JP4910082B2 - Electric actuator jamming detection method - Google Patents

Description

  The present invention relates to a method for detecting jamming of an electric actuator, and in particular, based on the rotation direction of each motor, the motor output torque of each motor, and the polarity determination state of a strain sensor connected to each output arm. It relates to a new improvement for accurately detecting the state.

Conventionally, as an electric actuator having a configuration in which a pair of actuators of this type used in series is connected to each other in series and a pair of output arms are connected to a load, the configuration disclosed in Patent Document 1 can be exemplified.
In other words, each output arm of a pair of actuators is connected to a load, the load is operated using the output torque of the motor of each actuator, and when jamming occurs in the speed reducer of one actuator, jamming is performed by some kind of jamming sensor. In the actuator that has detected and jammed, the output torque of the motor is set to the maximum value of the motor, and the output arm can be rotated by the separation mechanism when the speed reducer is fixed. The load was rotated by the actuator.

JP 2006-275152 A

Since the conventional electric actuator is configured as described above, the following problems exist.
That is, when jamming occurs in the speed reducer (the second stage of each reduction gear section is fixed) and the operation of the output arm is stopped, jamming is detected by a jamming sensor comprising a position sensor or a motor current sensor. Based on the jamming detection signal from this jamming sensor, it was driven with the maximum torque of the motor to release jamming, but this position sensor can detect what is moving, but it is still The current sensor cannot detect the current state, and the current sensor can only detect the magnitude of the current to the motor, and can detect by setting the correlation between the current value and the jamming state in detail. Because it is difficult, it is difficult to maintain the reliability of this jamming sensor at 100%, and a jamming detection with higher reliability has been desired.

  According to the method of detecting jamming of an electric actuator according to the present invention, a pair of electric actuators including a motor, a speed reducer, and an output arm are connected to each other in series, and a load is applied by the pair of output arms arranged adjacent to each other. When operating, a method of detecting the jamming state of each electric actuator based on the rotation direction of each motor, the motor output torque of each motor, and the state of each strain sensor connected to each output arm, The load is one, and a pair of connecting members connected to the rotation type load are respectively connected to the output arms, and the load rotates around a fulcrum. The load is one, and a pair of connecting members connected to the direct-acting load are respectively connected to the arms, and the load reciprocates linearly. The first or second motor of the first or second electric actuator in which the jamming state has occurred is driven by the maximum torque of the first or second motor, and the first and second motors are driven. In this method, the first or second output arm is made rotatable by a separating mechanism when the speed reducer is fixed, and the load is turned by the remaining first or second electric actuator in a normal state.

Since the jamming detection method for an electric actuator according to the present invention is configured as described above, the following effects can be obtained.
That is, the jamming state of each electric actuator based on the state of polarity discrimination that detects the strain state due to the load applied to each output arm of the strain sensor connected to the output direction of each motor rotation torque and the motor output torque of each motor Therefore, the jamming state is reliably detected, and immediately, the jamming of the conductive actuator in which jamming has occurred is released, and the load can be operated by a normal electric actuator in which jamming has not occurred. Reliability can be greatly improved.

  The present invention accurately detects the jamming state of each electric actuator based on the rotational direction of each motor, the motor output torque of each motor, and the polarity determination state of the strain sensor connected to the output arm. It is an object of the present invention to provide a jamming detection method.

Hereinafter, preferred embodiments of a method for detecting a jamming of an electric actuator according to the present invention will be described with reference to the drawings.
1, reference numeral 150 denotes an attachment member, and the first and second electric actuators 100 and 100A are attached to the attachment member 150 so as to face each other and connected in series.

The first electric actuator 100 includes a first motor 2 and a first speed reducer 20, and a first output arm 30 is provided on the output side of the first speed reducer 20.
The second electric actuator 100A includes a second motor 2A and a second speed reducer 20A, and a second output arm 31 is provided on the output side of the second speed reducer 20A.

  The configuration of the electric actuator 100B composed of the first and second electric actuators 100 and 100A in FIG. 1 is as shown in FIG. 2 when viewed from the front side. The levers 12A and 12B on the output side of the machines 20 and 20A are connected to each other via a support shaft 12C, and the load 70 is connected to the ends of the output arms 30 and 31 via the connecting members 30A and 31A. Yes.

The load 70 is rotatably provided along the direction of arrow A via a fulcrum 71, and this rotation is achieved by reciprocally rotating the levers 12A and 12B in the CW and CCW directions by 20 °. The load 70 can be rotated according to the angle.
The load 70 can be any member as long as it is a rotating member, but is preferably applied to, for example, an airplane flap.

  The connecting members 30A and 31A connected to the output arms 30 and 31 or the tip portions of the output arms 30 and 31 have polarity discrimination type strain sensors 62 and 62A made of a known strain gauge or the like. Each of the output arms 30, 31 or each of the connecting members 30A, 31A when the load 70 is rotated by the output arms 30, 31 is provided in a state where it is directly or indirectly connected to 30, 31. As shown in FIG. 4, the state of the sensors 62 and 62 </ b> A can be detected as a state of polarity discrimination as Pc (compression) and Ps (tensile).

1 and FIG. 2 has been described with respect to the configuration in which the load 70 is a rotary type. As another form, as shown in FIG. It can be set as the structure which connected the output arms 30 and 31 to the direct-acting type load 70 which performs linear motion reciprocation.
2 that are the same as or equivalent to those in FIG.

  The internal configurations of the first and second electric actuators 100 and 100A themselves in FIGS. 1 to 3 described above have already been filed by the present applicant (as of March 29, 2005) (published as of October 12, 2006). The configuration is the same as that of the above-described Patent Document 1, and will be described with reference to FIGS.

  In FIG. 8, reference numeral 1 denotes a cylindrical housing as shown in FIG. 7, and the first motor 2 is provided on one end 1 a side of the housing 1. Are provided with first, second and nth internal gears 3, 4 and 5.

  Inside each of the internal gears 3, 4, 5, well-known first, second, and nth reduction gear portions 7, 8, 9 using a plurality of planetary gears 6 are provided. First, second, and n-th output shaft bodies 10, 11, and 12 having planetary gears 6 at 8 and 9 rotatably supported are provided.

  Each planetary gear 6 of each of the reduction gear portions 7, 8, 9 is meshed with each of the internal gears 3, 4, 5, so that each planetary gear type three-stage reduction type first reduction gear 20 is provided. It is configured. It should be noted that the number of stages is not limited to three, and may be three or more.

The rotating shaft 2a of the first motor 2 is inserted into the center of the first reduction gear portion 7 and meshed with each planetary gear 6 to be connected.
As described above, each of the reduction gear portions 7, 8, and 9 has the first, second, and n-th output shaft bodies 10, 11, and 12 that rotatably support the planetary gears 6 respectively. The first output shaft body 10 is inserted into the center of the second reduction gear portion 8 and meshes with each planetary gear 6, and the second output shaft body 11 is connected to the nth reduction gear portion 9. The first output arm 30 is connected to the n-th output shaft 12 so as to reciprocate by a predetermined finite angle.

  The planetary gears 6 of the reduction gear portions 7, 8, 9 are respectively connected to first, second and n-th internal gears 3, 4, 5 provided corresponding to the reduction gear portions 7, 8, 9 respectively. By the meshing, each of the reduction gear portions 7, 8, 9 having the three planetary gears 6 is configured.

  A coil spring 41 is provided in the holding hole 40 formed in the wall of the housing 1, and the inner end of the coil spring 41 is in contact with the outer peripheral surface of the first internal gear 3 and is in a biased state. The first internal gear 3 is held in a state of being temporarily fixed to the housing 1 by the frictional force of the coil spring 41.

  The second internal gear 4 is fixed in a state of being fitted to the inner wall of the housing 1, and the n-th internal gear 5 is a steel ball held in a through hole 42 formed in the housing 1. A part of the ball 43 is temporarily engaged with the housing 1 by engaging with a locking recess 44 formed on the outer peripheral surface of the n-th internal gear 5.

  A ring body 45 is provided on the outer peripheral surface of the housing 1 so as to be coaxial with the housing 1 and to be rotatable. The ring body 45 is configured to constitute a part of a fixing mechanism 50 described later. Further, as shown in FIG. 9, a plurality of recesses 46 large enough to allow the balls 43 to escape can be disposed on the inner surface of the ring body 45 at predetermined angular intervals.

  The decoupling mechanism 50 includes a first rotation gear shaft 60 that rotates in conjunction with the first internal gear 3 of the first reduction gear portion 7 of the first stage among the reduction gear portions 7, 8, 9, and the first A second rotating gear portion 61 that rotates in conjunction with the rotating gear shaft 60; the ring body 45 that rotates in conjunction with the second rotating gear shaft 61 and is disposed coaxially with the housing 1 on the outer periphery of the housing 1; And a plurality of the concave portions 46 formed in 45.

  The first electric actuator 100 shown in FIG. 8 is mainly shown as one as shown on the left side, and even one can be used, but as shown in FIGS. As a configuration in which the first and second electric actuators 100 and 100A are arranged symmetrically and the pair of first and second output arms 30 and 31 are arranged adjacent to each other, a pair or one load (not shown) Can be driven separately or simultaneously.

Next, the operation in the case where the first and second electric actuators 100 and 100A according to the present invention configured as described above are opposed to each other in a pair and are arranged symmetrically in series will be described.
In the case of FIGS. 5 to 9, normal operation is shown, and the output arms 30 and 31 are separated or simultaneously using the motors 2 and 2 </ b> A and the speed reducers 20 and 20 </ b> A. The reciprocating rotation is possible within the angle range of the angle θ.

Next, in FIGS. 10 and 11, jamming occurs in the first speed reducer 20 (the latter two stages of the reduction gear parts 7, 8, 9 are fixed), and the second and nth reduction gear parts 8. , 9 shows a configuration in a stopped state.
As shown in FIG. 4, the above-described state is determined by a discriminating means (not shown) using the rotation direction of each motor 2, 2A, the motor output torque of each motor 2, 2A, and the states Pc, Ps of the strain sensors 62, 62A. When a jamming detection signal is detected and input to a motor control circuit (not shown), the motor 2 or 2A is rotationally driven with a maximum output torque larger than the rated maximum torque, and the first reduction gear unit 7, the first internal gear 3 overcomes the friction torque of the coil spring 41 and rotates, and the ring body 45 rotates via the rotating gear portions 60 and 61. That is, as an example, jamming is detected when the motor rotation direction (that is, arm operation command) is CCW, the strain sensor state is Pc, and the output of the motors 2 and 2A is the rated maximum torque. Is rotated at a maximum output torque greater than the rated maximum torque.
The above-mentioned rated maximum torque indicates the maximum value of torque that is safe for use (operation) determined in advance for the motors 2 and 2A, and the maximum output torque can be output independently by the motors 2 and 2A. It is a torque larger than the rated maximum torque.

By the rotation of the ring body 45, as shown in FIG. 11, the recesses 46 for escape and the corresponding positions of the balls 43 come close to each other.
The state shown in FIG. 12 and FIG. 13 shows a state in which the ball 43 and the recess 45 coincide with each other, the ball 43 fits into the recess 46 and escapes, and the separation mechanism 50 is separated at the time of fixing. In this state, the locked state between the locking recess 44 of the nth internal gear 5 and the ball 43 is released, and the nth internal gear 5 becomes rotatable. Note that the ball 43 is normally configured not to return to its original state once it enters the recess 46.

When the output arm 30 or 31 is manually rotated in the above-described state, the n-th reduction gear portion 9 and the n-th internal gear 5 rotate in conjunction with the output arm 30 or 31, so that the output arm 30 Alternatively, manual rotation of 31 is possible, and the output arm 30 or 31 can be rotated when jamming occurs. When the load is a pair, manual operation of a load (not shown) such as a flap in the event of an emergency Operation is possible, and accidents can be prevented.
In the above-described operation, when the load 70 is one, when one of the first electric actuators 100 is jammed, the load 70 is driven by the other second electric actuator 100A. Reliability can be improved.

It is a top view which shows the state which connected the electric actuator by this invention to load. It is a front view of FIG. It is a front view which shows the other form of FIG. It is explanatory drawing which shows the jamming detection state of the electric actuator by this invention. It is sectional drawing which shows each electric actuator of FIG. FIG. 6 is a plan view of FIG. 5. FIG. 6 is a side view of FIG. 5. It is an expanded sectional view which shows the principal part of FIG. It is XX expanded sectional drawing of FIG. It is a cross-sectional block diagram which shows the time of jamming generation | occurrence | production of FIG. It is XX expanded sectional drawing of FIG. FIG. 11 is a cross-sectional configuration diagram illustrating a state where the decoupling mechanism of FIG. 10 is operated to complete the decoupling of the reduction gear unit. It is XX expanded sectional drawing of FIG.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Housing 2, 2A 1st, 2nd motor 3 1st internal gear 4 2nd internal gear 5 n internal gear 6 Planetary gear 7 1st reduction gear part 8 2nd reduction gear part 9 nth reduction gear part 10 1st Output shaft body 11 Second output shaft body 12 nth output shaft body 15A, (15B) Lever 20 First speed reducer 20A Second speed reducer 30, 31 First and second output arms 30A, 31A Connecting member 40 Holding hole 41 Coil spring 42 Through-hole 43 Ball 44 Locking recess 45 Ring body 46 Recess 50 Detachment mechanism at the time of fixation 60 First rotation gear shaft 61 Second rotation gear shaft 62, 62A Strain sensor 70 Load 71 Support point 100, 100A First, second Electric actuator 100B Electric actuator 150 Mounting member

Claims (4)

A pair of electric actuators (100, 100A) comprising a motor (2, 2A), a speed reducer (20, 20A) and an output arm (30, 31) are connected in series so as to face each other, and a pair arranged adjacent to each other When the load (70) is operated by the output arms (30, 31) of
Rotation direction of each motor (2, 2A), motor output torque of each motor (2, 2A), and polarity determination of each strain sensor (62, 62A) connected to each output arm (30, 31) A method for detecting a jamming of an electric actuator, comprising: detecting a jamming state of each of the electric actuators (100, 100A) based on a state.   The load (70) is one, and a pair of connecting members (30A, 31A) connected to the rotating load (70) are connected to the output arms (30, 31), respectively. The method for detecting jamming of an electric actuator according to claim 1, characterized in that (70) rotates about a fulcrum (71).   The load (70) is one, and a pair of connecting members (30A, 31A) connected to the direct acting load (70) are connected to the arms (30, 31), respectively, and the load ( 70. The method for detecting jamming of an electric actuator according to claim 1, wherein 70) reciprocates linearly.   The first or second motor (2 or 2A) of the first or second electric actuator (100 or 100A) in which the jamming state has occurred is the maximum torque that the first or second motor (2 or 2A) has. When the first and second reduction gears (20 or 20A) are driven, the first or second output arm (30 or 31) is turned freely by the separating mechanism (50) when the first and second reduction gears (20 or 20A) are fixed. The method for detecting jamming of an electric actuator according to any one of claims 1 to 3, wherein the load (70) is rotated by the first or second electric actuator (100 or 100A).

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