JP2000104707A - Hydraulic actuator device and hydraulic actuator drive circuit - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a hydraulic actuator device that can suppress displacement of its output shaft with no employment of sliding parts and no major dimensional increases just across it, and a hydraulic actuator drive circuit. SOLUTION: This hydraulic actuator device 50 comprises an actuator 52, which includes a first displacement suppression means 58, a second displacement suppression means 59 and a lock means 69. The displacement suppression means 58 and 59 employ respective spring members 110 and 111 that present spring force in a direction parallel to an output shaft 60 to thereby urge a piston 64 down and up via a first pressure member 107 and a second pressure member 108 so that the output shaft 60 is kept in position. The output shaft 60 has a fitting groove 141, in which a lock pin 90 of the lock means 69 fits to prevent any displacement of the output shaft 60 or to lock the hydraulic actuator device 50.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a hydraulic actuator device and a hydraulic actuator drive circuit capable of suppressing displacement of an output shaft of an actuator as required.

[0002]

2. Description of the Related Art FIG. 6 is a perspective view showing a state of controlling a pitch angle of each blade 2 of a rotor 1 of a helicopter. The rotor 1 has three blades 2, and the pitch angle displacement of each blade 2 is controlled by three steering actuators 4 connected via a swash plate 3. A harmonic actuator 5 is interposed between each actuator 4 and the swash plate 3, and the harmonic actuator 5 is connected to the swash plate 3 via the connecting rod 6. The harmonic actuator 5 adds a harmonic component that is an integral multiple of the rotation frequency of the rotor 1 to the pitch angle operation amount of the steering actuator 4. By giving a harmonic vibration to each blade 2 by such a harmonic actuator 5, an external force acting on the blade 2 can be averaged in one rotation of the rotor 1, and vibration and noise of the airframe can be reduced.

FIG. 7 is a graph showing the relationship between the forward speed of the helicopter and the load applied to the harmonic actuator 5. Each blade 2 of the rotor 1 is a blade 2 on the forward side.
Since the forward speed of the helicopter is added to the rotation speed of the helicopter, the airspeed is higher than that of the retreat side. Therefore, when the forward speed of the helicopter increases, the blade 2 may stall on the forward side of the rotor 1 in some cases. In FIG. 7, a region shaded with respect to the line 170 indicates a region where stall has occurred. As shown in FIG. 7, when the forward speed of the helicopter increases and stall occurs, the load applied to the actuator 5 for the harmonic increases rapidly. Therefore, when a stall occurs, it is necessary to lock the harmonic actuator 5 and transmit only the displacement of the steering actuator 4 to the blade 2.

FIG. 8 is a sectional view showing a conventional hydraulic actuator device 5 for harmonics. The hydraulic actuator device 5 includes an actuator 11, an electro-hydraulic servo valve 13, a shutoff valve 12, and a lock unit 15 in a casing 10.
And the electromagnetic switching valve 14 are assembled and integrally configured.

[0005] The actuator 11 is constructed by mounting an output shaft 17 having a piston 16 in an insertion hole 18 formed in the casing 10. The portion of the casing 10 where the insertion hole 18 is formed functions as a piston cylinder 34, on which the piston 16 is mounted so as to be displaceable in the direction of the axis L1 of the output shaft 17, and the piston 16 in the direction of the axis L1. The output shaft 17 is displaced in the direction of the axis L1 according to the hydraulic oil supplied to and discharged from each of the hydraulic chambers 33 formed on both sides.

An electro-hydraulic servo valve 13 for controlling hydraulic oil supplied to and discharged from each of the hydraulic chambers 33 of the actuator 11
Supplies high-pressure hydraulic oil supplied from a pump 22 provided outside the hydraulic actuator device 5 to the actuator 1.
The hydraulic oil is supplied to one of the hydraulic chambers 33 and the hydraulic oil discharged from the other hydraulic chamber 33 is returned to the tank 24 provided outside the actuator device 5. In this way, the electrohydraulic servo valve 13 controls the displacement of the output shaft 17 of the actuator 11 by controlling the hydraulic oil in each hydraulic chamber 33 of the actuator 11 according to the input electric signal.

A shutoff valve 12 is interposed between the electrohydraulic servo valve 13 and the actuator 11. The shut-off valve 12 has a spool 21 inserted into an insertion recess 20 formed in the casing 10. A spring member 35 is disposed on one side of the spool 21, and the other end of the spool 21 is provided by the pump 22. The high-pressure hydraulic oil is supplied via 14, whereby the spool 21 is displaced to one side (downward in FIG. 8) and the spring member 35 is compressed. In this state, the shut-off valve 12 communicates with the oil passage between the electro-hydraulic servo valve 13 and each of the hydraulic chambers 33 of the actuator 11, and when the pressure of the working oil acting on the other end of the spool 21 decreases. , The compressed spring member 3
The return of the spool 5 causes the spool 21 to move to the other side (FIG. 8).
At the same time, the oil passage between the electrohydraulic servo valve 13 and the actuator 11 is shut off.

The locking means 15 includes a recess 2 having an axis L2 perpendicular to the axis L1 of the output shaft 17 of the actuator 11.
5, a displacement member 28 having a spring member 26 and an engagement portion 29 is housed so as to be displaceable. Displacement member 2
Reference numeral 8 denotes a short cylindrical shape having a bottom, and a portion of the casing 10 where the recess 25 is formed functions as a locking cylinder 27 that accommodates the displacement member 28 so as to be displaceable in the direction of the axis L2.
A spring member 26 composed of a plurality of coil springs is housed in the lock cylinder 27, and applies a spring force to the displacement member 28 in the direction of an axis L2 perpendicular to the axis of the output shaft 17. An annular hydraulic chamber 32 is formed between the displacement member 28 and the locking cylinder 27, and high-pressure hydraulic oil is supplied to the hydraulic chamber 32, similarly to the shut-off valve 12. In a state in which high-pressure hydraulic oil is supplied to the hydraulic chamber 32, the hydraulic oil acts on the pressure receiving surface 31 of the displacement member 28, and the displacement member 28 is displaced in a direction away from the output shaft 17 (to the left in FIG. 8). When the spring member 26 is compressed and the pressure in the hydraulic chamber 32 falls below a predetermined pressure, the spring member 26 returns and the displacement member 28 is displaced toward the output shaft 17.

A roller 30 is provided on the output shaft 17 facing the displacement member 28, and an engagement portion 29 fixed to the bottom of the displacement member 28 has an arc-shaped engagement recess 38 into which the roller 30 is fitted. When the displacement member 28 is displaced in the direction approaching the output shaft 17, the engagement recess 38 is fitted into the roller 30 to prevent the output shaft 17 from displacing in the direction of the axis L <b> 1 and lock.

An oil passage 4 for supplying high-pressure hydraulic oil to a hydraulic chamber 39 of the shut-off valve 12 and a hydraulic chamber 32 of the locking means 15.
An electromagnetic switching valve 14 is interposed between the hydraulic pump 22 and the hydraulic pump 22, and when the oil from the hydraulic pump 22 is switched from the oil passage 40 to the tank 24 by the electromagnetic switching valve 14, the hydraulic pressure facing the other end surface of the shutoff valve 12 is changed. The pressure in the chamber 39 becomes lower than the predetermined pressure, whereby the oil passage between the electro-hydraulic servo valve 13 and the actuator 11 is shut off, and the pressure in the hydraulic chamber 32 of the lock means 15 is reduced to the predetermined pressure. When the displacement member 28 drops below the pressure and the output shaft 17
Side, the engaging portion 29 is engaged with the roller 30 of the output shaft 17, and the hydraulic actuator device 5 is locked.

A sensor 4 for detecting a load acting on the output shaft 17 is provided on the output shaft 17 of the hydraulic actuator 5 for harmonics.
1 is mounted, the electromagnetic switching valve 14 responds to the detection output of the sensor 41, and when the load acting on the output shaft 17 is larger than a predetermined load,
To lock the hydraulic actuator device 5 by preventing the displacement of the output shaft 17. Therefore, when the load acting on the hydraulic actuator device 5 increases due to the stall of the blade 2, this can be detected by the sensor 41 and the hydraulic actuator device 5 can be quickly locked.

Further, even when the high-pressure hydraulic oil is not supplied from the pump 22 due to a failure or the like, the pressures in the hydraulic chamber 39 of the shut-off valve 12 and the hydraulic chamber 32 of the lock means 15 are reduced. Are locked and only the displacement of the steering actuator 4 is transmitted. Thus, the shut-off valve 12 and the lock means 15
Also performs the fail-safe function of the hydraulic actuator device 5.

[0013]

The engagement portion 29 of the lock means 15 has an arcuate fitting recess 3 into which a roller 30 is fitted.
8 and this connecting recess 38 is expanded and connected to
And a pair of guide surfaces 45 for guiding the zero to the fitting recess 38. In order to prevent the displacement of the output shaft 17 which vibrates at a high frequency and lock the actuator device 5, the vibration of the output shaft 17 is caused between the guide surfaces 45 which are expanded by pressing the engaging portion 29 against the roller 38 by the spring force. Restrain displacement,
The roller 30 is fitted into the fitting recess 38 between the guide surfaces 45 to prevent the output shaft 17 from being displaced.

At this time, since each guide surface 45 and the roller 30 slide with a large force, seizure or the like occurs on the guide surface 45, which may cause a possibility that the actuator device 5 cannot be securely locked. Since the spring member 26 is arranged so that the spring force acts in the direction of the axis L2 perpendicular to the axis L1 of the output shaft 17, the locking means 15 having a large configuration is arranged perpendicular to the output shaft 17, and The overall shape of the actuator device 5 becomes a shape protruding largely in the lateral direction with respect to the direction along the output shaft 17, and has a structural problem.

An object of the present invention is to provide a hydraulic actuator device and a hydraulic actuator drive circuit which have no sliding portion and can suppress displacement of the output shaft without largely protruding in a direction perpendicular to the output shaft. is there.

[0016]

According to a first aspect of the present invention, a piston fixed to an output shaft is displaceably mounted on a piston cylinder, and the hydraulic oil supplied to and discharged from hydraulic chambers on both sides of the piston. An actuator whose output shaft is displaced in the axial direction in response to the displacement, a displacement suppressing cylinder disposed coaxially with the piston cylinder, a pressing member having a pressure receiving surface and displaceably mounted on the displacement suppressing cylinder, and a displacement Displacement suppressing means having a spring member for applying a spring force to the pressing member in a displacement suppressing direction parallel to the axis direction of the output shaft, wherein the pressing member of the displacement suppressing means is provided on a pressure receiving surface. In a state in which hydraulic oil at a predetermined pressure is acting, the spring member is compressed to allow displacement of the piston, and when the hydraulic oil falls below the predetermined pressure, a return force of the spring member is applied. A hydraulic actuator device, characterized in that by pressing the piston in the displacement suppression direction to suppress the displacement of the output shaft.

According to the present invention, the spring member is compressed when the hydraulic oil of a predetermined pressure is acting on the pressure receiving surface of the displacement member of the displacement suppressing means, so that the displacement of the piston is allowed. The output shaft of the actuator can be displaced in the axial direction according to the hydraulic oil supplied to and discharged from the hydraulic chambers on both sides of the piston. When suppressing the displacement of the output shaft, the pressure of the working oil acting on the displacement member of the displacement suppressing means is made lower than a predetermined pressure. Then, the compressed spring member returns to the displacement suppressing direction parallel to the axial direction of the output shaft and presses the piston to suppress the displacement of the output shaft.

As described above, in the prior art hydraulic actuator device, the spring member is arranged perpendicular to the output shaft, so that the guide surface of the locking portion is used to suppress the displacement of the output shaft. The displacement of the output shaft along the axial direction was suppressed by sliding the roller attached to the output shaft.
In the present invention, the spring member is arranged in parallel with the axial direction of the output shaft, and the displacement can be suppressed by applying a spring force in the displacement direction of the output shaft. Therefore, seizure does not occur, and the reliability at the time of the lock operation is improved. Further, in the prior art, since the spring member is arranged perpendicular to the output shaft, the entire shape of the hydraulic actuator device has a shape protruding largely in the lateral direction with respect to the longitudinal direction of the actuator device. In the present invention, since the spring member is arranged parallel to the output shaft, it is possible to prevent the outer shape of the actuator device from protruding largely in the lateral direction with respect to the longitudinal direction.

According to a second aspect of the present invention, the displacement suppressing means is provided on both sides in the axial direction of the piston, and each of the pressing members is arranged so that the piston stops at a predetermined stop position between the pair of displacement suppressing means. Is pressed.

According to the present invention, since the displacement suppressing means is provided on both sides of the piston, the pressing members of each displacement suppressing means press the piston from both sides of the piston, and the piston is stopped at a predetermined stop position between the displacement suppressing means. To stop. Thus, the displacement of the output shaft can be effectively suppressed by providing the displacement suppressing means on both sides of the piston.

According to a third aspect of the present invention, the piston cylinder is provided with a locking portion for locking each pressing member of each displacement suppressing means immediately before the piston reaches the stop position. And

According to the present invention, the piston cylinder is provided with a locking portion for locking each pressing member immediately before the piston reaches the stop position, so that when the piston is at the stop position, each displacement is suppressed. In the means, each pressing member is locked to the locking portion in a state where the spring member is compressed. Therefore, when the piston is displaced in the axial direction, the spring force of the compressed spring member acts on the piston and is pushed back to the stop position. That is, the piston is stably arranged at the stop position. Further, even if an external load acts on the piston, if the external load is smaller than the spring force of the displacement suppressing means locked by the locking portion, the piston is displaced against the spring force. Can not
The piston will be stably located in the neutral position.
On the other hand, when the locking portion does not exist, the piston is arranged at the neutral position with the spring force balanced when no external force is applied, but when the external load is applied to the piston, the neutral position is set. The piston stops at a position deviated from the position, and it is difficult to stop the piston at a predetermined stop position. Thus, in the present invention, by providing the locking portion, the piston can be stably stopped at the stop position regardless of the external load acting on the piston.

According to a fourth aspect of the present invention, an engagement portion is formed on an output shaft of the actuator, and a locking cylinder having an axis in a locking direction perpendicular to the axis of the output shaft is inserted into the locking cylinder. A spring member for applying a spring force in the locking direction, and a spring member which is mounted on the locking cylinder so as to be displaceable in the axial direction, has a pressure receiving surface, and in a state where the hydraulic oil having the predetermined pressure acts on the pressure receiving surface. A displacement member that compresses and retracts away from the output shaft, and when the hydraulic oil drops below the predetermined pressure, is displaced in a direction approaching the output shaft by a return force of a spring member; and is displaceable in the locking direction. And the base end is attached to the displacement member, and when the displacement member is displaced in the direction approaching the output shaft, the distal end engages with the engaging portion of the output shaft to displace in the axial direction of the output shaft. To Characterized in that it comprises a locking means having a locking pin which stop.

According to the present invention, the hydraulic actuator device is provided with locking means together with displacement suppressing means. Hydraulic oil of a predetermined pressure acts on the pressure receiving surface of the displacement member of the locking means and the pressure receiving surface of the pressing member of the displacement suppressing means. In this state, the displacement member of the locking means compresses the spring member, and the output shaft Can be displaced in the axial direction. When locking the hydraulic actuator device,
The hydraulic oil acting on the displacement suppressing means and the lock means is made lower than a predetermined pressure. Then, while the displacement of the output shaft is suppressed by the displacement suppressing means, the displacement member of the locking means is displaced in a direction approaching the output shaft, and the lock pin attached to the displacement member engages with the output shaft to engage the output shaft. Prevent displacement. In this way, the lock pin is engaged with the output shaft in a state where the displacement of the output shaft is suppressed, so that the displacement of the output shaft is reliably prevented. In the conventional actuator device, the suppression of the displacement of the output shaft is suppressed by the spring force of a spring member perpendicular to the output shaft. In the present invention, the displacement of the output shaft is suppressed by displacement suppression means parallel to the output shaft, and the locking of the output shaft is prevented. Since the means only needs to have a spring force enough to engage the lock pin with the engagement portion formed on the output shaft, the structure of the spring member that applies the spring force in the lock direction perpendicular to the output shaft is used. Can be downsized. This prevents the outer shape of the hydraulic actuator device from protruding significantly with respect to the output shaft.

According to a fifth aspect of the present invention, the engaging portion of the output shaft is a fitting groove into which a tip of a lock pin can be fitted, and the tip of the lock pin is tapered. It is characterized by.

According to the present invention, the tip of the lock pin is
Since the taper is formed, the lock pin can be smoothly fitted into the fitting groove, and even if the output shaft is slightly vibrating, the lock pin is fitted to prevent displacement of the output shaft. Can be locked.

According to a sixth aspect of the present invention, a piston coaxially fixed to an output shaft is mounted on a piston cylinder so as to be displaceable, and is moved in an axial direction according to hydraulic oil supplied and discharged to hydraulic chambers on both sides of the piston. An actuator whose output shaft is displaced, a servo valve that controls hydraulic oil supplied and discharged to each hydraulic chamber of the actuator to control the displacement of the output shaft, and that is interposed between the servo valve and the actuator, A shut-off valve that communicates between the servo valve and the actuator in a state in which hydraulic oil at a predetermined pressure acts, and shuts off between the servo valve and the actuator when the pressure of the hydraulic oil falls below the predetermined pressure. A displacement suppressing cylinder disposed coaxially with the piston cylinder, a pressing portion having a pressure receiving surface, and being displaceably mounted on the displacement controlling cylinder. And a displacement suppressing means having a spring member that is inserted into the displacement suppressing cylinder and applies a spring force in a displacement suppressing direction parallel to the axial direction of the output shaft, and a pressing member of the displacement suppressing means is provided on a pressure receiving surface. In the state where the hydraulic oil at the predetermined pressure acts, the spring member is compressed to allow the displacement of the piston, and when the hydraulic oil falls below the predetermined pressure, the piston is moved in the displacement suppressing direction by the return force of the spring member. A hydraulic actuator drive circuit characterized by suppressing displacement of an output shaft by pressing.

According to the present invention, when the hydraulic oil of a predetermined pressure acts on the shut-off valve and the displacement suppressing means, the servo valve and the actuator are communicated with each other.
Since the displacement suppressing means permits the displacement of the piston, the displacement of the actuator is controlled by the servo valve.
When suppressing the displacement of the output shaft of the actuator in this state, the pressure of the working oil acting on the shut-off valve and the displacement suppressing means is made lower than a predetermined pressure. Then, the hydraulic oil supplied to and discharged from each of the hydraulic chambers of the actuator from the servo valve is shut off by the shutoff valve, and the piston is pressed via the pressing member by the return force of the compressed spring member of the displacement suppressing means, and the piston is pressed. Displacement is suppressed. In this manner, the displacement of the output shaft can be effectively suppressed in a state where the control of the actuator by the servo valve is interrupted by reducing the pressure of the hydraulic oil acting on the shut-off valve and the displacement suppressing means.

[0029]

FIG. 1 is a sectional view schematically showing a drive circuit of a hydraulic actuator device 50 according to an embodiment of the present invention. The hydraulic actuator device 50 is integrally formed by mounting an actuator 52, an electrohydraulic servo valve 53, a shutoff valve 54, an electromagnetic switching valve 55, a pressure port 56, and a return port 57 on a casing 51. The hydraulic actuator device 50 is used as a hydraulic actuator device for harmonics of a helicopter as described with reference to FIGS. 6 and 7 described above.

The actuator 52 is constructed by mounting an output shaft 60 to which a piston 64 is fixed in a through hole 63 formed in the casing 51 so as to be displaceable in the direction of the axis L1 of the output shaft 60.

The casing 5 along the axis L1 of the output shaft 60
A base end portion 65, which is one end portion, is connected to the output shaft of the steering actuator, and a distal end portion 66 of the output shaft 60 protruding from the casing 51 is connected to the swash plate via a connecting rod. The hydraulic actuator device 50 expands and contracts at harmonics that are integral multiples of the rotation frequency of the helicopter rotor, thereby applying harmonic vibration to the rotor blades and averaging the external force acting on each blade in one rotation of the rotor. Therefore, vibration and noise of the airframe can be suppressed.

A hydraulic oil having a predetermined pressure is supplied to a pressure port 56 from a hydraulic pump 70 provided outside the hydraulic actuator device 50.
It communicates with the electro-hydraulic servo valve 53 via the pressure oil passage 72. The electrohydraulic servo valve 53 communicates with a return port 57 via a first return oil passage 74, and the return port 57 communicates with a tank 71 provided outside the hydraulic actuator device 50 to return hydraulic oil to the tank 71. The electrohydraulic servo valve 53 has a piston 64 of the actuator 52.
Are connected to the first and second oil supply / discharge passages 75 and 76 communicating with the first and second hydraulic chambers 77 and 78 on both sides, respectively, and the electrohydraulic servo valve 53 is supplied in response to an input electric signal. Oil is supplied to one of the first and second hydraulic chambers 77 and 78, and the operating oil discharged from the other hydraulic chambers 77 and 78 is supplied from the return port 57 to the tank 71 via the first return oil passage 74. Discharge. The electrohydraulic servo valve 53 controls the hydraulic oil supplied to and discharged from the hydraulic chambers 77 and 78 on both sides of the piston 64 according to the input electric signal, and causes the output shaft 60 to vibrate in the direction of the axis L1.

The first and second displacement suppressing means 58 and 59 for suppressing the displacement of the output shaft 60 are engaged with the actuator 52, and the lock pin 90 is engaged with the output shaft 60 so as to engage the output shaft 60.
Lock means 69 for preventing the displacement of the lock is provided. The first and second displacement suppressing means 58 and 59 are connected to a pressure port 56 via a second pressure oil passage 73 and an electromagnetic switching valve 55, respectively.
Are connected to the third and fourth pressure oil passages 80, 81. When the hydraulic oil of a predetermined pressure acts on the displacement suppressing means 58, 59 from the pressure oil passages 80, 81, the actuator 52 displaces the piston 64. Is allowed.
Further, a fifth pressure oil passage 82 connected to the pressure port 56 is also connected to the lock means 69 via the electromagnetic switching valve 55 and the second pressure oil passage 73, and the hydraulic oil of the predetermined pressure is connected from the fifth pressure oil passage 82. Is acting on the lock means 69, the lock pin 90 of the lock means 69 is retracted from the output shaft 60, and the output shaft 60 is displaceable.
The shutoff valve 54 is also connected to a sixth pressure oil passage 83 connected to the pressure port 56 via an electromagnetic switching valve 55 and a second pressure oil passage 73, and the predetermined pressure is connected via the sixth pressure oil passage 83. When the hydraulic oil acts on the shut-off valve 54, the electro-hydraulic servo valve 53 and the actuator 52
The first and second oil supply / discharge passages 75 and 76 are connected to each other, and the actuator 52 is provided with an electrohydraulic servo valve 53.
Controllable state.

A sensor 62 such as a semiconductor gauge for detecting a load acting on the output shaft 60 is attached to the output shaft 60. The detected load from the sensor 62 is input to the control means 61, and the control means 61 is set in advance. The detected threshold load is compared with the detected load. If the detected load is larger than the threshold load, it is determined that the blade has started to stall, and the second pressure oil passage 73 and the third to sixth Pressure oil passage 80-83
And the electromagnetic switching valve 55 is switched so that the second return oil passage 84 and the second pressure oil passage 73 communicating from the electromagnetic switching valve 55 to the return port 57 are communicated. Then, the pressure of the working oil acting on the shutoff valve 54 via the sixth pressure oil passage 83 becomes lower than a predetermined pressure, and the first and second supply / discharge oil passages 75 and 76 are shut off by the shutoff valve 54. And the third and fourth pressure oil passages 80, 81
The pressure of the working oil acting on the first and second displacement suppressing means 58, 59 via the pressure lowers than a predetermined pressure to suppress the displacement of the output shaft 60, and the fifth pressure oil passage 8
The pressure of the working oil acting on the lock means 69 via the second lowers below a predetermined pressure, the displacement of the output shaft 60 is prevented by the lock means 69, and the hydraulic actuator device 50 is locked. In this manner, the output shaft 60 is prevented from being displaced relative to the casing 51 in the direction of the axis L1, and the hydraulic actuator device 50 transmits the displacement of the steering actuator directly to the swash plate.

When the load detected by the sensor 62 becomes equal to or less than a predetermined load, the control means 61 switches the electromagnetic switching valve 55 to communicate the pressure port 56 with the third to sixth pressure oil passages 80 to 83. Then, the output shaft 60 can be displaced again, and the output shaft 60 can be vibrated by the electro-hydraulic servo valve 53 at higher harmonics. Output shaft 6
Not only when the load acting on the pressure port 56 becomes large, but also when, for example, the pressure of the hydraulic oil supplied to the pressure port 56 falls below a predetermined pressure and the displacement of the actuator 52 cannot be controlled by the electrohydraulic servo valve 53. The third to sixth pressure oil passages 80 to 83 communicating with the pressure port 56 are also provided.
The pressure of the hydraulic oil in the inside decreases, which also shuts off the shut-off valve 54, and the first and second displacement suppressing means 58, 59.
Suppresses the displacement of the output shaft 60, and the locking means 69 prevents the displacement of the output shaft 60, and the locking state is established. As described above, the hydraulic actuator device 50 of the present invention responds to failures such as an increase in the load acting on the output shaft 60 due to the stall of the blade and a decrease in the pressure of the hydraulic oil supplied to the pressure port 56. Lock and transmit only the displacement of the steering actuator to the swash plate.

FIG. 2 is a sectional view of the hydraulic actuator device 50 showing the actuator 52 and the shut-off valve 54 in an enlarged manner. A shut-off valve 54 interposed between the first and second oil supply / discharge passages 75 and 76 has a sleeve 97 mounted and fixed in an insertion recess 92 formed in the casing 51;
A spool 91 that is displaceably mounted on the sleeve 97
And a cover member 98 for closing the mounting recess 92. A spring member 93 is interposed between one end (the lower part in FIG. 2) of the spool 91 and the cover member 98, and the spring member 93 applies a spring force in the axial direction of the spool 91.
The other end surface of the spool 91 faces the sixth pressure oil passage 83 and functions as a pressure receiving surface 94. Therefore, the sixth pressure oil passage 83
From the pressure receiving surface 9 of the spool 91
2, the sleeve 97 is displaced downward in FIG. 2 and the spring member 93 is in a compressed state. At this time, the electrohydraulic servo valve 53 and the actuator 52 are connected to the first and second oil supply / discharge passages 75. , 76. From this state, the spool 9 is moved from the sixth pressure oil passage 83 to the spool 9.
When the pressure of the hydraulic oil acting on the first pressure receiving surface 94 becomes lower than the predetermined pressure, the compressed spring member 93 returns to displace the spool 91 upward in FIG. Then, the first land 95 of the spool 91 is moved to the first land.
The oil supply / discharge passage 75 is shut off, and the second land 96 shuts off the second oil supply / discharge passage 76 to shut off hydraulic oil supplied to and discharged from the actuator 52 through the electrohydraulic servo valve 53.

A piston 64 is mounted in an insertion hole 63 of an actuator 52 formed in a casing 51, and an axis L
1 and the axis L of the small diameter portion 100
It is formed on both sides in one direction, and has first and second large diameter portions 101 and 102 centered on the axis L1. Small diameter part 100
A sleeve 150 is mounted in the sleeve 150, and a piston 64 that is displaceably slid in the direction of the axis L1 is mounted in the sleeve 150. The portion of the casing 51 where the small diameter portion 100 is formed, the small diameter portion 100 and each of the first and second large diameter portions 10
The first and second locking portions 103 and 104 which are step surfaces between the first and second cylinders 1 and 102 and the sleeve 150 function as a piston cylinder.

The portions of the casing 51 where the first and second large-diameter portions 101 and 102 are formed function as displacement suppressing cylinders, and the large-diameter portions 101 and 102 are provided in the direction of the axis L1 which is the displacement suppressing direction. Cylindrical first displaceable
And the second pressing members 107 and 108 are attached,
The first and second cover members 105 and 106 are mounted on the casing 51 so as to close the second large diameter portions 101 and 102. First and second spring members 110 and 111 made of coil springs are mounted between the cover members 105 and 106 and the pressing members 107 and 108 substantially coaxially with the axis L1. Each large diameter portion 101, 102 of the casing 51
Where the is formed, the first and second pressing members 107, 1
08, the first and second cover members 105 and 106 and the first and second spring members 110 and 111 constitute first and second displacement suppressing means 58 and 59. Since the first and second displacement suppressing means 58, 59 have the same configuration, only the first displacement suppressing means 58 will be described below, and the second displacement suppressing means 59 will be denoted by the same reference numerals, and will be appropriately described. Is omitted.

The pressing member 107 includes a large-diameter large cylindrical portion 112 that slides in the direction of the axis L1 in the first large-diameter portion 101 and a small-diameter portion 1.
00, a small-diameter small tube portion 113 inserted into
A step portion 122 interposed between the large-diameter portion 112 and the small cylindrical portion 113, and a flange 114 is formed at an end of the large-diameter portion 112 on the first cover member 105 side.

The large-diameter portion 101 of the pressing member 107, into which the large cylindrical portion 112 is inserted, has a large-diameter first inner peripheral surface 115 and the first inner peripheral surface 115.
The pressing member 107 has a second inner peripheral surface 116 slightly smaller in diameter than the inner peripheral surface 115, the flange 114 of the pressing member 107 is slidable along the first inner peripheral surface 115, and the large cylindrical portion 112 is a large diameter portion. Is slidable along the second inner peripheral surface 116. An annular space is formed between the large cylindrical portion 112 and the large diameter portion 101 of the pressing member 107, and this annular space functions as a hydraulic chamber 120, and the third pressure oil passage 80 faces the hydraulic chamber 120. Connected. Therefore, the pressure of the hydraulic oil supplied from the third pressure oil passage 80 acts on the step surface 117 of the flange 114 formed in the large cylinder portion 112, and the step surface 117 functions as a pressure receiving surface, and the step surface 117 In a state where the hydraulic oil of a predetermined pressure acts, the first pressing member 107
1 is disposed on the first cover member 105 side, that is, on the side away from the piston 64. At this time, the spring member 110 interposed between the step portion 122 of the pressing member 107 and the cover member 105 is in a compressed state, and the distal end of the small cylindrical portion 113 facing the piston 64 is
And the piston 64 can be displaced.

The small diameter portion 100 of the insertion hole 63 and the first large diameter portion 1
01 and the pressing member 10 which is a step surface between
The first oil supply / discharge passage 75 is connected to a space between the step portion 122 and the first hydraulic chamber 77 facing the piston 64.
Is in communication with Therefore, the first and second pressing members 107 and 108 are respectively connected to the first and second cover members 1 and 2.
05 and 106, the first and second
Hydraulic oil is supplied / discharged through the first and second supply / discharge oil passages 75/76 communicating with the hydraulic chambers 77/78, whereby the piston 64 is displaced about the predetermined neutral position S along the axis L1. And vibrate at high frequency. The amount of displacement of the piston 64 is about ± 5 mm around the neutral position S.

A lock casing 130 is fixed to the upper end (upper portion in FIG. 2) of the casing 51 so as to cover the first cover member 105.
Is provided with a lock means 69. The locking means 69 includes a displacement member 134 mounted in a recess 133 centered on an axis L2 perpendicular to the axis L1 of the output shaft 60,
4, the lock pin 90, the cover member 132 covering the recess 133, and the cover member 132 and the displacement member 134.
And a spring member 135 interposed therebetween. The portion of the lock casing 130 where the recess 133 is formed functions as a locking cylinder 131, and the axis L <b> 2 in the locking direction along the locking cylinder 131.
The displacement member 134 is mounted so as to be displaceable in the direction. Recess 1
A pin insertion hole 136 is formed from 33 along the axis L2, and the pin insertion hole 136 opens toward the output shaft 60. The displacement member 134 is formed in a cylindrical shape with a bottom, and the outer peripheral portion slides along the inner peripheral surface of the locking cylinder 131, and a right columnar lock pin 90 extending along the axis L2 direction is integrated with the center of the bottom portion. Fixed to The lock pin 90 can be displaced in the pin insertion hole 136 in the direction of the axis L2,
2 is inserted in a state where displacement in the direction perpendicular to 2 is prevented.
A spring member 135 made of a coil spring is disposed substantially coaxially with the axis L2 between the cover member 132 and the displacement member 134, and applies a spring force in the direction of the axis L2. A hydraulic chamber 140 is formed between the bottom of the recess 133 and the displacement member 134, and the fifth pressure oil passage 82 is connected to the hydraulic chamber 140. Therefore, when hydraulic oil at a predetermined pressure is supplied to the hydraulic chamber 140 through the fifth pressure oil passage 82, the bottom surface 145 of the displacement member 134 functions as a pressure receiving surface, and the displacement member 134 is moved along the axis L2 along the output shaft L2. Retreat in the direction away from 60,
The spring member 135 is in a compressed state.

The output shaft 60 is provided with a piston 64 at a neutral position S.
At the position of the lock means 69 facing the lock pin 90, a fitting groove 141 into which the lock pin 90 is fitted is formed annularly around the axis L1 of the output shaft 60.

Accordingly, the third and fourth pressure oil passages 80 and 81 connected to the first displacement suppressing means 58 and the second displacement suppressing means 59 and the fifth connecting means to the locking means 69.
When the pressure of the hydraulic oil from the pressure oil passage 82 falls below a predetermined pressure, the first and second displacement suppressing means 5
The pressing members 107 and 108 are respectively displaced toward the neutral position S along the axis L1 by the restoring force of the spring members 110 and 111 of 8, 59, and the distal end of the small cylindrical portion 113 of each of the pressing members 107 and 108 is a piston. While pressing the piston 64 so as to stop the piston 64 at the neutral position S,
The lock pin 9 is fixed by the spring member 135 of the lock means 69.
0 is displaced toward the output shaft 60, and when the piston 64 is located at the neutral position S, the tip of the lock pin 90 fits into the fitting groove 141 of the output shaft 60. Since the lock pin 90 is inserted into the pin insertion hole 136 and the displacement in the direction perpendicular to the axis L2 is prevented, the lock pin 90 is
When fitted to 1, the displacement of the output shaft 60 with respect to the casing 51 is prevented, and the hydraulic actuator device 50 is locked. The state at this time is shown in FIG. Since the displacement of the output shaft 60 is suppressed by the displacement suppressing means 58 and 59,
The spring member 135 of the lock means 69 does not require a large spring force, and requires only a single coil spring instead of a plurality of coil springs as in the prior art. Large projection in the vertical direction is prevented.

FIG. 4 shows the axis L1 of the center point of the piston 64.
4A is a graph showing the relationship between the displacement x along the direction and the load f acting on the piston 64, and FIG.
FIG. 4B is a graph when 3,104 exists.
Is a graph when the locking portions 103 and 104 are not present. The horizontal axis represents the displacement x of the piston 64 from the neutral position S.
(Vertical displacement in FIG. 2), and the vertical axis indicates the piston 64
Shows the absolute value of the load f applied from each of the spring members 110 and 111. That is, the right side of the graph shows the load due to the spring force pressing leftward toward the neutral position S when the piston 64 is displaced rightward from the neutral position S, and the left side shows the piston when the piston 64 is displaced leftward. 64 shows a load pressing rightward.

Each of the spring members 110 and 111 of the first and second displacement suppressing means 58 and 59 has a sufficiently large spring force to suppress the displacement of the piston 64.
When the stepped portions 122 of the lock members 07 and 108 are locked by the locking portions 103 and 104, the spring members 110 and 11
1 is in a compressed state. When the piston 64 is located at the neutral position S, a slight gap σ is formed between the tip of the small cylinder 113 of each of the pressing members 107 and 108 and the surface of the piston 64. That is, when the piston 64 is stopped at the neutral position S, each of the pressing members 107, 10
8 does not come into contact with the piston 64, and no spring force acts on the piston 64. When the piston 64 is displaced by the gap σ from this state, the surface of the piston 64 comes into contact with the distal end portion of the small cylindrical portion 113 of the first or second pressing member 107, 108, and the spring force acts suddenly. FIG.
A graph as shown in FIG.

Each of the pressing members 107 and 108 is
3 and 104, each spring member 11
Assuming that 0 and 111 are compressed by the force of the load f1, the piston 64 is displaced by the gap σ and the first or the second
When it comes into contact with the pressing members 107 and 108, it is pushed back to the neutral position S by the force of the load f1. As described above, when the piston is slightly displaced upward or downward from the neutral position S, a large spring force acts on the piston 64 and is pushed back to the neutral position S, so that the piston 64 is stably moved to the neutral position S. As a result, the lock pin 90 of the lock means 69 can be quickly fitted into the fitting groove 141 and locked.

As described above, when locking, an external load due to stall acts on the output shaft 60. External load f2
However, when f2 <f1, even if the piston 64 abuts on the first or second pressing portion 107, 108, the piston 64 is displaced against the compressed spring force of the first or second spring member 110, 111. Therefore, the piston 64 is located at the neutral position S within the range of ± σ. Therefore, by setting the load f1 to be larger than the assumed external load f2 at the time of stall, the hydraulic actuator device 50 can be reliably locked at the time of stall. The set load f1 is, for example, 300 to
The gap σ is selected to be about 0.1 mm.

On the other hand, when the locking portions 103 and 104 are not provided, a graph as shown in FIG. 4B is obtained. In this graph, broken lines indicate the spring members 110, 1
Numeral 11 denotes a spring load acting on the piston 64 when the spring force acts on the piston 64 alone. When the spring members 110 and 111 are in the natural state, the tip ends extend beyond the neutral position S to the position ± P. Therefore, the spring load f acting on the piston 64 is the sum of the individual spring forces of the spring members 110 and 111 between the positions ± P, that is, the difference in the graph shown by the broken line, as shown by the solid line in FIG. Graph. When the position exceeds the position ± P, only the spring force of one of the spring members acts on the piston 64, so that the inclination of the graph becomes gentle.

Therefore, when no external force acts on the piston 64, the piston 64 is arranged at a position where the spring members 110 and 111 are balanced, that is, at the neutral position S. This state is indicated by a virtual line 64a in FIG.

From this state, the external load f2 is applied to the piston 64.
4A, the spring members 110 and 111 are balanced at the position α as shown in FIG. 4B, and the piston 64 stops at this position α as shown by the imaginary line 64b. Therefore, when the external load f2 is applied, the piston 64 is not located at the neutral position S, and it is difficult for the lock pin 90 of the lock unit 69 to be fitted into the fitting groove 141.

By providing the locking portions 103 and 104 in this manner, the piston 64 can be stably disposed at the neutral position S at the time of locking regardless of an external load. The device 50 can be locked.

FIG. 5 is an enlarged view of the lock pin 90 and the fitting groove 141. Tip 146 of lock pin 90 in the shape of a right column
Is chamfered as shown in FIG. 5 to form a tapered shape. Similarly, the corner 147 of the fitting groove 141 connected to the outer peripheral surface of the output shaft 60 is also chamfered and formed to expand. As described above, the distal end portion 146 of the lock pin 90 has a tapered tapered shape, and the fitting groove 141 is also tapered so as to expand. , The distal end portion 146 of the lock pin 90 can be smoothly fitted into the fitting groove 141. When the output shaft 60 is in the fitted state, the right cylindrical body 148 of the lock pin 90 and the vertical wall surface 149 of the fitting groove 141 are in contact with each other.
Is surely prevented. The width W of the tip of the lock pin 90 to be chamfered is selected to be larger than the gap σ, so that even if the piston 64 is displaced in the range of ± σ, the lock pin 90 can be securely inserted into the fitting groove 14.
1 can be fitted.

As described above, the hydraulic actuator device 5
Numeral 0 is preferably used as a helicopter harmonic actuator device capable of quickly stopping and locking the displacement of the output shaft 60 as needed using the first and second displacement suppressing means 58, 59 and the locking means 69. Although it can be implemented, the hydraulic actuator device of the present invention is not limited to a harmonic actuator device, and as another embodiment, a hydraulic actuator device capable of suppressing displacement of an output shaft as necessary and locking. Can be used.
Further, the structure may be such that only the first and second displacement suppressing means 58 and 59 are provided without providing the locking means 69, and furthermore, only one of the displacement suppressing means is provided and the vibration damping function is provided. It can be used as a hydraulic actuator device provided.

[0055]

According to the first aspect of the present invention, since the spring member for suppressing the displacement of the output shaft is arranged in parallel to the output shaft, the spring member does not require a sliding portion as in the prior art, and seizure or the like does not occur. Does not occur, the reliability of the hydraulic actuator is improved. In addition, since the spring member is disposed parallel to the output shaft, the spring member is disposed perpendicular to the output shaft as in the related art, and it is possible to prevent the outer shape from greatly projecting in the direction perpendicular to the axis of the actuator. .

According to the second aspect of the present invention, since the displacement suppressing means is disposed on both sides of the piston, the displacement of the output shaft can be effectively suppressed.

According to the third aspect of the present invention, since the engagement portion is formed in the piston cylinder, the displacement can be suppressed so that the piston is quickly stopped at the predetermined stop position.

According to the fourth aspect of the present invention, since the locking means is provided together with the displacement suppressing means, the displacement of the piston is suppressed, and the displacement of the output shaft is reliably prevented by the locking means to lock the hydraulic actuator device. can do.

According to the fifth aspect of the present invention, since the tip of the lock pin is tapered, it can be smoothly fitted into the fitting groove of the output shaft.

According to the present invention, the hydraulic oil supplied to the actuator from the servo valve is shut off by reducing the pressure of the hydraulic oil acting on the shut-off valve and the displacement suppressing means from a predetermined pressure. At the same time, the displacement of the actuator can be suppressed.

[Brief description of the drawings]

FIG. 1 is a sectional view schematically showing a drive circuit of a hydraulic actuator device 50 according to one embodiment of the present invention.

FIG. 2 is a sectional view of the hydraulic actuator device 50 showing an actuator 52 and a shutoff valve 54 in an enlarged manner.

FIG. 3 is a sectional view showing the hydraulic actuator device 50 in a locked state.

FIG. 4A is a graph showing the relationship between the displacement x of the piston 64 and the load f acting on the piston 64 when the locking portions 103 and 104 are provided, and FIG. 6 is a graph showing the relationship between the amount of displacement of the piston 64 and the load acting on the piston 64 when there is no stop.

FIG. 5 shows a lock pin 90 and an output shaft 60 of a lock means 69.
It is sectional drawing which expands and shows the fitting groove 141 of FIG.

FIG. 6 is a perspective view showing a pitch angle control state of each blade 2 of the rotor 1 of the helicopter.

FIG. 7 is a graph showing a relationship between a forward speed of a helicopter and a load applied to a harmonic actuator.

FIG. 8 is a sectional view showing a conventional harmonic hydraulic actuator device 5.

[Explanation of symbols]

 Reference Signs List 50 hydraulic actuator device 51 casing 52 actuator 53 electrohydraulic servo valve 54 shutoff valve 55 electromagnetic switching valve 56 pressure port 57 return port 58 first displacement suppressing means 59 second displacement suppressing means 60 output shaft 64 piston 69 locking means 77, 78 hydraulic pressure Chamber 90 Lock pin 107 First pressing member 108 Second pressing member 110 First spring member 111 Second spring member 134 Displacement member 135 Spring member

────────────────────────────────────────────────── ───

[Procedure amendment]

[Submission date] September 30, 1998 (1998.9.3
0)

[Procedure amendment 1]

[Document name to be amended] Statement

[Correction target item name] 0048

[Correction method] Change

[Correction contents]

As described above, when locking, an external load is applied to the output shaft 60 by aerodynamic force. External load f2
However, when f2 <f1, even if the piston 64 abuts on the first or second pressing portion 107, 108, the piston 64 is displaced against the compressed spring force of the first or second spring member 110, 111. Therefore, the piston 64 is located at the neutral position S within the range of ± σ. Therefore, the load f1 is assumed to be the external load f2 immediately before the stall.
Is set to be the same as that of the hydraulic actuator device 5 in the event of a system failure and immediately before a stall.
0 can be locked. The set load f
1 is selected, for example, from 300 to 500 kg, and the gap σ is selected to be about 0.1 mm. ────────────────────────────────────────────────── ───

[Procedure amendment]

[Submission date] August 27, 1999 (1999.8.2
7)

[Procedure amendment 1]

[Document name to be amended] Statement

[Correction target item name] Claims

[Correction method] Change

[Correction contents]

[Claims]

[Procedure amendment 2]

[Document name to be amended] Statement

[Correction target item name] 0016

[Correction method] Change

[Correction contents]

[0016]

According to a first aspect of the present invention, a piston fixed to an output shaft is displaceably mounted on a piston cylinder, and the hydraulic oil supplied to and discharged from hydraulic chambers on both sides of the piston. An actuator having an output shaft vibratingly displaced in the axial direction in response thereto, a displacement suppressing cylinder disposed coaxially with the piston cylinder, a pressing member having a pressure receiving surface, and being displaceably mounted on the displacement suppressing cylinder, and A displacement suppressing unit that is inserted into the displacement suppressing cylinder and has a spring member that applies a spring force to the pressing member in a displacement suppressing direction parallel to the axial direction of the output shaft, wherein the pressing member of the displacement suppressing unit has a pressure receiving surface. When the operating oil at a predetermined pressure is applied, the spring member is compressed to allow the piston to vibrate, and when the operating oil drops below the predetermined pressure, the spring member returns. A hydraulic actuator device, characterized in that by pressing the piston in the displacement suppression direction to suppress the vibration displacement of the output shaft by.

[Procedure amendment 3]

[Document name to be amended] Statement

[Correction target item name] 0019

[Correction method] Change

[Correction contents]

According to a second aspect of the present invention, a high frequency vibration is applied to a driven portion driven by the output shaft. According to the present invention, for example, vibration and noise of the airframe can be suppressed by giving harmonic vibration to a rotor blade of a helicopter. The displacement suppressing means can be suitably used for an actuator that gives such harmonic vibration. According to a third aspect of the present invention, the displacement suppressing means is provided on both sides in the axial direction of the piston, and each pressing member presses the piston so that the piston stops at a predetermined stop position between the pair of displacement suppressing means. It is characterized by the following.

[Procedure amendment 4]

[Document name to be amended] Statement

[Correction target item name] 0021

[Correction method] Change

[Correction contents]

According to a fourth aspect of the present invention, an engagement portion is formed on the output shaft of the actuator, and a locking cylinder having an axis in a locking direction perpendicular to the axis of the output shaft is inserted into the locking cylinder. A spring member for applying a spring force in the locking direction, and a spring member which is mounted on the locking cylinder so as to be displaceable in the axial direction, has a pressure receiving surface, and in a state where the hydraulic oil having the predetermined pressure acts on the pressure receiving surface. A displacement member that compresses and retracts away from the output shaft, and when the hydraulic oil drops below the predetermined pressure, is displaced in a direction approaching the output shaft by a return force of a spring member; and is displaceable in the locking direction. And the base end is attached to the displacement member, and when the displacement member is displaced in the direction approaching the output shaft, the distal end engages with the engaging portion of the output shaft to displace in the axial direction of the output shaft. To Characterized in that it comprises a locking means having a locking pin which stop.

[Procedure amendment 5]

[Document name to be amended] Statement

[Correction target item name] 0022

[Correction method] Change

[Correction contents]

According to the present invention, the hydraulic actuator device is provided with locking means together with displacement suppressing means. Hydraulic oil of a predetermined pressure acts on the pressure receiving surface of the displacement member of the locking means and the pressure receiving surface of the pressing member of the displacement suppressing means. In this state, the displacement member of the locking means compresses the spring member, and the output shaft Can be displaced in the axial direction. When locking the hydraulic actuator device,
The hydraulic oil acting on the displacement suppressing means and the lock means is made lower than a predetermined pressure. Then, while the displacement of the output shaft is suppressed by the displacement suppressing means, the displacement member of the locking means is displaced in a direction approaching the output shaft, and the lock pin attached to the displacement member engages with the output shaft to engage the output shaft. Prevent displacement. In this way, the lock pin is engaged with the output shaft in a state where the displacement of the output shaft is suppressed, so that the displacement of the output shaft is reliably prevented. In the conventional actuator device, the suppression of the displacement of the output shaft is suppressed by the spring force of a spring member perpendicular to the output shaft. In the present invention, the displacement of the output shaft is suppressed by displacement suppression means parallel to the output shaft, and the locking of the output shaft is prevented. Since the means only needs to have a spring force enough to engage the lock pin with the engagement portion formed on the output shaft, the structure of the spring member that applies the spring force in the lock direction perpendicular to the output shaft is used. Can be downsized. This prevents the outer shape of the hydraulic actuator device from protruding significantly with respect to the output shaft.

[Procedure amendment 6]

[Document name to be amended] Statement

[Correction target item name] 0023

[Correction method] Change

[Correction contents]

According to a fifth aspect of the present invention, a piston fixed to an output shaft is displaceably mounted on a piston cylinder, and outputs in the axial direction according to hydraulic oil supplied to and discharged from hydraulic chambers on both sides of the piston. Having an actuator whose axis is displaced,
A displacement suppressing cylinder coaxially arranged with the piston cylinder, a pressing member having a pressure receiving surface, which is displaceably mounted on the displacement suppressing cylinder, and inserted into the displacement suppressing cylinder, in the axial direction of the output shaft. Displacement suppressing means having a spring member for applying a spring force to the pressing member in a parallel displacement suppressing direction is provided on both sides in the axial direction of the piston, and the pressing member of the displacement suppressing means is configured such that hydraulic oil having a predetermined pressure is applied to a pressure receiving surface. In the operating state, the spring member is compressed to allow the displacement of the piston, and when the hydraulic oil falls below the predetermined pressure, the piston is pressed in the displacement suppressing direction by the return force of the spring member to reduce the displacement of the output shaft. Each pressing member presses the piston so that the piston stops at a predetermined stop position between the pair of displacement suppressing means. There is a hydraulic actuator device, wherein a locking portion for each locking the pressing members in each displacement prevention means just before reaching the stop position is provided.

[Procedure amendment 7]

[Document name to be amended] Statement

[Correction target item name] 0024

[Correction method] Change

[Correction contents]

According to the present invention, the piston cylinder is provided with a locking portion for locking each pressing member immediately before the piston reaches the stop position, so that when the piston is at the stop position, each displacement is suppressed. In the means, each pressing member is locked to the locking portion in a state where the spring member is compressed. Therefore, when the piston is displaced in the axial direction, the spring force of the compressed spring member acts on the piston and is pushed back to the stop position. That is, the piston is stably arranged at the stop position. Further, even if an external load acts on the piston, if the external load is smaller than the spring force of the displacement suppressing means locked by the locking portion, the piston is displaced against the spring force. Can not
The piston will be stably located in the neutral position.
On the other hand, when the locking portion does not exist, the piston is arranged at the neutral position with the spring force balanced when no external force is applied, but when the external load is applied to the piston, the neutral position is set. The piston stops at a position deviated from the position, and it is difficult to stop the piston at a predetermined stop position. Thus, in the present invention, by providing the locking portion, the piston can be stably stopped at the stop position regardless of the external load acting on the piston.

[Procedure amendment 8]

[Document name to be amended] Statement

[Correction target item name] 0025

[Correction method] Deleted

[Procedure amendment 9]

[Document name to be amended] Statement

[Correction target item name] 0026

[Correction method] Deleted

[Procedure amendment 10]

[Document name to be amended] Statement

[Correction target item name] 0027

[Correction method] Change

[Correction contents]

According to a sixth aspect of the present invention, a piston coaxially fixed to an output shaft is mounted on a piston cylinder so as to be displaceable, and is moved in an axial direction according to hydraulic oil supplied and discharged to hydraulic chambers on both sides of the piston. An actuator whose output shaft vibrates and displaces; a servo valve that controls hydraulic oil supplied to and discharged from each hydraulic chamber of the actuator to control the vibration displacement of the output shaft; and an actuator interposed between the servo valve and the actuator. Communicates between the servo valve and the actuator in a state where hydraulic oil at a predetermined pressure is applied, and shuts off between the servo valve and the actuator when the pressure of the hydraulic oil falls below the predetermined pressure. It has a shut-off valve, a displacement suppressing cylinder coaxially arranged with the piston cylinder, and a pressure receiving surface, and is displaceably mounted on the displacement controlling cylinder. A displacement member having a pressing member and a spring member that is inserted into the displacement suppressing cylinder and that applies a spring force in a displacement suppressing direction parallel to the axial direction of the output shaft. When the hydraulic oil at the predetermined pressure acts on the surface, the spring member is compressed to allow the piston to vibrate, and when the hydraulic oil falls below the predetermined pressure, the piston is displaced by the return force of the spring member. A hydraulic actuator drive circuit characterized by suppressing vibration displacement of an output shaft by pressing in a suppression direction.

[Procedure amendment 11]

[Document name to be amended] Statement

[Correction target item name] 0056

[Correction method] Change

[Correction contents]

According to the second aspect of the present invention, the displacement suppressing means of the hydraulic actuator is particularly suitably used, for example, in an actuator that applies harmonic vibration to a rotor blade. According to the third aspect of the present invention, since the displacement suppressing means is arranged on both sides of the piston, the displacement of the output shaft can be effectively suppressed.

[Procedure amendment 12]

[Document name to be amended] Statement

[Correction target item name] 0057

[Correction method] Change

[Correction contents]

According to the fourth aspect of the present invention, since the locking means is provided together with the displacement suppressing means, the displacement of the piston is suppressed, and the displacement of the output shaft is reliably prevented by the locking means to lock the hydraulic actuator device. can do.

[Procedure amendment 13]

[Document name to be amended] Statement

[Correction target item name] 0058

[Correction method] Change

[Correction contents]

According to the fifth aspect of the present invention, since the engagement portion is formed in the piston cylinder, the displacement can be suppressed so that the piston is quickly stopped at the predetermined stop position.

[Procedure amendment 14]

[Document name to be amended] Statement

[Correction target item name] 0059

[Correction method] Deleted

Claims (6)

[Claims] An actuator, wherein a piston fixed to an output shaft is displaceably mounted on a piston cylinder, and the output shaft is displaced in an axial direction according to hydraulic oil supplied to and discharged from hydraulic chambers on both sides of the piston. A displacement suppressing cylinder coaxially arranged with the piston cylinder, a pressing member having a pressure receiving surface, which is displaceably mounted on the displacement suppressing cylinder, and inserted into the displacement suppressing cylinder, in the axial direction of the output shaft. Displacement suppressing means having a spring member for applying a spring force to the pressing member in a parallel displacement suppressing direction, wherein the pressing member of the displacement suppressing means is a spring member in a state where hydraulic oil of a predetermined pressure acts on the pressure receiving surface. When the hydraulic oil falls below the predetermined pressure, the piston is pressed in the displacement suppressing direction by the return force of the spring member to output the hydraulic fluid. Hydraulic actuator device which comprises suppressing the displacement. 2. The displacement suppressing means is provided on both sides in the axial direction of the piston, and each pressing member presses the piston such that the piston stops at a predetermined stop position between the pair of displacement suppressing means. The hydraulic actuator device according to claim 1, wherein 3. The piston cylinder according to claim 2, wherein the piston cylinder is provided with a locking portion for locking each pressing member of each displacement suppressing means immediately before the piston reaches the stop position. Hydraulic actuator device. 4. An engagement portion is formed on an output shaft of the actuator, a locking cylinder having an axis in a locking direction perpendicular to the axis of the output shaft, and a locking cylinder inserted into the locking cylinder to apply a spring force in the locking direction. A spring member to be actuated; and a pressure receiving surface which is mounted on the locking cylinder so as to be displaceable in the axial direction, and has a pressure receiving surface. And a displacement member that is displaced in a direction approaching the output shaft by a return force of a spring member when the hydraulic oil falls below the predetermined pressure, and a base end portion that is displaceably supported in the locking direction. A lock pin is attached to the displacement member, and when the displacement member is displaced in a direction approaching the output shaft, a tip portion engages with the engagement portion of the output shaft to prevent displacement of the output shaft in the axial direction. Hydraulic actuator device according to any one of claims 1 to 3, characterized in that it comprises a locking means having. 5. The lock shaft according to claim 4, wherein the engagement portion of the output shaft is a fitting groove in which a tip of a lock pin can be fitted, and the tip of the lock pin is tapered. The hydraulic actuator device according to claim 1. 6. An actuator in which a piston coaxially fixed to an output shaft is displaceably mounted on a piston cylinder, and the output shaft is displaced in an axial direction according to hydraulic oil supplied to and discharged from hydraulic chambers on both sides of the piston. And a servo valve that controls the displacement of an output shaft by controlling hydraulic oil supplied to and discharged from each hydraulic chamber of the actuator, interposed between the servo valve and the actuator,
In a state in which hydraulic oil at a predetermined pressure is applied, communication between the servo valve and the actuator is established, and when the pressure of the hydraulic oil falls below the predetermined pressure, the servo valve is disconnected from the actuator. A valve, a displacement suppressing cylinder disposed coaxially with the piston cylinder, a pressing member having a pressure receiving surface, which is displaceably mounted on the displacement controlling cylinder, and inserted into the displacement suppressing cylinder; Displacement suppressing means having a spring member for applying a spring force in a displacement suppressing direction parallel to the axial direction, wherein the pressing member of the displacement suppressing means is a spring in a state where the hydraulic oil of the predetermined pressure acts on a pressure receiving surface. The member is compressed to allow displacement of the piston, and when the hydraulic oil falls below the predetermined pressure, the piston is displaced by the return force of the spring member. A hydraulic actuator driving circuit, characterized in that to suppress the displacement of the output shaft is pressed against the braking direction.