WO2021015053A1 - Actionneur électrique - Google Patents

Actionneur électrique Download PDF

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Publication number
WO2021015053A1
WO2021015053A1 PCT/JP2020/027354 JP2020027354W WO2021015053A1 WO 2021015053 A1 WO2021015053 A1 WO 2021015053A1 JP 2020027354 W JP2020027354 W JP 2020027354W WO 2021015053 A1 WO2021015053 A1 WO 2021015053A1
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WO
WIPO (PCT)
Prior art keywords
braking
shaft
engaging
electric actuator
gear
Prior art date
Application number
PCT/JP2020/027354
Other languages
English (en)
Japanese (ja)
Inventor
達司 井上
Original Assignee
Ntn株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Ntn株式会社 filed Critical Ntn株式会社
Publication of WO2021015053A1 publication Critical patent/WO2021015053A1/fr

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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D65/00—Parts or details
    • F16D65/14—Actuating mechanisms for brakes; Means for initiating operation at a predetermined position
    • F16D65/16—Actuating mechanisms for brakes; Means for initiating operation at a predetermined position arranged in or on the brake
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D66/00—Arrangements for monitoring working conditions, e.g. wear, temperature
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
    • H02K7/06—Means for converting reciprocating motion into rotary motion or vice versa
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
    • H02K7/10—Structural association with clutches, brakes, gears, pulleys or mechanical starters
    • H02K7/102—Structural association with clutches, brakes, gears, pulleys or mechanical starters with friction brakes
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
    • H02K7/10—Structural association with clutches, brakes, gears, pulleys or mechanical starters
    • H02K7/116—Structural association with clutches, brakes, gears, pulleys or mechanical starters with gears
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
    • H02P29/02—Providing protection against overload without automatic interruption of supply
    • H02P29/024—Detecting a fault condition, e.g. short circuit, locked rotor, open circuit or loss of load

Definitions

  • the present invention relates to an electric actuator, in particular, a drive unit, a conversion mechanism configured to convert a rotary motion from the drive unit into a linear motion, and a drive force to be transmitted from the drive unit to the conversion mechanism.
  • the present invention relates to an electric actuator provided with a transmission mechanism.
  • the ball screw mechanism has very good transmission efficiency of the driving force to the target device operated by the electric actuator, but when an external force is input to the ball screw from the target device side, the ball screw shaft moves in the axial direction. It may end up.
  • an electric actuator having a braking mechanism such as a lock mechanism for preventing the ball screw from moving in response to a reverse input from the target device side has been proposed.
  • Patent Document 1 discloses an electric actuator including a lock sensor that contacts a lock member that prevents the conversion mechanism from moving and detects the advancing / retreating position of the lock member. ing. Based on the output signal of the lock sensor, it is determined whether or not the lock member is engaged with the engagement hole provided in the gear of the transmission mechanism.
  • the present invention has been made to solve the above-mentioned problems, and an object of the present invention is to provide an electric actuator capable of more accurately determining that the braking mechanism is operating normally. is there.
  • the electric actuator includes a drive unit, a conversion mechanism configured to convert rotational motion from the drive unit into linear motion, and a transmission mechanism configured to transmit a driving force from the drive unit to the conversion mechanism.
  • a braking mechanism configured to prevent the conversion mechanism from moving due to an external force, and a control device for controlling the drive unit and the braking mechanism are provided.
  • the conversion mechanism includes a shaft member that outputs linear motion to the outside.
  • the control device controls the drive unit so that the linearly moving position of the shaft member becomes the target position before executing the first control, and in the second control, the linearly moving position of the shaft member is set.
  • the drive unit is controlled so as to exceed the predetermined change allowable range with respect to the target position, and when the linear motion position of the shaft member exceeds the change allowable range with respect to the target position, the braking mechanism is abnormal. Judge that there is.
  • the control device controls the drive unit so that the linearly moving position of the shaft member becomes the confirmation position.
  • the confirmation position is a position that is more than the allowable range of change in the direction in which the shaft member moves from the target position due to an external force.
  • the electric actuator further includes a housing that supports the drive unit, the conversion mechanism, the transmission mechanism, and the braking mechanism.
  • the transmission mechanism includes a gear in which at least one engaging portion is formed in the circumferential direction.
  • the braking mechanism is a lock member that is stationary in the rotation direction of the gear with respect to the housing and can be engaged with the engaging portion, a locked state in which the locking member and the engaging portion are engaged, and the engagement is released. Includes a switching mechanism that can switch the released state.
  • the electric actuator further includes a housing that supports the drive unit, the conversion mechanism, the transmission mechanism, and the braking mechanism.
  • the transmission mechanism includes a gear having a cylindrical surface that rotates integrally concentrically.
  • the braking mechanism is a connected state in which a fixed portion that is stationary with respect to the housing and has a cam surface, an engager that is arranged between the cylindrical surface and the cam surface, and the engager are engaged with the cylindrical surface and the cam surface.
  • a switching mechanism capable of switching the released state in which the engagement is released.
  • the electric actuator further includes a housing that supports the drive unit, the conversion mechanism, the transmission mechanism, and the braking mechanism.
  • the braking mechanism includes an engaging member that can move concentrically with the rotating shaft or the driving shaft of the driving unit belonging to the transmission mechanism and that can move in the axial direction with respect to the rotating shaft or the driving shaft, and the engaging member. It includes a braking member that stands still with respect to the housing in a state of facing the axial direction, a connected state in which the engaging member is pressed against the braking member, and a switching mechanism capable of switching between a released state in which the pressing is released.
  • the engaging and braking members have friction surfaces or face splines that face each other.
  • FIG. 5 is a cross-sectional view taken along the line II-II of the vertical cross-sectional view of the electric actuator of the second embodiment. It is an enlarged view around the electromagnetic clutch of the 2nd Embodiment. It is an exploded perspective view of the braking mechanism which concerns on 2nd Embodiment. It is an enlarged view around the roller of the 2nd Embodiment. It is sectional drawing which shows the main part of the electric actuator which concerns on 3rd Embodiment. It is a partially enlarged sectional view which shows the release state of the electromagnetic clutch of 3rd Embodiment. It is sectional drawing which shows the main part of the electric actuator which concerns on 4th Embodiment. It is a perspective view which shows the modification example of the braking member and the engaging member of 3rd Embodiment and 4th Embodiment.
  • FIG. 1 is an external perspective view of an electric actuator 1 according to an embodiment of the present invention.
  • FIG. 2 is a vertical sectional view showing an electric actuator. In FIG. 1, a part of the case and some parts are not shown so that the internal configuration of the electric actuator can be easily understood.
  • the electric actuator 1 of the present embodiment includes a drive unit 2 that generates a driving force, a motion conversion mechanism 3 that converts a rotational motion from the drive unit 2 into a linear motion, and a drive unit. It includes a transmission gear mechanism 4 that transmits a driving force from 2 to the motion conversion mechanism 3, a motion conversion mechanism support portion 5 that supports the motion conversion mechanism 3, and a lock mechanism 7 that prevents the motion conversion mechanism 3 from being driven.
  • the above-mentioned parts constituting the electric actuator 1 are housed in the case of the electric actuator 1.
  • the electric actuator 1 further includes a controller described later.
  • the detailed configuration of each part constituting the electric actuator 1 will be described.
  • the drive unit 2 includes a drive motor (DC motor) 10 for driving the motion conversion mechanism 3 and a reduction gear mechanism 16 for decelerating and outputting the driving force of the drive motor 10.
  • the drive motor 10 is supported by contact with the inner peripheral surface of the case. The detailed configuration of the reduction gear mechanism 16 will be described later.
  • the motion conversion mechanism 3 is composed of a ball screw 22.
  • the ball screw 22 includes a ball screw nut 23 as a rotating body, a ball screw shaft 24 which is a shaft portion that moves linearly, a large number of balls 25, and a frame 26 as a circulation member.
  • Spiral grooves 23a and 24a are formed on the inner peripheral surface of the ball screw nut 23 and the outer peripheral surface of the ball screw shaft 24, respectively.
  • Balls 25 are filled between the spiral grooves 23a and 24a, and a spinning top 26 is incorporated, whereby two rows of balls 25 circulate.
  • the ball screw nut 23 rotates in the forward direction or the reverse direction in response to the driving force from the drive motor 10.
  • the rotation of the ball screw shaft 24 is restricted by the rotation regulating member 27 provided at the rear end portion (right end portion in FIG. 2). Therefore, when the ball screw nut 23 rotates, the ball 25 circulates along the spiral grooves 23a and 24a and the spinning top 26, and the ball screw shaft 24 moves back and forth in the axial direction.
  • FIG. 2 shows a state in which the ball screw shaft 24 is arranged at the initial position (the position where the ball screw shaft 24 is most retracted). Further, the ball screw shaft 24 is arranged parallel to the output shaft 10a of the drive motor 10, and the rotational motion from the drive motor 10 is converted into an axial linear motion parallel to the output shaft 10a by the ball screw shaft 24. To.
  • the tip end portion (left end portion in FIG. 2) of the ball screw shaft 24 in the forward direction functions as an operation unit (actuator head) 6 for operating the operation target device.
  • the operation unit 6 ball screw shaft 24
  • the operation unit 6 moves from the brake-off position to the brake-on position by driving the drive motor 10, and with a desired brake load. It operates by pulling the brake cable (not shown).
  • the transmission gear mechanism 4 transmits a driving force from the drive motor 10 of the drive unit 2 to the ball screw 22 which is the motion conversion mechanism 3.
  • the transmission gear mechanism 4 has a drive gear 30 on the drive side as a first gear and a driven gear 31 on the driven side as a second gear that meshes with the drive gear 30.
  • a gear boss 32 is press-fitted into the rotation center of the drive gear 30.
  • the drive gear 30 is rotatably supported by two rolling bearings 33 and 34 via the gear boss 32.
  • the driven gear 31 is press-fitted and fixed to the outer peripheral surface of the ball screw nut 23.
  • the electric actuator 1 includes a stroke sensor 70 for detecting the stroke of the ball screw shaft 24 (see FIG. 1).
  • the stroke sensor 70 is attached to the inner surface of the case.
  • a permanent magnet 73 as a sensor target is attached to the outer peripheral surface of the ball screw shaft 24 (see FIG. 2).
  • the permanent magnet 73 is attached to the ball screw shaft 24 via a cylindrical elastic member 74 that is partially separated in the circumferential direction.
  • the motion conversion mechanism support portion 5 supports the ball screw 22 of the motion conversion mechanism 3.
  • the motion conversion mechanism support portion 5 is composed of back-aligned double-row angular contact ball bearings in which the outer ring 42, the inner ring 43, and the double-row balls 44 interposed between them are the main components.
  • the motion conversion mechanism support portion 5 is fixed to the case.
  • the motion conversion mechanism support portion 5 is press-fitted and fixed to the outer peripheral surface of the ball screw nut 23 on the rear end side (right side in FIG. 2) of the ball screw shaft 24 with respect to the driven gear 31.
  • the motion conversion mechanism support portion 5 and the driven gear 31 fixed to the outer peripheral surface of the ball screw nut 23 are mounted on the regulation protrusion 23b provided on the driven gear 31 side of the ball screw nut 23 and the motion conversion mechanism support portion 5 side. Axial movement is regulated by the regulating member 47.
  • the reduction gear mechanism 16 is composed of a planetary gear reduction mechanism including a plurality of gears and the like.
  • the reduction gear mechanism 16 includes a ring gear 55, a sun gear 56, a plurality of planetary gears 57, and a planetary gear carrier 58.
  • the ring gear 55 is fixed to the case.
  • the sun gear 56 is arranged in the center of the ring gear 55, and the output shaft 10a of the drive motor 10 is press-fitted into the sun gear 56.
  • each planetary gear 57 is arranged so as to mesh with the ring gear 55 and the sun gear 56.
  • Each planetary gear 57 is rotatably supported by a planetary gear carrier 58.
  • the planetary gear carrier 58 has a cylindrical portion 58a at its center, and the cylindrical portion 58a is press-fitted between the outer peripheral surface of the gear boss 32 and the inner peripheral surface of the rolling bearing 33.
  • FIG. 3 is a cross-sectional view taken along the line YY of the vertical cross-sectional view of the electric actuator 1.
  • FIG. 4 is a cross-sectional view taken along the line ZZ of the vertical cross-sectional view of the electric actuator 1.
  • the locking mechanism 7 includes a locking member 60, a sliding screw nut 61, a sliding screw shaft 62, and a lock motor (DC motor) 64.
  • the lock member 60 is fastened to the sliding screw nut 61 with a bolt.
  • the lock motor 64 is fixed to the case.
  • the output shaft 64a of the lock motor 64 is attached to the sliding screw shaft 62.
  • the sliding screw nut 61 to which the lock member 60 is attached is screwed with respect to the sliding screw shaft 62.
  • the lock member 60 moves along the axial direction of the sliding screw shaft 62.
  • the drive gear 30 is arranged in the direction in which the lock member 60 advances (on the left side in FIG. 3).
  • the drive gear 30 is formed with an engaging hole 30a into which the tip 60a of the lock member 60 can be engaged.
  • a plurality of engaging holes 30a are provided in the circumferential direction of the drive gear 30.
  • the rotation of the drive gear 30 is restricted by engaging the tip portion 60a of the lock member 60 with any of these engaging holes 30a.
  • an inclined surface 30b is formed at the inlet of each engaging hole 30a, and the tip portion 60a of the lock member 60 is smoothly inserted into the engaging hole 30a along the inclined surface 30b.
  • the state in which the tip portion 60a of the lock member 60 is engaged with the engagement hole 30a is referred to as an "engaged state” or a “locked state", and the tip portion 60a of the lock member 60 is expressed from the engagement hole 30a.
  • the disengaged state may be expressed as “disengaged state” or "unlocked state”.
  • the electric actuator 1 includes a micro switch 69 that detects the advancing / retreating position of the lock member 60 in order to grasp whether or not it is in the locked state (see FIG. 3).
  • the microswitch 69 has a contactor 69a made of an elastic member such as a leaf spring. When the lock member 60 advances, the lock member 60 pushes the contactor 69a, so that the microswitch 69 outputs an on signal indicating that the lock member 60 is in the locked state. When the lock member 60 retracts and does not press the contactor 69a, the microswitch 69 outputs an off signal indicating that the lock member 60 is in the unlocked state.
  • FIG. 3 shows a cross-sectional view when the lock member 60 is located at the first position.
  • the first position is the position of the lock member 60 when the tip portion 60a of the lock member 60 is completely engaged with the engagement hole 30a of the drive gear 30.
  • the lock motor 64 is rotated in the reverse direction (rotated in the direction in which the lock member 60 is retracted) while the lock member 60 is in the first position, the sliding screw shaft 62 is rotated accordingly.
  • the sliding screw shaft 62 rotates, the sliding screw nut 61 retracts, and the lock member 60 also retracts integrally with the sliding screw nut 61.
  • the tip portion 60a of the lock member 60 is disengaged from the engagement hole 30a of the drive gear 30, and the lock member 60 is in the unlocked state where it is located at the second position away from the drive gear 30.
  • FIG. 5 is a cross-sectional view of the electric actuator 1 when the lock member 60 is located at the second position.
  • the lock member 60 is movable between the first position shown in FIG. 3 and the second position shown in FIG.
  • the micro switch 69 outputs an off signal because the lock member 60 does not push the contactor 69a.
  • the lock member 60 moves forward.
  • a part of the tip portion 60a of the lock member 60 engages (inserts) with the engagement hole 30a of the drive gear 30.
  • FIG. 6 is a cross-sectional view of the electric actuator 1 when the lock member 60 is located at the third position.
  • the third position is that a part of the tip portion 60a of the lock member 60 engages with the engagement hole 30a of the drive gear 30, and the lock member 60 pushes the contactor 69a, and an on signal is output from the microswitch 69.
  • This is the position of the lock member 60 when starting.
  • the micro switch 69 outputs an ON signal in the locked state (first state) in which the lock member 60 is located on the first position (see FIG. 3) side of the third position shown in FIG.
  • the micro switch 69 outputs an off signal in the unlocked state (second state) in which the lock member 60 is located closer to the second position (see FIG. 5) than the third position.
  • the lock member 60 may engage with a recess (for example, between teeth) formed in the drive gear 30.
  • a recess for example, between teeth
  • FIG. 7 is a block diagram showing a controller 80 included in the electric actuator 1 and its peripheral configuration.
  • the controller 80 includes, for example, a CPU (Central Processing Unit), a ROM (Read Only Memory), and a RAM (Random Access Memory). In addition, these are connected to each other via an internal bus.
  • the CPU expands the program stored in the ROM into a RAM or the like and executes it.
  • the program stored in the ROM is a program in which the processing method of the controller 80 is described.
  • the controller 80 includes an adder 82, a stroke control unit 84, a speed calculation unit 86, and a lock control unit 88.
  • the controller 80 receives a target value from a higher-level control unit (for example, when the electric actuator 1 is mounted on a vehicle, the ECU (Electronic Control Unit) of the vehicle).
  • the target value is, for example, the target stroke position of the ball screw shaft 24 calculated by the ECU based on the operation amount when the operation amount is input to the above-mentioned ECU.
  • the target value may be a target current value output to the drive motor 10.
  • a control signal is sent from the stroke control unit 84 of the controller 80 to the drive motor 10.
  • the drive motor 10 that receives the control signal starts rotary drive, and this driving force is transmitted to the ball screw shaft 24 via the reduction gear mechanism 16, the drive gear 30, the driven gear 31, and the ball screw nut 23.
  • the target value is a positive value
  • the ball screw shaft 24 moves forward
  • the target value is a negative value
  • the ball screw shaft 24 moves backward.
  • the operation target device is operated by the operation unit 6 arranged on the tip end side (actuator head side) of the ball screw shaft 24.
  • the stroke sensor 70 detects the stroke position (axial position) of the ball screw shaft 24.
  • the stroke control unit 84 calculates the difference between the stroke position detected by the stroke sensor 70 and the target stroke position. Then, the stroke control unit 84 drives the drive motor 10 until the stroke position coincides with the target stroke position. In this way, the stroke position detected by the stroke sensor 70 is fed back and the position of the ball screw shaft 24 is controlled.
  • the speed calculation unit 86 calculates the speed v (movement speed in the axial direction) of the ball screw shaft 24 by time-differentiating the stroke position detected by the stroke sensor 70. As described above, the ball screw shaft 24 moves with the rotation of the drive gear 30. Therefore, the speed v of the ball screw shaft 24 is a parameter value that indirectly indicates the rotation speed of the drive gear 30.
  • the lock control unit 88 performs a comparison process for comparing the speed v calculated by the speed calculation unit 86 with the threshold value va.
  • the threshold value va is a design value arbitrarily set as a speed at which damage to the lock member 60 can be suppressed and the lock member 60 can be smoothly locked by the lock member 60 without being repelled by the drive gear 30 having the engaging portion. Is.
  • the lock control unit 88 controls the lock motor 64 so as to advance the lock member 60 from the second position (see FIG. 5) to the first position (see FIG. 3) when the speed v is smaller than the threshold value va. To do.
  • the lock control unit 88 controls the lock motor 64 so as to advance the lock member 60 from the second position to the first position when the rotation speed r of the drive gear 30 is smaller than the threshold value f (va). To do.
  • the lock member 60 advances toward the drive gear 30.
  • the tip portion 60a of the lock member 60 can be easily engaged with the engagement hole 30a of the drive gear 30, and damage to the lock member 60 and the drive gear 30 can be suppressed.
  • the lock control unit 88 may perform the above comparison process after the position of the ball screw shaft (shaft member) 24 reaches a predetermined range. That is, the lock control unit 88 performs the above comparison process when the stroke position detected by the stroke sensor 70 is within a predetermined range. As a result, the position of the ball screw shaft 24 can be held at a predetermined position.
  • the lock control unit 88 changes the relative position between the tip portion 60a and the engagement hole 30a.
  • the lock member 60 may be advanced again.
  • the lock control unit 88 changes the target stroke position of the ball screw shaft 24 by the offset amount ⁇ Xc by outputting a predetermined offset amount ⁇ Xc to the adder 82.
  • the stroke control unit 84 rotates the drive gear 30 so that the position of the ball screw shaft 24 becomes a new target stroke position.
  • the relative position between the tip portion 60a of the lock member 60 and the engagement hole 30a of the drive gear 30 changes.
  • the controller 80 controls the lock mechanism 7 so as to prevent the motion conversion mechanism 3 from moving, and then executes the control to rotate the drive motor 10.
  • the ball screw shaft 24 moves, it is determined that the lock mechanism 7 is abnormal. As a result, it can be determined more accurately that the lock mechanism 7 is operating normally.
  • FIG. 8 is a flowchart showing a flow of an example of the actuator control process executed by the controller 80. With reference to FIG. 8, this actuator control process is called and executed at predetermined control cycles from a higher-level process.
  • the controller 80 determines whether or not the lock mechanism 7 is in "confirmation control” for abnormalities (step S111).
  • this electric actuator after executing "target value control” for controlling the stroke position of the operation unit 6 at the tip of the ball screw shaft 24 so as to reach the target value, and controlling the lock mechanism 7 to be in the locked state. , "Confirmation control” for confirming whether the lock mechanism 7 is abnormal is executed.
  • step S111 the controller 80 determines whether or not the "target value control" is in progress. If it is determined that the "target value control" is not in progress (NO in step S112), it is determined whether or not the target value has been input to the controller 80 from the upper control unit (step S113). If it is determined that the target value has not been input (NO in step S113), the controller 80 returns the process to be executed to the caller of this actuator control process.
  • step S113 when it is determined that the target value has been input (YES in step S113) and when it is determined that the target value is being controlled (YES in step S112), the controller 80 determines the stroke position of the operation unit 6. Determines whether or not has reached the target value (step S114).
  • step S114 When it is determined that the stroke position of the operation unit 6 has not reached the target value (NO in step S114), the controller 80 controls the drive motor 10 so that the stroke position of the operation unit 6 approaches the target value (already controlled). If is being executed, the control is continued) (step S115), and the process to be executed is returned to the process of the caller of this actuator control process.
  • step S116 the controller 80 executes the lock process (step S116).
  • the lock process is a process of moving the lock member 60 from the non-engaged position to the engaged position.
  • the controller 80 changes the target value of the stroke position of the operation unit 6 to the lock confirmation target value (step S117).
  • FIG. 9 is a diagram for explaining a lock confirmation target value.
  • the sensor value is a value indicating the position of the operation unit 6 detected by the stroke sensor 70.
  • This sensor value includes mechanical error (for example, backlash of the gear, gap between the lock member 60 and the engagement hole when it is in the engagement position, etc.) and sensor error (for example, the accuracy of the stroke sensor 70 itself). , Error due to AD conversion, etc.), an error may occur between the actual position and the position indicated by the sensor value.
  • the error that can occur in this sensor value is set in advance as the sensor value change allowable range (for example, ⁇ d).
  • the lock confirmation target value is a value outside the permissible change range of the sensor value with respect to the position indicated by the target value of the operation unit 6 input from the upper control unit, and the operation unit 6 is subjected to an external force from the position of the target value. Is the value in the direction in which is moved. For example, when the target value is a, the direction moved by the external force is the negative direction, and the position indicated by the lock confirmation target value is set to a position outside the range 1.5 times the sensor value change allowable range.
  • the lock confirmation target value b a-1.5d.
  • step S117 when it is determined that confirmation control is in progress (YES in step S111), the controller 80 drives the drive motor so that the stroke position of the operation unit 6 approaches the lock confirmation target value. 10 is controlled (control is continued if the control is already being executed) (step S121).
  • the controller 80 determines whether or not the stroke position of the operation unit 6 indicated by the signal from the stroke sensor 70 has changed from the position of the original target value to the sensor value change allowable range or more (step S122). .. If it is determined that there is no change (NO in step S122), the controller 80 determines whether or not the time for confirming whether the lock mechanism 7 is abnormal has elapsed (step S123). If it is determined that the process has not elapsed (NO in step S123), the controller 80 returns the process to be executed to the process of the caller of this actuator control process.
  • step S123 If the time to confirm whether the lock mechanism 7 is abnormal has elapsed (YES in step S123) and the lock mechanism 7 breaks, it means that the lock mechanism 7 is functioning normally and the stroke position has not changed.
  • the controller 80 ends the control of the drive motor 10, notifies the upper control unit that the control has ended normally (step S124), and returns the process to be executed to the process of the caller of the actuator control process.
  • step S122 determines whether or not the number of retries exceeds the set value (step S125). When it is determined that the number of retries does not exceed the set value (NO in step S125), the controller 80 adds the number of retries once (step S126), and the stroke position of the operation unit 6 approaches the original target value.
  • the drive motor 10 is controlled (step S127), and the process to be executed is returned to the process of the caller of this actuator control process.
  • step S125 When it is determined that the number of retries exceeds the set value (YES in step S125), the controller 80 blinks, for example, the abnormality lamp provided in the controller 80 to indicate that it is abnormal (step S131). , Notifies the upper control unit that the control has ended abnormally (step S132), ends the control of the drive motor 10 (step S133), and returns the process to be executed to the process of the caller of this actuator control process.
  • [Second Embodiment] Braking configured to prevent the conversion mechanism (motion conversion mechanism 3) configured to convert the rotational motion from the drive unit (drive motor 10) into linear motion in the first embodiment from moving due to an external force.
  • the mechanism is a lock mechanism 7 that prevents the ball screw 22 of the motion conversion mechanism 3 from moving due to an external force by engaging the lock member 60 driven by the lock motor 64 with the engagement hole 30a of the drive gear 30. I decided.
  • the roller 143 of the cage 144 engages with the cylindrical surface 141 on the drive gear 133 side and the cam surface 142 of the fixed portion 146 by interrupting the energization of the electric magnet 152 of the electromagnetic clutch 150.
  • the electric actuator includes a motor 110, a ball screw 120 that converts a rotational motion from the motor 110 into a linear motion, and a transmission mechanism (131 to 13) that transmits a driving force from the motor 110 to the ball screw 120. 134), a braking mechanism (141 to 152) for preventing the driving of the ball screw 120, and a housing 160 for supporting the motor 110, the transmission mechanism, and the braking mechanism.
  • the motor 110 has a drive shaft 111 that outputs rotation.
  • the drive shaft 111 is a rotation shaft of a rotor that rotates inside the motor 110.
  • the motor 110 is a DC motor that can be driven by a DC power supply.
  • the housing 160 has a motor case 161 that houses the motor 110.
  • the ball screw 120 is interposed between the ball screw shaft 121 having a spiral groove on the outer circumference, the ball screw nut 122 having a spiral groove on the inner circumference, and the spiral groove of the ball screw shaft 121 and the spiral groove of the ball screw nut 122. It is a structure that has a large number of balls 123 and can circulate the balls 123 between the spiral grooves described above.
  • the rotation of the ball screw shaft 121 is restricted by the engagement between the rotation restricting portion provided at the rear end (right end in FIG. 10) and the housing 160.
  • the ball screw nut 122 receives a driving force from the motor 110 and rotates in the forward direction or the reverse direction. When the ball screw nut 122 rotates, the ball screw shaft 121 moves back and forth in the axial direction while the ball 123 circulates.
  • the axial direction is the direction along the axis of relative rotation of the ball screw nut 122 and the ball screw shaft 121.
  • the circumferential direction around the center line in the axial direction is referred to as “circumferential direction”
  • the direction perpendicular to the axial direction is referred to as “diameter direction”.
  • the drive shaft 111 of the motor 110 faces in the axial direction and is arranged in parallel with the ball screw shaft 121.
  • FIG. 10 shows a state in which the ball screw shaft 121 is arranged at the most retracted initial position.
  • the rotational motion from the motor 110 is converted into a linear motion in the axial direction of the ball screw shaft 121 parallel to the drive shaft 111 in the ball screw 120.
  • the tip end portion (left end portion in FIG. 10) of the ball screw shaft 121 in the forward direction functions as an actuator head for operating the operation target.
  • the above-mentioned transmission mechanism has a pinion gear 131, a speed reducer 132, a drive gear 133, and a driven gear 134 in this order from the motor 110 side to the ball screw 120 side.
  • the pinion gear 131 is attached to the drive shaft 111 of the motor 110.
  • the speed reducer 132 is a gear transmission that reduces the rotation input from the drive shaft 111 and outputs it to the ball screw 120 side.
  • the speed reducer 132 is configured as a planetary gear speed reducer, and as shown in FIGS. 10 and 12, a pinion gear 131 that rotates as a sun gear and a planetary carrier that outputs a rotation decelerated relative to the rotation of the pinion gear 131. It has a shaft 132a and.
  • the housing 160 has a speed reducer case 162 that also serves as an internal gear of the speed reducer 132.
  • the speed reducer case 162 and the motor case 161 are fastened in the axial direction by a screw member (not shown).
  • the drive gear 133 outputs the driving force transmitted from the motor 110 side to the ball screw 120 side.
  • the drive gear 133 includes an external gear having an external tooth portion 133a and a hollow shaft portion 133b integrally.
  • the external tooth portion 133a of the drive gear 133 meshes with the driven gear 134.
  • the driven gear 134 is fixed to the outer circumference of the ball screw nut 122.
  • the hollow shaft portion 133b of the drive gear 133 has a stepped hole shape and extends on both sides in the axial direction with respect to the external tooth portion 133a.
  • the small-diameter hole portion of the hollow shaft portion 133b is integrally and concentrically rotatably connected to the planet carrier shaft 132a.
  • the housing 160 has bearing cases 163 and 164 divided into two in the axial direction.
  • the bearing cases 163 and 164 accommodate the drive gear 133, the driven gear 134, most of the ball screw shaft 121, and the ball screw nut 122.
  • These bearing cases 163 and 164 are fastened to each other in the axial direction by a screw member (not shown).
  • the bearing case 163 and the speed reducer case 162 are fastened in the axial direction by a screw member (not shown).
  • a rolling bearing 171 is provided between the outer circumference of the planetary carrier shaft 132a and the inner circumference of the bearing case 163.
  • a rolling bearing 172 is provided between the outer circumference of the hollow shaft portion 133b on the large-diameter hole side and the inner circumference of the bearing case 164.
  • the planetary carrier shaft 132a and the drive gear 133 are supported by the housing 160 via rolling bearings 171 and 172.
  • a rolling bearing 173 is provided between the ball screw nut 122 and the bearing case 164.
  • the ball screw 120 is supported by the housing 160 via a rolling bearing 173.
  • a shaft cover 165 is attached to the bearing case 164.
  • the shaft cover 165 is a mating portion that accommodates the rear end side of the ball screw shaft 121 and prevents the ball screw shaft 121 from rotating with respect to the housing 160.
  • the bearing case 164 and the shaft cover 165 are fastened in the axial direction by a screw member (not shown).
  • a boot 166 that can expand and contract in the axial direction is attached between the bearing case 163 and the front end side of the ball screw shaft 121.
  • the boot 166 watertightly seals between the housing 160 and the ball screw shaft 121.
  • the seams between the covers (161, 162, 163, 164) of the housing 160 are watertightly sealed with an in-row structure, an O-ring, or the like as appropriate.
  • the above-mentioned braking mechanism gradually narrows between the cylindrical surface 141 that rotates concentrically with the drive gear 133 and the cylindrical surface 141 from the center in the circumferential direction toward both ends in the circumferential direction.
  • the cam surface 142 By the relative rotation of the cam surface 142 forming the wedge space, the roller 143 arranged between the cylindrical surface 141 and the cam surface 142, the cage 144 holding the roller 143, and the cage 144 with respect to the cam surface 142. It has a neutral spring 145 that is elastically deformed.
  • the cylindrical surface 141 is formed inside the large-diameter hole portion of the hollow shaft portion 133b of the drive gear 133.
  • the cylindrical surface 141 is continuous all around in the circumferential direction.
  • the cam surface 142 is formed on a fixed portion 146 that is stationary with respect to the housing 160.
  • the radial distance between the cam surface 142 and the cylindrical surface 141 is from the position of the roller 143 in FIGS. 11 and 12 located at the center of the cam surface 142 in the circumferential direction on both sides in the circumferential direction (counterclockwise and clockwise in FIG. 11). ) Gradually becomes smaller.
  • the cam surface 142 is configured by a single plane is shown, the cam surface may be configured by a plurality of surfaces or a single curved surface.
  • the fixing portion 146 includes a cam ring member formed separately from the housing 160.
  • a key groove 146a is formed on the inner circumference of the fixing portion 146.
  • the bearing case 164 has a support shaft portion 164a extending in the axial direction.
  • the support shaft portion 164a is located at a position axially opposed to the drive shaft 111 of the motor 110.
  • the fixing portion 146 is fixed to the support shaft portion 164a by a key (not shown) driven into the key groove 146a.
  • the support shaft portion 164a supports the fixed portion 146, the drive gear 133, and the drive shaft 111 of the motor 110 on the same axis.
  • the fixing means of the fixing portion 146 and the support shaft portion 164a is not particularly limited, and examples thereof include serration fitting and screw fastening. Further, the fixing portion 146 may be integrally formed with the housing 160 as a part of the bearing case 164.
  • the outer circumference of the fixed portion 146 has a shape protruding in the radial direction at an intermediate position in the axial direction, and a plurality of cam surfaces 142 are formed at the protruding portion at intervals in the circumferential direction. That is, a plurality of wedge spaces are formed, and rollers 143 are arranged in each wedge space.
  • the outer diameters of both ends located on both sides in the axial direction with respect to the cam surface 142 are smaller than those of the cam surface 142.
  • a rolling bearing 174 is provided between the end of the fixed portion 146 on the motor 110 side and the inner circumference of the hollow shaft portion 133b of the drive gear 133. The rolling bearing 174 rotatably supports the drive gear 133 with respect to the fixed portion 146.
  • the roller 143 has a cylindrical surface 141 and a cylindrical surface that can come into contact with the cam surface 142. As shown in FIG. 14, the roller 143 is engaged with the cylindrical surface 141 and the cam surface 142 by the relative rotation of the cage 144 with respect to the fixed portion 146 (see the position of the roller 143 drawn by the alternate long and short dash line in the figure). ) And the neutral position (see the position of the roller 143 drawn by the solid line in the figure) for disengaging the engagement. When the cage 144 rotates relative to the fixed portion 146, the roller 143 engages with the cylindrical surface 141 and the cam surface 142 to transmit the rotational torque to the cam surface 142.
  • the cage 144 includes an engaging member that holds each roller 143 by a cage-shaped pocket portion 144d.
  • the overall shape of the cage 144 is formed, for example, by stamping, and examples of the material thereof include steel plates.
  • the cage 144 has an inward flange 144a located on the rolling bearing 174 side.
  • the cage 144 is rotatably fitted to the outer circumference of the fixing portion 146 on the inner circumference of the flange 144a.
  • the flange 144a is located between the end surface of the inner ring of the rolling bearing 174 and the end surface of the fixing portion 146 facing the end surface in the axial direction. These end faces regulate the axial movement of the cage 144.
  • the neutral spring 145 elastically holds the cage 144 so that the roller 143 is in the neutral position.
  • the neutral spring 145 is a metal spring in which a pair of engaging pieces 145a are formed outward at both ends of a C-shaped ring portion.
  • the ring portion of the neutral spring 145 is fitted into the recess 146b formed in the fixing portion 146.
  • the recess 146b has a constant depth in the axial direction on the end face of the fixing portion 146.
  • the pair of engaging pieces 145a are inserted into the notch 144b formed in the cage 144 through the notch formed in the outer wall of the recess 146b.
  • the pair of engaging pieces 145a press the notch portion of the recess 146b and the notch portion 144b of the cage 144 in the opposite directions in the circumferential direction. By the pressing, the cage 144 is held in a phase in which the roller 143 is in the neutral position.
  • the braking mechanism described above has an engaging surface 147 that rotates concentrically with the drive gear 133 at a position different from the cylindrical surface 141, and an armature 148 that always faces the engaging surface 147 while being stopped from rotating with respect to the cage 144. And an electromagnetic clutch 150 that transmits and disconnects torque between the armature 148 and the engaging surface 147.
  • the engaging surface 147 is located on the end surface of the drive gear 133 on one end side in the axial direction (right side in FIGS. 12 and 13), and is formed in an annular shape continuous in the circumferential direction.
  • the armature 148 is an annular member fitted so as to be movable in the axial direction with respect to the fixed portion 146.
  • the armature 148 is slidably fitted to one end of the outer periphery of the fixing portion 146 on its inner diameter surface.
  • the armature 148 has an engaging hole portion 148a at a portion different from the side surface portion that faces the engaging surface 147 in the axial direction on the entire circumference in the circumferential direction.
  • the cage 144 has an engaging projection piece 144c inserted into the engaging hole portion 148a.
  • the armature 148 is prevented from rotating with respect to the cage 144 by the circumferential engagement between the engaging projection piece 144c and the engaging hole portion 148a.
  • the engaging hole portion 148a and the engaging projecting piece 144c may be provided at one or a plurality of locations, respectively.
  • the electromagnetic clutch 150 has a release spring 151 that presses the armature 148 against the engagement surface 147 when the motor 110 is not driven, and an electromagnet 152 that is axially opposed to the armature 148 on the same side as the release spring 151 with respect to the armature 148. ..
  • the electromagnet 152 includes a field core and an electromagnetic coil supported by the field core.
  • the electromagnet 152 is fixed to the bearing case 164 so as to face the armature 148 in the axial direction.
  • the electromagnet 152 is fitted to the support shaft portion 164a on the inner circumference of the field core. Further, the electromagnet 152 has an axial protrusion formed on the end face of the field core. The electromagnet 152 is prevented from rotating with respect to the bearing case 164 by fitting the protrusion with the hole formed in the bearing case 164.
  • the bearing case 164 has a snap-fit portion 164b for fixing the electromagnet 152.
  • the electromagnet 152 has a peripheral groove portion 152a formed on the outer periphery of the field core.
  • the snap-fit portion 164b has a tubular shape that fits on the outer periphery of the field core of the electromagnet 152, and engages with the peripheral groove portion 152a by a claw portion formed on the inner peripheral side of the cylinder. In this engaged state, the snap-fit portion 164b restricts the axial movement of the electromagnet 152 with respect to the bearing case 164 toward the armature 148 so that the electromagnet 152 can maintain the rotation stop and the fitting with the support shaft portion 164a. .. As a result, the electromagnet 152 is fixed to the bearing case 164.
  • the release spring 151 is interposed between the field core of the electromagnet 152 and the armature 148.
  • the release spring 151 is supported in the radial direction by the peripheral groove portion 148b formed on the inner diameter side of the armature 148.
  • the release spring 151 presses the peripheral groove portion 148b in the axial direction at a plurality of locations evenly in the circumferential direction.
  • a wave washer has been exemplified as the release spring 151, but a coil spring can also be used.
  • the electromagnetic clutch 150 is in a connected state in which the armature 148 is pressed against the engaging surface 147 by the release spring 151.
  • the controller 80 energizes the electromagnet 152, the armature 152 magnetically attracts the armature 148, so that the armature 148 is moved to a position away from the engaging surface 147 against the separation spring 151. Therefore, the electromagnetic clutch 150 is in an released state in which the armature 148 is released from being pressed against the engaging surface 147.
  • the electromagnetic clutch 150 is provided so that the connected state and the released state can be switched by the energization control of the electromagnet 152.
  • the separation spring 151 fits in the peripheral groove portion 148b, and the armature 148 is magnetically attracted to the electromagnet 152.
  • the amount of axial separation of the armature 148 from the cage 144 will be limited by the release spring 151 or the electromagnet 152, but in either case the armature 148 has a neutral spring 145 from the recess 146b of the fixation portion 146. It is restricted to a position where it can be reliably prevented from escaping.
  • This electric actuator also energizes the electromagnet 152 of the electromagnetic clutch 150 when energizing the motor 110 to drive the motor 110, while shutting off the energization of the motor 110 to stop driving the motor 110. Also shuts off the energization of.
  • the armature 148 In the OFF state of FIGS. 10 and 12 in which the energization of the motor 110 and the electromagnet 152 is cut off, the armature 148 is pressed against the engaging surface 147 by the spring force of the separation spring 151. Along with this, the armature 148 is connected to the drive gear 133 side by the frictional force acting between the engaging surface 147 and the armature 148. Further, the cage 144 is held in the phase of keeping the roller 143 in the neutral position with respect to the cam surface 142 by the spring force of the neutral spring 145.
  • the driven gear 134 is rotated integrally with the ball screw nut 122.
  • the drive gear 133 that meshes with the driven gear 134 is also rotated, the armature 148 connected to the engaging surface 147 on the drive gear 133 side is also rotated, and the armature 148 and the detent cage 144 resist the neutral spring 145.
  • the neutral spring 145 is elastically deformed so that the space between the pair of engaging pieces 145a is narrowed.
  • the roller 143 held by the pocket portion 144d of the cage 144d is moved to the engaging position by being pushed by the pocket portion 144d toward the rotation direction side of the cage 144 (see FIGS. 11 and 14).
  • the cylindrical surface 141 on the drive gear 133 side and the cam surface 142 of the fixed portion 146 are engaged with each other.
  • the rotational torque of the drive gear 133 is received by the cam surface 142 of the fixed portion 146 via the roller 143, and the rotation of the drive gear 133 is forcibly stopped. Therefore, the rotation of the driven gear 134 is also stopped, and the rotation of the ball screw nut 122 due to the reverse input is stopped.
  • the cage 144 is held in the phase of keeping the roller 143 in the neutral position with respect to the cam surface 142 by the spring force of the neutral spring 145. Further, the armature 148 is moved in the axial direction against the separation spring 151 by the magnetic attraction of the electromagnet 152, separated from the engaging surface 147 on the drive gear 133 side, and held in a state of being magnetically attracted to the electromagnet 152. To. Therefore, the rotational torque of the drive gear 133 given from the motor 110 side is not transmitted to the cam surface 142 of the fixed portion 146, and the drive gear 133 is free to rotate counterclockwise or clockwise in FIG. Rotate (free rotation). Even in this state, the detent between the armature 148 and the cage 144 is maintained by the engaging hole portion 148a and the engaging projecting piece 144c.
  • this electric actuator eliminates the need for control to perform phase matching between the transmission mechanism side that transmits the driving force from the motor 110 to the ball screw 120 and the braking mechanism side that prevents the ball screw 120 from being driven by the reverse input. be able to.
  • this electric actuator has a cylindrical surface 141 that rotates concentrically with the drive gear 133 belonging to the transmission mechanism, a cam surface 142 formed on a fixed portion 146 that is stationary with respect to the housing 160, and a cylindrical surface 141.
  • a roller 143 arranged between the and the cam surface 142, a connected state in which the roller 143 can engage with the cylindrical surface 141 and the cam surface 142, and a release capable of disengaging the cylindrical surface 141 and the cam surface 142.
  • a braking mechanism having an electromagnetic clutch 150 provided so that the state can be switched by energization control (ON / OFF control) of the electric magnet 152 is adopted.
  • an electric actuator that does not require control for phase matching between the transmission mechanism side that transmits the driving force from the motor 110 to the ball screw 120 and the braking mechanism side that prevents the ball screw 120 from being driven by the reverse input is realized. be able to.
  • this electric actuator has a release spring 151 that presses the armature 148 against the engaging surface 147 when the electromagnetic clutch 150 does not drive the motor 110.
  • the electromagnet 152 is provided so as to magnetically attract the armature 148 to a position away from the engaging surface 147 when the motor 110 is driven. Therefore, the non-excited electromagnetic clutch 150 is used, and when the motor 110 is not driven, the armature 148 and the engaging surface 147 are kept in a connected state by the spring force of the separation spring 151 even if the energization of the electromagnet 152 is cut off. Because it drips, it can save power.
  • the electromagnet 152 is energized and the armature 148 is kept in an released state away from the engaging surface 147 by magnetic attraction, so that the friction loss of the driving force of the motor 110 can be reduced. ..
  • the drive gear 133 is an external gear having a hollow shaft portion 133b.
  • the cylindrical surface 141 of the braking mechanism is formed inside the hollow shaft portion 133b.
  • the engaging surface 147 is formed in an annular shape on one end side in the axial direction of the drive gear 133.
  • a rolling bearing 174 is provided between the hollow shaft portion 133b and the fixed portion 146.
  • the armature 148 is an annular member fitted to the fixed portion 146 so as to be movable in the axial direction.
  • the electromagnet 152 is fixed to the housing 160 so as to face the armature 148 in the axial direction. Therefore, while the drive gear 133 and the cylindrical surface 141 of the braking mechanism are made of a single member, the concentricity between the drive gear 133, the fixed portion 146, and the armature 148 can be well maintained by the rolling bearing 174.
  • the housing 160 has a snap-fit portion 164b for fixing the electromagnet 152. Therefore, the electromagnet 152 can be easily fixed to the housing 160.
  • an electromagnetic disc clutch type in which a disc-shaped armature 148 always faces the engaging surface 147 all around in the circumferential direction is illustrated.
  • the shapes of the armature and the engaging surface may be such that they can face each other regardless of the relative positional relationship in the circumferential direction.
  • one has an annular surface and the other faces the other in the axial direction. It may be arcuate.
  • the braking mechanism in the third embodiment is different from the first embodiment and the second embodiment in that the engaging member 191 spline-fitted to the drive gear 180 is formed by interrupting the energization of the electromagnet 223 of the electromagnetic clutch 220.
  • a braking mechanism (friction type) that prevents the ball screw 120 from moving due to an external force due to the frictional force that is pressed against the braking member 192 fixed to the bearing case 210 and acts between the engaging member 191 and the braking member 192. It shall be a non-excitation type electromagnetic brake braking mechanism).
  • the third embodiment is shown in FIGS. 15 and 16. In the following, only the differences from the second embodiment will be described.
  • the braking mechanism according to the third embodiment includes a rotating shaft 181 formed of a boss portion of the drive gear 180, and an engaging member 191 arranged on the rotating shaft 181.
  • the rotating shaft 181 has a spline shaft portion 181a at a position different from the bearing fitting surface for the rolling bearing 200 interposed between the rotating shaft 181 and the bearing case 210.
  • the spline shaft portion 181a is rotatably supported by the bearing case 210 via the rolling bearing 200.
  • the hollow boss portion is exemplified as the rotating shaft 181, it may be a rotating shaft as long as the engaging member can be arranged on the outer periphery, and may be a solid shaft.
  • the engaging member 191 has a spline hole portion 191a corresponding to the spline shaft portion 181a.
  • the engaging member 191 is arranged concentrically rotatable with respect to the rotating shaft 181 and movable in the axial direction with respect to the rotating shaft 181 by spline fitting the spline hole portion 191a and the spline shaft portion 181a.
  • This braking mechanism includes a braking member 192 that is stationary with respect to the bearing case 210 while always facing the engaging member 191 in the axial direction, and an electromagnetic clutch 220 that transmits and disconnects torque between the engaging member 191 and the braking member 192. And have.
  • the braking member 192 is an annular plate that faces the engaging member 191 in the axial direction all around in the circumferential direction.
  • the braking member 192 is fixed to the bearing case 210.
  • appropriate means such as insert molding of the braking member 192 with external teeth and the bearing case 210 and screwing of the braking member 192 to the bearing case 210 may be adopted.
  • the engaging member 191 and the braking member 192 have friction surfaces 191b and 192a facing each other.
  • the friction surfaces 191b and 192a are each formed in a flat ring surface along the radial direction.
  • the electromagnetic clutch 220 has an armature 221 that always faces the engaging member 191 in the axial direction at a position opposite to the braking member 192 with respect to the engaging member 191 and the engaging member 191 via the armature 221 when the motor is not driven.
  • the release spring 222 that presses the brake member 192 against the braking member 192, the electromagnet 223 that is axially opposed to the armature 221 on the side opposite to the engaging member 191 with respect to the armature 221 and the engaging member 191 separated from the braking member 192 when the motor is driven. It has an elastic member 224 that pushes it to a vertical position.
  • the bearing case 210 is further divided into a disk case portion 211 and a magnet case portion 212 in order to accommodate an engaging member 191 and an armature 221 having a diameter larger than that of the rolling bearing 200.
  • the magnet case portion 212 has a snap-fit portion 212a for fixing the electromagnet 223.
  • the armature 221 is fitted so as to be movable in the axial direction with respect to the support shaft portion formed on the magnet case portion 212.
  • a separation spring 222 is interposed between the armature 221 and the field core of the electromagnet 223.
  • the elastic member 224 is an annular metal spring loosely fitted in the spline shaft portion 181a. Although the coil spring is exemplified as the elastic member 224, a wave washer may be adopted.
  • the rotating shaft 181 is provided with a shoulder portion 182 that receives the elastic member 224 in the axial direction. The elastic member 224 is interposed between the shoulder portion 182 and the engaging member 191.
  • a retaining ring 183 is attached to the rotating shaft 181 at a position on the armature 221 side with respect to the engaging member 191.
  • the retaining ring 183 regulates the axial movement of the engaging member 191 pushed by the spring force of the elastic member 224.
  • the size of these gaps is set between the friction surface 191b of the engaging member 191 and the friction surface 192a of the braking member 192 when the axial movement of the engaging member 191 is restricted by the retaining ring 183.
  • the purpose is to make the contact surface 191c and 221a of the engaging member 191 and the armature 221 non-contact.
  • the armature 221 is moved to the engaging member 191 side by the release spring 222. Since the release spring 222 exerts a predominant spring force as compared with the elastic member 224, the engaging member 191 is pressed against the braking member 192 against the elastic member 224 by the armature 221 pressed by the release spring 222. Therefore, the electromagnetic clutch 220 is in a connected state in which the friction surface 191b of the engaging member 191 is pressed against the friction surface 192a of the braking member 192 (see FIG. 15). At this time, the engaging member 191 and the braking member 192 are connected by a frictional force acting between the friction surfaces 191b and the friction surface 192a.
  • the controller 80 energizes the electromagnet 223, the armature 223 magnetically attracts the armature 221 so that the armature 221 is moved to the electromagnet 223 side against the separation spring 222.
  • the spring force repulsed by the elastic member 224 causes the engaging member 191 to be moved to a position away from the braking member 192.
  • the electromagnetic clutch 220 is in an released state in which the engagement member 191 is released from being pressed against the braking member 192. In this way, the electromagnetic clutch 220 is provided so that the connected state and the released state can be switched by the energization control of the electromagnet 223.
  • the armature 221 In the released state, the armature 221 is magnetically attracted to the electromagnet 223 in a state where the release spring 222 is compressed in the axial direction, and the engaging member 191 is held in a state of being in contact with the retaining ring 183 by the elastic member 224, and the engaging member is held.
  • the three parties, 191 and the braking member 192 and the armature 221 are kept in non-contact state (see FIG. 16).
  • this electric actuator also eliminates the need for control for phase matching between the transmission mechanism side that transmits the driving force from the motor to the ball screw and the braking mechanism side that prevents the ball screw from being driven by the reverse input. ..
  • the electromagnet 223 is provided so as to magnetically attract the armature 221 to a position away from the engaging member 191 when the motor is driven.
  • the electromagnetic clutch 220 is a non-excited type, and even if the energization of the electromagnet 223 is cut off when the motor is not driven, the engaging member 191 and the braking member 192 are indirectly connected by the spring force of the separation spring 222. Since it is kept in a state, power can be saved.
  • the electromagnet 223 is energized, the armature 221 is separated from the engaging member 191 by magnetic attraction, and the engaging member 191 is separated from the braking member 192 by the spring force of the elastic member 224. Since it is maintained at, the friction loss can be reduced.
  • the braking mechanism in the fourth embodiment is different from the first to third embodiments, and is spline-fitted to the drive shaft 240 of the motor 110 by cutting off the energization of the electromagnet 223 of the electromagnetic clutch 220.
  • the electric actuator according to the fourth embodiment is shown in FIG. In the following, only the differences from the third embodiment will be described.
  • the spline shaft portion is omitted from the rotating shaft 231 of the drive gear 230.
  • the drive shaft 240 of the motor penetrates through the hollow planetary carrier shaft 132a and the rotation shaft 231 which are the output shafts of the speed reducer, and extends to a position closer to the electromagnet 223 than the braking member 192.
  • the drive shaft 240 has a spline shaft portion 241.
  • the spline shaft portion 241 protrudes from the rotating shaft 231.
  • the engaging member 250 is spline-fitted to the spline shaft portion 241.
  • the drive shaft 240 is provided with a shoulder portion 242 that receives the elastic member 251 in the axial direction. Further, a retaining ring 243 is attached to the drive shaft 240 at a position on the armature 221 side with respect to the engaging member 250.
  • the reverse input torque reduced by the speed reducer is transmitted to the drive shaft 240 of the motor via the drive gear 230 and the planet carrier shaft 132a. Since the engaging member 250 is fitted to the drive shaft 240 so as to be movable in the axial direction in a state where the engaging member 250 can rotate concentrically with the drive shaft 240 of the motor, the torque is increased by the speed reducer when the motor is driven. Can drive a ball screw. On the other hand, for the reverse input, since the speed reducer becomes a speed increaser, the holding torque required to prevent the rotation of the drive shaft 240 of the motor can be reduced. As a result, the electromagnet 223 of the electromagnetic clutch, the release spring 222, and the like can be miniaturized and power can be saved.
  • an electromagnetic disc clutch type (friction type) in which a disc-shaped braking member and an engaging member are connected by a frictional force between the friction surfaces of each other has been exemplified.
  • it may be changed to an electromagnetic clutch of an arbitrary meshing type (face spline type).
  • the braking member 260 and the engaging member 270 are connected by meshing with each other's face spline portions 261,271.
  • the face spline portion 261 of the braking member 260 is composed of a large number of teeth 262 extending radially from the center of the annular shape of the braking member 260.
  • the face spline portion 271 of the engaging member 270 is composed of a large number of radial teeth corresponding to the face spline portion 261.
  • the opposing teeth of the face spline portions 261 and 271 can mesh at any rotational position of the engaging member 270.
  • the holding torque can be made larger than the holding torque due to the frictional force between the flat friction surfaces as shown in the examples of FIGS. 15 and 17. ..
  • the size of the electromagnet 223 and the like can be reduced and the power can be saved.
  • an example of a conversion mechanism configured to convert a rotational motion from a drive unit into a linear motion is a motion conversion mechanism 3 composed of a ball screw 22. ..
  • the conversion mechanism is not limited to this, and the conversion mechanism may be a motion conversion mechanism composed of a static pressure screw such as a sliding screw or a static pressure air screw, or a magnetic screw.
  • a roller is exemplified as an engager.
  • the cam surface has a cylindrical surface shape, and a sprag that is tiltably arranged between the engaging position and the neutral position is adopted as the engaging element, and the relative rotation of the cage with respect to the cam surface is adopted.
  • the tilting position of the sprag may be controlled accordingly.
  • the electric actuator 1 converts the rotational motion from the drive unit (for example, drive motor 10 and motor 110) and the drive unit into linear motion.
  • a conversion mechanism configured to perform for example, motion conversion mechanism 3, ball screw 120
  • a transmission mechanism configured to transmit a driving force from the drive unit to the conversion mechanism (for example, transmission gear mechanism 4, pinion gear 131).
  • Reducer 132, drive gear 133, driven gear 1314 and a braking mechanism (for example, lock mechanism 7, cylindrical surface 1411, cam surface 142, roller 143, holding) configured to prevent the conversion mechanism from moving due to external force.
  • Instrument 144 Neutral spring 145, Fixed part 146, Engagement surface 147, Armature 148, Electromagnetic clutch 150, Release spring 151, Electromagnet 152, Engagement member 191, Braking member 192, Electromagnetic clutch 220, Armature 221, Release spring 222 It includes an electric magnet 223, an elastic member 224, an engaging member 250), and a control device (for example, a controller 80) that controls a driving unit and a braking mechanism.
  • the conversion mechanism includes a shaft member (for example, a ball screw 22 and a ball screw 120) that outputs a linear motion to the outside.
  • the control device executes the first control for controlling the braking mechanism so as to prevent the conversion mechanism from moving in step S116, and then in step S121, the second control for rotating the drive unit. If the shaft member moves in step S122 while the above is being executed, it is determined that the braking mechanism is abnormal.
  • the control device controls the drive unit so that the linearly moving position of the shaft member becomes the target position in step S115 before executing the first control, and the step In S121, in the second control, the drive unit is controlled so that the position where the shaft member linearly moves exceeds the predetermined change allowable range with respect to the target position, and in step S122, the position where the shaft member moves linearly. However, if it exceeds the permissible range of change with respect to the target position, it is determined that the braking mechanism is abnormal.
  • step S121 in the second control, the position where the shaft member linearly moves is the confirmation position (for example, the position indicated by the confirmation target value).
  • the drive unit is controlled so as to be.
  • the confirmation position is a position separated from the target position in the direction in which the shaft member moves by an external force by an allowable change range or more.
  • the electric actuator further includes a housing (for example, a case) that supports a drive unit, a conversion mechanism, a transmission mechanism, and a braking mechanism.
  • the transmission mechanism includes a gear (eg, drive gear 30) in which at least one engaging portion (eg, engaging hole 30a) is formed in the circumferential direction.
  • the braking mechanism includes a lock member (for example, a lock member 60) that is stationary with respect to the housing in the rotation direction of the gear and can be engaged with the engaging portion, and a locked state in which the locking member and the engaging portion are engaged. It also includes a switching mechanism (for example, a sliding screw nut 61, a sliding screw shaft 62, a lock motor 64) capable of switching the released state in which the engagement is released.
  • the electric actuator further includes a housing (for example, a housing 160) that supports a drive unit, a conversion mechanism, a transmission mechanism, and a braking mechanism.
  • the transmission mechanism includes a gear (eg, drive gear 133) having a cylindrical surface (eg, cylindrical surface 141) that rotates integrally concentrically.
  • the braking mechanism includes a fixed portion (for example, a fixed portion 146) that is stationary with respect to the housing and has a cam surface (for example, a cam surface 142), and a cylindrical surface and a cam surface.
  • a switching mechanism that can switch between an engaging element (for example, roller 143) arranged between the two, a connected state in which the engaging element is engaged with the cylindrical surface and the cam surface, and an released state in which the engagement is released.
  • an engaging element for example, roller 143
  • it includes a drive gear 133, a cage 144, a neutral spring 145, an engaging surface 147, an armature 148, an electromagnetic clutch 150, a release spring 151, and an electromagnet 152).
  • the engaging element when the switching mechanism is used to switch to the connected state, the engaging element is engaged with the cylindrical surface that rotates concentrically with the gear and the cam surface of the fixed portion that is stationary with respect to the housing. It is in a state where it can be matched. Therefore, when the gear is rotated, the rotation torque of the gear is received by the cam surface on the housing side via the engaging element, so that the rotation of the gear is stopped.
  • the switch when the switch is switched to the released state by the switching mechanism, the engager is in a state where the engagement between the cylindrical surface on the gear side and the cam surface on the housing side can be released. Therefore, the rotation of the gear can be stopped at an arbitrary position. As a result, the shaft member of the conversion mechanism can be prevented from moving at an arbitrary position.
  • the electric actuator further includes a housing (for example, housing 160) that supports a drive unit, a conversion mechanism, a transmission mechanism, and a braking mechanism.
  • the braking mechanism rotates concentrically with the rotation shaft belonging to the transmission mechanism (for example, the rotation shaft 181 of the drive gear 180) or the drive shaft of the drive unit (for example, the drive shaft 240).
  • An engaging member for example, engaging members 191, 250, 270 that can move axially with respect to the rotating shaft or the driving shaft in a possible state, and a housing in a state of axially facing the engaging member.
  • a switching mechanism for example, an electromagnetic clutch that can switch between a braking member (for example, braking member 192, 260) that is stationary with respect to the brake member, a connected state in which the engaging member is pressed against the braking member, and a release state in which the pressing is released.
  • a braking member for example, braking member 192, 260
  • the engaging member when the switching mechanism is switched to the connected state, the engaging member is pressed against the braking member, so that when the reverse input is transmitted from the conversion mechanism to the transmission mechanism or the drive unit, the transmission mechanism Alternatively, the engaging member tries to rotate integrally with the driving unit, rotational torque is transmitted from the engaging member to the braking member on the housing side, and the connecting force between the braking member and the engaging member causes the transmission mechanism or the driving unit to rotate. The rotation is braked. On the other hand, when the switching mechanism is switched to the released state, the pressing of the engaging member against the braking member is released. Therefore, the transmission mechanism or the drive unit can be stopped at an arbitrary position. As a result, the shaft member of the conversion mechanism can be prevented from moving at an arbitrary position.
  • the engaging member and the braking member are opposed to each other on a friction surface (for example, friction surfaces 191b, 192a) or a face spline (for example, face spline portions 261,271).
  • a friction surface for example, friction surfaces 191b, 192a
  • a face spline for example, face spline portions 261,271.

Landscapes

  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Transmission Devices (AREA)
  • Braking Arrangements (AREA)
  • Connection Of Motors, Electrical Generators, Mechanical Devices, And The Like (AREA)

Abstract

La présente invention porte sur un actionneur électrique comportant : une unité d'entraînement ; un mécanisme de conversion conçu pour convertir un mouvement de rotation de l'unité d'entraînement en un mouvement linéaire ; un mécanisme de transmission conçu pour transmettre une force d'entraînement de l'unité d'entraînement au mécanisme de conversion ; un mécanisme de freinage conçu pour empêcher le mécanisme de conversion d'être déplacé par une force extérieure ; et un dispositif de commande qui commande l'unité d'entraînement et le mécanisme de freinage. Le mécanisme de conversion comprend un élément d'arbre pour fournir le mouvement linéaire à l'extérieur. Le dispositif de commande effectue une première commande (étape S116) pour commander le mécanisme de freinage afin d'empêcher le mécanisme de conversion de se déplacer, et effectue ensuite une seconde commande (étape S121) pour faire tourner l'unité d'entraînement. Si l'élément d'arbre se déplace pendant la seconde commande, le dispositif de commande détermine (étape S122) que le mécanisme de freinage est anormal. En conséquence, une activation normale du mécanisme de freinage peut être déterminée de manière plus précise.
PCT/JP2020/027354 2019-07-22 2020-07-14 Actionneur électrique WO2021015053A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2019-134329 2019-07-22
JP2019134329A JP2021019447A (ja) 2019-07-22 2019-07-22 電動アクチュエータ

Publications (1)

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WO2021015053A1 true WO2021015053A1 (fr) 2021-01-28

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WO (1) WO2021015053A1 (fr)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113232852A (zh) * 2021-05-11 2021-08-10 重庆大学 一种用于倾转旋翼机机翼的传动机构
WO2023157107A1 (fr) * 2022-02-16 2023-08-24 ニデック株式会社 Actionneur électrique

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2024075488A1 (fr) * 2022-10-07 2024-04-11 Ntn株式会社 Dispositif à vis à billes et mécanisme de mouvement linéaire

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JP2003090356A (ja) * 2001-09-17 2003-03-28 Ntn Corp 回転伝達装置
JP2004324856A (ja) * 2003-04-28 2004-11-18 Tokico Ltd 電動ディスクブレーキ装置
JP2007203821A (ja) * 2006-01-31 2007-08-16 Hitachi Ltd 電動ディスクブレーキ装置
JP2010223298A (ja) * 2009-03-23 2010-10-07 Ntn Corp 電動モータ駆動装置
JP2017172670A (ja) * 2016-03-23 2017-09-28 Ntn株式会社 動力伝達装置
JP2018017368A (ja) * 2016-07-29 2018-02-01 Ntn株式会社 電動アクチュエータ

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Publication number Priority date Publication date Assignee Title
JP2003090356A (ja) * 2001-09-17 2003-03-28 Ntn Corp 回転伝達装置
JP2004324856A (ja) * 2003-04-28 2004-11-18 Tokico Ltd 電動ディスクブレーキ装置
JP2007203821A (ja) * 2006-01-31 2007-08-16 Hitachi Ltd 電動ディスクブレーキ装置
JP2010223298A (ja) * 2009-03-23 2010-10-07 Ntn Corp 電動モータ駆動装置
JP2017172670A (ja) * 2016-03-23 2017-09-28 Ntn株式会社 動力伝達装置
JP2018017368A (ja) * 2016-07-29 2018-02-01 Ntn株式会社 電動アクチュエータ

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113232852A (zh) * 2021-05-11 2021-08-10 重庆大学 一种用于倾转旋翼机机翼的传动机构
WO2023157107A1 (fr) * 2022-02-16 2023-08-24 ニデック株式会社 Actionneur électrique

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