CN115978049A

CN115978049A - Electromechanical actuator for internal locking type emergency retraction unlocking

Info

Publication number: CN115978049A
Application number: CN202211670038.0A
Authority: CN
Inventors: 匡克焕; 汪驰; 田荐宏; 曾华勇
Original assignee: SICHUAN LINGFENG AVIATION HYDRAULIC MACHINERY CO Ltd
Current assignee: SICHUAN LINGFENG AVIATION HYDRAULIC MACHINERY CO Ltd
Priority date: 2022-12-25
Filing date: 2022-12-25
Publication date: 2023-04-18

Abstract

The invention discloses an internal locking type emergency retraction unlocking electromechanical actuator, which effectively solves the problem that the conventional dual-redundancy electromechanical actuator still needs to depend on electric power to realize emergency retraction. The invention is realized by the following technical scheme: the radial necking groove of the screw nut corresponds to the locking guide groove of the nut sleeve and is restrained by a sliding block below the nut sleeve, the sliding block is coupled with an emergency sliding sleeve, a locking force spring and a return spring for keeping the locking force are axially restrained on the end surface of the piston head, the end surface of the emergency sliding sleeve and the end surface of the locking sliding sleeve of the ladder barrel, the screw nut drives the nut sleeve to push the locking sliding sleeve of the ladder barrel to overcome the elastic force movement of the return spring and the locking force spring together, the rigid locking ball is mechanically switched to be locked or unlocked, the actuating barrel is linearly retracted and locked in place and unlocked, an emergency energy inlet on an actuator is communicated with a high-pressure medium emergency release loop, the return spring pre-pressed in the piston head is compressed, the locking sliding sleeve of the ladder barrel is overcome the spring force to be emergently released, and the emergency sliding sleeve overcomes the spring force to be released, and the high-pressure medium pushes the piston barrel to retract.

Description

Electromechanical actuator for internal locking type emergency retraction unlocking

Technical Field

The invention relates to the field of machinery, in particular to an emergency unlocking and retracting structure applied to an electromechanical actuator, and more particularly relates to an innovative structure which can improve the safety and task reliability of the electromechanical actuator and realize multi-medium emergency unlocking and retracting of a piston cylinder under the working condition that the actuator is powered off or a transmission part is blocked.

Background

Along with the development of modern technology, the control system for the folding and unfolding mechanism is simple, convenient to operate, simple and compact in structure, complete in function, reliable in quality, stable in performance, long in service life, light in weight, easy to maintain, low in manufacturing and using cost, and capable of safely and quickly folding or unfolding the mechanism in an emergency state. The undercarriage of a modern aircraft is usually retractable, so that the undercarriage is normally retracted and extended by hydraulic pressure, when the undercarriage cannot be normally extended due to faults of systems such as hydraulic pressure and electrical pressure of the aircraft, the aircraft must have a measure of manually and emergently extending the undercarriage, and the safety of the aircraft is directly influenced by the working performance of the aircraft. However, in the past, the emergency landing gear system of the aircraft is very important for ensuring the flight safety in the case that the aircraft is forced to land due to the fact that the emergency landing gear of the aircraft is not placed in place. The actuating cylinder for normally deploying and retracting the undercarriage by using electric energy is a transmission mechanism for converting the rotation of an input shaft into the linear motion of an actuating rod. If the lead screw and the nut in the actuating cylinder are stuck in the process of load swinging, the actuating rod cannot stretch and retract any more and cannot push the load any more, and catastrophic faults can occur. However, the traditional internal locking type electric actuating cylinder and the electric control system thereof, particularly the emergency unlocking method or form thereof cannot adapt to the development of modern technology, particularly modern aircraft technology.

The electromechanical actuator is used as a linear motion executing element and is an energy conversion device for realizing the linear reciprocating motion or the motion less than 360 degrees of the working mechanism. The basic structure of a conventional electromechanical actuator is as follows: the device comprises a motor, a reduction gearbox, a transmission part, a ball screw pair, a cylinder barrel assembly, a piston barrel assembly, a self-locking assembly and the like. The ball screw pair is a core transmission element of the electromechanical actuator, and the transmission reliability of the ball screw pair has important influence on the overall reliability of the electromechanical actuator. In order to reduce collision impact between a ball screw and a ball nut at a limit transmission position, a buffer pad is added between the ball screw and the ball nut in a traditional ball screw pair. Electromechanical actuators with self-locking devices, which prevent play from external forces when stopping motion at a defined position, are usually locked by a mechanical lock in the actuator cylinder. The mechanical lock is usually in the form of a steel ball lock, which consists of a steel ball, a lock groove, a conical piston, a spring and the like. At present, an electromechanical actuator as a transmission mechanism functions to drive rotation according to a command after being electrified. The speed reduction and torque increase process is carried out from the motor of the electromechanical actuator to the rudder shaft of the aircraft. Therefore, it is necessary to install a corresponding locking device on the motor shaft of the electromechanical actuator when the electromechanical actuator is not energized, so as to provide the required locking torque after deceleration and torque increase. In some applications with higher safety requirements, such as electromechanical actuators for retracting and deploying aircraft landing gears, a certain safety margin is required. The redundancy scheme adopts a main and standby driving mode of a motor and a pneumatic motor, belongs to non-similar redundancy design, and can improve the reliability of the system. The scheme of the built-in lock adopts a steel ball lock mode, and can realize the functions of in-place locking, retraction unlocking and reliable locking of the actuating cylinder. But products that can quickly unlock in response to an emergency are rare. The redundancy of the common electromechanical actuator is designed to backup one motor, and when the main motor fails, the backup motor works to realize emergency lowering or retraction of the piston cylinder. The conventional dual-redundancy electromechanical actuator still needs to rely on electric power to realize emergency retraction, but the conventional dual-redundancy electromechanical actuator is the same as the main and standby driving modes of a motor and a pneumatic motor, the single-point fault of the screw pair jam cannot be solved, the task reliability is low, and therefore the practicability is poor.

Disclosure of Invention

The invention aims to solve the problems in the prior art and provides a scheme which is simple in structure, safe and reliable and can realize emergency unlocking and retraction of a piston cylinder independent of electric power. The problem that the conventional dual-redundancy electromechanical actuator still needs to depend on electric power to realize emergency retraction and release but cannot solve the single-point fault of the screw pair jam is effectively solved, and the redundancy emergency internal locking type emergency retraction unlocking electromechanical actuator of different working media is realized.

The technical scheme adopted by the invention for solving the technical problems is as follows: an interlock emergency retraction unlocking electro-mechanical actuator comprising: electromechanical actuator cylinder 1 through the continuous servo motor shaft gear of gear drive, the assembly in 1 transmission cavity of cylinder with gear drive carries out the screw drive pair 8 that meshes to and cylinder 1 makes telescopic motion's a piston section of thick bamboo 6 and anti-sticking follower, its characterized in that: the piston head is hollow and faces the free end of the cavity of the cylinder barrel 1, a lead screw is converted into mechanical energy of a nut sleeve 9 sleeved on an outer annular surface through a lead screw nut 7 assembled in a hollow stepped hole of the piston head, a radial necking groove 15 at the front part of the lead screw nut 7 corresponds to a locking guide groove 16 of the nut sleeve 9 and is restrained by a sliding block 14 arranged below the nut sleeve 9, the sliding block 14 is coupled with an emergency sliding sleeve 13, a locking force spring 12 and a return spring 10 keeping the locking force are axially restrained on the end surface of the hollow stepped hole of the piston head, the end surface of the emergency sliding sleeve 13 and the end surface of the locking sliding sleeve 11 of the stepped barrel, the lead screw nut 7 drives the nut sleeve 9 to push the locking sliding sleeve 11 of the stepped barrel to overcome the elastic forces of the return spring 10 and the locking force spring 12 together, the rigid locking ball 4 is mechanically switched to be locked or unlocked, the piston barrel 6 is linearly retracted to a locking and unlocking position, a high-pressure medium emergency release loop of an emergency energy source inlet 2 on the actuator is communicated, the return spring 10 pre-pressed in the piston head is compressed, the locking spring 11 and the sliding sleeve 13 overcomes the rigid emergency locking ball 4 to be unlocked, and the locking sleeve 6 is emergently released to be released.

Furthermore, the anti-jamming follow-up mechanism is sleeved on the inner ring surface of the nut sleeve 9 through the outer ring surface of the screw nut 7, a locking guide groove 16 is arranged at the tail end of the nut sleeve 9 and opposite to a radial necking groove 15 at the front part of the screw nut 7, an emergency sliding sleeve 13 which is coupled and connected by a sliding block 14 and a sliding block 14 which are restrained by the locking guide groove 16 and the necking groove 15 is arranged below the nut sleeve 9, the emergency sliding sleeve 13 is axially restrained on the end surface step of the nut sleeve 9 by a locking spring 12, and the screw nut 7 and the nut sleeve 9 are locked together.

Furthermore, the inner sealing ring of the emergency sliding sleeve 13 seals the outer annular surface of the nut sleeve 9, the mechanical lock of the anti-blocking follow-up mechanism is opened by overcoming the elastic force of the upper locking force spring 12 through the driving of the high-pressure emergency medium emergency release loop, and the corresponding emergency medium for the inner circle and the outer circle of the emergency sliding sleeve 13 enters the actuator to drive the mechanical lock to be unlocked, so that the screw nut 7 is separated from the nut sleeve 9, and the piston cylinder 6 is retracted.

Further, when the lock is unlocked, the screw nut 7 and the nut sleeve 9 synchronously drive the locking sliding sleeve 11 of the stepped cylinder to be disengaged from the lower end of the rigid locking ball 4, the rigid locking ball 4 rolls along the guide hole 5 to be disengaged from the locking groove 3, and the end face of the nut sleeve 9 pushes the piston cylinder 6 to retract.

Further, high-pressure medium enters the inner cavity of the cylinder barrel 1 of the electromechanical actuator from the emergency energy inlet 2 on the free end of the cylinder barrel 1, the high-pressure medium pushes the emergency sliding sleeve 13 to overcome the elasticity of the upper locking spring 12 to be separated from the upper end of the sliding block 14, the sliding block 14 radially slides along the upper locking guide groove 16 and is separated from the necking groove 15, and the lead screw nut 7 is separated from the nut sleeve 9; the high-pressure medium pushes the locking sliding sleeve 11 of the stepped cylinder to overcome the elastic force of the return spring 10 to be separated from the lower end of the rigid locking ball 4, the rigid locking ball 4 rolls along the guide hole 5 to be separated from the locking groove 3, and the high-pressure medium pushes the piston cylinder 6 to retract.

Compared with the prior art, the invention has the following gain effects:

the invention adopts the cylinder barrel 1 of the electromechanical actuator which is connected with a shaft gear of a servo motor through a gear transmission mechanism, the lead screw transmission pair 8 which is assembled in a transmission cavity of the cylinder barrel 1 and is engaged with the gear transmission mechanism, and the piston barrel 6 and the anti-blocking follow-up mechanism which make the cylinder barrel 1 do telescopic motion, and has simple structure, high mechanical strength and can bear larger stable load and dynamic load. The vibration of the machine can be reduced, the noise can be reduced, and the working environment can be improved. The anti-blocking follow-up mechanism is sleeved on the inner annular surface of the nut sleeve 9 through the outer annular surface of the screw nut 7, an upper locking guide groove 16 is arranged at the tail end of the nut sleeve 9 and opposite to a radial necking groove 15 at the front part of the screw nut 7, an emergency sliding sleeve 13 which is coupled and connected with a sliding block 14 and a sliding block 14 constrained by the upper locking guide groove 16 and the necking groove 15 is arranged below the nut sleeve 9, and the emergency sliding sleeve 13 is axially constrained on the end surface step of the nut sleeve 9 by an upper locking spring 12, so that the screw nut 7 and the nut sleeve 9 are locked together. The screw rod nut has a good installation and fixing structure, is simple and compact in structure and small in occupied space, so that the screw rod nut 7 and the nut sleeve 9 are locked together and can be unlocked by a high-pressure medium, and faults caused by the clamping of the screw rod pair can be effectively isolated.

According to the invention, the sealing structure is designed on the inner circle and the outer circle of the emergency sliding sleeve 13, so that the emergency sliding sleeve can be driven by an emergency medium to open the mechanical lock of the anti-blocking follow-up mechanism, the corresponding sealing structure is designed on the inner circle and the outer circle of the locking sliding sleeve 11 of the stepped cylinder, so that the emergency medium entering the actuator can drive the mechanical lock to open the mechanical lock of the rigid locking ball 4, and when emergency operation is required, the emergency medium entering the actuator can drive the mechanical lock to open the lock, so that the screw nut 7 is separated from the nut sleeve 9, and the piston cylinder 6 is retracted, thereby solving the problem that the conventional electromechanical actuator cannot solve the single-point fault of the blocking of the screw pair.

The invention adopts the free end of the hollow piston head and facing the cavity of the cylinder barrel 1, a screw is converted into mechanical energy of a nut sleeve 9 sleeved on an outer ring surface through a screw nut 7 assembled in a hollow stepped hole of the piston head, a radial necking groove 15 at the front part of the screw nut 7) corresponds to a locking guide groove 16 of the nut sleeve 9 and is restrained by a slide block 14 arranged below the nut sleeve 9, the slide block 14 is coupled with an emergency slide sleeve 13, a locking force spring 12 and a return spring 10 for keeping the locking force are axially restrained on the end surface of the hollow stepped hole of the piston head, the end surface of the emergency slide sleeve 13 and the end surface of the locking slide sleeve 11 of the stepped barrel, the screw nut 7 drives the nut sleeve 9 to push the locking slide sleeve 11 of the stepped barrel to overcome the elastic forces of the return spring 10 and the locking force spring 12 to complete mechanical locking or unlocking of the rigid locking ball 4, when the rigid locking ball 4 is positioned in a locking groove 3 on the inner ring surface of the piston head 1, and when the lower end of the locking slide sleeve 11 of the stepped barrel leans against the outer ring groove of the locking slide sleeve 11, the piston 4 is realized by the mechanical locking of the rigid locking ball 4, and the nut 7 and the locking sleeve 9 pushes the locking sleeve 5 to retract from the end surface of the rigid locking sleeve 5 along the piston sleeve 6.

According to the invention, a high-pressure medium enters the inner cavity of the cylinder barrel 1 of the electromechanical actuator from the emergency energy inlet 2 on the free end of the cylinder barrel 1, the high-pressure medium pushes the emergency sliding sleeve 13 to overcome the elasticity of the upper locking spring 12 to be separated from the upper end of the sliding block 14, the sliding block 14 radially slides along the upper locking guide groove 16 and is separated from the necking groove 15, and the lead screw nut 7 is separated from the nut sleeve 9; the high-pressure medium pushes the stepped cylinder locking sliding sleeve 11 to overcome the elasticity of the return spring 10 to be separated from the lower end of the rigid locking ball 4, the rigid locking ball 4 rolls along the guide hole 5 to be separated from the locking groove 3, and the high-pressure medium pushes the piston cylinder 6 to retract, so that the problem that the conventional dual-redundancy electromechanical actuator still needs to rely on electric power to realize emergency retraction and extension but cannot solve the single-point fault of the screw rod auxiliary blocking plug is effectively solved.

Drawings

The invention is further illustrated in the following description with reference to the figures and examples, without thereby restricting the invention to the scope of the described examples. All such concepts are intended to be within the scope of the present disclosure and the present invention.

FIG. 1 is a schematic view of the locking state of the retracting internal lock emergency unlocking electromechanical actuator of the present invention.

Fig. 2 is an enlarged cross-sectional view of fig. 1.

In the figure: the emergency energy source device comprises a cylinder barrel 1, an emergency energy source inlet 2, a locking groove 3, a rigid locking ball 4, a guide hole 5, a piston barrel 6, a screw nut 7, a screw transmission pair 8, a nut sleeve 9, a return spring 10, a locking sliding sleeve on a stepped barrel 11, a locking force spring on a stepped barrel 12, an emergency sliding sleeve 13, a sliding block 14, a necking groove 15 and a guide groove on a stepped barrel 16.

Detailed Description

See figure 1. In a preferred embodiment described below, an interlock emergency retraction unlocking electro-mechanical actuator comprises: electromechanical actuator cylinder 1 through the continuous servo motor shaft gear of gear drive, the assembly in 1 transmission cavity of cylinder with gear drive carries out the screw drive pair 8 that meshes to and cylinder 1 makes telescopic motion's a piston section of thick bamboo 6 and anti-sticking follower, its characterized in that: the piston head is hollow and faces the free end of the cavity of the cylinder barrel 1, a screw rod is converted into mechanical energy of a nut sleeve 9 sleeved on an outer ring surface through a screw rod nut 7 assembled in a hollow stepped hole of the piston head, a radial necking groove 15 in the front of the screw rod nut 7 corresponds to a locking guide groove 16 of the nut sleeve 9 and is restrained by a sliding block 14 arranged below the nut sleeve 9, the sliding block 14 is coupled with an emergency sliding sleeve 13, a locking force spring 12 and a return spring 10 for keeping the locking force are axially restrained on the end surface of the hollow stepped hole of the piston head and the end surfaces of the emergency sliding sleeve 13 and the locking sliding sleeve 11 of the stepped barrel, the screw rod nut 7 drives the nut sleeve 9 to push the locking sliding sleeve 11 of the stepped barrel to overcome the elastic forces of the return spring 10 and the locking force spring 12 together, the rigid locking ball 4 is mechanically switched to be locked or unlocked, the piston barrel 6 is linearly retracted to a locking and unlocking position, the emergency energy source inlet 2 high-pressure medium emergency release loop on an actuator is communicated, the return spring 10 pre-pressed in the piston head is compressed, the sliding sleeve 11 and the emergency sliding sleeve 13 overcomes the spring force of the locking and the emergency locking and unlocking ball 4 to be emergently released, the emergency locking and unlocked, and the emergency piston barrel 6 is pushed to retract.

Anti-sticking stopper follower includes: the emergency sliding sleeve 13 is axially restrained in an inner cylinder of the stepped cylinder locking sliding sleeve 11 by the locking force spring 12, so that the screw nut 7 and the nut sleeve 9 are locked together, and the anti-blocking follow-up mechanism is formed.

EXAMPLE 1

The screw nut 7 and the nut sleeve 9 synchronously drive the locking sliding sleeve 11 of the stepped cylinder to move left, the return spring 10 and the locking force spring 12 are compressed, the rigid locking ball 4 rolls along the guide hole 5, the rigid locking ball 4 is separated from the locking groove 3, the locking sliding sleeve 11 rolls to the shoulder chamfer inclined plane of the locking sliding sleeve 11 of the stepped cylinder to unlock, and the end surface of the nut sleeve 9 pushes the piston cylinder 6 to retract.

Example 2

When the emergency unlocking and the piston cylinder retraction are needed, a high-pressure medium enters the inner cavity of the cylinder barrel 1 of the electromechanical actuator from the emergency energy inlet 2 on the free end of the cylinder barrel 1, the emergency sliding sleeve 13 is pushed to overcome the elastic force of the upper locking spring 12, the locking sliding sleeve 11 on the stepped cylinder is synchronously pushed to overcome the elastic force of the return spring 10, the emergency sliding sleeve 13 axially slides along the locking guide groove 16 and is separated from the necking groove 15, the rigid locking ball 4 rolls along the guide hole 5 to be separated from the locking groove 3, and rolls to the shoulder cutting angle inclined plane of the locking sliding sleeve 11 on the stepped cylinder, and the high-pressure medium pushes the piston cylinder 6 to emergently unlock and retract the piston cylinder.

According to any of the above exemplary embodiments, the screw transmission pair 8 rotates to push back the screw nut 7, which synchronously drives the nut sleeve 9, the piston cylinder 6 and the stepped cylinder locking sliding sleeve 11 to move to the right, the stepped cylinder locking sliding sleeve 11 moves along with the same until the piston head reaches the stepped hole at the bottom end of the cylinder barrel 1, the return spring 10 and the upper locking spring 12 release the spring force, the stepped cylinder locking sliding sleeve 11 pushes the rigid locking ball 4 to roll along the guiding hole 5 at the piston head until the locking groove 3 is pushed, so that the piston cylinder 6 is extended and locked, and the cylinder barrel 1 is locked again.

According to any of the above exemplary embodiments, when the piston cylinder 6 is extended, the rigid locking ball 4 is located in the locking groove 3 and the steel ball guide hole 5 on the inner surface of the cylinder barrel 1, and the lower end is leaned against the outer ring surface of the locking sliding sleeve 11 of the stepped cylinder, locking is realized. When emergency unlocking is needed and the piston cylinder is retracted, a high-pressure emergency medium enters the inner cavity of the electromechanical actuator cylinder barrel 1 from the emergency energy inlet 2, the emergency sliding sleeve 13 is pushed to overcome the elasticity of the upper locking spring 12 and is separated from the outer end of the sliding block 14, and the lead screw nut 7 is separated from the nut sleeve 9, so that the lead screw nut 7 is completely separated from the piston cylinder 6; meanwhile, the high-pressure emergency medium pushes the locking sliding sleeve 11 of the stepped cylinder to overcome the elasticity of the return spring 10, the locking sliding sleeve is separated from the lower end of the rigid locking ball 4 and moves out of the stepped arm to move out of a gap, the rigid locking ball 4 is driven by the piston cylinder 6 to be separated from the locking groove 3, and the high-pressure emergency medium pushes the piston cylinder 6 to retract.

For reference, in the description of the exemplary embodiment, the rigid locking ball 4 is installed in the guiding hole 5 on the outer ring step cylinder of the piston head of the piston cylinder 6, the locking groove 3 whose upper end is installed on the inner ring surface of the cylinder tube 1 has a diameter equivalent to that of the rigid locking ball 4, and the lower end is leaned against the outer ring surface of the locking sliding sleeve 11 of the step cylinder. The slide 14 is arranged in a locking guide groove 16 of the nut sleeve 9, one end of the slide is embedded in a radial necking groove 15 of the lead screw nut 7, and the other end of the slide leans against the inner annular surface of the emergency sliding sleeve 13.

While embodiments of the present invention have been illustrated and described above, the embodiments of the present invention have been described in detail, and the above description of the embodiments is merely provided to assist in understanding the present invention; meanwhile, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and alterations can be made in the embodiments without departing from the principles and spirit of the invention, and the content of the specification should not be construed as limiting the invention. The scope of the invention is defined by the appended claims and equivalents thereof.

Claims

1. An interlock emergency retraction unlocking electro-mechanical actuator comprising: electromechanical actuator cylinder (1) through the servo motor shaft gear that gear drive links to each other, assemble in cylinder (1) transmission cavity with gear drive carries out the screw drive pair (8) that mesh to and cylinder (1) do concertina movement's piston cylinder (6) and anti-sticking follow-up mechanism, its characterized in that: the piston head is hollow and faces the free end of the cavity of the cylinder barrel (1), a screw is converted into mechanical energy of a nut sleeve (9) sleeved on an outer ring surface through a screw nut (7) assembled in a hollow stepped hole of the piston head, a radial necking groove (15) at the front part of the screw nut (7) corresponds to a locking guide groove (16) of the nut sleeve (9) and is restrained by a sliding block (14) arranged below the nut sleeve (9), the sliding block (14) is coupled with an emergency sliding sleeve (13), an upper locking spring (12) and a return spring (10) for keeping the upper locking force are axially restrained on the end surface of a hollow stepped hole of the piston head, the end surface of the emergency sliding sleeve (13) and the end surface of a locking sliding sleeve (11) of the stepped barrel, the screw nut (7) drives the nut sleeve (9) to push the locking sliding sleeve (11) of the stepped barrel to overcome the elastic forces of the return spring (10) and the upper locking spring (12) together, the mechanical switching or unlocking of a rigid locking ball (4) is completed, the piston barrel (6) is linearly retracted to a locking and unlocking position, an emergency energy source on an inlet on a communication actuator releases a high-pressure medium, a return circuit is compressed in the locking sliding sleeve (10) of the piston head, and the return spring (11) is compressed by the return sleeve (10) of the locking sleeve (11), the emergency sliding sleeve (13) overcomes the spring force to be separated from the rigid lock ball (4) in an emergency, the lock is unlocked in an emergency, and the high-pressure medium pushes the piston cylinder (6) to retract.

2. The interlocking emergency retraction unlocking electro-mechanical actuator as set forth in claim 1 wherein: when the rigid lock ball (4) is positioned in the lock groove (3) on the inner wall of the inner annular surface of the cylinder barrel (1) and the lower end of the rigid lock ball leans against the outer annular surface of the locking sliding sleeve (11) of the ladder barrel, the mechanical lock of the rigid lock ball (4) is locked, the locking sliding sleeve (11) of the ladder barrel is driven by the screw nut (7) and the nut sleeve (9) to be disengaged from the lower end of the rigid lock ball (4) during unlocking, the rigid lock ball (4) rolls along the guide hole (5) and is disengaged from the lock groove (3), and the end surface of the nut sleeve (9) pushes the piston barrel (6) to retract.

3. The interlocking emergency retraction unlocking electro-mechanical actuator as set forth in claim 1 wherein: anti-sticking stopper follower includes: the screw rod nut (7) is sleeved, the nut sleeve (9) is sleeved on the outer annular surface of the screw rod nut (7), the emergency sliding sleeve (13) is sealed by an annular outer surface of the nut sleeve (9), the upper locking force spring (12) is restrained by the free end of the emergency sliding sleeve (13), one end of the reset spring (10) is restrained on the outer annular surface of the upper locking force spring (12), the other end of the reset spring is restrained on the stepped cylinder locking sliding sleeve (11) on the end surface of a stepped hole in the piston head, the locking guide groove (16) is arranged at the position, opposite to the radial necking groove (15) at the front part of the screw rod nut (7), of the nut sleeve (9), and the sliding block (14) restrained by the locking guide groove (16) and the necking groove (15) is coupled with the lower part of the emergency sliding sleeve (13).

4. The interlocking emergency retraction unlocking electro-mechanical actuator as set forth in claim 1 wherein: the rigid lock ball (4) is positioned in the lock groove (3) on the inner wall of the inner annular surface of the cylinder barrel (1), and the lower end of the rigid lock ball leans against the outer annular surface of the locking sliding sleeve (11) of the ladder barrel, so that the mechanical locking of the rigid lock ball (4) is realized.

5. The interlocking emergency retraction unlocking electro-mechanical actuator as set forth in claim 1 wherein: the screw nut (7) and the nut sleeve (9) synchronously drive the locking sliding sleeve (11) of the stepped cylinder to move left, the reset spring (10) and the locking force spring (12) are compressed, the rigid locking ball (4) rolls along the guide hole (5), the rigid locking ball (4) is separated from the locking groove (3), the locking sliding sleeve (11) rolls to the stepped cylinder, the cylinder shoulder chamfer inclined plane is used for unlocking, and the end face of the nut sleeve (9) pushes the piston cylinder (6) to retract.

6. The interlocking emergency retraction unlocking electro-mechanical actuator as set forth in claim 1 wherein: when the emergency unlocking and the piston cylinder retracting are needed, a high-pressure medium enters an inner cavity of the cylinder barrel (1) of the electromechanical actuator from an emergency energy inlet (2) on the free end of the cylinder barrel (1), the emergency sliding sleeve (13) is pushed to overcome the elastic force of the upper locking spring (12), the locking sliding sleeve (11) of the stepped cylinder is synchronously pushed to overcome the elastic force of the reset spring (10), the sliding block (14) axially slides along the locking guide groove (16) and is separated from the necking groove (15), the rigid locking ball (4) rolls along the guide hole (5) to be separated from the locking groove (3) and rolls to the cylinder shoulder corner cutting inclined plane of the locking sliding sleeve (11) of the stepped cylinder, and the high-pressure medium pushes the piston cylinder (6) to emergently unlock and retract the piston cylinder.

7. The interlocking emergency retraction unlocking electro-mechanical actuator as set forth in claim 1 wherein: when the piston cylinder (6) is extended: the rigid locking ball (4) is positioned in the locking groove (3) and the steel ball guide hole (5) on the inner surface of the cylinder barrel (1), the lower end of the rigid locking ball leans against the outer ring surface of the locking sliding sleeve (11) of the stepped barrel, and the piston barrel (6) realizes the locking at the extending position.

8. The interlocking emergency retraction unlocking electro-mechanical actuator as set forth in claim 1 wherein: when the emergency unlocking is needed and the piston cylinder is retracted, a high-pressure emergency medium enters an inner cavity of a cylinder barrel (1) of the electromechanical actuator from an emergency energy inlet (2), an emergency sliding sleeve (13) is pushed to overcome the elastic force of an upper locking spring (12) and is pulled out from the outer end of a sliding block (14), and a lead screw nut (7) is separated from a nut sleeve (9), so that the lead screw nut (7) is completely separated from the piston cylinder (6); meanwhile, the high-pressure emergency medium pushes the locking sliding sleeve (11) of the stepped cylinder to overcome the elasticity of the return spring (10), the locking sliding sleeve is separated from the lower end of the rigid locking ball (4) and moves out of the stepped arm to form a gap, the rigid locking ball (4) is driven by the piston cylinder (6) to be separated from the locking groove (3), and the high-pressure emergency medium pushes the piston cylinder (6) to retract.

9. The interlocking emergency retraction unlocking electro-mechanical actuator as set forth in claim 1 wherein: the rigid locking ball (4) is arranged in a guide hole (5) on the outer ring step cylinder of the piston head of the piston cylinder (6), the locking groove (3) of the upper end arranged on the inner ring surface of the cylinder barrel (1) has the same diameter as the rigid locking ball (4), and the lower end leans against the outer ring surface of the locking sliding sleeve (11) of the step cylinder; the sliding block (14) is arranged in an upper locking guide groove (16) of the nut sleeve (9), one end of the sliding block is embedded in a radial necking groove (15) of the screw nut (7), and the other end of the sliding block leans against the inner ring surface of the emergency sliding sleeve (13).

10. The electromechanical actuator for an interlocked emergency retraction unlocking according to claim 1, wherein: the screw rod transmission pair (8) [ Z1] rotates to reversely push the screw rod nut (7), the nut sleeve (9), the piston cylinder (6) and the stepped cylinder locking sliding sleeve (11) are synchronously driven to move to the right, the stepped cylinder locking sliding sleeve (11) moves along with the same until the piston head reaches the stepped hole at the bottom end of the cylinder barrel (1), the reset spring (10) and the upper locking force spring (12) release the spring force, the stepped cylinder locking sliding sleeve (11) pushes the rigid locking ball (4) to roll along the guide hole (5) at the head of the piston until the rigid locking ball is pushed to the locking groove (3), the piston cylinder (6) is extended and locked, and the cylinder barrel (1) of the actuating cylinder is locked again.