CN1006929B - Balanced output hydraultc actuator system - Google Patents

Abstract

The present invention relates to hydraulic actuators (15) and (20), which are placed in parallel, and a system (10), wherein the present invention is provided with a pair of discrete feedback levers (180) and (185) which have transverse pitch, longitudinally stretch, and respectively supply feedback signals to a pair of control valves (50) and (55) of the actuators so as to increase correctness and reduce the lateral loads of the system to minimum.

Description

Balanced output hydraultc actuator system

The present invention relates to a kind of hydraulic actuator system, particularly use the hydraulic actuator system of a plurality of parallel connection actuator.

Hydraulic actuator when particularly being used for locating, is for example controlled the actuator devices of plane airfoil, usually uses in pairs.An actuator of every centering can be independently to this device location, and therefore, when an actuator broke down, another still can keep the control to this device.When an independent actuator can not provide enough ouput forces to promote controlled device, it was right also to need actuator.In both cases, importantly the cooperation imbalance between the output of two actuator is reduced to a minimum.In other words, be exactly the necessary unanimity of stroke of actuator.When actuator on direction side by side during parallel being rigidly connected, this cooperation imbalance of actuator output can cause the load allocating inequality of actuator in the system, makes whole actuator system amesiality.Being familiar with those skilled in the art will appreciate that; Unbalanced load allocating can make the actuator of bearing than heavy load over-stressed, and the laterodeviation of system not only can make actuator be subjected to the mechanical load of certain mode, make it can not provide the output of usefulness, and the actuator plunger is killed, thereby influence the reliability and the working life of actuator in cylinder.

As a rule, the cooperation imbalance between the rigidly connected hydraulic actuator is because the pressurization of actuator is unbalanced.Typical situation is: the pressurization of each actuator of system is by a control valve control that links to each other with them, and this valve can be by the hydraulic fluid port of the selection side incoming pressure fluid from the actuator plunger, and discharges from opposite side.Actuator usually and valve with mechanical connection, so that the continuation pressurization or the release of actuator are cut off in the zeroing of the displacement energy of actuator realization valve.When an aircraft flight control of actuator system manipulation aerofoil, this control valve that links to each other with actuator has higher Pressure gain.Just, when the adjusting of valve has less variation, can make the pressurization of actuator produce very big variation, thereby make the output of actuator that very big variation be arranged.In fact, the Pressure gain that is accompanied by this control valve generation is quite high, is enough to make the actuator of a pair of zeroing to produce the active force antagonism, at this moment, two each pressurizations in the opposite direction of actuator, i.e. direction pressurization towards elongation, and another is towards the direction pressurization of shortening.Certainly, in some sense, the load of actuator does not play a part useful to the output of actuator system, and has suppressed the response of actuator to input signal, because actuator output just can be made useful output after must correcting the errors present of control valve.

In the prior art field,, used various technology in order to make the work that many actuator systems can balance.Additional hydraulic control of a kind of use is arranged in these technology, and " pressure synchro system " also is by this mechanism, and be unbalanced with the actuator pressurization that the solution control valve causes.In 4,231, No. 284 patents of the U.S. of people such as Smith, it is right to have proposed a kind of actuator that special linking mechanism is housed, and this linking mechanism adopts a reaction lever, when the actuator laterodeviation, this feedback rod produces lateral deformation, readjusts control valve, so that actuator is balancedly pressurizeed.Though this technology may be comparatively desirable in specific pressure synchro system aspect the balance work that improves actuator.But when needs repeated to feed back to actuator, an independent feedback rod just may be inapplicable.In addition, people's such as Smith linking mechanism must could proper functioning after affording significant side loading and distortion, when not allowing such load and/or distortion, other people's such as scheme replacement Shi Si system just need be arranged.Never be interrupted in the exploration aspect the accuracy that improves the pressurization of balance actuator with control valve, and the invention scheme that proposes in this specification is succeedd.

The objective of the invention is: a kind of rigidly connected parallel hydraulic actuator system is provided, and it is connected with multiple feedback rod in actuator and control between the valve of actuator pressurization, thus the stability of actuator output in the raising system.

These and other purpose all can be finished by the present invention.In actuator system of the present invention, each of a pair of rigidly connected parallel hydraulic actuator generally all is equipped with a discrete longitudinally reaction lever, independently mechanical feedback signal is passed to the control valve that is connected with actuator from actuator, thereby adjusting control valve, imbalance between the actuator is reduced to a minimum, has also reduced simultaneously between the actuator side loading with the linking mechanism that links to each other with actuator.Because the side loading of linking mechanism is lowered, and has just improved the degree of accuracy that is delivered to the feedback signal of the control valve that is connected with actuator from actuator.In addition, owing to adopted independently feedback rod, the work of a feedback linking mechanism is not normal, can other the work of linking mechanism, actuator or control valve not exerted an influence.In most preferred embodiment, feedback rod is being had end lateral spacing, the cylinder piston rod head by pivotally connected, and the other end of feedback rod links to each other with using a pair of discrete driven lever that is pivotally mounted on the cylinder.An input connecting rod both linked to each other with follower lever, also linked to each other with control valve, so that a mechanical input signal to be provided to the control valve device.Follower lever extends internally from follower lever in that a pair of additional link arm is housed.Link arm can increase the lateral strength of actuator connecting rod.The free end of link arm is linked together with bearing pin, with relatively rotating between the restriction link arm.

Therefore, in hydraulic actuator of the present invention system, no matter be because the uneven work of actuator causes, still owing to being reduced to minimum to the side loading that control valve gadgetize feedback signal causes from actuator.

Fairly obvious, hydraulic actuator provided by the invention system has the advantage of the high and designs simplification of actuator work accuracy.

Fig. 1 is the side view of actuator system of the present invention;

Fig. 2 is the top view of actuator system;

Fig. 3 is the stereogram of actuator system.Schematically express actuator and with control valve that actuator is connected between the details of fluid circuit, be in the balance working state for system shown in the figure.

Fig. 4 is shown in Figure 3, the schematic top view of actuator and feedback linking mechanism;

Fig. 5 is the stereogram similar to Fig. 3, and different is that actuator system is in unbalanced working state, and this state of shape is received the situation of the hydraulic control valve correction of feedback signal in the system.

Fig. 6 is the actuator shown in Figure 5 and the schematic top view of feedback linking mechanism.

Fig. 7 is the stereogram similar to Fig. 5, but the rightabout non-equilibrium state of expression is added to the situation that the feedback signal on the hydraulic control valve is proofreaied and correct.

Fig. 8 is the actuator shown in Figure 7 and the schematic top view of feedback linking mechanism.

Referring to accompanying drawing, hydraulic actuator of the present invention system, its general form as shown in the reference numeral 10, it comprises the hydraulic actuator of installing side by side 15 and 20 of pair of parallel.For the ease of discussing, suppose that each actuator has a cylinder, a piston that moves back and forth 25 and piston rod 30 are wherein arranged, the actuator output element is arranged on the piston rod, clear woods is as seen in Fig. 3,5,7 for these.Method by casting and forging.Two cylinder can integrally form an assembly, carry out machining then.Also can make respectively, be assembled together then with casting or Forging Technology.As the bolts assemblies at 35 places in the drawings.There is the earrings of a band eye end 40 that actuator is right, so that the U-shaped link (not shown) of actuator system by appropriate size is fixed on the basis.The free end of piston rod 30 connects with second earrings 45, and the upright arm 47 that is spaced laterally apart is arranged on it.Device by these actuator system 10 controls is connected with actuator system by earrings 45.

The personnel that are familiar with this professional technique will appreciate that when actuator 15 and 20 was worked by normal mode, when cylinder right-hand member pressurization (shown in Fig. 3,5 and 7), the left end oil return was outwards moved piston rod and earrings 45, so the actuator elongation.Similarly, when the left end pressurization of cylinder, during the right-hand member oil return, piston rod and earrings 45 are moved inwards, so the actuator withdrawal.Actuator 15 and 20 pressurization and release, by control valve 50 and 55 controls, each control valve has the spool valve stamen 57 of a slip valve body 60 in, and filler opening 65 return openings 67 and hydraulic fluid port 70 and 75 are arranged on the valve body respectively.Hydraulic fluid port 70 is held with a left side (outward) of 20 with actuator 15 by hydraulic pipe line 80 and is connected, and as depicted in figs. 1 and 2, valve body can integrally form with cylinder, but is not necessary condition of the present invention.

The intermediate portion that the end of control corresponding valve valve stamen is connected to a U-loop 90 usefulness pivots and connecting rod 95 is connected, and connecting rod 95 is by the 100 places location of pivot on cylinder.Another termination one U-loop 105 of connecting rod 95 is connected with connecting rod 110 with pivot.As shown in the figure, the length of connecting rod 110 can be regulated, because sleeve pipe screw 115 is housed on each root, connecting rod 110 makes connecting rod 95 link to each other with an input linking mechanism 117.Input linking mechanism 117 comprises a multi-arm connecting rod, and upright arm 120 is arranged on it, provides mechanical input signal by the linking mechanism shown in dotted line among the figure 125 to actuator system, is sent to then on the upright arm 120.The lower end of upright arm 120, it is the transverse arm 130 of a coenosarc, the coenosarc lever arm 140 that the latter's two ends form U-loop 135 and extend downwards, lever arm 140 tail ends form U-loop 145, link to each other with connecting rod 110 with pivot, driven linking mechanism 150 links to each other U-loop 135 with being supported on antifriction bearing 152 by pivot.This driven online structure comprises a pair of driven lever 155.Be inserted in the minor axis 156 in input linking mechanism 117 housing parts 157, in driven lever 155, loosely pass, limit the input travel of linking mechanism 117 by restriction linking mechanism 117 with respect to the rotation of driven lever.Each root driven lever is sentenced pivot form location in 160 of corresponding cylinder, and the oblique arm 165 that extends inward is housed on the follower lever.Two oblique arms 165 connect together with minor axis or other rotating shaft form at 167 places, to improve the lateral strength of driven linking mechanism.Slave arm and cylinder be connected and two oblique arms between be connected with common axis between 165.The tail end on follower lever 155 tops is connected with the laterally spaced first and second discrete feedback rods are arranged by pivot 175, and the other end of feedback rod and upright arm 47 usefulness above the earrings 45 are pivotally connected.

For convenience of explanation, suppose that actuator system 10 keeps balance, the working procedure of this system is as follows, referring to Fig. 3 and Fig. 4, a mechanical input signal passes to input linking mechanism 117 by a connection set 125, input linking mechanism 117 is rotated around the tie point of driven linking mechanism 150 at U-loop 135 places, such rotation makes adjustable connecting-rod 110 do axial motion, thereby promotes connecting rod 95 around its a little 110 rotations that are located by connecting, and the position of adjusting control valve guiding valve.This adjusting to position shown in Figure 3 has been increased the pressure of actuator 15 and 20 respective end, and has been made the other end reduce pressure because of oil extraction, thereby makes piston rod 30 motions, and earrings 45 promotes controlled device motion.This motion pushes away feedback rod 180 and 185 or draws, thereby promotes follower lever 155, rotates around the tie point of it and cylinder cylinder.And input linking mechanism 117 is rotated around the tie point of it and bar 125.This motion of input linking mechanism promotes connecting rod 110 and connecting rod 95, and the spool valve stamen of control valve is reorientated.After piston rod 25 and 30 reaches required displacement, make the control valve zeroing, as shown in Figure 3, stop by pipeline 80 and 85 to cylinder pressurization or release.

As mentioned above because foozle, the cooperation of (output) power imbalance between actuator, and consequent defective is inevitably, and after zeroing, actuator to active force antagonism yet existence.The cooperation imbalance of actuator output or active force antagonism have figure to illustrate in Fig. 5-8.As mentioned above, the output of the actuator system that this place is said cooperates imbalance, is because the unbalanced result that pressurizes between actuator.For set forth clear for the purpose of, the active force antagonism in this system between parallel actuator can cooperate the extreme example of imbalance analyze for output between an actuator.Suppose control valve adjusting mistake, actuator becomes pressurization two extreme positions relative with release from zero-bit, i.e. an end of actuator pressurization, and the respective end release of another actuator.Such situation as shown in Figure 6, the spool valve stamen of control valve 50 is adjusted to the left end pressurization that makes cylinder 20 and the right-hand member release from zero-bit, simultaneously, the guiding valve stamen of control valve 55 is adjusted to and makes the pressurization of actuator 15 right-hand members and the left end release.This reverse pressurization of actuator has produced in actuator system as arrow 200(and has seen Fig. 5) the represented square of sweeping, make whole system produce as shown in FIG. deflection deformation.Equally,, actuator is carried out rightabout pressurization if control valve 55 and 50 is regulated round about from zero-bit, just make the moment of torsion of system's generation shown in Fig. 7 arrow 205, thus make whole system generation deflection deformation as shown in Figure 8.For the ease of expressing and discussing, the deflection of system shown in Fig. 6 and 8 has been exaggerated.

In the prior art, cooperate imbalance and active force antagonism at output, the measure of taking is to utilize pressure synchro system and deformable only to present linking mechanism, to keep stable pressurization and system's output.According to the present invention, use independently, longitudinal extension, have laterally spaced discrete reaction lever 180 and 185 just can avoid the shortcoming of prior art mentioned above.Referring to Fig. 5 and 6, under the situation of system's deflection shown in Figure 6, with respect to each tie point in the system, feedback rod 180 longitudinally promotes to the right, and simultaneously, feedback rod 185 is longitudinally retracted left.These actions are rotated follower lever in the opposite direction and since control valve by connecting rod 95 with 110 and the lever arm 140 of input on the linking mechanism 117 be connected with follower lever, thereby can readjust control valve.The valve stamen element of this adjusting by control valve 55 is moved to the left valve stamen element with control valve 50 and moves right and finish.Cause control valve as shown in Figure 5 to regulate like this, reduced the pressure of actuator live end, and increased the pressure of actuator oil revolving end, thereby the antagonism of the active force between the actuator is dropped to bottom line, also reduced the deflection deformation of system.The personnel that are familiar with this professional technique will appreciate that, shown in Fig. 7 and 8 under the situation deflection deformation of system also can ease down to inferior limit equally.

Clearly, had independently, laterally spaced discrete feedback rod has been arranged.Just can not use additional pressure synchro system, not cause under the situation of lateral deformation, the imbalance of control valve is being readjusted, to improve the accuracy and the repeatability of system works to employed any linking mechanism in the actuator system.In addition, the independent feedback bar also is equipped with the duplicate measurements system, but this uses only presenting in the linking mechanism of single lateral deformation not have in the prior art field.Though slave arm rotation round about, can cause the input linking mechanism in the plane parallel, to rotate slightly with the system longitudinal axis, but the amplitude of this rotation is very small, and is easy to be sponged by the antifriction bearing in slave arm and input linking mechanism joint.Equally, in the joint of feedback rod and earrings 45, and, can be adjusted in those interelement the rotatablely moving in the plane that is parallel to system's longitudinal axis at the space or the antifriction bearing (if installation) of the joint of feedback rod and driven linking mechanism.Though when native system is worked, do not require that any linking mechanism does lateral deformation, be fed before bar sets up again at control valve, system is subjected to some side loads really.In order to improve the intensity that linking mechanism bears this load, the oblique arm 165 that dangles from follower lever 155 is embedded mutually, resisting this load, thereby make these elements of system that bigger distortion not take place.Minor axis between the slave arm connects, and makes that necessary relatively rotating is achieved between them, and this motion is because the rightabout longitudinal movement of feedback rod causes and produce slave arm rotation round about.But because the moving lever of the connection minor axis of slave arm and principal and subordinate being located by connecting a little on cylinder 160 is coaxial line layouts, the rotation between the slave arm can remain on minimum.This rotation amplitude humble can connect slave arm 165 with a simple minor axis, and femalely needs to use swivel bearing.

A specific embodiments of the present invention is being done diagram and explanation, can recognize: every personnel that are familiar with this professional technique according to drawing and explanation herein, can both gain enlightenment and make various modifications.For example, when the specific pivotally connected and kit form that this paper introduces, should see, the pivotally connected and kit form of other similar type has also been considered.Following claim, purpose are to summarize all and belong to spirit of the present invention and the interior modification of scope.

Claims (5)

1, hydraulic actuator system, comprise the hydraulic actuator (10 that pair of parallel is provided with, 20), each actuator has a cylinder, be rigidly connected with the cylinder of another actuator, and an output element (30) is arranged, and can do with respect to the moving back and forth of cylinder, the output element of this output element and another actuator is rigidly connected;

Described actuator system also has pair of control valve (50,55), controls the pressurization of each continuous actuator (10,20) respectively;

A driven linking mechanism (150);

An input linking mechanism (117) and above-mentioned control valve (50,55) connect, and link to each other, so that motion thereon with described driven linking mechanism (150), described input linking mechanism (117) can be delivered to an input signal on two described control valves (50,55) simultaneously;

A feedback linking mechanism and described output element (30 are arranged, 30) connect, and be connected on the described driven linking mechanism (150), so that according to described output element (30,30) action responds, thereby supply with a feedback signal to described control valve (50,55) by described driven and input linking mechanism (150,117);

Described hydraulic actuator is characterised in that:

Described driven linking mechanism (150) has the discrete follower lever (155,155) of first and second self-movements, is positioned on described first and second actuator (10,20) with pivot respectively;

Described feedback linking mechanism has the first and second discrete feedback rods (180,185) that are spaced laterally apart, respectively with first and second follower lever (155,155) with pivotally connected, and link to each other with described output element;

Because output element (30,30) the imbalance work of the actuator system that causes of length travel, impel described feedback rod (180,185) produce independently length travel respect to one another, independently repeatedly feedback signal is passed to described control valve (50,55), not only accuracy and measurability can be improved, and the stress of linking mechanism can be reduced.

2, hydraulic actuator as claimed in claim 1 system, it is characterized in that: described output element (30,30) comprise the piston rod of pair of parallel, connect with a link in its adjacent end, described feedback rod (180,185) have on the laterally spaced position at it, link to each other with described connection piece with pivot.

3, hydraulic actuator as claimed in claim 1 system, it is characterized in that: the described follower lever (155 of each root, 155) corresponding end links to each other with described cylinder, and described lever arm (165,165) free end embeds mutually, together connected to each other, therefore when described driven linking mechanism (150) when bearing side load, can improve its lateral strength.

4, hydraulic actuator as claimed in claim 3 system is characterized in that: slave arm of described mutual embedding (165,165) and described follower lever (155,155) at the tie point on the cylinder on same axis.

5, hydraulic actuator as claimed in claim 3 is characterized in that: between the driven lever arm (165,165), have or not being rotationally connected of bearing, make limited relatively rotating between them.

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