JPH02204137A - Accelerating actuator and digital revolution sensor used therefor - Google Patents

Abstract

PURPOSE:To reduce the installation space by transmitting the revolution of a motor to a pulley through a reduction gear and driving a throttle valve through a cable wound onto the pulley and arranging a revolution angle detector for detecting the revolution of the rotary member of the reduction gear onto a cover. CONSTITUTION:A reduction gear consisting of the first and second reduction gear parts 3 and 4 and an output mechanism equipped with a pulley 5 are accommodated in the housing 1 of an accelerating actuator, and a motor M is installed onto the cover 2 of the housing 1. The second reduction gear part 4 is constituted of a sun gear 19, internal gear 20 which is rotatably arranged in concentric form on the periphery of the sun gear 19 and has a pulley 5 installed on the outer periphery, and a plurality of planetary gears 21 interposed between the both gears 19 and 20. The inner cables of two control cables are wound in the reverse direction onto the pulley 5. Further, the lead switches S1 and S2 which cooperate with a plurality of permanent magnets which are arranged on the side surface of the carrier plate 17 of the first reduction gear part 3 are arranged onto the cover 2, and a revolution angle detector is constituted.

Description

[Detailed description of the invention]

[Industrial Application Field] The present invention relates to an accelerator actuator and a digital rotation sensor used therein. For more information, see Automobiles,
The present invention relates to an accelerator actuator for remotely controlling the accelerator of an engine such as a construction machine via a cable for transmitting operating force, and a digital rotation sensor used therefor. [Conventional technology] Traditionally, engines (
In particular, the accelerator $11 device is used to remotely control the accelerator of a diesel engine or to automatically operate at a constant speed. This device uses a potentiometer to detect the rotation angle of an engine pulley attached to a lever on the engine side, and compares the rotation angle signal with the instruction signal from the operating device (or rotation speed setting device) in the controller. , feeds back to the motor of the accelerator control device to eliminate deviation. Further, the amount of rotational operation of the motor is reduced by a speed reducer and then converted by a pulley into a forward operation of the cable u1 to operate the governor. [Problems to be Solved by the Invention] If a potentiometer is placed in the engine room, the life of the potentiometer will be shortened due to vibrations, etc. Further, if a separate opening detection mechanism is provided near the accelerator control device, there is a problem that the structure is complicated and the device becomes large. In view of the above circumstances, it is an object of the present invention to provide an accelerator actuator that can directly detect the output rotation angle, has a simple structure, requires less installation space, and can achieve high $1 control. A further object of the present invention is to provide a digital rotation sensor for use in such an accelerator actuator. [Means for Solving the Problems] The accelerator actuator of the present invention is an accelerator actuator for adjusting the governor opening degree via a cable for transmitting operating force, and the accelerator actuator includes (a housing and (b) a housing). (e) a pulley rotatably provided with respect to the housing; (d) a reducer interposed between the motor and the pulley; and (e) one end of which is wound around the pulley. (f) a digital rotation angle detector for detecting the rotation angle of the rotating member of the reducer with respect to the housing; The accelerator actuator configured in this manner further includes a first reduction section and a second reduction section in which the reduction gear decelerates in that order.
It is preferable that the rotation angle detector has a reduction part, and that the rotation angle detector is configured to detect the rotation angle of the rotating member of the first reduction part with respect to the housing. The rotation angle detector comprises a plurality of switch operating members arranged at equal intervals on the rotating member, and two switches mounted on the housing at angles that prevent them from being operated simultaneously by the switch operating members. is preferred. Further, it is preferable that the first reduction section is configured with a Ferguson's paradox gear, and the rotating member is configured with a carrier of the Ferguson's paradox gear. The combination of the switch operating member and the switch is preferably composed of a permanent magnet and a reed switch. Furthermore, the digital rotation sensor of the present invention is a sensor that detects the output of an accelerator actuator for adjusting the governor opening at the other end of the cable by reciprocating a cable for transmitting operating force via a pulley. And,
+b+ A plurality of switch operating members arranged at equal intervals on the rotating member of the reducer interposed between the motor of the actuator and the pulley, and (c) a plurality of switch operating members arranged on the housing at an angle that cannot be operated simultaneously by the switch operating members. It is characterized by consisting of two switches that can be attached. In that case, it is preferable that the switch operating member is a permanent magnet and the switch is a reed switch. Furthermore, the accelerator actuator equipped with the regenerative brake circuit of the present invention is an accelerator actuator for adjusting the opening degree of the governor at the other end of the cable by reciprocating the cable for transmitting operating force via a pulley. , (a DC motor for rotationally driving the Tagai pulley,
(b) the common terminal is connected to one of the starting wires of the motor;
(c) a first relay in which the a contact side terminal is connected to the negative pole of the DC power supply, and the b contact side terminal to the positive pole, and (c) the common terminal is connected to the other side of the motor starting line, and a second relay whose terminal is connected to the negative pole of the DC power supply and whose terminal on the b contact side is connected to the positive pole; and (d) a control circuit that excites the coil of either the first relay or the second relay. It is configured. In an accelerator actuator equipped with a regenerative brake configured in this way, the control circuit connects one terminal of the coil of the first relay and one terminal of the coil of the second relay from the first relay to the second relay. A first #I control line is connected via two commutators that conduct current in one direction, and a second control line is connected between the other terminal of the coil of the first relay and the other terminal of the second relay. Preferably, the control line comprises a line, a first terminal connected to the second control line, and a second terminal connected between two commutators of the first control line. [Sakukawa] The motor rotates at the required number of rotations in response to an external signal, and the rotation is transmitted to the pulley via the reducer. On the other hand, the rotation angle of the rotating member of the reducer with respect to the housing is detected by a rotation sensor that is a digital rotation angle detector, and is output to the outside. Since the accelerator actuator of the present invention has a built-in rotation angle detector, the rotation angle can be directly detected without using any actuator, and the structure is simple and requires less installation space. Furthermore, if the reducer is divided into a first reduction part and a second reduction part, and a rotation angle detector is connected to the rotating member of the first reduction part, detection can be performed at a large output angle, so the effective rotation angle of the rotation angle detector can be widened. It has a high resolution and high controllability. The accelerator actuator equipped with the regenerative brake circuit of the present invention does not send electric power to the motor directly from the controller as in the past, but instead sends only the control current that operates the relay from the controller, and uses a separate and independent DC power source. The connection with the motor is converted into starting current via a relay. Therefore, when there is no control current, the motor starting line is short-circuited to produce a regenerative braking action, and the motor can be stopped instantaneously. [Example] Next, an example of an accelerator actuator of the present invention and a digital rotation sensor used therein will be described with reference to the drawings. FIG. 1 is a perspective view showing an embodiment of the accelerator actuator of the present invention, FIG. 2 is a longitudinal sectional view of the accelerator actuator of FIG. 1, and FIGS. 3 and 4 are (
3)-(10 line sectional view and ffV)-N line sectional view, FIG. 5 is a circuit diagram showing an example of a regenerative brake circuit according to the present invention, and FIG. 6 is a circuit diagram showing an example of an engine pulley according to the present invention. The cross-sectional view shown in FIG. 7 is a block diagram showing an example of a $1fl system equipped with the accelerator actuator of the present invention. First, the overall configuration of the accelerator actuator will be explained based on FIG. In FIG. 1, (1) is a housing, and (M) is a motor fixed to a cover (2) of the housing (1). The housing (1) accommodates a reduction gear consisting of a first reduction part (3) and a second reduction part (4), and an output mechanism including a pulley (5). First, the first deceleration section (3) will be explained. A sun gear (
8) is fixed. A hollow part (2a) passes through the cover (2) to which the motor (river) is fixed in the axial direction so that the sun gear (8) can be inserted therethrough, and the cover (2)
A cylindrical member (9) protrudes from the inner surface of 2). An internal gear M serving as a fixed side is formed on the inner layer of the cylindrical member (9). Furthermore, a bottomed cylindrical member Oυ is rotatably supported on the partition wall ((lad) in FIG. 2) of the casing (1) concentrically with the cylindrical member (9), and inside the bottomed cylindrical member On. An internal gear Oz on the rotating side is formed. Two planetary gears 0 mesh with each other so as to be inscribed in both internal gears (0, (121), and the planetary gear ■ is inscribed in the sun It also meshes with the gear (8). There is a slight difference (for example, 2 to 3 teeth) in the number of teeth between the fixed side internal gear (G) and the rotating side internal gear 02). As a result, the internal gear (G), 02J, and the sun gear (8)
), il! The first reduction section (3) consisting of the star gear 0 constitutes a so-called Ferguson's paradox gear reduction gear. Note that the two planetary gears have a bottomed cylindrical member 01).
They are supported by the bins of the carrier 011 on the side so that they can rotate and revolve, respectively. Also, between the planetary gear 0 and the cover ('2J), there is a carrier equipped with two pins (G) that fit into the holes (f5a) drilled in the bottle old, together with the carrier ■. For example, if the number of teeth of the internal gears (3), (4) and the sun gear (1) are 98.100 and 20, respectively, in the Ferguson's paradox gear reducer, The reduction ratio is extremely large at 295.Moreover, the human power shaft and the output shaft are concentric, and it has a self-restraint function (it cannot be rotated from the output side).Next, the second The speed reducer (4) will be explained. An output shaft (G) is formed in the center of the bottom surface of the bottomed cylindrical member OD in its axial direction, and a second speed reducer (4) is formed on the outer periphery of the output shaft (G). 4) is carved with a sun gear U.Furthermore, a pulley (5) having an inner south gear is rotatably provided concentrically adjacent to the bottom side of the bottomed cylindrical member OD. Three planetary gears are provided between the sun gear (to) and the internal gear ■, and each planetary gear (2υ) protrudes from the side of the plate fixed to the housing (1). It is rotatably fitted onto the three bottles.Thereby, the sun gear (to), the internal gear, and the planetary gear are connected to the second gear, which consists of a planetary gear reduction mechanism with the pulley (5) as an output member. The first deceleration part (3) and the second deceleration part (3) are constructed with reference to Fig. 1.
At the speed reducer (4), rotate the motor (M) clockwise (arrow (
The action of each gear when rotating in direction A) will be explained. When the motor is rotated in the direction of arrow (A), the sun gear (8)
also rotates in the direction of the arrow (AI). The sun gear (
8) and the two planetary gears 0 meshing with the fixed internal gear (G) both rotate in the direction of the arrow (A2) while rotating in the direction of the arrow (A2).
3), and the carrier ■ and the mouth also revolve in the same direction. As a result, the rotation-side internal gear 02) that meshes with the planetary gear 0 rotates slowly at a large reduction ratio based on the difference in the number of teeth with the fixed internal gear [F]. Furthermore, the sun gear η of the second reduction unit (4) fixed to the internal gear 02) also rotates in the same direction, and the three planetary gears (2D is the idle gear) and the internal gear ■, that is, Boo 1
Moon 5) rotates at a further reduced speed. Next, the configuration of the output mechanism equipped with the Boo January 9 will be explained. Two inner cable grooves Q4.5 are formed on the outer circumference of the pulley (5), and two pull control cables are formed on the side.
, ■ are formed with recesses (32) and (33) for locking the inner cable ■ and (to) the wire end ■ and (31). The ends of the inner cables (■,
The inner cable grooves Q4 and Q4 are respectively wound in opposite directions and extend in the tangential direction of the pulley (5). As a result, the output mechanism that converts the reciprocating rotational movement of the pulley (S) into the reciprocating linear movement of the two inner ropes (■) and the prisoner is changed. For example, when the pulley (9) rotates in the direction of the arrow (A4),
One inner cable (to) is driven in the direction of arrow (B), and the other inner surface is driven in the direction of arrow (c). As shown in FIG. 6, the other end of the control cable (3) is connected to an engine pulley (34
), and the other end of the inner cable (2) is connected to the engine pulley. Therefore, the reciprocating linear drive of the control cable inner cables ■ and @ can be converted into rotational drive of the engine pulley (34), and the accelerator (engine output) can be controlled. Next, a brake mechanism that can be suitably employed in the accelerator actuator of the present invention will be explained. A protrusion (35) is formed on the side surface of the pulley (9), and the protrusion (35) passes through an arcuate elongated hole (36) formed in the plate o to the opposite side of the plate. A limit switch ((L) in Fig. 4) is fixed on the surface.
Operate S, ), (LSz) ). Thereby, the position of the engine when it is stopped and when it is fully opened can be detected. For example, limit switches (L!1it) and (LS2) are connected to diodes (DI) and (D2) as shown in Fig. 5.
It is connected to the DC motor (M) via a motor, etc., and is configured to cause the motor (M) to perform a regenerative braking action to immediately stop the pulley (5) at the engine stop position and the fully open position. There is. Such a configuration can be realized, for example, by the circuit shown below. The common terminals (cON) of the limit switches (LSI) and (LS2) are connected to both poles of the DC motor (M), and the normally closed contact terminals (NC) of each limit switch (LSI) and (LS2) are connected to both poles of the DC motor (M).
is the first starting line (where the direction of the current changes depending on the control signal applied to the terminals (TI>, (T2)), as will be described later.
N1) and the third activation line (N2). In addition, each limit switch (LSI), (LS2
) of the normally closed contact terminal (NC) and the common terminal (cOM) are connected to the first terminal so that current flows only from the former to the latter.
Diode (connected via D).Furthermore, one limit switch (LSI), (LS2)
normally closed contact terminal (NC) and the other limit switch (
What is the normally open contact terminal (NO) of LS2) and (LSI)?
They are connected via a second diode (R2) so that current flows only from the former to the latter. In FIG. 5, the limit switch (LS2) for detecting when the engine is stopped is ON. That is, in FIG. 4, the pulley (5) is fully rotated in the direction of arrow (A). In this state, the second activation line (N2
) is connected to the positive electrode, and the first Ii At that time, if the limit switch (LS2) is turned OFF, the common terminal (cOM) and the normally closed terminal (NC) are immediately connected as shown by the broken line.Then, the pulley (5) is turned in the direction of arrow (B). When the engine reaches full throttle, the first limit switch (LSI) turns ON and its contact moves away from the normally closed contact and moves to the normally open contact.In this state, the terminal (TI)
>, (T2) and relays (Rx), (R2), a small closed circuit is formed and the motor (M) immediately stops due to the action of the regenerative brake. Contrary to the above, when the pulley (5) rotates to the engine stop position and the limit switch (1, Sz> is turned ON), a regenerative braking action similarly occurs.Next, the brake circuit on the power circuit side of the present invention will be explained. As shown in Fig. 5, the actuator equipped with the regenerative brake circuit of the present invention does not send the drive current for directly driving the motor from the controller like in conventional devices, but only the control current from the controller. Power for sending and driving the motor is provided by a separate DC power supply (v).In other words, it is divided into a control circuit and a power circuit, which are connected via the first relay (R1) and the second relay (R2). When the coil of the first relay (R1) is excited, the power circuit uses an independent power supply (v) to positive polarize the first starting line (N1) side of the motor (M) and connect the second starting line to the positive terminal. (N2) side is the negative pole, and when the coil of the second relay (R2) is excited, the second starting line (N2) side of the motor (M) is the positive pole, and the second starting line (Ns) side is the negative pole. When the coils of both relays (R1) and (R2) are not excited, the first starting line (N1) and the second starting line (N2) are short-circuited to form a regenerative brake circuit. Furthermore, the control side circuit excites only the coil of the first relay (R1) when the first terminal on the controller side becomes a positive potential, and the second terminal (T2) becomes a high potential. when the coil of the second relay (R2) is excited, and when both are at the same potential, both relays (R1) and (R
Both of the coils 2) are configured so as not to be excited. The power circuit can be realized, for example, by the following circuit. The common terminal (Rcl) of the first relay (R1) is connected to the first starting line (Nl), the terminal on the a contact side (Ral) is connected to the positive pole side of the DC power supply (V), and the terminal on the b contact side (R
bl) is connected to the negative electrode side. In addition, the common terminal (Rc2) of the second relay (R2) is connected to the second starting line (N2) of the motor (M), and the terminal (Ral) on the a contact side is connected to the positive pole side of the DC power supply (V), and the b The contact side terminals (Rb2) are each connected to the negative electrode side. Furthermore, the control circuit can be realized as follows. One terminal (Sa) of the coil of the first relay (R1) and one terminal (Sb) of the coil of the second relay (R2) are connected by a first control line (cI), and the first control line (c1
) has two diodes (commutators) that allow current to flow in one direction from the first relay (R1) to the second relay (R2).
(Ds) and (R6) are interposed. Also, the other terminal (Sc) of the coil of the first relay (Rs)
and the other terminal (Sd) of the second relay (Rd) are connected by a second control line (c2). The first terminal (T1) on the controller side is connected to the second sub-tS line (c2), and the second terminal (T2) is connected to the two diodes (c5) and (D) of the first control line (c1).
I). The above configuration is the terminal (T1) on the controller side.
, (T2) are connected in parallel to the coils of relays (R1) and (R2), respectively, and between the second terminal (T2) and the first relay (R1) and between the second terminal (T2) and the second
A diode (
It can also be seen that D≦) and (DI) are interposed. In the circuit shown in Figure 7, the first terminal (T is exactly
When the second terminal (T2) becomes negative, the second relay (R
2) is excited, a drive current flows in the direction of the arrow (R2), and the motor (M) rotates. Also, Terminal 2 (T2)
becomes positive, the first terminal (TI) becomes negative, and the arrow (c
When the control current flows in the direction 3), the first relay (R1) is excited, and the drive current flows in the direction of the arrow (R4), causing the motor (M) to rotate in the opposite direction. Also, Terminal 1 (T1) and Terminal 2 (T2)
When they become the same potential, both relays (R1) and (R2
) is not excited, and the positive pole of the power supply (V) and the motor (M) (N
2) are shorted to form a large closed circuit. Therefore, the motor (M) is instantly stopped by the regenerative braking action. Therefore, the pulley (5) is locked in position by the restraint function of the reducer, and the appropriate engine speed is maintained. By adopting the power circuit and control circuit shown in Figure 7 as shown above, the motor (M) that requires 0-strong electric power can be controlled at f/A with a weak current such as an IC from the controller side. ■Controller and actuator Even if they are far apart, only a simple control signal flows through the wires between them, so there is no need to worry about the current attenuating in the wires. Since it is located only within the actuator, it has low electrical resistance and low capacitance, resulting in good controllability. Next, the rotation angle detector will be explained. As mentioned above, in the device shown in FIG. 1, the reducer is divided into the first reducer (3) of Ferguson's paradox gear type and the second reducer (4) of the planetary gear reducer. Six permanent magnets (37) are embedded in the side surface of the carrier plate rib (3) at equal intervals in the circumferential direction. In addition, as shown in Fig. 3, the housing cover (a) has two reed switches (Sl) and (R2) at positions corresponding to the permanent magnets (37) at 18 degrees each other with respect to the axis.
So that the opening angle (θ) is 5° or 135°,
and is embedded in a groove (38) arranged at right angles to the radius. The permanent magnet (37) and reed switches (Sl) and (R2) constitute a rotation sensor that is a rotation angle detector. In a rotation angle detector configured in this way, each time the permanent magnet (37) crosses over, for example, one reed switch (sB), that reed switch (Sl)
Therefore, by determining the reference position and counting the number of times including the positive and negative directions of rotation, the rotation angle of the carrier (goods) relative to the housing (1) can be determined by M1, and the detection time will be 90 @ phase shift. Therefore, the direction of rotation can also be detected. In addition to the combination of the reed switch and a permanent magnet, for example, a combination of a magnet sensor and a magnet can be used as the rotation angle detector in the present invention. The switch operating member such as the permanent magnet (37) can be connected to a shaft provided on the pulley (5), for example, or connected to an idle pulley that moves on the outer circumference of the pulley (5). As described below, the first reduction section (3
) is preferably provided in the carrier rotor when the first reduction part is a Ferguson's paradox gear. In other words, in the accelerator actuator shown in Figs. 1 and 2, the rotation angle of the carrier rotor of the first reduction gear (3) is detected by the reed switches (Sl) and (R2), so for example, the rotation angle of the carrier rotor of the second reduction gear (4) is detected. Detection can be performed at a larger detection angle than that detected by the output member pulley (5) or engine pulley. Next, an accelerator control system that combines the aforementioned accelerator actuator and operating device will be explained. In FIG. 7, (41) is an operating device, and (42) is the aforementioned accelerator actuator, each of which is a position setting device that sets a target value in the illustrated accelerator control system.
It is used as a control device that directly drives the controlled object. The controller (43) also includes an operating device (4

The difference between the target signal from [) and the position signal from the rotation angle detector of the accelerator actuator (42) is read, and the rotation direction and rotation speed corresponding to the difference are outputted to the motor (M). That is, the rotation angle detected by the operating device f (41) is compared with the converted output rotation angle of the carrier (5) of the actuator (42), and the rotation direction of the motor (M) is adjusted so that the difference between the two becomes 0. and output the rotation speed. Effects of the Invention Since the accelerator actuator of the present invention has a built-in digital rotation angle detector, it does not require a large space unlike the case where a potentiometer is installed separately, and furthermore, the accelerator actuator of the present invention has a built-in digital rotation angle detector. The problem of providing an angle detector (vibration shortens the life of the detector) is solved. Furthermore, the speed reducer is divided into a first speed reduction section and a second speed reduction section.
When the rotation angle detector is connected to the rotating member of the speed reducer, the effective rotation angle of the rotation angle detector can be used over a wide range, so that high resolution and high controllability can be achieved. Further, by using such an accelerator actuator, an accelerator control system having a simple structure and a compact device can be provided.

[Brief explanation of the drawing]

FIG. 1 is a perspective view showing an embodiment of the accelerator actuator of the present invention, FIG. 2 is a longitudinal sectional view of the accelerator actuator of FIG. 1, and FIGS. 3 and 4 are (
In-CIII line sectional view and! 5 is a circuit diagram showing an example of a regenerative brake circuit according to the present invention; FIG. 6 is a sectional view showing an example of an engine pulley in the accelerator control system of the present invention; FIG. 7 is a block diagram showing an embodiment of the accelerator control system of the present invention. (Main symbols in the drawing) (3): 1st reducer (4): 2nd reducer (5): Pulley (to), @: Control cable (41)? Operating device (42): Accelerator actuator C+a>; Controller (X): Motor (37): Permanent magnet (Sl), (S2); Reed switch control lever

Claims (1)

[Scope of Claims] 1. An accelerator actuator for adjusting the governor opening via a cable for transmitting operating force, comprising: (a) a housing; (b) a motor attached to the housing; (c)
a pulley rotatably provided with respect to the housing; (d) a speed reducer interposed between the motor and the pulley; (e) one end of which is wound around the pulley and rotates as the pulley rotates; An accelerator actuator comprising: a reciprocating cable for transmitting operating force; and (f) a digital rotation angle detector for detecting the rotation angle of the rotating member of the speed reducer with respect to the housing. 2. The speed reducer has a first speed reduction section and a second speed reduction section that reduce the speed in that order, and the rotation angle detector is configured to detect the rotation angle of the rotating member of the first speed reduction section with respect to the housing. The accelerator actuator according to claim 1. 3 a plurality of switch operating members in which the rotation angle detectors are arranged at equal intervals on a rotating member; and a plurality of switch operating members on the housing;
3. The accelerator actuator according to claim 2, comprising two switches mounted at angles that prevent them from being operated simultaneously by the switch operating member. 4. The accelerator actuator according to claim 3, wherein the first reduction section is a Ferguson's paradox gear, and the rotating member is a carrier of the Ferguson's paradox gear. 5. The accelerator actuator according to claim 4, wherein the switch operating member is a permanent magnet, and the switch is a reed switch. 6 (a) A sensor that detects the output of an accelerator actuator for adjusting the opening degree of the governor at the other end of the cable by reciprocating a cable for transmitting operating force via a pulley, (b) (c) a plurality of switch operating members arranged at equal intervals on the rotating member of the reducer interposed between the motor of the actuator and the pulley that drives the cable; (c) a plurality of switch operating members arranged on the housing at the same time; A digital rotation sensor consisting of two switches mounted at an angle where they are not operated. 7. The sensor according to claim 6, wherein the switch operating member is a permanent magnet and the switch is a reed switch. 8 (a) An accelerator actuator for adjusting the opening degree of the governor at the other end of the cable by reciprocating a cable for transmitting operating force via a pulley, and (b) rotationally driving the pulley. (c) the common terminal is connected to one of the starting wires of the motor;
a first relay whose A contact side terminal is connected to the negative pole of a DC power supply, and whose B contact side terminal is connected to the positive pole; (d) a common terminal connected to the other side of the starting line of the motor;
a second relay whose A contact side terminal is connected to the negative pole of the DC power source and whose B contact side terminal is connected to the positive pole; (e) energizing the coil of either the first relay or the second relay; An accelerator actuator having a control circuit. 9 The control circuit connects one terminal of the coil of the first relay and one terminal of the coil of the second relay through two commutators that conduct current in one direction from the first relay to the second relay. a first control line that connects the first control line, a second control line that connects the other terminal of the coil of the first relay and the other terminal of the second relay, and a first terminal that connects the second control line;
9. The accelerator actuator according to claim 8, further comprising a second terminal connected between the two commutators of the first control line.