JPS61215856A - Output characteristic variable type load torque reducer - Google Patents

Abstract

PURPOSE:To set an output characteristic corresponding to a change of the actual load, by arranging the center of a crest in a cam, integrally provided with an input/output shaft, in a neutral phase position and providing cam followers to be arranged in said positions while providing spring means urging the cam followers toward the input/output shaft. CONSTITUTION:A casing 11 contains inside a cam 30, integrally provided with an input/output shaft 15 in its central part, in a bore 12. Circular sectional ball housings 17, penetrating through the casing 11 and reaching the bore 12, mount with a play balls 18 serving as a cam follower. The ball 18 is resiliently pressed by a leaf spring 19 serving as a spring means. Consequently, a load torque reducer, selecting the cam of large degree of freedom in shape selection as a reducing element of a load torque, can set an output characteristic corresponding to the change of an actual load.

Description

[Detailed Description of the Invention] [Industrial Application Field] The present invention relates to a device for reducing the torque of a load having spring characteristics, such as a steering blade of a rocket; The present invention relates to a variable gravity characteristic type load torque reducing device in which, when the input/output shaft rotates in one direction from a phase position, the input/output shaft is biased in the direction of the rotational force, and hence in the direction opposite to the load torque.

[Conventional technology]

One such device is manufactured by, for example, the American company ERD (IERD ING).
.

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Its function is explained as VICES J, and as stated in the company's bulletin, this device was developed for use in the wing control mechanism of aircraft, and when combined with a control actuator, the required human energy is reduced. You can save up to 50%.

6 and 7 show specific examples of the above device,
A pair of frames 2, 2 facing each other via four wooden cylindrical stays 1a to ld arranged at equal angles support the input/output shaft 3 in a penetrating state, and one of the input/output shafts One of the protrusions is an input shaft 3a connected to a 7-cut unit, for example a servo motor, and the other protrusion is an output shaft 3b connected to a load 1, for example the steering Hc of a rocket.

Reference numeral 4 denotes a disk-shaped rotor provided at the center of the input/output shaft 3 and integrally with the shaft, and the output shaft 3b of this rotor is connected to the alligator bin 5a.
, 5b, and the doujinshi axis 3d is also the alligator bottle 5a',
5b' are each implanted axially symmetrically. 8a and 8b are coil springs with legs fitted around a pair of opposing stays 1a and 1b, and the legs press six pairs of bottles 5a, 5a' and 5b, 5b' from the outside. .

From the above configuration, when no torque is generated on the input shaft 3a, the input/output shaft 3 stands still at a position (neutral phase position) where the moment due to the above-mentioned elastic force is balanced. Here, in order to give the steering angle δ to the steering wheel 5IIC, the input shaft 3a is moved along the arrow R.
When driven in the direction of , the bins 5a, 5a' and 5b, 5
With the phase change of b', the coil springs 8a and 8b
The posture changes as shown by the two-dot chain line, and as a result, the balance between the elastic force and the moment arm is lost, and the torque is increased around the rotational force direction 8. Therefore, the load torque due to the aeroelastic force F acting on the steering blade C can be reduced by the above-mentioned increase.

The same applies when giving the opposite steering angle to the steering gXc.

[Problems with conventional technology]

By the way, when such a conventional device is incorporated into a rocket steering system, for example.

There is a problem in that it is difficult to achieve consistency between changes in the load torque applied to the steering blade and the output of the load torque reduction device.

This is because the output characteristics of this conventional device change almost linearly in the normal steering angle range mainly in accordance with the phase change of the bin, whereas the load torque of the steering blade changes as a higher-order function of the steering angle. Because it does.

Therefore, an object of the present invention is to make the output characteristics of a load torque reducing device correspond to changes in the actual load.

[Means of invention]

Above 1! The means of the present invention that solves Jim's problem is to integrally provide a cam on the input and output shafts, arrange the center of the cam ridge in the cam at a neutral phase position, arrange a cam follower at this neutral phase position, and dispose the cam follower at the neutral phase position. A spring means is provided to bias the input/output shaft toward the input/output shaft.

[Effect]

According to the above means, when the input/output shaft is in the neutral phase position, the cam follower is biased toward the input/output shaft at the center of the cam mount, so no torque is generated on the shaft. - When the output shaft is rotated in one direction, the cam follower comes into contact with the inclined cam surface at the rear of the rotation and is compressed by the spring means. A force is generated in the opposite direction and the torque is augmented. Since this component force is determined by the spring characteristics of the spring means and the cam profile, by appropriately selecting both of these, the characteristics of the output torque can be set as desired.

〔Example〕

In FIGS. 1 and 2, one mouth is a casing whose main part has a square outer shape and has a circular pore 12 in the center.
3.13 is the 4 wooden screws 1 on each side of this casing.
4, 15 is the input/output shaft supported on these covers via bearings 18 and 18, 1
5a and 15b are the input shaft and output shaft of the shaft, respectively.

Reference numeral 30 denotes a cam provided integrally with the central part of the input/output shaft 15, and is accommodated in the pore 12, and the posture shown in FIG. 1 shows the case where the cam is in a neutral phase position. The cam 30 has four symmetrical cam ridges 31 arranged in equiangular relation, and in the neutral position, the center line 0-A of each cam ridge is directed toward the center of each side of the quadrangle.

Reference numeral 17 denotes a pole housing having a circular cross section that passes through the casing 11 and reaches the pore 12, and is provided concentrically with the center line 0-A, and 17 is a pole as a cam follower that is loosely attached to this pole housing.

Reference numeral 19 denotes a leaf spring as a spring means, one end of which is fixed to the casing 11 using a bolt 20, and the other end of which presses against the pole 18. Therefore, the pawl 18 comes into contact with the top of the cam ridge 31 in this neutral phase position, and the movement of the pawl 18 is regulated by the pawl housing 17 while the input/output shaft 1
It is biased towards 5.

The embodiment is as described above, and since each pole 18 is in elastic contact with the top of the symmetrical cam ridge 31 in the illustrated neutral phase position, no torque is generated in any direction. When the input shaft 15a is rotated in the direction of arrow MR to give δ, the pawl 18 is pushed in by the leaf spring 19 and comes into elastic contact with the inclined cam surface 32 at the rear of the rotation.

The two-dot chain line in FIG. 3(A) shows the attitude of the cam 30 in this case, and 33 is the contact point between the cam surface 32 and the pole 18;
rt is the elastic force of the leaf spring 19 at this time.

f is the tangential force of the cam 30, and is its moment arm.If friction torque is ignored for convenience, the output torque TO of the load torque reduction device is TO=Ta+4f11! ;L, where Ta is the actuator torque input to the input shaft 15a. Since this augmented torque f-1 is a function of the elastic force fl (vector), it is ultimately determined by the spring characteristics of the leaf spring 19 and the profile of the cam surface 32.

Therefore, by appropriately selecting these elements, it is possible to make the output characteristics (curve X) correspond to the load characteristics (curve Y), as shown in FIG.

FIG. 4(A) shows another embodiment of the cam, in which a circular arc surface 3 concentric with the input/output shaft 15 at the top of the cam 30'
4 to provide an output characteristic of X° with a dead zone a as shown in FIG.

FIG. 5(A) shows yet another embodiment, and FIG. 5(B) shows Y
As shown by o, when there is a variation in the load torque T in the vicinity of the neutral phase position, in order to adjust the output characteristic x° to correspond to this, an auxiliary cam ridge 35.
35 is formed symmetrically.

〔effect〕

As explained above, the present invention adopts a cam with a large degree of freedom in shape selection as a load torque reducing element, so it is possible to set output characteristics that correspond to changes in actual load.
This increases the control precision of the steering servo system, etc., and increases the walking capacity of the actuator.

[Brief explanation of drawings]

FIG. 1 is a sectional view showing one embodiment of the present invention, and FIG. 2 is a cross-sectional view showing one embodiment of the present invention.
Figure 3 is an explanatory diagram of the operation of the embodiment shown in Figure 1, Figures 4 and 5 are illustrations of the main parts of different embodiments and their operation, and Figure 8 is a conventional FIG. 7 is a side view showing the device of FIG. 3.15... Input/output shaft 3a, 15a... Input shaft 3b, 15b... Output shaft 18... Cam follower (pole) 19... Spring means (plate spring) 30... Cam 31 ...Cam mount 0-A...Cam mount center line R...One rotation direction T...Load torque TO...Output torque Patent applicant Yukie Omori, Director of Technology Research Headquarters, Agency of Defense People Nissan Motor Co., Ltd. JS Busy ＼ -ri. (Figure 3 Δ (B) Figure 4 1st (8), D

Claims (1)

[Claims] When the input/output shaft is rotated in one direction from the neutral phase position, the input/output shaft is biased in the direction of rotation, thereby reducing the torque of the load connected to the output side of the shaft. In the device, a cam is integrally provided on the input and output shafts, the center of the cam ridge on this cam is placed at a neutral phase position, and a cam follower is placed at this neutral phase position, and the cam follower is placed in the direction of the input and output shafts. A load torque reducing device with variable output characteristics equipped with a spring means for biasing the load.