating rollers are evenly arranged outside the second-stage actuating lead screw, maintaining double meshing of thread and gear with the second-stage actuating lead screw. The first-stage actuating lead screw is sleeved outside the second-stage actuating rollers and is in threaded engagement with the several second-stage actuating rollers. The second-stage actuating rollers can move along the axis between the first-stage actuating lead screw and the second-stage actuating lead screw. Two second-stage actuating cages are evenly provided with holes equal in number to the second-stage actuating rollers, and are respectively sleeved on the two ends of the several second-stage actuating rollers, which is used to maintain the stability of the operation of the second-stage actuating rollers.

[0015] There are 12 first-stage actuating rollers and 12 second-stage actuating rollers.

[0016] The working process and working principle of the present invention:

[0017] The present invention is provided with two-stage split actuating housings and two drive motors, and the loading positions of the external load are respectively arranged on the first-stage actuating housing and the second-stage actuating housing in the form of hinge seats. The horizontal distance between the first hinge and the second hinge is the action distance M of the actuator, ensuring the independence of movement and the reachability of positions within two stroke ranges; the two-stage transmission mechanisms provided are reverse planetary roller screw structures driven by lead screws and nuts respectively, and the first-stage actuating lead screw is designed as a hollow structure with multi-start threads processed inside, and can be regarded as the nut structure of the second-stage transmission mechanism at the same time. Such an inner and outer layer arrangement form ensures the compactness of the device and the installation portability of the large-stroke actuator; a sealing system is provided. A first-stage sealing ring is arranged between the end cover of the first-stage actuating housing and the first-stage actuating lead screw, ensuring the internal cleanliness of the first-stage transmission mechanism. A second-stage sealing ring is arranged between the first-stage transmission mechanism and the second-stage actuating lead screw, ensuring the internal cleanliness of the second-stage transmission mechanism, and finally forming an internal closed structure of the two-stage actuating system; a two-way anchoring mechanism is provided, and the anti-rotation stability of the planetary roller screw components in the two-stage transmission mechanism is ensured by spline fitting; the specific movement process is that the first-stage actuating nut rotates as the active component, making the first-stage actuating nut move linearly along the fixed-position first-stage actuating lead screw to achieve the first-stage movement, and the second-stage actuating lead screw rotates as the active component, and through clearance fit, it pushes the single-side pin-hole hollow shaft to move linearly along the keyway direction to achieve the second-stage movement.

[0018] The beneficial effects of the present invention:

[0019] 1. The present invention utilizes a planetary roller screw pair as the main mechanical structure form of a two-stage transmission mechanism, completing the conversion from rotational motion to linear motion, ensuring the large load-bearing capacity and high-precision positioning motion performance of the linear actuator. Moreover, the distribution form of multiple rollers also greatly increases the service life.

[0020] 2. The present invention designs two-stage transmission mechanisms with different diameters for concentric inner and outer layer installation. The sealed structural form completes the axial linear motion in two stages of the actuator, ensuring that the linear actuator can maintain a large stroke range while still maintaining a relatively small axial design size and installation space.

[0021] 3. The two-way anchoring mechanism designed by the present invention, with the cooperation of spline pairs, meets the anti-rotation requirements of the output moving parts in the two-stage transmission mechanism, ensuring the stability of the output linear motion and the high efficiency of motion transmission, making it characterized by high efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 is a three-dimensional schematic diagram of the present invention;

[0023] Figure 2 is a sectional view of the present invention;

[0024] Figure 3 is a sectional view of the first-stage transmission mechanism of the present invention;

[0025] Figure 4 is a sectional view of the second-stage transmission mechanism of the present invention;

[0026] Figure 5 is a sectional view taken along the A-A direction of the present invention.

[0027] Wherein: the first-stage actuator housing 1, the second-stage actuator housing 2, the two-way anchoring mechanism 3, the first-stage transmission mechanism 4, the second-stage transmission mechanism 5, deep groove ball bearing 11, thrust bearing 12, first-stage sealing ring 13, first hinge 14, ball screw bearing 21, second hinge 22, split conical pin 31, single-side threaded hole spline shaft 32, single-side pin hole hollow shaft 33, fixed cover 34, first-stage actuator gear 41, first-stage actuator nut 42, first-stage actuator roller 43, first-stage actuator cage 44, first-stage actuator screw 45, second-stage actuator gear 51, second-stage actuator screw 52, second-stage actuator roller 53, second-stage actuator cage 54, second-stage sealing ring 55. DETAILED DESCRIPTION OF THE INVENTION

[0028] Please refer to Figures 1 to 5 shown, which is an embodiment of the present invention.

[0029] A two-stage actuator with a two-way anchored double-layer planetary roller screw structure, including a first-stage actuator

[0030] A housing 1, a secondary actuating housing 2, a two-way anchoring mechanism 3, a primary transmission mechanism 4, and a secondary transmission mechanism 5; both the primary transmission mechanism 4 and the secondary transmission mechanism 5 are driven by a motor through gears to achieve power transmission;

[0031] Among them, the primary actuating housing 1 is sleeved outside the primary transmission mechanism 4 through two deep groove ball bearings 11 and two thrust bearings 12, and the two are connected by interference fit to achieve the bearing of axial load and the support of radial load between the primary actuating housing 1 and the primary transmission mechanism 4; the secondary actuating housing 2 is sleeved outside the secondary transmission mechanism 5 through two ball screw bearings 21; the two are connected by interference fit to achieve the bearing of axial load and the support of radial load between the secondary actuating housing 2 and the secondary transmission mechanism 5; the secondary transmission mechanism 5 is sleeved outside the two-way anchoring mechanism 3 to achieve the guiding effect of axial movement within two stroke ranges.

[0032] The primary transmission mechanism 4 is nested outside the secondary transmission mechanism 5, and the two are coaxial; the primary transmission mechanism 4 and the secondary transmission mechanism 5 form a two-stage transmission system by sharing the same component and arranging concentric inner and outer layers to achieve large-stroke actuation within a limited space;

[0033] One end of the two-way anchoring mechanism 3 is fixedly connected to the primary transmission mechanism 4, and the other end of the two-way anchoring mechanism 3 is connected to the secondary actuating housing 2 through a split conical pin 31 to achieve the anti-rotation effect of the entire mechanism.

[0034] The two-way anchoring mechanism 3 includes a split conical pin 31, a single-side threaded hole spline shaft 32, a single-side pin hole hollow shaft 33, and a fixed cover 34; one side of the single-side pin hole hollow shaft 33 with a pin hole is connected to the secondary actuating housing 2 through a split conical pin 31, and the side without a pin hole is provided with an internal spline, which is connected to the single-side threaded hole spline shaft 32 in a matching manner to ensure the axial movement during the secondary actuation and achieve the anti-rotation effect during the secondary actuation; the fixed cover 34 is connected to the single-side threaded hole spline shaft 32 and the primary transmission mechanism 4 respectively by screws to achieve the fixation of the relative position and the anti-rotation effect during the primary actuation.

[0035] The described primary transmission mechanism 4 includes a primary actuating gear 41, a primary actuating nut 42, 12 primary actuating rollers 43, two primary actuating cages 44, and a primary actuating lead screw 45; the secondary transmission mechanism 5 includes a secondary actuating gear 51, a secondary actuating lead screw 52, 12 secondary actuating rollers 53, and two secondary actuating cages 54. The primary actuating lead screw 45 is hollow and provided with an internal thread, and can simultaneously function as the nut in the secondary transmission mechanism 5. The primary actuating nut 42, the primary actuating lead screw 45, and the primary actuating housing 1 together form the sealed space of the outer planetary roller screw mechanism, and the primary actuating lead screw 45, the secondary actuating lead screw 52, and the fixed cover 34 together form the sealed space of the inner planetary roller screw mechanism to ensure the internal cleanliness of the transmission system. The motor-driven primary actuating gear 41 is connected to the primary actuating nut 42 through two flat keys, and the two flat keys are symmetrically arranged on the same generatrix to achieve the movement of the reverse planetary roller screw mechanism driven by the primary actuating nut 42 within the first-stage stroke. The secondary actuating gear 51 is connected to the secondary actuating lead screw 52 through two flat keys, and the two flat keys are symmetrically arranged on the same generatrix to achieve the movement of the reverse planetary roller screw mechanism driven by the secondary actuating lead screw 52 within the second-stage stroke.

[0036] Both the described primary transmission mechanism 4 and the secondary transmission mechanism 5 are driven by the motor through gears.

[0037] A primary sealing ring 13 is provided between the end cover of the described primary actuating housing 1 and the primary actuating lead screw 45 to ensure the internal cleanliness of the primary transmission mechanism 4.

[0038] A secondary sealing ring 55 is provided between the primary transmission mechanism 4 and the secondary actuating lead screw 52 to ensure the internal cleanliness of the secondary transmission mechanism 5.

[0039] On both sides of the outer surface of the described primary actuating housing 1, a first hinge 14 is vertically provided respectively. At the end of the secondary actuating housing 2, a second hinge 22 is horizontally provided. The horizontal distance between the first hinge 14 and the second hinge 22 is the operating distance M of the actuator. The operating stroke ranges of both the primary transmission mechanism 4 and the secondary transmission mechanism 5 are 0 to M.

[0040] The 12 first-level actuating rollers 43 are evenly arranged outside the first-level actuating lead screw 45, maintaining double meshing of thread and gear with the first-level actuating lead screw 45. The first-level actuating nut 42 is sleeved outside the first-level actuating rollers 43 and is in thread engagement with the 12 first-level actuating rollers 43. The first-level actuating rollers 43 can move along the axis between the first-level actuating nut 42 and the first-level actuating lead screw 45. Two first-level actuating cages 44 are evenly provided with holes equal in number to the first-level actuating rollers 43, and are respectively sleeved on the two ends of the 12 first-level actuating rollers 43; to maintain the stability of the operation of the first-level actuating rollers 43; The 12 second-level actuating rollers 53 are evenly arranged outside the second-level actuating lead screw 52, maintaining double meshing of thread and gear with the second-level actuating lead screw 52. The first-level actuating lead screw 45 is sleeved outside the second-level actuating rollers 53 and is in thread engagement with the 12 second-level actuating rollers 53. The second-level actuating rollers 53 can move along the axis between the first-level actuating lead screw 45 and the second-level actuating lead screw 52. Two second-level actuating cages 54 are evenly provided with holes equal in number to the second-level actuating rollers 53, and are respectively sleeved on the two ends of the 12 second-level actuating rollers 53, to maintain the stability of the operation of the second-level actuating rollers 53.

[0041] The working process and principle of this embodiment:

[0042] The present invention is provided with two-stage split actuating housings and two drive motors, and the loading positions of the external load are respectively arranged on the first-level actuating housing 1 and the second-level actuating housing 2 in the form of hinge seats. The horizontal distance between the first hinge 14 and the second hinge 22 is the action distance M of the actuator, ensuring the independence of movement and the reachability of positions within two stroke ranges; The two-stage transmission mechanism provided is a reverse planetary roller screw structure driven by a lead screw and a nut. The first-level actuating lead screw 45 is designed as a hollow structure with multi-start threads machined inside, and can be regarded as the nut structure of the second-level transmission mechanism 5 at the same time. Such an inner and outer layer arrangement form ensures the compactness of the device and the installation portability of the large-stroke actuator; A sealing system is provided. A first-level sealing ring 13 is arranged between the end cover of the first-level actuating housing 1 and the first-level actuating lead screw 45, ensuring the internal cleanliness of the first-level transmission mechanism 4. A second-level sealing ring 55 is arranged between the first-level transmission mechanism 4 and the second-level actuating lead screw 52, ensuring the internal cleanliness of the second-level transmission mechanism 5, and finally forming an internal closed structure of the two-stage actuating system; A two-way anchoring mechanism 3 is provided, and the anti-rotation stability of the planetary roller screw components in the two-stage transmission mechanism is ensured by spline fit; The specific movement process is that the first-level actuating nut 42 rotates as the active component, causing the first-level actuating nut 42 to perform a linear motion along the fixed-position first-level actuating lead screw 45 to achieve the first-stage motion. The second-level actuating lead screw 52 rotates as the active component, and through clearance fit, it pushes the single-side pin-hole hollow shaft 33 to perform a linear motion along the keyway direction to achieve the second-stage motion.

Claims

1. A two-stage actuator with a bidirectional anchoring double-layer planetary roller screw structure, characterized in that On: it includes a first-stage actuator housing (1), a second-stage actuator housing (2), a bidirectional anchoring mechanism (3), a first-stage transmission mechanism (4) and a second-stage transmission mechanism (5); Among them, the first-stage actuator housing (1) is sleeved outside the first-stage transmission mechanism (4) through two deep groove ball bearings (11) and two thrust bearings (12); the second-stage actuator housing (2) is sleeved outside the second-stage transmission mechanism (5) through two ball screw bearings (21); The first-stage transmission mechanism (4) is nested outside the second-stage transmission mechanism (5), and the two are coaxial; One end of the bidirectional anchoring mechanism (3) is fixedly connected to the first-stage transmission mechanism (4), and the other end of the bidirectional anchoring mechanism (3) is connected to the second-stage actuator housing (2) through an open tapered pin (31), and the second-stage transmission mechanism (5) is sleeved outside the bidirectional anchoring mechanism (3); The bidirectional anchoring mechanism (3) includes an open tapered pin (31), a single-side threaded hole spline shaft (32), a single-side pin hole hollow shaft (33) and a fixed cover (34); the side of the single-side pin hole hollow shaft (33) with a pin hole is connected to the second-stage actuator housing (2) through an open tapered pin (31), the side without a pin hole is provided with an internal spline, and is connected to the single-side threaded hole spline shaft (32) in a mating manner, and the fixed cover (34) is connected to the single-side threaded hole spline shaft (32) and the first-stage transmission mechanism (4) respectively through screws; The first-stage transmission mechanism (4) includes a first-stage actuator gear (41), a first-stage actuator nut (42), several first-stage actuator rollers (43), two first-stage actuator cages (44) and a first-stage actuator screw (45); the second-stage transmission mechanism (5) includes a second-stage actuator gear (51), a second-stage actuator screw (52), several second-stage actuator rollers (53) and two second-stage actuator cages (54). The first-stage actuator screw (45) is hollow and provided with internal threads. The first-stage actuator nut (42), the first-stage actuator screw (45) and the first-stage actuator housing (1) together form the sealed space of the outer-layer planetary roller screw mechanism. The first-stage actuator screw (45), the second-stage actuator screw (52) and the fixed cover (34) together form the sealed space of the inner-layer planetary roller screw mechanism. The first-stage actuator gear (41) driven by the motor is connected to the first-stage actuator nut (42) through two flat keys, and the two flat keys are symmetrically arranged on the same generatrix to realize the movement of the reverse planetary roller screw mechanism driven by the first-stage actuator nut (42) within the first-stage stroke; the second-stage actuator gear (51) is connected to the second-stage actuator screw (52) through two flat keys, and the two flat keys are symmetrically arranged on the same generatrix to realize the movement of the reverse planetary roller screw mechanism driven by the second-stage actuator screw (52) within the second-stage stroke.

2. The two-stage actuator with a two-way anchored double-layer planetary roller screw structure according to claim 1, wherein: Both the first-stage transmission mechanism (4) and the second-stage transmission mechanism (5) are driven by the motor through gears.

3. The two-stage actuator with a two-way anchored double-layer planetary roller screw structure according to claim 1, characterized in that: A first-stage sealing ring (13) is arranged between the end cover of the first-stage actuator housing (1) and the first-stage actuator screw (45).

4. A two-stage actuator with a two-way anchored double-layer planetary roller screw structure according to claim 1, characterized in that: A secondary seal ring (55) is provided between the described primary transmission mechanism (4) and the secondary actuating lead screw (52).

5. A two-stage actuator with a bidirectional anchoring double-layer planetary roller screw structure according to claim 1, characterized in that: On both sides of the outer surface of the described primary actuating housing (1), a first hinge (14) is vertically provided respectively. The end of the secondary actuating housing (2) is horizontally provided with a second hinge (22). The horizontal distance between the first hinge (14) and the second hinge (22) is the actuating distance M of the actuator. The actuating stroke ranges of both the primary transmission mechanism (4) and the secondary transmission mechanism (5) are 0 to M.

6. The two-stage actuator with a two-way anchored double-layer planetary roller screw structure according to claim 1, characterized in that: The described several primary actuating rollers (43) are evenly arranged outside the primary actuating lead screw (45) and maintain thread engagement with the primary actuating lead screw (45). The primary actuating nut (42) is sleeved outside the primary actuating rollers (43) and is in thread engagement with the several primary actuating rollers (43). The primary actuating rollers (43) can move along the axis between the primary actuating nut (42) and the primary actuating lead screw (45). Two primary actuating cages (44) are evenly provided with holes equal in number to the primary actuating rollers (43) and are respectively sleeved on the two ends of the several primary actuating rollers (43); the described several secondary actuating rollers (53) are evenly arranged outside the secondary actuating lead screw (52) and maintain thread engagement with the secondary actuating lead screw (52). The primary actuating lead screw (45) is sleeved outside the secondary actuating rollers (53) and maintains thread engagement with the several secondary actuating rollers (53). The secondary actuating rollers (53) can move along the axis between the primary actuating lead screw (45) and the secondary actuating lead screw (52). Two secondary actuating cages (54) are evenly provided with holes equal in number to the secondary actuating rollers (53) and are respectively sleeved on the two ends of the several secondary actuating rollers (53).

7. A two-stage actuator with a two-way anchored double-layer planetary roller screw structure according to claim 6, characterized in that: The number of the described primary actuating rollers (43) is 12, and the number of the secondary actuating rollers (53) is 12.

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