JP2014238102A - Actuator - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an actuator having a double redundancy which is configured to achieve improvement of reliability and reduction in maintenance cost while achieving reduction in weight.SOLUTION: An actuator 1 includes: first and second motors 2a, 2b which are driving sources; a differential gear 5 for receiving transmission of the rotation driving force from output shafts of these first and second motors to first and second input ends 5a, 5b respectively; and an operation conversion mechanism 8 for converting the rotation driving force into a linear forward and backward driving force by receiving the transmission of the driving force from an output end 5c of the differential gear, and transmitting it to an operation object. First and second no-back devices 4a, 4b capable of transmitting the driving force from the motor to the differential gear and for inhibiting the transmission of the driving force from the differential gear to the motor are provided respectively, between the first motor and the first input end of the differential gear, and between the second motor and the second input end of the differential gear.

Description

  The present invention relates to an actuator having two motors as operation sources and having double redundancy.

  2. Description of the Related Art Conventionally, an actuator that needs to prevent a failure of one drive source or control system from becoming a serious obstacle to safety, such as an aircraft horizontal tail actuator, has two hydraulic motors as operation sources. Adopting a configuration having heavy redundancy is widely used.

  As an actuator having such double redundancy, conventionally, an actuator having the following configuration is adopted with reference to FIG. Specifically, the actuator a1 is provided between the first and second hydraulic motors a2a and a2b, which are operating sources, and between the hydraulic motors a2a and a2b and a hydraulic supply source (not shown). First and second hydraulic motor control valves a9a and a9b for shutting off or permitting the supply of hydraulic pressure to the motor, and first and second inputs for receiving a rotational driving force from the hydraulic motors a2a and a2b, respectively. Shafts a3a, a3b, a differential gear a5 that receives driving force from the first and second input shafts a3a, a3b to the first and second input ends a5a, a5b, respectively, and the differential gear a5 A main gear a6 that meshes with an output gear a5d provided at the output end a5c and receives a rotational driving force from the output gear a5d, and the first and second input shafts a3a, a3b A body a7 having a machine body mounting portion a7a for housing the differential gear a5 and the main gear a6 and connecting to the structural member of the machine body, and receiving the operating force from the main gear a6, the rotational driving force is linearized. And a motion conversion mechanism a8 that converts it into an advancing / retreating driving force and transmits it to the operating object. The motion conversion mechanism a8 includes a ball screw a8a that can rotate integrally with the main gear a6, and a ball nut a8b that is screwed back and forth with respect to the ball screw a8a and connected to a horizontal tail structural member that is an operation target. Is known as a ball screw mechanism. In addition, the actuator a1 includes an output side no-back in order to suppress the occurrence of a phenomenon called back drive in which the structural member of the horizontal tail receives the action in the up-and-down direction and rotationally drives the ball screw a8a via the ball nut a8b. A device a11 is provided. Further, first and second hydraulic brakes a12a and a12b are connected to the first and second input shafts a3a and a3b, respectively. These hydraulic brakes a12a, a12b release the brakes when supplied with hydraulic pressure, and permit the rotation of the first and second input shafts a3a, a3b, respectively. The hydraulic supply source and the hydraulic brakes a12a, a12b, Also provided are hydraulic brake control valves a13a and a13b for interrupting or permitting the supply of hydraulic pressure to the hydraulic brakes a12a and a12b. The first hydraulic motor control valve a9a and the first hydraulic brake control valve a13a are configured to output a signal for interrupting or permitting the supply of hydraulic pressure from the first controller a10a. In addition, the second hydraulic motor control valve a9b and the second hydraulic brake control valve a13b are configured to output signals for interrupting or permitting the supply of hydraulic pressure from the second controller a10b (for example, , See Non-Patent Document 1).

  In such a configuration, the hydraulic brakes a12a and a12b are provided corresponding to the hydraulic motors a2a and a2b, and the hydraulic brake a12a is provided between the hydraulic brakes a12a and a12b and the hydraulic supply source. , Hydraulic brake control valves a13a, a13b for shutting off or permitting the supply of hydraulic pressure to a12b, and piping for supplying hydraulic oil to the hydraulic brake control valves a13a, a13b, and the hydraulic brake control valve It is necessary to provide an electric circuit for transmitting signals to a13a and a13b. For this reason, the mass increases, and the number of parts and the number of operating points increase, resulting in problems such as a decrease in reliability and an increase in maintenance costs.

  The problems described above are not limited to those in which the operating source is a hydraulic motor, but occur in the same way even if the operating source is an electric motor or the like.

E. T. Raymond with C. C. Chenoweth, "Aircraft Flight Control Actuation System Design", Society of Automotive Engineers, Inc., 1993, p. 45

  The present invention pays attention to the above points, and an object thereof is to provide an actuator having a configuration capable of realizing an improvement in reliability and a reduction in maintenance cost while achieving weight reduction.

  In order to solve the above problems, the actuator according to the present invention has the following configuration. That is, the actuator according to the present invention includes the first and second motors that are driving sources, and the difference between receiving the rotational driving force from the output shafts of the first and second motors to the first and second input ends, respectively. An actuator comprising a dynamic gear and a motion conversion mechanism that receives a driving force from an output end of the differential gear, converts a rotational driving force into a linear advance / retreat driving force, and transmits the linear driving force to an operation target. A driving force from the motor is transmitted between the first motor and the first input end of the differential gear, and between the second motor and the second input end of the differential gear. The first and second no-back devices that can transmit to the motor and block the transmission of the driving force from the differential gear to the motor are provided.

  If this is the case, the driving force from the motor is transmitted to the ball screw via the differential gear by the no-back device, and this driving force is back-driven from the differential gear to another motor. Therefore, it is not necessary to provide a hydraulic brake for each motor, a hydraulic brake control valve for shutting off or permitting the supply of hydraulic pressure to the hydraulic brake, etc. There is no need to provide piping for supplying or an electric circuit for transmitting a signal to the hydraulic brake control valve. Therefore, it is possible to reduce the number of parts and reduce the weight, and it is possible to improve the reliability and reduce the maintenance cost with the reduction of the number of parts and the operating parts.

  The “no-back device” according to the present invention transmits a rotational driving force to the differential gear side when a rotational driving force is input from the motor side, and transmits a rotational driving force in the opposite direction. Blocking, in other words, when the rotational driving force is inputted from the differential gear side, it is a concept showing a general device having a function of not transmitting the rotational driving force to the motor side, and as this no-back device, For example, conventionally known ones such as those described in Japanese Patent No. 4438676 can be used.

  ADVANTAGE OF THE INVENTION According to this invention, the actuator of the structure which can implement | achieve the improvement of reliability and the fall of a maintenance cost can be provided, aiming at weight reduction.

The block diagram which shows the actuator which concerns on one Embodiment of this invention. The block diagram which shows the no-back apparatus which concerns on the same embodiment. The block diagram which shows the conventional actuator.

  An embodiment of the present invention will be described below with reference to FIG.

  The actuator 1 according to the present embodiment is used as an aircraft horizontal tail operating actuator for operating the horizontal tail of an aircraft. As shown in FIG. 1, the first and second hydraulic motors 2a, which are operating sources, are used. 2b, first and second input shafts 3a and 3b that receive driving force from the first and second hydraulic motors 2a and 2b, respectively, the first hydraulic motor 2a and the first input A first no-back device 4a provided between the shaft 3a, a second no-back device 4b provided between the second hydraulic motor 2b and the second input shaft 3b, and the first And a differential gear 5 in which the first and second input ends 5a and 5b are connected to the second input shafts 3a and 3b, respectively, and an output gear 5d provided at the output end 5c of the differential gear 5 and meshing with the output gear 5d. The method of receiving power transmission A body 7 having a body mounting portion 7a for housing the first and second input shafts 3a and 3b, the differential gear 5 and the main gear 6 and connecting to the structural member of the body, An operation converting mechanism 8 is provided that receives a driving force from the output end 5c of the differential gear 5 and converts the rotational driving force into a linear advance / retreat driving force and transmits it to the horizontal tail of the aircraft that is the operation target.

  The first hydraulic motor 2a is rotated by receiving hydraulic pressure supplied from a hydraulic pressure source (not shown), and outputs a rotational driving force toward the first input shaft 3a. In addition, a first hydraulic motor control valve 9a is provided between the first hydraulic motor 2a and the hydraulic pressure source for blocking or permitting the supply of hydraulic pressure to the first hydraulic motor 2a. The first hydraulic motor control valve 9a is configured to output a signal for interrupting or permitting the supply of hydraulic pressure from the first controller 10a.

  The second hydraulic motor 2b is also rotated by receiving hydraulic pressure supplied from a hydraulic pressure source (not shown), and outputs a rotational driving force toward the second input shaft 3b. Further, a second hydraulic motor control valve 9b is provided between the second hydraulic motor 2b and the hydraulic pressure source to cut off or permit the supply of hydraulic pressure to the second hydraulic motor 2b. A signal for blocking or permitting the supply of hydraulic pressure from the second controller 10b is also output to the second hydraulic motor control valve 9b. As described above, between the output shaft of the first hydraulic motor 2a and the first input shaft 3a and between the output shaft of the second hydraulic motor 2b and the second input shaft 3b, the first The second no-back devices 4a and 4b are interposed.

  The first no-back device 4a has an input end connected to the output shaft of the first hydraulic motor 2a and an output end connected to the first input shaft 3a. The rotational driving force from 2a can be transmitted to the output end side, that is, the first input shaft 3a, while the reverse direction, that is, transmission of the rotational driving force from the first input shaft 3a to the first hydraulic motor 2a is blocked. It has a function. More specifically, as this first no-back device 4a, a conventionally known device is used in this embodiment as described in Japanese Patent No. 4438676. That is, as shown in FIG. 2, the first no-back device 4a includes an output shaft 2a1 of the first hydraulic motor 2a serving as an input end, the first input shaft 3a serving as an output end, and the first input shaft 3a. A case 12a that covers both end faces of the output shaft 2a1 of the first hydraulic motor 2a and the first input shaft 3a, and between the end faces of the output shaft 2a1 of the first hydraulic motor 2a and the first input shaft 3a. A ball cam mechanism 13a interposed in the first input shaft 3a, and a brake mechanism 14a for stopping the first input shaft 3a by sliding a brake plate locked to the first input shaft 3a to a fixed portion with a compression spring. Yes. The ball cam mechanism 13a includes a ball 13a1, holding recesses 13a2 and 13a3 provided in the output shaft 2a1 and the first input shaft 3a of the hydraulic motor 2a to hold the ball 13a1, respectively, and an output of the hydraulic motor 2a. And a cam groove (not shown) extending in a circumferential direction from a holding recess 13a2 provided on the shaft 2a1, and when the rotational driving force is input to the output shaft 2a1 of the hydraulic motor 2a, the first input shaft 3a is It is displaced in the axial direction. On the other hand, the brake mechanism 14a is formed by alternately joining a plurality of brake plates 14a1 locked to the case 12a and a plurality of brake plates 14a2 locked to the first input shaft 3a. Thus, the brake plates 14a1 and 14a2 are urged so as to be strongly pressed against each other by the compression spring 14a3. Here, the first no-back device 4a operates as follows. That is, when a rotational driving force is input to the output shaft 2a1 of the hydraulic motor 2a, the ball cam mechanism 13a operates to displace the first input shaft 3a in the axial direction, and the compression spring 14a3. Is compressed. At this time, the state in which the brake plates 14a1 and 14a2 are strongly pressed against each other by the compression spring 14a3 is released, and the first input shaft 3a can be rotated. That is, a rotational driving force is transmitted from the output shaft 2a1 of the hydraulic motor 2a to the first input shaft 3a. On the other hand, when a rotational driving force is input to the first input shaft 3a side, the rotation of the first input shaft 3a is inhibited by the brake mechanism 14a, and the first input shaft 3a Since the ball cam mechanism 13a does not operate unless it rotates, the state in which the rotation of the first input shaft 3a is suppressed is maintained, and the rotational driving force is not transmitted to the output shaft 2a1 of the hydraulic motor 2a.

  Similarly, the second no-back device 4b has the input end connected to the output shaft of the second hydraulic motor 2b and the output end connected to the second input shaft 3b, respectively. Can transmit the rotational driving force from the hydraulic motor 2b to the output end side, that is, the second input shaft 3b, while transmitting the rotational driving force in the reverse direction, that is, from the second input shaft 3b to the second hydraulic motor 2b. Has a blocking function. In the present embodiment, as the second no-back device 4b, as well as the first no-back device 4a, a conventionally well-known device as described in Japanese Patent No. 4438676 is used. Is omitted.

  The differential gear 5 has a first input end 5a, a second input end 5b, and only one output end 5c. The first input end 5a is connected to the first input shaft 3a and receives transmission of driving force. The second input end 5b is connected to the second input shaft 3b and receives a driving force. When a rotational driving force is input to at least one of the first or second input ends 5a and 5b, the rotational driving force is transmitted to the output end 5c and output from the output end 5c. Are well known for use in actuators having this type of double redundancy. As described above, the output gear 5d is provided at the output end 5c of the differential gear 5, and the main gear 6 is engaged with the output gear 5d. A rotational driving force is transmitted from the output gear 5d to the motion conversion mechanism 8 through the main gear 6.

  The motion conversion mechanism 8 includes a ball screw 8a that can rotate integrally with the main gear 6, and a ball nut 8b that is screwed back and forth with respect to the ball screw 8a and connected to a structural member of a horizontal tail that is an operation target. Is known as a ball screw mechanism. The main gear 6 and the ball screw 8a are rotated by receiving a rotational driving force from an output gear 5d provided at an output end 5c of the differential gear 5 and screwed into the ball screw 8a. 8b has a function of screwing back and forth. Also, on the base end side of the ball screw 8a, a horizontal tail structural member connected to the ball nut 8b is called a back drive in which the ball screw 8a is rotationally driven via the ball nut 8b under the action of the lifting and lowering direction. In order to suppress the occurrence of the phenomenon, the output side no-back device 11 is provided.

  Here, the actuator 1 is equipped with a control device that performs the following control when the horizontal tail of the aircraft is raised and lowered. That is, the control device outputs a signal from the first and second controllers 10a and 10b to the first and second hydraulic motor control valves 9a and 9b to output the first and second hydraulic motors 2a and 2b. , And the rotational driving force output from these hydraulic motors 2a and 2b is output to the ball screw 8a of the motion converting mechanism 8 via the differential gear 5 and the main gear 6, and the horizontal tail connected to the ball nut 8b. Control to raise and lower the structural member is performed.

  Thus, in the present embodiment, when a problem occurs in the second hydraulic motor 2b or the hydraulic system that supplies the hydraulic oil to the second hydraulic motor 2b, only the first hydraulic motor 2a is operated. The structural member of the horizontal tail connected to the ball nut 8b is moved up and down by the rotational driving force supplied from the first hydraulic motor 2a. In addition, when a problem occurs in the first hydraulic motor 2a or the hydraulic system that supplies hydraulic oil to the first hydraulic motor 2a, only the second hydraulic motor 2b is operated to operate the second hydraulic motor. The structural member of the horizontal tail connected to the ball nut 8b is moved up and down by the rotational driving force supplied from 2b. When both the hydraulic motors 2a and 2b and the hydraulic system that supplies hydraulic oil to the hydraulic motors 2a and 2b are normal and no malfunction occurs, one or both of the first and second hydraulic motors 2a and 2b are used. The structural member of the horizontal tail connected to the ball nut 8b is moved up and down by the supplied rotational driving force.

  Hereinafter, when only the first hydraulic motor 2a is operated, when only the second hydraulic motor 2b is operated, and when both the first and second hydraulic motors 2a and 2b are operated, The action will be described.

  First, when only the first hydraulic motor 2a is operated, the rotational driving force output from the output shaft of the first hydraulic motor 2a is input to the input end of the first no-back device 4a, and the first It is transmitted to the input shaft 3a. A rotational driving force is transmitted from the first input shaft 3 a to the first input end 5 a of the differential gear 5, while a reaction force from the first input shaft 3 a is transmitted through the differential gear 5 to the second. Acting on the input shaft 3b. However, since the second input shaft 3b is connected to the output end of the second no-back device 4b, the second input shaft 3b is fixed. Accordingly, the rotational driving force transmitted to the first input end 5a of the differential gear 5 is transmitted from the output end 5c of the differential gear 5 through the main gear 6 to the ball screw 8a, and the ball screw 8a rotates. To do. Then, the ball nut 8b screwed into the ball screw 8a is advanced and retracted, and the horizontal tail connected to the ball nut 8b is raised and lowered.

  On the other hand, when only the second hydraulic motor 2b is operated, the rotational driving force output from the output shaft of the second hydraulic motor 2b is input to the input end of the second no-back device 4b and remains as it is. It is transmitted to the input shaft 3b. A rotational driving force is transmitted from the second input shaft 3b to the second input end 5b of the differential gear 5, while a reaction force from the second input shaft 3b is transmitted through the differential gear 5 to the first. Acting on the input shaft 3a. However, since the first input shaft 3a is connected to the output end of the first no-back device 4a, the first input shaft 3a is fixed. Therefore, the rotational driving force transmitted to the second input end 5b of the differential gear 5 is transmitted from the output end 5c of the differential gear 5 to the ball screw 8a via the main gear 6, and the ball screw 8a rotates. To do. Then, the ball nut 8b screwed into the ball screw 8a is advanced and retracted, and the horizontal tail connected to the ball nut 8b is raised and lowered.

  When both the first and second hydraulic motors 2a and 2b are operated, the rotational driving forces output from the output shafts of the first and second hydraulic motors 2a and 2b are the first and second respectively. The signals are input to the input terminals of the no-back devices 4a and 4b, and are transmitted as they are to the first and second input terminals 5a and 5b of the differential gear 5 through the first and second input shafts 3a and 3b, respectively. This rotational driving force is transmitted from the output end 5c of the differential gear 5 to the ball screw 8a via the main gear 6, and the ball screw 8a rotates. Then, the ball nut 8b screwed into the ball screw 8a is advanced and retracted, and the horizontal tail connected to the ball nut 8b is raised and lowered. Here, the rotational speed of the output end 5c of the differential gear 5, the main gear 6 and the ball screw 8a is such that any one of the first and second hydraulic motors 2a and 2b described above is independently operated. This is the sum of the rotation speeds in the case.

  As described above, according to the configuration of the present embodiment, when only the first hydraulic motor 2a is operated, the driving force from the first hydraulic motor 2a is generated by the first no-back device 4a. Is transmitted to the ball screw 8a through the differential gear 5, but the second no-back device 4b causes the driving force from the first hydraulic motor 2a to be transferred from the differential gear 5 to the second hydraulic motor 2b. Back-drive is prevented. When only the second hydraulic motor 2b is operated, the driving force from the second hydraulic motor 2b is transmitted to the ball screw 8a via the differential gear 5 by the second no-back device 4b. However, the first no-back device 4a prevents the driving force from the second hydraulic motor 2b from being back-driven from the differential gear 5 to the first hydraulic motor 2a. Therefore, it is not necessary to provide a hydraulic brake or a hydraulic brake control valve for interrupting or permitting the supply of hydraulic pressure to the hydraulic brake for each hydraulic motor, and a pipe for supplying hydraulic oil to the hydraulic brake control valve. It is not necessary to provide an electric circuit for transmitting a signal to the hydraulic brake control valve. As a result, the number of parts can be reduced and the weight can be reduced, and the reliability can be improved and the maintenance cost can be reduced along with the reduction in the number of parts and the operating points.

  The present invention is not limited to the embodiment described above.

  For example, the motion conversion mechanism that converts the rotational driving force of the hydraulic motor into a linear advance / retreat driving force and transmits it to the operation target is not limited to a ball screw mechanism including a ball screw and a ball nut, Any device that can convert the driving force into a linear advance / retreat driving force may be used.

  The configuration of the actuator of the present invention is not limited to an aircraft horizontal tail operating actuator for operating an aircraft horizontal tail, but in an actuator having double redundancy, while reducing weight, improving reliability and maintenance. It can be applied to anything that needs to realize cost reduction.

  Further, the no-back device is not limited to the one employed in the above-described embodiment, and the driving force from the motor side is transmitted to the differential gear side, and the driving force is transmitted from the differential gear side to the motor side. Any device may be adopted as long as the device has a configuration for blocking.

  In addition, in the above-described embodiment, the first and second hydraulic motors are used as the drive source. However, the present invention is not limited to the hydraulic motor, and an electric motor or the like may be employed as the drive source.

  In addition, you may change variously in the range which does not impair the meaning of this invention.

DESCRIPTION OF SYMBOLS 1 ... Actuator 2a ... 1st motor 2b ... 2nd motor 4a ... 1st no-back apparatus 4b ... 2nd no-back apparatus 5 ... Differential gear 5a ... 1st input end of differential gear 5b ... Difference Second input end of the moving gear 8 ... Motion conversion mechanism

Claims (1)

First and second motors as drive sources, a differential gear receiving transmission of rotational driving force from the output shafts of the first and second motors to the first and second input ends, respectively, and the differential An actuator including a motion conversion mechanism that receives a driving force transmitted from an output end of the gear, converts a rotational driving force into a linear advance / retreat driving force, and transmits the linear driving force to an operation target;
The driving force from the motor is differentially provided between the first motor and the first input end of the differential gear, and between the second motor and the second input end of the differential gear. An actuator comprising first and second no-back devices that can transmit to a gear and prevent transmission of driving force from the differential gear to a motor.

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