JP3129448U - Actuator - Google Patents

Abstract

Provided is an actuator that can maintain the rotational drive speed of a common output shaft in the same or close state as in normal operation even when jamming or the like occurs in any one of the systems.
SOLUTION: First and second motors A1 and B1 for rotationally driving a common output shaft S, and first and second gear mechanisms A2 and B2 for outputting these driving forces from their respective ends, The first and second sun gears A31 and B31 are connected to the respective ends, and revolved by meshing with the first and second internal gears A32 and B32 respectively positioned on the outer periphery thereof. The first and second planetary gear mechanisms A3 and B3 including the first and second planetary gears A33 and B33, and the first and second planetary gear mechanisms A3 and B3 interposed between these internal gears and a predetermined stationary member R, respectively. The second torque limiters A4 and B4 and the revolution operation transmission mechanism C for transmitting the revolution operation of the planetary gear in synchronization with the common output shaft S are provided.
[Selection] Figure 1

Description

  The present invention relates to an actuator configured to output the driving force of two systems of motors from a common output shaft.

When an actuator is mounted on an aircraft or the like, a multiplexing mechanism is indispensable so that the function of the actuator can be maintained even when jamming or the like occurs in a part of the actuator. Under such circumstances, conventionally, a common output shaft can be operated with a drive source from two systems. As an example, a drive source from two systems can be connected to a common output shaft through a differential gear mechanism. A mode in which transmission is possible is given (for example, see Patent Document 1 below).
Japanese Patent Laid-Open No. 06-284788

  However, in the above-described aspect, when jamming or the like occurs in one of the systems and depends on the driving force from the driving source of the other system, the rotational drive of the output shaft is performed due to the characteristics of the differential gear mechanism. There is a problem that the speed of this is about half that of normal operation. In addition, since the differential gear mechanism needs to be provided with a differential gear, a brake device, and the like, there is a problem that certain limitations are imposed when the actuator is reduced in size and weight.

  The present invention has been made paying attention to such problems, and its main purpose is to provide two systems, and even if jamming or the like occurs in any one system, a common output shaft It is an object of the present invention to provide an actuator capable of maintaining the rotational drive speed of the motor in the same or close state as in normal operation.

  That is, the actuator of the present invention includes a common output shaft, first and second motors for rotationally driving the output shafts, and first and second motor driving forces that are output from the end respectively. The first and second gear mechanisms and the first and second sun gears respectively connected to the terminal ends of the first and second gear mechanisms and the sun gear and the outer periphery thereof, respectively. First and second planetary gear mechanisms comprising first and second planetary gears that revolve by meshing with two internal gears, and first of these first and second planetary gear mechanisms The first and second torque limiters interposed between the second internal gear and a predetermined stationary member and the revolutions of the first and second planetary gears are synchronized with the common output shaft. And a revolving motion transmission mechanism that transmits the revolving motion.

  In such a case, during the normal operation, the first and second internal gears are fixed to the stationary member via the first and second torque limiters, respectively. The first and second sun gears and the first and second planetary gears constituting the planetary gear mechanism of the first and second planetary gears are driven to rotate, while the first and second planetary gears surround the first and second sun gears. Revolving drive. As a result, the revolution movement transmission mechanisms provided in association with the first and second planetary gear mechanisms transmit the revolution movements of the first and second planetary gears synchronously to the common output shaft.

  Further, when jamming or the like occurs in any one of the systems, the rotational drive of the motor, gear mechanism, and planetary gear mechanism of this system will be decelerated or stopped. On the other hand, since the motors, gear mechanisms, and planetary gear mechanisms of other systems are driven to rotate as in normal operation, the planetary gears of this system still try to continue the revolution operation. This revolution driving force is transmitted to the planetary gear of the one system (system in which jamming has occurred) via the revolution motion transmission mechanism, and is received by the internal gear that meshes with the planetary gear of the one system that receives this transmission. The internal gear fixed by an excessive load exceeding a certain level and the torque limiter of the one system is separated from the stationary member. As a result, when the internal gear rotates, the planetary gear of one system can continue the revolving operation even when the rotation drive is decelerated or stopped, and the revolving operation transmission mechanism is used. Thus, the common output shaft can be continuously driven to rotate. Moreover, since the motor torque of the normally operating system is transmitted to the common output shaft while overcoming the release torque of the torque limiter of the other system, the output shaft is maintained in a state where a constant rotational drive speed is maintained. Can be driven to rotate. Here, “jamming” and the like include motor failure, gear tooth damage, foreign object intrusion into the gear, motor control means failure, and the like.

  As described above, since the actuator according to the present invention does not require a differential gear and a brake, the actuator can be reduced in size and weight, and when the above configuration causes jamming or the like in one system However, the rotation speed of the common output shaft can be maintained in the same or close state as normal, which is excellent in practicality.

  As described above, according to the present invention, even when jamming or the like occurs in any one of the two input systems, a large change in the rotation speed of the common output shaft is avoided, and the expected operation function is achieved. A suitable actuator to be secured can be realized.

  Hereinafter, an embodiment of the present invention will be described with reference to the drawings.

  As shown in FIG. 1, the actuator 1 according to the present embodiment includes a common output shaft S, first and second motors A1 and B1 for rotationally driving the output shaft S, and each of these motors A1, A single controller D for controlling the rotational torque of B1, first and second gear mechanisms A2 and B2 for outputting the driving forces of the motors A1 and B1, respectively, and the gear mechanisms A2 and B2. The first and second planetary gear mechanisms A3 and B3 connected to each other and the first and second internal gears A32 and B32 described later constituting the first and second planetary gear mechanisms A3 and B3 are stationary. It comprises first and second torque limiters A4 and B4 that are respectively fixed to a housing R as a member.

  The actuator 1 having such a configuration is configured such that the common output shaft S can be rotated by drive sources from two systems of the first motor A1 and the second motor B1.

  Here, the first system A includes a first motor A1, a first gear mechanism A2, a first planetary gear mechanism A3, and a first torque limiter A4.

  On the other hand, the second system B includes a second motor B1, a second gear mechanism B2, a second planetary gear mechanism B3, and a second torque limiter B4.

  Each gear mechanism A2, B2 meshes with the first gears A21, B21 and the first gears A21, B21 that mesh with the drive units of the motors A1, B1, and connects the end portions A2e, B2e to the sun gears A31, B31. The second gears A22 and B22.

  Each planetary gear mechanism A3, B3 includes first and second sun gears A31, B31 connected to the respective terminal ends A2e, B2e of the second gears A22, B22, and the outer periphery of each sun gear A31, B31. , First and second internal gears A32, B32 respectively, and first and second planetary gears A33 that perform revolving operations by meshing with the first and second internal gears A32, B32, respectively. B33. In the present embodiment, the end A2e of the second gear A22 and the first sun gear A31 are integrally connected, and the end B2e of the second gear B22 and the second sun gear B31 are fitted. Connected.

  Thus, the actuator 1 according to the present embodiment includes a revolution motion transmission mechanism C that synchronizes the revolution motions of the planetary gears A33 and B33 of the planetary gear mechanisms A3 and B3 and transmits them to the output shaft S. is there.

  The revolution movement transmission mechanism C includes a carrier shaft C10 that is continuously inserted into the first and second planetary gears A33 and B33 and functions as a common shaft of the planetary gears A33 and B33. One end of the carrier shaft C10 is connected to the output shaft S. By such a carrier shaft C10, the revolution operations of the planetary gears A33, B33 are synchronized, and the revolution operations of the planetary gears A33, B33 are transmitted to the output shaft S via the carrier shaft C10.

  Torque limiters A4 and B4 are friction rings A41 and B41 that are slidably arranged in the axial direction on the inner periphery of the housing R, which is a stationary member, and springs that elastically contact the friction rings A41 and B41 with internal gears. A42 and B42.

  At least the output shaft S, the gear mechanisms A2 and B2, the planetary gear mechanisms A3 and B3, the torque limiters A4 and B4, and the revolution motion transmission mechanism C are disposed in the gear box G.

  Next, the operation and action of the actuator 1 having such a configuration will be described.

  During normal operation, the motors A1 and B1 torque-equalized by the controller D transmit driving force to the planetary gear mechanisms A3 and B3 via the gear mechanisms A2 and B2, respectively. At this time, the internal gears A32 and B32 of the planetary gear mechanisms A3 and B3 are fixed to the housing R which is a stationary member integrally provided in the gear box G by the torque limiters A4 and B4, respectively. The planetary gear mechanisms A3 and B3 are driven while being force-fighted. Then, the revolution movements of the planetary gears A33 and B33 are synchronized via the revolution movement transmission mechanism C and transmitted to the common output shaft S.

  On the other hand, when jamming or the like occurs in any one of the systems A and B (for example, when the gear A21 of the first gear mechanism A2 is damaged), the motors A1 and A constituting the system A, The rotational drive of the gear mechanism A2 and the planetary gear mechanism A3 connected to the gear mechanism A2 causes a situation where the speed is reduced or stopped. On the other hand, the motor B1, the gear mechanism B2, and the planetary gear mechanism B3 of the other system B are driven to rotate without changing from the normal operation, so that the planetary gear B33 of the planetary gear mechanism B3 still continues to revolve. . The revolution driving force of the planetary gear B33 is transmitted to the planetary gear A33 of the one system A (system in which jamming or the like has occurred) through the carrier shaft C10 of the revolution transmission mechanism C. As a result, the internal gear A32 that meshes with the one planetary gear A33 is subjected to an excessive load of a certain level or more, and the internal gear A32 that is fixed via the torque limiter A4 of the one system A is a stationary member. The fixed state with the housing R is released. As a result, when the internal gear A32 is rotationally driven, the planetary gear A33 of one system A can continue the revolution operation even when the rotational drive is decelerated or stopped, and the revolution operation is transmitted. The common output shaft S can be continuously driven to rotate through the mechanism C. In addition, since the motor torque of the system B that is operating normally is transmitted to the common output shaft S while overcoming the release torque of the torque limiter A4 of the other system A, the constant rotational drive speed is maintained. Thus, the common output shaft S can be driven to rotate.

  As described above, the actuator 1 according to the present embodiment does not require a differential gear and a brake, so that the actuator can be reduced in size and weight, and jamming or the like can be performed on one of the two input systems. Even when this occurs, it is possible to avoid a large change in the rotation speed of the common output shaft and to realize a suitable actuator that guarantees the intended operation function.

  The motors A1 and B1 are torque-equalized by the controller D during normal operation. However, when jamming or the like occurs in any one of the systems, the motor torque can be controlled. According to the above-described example, when the rotational drive speed of the common output shaft S is reduced, the operating speed of the output S is the same as that during normal operation by increasing the motor torque of the motor B1. Can be maintained.

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

  For example, in the actuator 1 of this embodiment, the terminal end A2e of the second gear A22 and the sun gear A31 are integrally connected, while the terminal end B2e of the second gear B22 and the sun gear B31 are Although it is connected by fitting, it is not limited to these connection modes, and may be an integrated mode, a fitted mode, or other various connection modes.

  Each gear mechanism of the present embodiment is constituted by the first and second gears, but is not limited thereto, and a gear mechanism constituted by a single gear or three or more gears is applied. It doesn't matter.

  The form of the output shaft is not limited to this embodiment. For example, if a ball screw or the like is used for the output shaft, it can function as a linear actuator.

  In the above-described embodiment, an example in which one end portion of the carrier shaft constituting the revolution motion transmission mechanism is directly connected to the output shaft is exemplified. However, another transmission such as a belt is provided between the one end portion of the carrier shaft and the output shaft. A member may be interposed, and the driving force may be transmitted to the output shaft via the transmission member.

  Further, the motor may be any one that rotates the output shaft, and the drive source thereof is not particularly limited, and any type of motor such as an electric motor or a hydraulic motor may be used. I do not care.

  In addition, the specific configuration of each part is not limited to the above embodiment, and various modifications can be made without departing from the spirit of the present invention.

The figure which shows the actuator which concerns on one Embodiment of this invention.

Explanation of symbols

A1 ... first motor A2 ... first gear mechanism A3 ... first planetary gear mechanism A31 ... first sun gear A32 ... first internal gear A33 ... 1st planetary gear A4 ... 1st torque limiter B1 ... 2nd motor B2 ... 2nd gear mechanism B3 ... 2nd planetary gear mechanism B31 ... 2nd sun gear B32 ... second internal gear B33 ... second planetary gear B4 ... second torque limiter C ... revolving motion transmission mechanism C1 ... carrier shaft D ... controller R ...・ Standing member (housing)
S ... Output shaft

Claims (1)

A common output shaft,
First and second motors for rotationally driving the output shaft;
A first gear mechanism and a second gear mechanism for outputting the driving force of the first and second motors from the respective ends;
The first and second sun gears are connected to the ends of the first and second gear mechanisms, respectively, and meshed with the sun gear and the first and second internal gears respectively positioned on the outer periphery thereof. First and second planetary gear mechanisms comprising first and second planetary gears that perform revolving operation,
First and second torque limiters respectively interposed between the first and second internal gears of the first and second planetary gear mechanisms and a predetermined stationary member;
An actuator comprising: a revolving motion transmission mechanism for transmitting the revolving motion of the first and second planetary gears in synchronization with the common output shaft.

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