CN219139744U - Double-machine full-electric redundancy backup same-channel double-lock electromechanical actuator - Google Patents

Abstract

The double-machine full-electric redundancy backup same-channel double-lock electromechanical actuator provided by the utility model has reliable safety margin, and can be realized by the following technical scheme: the free end of the piston cylinder component is provided with a linear displacement in-place locking device arranged in a stepped hole of a piston head, wherein the linear displacement in-place locking device comprises an upper locking ball which falls into a piston head locking ring groove and is tightly attached to the inner wall of an outer cylinder, a lower locking ball which rolls and is locked into a locking ball ring groove on the inner ring surface of the outer cylinder, an upper locking bushing which is tightly attached to the inner ring surface of the piston head and is used for restraining a locking spring between locking groove baffle rings of an end ring of a screw rod sleeve, the lower locking bushing and the upper and lower locking bushings are symmetrical in opposite directions, the rolling direction of the upper locking ball and the lower locking ball and the telescopic movement direction of the piston cylinder component are controlled to be locked in place through the chamfer inclined surfaces at two ends, and the linear displacement in-place locking device follows a screw rod nut sleeved by the screw rod sleeve and carries out linear displacement along a guide rail output at the bottom end of the outer cylinder, so that two relatively independent redundant transmission chains integrated by the piston cylinder component are formed.

Description

Double-machine full-electric redundancy backup same-channel double-lock electromechanical actuator

Technical Field

The utility model relates to an in-place locking and unlocking mechanism of an electric actuator cylinder, in particular to an emergency unlocking, retracting and retracting locking structure of a dual redundancy function applied to an all-motor electric actuator, and more particularly relates to an innovative structure which can improve the safety and task reliability of the all-motor electric actuator, and can unlock, retract a piston rod and lock the piston rod by another motor and a transmission part under the working condition that one motor of the actuator fails or a transmission chain is jammed.

Background

With the continuous improvement of motor technology and power electronics technology, electromechanical actuators (Electro-Mechanical Actuator, EMA) are also increasingly having higher specific gravities. Meanwhile, the electromechanical actuator also has higher reliability, flexibility and higher survival capability. Electromechanical actuators (EMA) are a type of actuator that controls the movement of a load by controlling an electric motor. The small aircraft landing gear retraction electromechanical actuator (EMA) is based on the requirement of full electric control, and replaces the traditional hydraulic control retraction system for the full electric control landing gear retraction device. And the technical index of an electromechanical actuator (EMA) for retraction of the landing gear of the small aircraft is not lower than that of a retraction liquid control system under the same condition. The main functions are as follows: the landing gear can be retracted and locked in the down position, and no-power locking is realized in the down position. And the retraction electromechanical actuator (EMA) control system controls retraction of the landing gear of the aircraft through controlling a mechanical transmission part of the landing gear electromechanical actuator (EMA), and comprises retraction and extension processes of the landing gear, in-place detection and locking of the landing gear at the retraction and extension positions. Typically, an electro-mechanical system (EMA) control system is configured to control multiple jacks (e.g., 1 jack, two jacks) simultaneously. An electric actuator (EMA) is composed of a control circuit part and a mechanical transmission executing part. The control circuit part mainly comprises a main control computer module and a motor drive control module; the mechanical transmission actuating part is a linear motion actuating element for realizing linear reciprocating motion or less than 360 DEG swinging motion of the working mechanism. The common mechanical transmission executing part mainly comprises a piston cylinder, a motor, a reduction gearbox transmission part connected with an output shaft of the motor, a linear displacement output device and a linear displacement in-place locking device which are arranged in the piston cylinder and connected with an output end of the reduction gearbox, and a piston assembly connected with the linear displacement output device. The basic constitution mainly comprises: ball screw pair, urceolus subassembly, piston rod subassembly, from locking subassembly etc.. The conventional locking device has the defects of high energy consumption, and can only drive the screw rod to rotate to enable the piston to be pulled out during emergency release, so that huge impact load is difficult to bear when the aircraft lands. If faults are not easily detected, the landing gear can not be successfully locked at the down position, and even can be locked in the emergency process. The requirements for high reliability of the aircraft cannot be met. An electromechanical actuator with a self-locking device prevents movement due to external forces when the actuator is stopped in a defined position, typically by a mechanical lock in the actuator cylinder. The mechanical lock is usually composed of a steel ball lock, a locking groove, a conical piston, a spring and the like. In the fault-tolerant state of the EMA system, the power originally output by the failed channel must be shared by other normal channels, i.e. the power needs to be redistributed, which can result in an increase in power loss of the motor and the inverter and also affect the mechanical device. When the control system of the landing gear fails, the landing gear cannot be normally retracted and released, so that the emergency system is indispensable.

In certain application occasions with high requirements on safety and task reliability, the requirements on the fields with high requirements on reliability such as aerospace and the like cannot be met by adopting a single-motor system. For example, an electromechanical actuator used for retraction of an aircraft landing gear is required to have a safety margin for the landing gear to be retracted, and a redundancy design method is generally adopted for improving reliability. The redundancy technology is a design method for realizing reasonable management of multiple resources by adding the multiple resources to the system, thereby improving the reliability of the whole system. At present, two modes of parallel double redundancy motors and redundancy modes of connecting the two motors in series are adopted, and the scheme of using the electromechanical actuator to retract and extend the landing gear comprises the steps of extending and retracting the landing gear by a piston rod of the electromechanical actuator and retracting and extending the landing gear by the piston rod. The redundancy of the common electromechanical actuator is designed as a motor for backing up one, when the main motor fails, the standby motor works to realize the emergency lowering of the piston rod, but the single-point failure of the clamping plug of the screw rod pair cannot be solved, the task reliability is low, and the practicability is poor. The redundancy system of the permanent magnet synchronous motor is formed by adopting a double-motor coaxial redundancy clothes system in the prior art, and the structure adopts a serial structure, namely two motors are identical in structure and are coaxially and symmetrically arranged with a shell. The core component of the redundancy system is two mutually isolated permanent magnet synchronous motors, and the two sets of inverters are electrically independent and respectively control the two motors, so that a dual redundancy permanent magnet synchronous motor system is formed. Although in the cold-backup mode of operation, only one redundancy normally works, only if this redundancy fails, the failed redundancy is removed and the other redundancy begins to work. When a fault occurs in a driver or motor winding of a certain redundancy system, the controller immediately blocks a three-phase driving signal of the inverter circuit and cuts off the paths of the inverter and the motor. At this time, the three-phase current of the fault redundancy is reduced to zero in a short time, and the other redundancy starts to work, bearing the whole load. While during the redundancy switch, a certain fluctuation of the rotational speed and the torque occurs. In the single-machine operation mode, only one motor in the redundancy system outputs force, and the system efficiency is low. Although in the hot standby redundancy operation mode, both redundancy works simultaneously, when a certain redundancy fails, the system can cut off the failure redundancy and start a single redundancy mode. However, due to the differences of power devices and factors such as inductance and reactance of motor windings, the redundant motor system can be caused to operate, the torque burden is different, and torque pulsation occurs; the windings of the two motors are different in heat generation, so that the heat generation and the temperature rise of the windings of one motor are too high, the service life of a redundancy system is shortened, and the reliability is reduced.

Disclosure of Invention

The utility model provides a technical scheme of an emergency electromechanical actuator with a lock, which has a compact structure and reliable safety margin, and can realize emergency unlocking, piston rod retraction and full-electric redundancy locking of the piston rod retraction under the supply of electric energy only, so as to effectively solve the problem that the conventional dual-redundancy electromechanical actuator cannot solve the single-point fault of a clamping plug of a screw pair and realize full-electric redundancy emergency.

The technical scheme adopted for solving the technical problems is as follows: a dual-electromechanical actuator with dual full-electrical redundancy backup and dual channels, comprising: the gear transmission assembly is packaged at one side of an EMA outer cylinder transmission box of the electromechanical actuator and is connected with an output shaft of the main motor 1, the main screw 3 is connected with the gear transmission assembly, the piston cylinder assembly 8 which performs telescopic linear motion in a motion cavity of the EMA outer cylinder 4 is arranged in the piston cylinder assembly 8, and the screw nut 6 is connected with the output end of the main screw 3, and the gear transmission assembly is characterized in that: the output end of the piston cylinder assembly 8 is provided with a secondary motor 9 which corresponds to the main motor 1 in opposite direction and is provided with an output gear, a shaft connecting gear of the secondary motor 9 is meshed with a cylinder end gear of a screw rod sleeve 7 assembled in the direction of the output end of the piston cylinder assembly 8 through a secondary transmission gear 10, a cylinder end gear shaft is restrained in an annular groove on the inner wall of the piston cylinder assembly 8 through bearings on the stepped end surfaces of the two ends of the cylinder end gear shaft, a linear displacement in-place locking device arranged in a stepped hole of a hollow piston head of the piston cylinder assembly 8 is arranged on the free end, the linear displacement in-place locking device comprises an upper locking ball 15 which falls into a front-rear direction locking annular groove 16 of an outer ring of the piston head and clings to the inner wall of the EMA outer cylinder 4, and a lower locking ball 12 which is locked in the annular groove of the inner ring surface of the EMA outer cylinder 4 in a rolling way, the locking spring 13 is tightly attached to the inner ring surface of the piston head, the locking spring 13 is restrained between the upper locking bush 14 and the lower locking bush 11 between the end ring locking groove retaining rings of the screw rod sleeve 7, the upper locking bush 14 and the lower locking bush 11 are symmetrical in opposite directions, the rolling directions of the upper locking ball 15 and the lower locking ball 12 are controlled through the chamfer inclined planes at the two ends, and a linear displacement in-place locking device for controlling the telescopic movement direction of the piston cylinder assembly 8 to be locked in place is formed, and the linear displacement in-place locking device follows the screw rod nut 6 sleeved by the screw rod sleeve 7 and carries out linear displacement along the guide rail 5 output at the bottom end of the EMA outer cylinder 4, so that two relatively independent redundant transmission chains integrated by the piston cylinder assembly 8 are formed.

Compared with the prior art, the utility model has the following gain effects:

the utility model adopts a gear transmission assembly which is encapsulated at one side of an EMA outer cylinder transmission box of an electromechanical actuator and is connected with an output shaft of a main motor 1, a main screw rod 3 which is connected with the gear transmission assembly, a piston cylinder assembly 8 which stretches and linearly moves in a moving cavity of an EMA outer cylinder 4, and a screw rod nut which is arranged in the piston cylinder assembly 8 and is connected with the output end of the main screw rod 3, wherein the output end of the piston cylinder assembly 8 is provided with a corresponding main motor 1. Compared with the prior art, the combined structure of the series motor or the parallel motor is compact, and the occupied space is small.

According to the utility model, independent inner and outer ring spiral rollaway nest is designed on a screw sleeve 7 and a screw nut 6, the screw nut 6 is sleeved with a main screw 3, the outer ring spiral rollaway nest is sleeved with the screw sleeve 7, the inner ring spiral rollaway nest of the screw sleeve 7 is sleeved with the outer ring spiral rollaway nest of the screw nut 6, two relatively independent redundancy transmission chains integrated by a piston cylinder assembly 8 are formed, so that the main screw 3 can be driven by the main motor 1, and the screw sleeve 7 can be driven by an auxiliary motor 9. The device has compact structure and reliable safety margin, and can realize emergency unlocking, retraction and locking of the piston rod under the supply of electric power energy only. The redundancy management technology of the working/backup mode is adopted to furthest improve the reliability and safety of the completed task, so that the system can operate with high efficiency during normal operation, and after faults occur, fault sources can be timely isolated, and the performance reduction is minimized.

The utility model adopts a linear displacement in-place locking device which rolls in a bus locking groove on the inner wall of a piston cylinder assembly 8, and a screw nut 6 is sleeved on a spiral raceway in a screw sleeve 7 to drive the screw nut 6 to perform linear displacement along a guide rail 5 output by the bottom end of an EMA outer cylinder 4, so that two relatively independent redundant transmission chains integrated by the piston cylinder assembly 8 are formed; when the main motor 1 and the auxiliary motor 9 work simultaneously, the piston rod stretches out and retracts, the retracting speed is twice that of the single motor, and when any motor fails or the corresponding transmission chain is blocked, the other motor can independently finish the tasks of unlocking and retracting the piston rod and locking, so that the landing gear can be released without obstacle. Under the condition of emergency release, energy can not be dissipated due to rotation of a piston driving screw, and the screw pair is not blocked or can not be locked, a set of control system and another set of emergency release actuating mechanism are not needed to be specially designed, and therefore the problem that a conventional electromechanical actuator can not solve the problem that a screw pair is blocked and single-point faults are solved.

According to the utility model, the screw nut 6 moves to the limit position of the bottom end of the screw sleeve 7 along the guide track 5, the piston cylinder assembly 8 is pushed to retract, the lower lock ball 12 in the linear displacement in-place locking device is driven to be separated from the lower lock groove of the EMA outer cylinder 4, the steel ball realizes mechanical lock unlocking, the screw nut 6 pushes the screw sleeve 7 to drive the piston cylinder assembly 8 to retract to the bottom of the EMA outer cylinder 4, the upper steel ball 15 is pushed into the lock ring groove in the bottom direction of the EMA outer cylinder 4 by the end face bevel angle of the upper lock bushing 14 with the elastic force provided by the locking spring 13, mechanical lock locking of the upper steel ball 15 is realized, and mechanical lock unlocking or unlocking is realized on the contrary. The in-place locking and unlocking mechanism of the actuator cylinder is high in reliability. Under the working condition that one motor of the actuator fails or a transmission chain is blocked, the other motor and a transmission part can unlock, retract a piston rod and lock, so that the safety and the task reliability of the full-motor electric actuator are improved. The problem that the reliability of tasks of emergency unlocking and piston rod retracting is low due to the fact that a screw pair is blocked by a screw pair cannot be solved due to the fact that a screw pair of a conventional dual-redundancy electromechanical actuator with a locking function is designed in a single redundancy mode is effectively solved. The problem that the reliability of tasks of emergency unlocking and piston rod retracting by clamping a screw rod pair cannot be solved by adopting the conventional single redundancy design of the screw rod pair of the double redundancy electromechanical actuator with the locking function.

Drawings

FIG. 1 is a schematic diagram of the piston cylinder of the dual-engine full-electric redundancy backup same-channel dual-lock electromechanical actuator in an extended state.

Fig. 2 is a schematic view of the piston cartridge of fig. 1 in a retracted state.

In the figure: the novel lock comprises a main motor 1, a main transmission gear 2, a main screw 3, an outer cylinder 4EMA, a guide rail 5, a screw nut 6, a screw sleeve 7, a piston cylinder assembly 8, an auxiliary motor 9, an auxiliary transmission gear 10, a lower lock bushing 11, a lower lock ball 12, a locking spring 13, an upper lock bushing 14, an upper lock ball 15 and a ring slot 16.

The utility model will be further described with reference to the drawings and examples, without thereby restricting the utility model to the scope of the examples. All such concepts should be considered as being generic to the disclosure herein and to the scope of the utility model.

Detailed Description

See fig. 1 and 2. In a preferred embodiment described below, a dual full electrical redundancy backup co-channel dual lock electromechanical actuator comprises: the gear transmission assembly is encapsulated at one side of an EMA outer cylinder transmission box of the electromechanical actuator and is connected with an output shaft of the main motor 1, the main screw 3 is connected with the gear transmission assembly, the piston cylinder assembly 8 which performs telescopic linear motion in a motion cavity of the EMA outer cylinder 4 is arranged in the piston cylinder assembly 8, and the screw nut 6 is connected with an output end of the main screw 3. The output end of the piston cylinder assembly 8 is provided with a secondary motor 9 which corresponds to the main motor 1 in opposite direction and is provided with an output gear, a shaft connecting gear of the secondary motor 9 is meshed with a cylinder end gear of a screw rod sleeve 7 assembled in the direction of the output end of the piston cylinder assembly 8 through a secondary transmission gear 10, a cylinder end gear shaft is restrained in an annular groove on the inner wall of the piston cylinder assembly 8 through bearings on the stepped end surfaces of the two ends of the cylinder end gear shaft, a linear displacement in-place locking device arranged in a stepped hole of a hollow piston head of the piston cylinder assembly 8 is arranged on the free end, the linear displacement in-place locking device comprises an upper locking ball 15 which falls into a front-rear direction locking annular groove 16 of an outer ring of the piston head and clings to the inner wall of the EMA outer cylinder 4, and a lower locking ball 12 which is locked in the annular groove of the inner ring surface of the EMA outer cylinder 4 in a rolling way, the locking spring 13 is tightly attached to the inner ring surface of the piston head, the locking spring 13 is restrained between the upper locking bush 14 and the lower locking bush 11 between the end ring locking groove retaining rings of the screw rod sleeve 7, the upper locking bush 14 and the lower locking bush 11 are symmetrical in opposite directions, the rolling directions of the upper locking ball 15 and the lower locking ball 12 are controlled through the chamfer inclined planes at the two ends, and a linear displacement in-place locking device for controlling the telescopic movement direction of the piston cylinder assembly 8 to be locked in place is formed, and the linear displacement in-place locking device follows the screw rod nut 6 sleeved by the screw rod sleeve 7 and carries out linear displacement along the guide rail 5 output at the bottom end of the EMA outer cylinder 4, so that two relatively independent redundant transmission chains integrated by the piston cylinder assembly 8 are formed.

The gear assembly includes: and a main transmission gear 2 which is arranged on one side of the outer cylinder transmission box and meshed with the output shaft end connecting gear of the main motor 1, and a main screw 3 end gear transmission system meshed with the main transmission gear 2.

The gear assembly further includes: the device is arranged at the end of the piston cylinder assembly 8 towards the radial opening end, and is meshed with a cylinder end gear of the screw rod sleeve 7 through a secondary transmission gear 10, and is meshed with an output shaft gear of the secondary motor 9 through the secondary transmission gear 10.

After the main screw 3 meshed with the main transmission gear 2 limits the end face of the necking shaft collar groove of the main screw through a thrust angular contact ball bearing in a hollow stepped hole of a cylinder body at the bottom end of the EMA outer cylinder 4, the screw nut 6 is sleeved by a transmission cavity of the EMA outer cylinder 4 and a screw sleeve 7 assembled on a piston cylinder assembly 8 in a sleeved mode, the guide rail 5 is sleeved by a rod end sleeve, and the degree of freedom of axial movement stroke of the screw nut 6 on the guide rail 5 is limited.

The thrust angular contact ball bearing inner ring end surface installed in the port stepped hole of the piston cylinder assembly 8 axially limits the screw sleeve 7 and bears the load of the screw nut 6 matched with the inner spiral raceway.

The lead screw sleeve 7 assembled in the transmission cavity of the piston cylinder assembly 8 transmits the load of the piston rod to the lead screw nut 6 and the main lead screw 3 in sequence, and finally to the EMA outer cylinder 4.

After receiving an undercarriage up or down instruction sent by an aircraft main control system, a main motor 1 control module sends an instruction to a motor driving module through a corresponding passage according to a preset program, drives a main screw 3 and a screw nut 6 to rotate through a main transmission gear 2, the screw nut 6 moves to the bottom end limit position of a screw sleeve 7 along a guide track 5, pushes a piston cylinder assembly 8 to retract, a lower lock ball 12 on a linear displacement in-place locking device is separated from a lower lock groove of an EMA outer cylinder 4, so as to realize mechanical lock unlocking, the screw nut 6 pushes the screw sleeve 7 to drive the piston cylinder assembly 8 to retract to the bottom of the EMA outer cylinder 4, an upper steel ball 15 is linearly displaced into a lock sleeve 14 with an end face oblique angle of a locking spring 13 in the in-place locking device to push into a lock ring groove 16 in the bottom direction of the EMA outer cylinder 4, and mechanical lock locking is realized, and vice versa.

In an alternative embodiment, the main motor 1 and the auxiliary motor 9 can be divided into a cold backup single-channel operation mode and a hot backup double-channel simultaneous operation mode according to the state in normal operation, and only one channel works in normal operation of the cold backup, and the other channel is used as a backup channel. When the working channel fails, the working channel is cut off from the system, and the backup channel is started to start working. Under the cold backup, the system bears the load by a single channel at any time, and the other channel is used as the backup, and when the operation channel fails, the operation channel is automatically switched according to the control signal, so that the uninterrupted operation of the system is ensured. If the redundancy main motor 1 fails, it is automatically switched to the redundancy sub motor 9.

When the hot backup works normally, the two channels work simultaneously, and when one channel fails, the system automatically cuts off the failed channel, enables a single-channel working mode and degrades the work. Under the hot standby, the system works simultaneously with two channels of the redundancy motor in the normal mode. Assuming that the redundancy auxiliary motor 9 fails, the failure channel is cut off according to the failure signal to ensure that the system works uninterruptedly, and the working state at the moment is the same as the working state in the cold backup failure. The hot standby is in normal operation with redundancy the primary motor 1 and the secondary motor 9 simultaneously providing power to the load.

During normal operation, the main motor 1 and the auxiliary motor 9 are mutually backed up, and can work simultaneously or any motor works, the other motor is in cold backup, the main motor 1 and the auxiliary motor 9 work simultaneously, the main motor 1 drives the main screw rod 3 to rotate through the gear transmission component to drive the screw nut 6 to retract, the auxiliary motor 9 drives the screw sleeve 7 to rotate through the auxiliary transmission gear 10, the screw nut 6 moves left along the guide track 5 to drive the screw sleeve 7 meshed with the straight teeth of the auxiliary transmission gear 10 to move left, the lower locking bush 11 is pushed to be separated from the lower edge of the lower steel ball 12, the lower locking ball 12 is separated from the lower locking groove of the EMA outer cylinder 4 to realize unlocking of the mechanical lock, and the screw sleeve 7 pushes the right-end thrust angular contact ball bearing to drive the piston rod to retract the steel ball.

If the main motor 1 works and the auxiliary motor 9 fails or the transmission chain is blocked, the main motor 1 drives the main screw rod 3 to rotate through the main transmission gear 2, the screw rod nut 6 is driven to retract along the guide track 5 and the screw rod sleeve 7 is driven to retract, the lower locking bush 11 is pushed, the lower locking ball 12 is separated from the lower locking groove of the EMA outer cylinder 4, the lower locking ball 12 is mechanically locked and unlocked, and the screw rod sleeve 7 pushes the right thrust angular contact ball bearing to drive the piston rod to retract.

If the main motor 1 fails or the transmission chain is blocked, the auxiliary motor 9 works, the auxiliary motor 9 drives the screw sleeve 7 to rotate through the auxiliary transmission gear 10, the screw sleeve 7 is driven to rotate and move left, the lower locking bush 11 is pushed, and the lower locking ball 12 is separated from the lower locking groove of the EMA outer cylinder 4, so that unlocking of the mechanical lock is realized.

The auxiliary motor 9 drives the screw sleeve 7 to rotate through the auxiliary transmission gear 10, the screw sleeve 7 pushes the right-end thrust angular contact ball bearing to drive the piston rod of the piston cylinder assembly 8 to retract, the piston cylinder assembly 8 retracts towards the lock ring groove 16 at the bottom of the EMA outer cylinder 4, the upper lock bushing 14 is clamped into the lower edge of the upper lock ball 15 through the end-to-corner chamfer under the elastic force of the lock spring 13, the upper lock ball 15 is driven to move to the upper lock groove of the EMA outer cylinder 4, and then is clamped into the lock ring groove, so that the upper mechanical locking of the piston cylinder assembly 8 is realized.

Claims (10)

1. A dual-electromechanical actuator with dual full-electrical redundancy backup and dual channels, comprising: the device comprises a gear transmission assembly, a main screw rod (3), a piston cylinder assembly (8), a screw nut (6) and a control unit, wherein the gear transmission assembly is packaged on one side of an outer cylinder transmission box of an electromechanical actuator (EMA) and is connected with an output shaft of a main motor (1), the main screw rod (3) is connected with the gear transmission assembly, the piston cylinder assembly (8) performs telescopic linear motion in a motion cavity of the outer cylinder (4) of the EMA, and the screw nut (6) is arranged in the piston cylinder assembly (8) and is connected with an output end of the main screw rod (3), and is characterized in that: the output end of the piston cylinder assembly (8) is provided with an auxiliary motor (9) which corresponds to the main motor (1) in opposite directions and is provided with an output gear, an auxiliary motor (9) shaft-linked gear is meshed with a screw sleeve (7) cylinder end gear assembled in the direction of the output end of the piston cylinder assembly (8) through an auxiliary transmission gear (10), a cylinder end gear shaft-direction necking cylinder is restrained in an annular groove of the inner wall of the piston cylinder assembly (8) through bearings on stepped end surfaces at two ends, a linear displacement in-place locking device which is arranged in a stepped hole of a hollow piston head of the piston cylinder assembly (8) is arranged on the free end, the linear displacement in-place locking device comprises an upper locking ball (15) which is locked in a front-rear direction locking annular groove (16) of an outer ring of the piston head, a lower locking ball (12) which is tightly attached to the inner wall of the EMA outer cylinder (4) and is locked in the annular groove of the inner ring of the EMA outer cylinder (4), a piston head is tightly attached to the inner annular surface, the locking spring (13) is restrained between end ring retaining rings of the screw sleeve (7), the lower locking device (11) is positioned, the upper locking ball (14) is positioned, the upper locking device is positioned in the upper locking device, the linear displacement in the upper locking device is controlled to be positioned in the direction of the piston sleeve (8) and is controlled to move in the opposite directions, the upper locking ball sleeve (8) is controlled to move in the direction, and the linear displacement locking device is controlled to move in the opposite directions to the upper locking device (6) through the upper locking ball groove (6), and (3) performing linear displacement along a guide rail (5) output by the bottom end of the EMA outer cylinder (4) to form two relatively independent redundant transmission chains which are integrated together by a piston cylinder assembly (8).

2. The dual-electromechanical actuator of the dual-electromechanical redundancy backup and the same-channel dual-lock as recited in claim 1, wherein: the gear assembly further includes: the device is arranged at the radial opening end of the piston cylinder assembly (8), the cylinder end gear of the screw rod sleeve (7) is meshed with the auxiliary transmission gear (10), and the output shaft gear of the auxiliary motor (9) is meshed with the auxiliary transmission gear (10).

3. The dual-electromechanical actuator of the dual-electromechanical redundancy backup and the same-channel dual-lock as recited in claim 1, wherein: after the main screw (3) limits the end face of the necking shaft collar groove of the main screw through a thrust angular contact ball bearing in a hollow step hole of a cylinder body at the bottom end of the EMA outer cylinder (4), the screw nut (6) is sleeved by a transmission cavity of the EMA outer cylinder (4) and a screw sleeve (7) assembled on a piston cylinder assembly (8) in a sleeved mode, the guide rail (5) is sleeved by a rod end sleeve, and the degree of freedom of the axial movement stroke of the screw nut (6) on the guide rail (5) is limited.

4. The dual-electromechanical actuator of the dual-electromechanical redundancy backup and the same-channel dual-lock as recited in claim 1, wherein: the thrust angular contact ball bearing inner ring end face axial limiting screw sleeve (7) is arranged in the port step hole of the piston cylinder assembly (8) and bears the load of the screw nut (6) matched with the inner spiral raceway.

5. The dual-electromechanical actuator of the dual-electromechanical redundancy backup and the same-channel dual-lock as recited in claim 1, wherein: the screw rod sleeve (7) assembled in the transmission cavity of the piston cylinder assembly (8) sequentially transmits the load of the piston rod to the screw rod nut (6) and the main screw rod (3), and finally transmits the load to the EMA outer cylinder (4).

6. The dual-electromechanical actuator of the dual-electromechanical redundancy backup and the same-channel dual-lock as recited in claim 1, wherein: the main motor (1) drives the main screw (3) to be sleeved with the screw nut (6) to rotate through the main transmission gear (2), the screw nut (6) moves to the limit position of the bottom end of the screw sleeve (7) along the guide track (5), the piston cylinder assembly (8) is pushed to retract, and the lower locking balls (12) on the linear displacement in-place locking device are separated from the lower locking grooves of the EMA outer cylinder (4), so that the unlocking of the mechanical lock is realized.

7. The dual-electromechanical actuator of the dual-electromechanical full-redundancy backup co-channel dual-lock of claim 6, wherein: the screw nut (6) pushes the screw sleeve (7) to drive the piston cylinder assembly (8) to retract to the bottom of the EMA outer cylinder (4), the upper lock ball (15) is pushed into a lock ring groove (16) in the bottom direction of the EMA outer cylinder (4) by an end face oblique angle of an upper lock bushing (14) which is provided with elasticity by a locking spring (13) in the linear displacement in-place locking device, and mechanical lock locking is realized.

8. The dual-electromechanical actuator of the dual-electromechanical redundancy backup and the same-channel dual-lock as recited in claim 1, wherein: the main motor (1) and the auxiliary motor (9) work simultaneously, the main motor (1) drives the main screw (3) to rotate through the gear transmission assembly, the screw nut (6) is driven to retract, the auxiliary motor (9) drives the screw sleeve (7) to rotate through the auxiliary transmission gear (10), the screw nut (6) moves left along the guide track (5), the screw sleeve (7) meshed with the straight teeth of the auxiliary transmission gear (10) is driven to move left, the lower locking bush (11) is pushed, the lower locking ball (12) is separated from the lower locking groove of the EMA outer cylinder (4), mechanical lock unlocking is achieved, and the screw sleeve (7) pushes the right-end thrust angular contact ball bearing to drive the piston rod to retract.

9. The dual-electromechanical actuator of the dual-electromechanical redundancy backup and the same-channel dual-lock as recited in claim 1, wherein: the auxiliary motor (9) works, the auxiliary motor (9) drives the screw sleeve (7) to rotate through the auxiliary transmission gear (10), the screw sleeve (7) is driven to rotate and move left, the lower locking bush (11) is pushed, the lower locking ball (12) is separated from the lower locking groove of the EMA outer cylinder (4), and unlocking of the mechanical lock is achieved.

10. The dual-electromechanical actuator of the dual-electromechanical redundancy backup and the same-channel dual-lock as recited in claim 1, wherein: the auxiliary motor (9) drives the screw sleeve (7) to rotate through the auxiliary transmission gear (10), pushes the right-end thrust angular contact ball bearing, drives the piston rod of the piston cylinder assembly (8) to retract, the piston cylinder assembly (8) retracts towards the lock ring groove (16) at the bottom of the EMA outer cylinder (4), the upper lock bushing (14) is clamped into the lower edge of the upper lock ball (15) through the end to the chamfer inclined plane under the elastic force of the lock spring (13), and the upper lock ball (15) is driven to move to the upper lock groove of the EMA outer cylinder (4) and then is clamped into the lock ring groove (16), so that the upper mechanical locking of the piston cylinder assembly (8) is realized.

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