JP2002159188A - Actuator unit and flap driver - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an actuator unit and a flap driver in which high durability and high reliability can be achieved. SOLUTION: The actuator unit 1 comprises actuators 2a and 2b displacing in reverse phase, a resilient deformation member 4, an output arm 9, an output rod 10, and a preload rod 15. The resilient deformation member 4 comprises base parts 5a and 5b being fixed to movable parts 3a and 3b, two resilient arms 6a and 7a extending substantially triangularly from the base part 5a, two resilient arms 6b and 7b extending substantially triangularly from the base part 5b, a part 8 coupling the top part of the resilient arms 6a and 7a with the top part of the resilient arms 6b and 7b, supporting arms 11a, 12a, 11b and 12b extending outward from the base parts 5a and 5b substantially in parallel therewith, and parts 13a and 13b for securing each end of the supporting arms.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

[0001] 1. Field of the Invention [0002] The present invention relates to an actuator device for extracting a large displacement by using differential outputs from two actuators. Further, the present invention relates to a flap driving device for driving a flap provided at a trailing edge of a rotor blade such as a helicopter.

[0002]

2. Description of the Related Art In recent years, there has been an increasing demand for commuter helicopters that take off and land at helipads in urban areas, and a reduction in noise is required for realization. One of the effective measures against the noise is to attach a flap to the rotor blade of the helicopter,
A method of improving aerodynamic characteristics of a rotor blade by driving at a high speed of about z has been considered.

The present applicant has previously proposed a flap driving device for a rotor blade (Japanese Patent No. 3053620).
The actuator used for the flap drive device needs to be small and lightweight so that it can be housed in the blade. For example, a piezo actuator is expected to be promising. However, since the displacement amount of the piezo actuator is very small, for example, the displacement amount is increased by a factor of 10-
A displacement magnifying mechanism for magnifying about 20 times will be provided.

[0004]

In a flap driving mechanism including such a displacement enlarging mechanism, if a movable portion or a sliding portion such as a bearing is present, a useful time and a service life are determined to some extent due to wear and fatigue. . Especially in the aircraft field where high safety is required, periodic inspections and parts replacement can be taken care of.However, if the flap drive mechanism is built into the blade, the inspection work is difficult, and the replacement of parts is a major task such as blade replacement. Because it is a task, it is almost impossible in reality.

An object of the present invention is to provide an actuator device and a flap drive device that can achieve high durability and high reliability.

[0006]

SUMMARY OF THE INVENTION According to the present invention, there are provided first and second actuators in which movable parts are displaced in parallel and opposite phases to each other, and linear displacement of each actuator which is mounted on the movable parts of the first and second actuators. And an output arm for transmitting the angular displacement of the elastically deformable member, the elastically deformable member comprising: a first base portion mounted on a movable portion of the first actuator; Second
A second base mounted on the movable part of the actuator, two first elastic arms extending in a substantially triangular shape from the first base, and two second elastic arms extending in a substantially triangular shape from the second base; An actuator device comprising: an elastic arm; and a connecting portion that connects a top of the first elastic arm and a top of the second elastic arm.

According to the present invention, when the movable portion of the first actuator is displaced by -d and the movable portion of the second actuator is displaced by + d, the first elastic arm extending in a substantially triangular shape from the first base portion. Tries to displace downward,
The top of the second elastic arm extending in a substantially triangular shape from the second base tends to be displaced upward. Then, a moment acts on the connecting portion connecting the respective top portions, and an angular displacement motion occurs around the midpoint of the distance between the top portions. Since this angular displacement motion can be converted into a large linear displacement by the output arm,
For example, a large output displacement can be obtained even when an actuator having a relatively small output displacement such as a piezo element or a magnetostrictive element is used.

Further, when the first and second actuators are driven in opposite phases to each other, if a drift occurs due to a temperature change or the like, the first and second actuators act as in-phase components, so that a difference is generated. The influence of the drift on the dynamic output can be reduced.

Further, the first elastic arm and the second elastic arm have a substantially triangular shape, so that the rigidity of the output arm against an external force along the longitudinal direction can be increased.
Further, by appropriately designing the Young's modulus and the second moment of area of the elastic arm, it is possible to bend and deform with a desired elastic constant, and to realize a smooth angular displacement movement. As a result, movable parts and sliding parts such as bearings can be eliminated, and high durability and high reliability can be achieved.

The elastically deformable member can be formed of a metal material, a composite material, a synthetic resin material, or the like, and each part may be integrally formed of the same material, or a plurality of materials may be integrally formed.

The width of the first elastic arm and the second elastic arm is increased, or one arm is composed of a plurality of arms and dispersed in the width direction, so that an external force in a direction perpendicular to the angular displacement plane can be reduced. The rigidity can be increased.

Further, according to the present invention, there are provided a first actuator and a second actuator in which movable portions are displaced in parallel and in opposite phases to each other;
And an elastic deformation member attached to the movable portion of the second actuator, for converting the linear displacement of each actuator into an angular displacement, and an output arm for transmitting the angular displacement of the elastic deformation member. A first base mounted on the movable part of the first actuator, a second base mounted on the movable part of the second actuator, and two extending from the first base so as to intersect in an X-shape. A first elastic arm, two second elastic arms extending from the second base portion so as to intersect in an X-shape, and connecting each end of the first elastic arm to each end of the second elastic arm; An actuator device comprising:

According to the present invention, when the movable portion of the first actuator is displaced by -d and the movable portion of the second actuator is displaced by + d, the first elastic arm extending in an X-shape from the first base portion. Of the second elastic arm extending in an X-shape from the second base portion tends to be displaced upward. Then, the same rotational moment acts on the upper connecting portion where the arm ends are connected above the connecting portion and the lower connecting portion where the arm ends are connected below the connecting portion, and the upper connecting portion and the lower connecting portion are connected. An angular displacement movement occurs about the midpoint between the parts. Since this angular displacement motion can be converted into a large linear displacement by the output arm, for example, even when an actuator having a relatively small output displacement such as a piezo element or a magnetostrictive element is used,
A large output displacement can be obtained.

Further, when the first and second actuators are driven in opposite phases to each other, if a drift occurs due to a temperature change or the like, the first and second actuators act as in-phase components, so The influence of the drift on the dynamic output can be reduced.

The first elastic arm and the second elastic arm each intersect in an X-shape, and form a triangular support structure having each arm as a hypotenuse, so that the output arm has a rigidity against an external force along the longitudinal direction. Can be increased. Further, by appropriately designing the Young's modulus and the second moment of area of the elastic arm, it is possible to bend and deform with a desired elastic constant, and to realize a smooth angular displacement movement. As a result, movable parts and sliding parts such as bearings can be eliminated, and high durability and high reliability can be achieved.

The elastically deformable member may be formed of a metal material, a composite material, a synthetic resin material, or the like, and each portion may be integrally formed of the same material, or a plurality of materials may be integrally formed.

By increasing the width of the first elastic arm and the second elastic arm, or by arranging one arm in a plural number and distributing it in the width direction, it is possible to reduce the external force in the direction perpendicular to the angular displacement plane. The rigidity can be increased.

According to the present invention, the elastically deformable member includes a plurality of first support arms extending substantially parallel outward from the first base portion, a first arm fixing portion for fixing each end of the first support arm, It is characterized by having a plurality of second support arms extending substantially parallel outward from the second base portion, and a second arm fixing portion for fixing each end of the second support arm.

According to the present invention, the connecting portion is angularly displaced,
When an external reaction force is applied through the output arm, a tensile stress or a compressive stress is generated in the first elastic arm and the second elastic arm, and the movable portions of the first and second actuators are moved in a direction perpendicular to the axial direction. Since the force to fall down acts, the plurality of first and second support arms extending substantially parallel outward from the first and second base portions support the fall of the movable portion, thereby allowing the movable portion to move. It is possible to prevent the load in the direction perpendicular to the displacement direction from acting on the portion. In particular, an actuator using a piezo element or a magnetostrictive element has a low strength in a direction perpendicular to the displacement direction, and thus such a supporting mechanism is preferable.

The first arm fixing portion and the second arm fixing portion are fixed to the main body and the outer casing of the first and second actuators.

Further, the first support arm and the second support arm extend substantially in parallel and operate like a parallel link mechanism, so that linear displacement of the first base portion and the second base portion can be allowed. In addition, by appropriately designing the Young's modulus and the second moment of area of the support arm, it becomes possible to bend and deform with a desired elastic constant, and a smooth parallel link motion can be realized. As a result, movable parts and sliding parts such as bearings can be eliminated, and high durability and high reliability can be achieved.

By increasing the width of the first support arm and the second support arm, or by arranging a plurality of arms in the form of a plurality of arms and distributing them in the width direction, an external force in a direction perpendicular to the angular displacement plane can be reduced. The rigidity can be increased.

According to the present invention, the first and second actuators whose movable parts are displaced in parallel and in opposite phases to each other,
And an angular displacement member for converting a linear displacement of each actuator into an angular displacement in conjunction with a movable portion of the second actuator, an elastic deformation member for elastically supporting the angular displacement member, and an angle of the angular displacement member. And an output arm for transmitting displacement.

According to the present invention, when the movable part of the first actuator is displaced by −d and the movable part of the second actuator is displaced by + d, the angular displacement member is interlocked with each movable part and the distance between the movable parts is changed. Angular displacement motion occurs about the midpoint of. Since this angular displacement movement can be converted into a large linear displacement by the output arm, a large output displacement can be obtained even when an actuator having a relatively small output displacement such as a piezo element or a magnetostrictive element is used.

When the first and second actuators are driven in opposite phases to each other, if a drift occurs due to a temperature change or the like, the first and second actuators act as an in-phase component. The influence of the drift on the dynamic output can be reduced.

Further, by appropriately designing the Young's modulus and the second moment of area of the elastically deformable member, it is possible to bend and deform with a desired elastic constant, and a smooth angular displacement movement can be tolerated. As a result, movable parts and sliding parts such as bearings can be eliminated, and high durability and high reliability can be achieved.

The elastically deformable member may be formed of a metal material, a composite material, a synthetic resin material, or the like, and each portion may be integrally formed of the same material, or a plurality of materials may be integrally formed. Further, by increasing the width dimension of the elastically deformable member or by disposing a plurality of elastically deformable members in the width direction, the rigidity against an external force in a direction perpendicular to the angular displacement surface can be increased.

Further, the present invention is characterized in that the elastic deformation member applies a compressive load to each movable portion of the first and second actuators.

According to the present invention, the elastic deformation member applies a compressive load to each movable portion to protect an actuator having a high compressive strength and a low tensile strength, for example, an actuator using a piezo element or a magnetostrictive element. it can.

Further, the present invention is characterized in that a preload member is provided for applying a load parallel to the direction of displacement of the actuator at a position separated from the center of angular displacement of the connecting portion by a predetermined distance in a neutral state of the elastically deformable member. I do.

According to the present invention, by applying a load parallel to the displacement direction of the actuator at a position separated from the center of angular displacement of the connecting portion by a predetermined distance, the connecting portion is slightly angularly displaced from the neutral state. Is enhanced by the preload, the force required to deform the elastically deformable member can be canceled, and the amount of angular displacement of the output arm can be increased.

Also, the first and second preloads can be performed.
Since a compressive load can be applied to an actuator, an actuator having a high compressive strength and a low tensile strength, such as an actuator using a piezo element or a magnetostrictive element,
Actuator can be protected.

The present invention further includes an output rod connected to the output arm and linearly displaced in accordance with the angular displacement of the output arm. The output rod allows a change in the intersection angle between the output arm and the output rod. Is provided.

According to the present invention, by connecting the output rod to the output arm, a linear displacement proportional to the radius of rotation of the connecting portion can be obtained.

Further, by providing a leaf spring member on the output rod, even if the output arm is angularly displaced in the positive or negative direction, a change in the intersection angle between the output arm and the output rod is caused by bending deformation of the leaf spring member. Because it is acceptable, the shaft runout of the output rod can be reduced.

Further, the present invention is a flap driving device comprising a flap attached to the trailing edge of the blade so as to be angularly displaceable, and the above-mentioned actuator device for driving the flap.

According to the present invention, a compact and lightweight flap drive device can be realized. By mounting the device on a blade or the like, the aerodynamic characteristics of the rotor blade can be improved, and the helicopter noise can be reduced. .

[0038]

1 shows a first embodiment of the present invention. FIG. 1 (a) is an overall perspective view, and FIG. 1 (b) is a partially enlarged view thereof. The actuator device 1 includes two actuators 2a and 2b, an elastic deformation member 4, and an output arm 9
, An output rod 10, a preload rod 15, and the like.

The actuators 2a and 2b are composed of a piezo element or a magnetostrictive element, and are driven so that the movable portions 3a and 3b are displaced in parallel with each other and in opposite phases.

The elastic deformation member 4 is made of a metal material, a composite material,
The actuators 2a and 2 are formed of a synthetic resin material or the like.
The movable parts 3a and 3b of FIG.

As shown in FIG. 1B, the elastic deformation member 4
The base part 5a attached to the movable part 3a of the actuator 2a, the base part 5b attached to the movable part 3b of the actuator 2b, the base part 5a to the base part 5b
Elastic arms 6 extending in a substantially triangular shape toward
a, 7a, and two elastic arms 6b, 7b extending in a substantially triangular shape from the base portion 5b toward the base portion 5a,
A connecting portion 8 connecting the tops of the elastic arms 6a and 7a and the tops of the elastic arms 6b and 7b, and a plurality (two in this case) of support arms 1 extending substantially parallel outward from the base 5a
1a, 12a, an arm fixing portion 13a for fixing each end of the support arms 11a, 12a, and a plurality (two in this case) of support arms 11b, 12b extending outward from the base portion 5b substantially in parallel. An arm fixing portion 13b for fixing each end of the support arms 11b and 12b is formed. Each of these parts may be integrally formed of the same material, or a plurality of materials may be integrally formed.

The main bodies of the actuators 2a and 2b are held and fixed by a fixing member 14, and the arm fixing portions 13
a, 13 b are also fixed to both ends of the fixing member 14.

The output arm 9 is formed of a metal material, a composite material, a synthetic resin material, or the like, and has two arm members 9a, 9a.
b is configured to sandwich the upper portion of the connecting portion 8 from both sides, and has a function of transmitting the angular displacement of the connecting portion 8 and increasing the radius of rotation thereof.

The output rod 10 is made of a metal material, a composite material,
It is formed of a synthetic resin material or the like, is connected to the tip of the output arm 9, linearly displaces in the longitudinal direction in accordance with the angular displacement of the output arm 9, and is used, for example, for driving a flap attached to a rotor blade. The output rod 10
A connecting member 10a sandwiched between the arm members 9a and 9b of the output arm 9, a leaf spring member 10b for applying a bending deformation to the output rod 10, a rod body 10c, and the like are formed. Each of these parts may be integrally formed of the same material, or a plurality of materials may be integrally formed.

The preload rod 15 is formed of a metal material, a composite material, a synthetic resin material or the like, and an upper portion thereof is provided with an engagement frame 15a having an opening for avoiding interference with the connecting portion 8. The joint frame 15a is engaged at a position spaced a predetermined distance from the connecting portion 8 to the output arm 9 side. The lower part of the preload rod 15 is the actuator 2
a and 2b are engaged with a bottom plate 2c for fixing the same. The length of the preload rod 15 is adjusted so that a tensile load is generated, and the preload rod 15 has a function of applying a load parallel to the displacement direction of the movable parts 3a and 3b.

FIG. 2 is an explanatory view showing the operation principle of the actuator device 1 shown in FIG. 1. FIG.
FIG. 2B shows a displaced state. When the movable part 3a of the actuator 2a is displaced by −d from the neutral position and the movable part 3b of the actuator 2b is displaced by + d from the neutral position, the tops of the elastic arms 6a and 7a extending in a substantially triangular shape from the base part 5a The base part 5 is going to be displaced downward.
b, the tops of the elastic arms 6b, 7b extending in a substantially triangular shape tend to be displaced upward. Then, a moment acts on the connecting portion 8 connecting the vertexes, and an angular displacement motion with the midpoint of the distance between the vertices as the angular displacement center 8a occurs. This angular displacement movement is converted by the output arm 9 into a large linear displacement. Therefore, a large output displacement can be obtained even when an actuator having a relatively small output displacement such as a piezo element or a magnetostrictive element is used as the actuators 2a and 2b.

The angular displacement of the output arm 9 is converted into a linear displacement by coupling with the output rod 10 as shown in FIG. The output rod 10 is provided with a leaf spring member 10b for imparting flexural deformation, and allows a change in the intersection angle between the output arm 9 and the output rod 10.

The enlargement ratio can be defined as the magnification of the output displacement X of the output arm 9 with respect to the displacements -d and + d of the actuators 2a and 2b, and the hinge point 8d of the elastic arms 6a and 7a.
Using the distance α between the hinge point 8e of the elastic arms 6b and 7b and the center 8a of angular displacement and the arm length β of the output arm 9, a relationship of d: X = α: β is established.

When the actuators 2a and 2b are driven in opposite phases to each other, if a drift occurs due to a temperature change or the like, the actuators 2a and 2b act as displacement components of the movable parts 3a and 3b as an in-phase component. Has little effect on angular displacement.

The elastic arms 6a, 7a and the elastic arm 6
Since b and 7b have a substantially triangular shape, the rigidity of the output arm 9 against external force along the longitudinal direction can be increased. In addition, by appropriately designing the Young's modulus and the second moment of area of the elastic arms 6a, 7a, 6b, 7b, it is possible to bend and deform with a desired elastic constant, and to realize a smooth angular displacement movement. As a result, moving parts and sliding parts such as bearings can be eliminated, and high durability,
High reliability can be achieved.

For example, the elastic deformation member 4 and the output arm 9
When a bearing is used for supporting the angular displacement, the endurance time is estimated to be about 70 hours in consideration of the load and the operating speed. On the other hand, when the elastic hinge mechanism is used as in the present invention, an almost infinite life can be achieved by setting the stress level so as not to cause fatigue damage of the material.

The elastic arms 6a, 7a, 6b, 7b
By increasing the width dimension of the first arm, or by disposing a plurality of arms in the width direction, the rigidity against an external force in a direction perpendicular to the angular displacement surface can be increased.

Support arms 11a, 12a, 11b, 12
b supports the fall of the movable parts 3a and 3b of the actuators 2a and 2b. When the connecting portion 8 is angularly displaced or the output arm 9
When an external reaction force is applied through the elastic arm 6a,
A tensile stress or a compressive stress is generated in 7a, 6b, 7b, and a force is applied to the movable portions 3a, 3b of the actuators 2a, 2b in a direction perpendicular to the axial direction. As a countermeasure, a plurality of support arms 11a, 12a, 11b, 12b extending outwardly and substantially parallel from the base portions 5a, 5b.
By supporting the falling of the movable parts 3a and 3b, it is possible to prevent the load in the direction perpendicular to the movable part displacement direction from acting.

Support arms 11a, 12a, 11b, 12
Since b extends substantially parallel and operates like a parallel link mechanism, linear displacement of the base portions 5a and 5b can be allowed.
Further, by appropriately designing the Young's modulus and the second moment of area of the support arms 11a, 12a, 11b, 12b, it is possible to bend and deform with a desired elastic constant, and a smooth parallel link motion can be realized. As a result, movable parts and sliding parts such as bearings can be eliminated, and high durability and high reliability can be achieved.

The preload rod 15 is used for the elastic deformation member 4.
In the neutral state, the preload load Fp is applied downward at a position separated by a predetermined distance from the angular displacement center 8a. Therefore, when the connecting portion 8 is slightly angularly displaced from the neutral state, the preload load Fp acts as a moment around the angular displacement center 8a, and the angular displacement movement of the connecting portion 8 is enhanced, thereby deforming the elastically deformable member. Therefore, it is possible to cancel the necessary force and increase the amount of angular displacement of the output arm 9.

Since the preload load Fp applies a compressive load to the actuators 2a and 2b, the actuator can be protected in an actuator having a high compressive strength and a low tensile strength, for example, an actuator using a piezo element or a magnetostrictive element.

FIG. 3 shows a second embodiment of the present invention.
3A is an overall perspective view, and FIG. 3B is a partially enlarged view thereof. The actuator device 1 includes two actuators 2
a, 2b, an elastic deformation member 4, an output arm 9, an output rod 10, a preload rod 15, and the like.
The overall configuration is the same as that of FIG.
The extending directions of a, 7a, 6b, and 7b are different.

The actuators 2a and 2b, the output arm 9, and the output rod 10 are the same as those in FIG.

As shown in FIG. 3B, the elastic deformation member 4
Includes a base portion 5a attached to the movable portion 3a of the actuator 2a, a base portion 5b attached to the movable portion 3b of the actuator 2b, and an inner extension 5 of the base portion 5a.
c, two elastic arms 6a, 7a extending upward in a substantially triangular shape, and an inner extension 5d of the base 5b.
Two elastic arms 6b, 7b extending upward from the base, a connecting portion 8 connecting the tops of the elastic arms 6a, 7a and the tops of the elastic arms 6b, 7b, and a base 5a. A plurality extending outwardly in parallel (here 2
Book) and the support arms 11a, 12a
a, an arm fixing portion 13a for fixing each end of 12a;
A plurality of (here, two) support arms 11b and 12b extending outwardly and substantially parallel from the base portion 5b;
An arm fixing portion 13b for fixing each end of 1b and 12b is formed. Each of these parts may be integrally formed of the same material, or a plurality of materials may be integrally formed.

The elastic arms 6a, 7a and the elastic arm 6
Since b and 7b have a substantially triangular shape, the rigidity of the output arm 9 against an external force along the longitudinal direction can be increased.

The preload rod 15 is formed of a metal material, a composite material, a synthetic resin material or the like, and the upper end thereof is engaged with a pin 8c provided on the upper extension 8b of the connecting portion 8. The lower part of the preload rod 15 is the actuator 2
a and 2b are engaged with a bottom plate 2c for fixing the same. Two preload rods 15 are provided on both sides so as to avoid interference with the connecting portion 8, the length is adjusted so that a tensile load is generated, and a load parallel to the displacement direction of the movable portions 3a and 3b is applied. It has a function to do.

The operation of the actuator device 1 is the same as that of FIG. 1. When the movable part 3a of the actuator 2a is displaced by −d from the neutral position and the movable part 3b of the actuator 2b is displaced by + d from the neutral position, Base part 5
The tops of the elastic arms 6a and 7a extending in a substantially triangular shape from a are going to be displaced downward, and the tops of the elastic arms 6b and 7b extending in a substantially triangular shape from the base portion 5b are going to be displaced upward. Then, a moment acts on the connecting portion 8 connecting the tops, and the midpoint of the distance between the tops is set to the angular displacement center 8.
An angular displacement motion a occurs. This angular displacement movement is converted by the output arm 9 into a large linear displacement. Therefore, a large output displacement can be obtained even when an actuator having a relatively small output displacement such as a piezo element or a magnetostrictive element is used as the actuators 2a and 2b.

The angular displacement of the output arm 9 is
Is converted into a linear displacement by the connection. Output rod 1
0 is provided with a leaf spring member 10b for imparting flexural deformation, and allows a change in the intersection angle between the output arm 9 and the output rod 10.

FIG. 4 shows a third embodiment of the present invention.
4A is an overall perspective view, and FIG. 4B is a partially enlarged view thereof. The actuator device 1 includes two actuators 2
a, 2b, an elastic deformation member 4, an output arm 9, an output rod 10, a preload rod 15, and the like.
The overall configuration is the same as that of FIG.
Are different.

The actuators 2a and 2b are composed of a piezo element or a magnetostrictive element, and are driven so that the movable portions 3a and 3b are displaced in parallel with each other and in opposite phases.

The elastic deformation member 4 is made of a metal material, a composite material,
The actuators 2a and 2 are formed of a synthetic resin material or the like.
The movable parts 3a and 3b of FIG.

As shown in FIG. 4B, the elastic deformation member 4
The base part 5a attached to the movable part 3a of the actuator 2a, the base part 5b attached to the movable part 3b of the actuator 2b, the base part 5a to the base part 5b
Two elastic arms 6a, 7a extending so as to intersect in an X-shape toward the base, and two elastic arms extending so as to intersect in an X-shape from the base 5b toward the base 5a. 6b, 7b, a connecting portion 8 for connecting each end of the elastic arm 6a, 7a and each end of the elastic arm 6b, 7b,
A plurality of (here, two) support arms 11a and 12a extending outwardly and substantially in parallel from the base portion 5a;
Arm fixing portion 13a for fixing each end of 1a, 12a
A plurality of (here, two) support arms 11b, 12b extending outwardly in parallel from the base portion 5b, and an arm fixing portion 13 for fixing each end of the support arms 11b, 12b.
b and the like are formed. Each of these parts may be integrally formed of the same material, or a plurality of materials may be integrally formed.

FIG. 4 illustrates an example in which two members including elastic arms 7a and 7b are arranged on both sides of a member including elastic arms 6a and 6b as a center, and are integrated. The elastic arms 6a and 7a and the elastic arms 6b and 7b are arranged with a certain gap so as not to interfere with each other at the intersection. The base portions 5a and 5b and the connecting portion 8 are integrated.

The main bodies of the actuators 2 a and 2 b are clamped and fixed by a fixing member 14.
a, 13 b are also fixed to both ends of the fixing member 14.

The output arm 9 is formed of a metal material, a composite material, a synthetic resin material, or the like, and has two arm members 9a, 9a.
b is configured to sandwich the upper portion of the connecting portion 8 from both sides, and has a function of transmitting the angular displacement of the connecting portion 8 and increasing the radius of rotation thereof.

The output rod 10 is made of a metal material, a composite material,
It is formed of a synthetic resin material or the like, is connected to the tip of the output arm 9, linearly displaces in the longitudinal direction in accordance with the angular displacement of the output arm 9, and is used, for example, for driving a flap attached to a rotor blade. The output rod 10
A connecting member 10a sandwiched between the arm members 9a and 9b of the output arm 9, a leaf spring member 10b for applying a bending deformation to the output rod 10, a rod body 10c, and the like are formed. Each of these parts may be integrally formed of the same material, or a plurality of materials may be integrally formed.

The preload rod 15 is formed of a metal material, a composite material, a synthetic resin material, or the like, and its upper end is engaged with a pin 8c provided above the connecting portion 8. The lower part of the preload rod 15 is engaged with a bottom plate 2c for fixing the actuators 2a and 2b. Preload rod 15
Are provided on both sides so as to avoid interference with the connecting portion 8, have a length adjusted so as to generate a tensile load, and have a function of applying a load parallel to the displacement direction of the movable portions 3 a and 3 b. Have.

FIG. 5 is an explanatory view showing the operation principle of the actuator device 1 shown in FIG. 4, and FIG.
FIG. 5B shows the displacement state. When the movable part 3a of the actuator 2a is displaced by −d from the neutral position and the movable part 3b of the actuator 2b is displaced by + d from the neutral position, the elastic arm 6 extending from the base part 5a in an X-shape.
a, 7a are about to be displaced downward, and the base 5
The respective ends of the elastic arms 6b and 7b extending in an X-shape from "b" are about to be displaced upward. Then, the same rotational moment acts on the upper connecting portion where the arm ends are connected above the connecting portion 8 and the lower connecting portion where the arm ends are connected below the connecting portion 8, and the upper connecting portion and the upper connecting portion are connected. An angular displacement motion occurs with the midpoint between the lower connecting portions as the angular displacement center 8a. This angular displacement movement is converted by the output arm 9 into a large linear displacement. Therefore, the actuators 2a, 2
As b, even when an actuator having a relatively small output displacement such as a piezo element or a magnetostrictive element is used,
A large output displacement can be obtained.

The angular displacement of the output arm 9 is converted into a linear displacement by coupling with the output rod 10 as shown in FIG. The output rod 10 is provided with a leaf spring member 10b for imparting flexural deformation, and allows a change in the intersection angle between the output arm 9 and the output rod 10.

The enlargement ratio can be defined as the magnification of the output displacement X of the output arm 9 with respect to the displacements -d and + d of the actuators 2a and 2b, and the base portions 5a and 5b and the angular displacement center 8a
And the arm length γ of the output arm 9,
The relationship d: X = α / 2: γ is established.

When the actuators 2a and 2b are driven in opposite phases to each other, if a drift occurs due to a temperature change or the like, the actuators 2a and 2b act as an in-phase component for the displacement of the movable parts 3a and 3b. Has little effect on angular displacement.

The elastic arms 6a, 7a and the elastic arm 6
The b and 7b intersect each other in an X-shape and form a triangular support structure having each arm as a hypotenuse, thereby increasing the rigidity of the output arm 9 against external force along the longitudinal direction. In addition, by appropriately designing the Young's modulus and the second moment of area of the elastic arms 6a, 7a, 6b, 7b, it is possible to bend and deform with a desired elastic constant, and to realize a smooth angular displacement movement. As a result, movable parts and sliding parts such as bearings can be eliminated, and high durability and high reliability can be achieved.

The elastic arms 6a, 7a, 6b, 7b
By increasing the width dimension of the first arm, or by disposing a plurality of arms in the width direction, the rigidity against an external force in a direction perpendicular to the angular displacement surface can be increased.

The support arms 11a, 12a, 11b, 12
b indicates that the connecting portion 8 supports the falling of the movable portions 3a and 3b of the actuators 2a and 2b, and the output arm 9
When an external reaction force is applied through the elastic arm 6a,
A tensile stress or a compressive stress is generated in 7a, 6b, 7b, and a force is applied to the movable portions 3a, 3b of the actuators 2a, 2b in a direction perpendicular to the axial direction. As a countermeasure, a plurality of support arms 11a, 12a, 11b, 12b extending outwardly and substantially parallel from the base portions 5a, 5b.
By supporting the falling of the movable parts 3a and 3b, it is possible to prevent the load in the direction perpendicular to the movable part displacement direction from acting.

The support arms 11a, 12a, 11b, 12
Since b extends substantially parallel and operates like a parallel link mechanism, linear displacement of the base portions 5a and 5b can be allowed.
Further, by appropriately designing the Young's modulus and the second moment of area of the support arms 11a, 12a, 11b, 12b, it is possible to bend and deform with a desired elastic constant, and a smooth parallel link motion can be realized. As a result, movable parts and sliding parts such as bearings can be eliminated, and high durability and high reliability can be achieved.

The preload rod 15 is connected to the elastic deformation member 4.
In the neutral state, the preload load Fp is applied downward at a position separated by a predetermined distance from the angular displacement center 8a. Therefore, when the connecting portion 8 is slightly angularly displaced from the neutral state, the preload load Fp acts as a moment around the angular displacement center 8a, and the angular displacement movement of the connecting portion 8 is enhanced, thereby deforming the elastically deformable member. Therefore, it is possible to cancel the necessary force and increase the amount of angular displacement of the output arm 9.

Since the preload load Fp applies a compressive load to the actuators 2a and 2b, the actuator can be protected in an actuator having a high compressive strength and a low tensile strength, for example, an actuator using a piezo element or a magnetostrictive element.

FIG. 6 shows a fourth embodiment of the present invention.
6A is an overall view, and FIG. 6B is an enlarged view of an arm member. The actuator device 1 includes two actuators 2
a, 2b, an elastic deformation member 4, an output arm 9, an output rod 10, a preload rod 15, and the like.
The overall configuration is the same as that of FIG. 4, but as shown in FIG. 6B, the elastic arms 6a and 6b and the support arms 11
a and 11b are made of one elastic plate,
The difference is that a, 7b and the support arms 12a, 12b are formed of one elastic plate.

The actuators 2a and 2b, the output arm 9, the output rod 10, and the preload rod 15 are the same as those shown in FIG.

As shown in FIG. 6A, the elastically deformable member 4
The base part 5a attached to the movable part 3a of the actuator 2a, the base part 5b attached to the movable part 3b of the actuator 2b, the base part 5a to the base part 5b
Two elastic arms 6a, 7a extending so as to intersect in an X-shape toward the base, and two elastic arms extending so as to intersect in an X-shape from the base 5b toward the base 5a. 6b, 7b, a connecting portion 8 for connecting each end of the elastic arm 6a, 7a and each end of the elastic arm 6b, 7b,
A plurality of (here, two) support arms 11a and 12a extending outwardly and substantially in parallel from the base portion 5a;
Arm fixing portion 13a for fixing each end of 1a, 12a
A plurality of (here, two) support arms 11b, 12b extending outwardly in parallel from the base portion 5b, and an arm fixing portion 13 for fixing each end of the support arms 11b, 12b.
b and the like are formed.

The central elastic plate is provided with the lower surface of the connecting portion 8, the upper surfaces of the base portions 5a and 5b, and the arm fixing portions 13a and 13b.
b is fixed to the upper surface with screws or the like, and functions as elastic arms 6a and 6b and support arms 11a and 11b. The elastic plates on both sides are fixed to the upper surface of the connecting portion 8, the lower surfaces of the base portions 5a and 5b, and the lower surfaces of the arm fixing portions 13a and 13b with screws or the like, and the elastic arms 7a and 7b and the support arm 12 are fixed.
Functions as a and 12b.

The elastic arms 6a, 7a and the elastic arm 6
The b and 7b intersect each other in an X-shape and form a triangular support structure having each arm as a hypotenuse, thereby increasing the rigidity of the output arm 9 against external force along the longitudinal direction.

The operation of the actuator device 1 is the same as that of FIG. 4. When the movable portion 3a of the actuator 2a is displaced by −d from the neutral position and the movable portion 3b of the actuator 2b is displaced by + d from the neutral position, Base part 5
The ends of the elastic arms 6a, 7a extending in an X-shape from a are going to be displaced downward, and the ends of the elastic arms 6b, 7b extending in an X-shape from the base portion 5b are going to be displaced upward. And Then, the same rotational moment acts on the upper connecting portion where the arm ends are connected above the connecting portion 8 and the lower connecting portion where the arm ends are connected below the connecting portion 8, and the upper connecting portion and the upper connecting portion are connected. An angular displacement motion occurs with the midpoint between the lower connecting portions as the angular displacement center 8a. This angular displacement movement is converted by the output arm 9 into a large linear displacement. Therefore, a large output displacement can be obtained even when an actuator having a relatively small output displacement such as a piezo element or a magnetostrictive element is used as the actuators 2a and 2b.

The angular displacement of the output arm 9 is
Is converted into a linear displacement by the connection. Output rod 1
0 is provided with a leaf spring member 10b for imparting flexural deformation, and allows a change in the intersection angle between the output arm 9 and the output rod 10.

FIG. 7 is an overall perspective view showing a fifth embodiment of the present invention. The actuator device 1 includes two actuators 2a and 2b, an elastic deformation member 4, an angular displacement member 18, an output arm 9, an output rod 10, a preload rod 15, and the like.

The actuators 2a and 2b are composed of a piezo element or a magnetostrictive element, and are driven so that the movable portions 3a and 3b are displaced in parallel with each other and in opposite phases. The main bodies of the actuators 2a and 2b are clamped and fixed by the fixing member 14.

The angular displacement member 18 includes an interlocking portion 18a interlocked with the movable portion 3a of the actuator 2a, an interlocking portion 18b interlocked with the movable portion 3b of the actuator 2b, and a support fixed to the movable end of the elastic deformation member 4. 18c.

When the angular displacement member 18 and the movable parts 3a and 3b are fixed, the movable part 3 is moved by the angular displacement of the angular displacement member 18.
A bending moment is generated at a and 3b. For this reason, a thin portion that allows bending deformation is formed in the middle of the movable portions 3a and 3b to absorb the bending moment.

The elastic deformation member 4 is made of a metal material, a composite material,
The movable portions 3a and 3b are formed in a plate shape with a synthetic resin material or the like.
A notch is formed to avoid interference with the light. The fixed end of the elastically deformable member 4 is fixed to an extension 14 a that extends outward from the fixed member 14. It is preferable that the fixed end and the movable end of the elastically deformable member 4 are respectively set outside the movable portions 3a and 3b, whereby a long bending length of the elastically deformable member 4 can be secured.

The output arm 9 is formed of a metal material, a composite material, a synthetic resin material, or the like, and is formed to extend vertically from the center of the angular displacement member 18 to transmit the angular displacement of the angular displacement member 18. Thus, it has a function of enlarging the turning radius. The output arm 9 may be formed integrally with the angular displacement member 18 or may be connected as a separate member.

The output rod 10 is made of a metal material, a composite material,
It is formed of a synthetic resin material or the like, is connected to the tip of the output arm 9, linearly displaces in the longitudinal direction according to the angular displacement of the output arm 9, and is used for driving a flap attached to, for example, a rotor blade. The output rod 10
A connecting member 10a connected to the output arm 9, a leaf spring member 10b for applying a bending deformation to the output rod 10, a rod body 10c, and the like are formed. Each of these parts may be integrally formed of the same material, or a plurality of materials may be integrally formed.

The preload rod 15 is formed of a metal material, a composite material, a synthetic resin material, or the like, and the upper end thereof is engaged with a pin 8c provided above the angular displacement member 18.
Actuators 2a, 2
b is engaged with the bottom plate 2c for fixing the same. The two preload rods 15 are provided on both sides to avoid interference with the angular displacement member 18 and the elastic deformation member 4, the lengths thereof are adjusted so that a tensile load is generated, and the displacement directions of the movable parts 3 a and 3 b. It has a function of applying a load parallel to.

FIG. 8 is an explanatory view showing the operation principle of the actuator device 1 shown in FIG. 7, and FIG.
FIG. 8B shows the displacement state. When the movable part 3a of the actuator 2a is displaced by + d from the neutral position and the movable part 3b of the actuator 2b is displaced by -d from the neutral position, the interlocking parts 18a and 18b are also displaced by + d and -d from the neutral position, respectively. The displacement member 18 generates an angular displacement motion with the center of the distance between the movable parts being the center 8a of the angular displacement. This angular displacement movement is converted by the output arm 9 into a large linear displacement. Therefore, a large output displacement can be obtained even when an actuator having a relatively small output displacement such as a piezo element or a magnetostrictive element is used as the actuators 2a and 2b.

As shown in FIG. 7, the angular displacement of the output arm 9 is converted into a linear displacement by coupling with the output rod 10. The output rod 10 is provided with a leaf spring member 10b for imparting flexural deformation, and allows a change in the intersection angle between the output arm 9 and the output rod 10.

The enlargement ratio can be defined as the magnification of the output displacement X of the output arm 9 with respect to the displacements + d, -d of the actuators 2a, 2b, the distance α between the movable parts 3a, 3b and the center 8a of the angular displacement, Using the arm length β, d:
The relationship X = α: β holds.

When the actuators 2a and 2b are driven in opposite phases to each other, if a drift occurs due to a temperature change or the like, the actuators 2a and 2b act as an in-phase component for the displacement of the movable parts 3a and 3b. Has little effect on angular displacement.

By appropriately designing the Young's modulus and the second moment of area of the elastically deformable member 4, it becomes possible to bend and deform with a desired elastic constant and to realize a smooth angular displacement movement. As a result, movable parts and sliding parts such as bearings can be eliminated, and high durability and high reliability can be achieved.

For example, the elastic deformation member 4 and the output arm 9
When a bearing is used for supporting the angular displacement, the endurance time is estimated to be about 70 hours in consideration of the load and the operating speed. On the other hand, when the elastic hinge mechanism is used as in the present invention, an almost infinite life can be achieved by setting the stress level so as not to cause fatigue damage of the material.

Further, by increasing the width dimension of the elastically deformable member 4 or by disposing a plurality of elastically deformable members 4 in the width direction, the rigidity against an external force in a direction perpendicular to the angular displacement surface can be increased.

Further, by disposing the elastically deformable member 4 substantially in parallel with the output rod 10, external reaction force from the output rod 10 can be countered by the tensile rigidity of the elastically deformable member 4.

[0106] The preload rod 15 is
In the neutral state, the preload load Fp is applied downward at a position separated by a predetermined distance from the angular displacement center 8a. Therefore, when the angular displacement member 18 is slightly angularly displaced from the neutral state, the preload load Fp acts as a moment around the angular displacement center 8a, and the angular displacement movement of the angular displacement member 18 is enhanced. The force required for the deformation can be canceled, and the angular displacement of the output arm 9 can be increased.

The preload load Fp applies a compressive load to the actuators 2a and 2b, so that the actuator can be protected in an actuator having a high compressive strength and a low tensile strength, for example, an actuator using a piezo element or a magnetostrictive element.

FIGS. 9A and 9B are explanatory diagrams showing preloading by the elastically deformable member 4. FIG. 9A shows a state without preloading, and FIG. 9B shows a state with preloading. When the angular displacement member 18 is in the neutral state, the elastic deformation member 4 has a linear shape, but by adjusting the fixed position and the fixed angle of the elastic deformation member 4, the movable portions 3 of the actuators 2a and 2b can be adjusted.
A preload compression load Fp can be applied to a and 3b. At this time, as shown in FIG.
Shear deformation occurs near a.

The preload by the elastic deformation member 4 may be used as an alternative to the preload rod 15, or may be used together with the preload rod 15. By applying such a preload compressive load, an actuator having a high compressive strength and a low tensile strength, for example, an actuator using a piezo element or a magnetostrictive element can be protected.

FIG. 10 shows the angular displacement member 18 and the movable part 3a,
It is explanatory drawing which shows the example which made 3b point contact. When the angular displacement member 18 is brought into point contact with the movable portions 3a and 3b, no bending moment is generated in the movable portions 3a and 3b even if the angular displacement member 18 is angularly displaced, so that it is not necessary to form a thin portion.
Therefore, the strength of the movable parts 3a and 3b can be improved.

FIG. 11 is a configuration diagram showing an example of the flap driving device according to the present invention. The flap 22 is attached to the trailing edge of the rotor blade of the helicopter so as to be angularly displaceable around the hinge axis 22a. The output rod 10 is connected to the flap 22 with a predetermined arm length from the hinge shaft 22a.

The flap 22 is provided with a flap angle sensor 22b for detecting the pitch angle of the flap 22. The actuators 2a and 2b are provided with stroke sensors 33a and 33b for detecting displacement of the movable parts 3a and 3b. The detection signal from each sensor is input to the signal processing circuit 66, and outputs flap drive signals having phases opposite to each other as digital signals. The D / A converters 67a and 67b are:
The flap driving signal of the opposite phase is converted into an analog signal, and the signals are converted into analog signals via the amplifiers 68a and 68b.
2b is driven. By such feedback control, the pitch angle of the flap 22 can be controlled with high accuracy.

By using the actuator device of the present invention, a small and lightweight flap driving device can be realized. By mounting this on a blade or the like, the aerodynamic characteristics of the rotor blade can be improved, and the helicopter noise can be reduced. Can be achieved.

[0114]

As described above in detail, according to the present invention, the first elastic arm and the second elastic arm form a triangular support structure, thereby increasing the rigidity of the output arm against an external force along the longitudinal direction. Can be. In addition, by appropriately designing the Young's modulus and the second moment of area of the elastic arm, it becomes possible to bend and deform with a desired elastic constant,
A smooth angular displacement motion can be realized. As a result, movable parts and sliding parts such as bearings can be eliminated, and high durability and high reliability can be achieved.

The first support arm and the second support arm extend substantially in parallel and operate like a parallel link mechanism. Therefore, the first support arm and the second support arm are movable while allowing linear displacement of the first base portion and the second base portion. We can support fall of part. In addition, by appropriately designing the Young's modulus and the second moment of area of the support arm, it becomes possible to bend and deform with a desired elastic constant,
A smooth parallel link motion can be realized. As a result, moving and sliding parts such as bearings can be eliminated,
High durability and high reliability can be achieved.

Further, according to the present invention, a smooth angular displacement motion can be realized by elastically supporting the angular displacement member for converting the linear displacement of the actuator into the angular displacement. As a result, movable parts and sliding parts such as bearings can be eliminated, and high durability and high reliability can be achieved.

Also, by applying a preload load, the angular displacement movement of the connecting portion is enhanced, so that the force required to deform the elastically deformable member is canceled out, and the amount of angular displacement of the output arm is increased. Can be. Also,
Since a compressive load can be applied to the actuator, the actuator can be protected.

Further, by providing a leaf spring member on the output rod, a change in the intersection angle between the output arm and the output rod can be tolerated, so that the shaft deflection of the output rod can be reduced.

According to the present invention, a small and lightweight flap drive device can be realized. By mounting the flap drive device on a blade or the like, the aerodynamic characteristics of the rotor blade can be improved and helicopter noise can be reduced. it can.

[Brief description of the drawings]

1A and 1B show a first embodiment of the present invention, wherein FIG. 1A is an overall perspective view, and FIG. 1B is a partially enlarged view thereof.

FIGS. 2A and 2B are explanatory diagrams showing the operation principle of the actuator device 1 shown in FIG. 1; FIG. 2A is a neutral state, and FIG.
Indicates a displacement state.

3A and 3B show a second embodiment of the present invention. FIG. 3A is an overall perspective view, and FIG. 3B is a partially enlarged view thereof.

FIG. 4 shows a third embodiment of the present invention, wherein FIG. 4 (a) is an overall perspective view and FIG. 4 (b) is a partially enlarged view thereof.

5A and 5B are explanatory diagrams showing the operation principle of the actuator device 1 shown in FIG. 4; FIG. 5A is a neutral state, and FIG.
Indicates a displacement state.

6A and 6B show a fourth embodiment of the present invention. FIG. 6A is an overall view, and FIG. 6B is an enlarged view of an arm member.

FIG. 7 is an overall perspective view showing a fifth embodiment of the present invention.

8A and 8B are explanatory diagrams showing the operation principle of the actuator device 1 shown in FIG. 7; FIG. 8A is a neutral state, and FIG.
Indicates a displacement state.

9A and 9B are explanatory diagrams showing preloading by the elastic deformation member 4. FIG. 9A shows a state without preloading, and FIG.
(B) shows a state with preload.

FIG. 10 is an explanatory view showing an example in which the angular displacement member 18 and the movable parts 3a, 3b are in point contact.

FIG. 11 is a configuration diagram illustrating an example of a flap driving device according to the present invention.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Actuator device 2a, 2b Actuator 2c Bottom plate 3a, 3b Movable part 4 Elastic deformation member 5a, 5b Base part 6a, 7a, 6b, 7b Elastic arm 8 Connecting part 8a Center of angular displacement 9 Output arm 10 Output rod 10a Connecting member 10b Plate Spring member 10c Rod body 11a, 12a, 11b, 12b Support arm 13a, 13b Arm fixing part 15 Preload rod 18 Angular displacement member

 ──────────────────────────────────────────────────続 き Continued on the front page (72) Inventor Eiichi Nakazato 2 Kawasaki-cho, Kakamigahara-shi, Gifu Pref.

Claims (8)

[Claims] 1. A first and a second actuator in which movable parts are displaced in parallel and in opposite phases to each other, and mounted on movable parts of the first and second actuators for converting a linear displacement of each actuator into an angular displacement. An elastic deformation member, and an output arm for transmitting an angular displacement of the elastic deformation member, wherein the elastic deformation member is mounted on a first base portion mounted on a movable portion of the first actuator and on a movable portion of the second actuator. A second base portion, two first elastic arms extending in a substantially triangular shape from the first base portion, two second elastic arms extending in a substantially triangular shape from the second base portion, and a first An actuator device comprising: a connecting portion that connects a top portion of an elastic arm and a top portion of a second elastic arm. 2. A first and a second actuator in which movable parts are displaced in parallel and in opposite phases to each other, and mounted on the movable parts of the first and second actuators for converting linear displacement of each actuator into angular displacement. An elastic deformation member, and an output arm for transmitting an angular displacement of the elastic deformation member, wherein the elastic deformation member is mounted on a first base portion mounted on a movable portion of the first actuator and on a movable portion of the second actuator. A second base portion, two first elastic arms extending from the first base portion so as to intersect in an X shape, and two first elastic arms extending from the second base portion so as to intersect in an X shape. An actuator device comprising: a second elastic arm; and a connecting portion that connects each end of the first elastic arm and each end of the second elastic arm. 3. The elastically deformable member includes a plurality of first support arms extending outwardly and substantially parallel from the first base portion, a first arm fixing portion for fixing each end of the first support arm, and a second base. A plurality of second support arms extending substantially parallel outward from the portion;
3. The actuator device according to claim 1, further comprising a second arm fixing portion for fixing each end of the second support arm. 4. A first and a second actuator in which a movable portion is displaced in parallel and in opposite phases to each other, and a linear displacement of each actuator is converted into an angular displacement in conjunction with a movable portion of the first and second actuators. An actuator device comprising: an angular displacement member; an elastic deformation member for elastically supporting the angular displacement member; and an output arm for transmitting an angular displacement of the angular displacement member. 5. The actuator device according to claim 4, wherein the elastic deformation member applies a compressive load to each movable portion of the first and second actuators. 6. A preload member for applying a load parallel to a displacement direction of an actuator at a position separated from a center of angular displacement of a connecting portion by a predetermined distance in a neutral state of the elastic deformation member. 5. The actuator device according to 1, 2, or 4. 7. An output rod connected to an output arm and linearly displaced in accordance with an angular displacement of the output arm, wherein the output rod has a leaf spring for allowing a change in an intersection angle between the output arm and the output rod. 5. The actuator device according to claim 1, wherein a member is provided. 8. A flap driving device comprising: a flap attached to a trailing edge of a blade so as to be angularly displaceable; and the actuator device according to claim 1 for driving the flap.