Pneumatic-electric hybrid drive actuator

Abstract

The utility model discloses a pneumatic-electric hybrid drive actuator. Comprising a supporting cylinder, a driving spline shaft, a driving motor, a sleeve sealing sleeve, a sleeve, an unlocking direct drive motor, an unlocking lead screw, an unlocking nut, a disc spring, a lock piston, an inner cylinder, a lock block, a lock block inner supporting sleeve, a nut, a lead screw, a needle roller thrust bearing, a disc spring, a sleeve output lug, a bearing supporting sleeve, a first proximity switch, a second proximity switch, an electric connector and a pipe nozzle. After pneumatic emergency landing gear extension is completed, landing gear extension can be completed through the driving motor and the unlocking direct-drive motor, no part needs to be replaced, and the problems that emergency extension cannot be tested on the ground and parts need to be replaced after emergency extension when the explosion bomb is used for driving the landing gear to perform emergency extension can be effectively solved; and meanwhile, the problem that the unmanned aerial vehicle needs to be controlled to carry out overload flight to guarantee emergency putting-down and locking of the undercarriage when the undercarriage is driven by gravity and outer spring tension during emergency putting-down of the undercarriage is effectively solved.

Description

Technical Field

[0001] The utility model belongs to the field of aircraft landing gear retraction and extension design, and relates to a retraction and extension system of a UAV landing gear, in particular to a gas-electric hybrid drive actuator, which is used to directly drive the retraction / lowering of the UAV landing gear or the opening / closing of the UAV landing gear door. Background Art

[0002] The UAV landing gear retraction and extension system is driven by an electromechanical actuator, and the motor provides rotational mechanical power. The rotational mechanical power amplifies the torque through the synchronous belt to reduce the speed and drive the screw to rotate. The rotating screw drives the nut to move linearly. The nut drives the sleeve to extend / retract through the disc spring buffer structure, and the sleeve drives the landing gear to be retracted / lowered. After the landing gear is retracted / lowered into place, the motor continues to drive the screw to rotate, and the sleeve continues to drive the locking mechanism to lock and remain in the locked position, thereby locking the landing gear in the retracted / lowered position.

[0003] When the landing gear needs to be lowered in an emergency, a large amount of gas is generated by two electrically controlled explosive bombs to push the locking mechanism to unlock and disengage the lead screw from the synchronous belt. The lead screw has no rotation constraint, and the sleeve can be extended to the locking position and locked under the gravity of the landing gear or the tension of the external spring. The electromechanical actuator of this landing gear that uses an electrically controlled explosive bomb for emergency lowering needs to replace the explosive bomb and the unlocking mechanism after each emergency lowering, which makes it impossible to perform ground emergency lowering tests on the landing gear, making the landing gear system poorly maintainable and increasing the maintenance cost of the landing gear, which is not conducive to controlling the use cost and aircraft dispatch rate of drones. At the same time, during the emergency release process, in order to ensure that the landing gear is in place and locked in an emergency, the sleeve extension speed needs to be guaranteed, and the pilot needs to control the drone to dive and pull up, thereby increasing the overload acceleration of the landing gear, causing the drone body structure to overload and reducing the service life of the drone.

[0004] CN201020202254 has an actuator with a built-in claw lock device, which is heavy and driven by hydraulic energy, and cannot be used in all-electric UAV system integration. CN102211660A has an actuator with a built-in mechanical explosion emergency unlocking device, which has a complex structure, large size and weight, and is not suitable for installation in small spaces on UAVs. Summary of the invention

[0005] The utility model aims to provide a gas-electric hybrid drive actuator to overcome the problems of poor maintainability, locking, etc. in the prior art.

[0006] In order to achieve the above tasks, the utility model adopts the following technical solutions:

[0007] A gas-electric hybrid drive actuator, comprising: a supporting cylinder, a driving spline shaft, a driving motor, an unlocking direct drive motor, an unlocking screw, a locking piston, an inner cylinder, a locking block and a screw, wherein:

[0008] The support cylinder is installed at one end of the sleeve, and the driving motor is fixed in the support cylinder, the rotor of the driving motor is integrally connected with the driving spline shaft, the lead screw with internal splines is sleeved on one end of the driving spline shaft, and one end of the inner cylinder is connected to the support cylinder; the locking block is installed in the locking hole on the side wall of the inner cylinder, and the inner wall of the sleeve is provided with a notch matching the locking block; the sleeve is wrapped around the outside of the inner cylinder, the nut is fixedly connected to the inner cylinder, the support sleeve in the locking block is nested between the inner cylinder and the nut, and the lock piston and the nut are splined, and the two can move axially but cannot rotate relative to each other; the unlocking nut is arranged inside the lock piston and assembled on the unlocking lead screw, the first disc spring is sleeved outside the unlocking nut, the unlocking direct-drive motor is fixedly arranged in the inner cylinder, and at the same time, the rotor of the unlocking direct-drive motor is integrally connected with the unlocking lead screw, and the unlocking lead screw is assembled on the outside of the driving spline shaft.

[0009] Furthermore, a first proximity switch is installed between the inner cylinder and the lock piston, and a second proximity switch is installed on the support cylinder; an electric connector is installed on the support cylinder for transmitting electric energy, and a nozzle is provided on the support cylinder for ventilation.

[0010] Furthermore, the sleeve and the lead screw are axially mounted and constrained by a thrust needle roller bearing and a second disc spring, and radially constrained by a bearing support sleeve.

[0011] Furthermore, a sleeve sealing sleeve is installed at the connection between the left end of the sleeve and the supporting cylinder, and a sleeve output ear piece is installed at the right end, both of which are provided with sealing devices, and the connection between the supporting cylinder and the inner cylinder is also provided with a sealing device.

[0012] Furthermore, the gas-electric hybrid drive actuator normally drives the landing gear to be retracted, the drive motor releases the brake, drives the drive spline shaft to rotate, and the drive spline shaft further drives the lead screw to rotate clockwise. Under the action of the spiral amplitude of the lead screw and the nut fixed on the inner cylinder, it not only rotates but also performs axial retraction and translation, but the lead screw and sleeve in the composite motion transmit the push-pull load through the second disc spring and the thrust needle roller bearing, so that the sleeve further drives the landing gear to be retracted; when the sleeve drives the landing gear to be retracted into place, the sleeve triggers the second proximity switch on the support cylinder, the drive motor stops running and brakes, locks the drive spline shaft, further locks the lead screw, and finally keeps the sleeve in the retracted position.

[0013] Furthermore, the gas-electric hybrid drive actuator normally electrically lowers the landing gear, the drive motor releases the brake, drives the drive spline shaft to rotate, and the drive spline shaft further drives the lead screw to rotate counterclockwise. Under the action of the spiral amplitude of the lead screw and the nut fixed on the inner cylinder, the lead screw not only rotates but also performs axial extension movement. The lead screw and the sleeve in the composite movement transmit the push-pull load through the second disc spring and the thrust needle roller bearing, so that the sleeve further drives the landing gear to be lowered; when the sleeve moves to the lowered position, the notch on the inner wall of the sleeve is aligned with the lock hole of the inner cylinder, and the lock piston, driven by the first disc spring, pushes the support sleeve in the lock block to squeeze the lock block through the lock hole of the inner cylinder and contact the notch on the inner wall of the sleeve. At the same time, the lock piston no longer triggers the first proximity switch, the drive motor stops running and locks the drive spline shaft and the lead screw, and the lock block locks the sleeve and the inner cylinder, thereby keeping the sleeve in the extended position.

[0014] Furthermore, during the take-off and landing process of the drone, when the impact load of the landing gear during the landing process of the drone is transmitted back to the sleeve of the gas-electric hybrid drive actuator, there is a second disc spring between the sleeve and the lead screw, and the disc spring will buffer the impact load on the sleeve to prevent the helical transmission pair between the lead screw and the nut from failing under the impact load;

[0015] When the impact load on the sleeve is a tensile load, the sleeve sealing sleeve contacts the boss of the inner tube and limits the sleeve from extending under the impact tensile load; when the impact load on the sleeve is a compressive load, the notch on the inner wall of the sleeve contacts the locking block, and the compressive load is transmitted to the locking hole of the inner tube through the locking block, thereby limiting the retraction of the sleeve under the compressive load, and the locking block is lifted up by the supporting sleeve inside the locking block and cannot retract into the locking hole by itself, thereby ensuring that the sleeve will not be driven to retract by the compressive load when in the lowered position.

[0016] Furthermore, when the landing gear needs to be retracted, the unlocking direct-drive motor drives the unlocking screw to rotate and drives the unlocking nut to overcome the first disc spring load and retract, and the unlocking nut drives the lock piston and the support sleeve inside the lock block to retract. When the lock piston retracts, the first proximity switch is triggered, and the drive motor releases the brake and drives the spline shaft and the screw to rotate to drive the sleeve to retract; the inclined surface on the sleeve notch drives the lock block to retract into the inner tube lock hole, and the sleeve is retracted under the drive of the drive motor.

[0017] Furthermore, when the gas-electric hybrid drive actuator is in use of pneumatic emergency release, sealing devices are provided on the sleeve, inner cylinder and supporting cylinder of the gas-electric hybrid drive actuator. When gas is injected into the inner cylinder through the nozzle of the supporting cylinder and the lock of the drive motor is released, the sleeve extends under the action of the gas pressure, and the lead screw extends with the sleeve; when the sleeve moves to the lowered position, the sleeve and the inner cylinder are locked by the locking block and the lock piston no longer triggers the first proximity switch, and at the same time the drive motor is switched from the unlocked state to the holding state to hold the drive spline shaft and the lead screw.

[0018] Compared with the prior art, the utility model has the following technical features:

[0019] 1. The utility model uses a gas-electric hybrid drive actuator to complete the pneumatic emergency landing gear release, and can complete the landing gear retraction by driving the motor and unlocking the direct drive motor without replacing any parts. It can effectively solve the problems of the inability to test the emergency release on the ground and the need to replace parts after the emergency release of the landing gear driven by the explosive bomb.

[0020] 2. The utility model uses a gas-electric hybrid drive actuator and has sealing devices on the sleeve, inner cylinder and support cylinder. During the emergency lowering of the landing gear, air pressure can be used to push the landing gear down under force, which can effectively ensure that the landing gear is lowered and locked reliably in an emergency. This effectively solves the problem that when the landing gear is lowered in an emergency, the landing gear is driven by gravity and the tension of an external spring and the drone needs to be operated for overload flight to ensure that the landing gear is lowered and locked in an emergency. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a cross-sectional view of the gas-electric hybrid drive actuator in a retracted state;

[0022] Figure 2 It is a cross-sectional view of the gas-electric hybrid drive actuator in an extended state;

[0023] Figure 3 It is the isometric view of the screw;

[0024] Figure 4 This is an isometric view of the inner cylinder;

[0025] Figure 5 Isometric view of the lock block.

[0026] Adjustment number description: 1 support cylinder, 2 drive spline shaft, 3 drive motor, 4 sleeve sealing sleeve, 5 sleeve, 6 unlock direct drive motor, 7 unlock lead screw, 8 unlock nut, 9 first disc spring, 10 lock piston, 11 inner cylinder, 12 lock block, 13 lock block inner support sleeve, 14 nut 14, 15 lead screw, 16 thrust needle roller bearing, 17 second disc spring, 18 sleeve output ear, 19 bearing support sleeve, 20 proximity switch, 21 proximity switch, 22 electrical connector, 1a nozzle. DETAILED DESCRIPTION

[0027] The utility model discloses a gas-electric hybrid drive actuator, comprising: a supporting cylinder 1, a driving spline shaft 2, a driving motor 3, a sleeve sealing sleeve 4, a sleeve 5, an unlocking direct-drive motor 6, an unlocking lead screw 7, an unlocking nut 8, a first disc spring 9, a lock piston 10, an inner cylinder 11, a lock block 12, a lock block inner support sleeve 13, a nut 14, a lead screw 15, a thrust needle roller bearing 16, a second disc spring 17, a sleeve output ear piece 18, a bearing support sleeve 19, a first proximity switch 20, a second proximity switch 21, an electrical connector 22, and a nozzle 1a.

[0028] The support cylinder 1 is installed at one end of the sleeve 5, the drive motor 3 is fixed in the support cylinder 1, the rotor of the drive motor 3 is integrally connected with the drive spline shaft 2, the lead screw 15 with internal splines is sleeved on one end of the drive spline shaft 2, and one end of the inner cylinder 11 is connected to the support cylinder 1; the locking block 12 is installed in the locking hole on the side wall of the inner cylinder 11, and the inner wall of the sleeve 5 is provided with a notch that matches the locking block 12; the sleeve 5 is wrapped around the outside of the inner cylinder 11, and the sleeve 5 and the lead screw 15 are axially installed and constrained by the thrust needle bearing 16 and the second disc spring 17, and the sleeve 5 and the lead screw 15 are radially constrained by the bearing support sleeve 19; the nut 14 is fixedly connected to the inner cylinder 11, and the support sleeve 13 in the locking block is nested between the inner cylinder 11 and the nut 14, It is axially connected with the unlocking screw 7, the lock piston 10, and the unlocking nut 8; the lock piston 10 and the nut 14 are splined, and the two can move axially but cannot rotate relative to each other; the unlocking nut 8 is arranged inside the lock piston 10 and assembled on the unlocking screw 7, the first disc spring 9 is sleeved on the outside of the unlocking nut, the unlocking direct drive motor 6 is fixedly arranged in the inner cylinder 11, and the rotor of the unlocking direct drive motor 6 is integrally connected with the unlocking screw 7, and the unlocking screw 7 is assembled on the outside of the driving spline shaft 2; the first proximity switch 20 is installed between the inner cylinder 11 and the lock piston 10, and the second proximity switch 21 is installed on the support cylinder 1; the electrical connector 22 is installed on the support cylinder 1 for transmitting electrical energy, and the support cylinder 1 has a nozzle 1a for ventilation.

[0029] A sleeve sealing sleeve 4 is installed at the connection between the left end of the sleeve 5 and the supporting cylinder 1, and a sleeve output ear piece 18 is installed at the right end, both of which are provided with sealing devices. The connection between the supporting cylinder 1 and the inner cylinder 11 is also provided with a sealing device, so that an overall closed inner cavity can be formed by the interior of the sleeve 5, the supporting cylinder 1, and the inner cylinder 11.

[0030] The working process is described in detail below according to the attached drawings:

[0031] The pneumatic-electric hybrid drive actuator is normally electrically driven to retract the landing gear. The driving motor 3 of the pneumatic-electric hybrid drive actuator releases the brake, driving the driving spline shaft 2 to rotate. The driving spline shaft 2 further drives the lead screw 15 to rotate clockwise. Under the action of the spiral amplitude of the lead screw and the nut 14 fixed on the inner cylinder 11, the lead screw not only rotates but also performs axial retraction and translation. The lead screw 15 and the sleeve 5 in the composite motion transmit the push-pull load through the second disc spring 17 and the thrust needle roller bearing 16, so that the sleeve 5 further drives the landing gear to retract. When the sleeve drives the landing gear to be retracted into place, the sleeve 5 triggers the second proximity switch 21 on the supporting cylinder 1, the driving motor 3 stops running and brakes, locks the driving spline shaft 2, further locks the lead screw 15, and finally keeps the sleeve 5 in the retracted position, as shown in FIG. Figure 1 shown.

[0032] The pneumatic-electric hybrid drive actuator is normally electrically driven to lower the landing gear. The driving motor 3 of the pneumatic-electric hybrid drive actuator releases the brake, driving the driving spline shaft 2 to rotate, and the driving spline shaft 2 further drives the lead screw 15 to rotate counterclockwise. Under the action of the spiral amplitude of the lead screw 15 and the nut 14 fixed on the inner tube 11, it not only rotates but also performs axial extension movement. The lead screw 15 and the sleeve 5 in the composite movement transmit the push-pull load through the second disc spring 17 and the thrust needle roller bearing 16, so that the sleeve 5 further drives the landing gear to be lowered. When the sleeve 5 moves to the lowered position, the notch on the inner wall of the sleeve 5 is aligned with the lock hole of the inner cylinder 11, and the lock piston 10, driven by the first disc spring 9, pushes the support sleeve 13 in the lock block to squeeze the lock block 12 through the lock hole of the inner cylinder 11 and contacts with the notch on the inner wall of the sleeve 5. At the same time, the lock piston 10 no longer triggers the first proximity switch 20, the drive motor 3 stops running and locks the drive spline shaft 2 and the lead screw 15, and the lock block 12 locks the sleeve 5 and the inner cylinder 11, so that the sleeve 5 is kept in the extended position. Figure 2 shown.

[0033] like Figure 3 As shown, during the take-off and landing process of the drone, when the impact load of the landing gear during the landing process of the drone is transmitted back to the sleeve 5 of the gas-electric hybrid drive actuator, there is a second disc spring 17 between the sleeve 5 and the lead screw 15. The disc spring will buffer the impact load on the sleeve 5 to prevent the helical transmission pair between the lead screw 15 and the nut 14 from failing under the impact load. When the impact load on the sleeve 5 is a tensile load, the sleeve sealing sleeve 4 contacts the boss of the inner tube 11 and limits the sleeve 5 from extending under the impact tensile load; when the impact load on the sleeve 5 is a compressive load, the notch on the inner wall of the sleeve 5 contacts the lock block 12, and the compressive load is transmitted to the lock hole of the inner tube 11 through the lock block 12, as shown in FIG. Figure 4 As shown, the sleeve 5 is restricted from retracting under the compressive load. The lock block 12 is lifted up by the support sleeve 13 inside the lock block and cannot retract into the lock hole by itself, thereby ensuring that the sleeve 5 will not be driven to retract by the compressive load in the lowered position. When the landing gear needs to be retracted, the unlocking direct drive motor 6 drives the unlocking screw 7 to rotate and drives the unlocking nut 8 to overcome the load of the first disc spring 9 and retract, and the unlocking nut 8 drives the lock piston 10 and the support sleeve 13 inside the lock block to retract. When the lock piston 10 retracts, the first proximity switch 20 is triggered, the drive motor 3 releases the brake and drives the spline shaft 2 and the screw 15 to rotate and drive the sleeve 5 to retract. Since the lock block 12 is no longer lifted up by the support sleeve 13 inside the lock block, the inclined surface of the notch of the sleeve 5 drives the lock block 12 to retract into the lock hole of the inner cylinder 11, and the sleeve 5 is retracted under the drive of the drive motor and the landing gear retraction process is repeated.

[0034] When the pneumatic-electric hybrid drive actuator is in use of pneumatic emergency release, sealing devices are provided on the sleeve 5, inner cylinder 11, and support cylinder 1 of the pneumatic-electric hybrid drive actuator. When gas is injected into the inner cylinder 11 through the nozzle 1a of the support cylinder 1 and the lock of the drive motor 3 is released, the sleeve 5 extends under the action of the gas pressure, and the lead screw 15 extends with the sleeve 5. When the sleeve 5 moves to the lowered position, the sleeve 5 and the inner cylinder 11 are locked by the locking block 12, and the lock piston 10 no longer triggers the proximity switch. At the same time, the drive motor 3 changes from the unlocked state to the holding state to hold the drive spline shaft 2 and the lead screw 15. Figure 5 shown.

[0035] In summary, the gas-electric hybrid drive actuator can use a motor to directly drive the lead screw and fix the nut. The lead screw uses a compound motion of rotation and axial movement to drive the sleeve to extend and retract, and a sealing ring is set between the sleeve and the inner tube for sealing to achieve the extension of the sleeve after the gas is injected into the inner tube. At the same time, the lock block is placed in the lock hole of the inner tube and does not move axially with the lead screw or nut. The lock block moves radially and passes through the lock hole on the inner tube through the inclined surface extrusion on the sleeve or the support sleeve inside the lock block. At the same time, the unlocking direct drive motor drives the lead screw nut to move the support sleeve inside the lock block to move axially to unlock. The gas-electric hybrid drive actuator can be used to effectively ensure the emergency lowering of the landing gear and reliably lock it. At the same time, after the pneumatic emergency lowering of the landing gear is completed, the landing gear can be retracted by driving the motor and unlocking the direct drive motor without replacing any parts. It can effectively solve the problem of the inability to test the emergency release on the ground and the need to replace parts after the emergency release of the landing gear driven by the explosive bomb.

[0036] The above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, a person skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application, and should be included in the protection scope of the present application.

Claims

1. A gas-electric hybrid drive actuator, characterized in that: include: A supporting cylinder (1), a driving spline shaft (2), a driving motor (3), an unlocking direct drive motor (6), an unlocking lead screw (7), a locking piston (10), an inner cylinder (11), a locking block (12) and a lead screw (15), wherein: The support cylinder (1) is installed on one end of the sleeve (5), the drive motor (3) is fixed in the support cylinder (1), the rotor of the drive motor (3) is integrally connected with the drive spline shaft (2), the lead screw (15) with an internal spline is sleeved on one end of the drive spline shaft (2), and one end of the inner cylinder (11) is connected with the support cylinder (1); the locking block (12) is installed in the locking hole on the side wall of the inner cylinder (11), and the inner wall of the sleeve (5) is provided with a notch that matches the locking block (12); the sleeve (5) is wrapped around the outside of the inner cylinder (11), and the nut (14) is fixedly connected with the inner cylinder (11). The inner support sleeve (13) of the lock block is nested between the inner cylinder (11) and the nut (14), and the lock piston (10) and the nut (14) are connected by a spline, and the two can move axially but cannot rotate relative to each other; the unlocking nut (8) is arranged inside the lock piston (10) and assembled on the unlocking screw (7), the first disc spring (9) is sleeved outside the unlocking nut (8), the unlocking direct drive motor (6) is fixedly arranged in the inner cylinder (11), and the rotor of the unlocking direct drive motor (6) is integrally connected with the unlocking screw (7), and the unlocking screw (7) is assembled on the outside of the driving spline shaft (2).

2. The gas-electric hybrid drive actuator according to claim 1, characterized in that: The first proximity switch (20) is installed between the inner cylinder (11) and the lock piston (10), and the second proximity switch (21) is installed on the support cylinder (1); the electric connector (22) is installed on the support cylinder (1) for transmitting electric energy, and the support cylinder (1) has a nozzle (1a) for ventilation.

3. The gas-electric hybrid drive actuator according to claim 1, characterized in that: The sleeve (5) and the lead screw (15) are axially mounted and constrained by means of a thrust needle roller bearing (16) and a second disc spring (17), and are radially constrained by means of a bearing support sleeve (19).

4. The gas-electric hybrid drive actuator according to claim 1, characterized in that: A sleeve sealing sleeve (4) is installed at the connection between the left end of the sleeve (5) and the supporting cylinder (1), and a sleeve output ear piece (18) is installed at the right end, both of which are provided with sealing devices. The connection between the supporting cylinder (1) and the inner cylinder (11) is also provided with a sealing device.

5. The gas-electric hybrid drive actuator according to claim 1, characterized in that: The pneumatic-electric hybrid drive actuator is normally electrically driven to retract the landing gear, the drive motor (3) releases the brake, drives the drive spline shaft (2) to rotate, and the drive spline shaft (2) further drives the lead screw (15) to rotate clockwise. Under the action of the spiral amplitude of the lead screw and the nut (14) fixed on the inner tube (11), the lead screw not only rotates but also performs axial retraction and translation. The lead screw (15) and the sleeve (5) in composite motion transmit push and pull loads through the second disc spring (17) and the thrust needle bearing (16), so that the sleeve (5) further drives the landing gear to be retracted. When the sleeve drives the landing gear to be retracted into place, the sleeve (5) triggers the second proximity switch (21) on the support cylinder (1), the drive motor (3) stops running and brakes, locks the drive spline shaft (2), further locks the lead screw (15), and finally keeps the sleeve (5) in the retracted position.

6. The gas-electric hybrid drive actuator according to claim 1, characterized in that: The pneumatic-electric hybrid drive actuator is normally electrically driven to lower the landing gear, the drive motor (3) releases the brake, drives the drive spline shaft (2) to rotate, and the drive spline shaft (2) further drives the lead screw (15) to rotate counterclockwise. Under the action of the spiral amplitude of the lead screw (15) and the nut (14) fixed on the inner tube (11), it not only rotates but also performs axial extension movement. The lead screw (15) and the sleeve (5) in composite motion transmit the push-pull load through the second disc spring (17) and the thrust needle roller bearing (16), so that the sleeve (5) further drives the landing gear to be lowered; when the sleeve (5) moves to When in the lowered position, the notch on the inner wall of the sleeve (5) is aligned with the locking hole of the inner cylinder (11), and the locking piston (10) is driven by the first disc spring (9) to push the supporting sleeve (13) inside the locking block to squeeze the locking block (12) through the locking hole of the inner cylinder (11) and contact the notch on the inner wall of the sleeve (5). At the same time, the locking piston (10) no longer triggers the first proximity switch (20), the driving motor (3) stops running and locks the driving spline shaft (2) and the lead screw (15), and the locking block (12) locks the sleeve (5) and the inner cylinder (11), thereby keeping the sleeve (5) in the extended position.

7. The gas-electric hybrid drive actuator according to claim 1, characterized in that: During the take-off and landing process of the drone, when the impact load of the landing gear is transmitted back to the sleeve (5) of the gas-electric hybrid drive actuator during the landing process of the drone, a second disc spring (17) is provided between the sleeve (5) and the lead screw (15), and the disc spring can buffer the impact load on the sleeve (5) to prevent the helical transmission pair between the lead screw (15) and the nut (14) from failing under the impact load; When the impact load on the sleeve (5) is a tensile load, the sleeve sealing sleeve (4) contacts the boss of the inner tube (11) and limits the sleeve (5) from extending under the impact tensile load; when the impact load on the sleeve (5) is a compressive load, the notch on the inner wall of the sleeve (5) contacts the locking block (12), and the compressive load is transmitted to the locking hole of the inner tube (11) through the locking block (12), thereby limiting the retraction of the sleeve (5) under the compressive load, and the locking block (12) is lifted up by the supporting sleeve (13) inside the locking block and cannot retract into the locking hole by itself, thereby ensuring that the sleeve (5) will not be driven to retract by the compressive load when in the lowered position.

8. The gas-electric hybrid drive actuator according to claim 7, characterized in that: When the landing gear needs to be retracted, the unlocking direct drive motor (6) drives the unlocking screw (7) to rotate and drives the unlocking nut (8) to overcome the load of the first disc spring (9) and retract, and the unlocking nut (8) drives the lock piston (10) and the support sleeve (13) in the lock block to retract. When the lock piston (10) retracts, the first proximity switch (20) is triggered, the drive motor (3) releases the brake and drives the spline shaft (2) and the screw (15) to rotate and drive the sleeve (5) to retract; the inclined surface on the notch of the sleeve (5) drives the lock block (12) to retract the lock hole of the inner cylinder (11), and the sleeve (5) is retracted under the drive of the drive motor.

9. The gas-electric hybrid drive actuator according to claim 1, characterized in that: When the pneumatic-electric hybrid drive actuator is in use for pneumatic emergency release, sealing devices are provided on the sleeve (5), the inner cylinder (11) and the support cylinder (1) of the pneumatic-electric hybrid drive actuator. When gas is injected into the inner cylinder (11) through the nozzle (1a) of the support cylinder (1) and the lock of the drive motor (3) is released, the sleeve (5) extends under the action of the gas pressure, and the lead screw (15) extends with the sleeve (5); when the sleeve (5) moves to the lowered position, the sleeve (5) and the inner cylinder (11) are locked by the locking block (12) so that the locking piston (10) no longer triggers the first proximity switch (20), and at the same time, the drive motor (3) changes from the unlocking state to the holding state to hold the drive spline shaft (2) and the lead screw (15).

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