JPS6114999B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to an actuator, and particularly to an actuator used for depth and direction control of an underwater vehicle.

Fins (underwater rudders, rudders) are usually used to control the depth and direction of underwater vehicles, and in particular, as fin actuators for small unmanned vehicles (displacement: 10 kg), they are small, lightweight, and consume little energy. something is needed. However, conventional fin actuators for small craft use hydraulic servos, electric servos, etc., and have the drawback of exceeding allowable limits in terms of size, weight, energy consumption, etc.

The present invention was made to eliminate the drawbacks of the conventional fin actuator, and an object of the present invention is to provide an actuator that is small, lightweight, and consumes less energy.

The actuator of the present invention includes a movable cylinder that is connected to a driven body, is movably attached to the aircraft body, and has a restriction that allows fluid to enter and exit; A push-pull solenoid includes a plunger integrally connected with a piston that transmits a driving force, and a pair of coils that reciprocates the plunger; an elastic body that returns the plunger to a neutral position; The movable cylinder is provided with a moderation mechanism that unlocks the movable cylinder and locks the movable cylinder when the power is cut off, and moves the movable cylinder by a certain distance in one direction by repeatedly energizing the push-pull solenoid. The driven body is displaced in multiple stages.

According to the above configuration, the plunger is driven by energizing one coil of the plunger solenoid, and the piston coupled to the plunger is actuated. At this time, the driving force of the piston linearly moves the movable cylinder that is unlocked by the moderation mechanism, and displaces the driven body such as the rudder member.
When the movable cylinder moves a certain distance by one energization, the moderation mechanism locks the movable cylinder again to maintain the displacement of the driven body. After that, when the coil is de-energized, the plunger, which had been deflected by the previous energization, is returned to the neutral position by the elastic body, but since the movable cylinder is in a locked state, only the piston moves. Fluid flows out or flows in or out through the restriction as the relative movement of the Subsequently, when the same coil is energized, the movable cylinder further moves a certain distance in the same direction from the movement position caused by the previous operation, and switches the driven body to the next displacement. By repeating this operation for both coils, the movable cylinder can be linearly moved in multiple stages, and the displacement of the driven body can be switched in multiple stages.

Preferred embodiments of the actuator according to the present invention will be described in detail below with reference to the accompanying drawings.

In FIG. 1, a push-pull solenoid 12 is attached to a base 10 that is a part of the underwater vehicle. Push pull solenoid 12
is composed of coils 14 and 16 fixed to a base 10 and a plunger 18 that can move in the left and right directions in the figure within the coils 14 and 16. In the plunger 18, plungers 20 and 22 made of a magnetic material are arranged on both sides of the coils 14 and 16. Therefore, coil 1 on the left side of the diagram
When the coil 4 is energized, the flange 20 is attracted and the plunger 18 moves to the right, and when the left coil 16 is energized, the flange 22 is attracted and the plunger 18 is moved to the left in the figure. A spring 24 whose one end is fixed to the base 10 is attached to the left end of the plunger 18.
4 is a spring for returning the plunger 18 to the neutral position.

A piston 26 is formed at the right end of the plunger 18, and this piston 26 is connected to the cylinder 2.
It is fitted into the inside 30 of 8. cylinder 28
can itself be slidably moved in the left and right directions in FIG. Therefore, the inside 30 of the cylinder 28 is filled with liquid as well as the outside of the cylinder 28.
When the piston 26 at the tip of the plunger 18 moves to the right in the figure, the cylinder 28 is moved by an amount approximately equal to the amount of movement of the piston 26 due to the liquid, since the inside 30 of the cylinder 28 is only provided with a throttle 32. Move only to the right on the diagram. Conversely, when the piston 26 moves to the left in the figure, the cylinder 28 follows this and moves by the same distance to the left in the figure.

Furthermore, the cylinder 28 is provided with a moderation mechanism for holding it in a predetermined position. That is, the ball 3 is placed on the sliding surface of the cylinder 28 of the base 10.
4 is embedded, and this ball 34 is connected to the spring 3
6 toward the cylinder 28. On the other hand, the sliding surface of the cylinder 28 is formed with recesses 38, 40, and 42 into which the balls 34 fit. A rod 44 is provided at the end of the cylinder 28, and the rod 44 is connected to a fin (not shown). Therefore the cylinder 28
, the ball 34 is inserted into the recesses 38, 40,
42, the fins connected to the cylinder 26 can be maintained at a constant angle.

The embodiment of the actuator according to the present invention described above operates as follows. First, in the figure, when the coil 14 is energized, the plunger 18 moves to the right, and accordingly, the piston 26 at the tip of the plunger 18 also moves to the right. When the piston 26 moves to the right, the interior 30 of the cylinder 28 is closed to the throttle 32.
Since it is only communicated with the outside through
The cylinder 28 is moved to the right in the figure by the hydraulic pressure, and the ball 34 is also moved from the recess 38 to the recess 40 and fitted therein. The cylinder 28 has a ball 34 and a recess 4
0 is held by a moderation mechanism at the corresponding position, so the fins (not shown) are
A constant angle can be maintained at this position. On the other hand, when the coil 14 is de-energized, the plunger 18 is returned to its original position by the elastic force of the spring 24.
Liquid enters the interior 30 of the cylinder 28 through a restriction 32 . In this case, since the piston 26 moves gradually, the cylinder 28 does not follow the movement of the plunger 18, and remains held by the moderation mechanism.

On the other hand, when the coil 16 is energized, the plunger 1
8 moves to the left in the figure, and the piston 26 also moves to the left. When this piston 26 moves, the inside 30 of the cylinder 28 is only communicated with the outside via the throttle 32, so when the piston 26 moves suddenly, the cylinder 28 follows the movement of the piston 26, and the ball 34 also moves. , and then fits into the recess 38 from the recess 40 again. The cylinder 28 is held at the position of the recess 38, and the fins (not shown) are maintained at a predetermined angle corresponding to this position. When the coil 16 is de-energized, the plunger 18 gradually returns to the right due to the elastic force of the spring 24. In this case, the cylinder 28 does not follow the movement of the piston 26 and remains held by the moderation mechanism.

In the above embodiment, the actuator is small and lightweight, so it can be installed in a small underwater vehicle. Furthermore, in the past, power was always consumed to maintain the fin at a constant angle, but in the actuator, the fin angle is mechanically maintained by a moderation mechanism, so power is not consumed except for changing the fin angle. Efficient use of energy is achieved by not using it.

As described above, according to the present invention, the movable cylinder can be linearly moved in the same direction by controlling the energization of the push-pull solenoid, so the displacement of the driven body can be changed in multiple stages. be able to. In addition, by increasing the number of times the same coil is energized, the amount of movement of the movable cylinder can be increased, eliminating the need to increase the operating stroke of the plunger, making the actuator smaller and lighter, and reducing power consumption. You can also do less.

[Brief explanation of the drawing]

FIG. 1 is a sectional view showing the structure of an embodiment of an actuator according to the present invention. 12...Push pull solenoid, 14, 16
... Coil, 18 ... Plunger, 24 ... Spring, 26 ... Piston, 28 ... Cylinder, 32
...Aperture, 34...Ball, 36...Spring, 3
8, 40, 42... recess.

Claims (1)

[Claims] 1. A movable cylinder that is connected to a driven body, is movably attached to the aircraft body, and has a restriction that allows fluid to enter and exit, and a piston that is fitted into the movable cylinder and transmits driving force to the movable cylinder via fluid. a push-pull solenoid consisting of a plunger integrally coupled with a pair of coils for reciprocating the plunger; an elastic body for returning the plunger to a neutral point; and an engagement of the movable cylinder when the push-pull solenoid is energized. and a moderation mechanism that locks the movable cylinder when the power is cut off, and repeatedly energizes the push-pull solenoid to move the movable cylinder by a fixed distance in one direction to control the driven object. An actuator characterized by displacing in multiple stages.