CN112623281B - Redundant-drive large-self-folding-angle support locking unfolding and folding device - Google Patents

Abstract

The invention relates to a redundantly driven large self-folding angle supporting, locking and unfolding device, belonging to the technical field of take-off and landing systems for space-to-ground shuttles; it comprises a support locking and unfolding mechanism, a retractable driving actuator and an adaptive unlocking actuator; Among them, one end of the axial direction of the supporting locking and retracting mechanism is installed on the aircraft body structure, and the other axial end is connected to the middle section of the buffer; Provide the driving force for rotation between the two; the adaptive unlocking actuator is installed at the middle joint position of the support-locking deployment mechanism to provide the locking support force when the support-locking deployment mechanism is unfolded, and the unlocking driving force when retracted; this The invention proposes a drive integrated design scheme of a large self-folding angle support locking and retracting mechanism, an adaptive drive unlocking actuator and a dual-channel redundant drive retractable actuator, which has the advantages of small overall storage space envelope and high deployment drive reliability. advantage.

Description

A redundant drive large self-folding angle support locking and unfolding device

technical field

The invention belongs to the technical field of take-off, landing and landing systems for sky-earth shuttles, and relates to a redundantly driven large self-folding angle support, locking and unfolding device.

Background technique

With the deep integration of aerospace technology, as the peak of future space technology, reusable space-to-earth shuttles, high-altitude and high-speed UAVs and other related technical fields have become research hotspots in recent years.

The function of the retractable locking support mechanism is to realize the reliable retraction and retraction, locking and unlocking functions of the landing gear buffer of the landing system under the overall spatial layout of the landing system of the horizontal take-off and landing aircraft: when retracted, the landing buffer is placed on the In the aircraft cabin to maintain the aerodynamic shape of the aircraft, it is lowered during the working process of the landing system and provides stable lateral structural support for the buffer, preventing the buffer structure from connecting rotation, roll or instability deformation, and ensuring the strength and rigidity of the system structure. Since the landing of the buffer of the landing system determines the success or failure of the landing of the aircraft, ensuring that the buffer is lowered, locked and provided with sufficient support is the key link of the landing of the horizontal take-off and landing aircraft. At present, the commonly used support locking and retracting mechanisms for aircraft in the aviation industry include technical solutions such as the inner lock of the actuator, the support type support rod lock, the self-folding type support rod lock and the block type lower position lock. These support locking solutions or the bearing capacity are relatively low. , or need a larger sports envelope and storage space.

Compared with the relatively mature aviation industry aircraft technology, the aerodynamic shape of the hypersonic space-earth shuttle aircraft is flatter, the overall layout is more compact, and the internal space resources are more tight, and often cannot provide enough space to accommodate the landing buffer system like the aviation industry aircraft. At the same time, the high landing speed of the hypersonic space-ground shuttle also puts forward higher requirements for the reliability of the landing buffer system.

SUMMARY OF THE INVENTION

The technical problem solved by the present invention is: to overcome the deficiencies of the prior art, a redundantly driven large self-folding angle support locking and unfolding device is proposed, which is a large self-folding angle support locking and unfolding mechanism, an adaptive drive unlocking actuator and The integrated design scheme of dual-channel redundant drive retractable actuator drive has the advantages of small overall storage space envelope and high reliability of deployment drive.

The technical solution of the present invention is:

A redundantly driven large self-folding angle support, locking and retracting device, comprising a support locking and retracting mechanism, a retracting driving actuator and an adaptive unlocking actuator; wherein, one axial end of the supporting locking and retracting mechanism is installed on the aircraft In terms of body structure, the other end of the axial direction is connected to the middle section of the buffer; one end of the retractable driving cylinder is connected to the supporting locking retracting mechanism, and the other end is installed on the upper part of the buffer to provide the driving force for rotation between the two; The moving cylinder is installed at the middle joint position of the support-locking unfolding and retracting mechanism, and provides the locking support force when the support-locking unfolding and retracting mechanism is unfolded, and the unlocking driving force when retracting.

In the above-mentioned redundantly driven large self-folding angle supporting and locking retracting device, the working process of the supporting and locking retracting device is as follows:

When the buffer is in the lowered state, the support locking and retracting mechanism is in a straight-line deployment state, and the self-adaptive unlocking actuator is in the longest disbursement state under the action of the spring to ensure that the support locking and retracting mechanism is locked; The barrel is in an extended state;

When the buffer needs to be retracted, the self-adaptive unlocking actuating cylinder is actuated and shortened, the support locking and retracting mechanism is unlocked, and at the same time the retracting driving cylinder begins to be shortened, and the supporting locking retracting mechanism is driven to fold and retract the buffer , until the buffer is retracted into place, and the support locking and retracting mechanism is unlocked and is bent at a large angle.

In the above-mentioned redundantly driven large self-folding angle support locking and retracting device, the support locking and retracting mechanism includes a lower support rod, an upper support rod, a lubricating nozzle, an upper support rod support seat, an in-position sensor, a long rocker arm, Short rocker arms and levers;

One end of the upper strut is hinged with the lower strut, and the other end of the upper strut is hinged with the upper strut support base and installed on the aircraft body structure; the other end of the lower strut is hinged on the buffer; the lower strut, the upper strut, The buffer and the aircraft body form a four-bar linkage mechanism, which is driven by the dual-channel redundant drive retractable cylinder to lift and lower the buffer, and is supported by the stop surfaces on the lower strut and upper strut; One end of the arm is hinged on the lower strut, the other end of the upper strut is hinged with one end of the short rocker arm, the other end of the short rocker arm is fixedly connected with the lever, and is hinged on the upper strut; one end of the adaptive unlocking cylinder is hinged with the lever , the other end is hinged on the upper strut; the in-position sensor is installed on the lower strut to judge the in-position state of the support locking and retracting mechanism; the lubricating nipple is installed on the upper strut and the end of the upper strut at the position of the shaft to realize the injection of lubricant Ensure smooth rotation.

In the above-mentioned redundantly driven large self-folding angle supporting, locking and retracting device, the working process of the supporting, locking and retracting mechanism is:

The lower strut, the upper strut, the long rocker arm and the short rocker arm form a four-bar linkage mechanism to realize the linkage of deployment and retraction; when the supporting locking retraction mechanism is deployed in place, the stop surface of the lower strut and the upper strut structure is in contact and bears the buffer load , the long rocker arm is above the dead point of the link mechanism, and the locked state is guaranteed under the action of the spring force of the adaptive unlocking actuator; the in-position sensor is supported by the lever to output the in-position locking state signal; the support locking and retracting mechanism needs to be retracted When the self-adaptive unlocking actuator overcomes the spring force to act and shrink, pull the lever to link the long rocker arm to swing past the dead point and then unlock it, and then retract it into position under the drive of the retractable driving actuator, and finally achieve large self-bending angle bending; The lubricating nipple is used to inject lubricant to ensure smooth rotation of each rotating joint.

In the above-mentioned redundantly driven large self-folding angle support locking and retracting device, the retracting and retracting driving cylinder includes a joint, an end cover, an outer cylinder, an outer piston rod, an inner piston rod and a nozzle joint; wherein, the outer cylinder It is placed horizontally in the axial direction; the end cover is arranged at the axial open end of the outer cylinder to realize sealing; one end of the outer cylinder is hinged with the buffer; On the upper side, three hydraulic oil inlets a, b, and c are formed in sequence along the axial direction; the outer piston rod and the inner piston rod are arranged in series in the outer cylinder, and the two are not fixedly connected, forming a high-pressure oil with two extended cylinders. cavity.

In the above-mentioned redundantly driven large self-folding angle support locking and unfolding device, the working process of the retracting and unfolding driving cylinder is as follows:

When the double-channel redundant drive retractable actuator is shortened, the high pressure oil is injected into the outer cylinder cavity from the c port of the oil nozzle joint, and the high pressure oil pushes the outer piston rod and the inner piston rod to move towards the b port of the oil nozzle joint until the structure The shortest state; when the dual-channel redundant drive retracts the actuator to extend, injecting high-pressure oil from either port a or port b of the nozzle joint can realize the extension of the actuator; at the same time, when any hydraulic oil leaks When waiting for a fault, it will not affect the action of the other channel, realize the isolation of the drive fault, and improve the reliability of the buffer.

In the above-mentioned redundantly driven large self-folding angle support locking and retracting device, the self-adaptive unlocking actuator includes an outer cylinder, a piston, an end cover, a compression spring, a connecting rod, a connecting rod sleeve and a joint; wherein, One end of the outer cylinder joint is hinged with the upper strut, one end of the piston is installed in the outer cylinder, and the other end is fixedly connected with the connecting rod; the end cover is arranged at the axial opening section of the outer cylinder to realize sealing; one end of the connecting rod sleeve is sleeved on the connecting rod and can slide relatively, and the other end is fixedly connected with the joint; the compression spring is installed between the connecting rod sleeve and the end cover and is in a compressed state.

In the above-mentioned redundantly driven large self-folding angle support locking and retracting device, the working process of the self-adaptive unlocking actuator is:

In the free state, the self-adaptive unlocking actuator is in the longest structural state under the action of the compression spring; when unlocking, high-pressure oil is injected into the inner cavity of the outer cylinder, and the piston moves towards the side of the outer cylinder joint under the oil pressure, and passes through the connecting rod and the connecting rod. The rod sleeve drives the joint to shrink; after the piston moves in place and unlocks, the joint and connecting rod sleeve are driven by the movement of the overall mechanism to continue the self-adaptive contraction of the compression spring during the movement of the mechanism until the entire mechanism completes the action.

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

(1) A large self-folding angle supporting locking and unfolding device proposed by the present invention, the integrated design of the supporting locking and unfolding mechanism and the unlocking actuator can realize the length linkage of the unlocking actuator and realize the expansion of the upper and lower struts of the buffer from 180° It can be folded at a large angle to a 15° angle, reducing the storage space required for the landing system, and realizing the layout and deployment and locking of the take-off and landing system within the envelope of a narrow space such as a sky-earth shuttle;

(2) The dual-channel redundant drive retractable actuator proposed by the present invention, as the drive of the strut locking retractor, can realize dual-channel redundant drive in the process of lowering the buffer, while isolating any driving oil circuit fault , to ensure that in the case of one oil circuit failure, the buffer lowering action can be realized by driving another oil circuit, which greatly improves the reliability of the buffer lowering. The integrated large self-folding angle support, locking and retracting device finally realizes the working reliability of the landing system in the narrow space envelope. improvement.

Description of drawings

Fig. 1 is the folding schematic diagram of the large self-folding angle support locking and unfolding device of the present invention;

Fig. 2 is the expanded schematic diagram of the large self-folding angle support locking and unfolding device of the present invention;

Fig. 3 is the overall schematic diagram of the supporting locking extension and retracting mechanism of the present invention;

FIG. 4 is a schematic diagram of the unfolding of the supporting locking retracting mechanism of the present invention;

FIG. 5 is a schematic diagram of the folding of the supporting locking unfolding and retracting mechanism of the present invention;

6 is a schematic structural diagram of the retractable drive actuator of the present invention;

7 is a schematic structural diagram of an adaptive unlocking actuator of the present invention.

Detailed ways

The present invention will be further elaborated below in conjunction with the examples.

The present invention proposes a drive integrated design scheme of a large self-folding angle support locking and retracting mechanism, an adaptive unlocking actuator and a dual-channel redundant drive retracting actuator, which has the advantages of small overall storage space envelope and high deployment drive reliability. advantages, thus completing the present invention. This patent can be used for the landing take-off and landing system of the air-to-ground shuttle, high-altitude and high-speed unmanned aerial vehicle with limited storage layout or atypical aerodynamic shape.

The redundantly driven large self-folding angle support-locking and retracting device, as shown in FIG. 1 , includes a support-locking and retracting mechanism 10, a retractable driving cylinder 20 and an adaptive unlocking cylinder 30; wherein, the support-locking and retracting mechanism One end of the axial direction of 10 is installed on the body structure of the aircraft, and the other end of the axial direction is connected to the middle section of the buffer; The self-adaptive unlocking actuator 30 is installed at the intermediate joint position of the support-locking retractable mechanism 10 to provide the locking support force when the support-locking retractable mechanism 10 is unfolded, and the unlocking driving force when retracted.

As shown in Figure 1 and Figure 2, the working process of the supporting locking and retracting device is as follows:

When the buffer is in the lowered state, the support-locking retracting mechanism 10 is in an in-line unfolding state, and the adaptive unlocking actuator 30 is in the longest disbursing state under the action of the spring to ensure that the support-locking retracting mechanism 10 is locked; The driving cylinder 20 is in an extended state;

When the buffer needs to be retracted, the self-adaptive unlocking actuator 30 is actuated and shortened, and the supporting locking and retracting mechanism 10 is unlocked. The buffer is lifted up until the buffer is retracted into place, and the supporting locking and unfolding mechanism 10 is unlocked and is bent at a large angle.

As shown in FIG. 3 , the support locking retracting mechanism 10 includes a lower support rod 101 , an upper support rod 102 , a lubricating nipple 103 , an upper support rod support seat 104 , a position sensor 108 , a long rocker arm 110 , a short rocker arm 111 and a lever 114;

One end of the upper strut 102 is hinged with the lower strut 101, and the other end of the upper strut 102 is hinged with the upper strut support base 104 and installed on the aircraft body structure; the other end of the lower strut 101 is hinged on the buffer; 101. The upper strut 102, the buffer and the aircraft body form a four-bar linkage mechanism, and the lifting and lowering of the buffer is realized by driving the double-channel redundant drive and retraction cylinder 20. The lower strut 101 and the upper strut 102 The upper stop surface forms a support; one end of the long rocker arm 110 is hinged on the lower strut 101, the other end of the upper strut 102 is hinged with one end of the short rocker arm 111, and the other end of the short rocker arm 111 is fixedly connected with the lever 114, and is hinged on the On the upper strut 102; one end of the adaptive unlocking actuator 30 is hinged with the lever 114, and the other end is hinged on the upper strut 102; the in-position sensor 108 is installed on the lower strut 101 for judging that the support locking deployment mechanism 10 is deployed In place; the lubricating nozzle 103 is installed on the upper strut 102 and the position of the shaft at the end of the upper strut 102 to inject lubricant to ensure smooth rotation.

As shown in FIG. 4 and FIG. 5 , the working process of supporting the locking and retracting mechanism 10 is as follows:

The lower strut 101 , the upper strut 102 , the long rocker arm 110 and the short rocker arm 111 form a four-bar linkage mechanism to realize the linkage of expansion and retraction; when the supporting locking mechanism 10 is deployed in place, the lower strut 101 and the upper strut 102 structure the stop surface The long rocker arm 110 is positioned above the dead center of the linkage mechanism, and is in a locked state under the action of the spring force of the self-adaptive unlocking actuator 30; the in-position sensor 108 is locked in position by the lever 114 against the output Status signal; when the supporting locking retracting mechanism 10 needs to be retracted, the self-adaptive unlocking actuator 30 overcomes the spring force to act and retract, pull the lever 114 to link the long rocker arm 110 to swing past the dead center, and then unlock it, and then actuate the retracting drive. The barrel 20 is driven and retracted into place, and finally realizes large self-bending angle bending; the lubricating nozzle 103 is used for injecting lubricant to ensure smooth rotation of each rotating joint.

As shown in FIG. 6 , the retractable driving cylinder 20 includes a joint 201, an end cover 202, an outer cylinder 203, an outer piston rod 204, an inner piston rod 205 and a nozzle joint 214; wherein, the outer cylinder 203 is placed horizontally in the axial direction; The cover 202 is arranged on the axial open end of the outer cylinder 203 to achieve sealing; one end of the outer cylinder 203 is hinged with the buffer; the joint 201 is connected with the upper strut 102 and is screwed and fixedly connected with the outer piston rod 204; the oil nozzle joint 214 is screwed on the outside On the cylinder 203, three hydraulic oil inlets a, b, and c are formed in sequence along the axial direction; the outer piston rod 204 and the inner piston rod 205 are arranged in series in the outer cylinder 203, and the two are not fixedly connected, forming two actuating cylinders Elongated high pressure oil chamber.

The working process of retracting the driving cylinder 20 is as follows:

When the dual-channel redundant drive retractable cylinder 20 is shortened, the high pressure oil is injected into the cavity of the outer cylinder 203 from the c port of the oil nozzle joint 214, and the high pressure oil pushes the outer piston rod 204 and the inner piston rod 205 to the b of the oil nozzle joint 214. One end of the port moves until the structure is the shortest state; when the dual-channel redundant drive retractable actuator 20 extends, injecting high-pressure oil from either port a or port b of the nozzle joint 214 can realize the extension of the actuator; At the same time, when any one channel of hydraulic oil leaks and other faults, it will not affect the operation of the other channel, so as to realize the isolation of driving faults and improve the reliability of the buffer.

As shown in FIG. 7 , the adaptive unlocking actuator 30 includes an outer cylinder 301, a piston 302, an end cover 303, a compression spring 304, a connecting rod 305, a connecting rod sleeve 306 and a joint 307; wherein, one end of the joint of the outer cylinder 301 is connected to The upper strut 102 is hinged, one end of the piston 302 is installed in the outer cylinder 301, and the other end is fixedly connected with the connecting rod 305; the end cover 303 is arranged at the axial opening section of the outer cylinder 301 to realize sealing; one end of the connecting rod sleeve 306 is sleeved on the connecting rod The rod 305 is relatively slidable, and the other end is fixedly connected with the joint 307; the compression spring 304 is installed between the connecting rod sleeve 306 and the end cover 303 and is in a compressed state.

The working process of the adaptive unlocking actuator 30 is as follows:

In the free state, the self-adaptive unlocking actuator 30 is in the longest structural state under the action of the compression spring 304; when unlocking, high-pressure oil is injected into the inner cavity of the outer cylinder 301, and the piston 302 moves toward the joint side of the outer cylinder 301 under the pressure of the oil. The connecting rod 305 and the connecting rod sleeve 306 are used to drive the joint 307 to contract; after the piston 302 is moved in place and unlocked, the joint 307 and the connecting rod sleeve 306 are driven by the overall mechanism movement to compress the compression spring 304 to continue to perform adaptive contraction during the mechanism movement. , until the entire mechanism completes the action.

The present invention provides a support-locking retracting mechanism 10 , the schematic diagrams are shown in FIG. 3 , FIG. 4 , and FIG. 5 . The mechanism includes a lower support rod 101 , an upper support rod 102 , a lubricating nozzle 103 , an upper support rod support base 104 , a position sensor 108 , a long rocker arm 110 , a short rocker arm 111 , and a lever 114 . One end of the upper strut 102 is hinged with the lower strut 101 , the other end of the upper strut 102 is hinged with the upper strut support base 104 and installed on the aircraft body structure, the other end of the lower strut 101 is hinged on the buffer, and the lower strut 101 is hinged on the buffer. 101. The upper strut 102, the buffer and the aircraft body form a four-bar linkage mechanism, and the lifting and lowering of the buffer is realized by driving the double-channel redundant drive and retraction cylinder 20. The lower strut 101 and the upper strut 102 The stop surface on the top forms the support. One end of the long rocker arm 110 is hinged on the lower strut 101 , the other end of the long rocker arm 110 is hinged with one end of the short rocker arm 111 , the other end of the short rocker arm 111 is fixedly connected with the lever 114 , and is hinged on the upper strut 102 . One end of the unlocking cylinder 30 is hinged with the lever 114 , and the other end is hinged on the upper strut 102 . The lower support rod 101, the upper support rod 102, the long rocker arm 110, and the short rocker arm 111 form a four-bar linkage mechanism to realize the expansion and retraction linkage. When the buffer is retracted, it can be stored at a large self-folding angle. After the stop surface of the structure and the upper strut 102 and the long rocker arm 110 swing over the dead center, the structure of the self-adaptive unlocking actuator 30 is fixed to achieve locking.

The present invention provides a dual-channel redundant drive retractable actuator 20 , the schematic diagram of which is shown in FIG. 6 . The structure includes a joint 201 , an end cover 202 , an outer cylinder 203 , an outer piston rod 204 , an inner piston rod 205 , and a nozzle joint 214 . The outer cylinder 203 is hinged with the buffer, the joint 201 is connected with the upper strut 102 , and is screwed with the outer piston rod 204 . The oil nozzle joint 214 is screwed on the outer cylinder 203 to form three hydraulic oil inlets a, b and c. The outer piston rod 204 and the inner piston rod 205 are arranged in series in the outer cylinder 203, and the two are not fixedly connected, forming two high-pressure oil chambers with extended cylinders, ensuring that any hydraulic oil from port a and port b can be realized. The actuating cylinder stretches, and at the same time, when any hydraulic oil leaks or other faults, it will not affect the operation of the other channel, so as to realize the isolation of driving faults and improve the reliability of the buffer.

The present invention provides an adaptive unlocking actuator 30, the schematic diagram of which is shown in FIG. 7 . The structure includes an outer cylinder 301 , a piston 302 , an end cap 303 , a spring 304 , a connecting rod 305 , a connecting rod sleeve 306 , and a joint 307 . The piston 302 and the connecting rod 305 are fixedly connected, and the connecting rod sleeve 306 is sleeved on the connecting rod 305 and can slide relatively. The fixed length of the structure is used for the locking of the retracting mechanism, and at the same time, adaptive compression during the movement of the mechanism can be performed between the piston and the actuator joint 307 .

Although the present invention has been disclosed above with preferred embodiments, it is not intended to limit the present invention. Any person skilled in the art can use the methods and technical contents disclosed above to improve the present invention without departing from the spirit and scope of the present invention. The technical solutions are subject to possible changes and modifications. Therefore, any simple modifications, equivalent changes and modifications made to the above embodiments according to the technical essence of the present invention without departing from the content of the technical solutions of the present invention belong to the technical solutions of the present invention. protected range.

Claims (6)

1. A redundantly driven large self-folding angle supporting, locking and unfolding device, characterized in that: comprising a supporting locking and unfolding mechanism (10), a retractable driving cylinder (20) and an adaptive unlocking cylinder (30) ; wherein, one end of the axial direction of the supporting locking and retracting mechanism (10) is installed on the aircraft body structure, and the other axial end is connected to the middle section of the buffer; one end of the retracting driving cylinder (20) is connected to the supporting locking and retracting mechanism (10). ) are connected, and one end is installed on the upper part of the buffer to provide the driving force for rotation between the two; the self-adaptive unlocking actuator (30) is installed at the intermediate joint position of the supporting locking deployment mechanism (10) to provide the supporting locking deployment mechanism ( 10) The locking support force when unfolding, and the unlocking driving force when retracting; The working process of the support, locking and unfolding device is as follows: When the buffer is in the lowered state, the support-locking and retracting mechanism (10) is in an in-line deployment state, and the adaptive unlocking actuator (30) is in the longest disbursing state under the action of the spring, ensuring that the supporting-locking and retracting mechanism (10) ) is locked; the retractable drive actuator (20) is in an extended state; When the buffer needs to be retracted, the self-adaptive unlocking actuator (30) is actuated and shortened, the supporting locking and unfolding mechanism (10) is unlocked, and at the same time, the retracting and driving actuator (20) begins to be shortened, and the supporting locking and unfolding mechanism (10) is driven to be retracted. The retracting mechanism folds up and retracts the buffer until the buffer is retracted in place, and supports and locks the unfolding and retracting mechanism (10) to be unlocked and in a bent state with a large angle; The support locking and retracting mechanism (10) comprises a lower support rod (101), an upper support rod (102), a lubricating nozzle (103), an upper support rod support seat (104), a position sensor (108), a long rocker arm ( 110), a short rocker arm (111) and a lever (114); One end of the upper strut (102) is hinged with the lower strut (101), and the other end of the upper strut (102) is hinged with the upper strut support seat (104) and installed on the aircraft body structure; One end is hinged on the buffer; the lower strut (101), the upper strut (102), the buffer and the aircraft body form a four-bar linkage mechanism, and the buffer is realized by driving the double-channel redundant drive retractable driving cylinder (20). The lifting and lowering of the device are supported by the stop surfaces on the lower support rod (101) and the upper support rod (102); one end of the long rocker arm (110) is hinged on the lower support rod (101), and the upper support rod (102) ) and the other end of the short rocker arm (111) are hinged, and the other end of the short rocker arm (111) is fixedly connected with the lever (114), and is hinged on the upper strut (102); the adaptive unlocking actuator (30) One end is hinged with the lever (114), and the other end is hinged on the upper strut (102); the in-position sensor (108) is installed on the lower strut (101), and is used to judge the in-position state of the support locking and unfolding mechanism (10); The lubricating nipple (103) is installed on the upper strut (102) and the position of the rotating shaft at the end of the upper strut (102), so that lubricant can be injected to ensure smooth rotation. 2. A redundantly driven large self-folding angle support locking and unfolding device according to claim 1, characterized in that: the working process of the support locking and unfolding mechanism (10) is: The lower support rod (101), the upper support rod (102), the long rocker arm (110) and the short rocker arm (111) form a four-bar linkage mechanism to realize the unfolding and retracting linkage; when the supporting locking unfolding and retracting mechanism (10) is unfolded in place, the lower support rod (101) is in contact with the structural stop surface of the upper strut (102) and bears the load of the buffer. The long rocker arm (110) is above the dead center of the link mechanism, and the spring force of the adaptive unlocking cylinder (30) acts on it. The in-position sensor (108) is supported by the lever (114) to output the in-position lock state signal; when the support locking and retracting mechanism (10) needs to be retracted, the self-adaptive unlocking actuator (30) overcomes the spring force to act. To retract, pull the lever (114) to link the long rocker arm (110) to swing over the dead center, and then unlock it, and then retract it into position under the drive of the retractable and retractable driving cylinder (20), and finally achieve large self-bending angle bending; lubricating nipple (103) is used for injecting lubricant to ensure smooth rotation of each rotating joint. 3. A redundantly driven large self-folding angle support locking and unfolding device according to claim 2, characterized in that: the retractable driving cylinder (20) comprises a retractable driving cylinder joint (201) , retractable drive cylinder end cover (202), retractable drive cylinder outer cylinder (203), outer piston rod (204), inner piston rod (205) and oil nozzle joint (214); The outer cylinder (203) of the actuating cylinder is placed horizontally in the axial direction; the end cover (202) of the retractable driving cylinder is arranged on the axial open end of the outer cylinder (203) of the retractable driving cylinder to realize sealing; One end of the outer cylinder (203) of the moving cylinder is hinged with the buffer; the joint (201) of the retractable driving cylinder is connected with the upper strut (102), and is screwed and fixedly connected with the outer piston rod (204); the oil nozzle joint (214) It is screwed on the outer cylinder (203) of the retractable driving cylinder, and three hydraulic oil inlets a, b, and c are formed in sequence along the axial direction; the outer piston rod (204) and the inner piston rod (205) are arranged in series on the retractable cylinder. Put into the outer cylinder (203) of the driving cylinder, the two are not fixedly connected, forming two extended high-pressure oil chambers of the cylinder. 4. A redundantly driven large self-folding angle support locking and unfolding device according to claim 3, characterized in that: the working process of the retracting and unfolding driving cylinder (20) is: When the double-channel redundant drive retractable drive cylinder (20) is shortened, the high pressure oil is injected into the cavity of the retractable drive cylinder (203) from the c port of the oil nozzle joint (214), and the high pressure oil pushes the outer piston The rod (204) and the inner piston rod (205) move toward the b port end of the oil nozzle joint (214) until the structure is the shortest state; when the dual-channel redundant drive retraction and drive actuator (20) is extended, the oil nozzle joint (214) is extended from the oil nozzle joint. (214) Any channel of high-pressure oil injected into port a or port b can realize the extension action of the actuator; at the same time, when any hydraulic oil leakage occurs in any channel, it will not affect the operation of the other channel, so as to achieve drive fault isolation and improve buffering. The reliability of the device is lowered. 5. A redundantly driven large self-folding angle support locking and unfolding device according to claim 4, characterized in that: the adaptive unlocking actuator (30) comprises an adaptive unlocking actuator outer cylinder (301) ), piston (302), adaptive unlocking cylinder end cap (303), compression spring (304), connecting rod (305), connecting rod sleeve (306) and adaptive unlocking cylinder joint (307); One end of the joint of the outer cylinder (301) of the adaptive unlocking cylinder is hinged with the upper strut (102), one end of the piston (302) is installed in the outer cylinder (301) of the adaptive unlocking cylinder, and the other end is connected to the connecting rod ( 305) Fixed connection; the self-adaptive unlocking actuator end cover (303) is arranged at the axial opening section of the self-adaptive unlocking actuator outer barrel (301) to achieve sealing; one end of the connecting rod sleeve (306) is sleeved on the connecting The rod (305) is relatively slidable, and the other end is fixedly connected with the adaptive unlocking cylinder joint (307); the compression spring (304) is installed on the connecting rod sleeve (306) and the adaptive unlocking cylinder end cover ( 303) and in a compressed state. 6. A redundantly driven large self-folding angle support locking and unfolding device according to claim 5, characterized in that: the working process of the self-adaptive unlocking actuator (30) is: In the free state, the adaptive unlocking actuator (30) is in a state with the longest structure under the action of the compression spring (304). ) moves toward the joint side of the outer cylinder (301) of the adaptive unlocking cylinder under oil pressure, and drives the adaptive unlocking cylinder joint (307) to shrink through the connecting rod (305) and the connecting rod sleeve (306); After the piston (302) moves in place and is unlocked, the self-adaptive unlocking actuator joint (307) and the connecting rod sleeve (306) are driven by the movement of the overall mechanism to compress the compression spring (304) to continue to perform the self-adaptive contraction during the mechanism movement. until the entire organization completes the action.

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