Compact linear-to-rotary actuator

Abstract

The subject matter of this specification can be embodied in other specific forms without departing from the spirit or essential characteristics thereof. For example, the subject matter of this specification can be embodied in a linear-to-rotary device comprising a linear actuator having an actuator housing including a piston chamber, a piston shaft disposed in the piston chamber, and a rotor device. The rotor device includes a rotary joint defining a rotary axis, a rotor arm extending radially from the rotary joint and configured to at least partially pivot about the rotary joint, and a torque linkage pivotably connected to the rotor arm. The torque linkage is also attached to an end of the piston shaft of the piston at a pivot connection joint, where the pivot connection joint defines a pivot axis that is substantially perpendicular to a translation axis of the piston shaft.

Description

[0001] Priority requirements

[0002] This application claims priority to U.S. Patent Application No. 16 / 399,557, filed April 30, 2019, the entire contents of which are incorporated herein by reference. Technical Field

[0003] This specification relates to rotary motion components, such as linear-to-rotary motion components. Background Technology

[0004] Rotary actuators, linear actuators, or both, are used to control mechanical devices such as aircraft flight control surfaces, rotary valve assemblies, and other applications. Various forms of rotary actuators are used as part of some mechanical devices to deliver rotary motion efficiently and in a compact space. Some rotary actuators are desirable because they maintain constant torque and save space, but include numerous seals with undesirable side loads. Some linear actuators are used to provide rotary motion in certain mechanisms, but are limited in their operating range of rotary motion. Moreover, providing leak-free performance in typical rotary hydraulic actuators is difficult, and linear actuators often occupy significantly more space than typical rotary hydraulic actuators. Summary of the Invention

[0005] Generally speaking, this document describes linear-to-rotation motion systems, such as compact hinge line actuators.

[0006] Some aspects of this disclosure cover a linear-to-rotary motion device including a first linear actuator. The first linear actuator includes: a first actuator housing including a first piston chamber; and a first piston shaft at least partially disposed within the first piston chamber, the first piston shaft being translatable within the first piston chamber along a first translational axis and including a first piston shaft end portion for selectively extending and retracting linearly relative to the first actuator housing along the first translational axis. The first linear actuator also includes a rotor device including: a first rotary joint defining a first rotational axis substantially perpendicular to the first translational axis; a rotor arm extending radially from the first rotary joint for at least partial pivoting about the first rotary joint, wherein the rotor arm has a rotor arm end portion positioned away from the first rotary joint; and a first torque linkage mechanism having a first torque linkage mechanism end portion pivotally connected to the rotor arm end portion of the rotor arm, and a second torque linkage mechanism end portion opposite the first torque linkage mechanism end portion and pivotally connected at a first pivotal connection joint to the first piston shaft end portion of the first piston shaft. The first pivot joint defines a first pivot axis that is substantially perpendicular to a first translational axis of the first piston shaft. The first linear actuator also includes a guide structure connected to the first pivot joint for at least partially guiding movement of the first pivot joint.

[0007] This and other aspects may include one or more of the following features. The guiding structure may include a first guide slider, which is positioned in space relative to a first rotary joint and slidably coupled to a first pivot joint, the first guide slider being used to guide sliding movement of the pivot joint parallel to a first translational axis. A first actuator housing is pivotable about a second rotary joint, which is positioned in space relative to the first rotary joint and has a second axis of rotation perpendicular to the first translational axis. The guiding structure may include a first guide linkage mechanism having a first guide linkage mechanism end pivotally connected at a first piston shaft end to the first pivot joint, and a second guide linkage mechanism end pivotally connected to a third rotary joint positioned in space relative to the first rotary joint, the first guide linkage mechanism being used to at least partially pivot about a third axis of rotation of the third rotary joint, the third axis of rotation being perpendicular to and parallel to the first translational axis. The second axis of rotation may intersect the first translational axis. The distance from the second rotary joint to the first rotary joint can be relatively smaller than the distance from the second rotary joint to the end of the first piston shaft. The first linear actuator can be a fluid actuator. The fluid actuator can be a double-acting fluid actuator. One of the first actuator housing or rotor arm can be coupled to the fuselage structure of the aircraft, and the other of the first actuator housing or rotor arm can be coupled to a movable control surface of the aircraft, such that the movable control surface can be moved relative to the fuselage structure via a linear-to-rotary motion device. The device may further include a second linear actuator comprising: a second actuator housing including a second piston chamber; and a second piston shaft at least partially disposed within the second piston chamber for translation along a second translation axis within the second piston chamber of the second actuator housing, wherein the second piston shaft includes a second piston shaft end for selectively extending and retracting linearly relative to the second actuator housing along the translation axis, and the rotor arm includes a second rotor arm end positioned away from the first rotary joint and away from the end of the first rotor arm, wherein the second rotor arm end is positioned substantially opposite to the first rotor joint and the end of the first rotor arm. The rotor device may further include: a second torque linkage mechanism having a third torque linkage mechanism end pivotally connected to a second rotor arm end pivotally connected to a second piston shaft end opposite the third torque linkage mechanism end and pivotally connected at a second pivot joint to a second piston shaft end pivotally connected to a second piston shaft end pivotally connected to a second pivot joint defining a second pivot axis substantially perpendicular to a second translational axis of the second piston shaft and parallel to a first pivot axis of the first pivot joint; and a second guide structure connected to the second pivot joint to at least partially guide movement of the second pivot joint.The second guiding structure may include a second guiding slider, which is positioned in space relative to the first rotary joint and slidably connected to a second pivot joint, the second guiding slider guiding sliding movement of the second pivot joint parallel to a second translational axis. A second actuator housing may pivot about a fourth rotary joint, which is positioned in space relative to the first rotary joint and has a fourth rotational axis perpendicular to the second translational axis. The second guiding structure may include a second guiding linkage mechanism having a third guiding linkage end pivotally connected at a second piston shaft end to the second pivot joint, and a fourth guiding linkage end pivotally connected to the third rotary joint positioned in space relative to the first rotary joint, the second guiding linkage mechanism being at least partially pivotable about a third rotational axis of the third rotary joint, the third rotational axis being perpendicular to the second translational axis and parallel to the first rotational axis. The fourth rotational axis may intersect the second translational axis. The first actuator housing and the second actuator housing can be coupled to the fuselage structure of the aircraft, and the rotor arm can be coupled to the movable control surface of the aircraft, such that the movable control surface can move relative to the fuselage structure via a linear-to-rotary motion device. The first actuator housing and the second actuator housing can be coupled to the movable control surface of the aircraft, and the rotor arm can be coupled to the fuselage structure of the aircraft, such that the movable control surface can move relative to the fuselage structure via a linear-to-rotary motion device. At least one of the first linear actuator or the second linear actuator can be a fluid actuator. At least one of the first linear actuator or the second linear actuator can be a double-acting fluid actuator.

[0008] Certain aspects of this disclosure cover a method for transmitting rotational motion. The method includes: selectively extending or retracting a first piston shaft end of a first piston shaft of a first linear actuator along a translational axis relative to a first actuator housing of a first linear actuator, the first piston shaft being at least partially disposed within the first actuator housing, and the first piston shaft end being coupled to a first pivot joint defining a first pivot axis substantially perpendicular to the translational axis. The method further includes: guiding movement of the first pivot joint using a guiding structure; and facilitating movement of a first torque linkage mechanism in response to the selective extension or retraction of the first piston shaft end of the first piston shaft, the first torque linkage mechanism being coupled to the first pivot joint at a first torque linkage mechanism end, wherein the first torque linkage mechanism is at least partially pivotable about the first pivot axis, and the first torque linkage mechanism includes a second torque linkage mechanism end opposite to the first torque linkage mechanism end. The method further includes: in response to causing a first torque linkage to move, causing a rotor arm to pivot about a first rotary joint, the first rotary joint defining a first axis of rotation substantially perpendicular to the translation axis, the rotor arm including a first rotor arm end proximate to the first rotary joint and a second rotor arm end pivotally connected to a second torque linkage end of the first torque linkage.

[0009] This and other aspects may include one or more of the following features. The guiding structure may include a first guide slider, and guiding the movement of the first pivot joint may include using the first guide slider, which is positioned in space relative to the first rotary joint and slidably coupled to the first pivot joint. Guiding the movement of the first pivot joint using the first guide slider may include guiding linear movement of the first pivot joint parallel to a translation axis. The first actuator housing may at least partially pivot about a second rotary joint in response to selectively extending or retracting the end of the first piston shaft, the second rotary joint being positioned in space relative to the first rotary joint and having a second axis of rotation parallel to a first axis of rotation of the first rotary joint. The guiding structure may include a first guiding linkage mechanism pivotally connected at its end to a third rotary joint fixed in space relative to a first rotary joint, the first guiding linkage mechanism being pivotally connected at its end to a first pivot connection at a second guiding linkage mechanism opposite to the end of the first guiding linkage mechanism, and guiding movement of the first pivot connection joint may include using the first guiding linkage mechanism to guide rocker movement of the first pivot connection joint about a third rotary joint, the third rotary joint defining a third axis of rotation parallel to the first pivot axis and perpendicular to the translation axis. The distance from the second rotary joint to the first rotary joint may be relatively smaller than the distance from the second rotary joint to the end of the first piston shaft. The first linear actuator may be a linear fluid actuator, and the end of the first piston shaft of the first linear actuator, which extends or retracts linearly relative to the first housing of the first linear actuator, may include supplying pressurized fluid to the linear fluid actuator. The linear fluid actuator may be a double-acting fluid actuator. One of the first actuator housing or rotor arm may be coupled to the fuselage structure of the aircraft, and the other of the first actuator housing or rotor arm may be coupled to a movable control surface of the aircraft. The method may further include: causing the movable control surface of the aircraft to move relative to the fuselage structure of the aircraft via one of the first actuator housing or rotor arm. The method may further include: selectively retracting or extending the second piston shaft end of the second piston shaft of the second linear actuator along a second translation axis relative to the second actuator housing of the second linear actuator, in contrast to the selective extension or retraction of the first piston shaft end. The second piston shaft is at least partially disposed within the second actuator housing, and the second piston shaft end is coupled to a second pivot joint, the second pivot joint defining a second pivot axis substantially perpendicular to the second translation axis.The method may further include: guiding movement of the second pivot joint using a second guide structure; cauterizing a second torque linkage mechanism connected to the second pivot joint at a third torque linkage mechanism end of the second torque linkage mechanism in response to selectively retracting or extending the second piston shaft end of the second piston shaft, the second torque linkage mechanism being pivotable at least partially about a second pivot axis and including a fourth torque linkage mechanism end opposite to the third torque linkage mechanism end; and cauterizing a rotor arm about a first rotary joint in response to cauterizing the second torque linkage mechanism, the rotor arm including a third rotor arm end pivotally connected to the fourth torque linkage mechanism end of the second torque linkage mechanism. The first linear actuator may be a first linear fluid actuator, and the first piston shaft end of the first linear actuator, which selectively extends or retracts linearly relative to a first housing of the first linear actuator, may include supplying pressurized fluid to the linear fluid actuator. The second linear actuator may be a second linear fluid actuator, and the second piston shaft end of the second piston shaft of the second linear actuator, which selectively extends or retracts linearly relative to the second housing of the second linear actuator, may include supplying pressurized fluid to the linear fluid actuator. The first linear fluid actuator and the second linear fluid actuator may form a double-acting fluid actuator.

[0010] In some aspects, a linear-to-rotary motion device includes a linear actuator comprising: an actuator housing including a piston chamber; and a piston shaft at least partially disposed within the piston chamber for translation within the piston chamber along a translation axis, the piston shaft including piston shaft ends for selectively extending and retracting linearly relative to the actuator housing along the translation axis. The linear actuator also includes a rotor device comprising: a rotary joint defining a rotation axis substantially perpendicular to the translation axis; a rotor arm extending radially from the rotary joint for at least partial pivoting about the rotary joint, the rotor arm having a first rotor arm end proximate to the rotary joint and a second rotor arm end distal to the first rotor arm end; and a torque linkage mechanism having a torque linkage mechanism end pivotally connected to the second rotor arm end of the rotor arm, and a second torque linkage mechanism end opposite to the first torque linkage mechanism end and pivotally connected at a pivot connection joint to the piston shaft end of the piston shaft, the pivot connection joint defining a pivot axis substantially perpendicular to the translation axis of the piston shaft.

[0011] The systems and techniques described herein offer one or more of the following advantages. First, linear-to-rotary devices can reduce or eliminate lateral loads on the seals of the actuator system while also being fitted into a compact space, such as a design envelope that is the same size as or smaller than that of a comparable rotary actuator.

[0012] Details of one or more embodiments of the subject matter described in this disclosure are set forth in the accompanying drawings and the following description. Other features, aspects, and advantages of the subject matter will become apparent from the description, drawings, and claims.

[0013] In a first aspect, a linear-to-rotation motion device includes a first linear actuator comprising: a first actuator housing including a first piston chamber; and a first piston shaft at least partially disposed within the first piston chamber and configured to translate within the first piston chamber along a first translational axis. The first piston shaft includes a first piston shaft end configured to selectively extend and retract linearly relative to the first actuator housing along the first translational axis. The linear-to-rotary motion device also includes a rotor device comprising: a first rotary joint defining a first rotation axis substantially perpendicular to a first translational axis; a rotor arm extending radially from the first rotary joint and configured to pivot at least partially about the first rotary joint, the rotor arm having a rotor arm end positioned away from the first rotary joint; and a first torque linkage mechanism having a first torque linkage mechanism end pivotally connected to the rotor arm end of the rotor arm, and a second torque linkage mechanism end opposite the first torque linkage mechanism end and pivotally connected at a first pivot connection joint to a first piston shaft end of a first piston shaft, the first pivot connection joint defining a first pivot axis substantially perpendicular to the first translational axis of the first piston shaft.

[0014] In a second aspect according to the first aspect, the rotor device includes a guide structure connected to a first pivot joint and configured to at least partially guide movement of the first pivot joint.

[0015] In a third aspect according to the first or second aspect, the rotor arm end is a second rotor arm end, and the rotor arm has a first rotor arm end that is close to the rotary joint.

[0016] In the fourth aspect of the second aspect, the guiding structure includes a first guide slider that is positioned in space relative to the first rotary joint and slidably coupled to the first pivot joint, the first guide slider being configured to guide sliding movement of the pivot joint parallel to a first translation axis.

[0017] In a fifth aspect according to the first or second aspect, the first actuator housing is configured to pivot about a second rotary joint, which is fixed in space relative to the first rotary joint and has a second axis of rotation perpendicular to the first translation axis.

[0018] In the sixth aspect of the fifth aspect, the guiding structure includes a first guiding linkage mechanism having a first guiding linkage mechanism end pivotally connected at a first piston shaft end to a first pivot joint, and a second guiding linkage mechanism end pivotally connected to a third rotary joint fixed in space relative to the first rotary joint. The first guiding linkage mechanism is configured to pivot at least partially about a third rotation axis of the third rotary joint, the third rotation axis being perpendicular to and parallel to the first translation axis.

[0019] In the seventh aspect according to the fifth or sixth aspect, the second axis of rotation intersects the first axis of translation.

[0020] In the eighth aspect according to one of the fifth to seventh aspects, the distance from the second rotary joint to the first rotary joint is relatively smaller than the distance from the second rotary joint to the end of the first piston shaft.

[0021] In the ninth aspect according to any one of the first to eighth aspects, the first linear actuator is a fluid actuator.

[0022] In the tenth aspect according to the ninth aspect, the fluid actuator is a double-acting fluid actuator.

[0023] In the eleventh aspect according to any one of the first to tenth aspects, one of the first actuator housing or rotor arm is configured to be coupled to the fuselage structure of the aircraft, and the other of the first actuator housing or rotor arm is configured to be coupled to a movable control surface of the aircraft, such that the movable control surface is configured to move relative to the fuselage structure by means of a linear-to-rotary motion device.

[0024] In a twelfth aspect according to the first or second aspect, the device further includes a second linear actuator comprising: a second actuator housing including a second piston chamber; a second piston shaft at least partially disposed within the second piston chamber and configured to translate along a second translational axis within the second piston chamber of the second actuator housing, the second piston shaft including a second piston shaft end configured to selectively extend and retract linearly relative to the second actuator housing along the translational axis, wherein a rotor arm includes a second rotor arm end positioned remotely from the first rotary joint and remotely from the first rotor arm end, wherein the second rotor arm end is positioned relative to the first rotary joint and the first rotor arm end. The arm ends are substantially opposite each other; and the rotor device further includes: a second torque linkage mechanism having a third torque linkage mechanism end pivotally connected to the second rotor arm end of the rotor arm, and a fourth torque linkage mechanism end opposite the third torque linkage mechanism end and pivotally connected at a second pivot joint to the second piston shaft end of the second piston shaft, the second pivot joint defining a second pivot axis substantially perpendicular to a second translational axis of the second piston shaft and parallel to a first pivot axis of the first pivot joint; and a second guide structure connected to the second pivot joint and configured to at least partially guide movement of the second pivot joint.

[0025] In the thirteenth aspect of the twelfth aspect, the second guide structure includes a second guide slider that is positioned in space relative to the first rotary joint and slidably coupled to a second pivot joint, the second guide slider being configured to guide sliding movement of the second pivot joint parallel to a second translation axis.

[0026] In the fourteenth aspect according to the twelfth aspect, the second actuator housing is configured to pivot about a fourth rotary joint, which is fixed in space relative to the first rotary joint and has a fourth rotation axis perpendicular to the second translation axis.

[0027] In the fifteenth aspect of the fourteenth aspect, the second guide structure includes a second guide linkage mechanism having a third guide linkage end pivotally connected at the end of the second piston shaft to a second pivot joint, and a fourth guide linkage end pivotally connected to a third rotary joint fixed in space relative to the first rotary joint. The second guide linkage mechanism is configured to pivot at least partially about a third rotation axis of the third rotary joint, the third rotation axis being perpendicular to the second translation axis and parallel to the first rotation axis.

[0028] In the sixteenth aspect according to the fourteenth or fifteenth aspect, the fourth rotation axis intersects the second translation axis.

[0029] In the seventeenth aspect according to any one of the twelfth to sixteenth aspects, the first actuator housing and the second actuator housing are configured to be coupled to the fuselage structure of the aircraft, and the rotor arm is configured to be coupled to the movable control surface of the aircraft, such that the movable control surface is configured to move relative to the fuselage structure via a linear-to-rotary motion device; or, the first actuator housing and the second actuator housing are configured to be coupled to the movable control surface of the aircraft, and the rotor arm is configured to be coupled to the fuselage structure of the aircraft, such that the movable control surface is configured to move relative to the fuselage structure via a linear-to-rotary motion device.

[0030] In the eighteenth aspect according to one of the twelfth to the seventeenth aspects, at least one of the first linear actuator or the second linear actuator is a fluid actuator.

[0031] In the nineteenth aspect according to one of the twelfth to eighteenth aspects, at least one of the first linear actuator or the second linear actuator is a double-acting fluid actuator.

[0032] In a twentieth aspect, a method for transmitting rotary motion includes: selectively extending or retracting a first piston shaft end of a first piston shaft of a first linear actuator along a translational axis relative to a first actuator housing of a first linear actuator, the first piston shaft being at least partially disposed within the first actuator housing, and the first piston shaft end being coupled to a first pivot joint, the first pivot joint defining a first pivot axis substantially perpendicular to the translational axis; cauterizing a first torque linkage mechanism in response to the selective extension or retraction of the first piston shaft end, the first torque linkage mechanism being actuated in a first torque linkage... A first torque linkage end of a linkage mechanism is connected to a first pivot joint, the first torque linkage being configured to pivot at least partially about a first pivot axis, and the first torque linkage including a second torque linkage end opposite to the first torque linkage end; and in response to causing the first torque linkage to move, a rotor arm is caused to pivot about a first rotary joint, the first rotary joint defining a first rotation axis substantially perpendicular to the translation axis, the rotor arm including a first rotor arm end proximate to the first rotary joint, and a second rotor arm end pivotally connected to the second torque linkage end of the first torque linkage.

[0033] In the twenty-first aspect of the twentieth aspect, the method includes: using a guiding structure to guide the movement of the first pivot joint.

[0034] In the twentieth aspect according to the twentieth-first aspect, the guiding structure includes a first guiding slider, and guiding the movement of the first pivot joint includes using the first guiding slider to guide the movement of the first pivot joint, the first guiding slider being positioned in space relative to the first rotary joint and slidably coupled to the first pivot joint.

[0035] In the twenty-third aspect according to the twenty-first or twenty-second aspect, the movement of the first pivot joint is guided by the first guide slider, which includes guiding the first pivot joint to move linearly parallel to the translation axis.

[0036] In the twenty-fourth aspect according to one of the twenty to twenty-third aspects, the first actuator housing is configured to pivot about a second rotary joint at least partially in response to selectively extending or retracting the end of the first piston shaft, the second rotary joint being fixed in space relative to the first rotary joint and having a second axis of rotation parallel to the first axis of rotation of the first rotary joint.

[0037] In the twenty-fifth aspect according to the twenty-fourth aspect, the guiding structure includes a first guiding linkage mechanism pivotally connected at a first guiding linkage mechanism end to a third rotary joint fixed in space relative to a first rotary joint, the first guiding linkage mechanism pivotally connected at a second guiding linkage mechanism end opposite to the first guiding linkage mechanism end to a first pivot connection, and guiding movement of the first pivot connection joint includes using the first guiding linkage mechanism to guide rocker movement of the first pivot connection joint about the third rotary joint, the third rotary joint defining a third rotation axis parallel to the first pivot axis and perpendicular to the translation axis.

[0038] In the twenty-sixth aspect according to the twenty-fourth or twenty-fifth aspect, the distance from the second rotary joint to the first rotary joint is relatively smaller than the distance from the second rotary joint to the end of the first piston shaft.

[0039] In the twenty-seventh aspect according to one of the twenty to twenty-sixth aspects, the first linear actuator is a linear fluid actuator, and the first piston shaft end of the first piston shaft of the first linear actuator extends or retracts linearly relative to the first housing of the first linear actuator, including the supply of pressurized fluid to the linear fluid actuator.

[0040] In the twenty-eighth aspect according to the twenty-seventh aspect, the linear fluid actuator is a double-acting fluid actuator.

[0041] In the twenty-ninth aspect according to any one of the twenty to twenty-eighth aspects, one of the first actuator housing or rotor arm is configured to be coupled to the fuselage structure of the aircraft, and the other of the first actuator housing or rotor arm is configured to be coupled to a movable control surface of the aircraft, the method further comprising: causing the movable control surface of the aircraft to move relative to the fuselage structure of the aircraft by means of one of the first actuator housing or rotor arm.

[0042] In the thirtieth aspect of the twenty-first aspect, the method further comprises: selectively retracting or extending, in contrast to the selective extension or retraction of the first piston shaft end, a second piston shaft end of the second linear actuator along a second translational axis relative to a second actuator housing of the second linear actuator, the second piston shaft being at least partially disposed within the second actuator housing, and the second piston shaft end being coupled to a second pivot joint at the second piston shaft end, the second pivot joint defining a second pivot axis substantially perpendicular to the second translational axis; guiding movement of the second pivot joint using a second guide structure; in response to the selection Selectively retracting or extending the second piston shaft end causes movement of a second torque linkage mechanism connected to a second pivot joint at a third torque linkage mechanism end of the second torque linkage mechanism, the second torque linkage mechanism being configured to pivot at least partially about a second pivot axis and including a fourth torque linkage mechanism end opposite to the third torque linkage mechanism end; and in response to causing movement of the second torque linkage mechanism, causing a rotor arm to pivot about a first rotary joint, the rotor arm including a third rotor arm end pivotally connected to the fourth torque linkage mechanism end of the second torque linkage mechanism.

[0043] In the thirty-first aspect according to the thirtieth aspect, the first linear actuator is a first linear fluid actuator, and the first piston shaft end of the first piston shaft of the first linear actuator selectively extends or retracts linearly relative to the first housing of the first linear actuator, including supplying pressurized fluid to the linear fluid actuator.

[0044] In the thirty-second aspect of the thirty-first aspect, the second linear actuator is a second linear fluid actuator, and the second piston shaft end of the second piston shaft of the second linear actuator selectively extends or retracts linearly relative to the second housing of the second linear actuator, including the supply of pressurized fluid to the linear fluid actuator.

[0045] In the thirty-third aspect according to the thirty-second aspect, the first linear fluid actuator and the second linear fluid actuator form a double-acting fluid actuator. Attached Figure Description

[0046] Figure 1A and Figure 1B These are schematic side views of the example linear-to-rotational motion device in the first and second positions, respectively.

[0047] Figure 1C and Figure 1D This is a schematic side view of an example device connected to an example wing element that can rotate around a rotary joint.

[0048] Figure 2A , Figure 2B and Figure 2C These are schematic side views of another example of a linear-to-rotational motion device in a neutral center position, a first position, and a second position.

[0049] Figure 3A and Figure 3B These are schematic side views of another example of a linear-to-rotational motion device in a first and second position, respectively.

[0050] Figure 4A , Figure 4B and Figure 4C These are schematic side views of another example of a linear-to-rotational motion device in a neutral center position, a first position, and a second position.

[0051] Figure 5 This is a graph showing the torque curve of an example linear motion device.

[0052] Figure 6 This is a flowchart of an example method for transmitting rotational motion.

[0053] Similar reference numerals and designations in the various figures indicate similar elements. Detailed Implementation

[0054] This disclosure describes, for example, compact hinged line actuators for aircraft equipment, such as thin-wing spars or other movable structures. The compact hinged line actuators described herein are linear-to-rotational motion components that convert linear movement of a linear actuator into rotational output of a rotor arm via one or more links. For example, a four-bar linkage driven by a linear actuator converts linear force into rotational output within a constrained design envelope (such as the compact design envelope of a thin wing or spars of an aircraft). In some cases, the compact hinged line actuator includes a linear actuator that drives a piston shaft, wherein the piston shaft moves an end of a torque link, and the opposite end of the torque link thereby moves a rotor arm rotating about a rotary joint. The piston shaft, torque link, and rotor arm may overlap in a 2D plane of rotation but be out of plane or offset from each other to reduce or eliminate component interference in order to fit within a compact design envelope (such as the design envelope of a thin wing or spars of an aircraft). In some implementations, a guide structure is attached to the end of the piston shaft to guide its movement. This reduces or eliminates bending moments on the piston, so the stress within the linear actuator is primarily simple tension, compression, or shear at the interface of the actuator components. In some examples, the housing of the linear actuator is directly or rotatably mounted to the stationary portion of the wing, and the rotor arm is coupled to the rotating portion of the wing, such as a rotatable sparsity of a fixed wing.

[0055] Developing thin wings on winged aircraft (such as fixed-wing aircraft) to improve efficiency reduces the spatial envelope used for actuation of the primary flight control surfaces. Some prior art uses rotary vane actuators (RVAs) or rotary piston actuators (RPAs) that fit within the available spatial envelope and also meet performance requirements. However, RVAs have sealing problems under high pressure, and RPAs have internal seals that are loaded as a function of stroke and torque to resist some sealing recommendations. RPAs are often significantly more expensive and heavier than linear actuation systems, and RPAs are limited in terms of the number of rotational strokes (e.g., 42 degrees). Furthermore, extending the rotational stroke using a double-acting RPA configuration introduces clearance and stiffness problems. In this disclosure, a compact hinged linear actuator system comprises a linear-to-rotary actuation system fitting within a compact space (such as a design envelope the same size as or smaller than that of the RPA), and can reduce or eliminate lateral loads on the seals of the actuator system.

[0056] Compact hinge line actuators are devices that convert linear motion to rotary motion. Figure 1A and Figure 1B This is a schematic side view of an example linear-to-rotational motion device 100, in which... Figure 1A The device 100 is shown to be in the first position, and Figure 1BThe device 100 is shown in a second position. The device 100 includes a linear actuator 102 comprising: an actuator housing 104 having a piston chamber 106 and a piston 108 having a piston shaft 110 at least partially disposed within the piston chamber 106. The piston 108 (including the piston shaft 110 and piston cylinder 112) translates within the piston chamber 106 along a translation axis T1. The translation axis T1 is a longitudinal axis centered along and extending from the longitudinal length of the piston shaft 110 and piston cylinder 112. The piston cylinder 112 is a cylindrical portion of the piston 108 configured to hermetically engage the inner surface of the actuator housing 104 and translate within the piston chamber 106 of the actuator housing 104. In some embodiments, the linear actuator 102 is a fluid actuator (e.g., a hydraulic actuator) such that pressurized fluid within the piston chamber 106 imparts a directional force along the translation axis T1 to the piston cylinder 112 and, in response to this directional force, drives the piston 108 to translate along the translation axis T1. At the longitudinal end of the piston shaft 110 opposite the piston cylinder 112, the piston shaft end 114 selectively extends and retracts linearly relative to the actuator housing 104 along the translation axis T1.

[0057] In some embodiments, the actuator housing 104 is pivotally mounted on a rotary joint and configured to pivot at least partially about the rotary joint. For example, Figure 1A and Figure 1B The actuator housing 104 is shown to be pivotally mounted on a second rotary joint 118 (described in more detail later), such that the actuator housing 104, the piston 108, and the translation axis T1 can rotate or pivot about the second rotary joint 118 during operation. However, the actuator housing 104 can be mounted in other ways. For example, the actuator housing 104 can be fixedly mounted to a stationary surface (e.g., the stationary portion of a wing), or otherwise mounted to a surface. In some examples, the type of mounting of the linear actuator 102 (and in particular the actuator housing 104) can depend at least in part on the type of structural connection or linkage between the piston shaft 110 and the rotor device.

[0058] Example device 100 includes a rotor device 120 connected to a linear actuator 102. The rotor device 120 receives a linear input (e.g., linear translation of piston 108) from the linear actuator 102 and converts the linear input into a rotational output of a rotor element. The rotor device 120 includes a rotor arm 122 rotatably or pivotally coupled (e.g., coupled to enable pivoting) to a first rotary joint 124 and configured to rotate or pivot at least partially about the first rotary joint 124. The first rotary joint 124 is fixed in space. For example, the first rotary joint 124 may be mounted to a stationary structure, wherein the position of the rotary joint 124 is fixed relative to the stationary structure. The rotary joint 124 defines a first axis of rotation R1 about which the rotor arm 122 can pivot. In some cases, the first axis of rotation R1 is perpendicular (precisely or substantially) to the translation axis T1.

[0059] Figure 1A and Figure 1B The rotor arm 122 is schematically shown as including a first rotor arm portion 126 and a second rotor arm portion 128. Although Figure 1A and Figure 1B The rotor arm 122 is shown having two distinct rotor arm portions 126 and 128, but the rotor arm portions 126 and 128 are at least partially connected to each other such that the first rotor arm portion 126 and the second rotor arm portion 128 rotate or pivot together about the first rotary joint 124. For example, a force applied to either the first rotor arm portion 126 or the second rotor arm portion 128 will cause both the first rotor arm portion 126 and the second rotor arm portion 128 to rotate together about the first rotary joint 124.

[0060] A first rotor arm portion 126 (or a first rotor arm) extends radially from a first rotary joint 124, and a second rotor arm portion 128 (or a second rotor arm) also extends radially from a first rotary joint 124. In some embodiments, a first rotor arm end 130 of the second rotor arm portion (e.g., the longitudinal end of the second rotor arm portion 128 near the first rotary joint 124) is affixed to the first rotor arm portion 126, and a second rotor arm end 132 of the second rotor arm portion 128 (e.g., the longitudinal end of the second rotor arm portion 128 opposite to the first rotary joint 124 and opposite to the first rotor arm end 130) may be spaced apart from the first rotor arm portion 126.

[0061] The torque linkage 134 is pivotally connected at a first end to the rotor arm 122 and at a second end to the piston shaft 110. Figure 1A and Figure 1BIn the example device 100, a torque linkage mechanism 134 is pivotally connected at a first torque linkage mechanism end 136 (e.g., the longitudinal end of the torque linkage mechanism 134) to a second rotor arm end 132 of a second rotor arm portion 128, and pivotally connected at a second torque linkage mechanism end 138 (e.g., the longitudinal end of the torque linkage mechanism 134 opposite to the first torque linkage mechanism end 136) to a piston shaft end 114. The pivotal connection at the piston shaft end 114 defines a first pivot joint 116, wherein the piston shaft 110 is pivotally connected to the torque linkage mechanism 134. The first pivot joint 116 defines a first pivot axis P1, which is (substantially or precisely) perpendicular to the translation axis T1 and, in some cases, intersects the translation axis T1 at the first piston shaft end 114.

[0062] Piston 108, rotor arm 122, and torque linkage 134 are rigid structures with pivotal connections, as previously described. Translation of piston 108 facilitates movement of pivot joint 116, which in turn facilitates movement of torque linkage 134, thereby facilitating movement of rotor arm 122 (e.g., rotation of rotor arm 122 about first rotary joint 124). Figure 1A and Figure 1B An example device 100 is shown in a two-dimensional (2D) viewing plane, where the linear actuator 102 and rotor device 120 have interfering and overlapping elements in the 2D viewing plane. However, some of these elements of the example device 100 are positioned in offset, parallel planes to avoid interference between parts. For example, the piston 108 and actuator housing 104 may be centered in a first plane, the torque linkage mechanism 134 may be centered in a second plane that is parallel to and offset from the first plane, and the rotor arm 122 (e.g., the first rotor arm portion 126 and / or the second rotor arm portion 128) may be centered in a third plane that is parallel to and offset from both the first and second planes. A pivoting connection 116 may be perpendicular to the first plane and extend at least between the first and second planes to pivotally connect the piston shaft end 114 to the torque linkage mechanism 134. The pivotal connection at the second rotor arm end 132 of the second rotor arm portion 128 and the first torque linkage end 136 of the torque linkage mechanism 134 may include a pivot joint perpendicular to the second plane and extending at least between the second and third planes to pivotally connect the second rotor arm end 132 and the first torque linkage end 136. In some cases, the first pivot axis P1 and the first rotation axis R1 are parallel, such that the movement and / or rotation of the piston 108, rotor arm 122, and torque linkage mechanism 134 are visible in the same 2D viewing plane of rotation; however, each of the piston 108, rotor arm 122, and torque linkage mechanism 134 may be in offset, parallel planes to avoid interference between components during operation.

[0063] In some implementation methods (such as, Figure 1A and Figure 1B In the embodiment shown, example device 100 includes a guide structure 140 connected to a first pivot joint 116 and at least partially guiding the movement of the first pivot joint during actuation of the linear actuator 102 (e.g., translation of piston 108 relative to actuator housing 104). The guide structure 140 can reduce or eliminate bending moments in piston 108, torque linkage 134, and / or rotor arm 122, such that the stresses in device 100 are primarily simple tension, compression, or shear. For example, movement of the guide pivot joint 116 guides movement of piston shaft end 114 of piston shaft 110 to avoid bending moments along the longitudinal length of piston 108 (i.e., the length of piston shaft 110 plus piston cylinder 112). The guide structure 140 can eliminate or reduce excessive stress and / or bending moments at piston cylinder 112, such that the stresses at piston cylinder 112 and piston shaft 110 are simple tension, compression, or shear. The guide structure 140 can also improve the reliability and lifespan of the linear actuator 102, for example by reducing the stress experienced by the linear actuator 102 during operation.

[0064] Other embodiments may exclude the guide structure 140. For example, the piston 108 may be self-guided, as the guide structure 140 may be optionally excluded. In some examples, the interface between the piston cylinder 112 and the actuator housing 104 at least partially guides the movement of the piston shaft end 114 along the translation axis T1. In some examples, the actuator housing 104 includes a guide ring or other structure at its end to at least partially stabilize the piston shaft 110 along the translation axis.

[0065] The guiding structure 140 can take many forms. Figure 1A and Figure 1B In example device 100, guide structure 140 includes guide slider 142, which is positioned in space relative to first rotary joint 124 and slidably coupled to first pivot joint 116. Guide slider 142 guides sliding movement of pivot joint 116, for example by providing channel 144 along which pivot joint 116 travels. In some examples, pivot joint 116 includes studs or other protrusions engaging channel 144 of pivot joint 116. Figure 1A and Figure 1BIn the example device 100, the channel 144 is straight and extends parallel to the first translation axis T1 (e.g., in a straight line with it). However, the shape and orientation of the channel 144 can vary. For example, the channel 144 of the guide slider 142 can be curved (e.g., arc-shaped or spline-shaped), angularly offset from the translation axis T1, parallel to but offset from the translation axis T1, or another shape and / or orientation. The guide slider 142 guides the first pivot joint 116 along a desired path, for example, such that the linear motion of the piston 108 is transmitted to the rotational motion of the rotor arm 122. The guide slider 142 can be in the same plane as the piston 108 or the torque linkage mechanism 134, or it can be in different, offset parallel planes and engage the pivot joint 116.

[0066] As previously described, the actuator housing 104 of the example device 100 is shown to be pivotally mounted on the second rotary joint 118. With the channel 144 of the guide slider 142 parallel and aligned with the translation axis T1, the actuator housing 104 does not rotate about the second rotary joint 118 during operation, for example because the guide slider 142 guides the first pivot joint 116 along the stationary translation axis T1. In some embodiments, the rotary joint 118 is excluded, and the actuator housing 104 is fixedly mounted to a stationary surface of the device 100 (e.g., the stationary surface of a fixed-wing structure). In some other embodiments, such as the example device with a guide slider (which has a channel not aligned with the translation axis T1), the actuator housing 104 can rotate about the second rotary joint 118 during operation of the linear actuator 102, wherein the guide slider guides the movement of the first pivot joint 116 within and along the channel.

[0067] Figure 1A and Figure 1B The first, fully retracted position and the second, fully extended position of piston 108 are shown respectively. Figure 1A In the middle, piston 108 is in the fully retracted position, which is related to rotor arm 122 being oriented at the first, minimum angular position. Figure 1BIn this configuration, piston 108 is in its fully extended position, which is related to rotor arm 122 being oriented at the second, maximum angular position. The angular range between the first, minimum, and second, maximum angular positions can vary. In some examples, the angular range is up to 44 degrees, or in some cases, up to 70 degrees as the width of the design envelope increases. For example, increasing the width of the design envelope allows for greater piston translation in the longitudinal direction, thereby increasing the rotational output of the rotor arm. Increasing the width can include extending the length of actuator 102 (e.g., along axis T1) to allow for longer linear motion of piston 108, and therefore greater rotational motion (returns decreasing as multiple links approach alignment). The width can vary between the extension limit and retraction limit of actuator 102. In some examples, the extension limit includes the orientation of arm ends 132, 136 approaching or intersecting axis T1, as this positioning can cause link restraint, mechanism inversion, or motion instability. In some examples, the retraction limit includes the orientation of links 134 and 128 generating only radial force without net torque (restraint). By adjusting the length of the link, if R1 also coincides with T1 and link 134 is longer than link 128, then angular motion of less than 180 degrees may be possible.

[0068] In some embodiments, example device 100 forms part of a linear-to-rotational motion system of an aircraft, wherein rotor arm 122 is connected to and moves a rotatable spar of the aircraft wing. Example device 100 is compact to fit within a design envelope similar to that of an RPA, while providing a similar or improved rotor arm angle output range, a similar or lighter overall weight, little or no clearance, reduced or eliminated side loads on the seals, a substantially flat torque curve, and / or a centering bias on the RPA (i.e., toward a neutral center position of rotor arm 122). For example, the distance from the second rotary joint 118 to the first rotary joint 124 is relatively smaller than the distance from the second rotary joint 118 to the piston shaft end 114, so that the mechanical envelope of the moving parts of device 100 contracts. The entire envelope of device 100 may be within a circular envelope created by swinging arm 126 a full revolution. In this way, the actuator 102 or other components of device 100 do not intrude on the skin of the wing element rotatable about the rotary joint 124. For reference only. Figure 1C yes Figure 1A A schematic side view of an example device 100 connected to an example wing element 150 rotatable about axis R1 at a rotary joint 124. The example wing element 150 includes a generally circular body portion centered on axis R1, and a spar element extending from the body portion; both the body portion and the spar element are shown in dashed lines. Further, Figure 1D It shows Figure 4AA schematic side view of example device 400 (described later), which is connected to Figure 1C Example wing element 150.

[0069] Figure 1A and Figure 1B The linear actuator 102 of the example device 100 is a fluid actuator, such as a hydraulic actuator. Specifically, the example linear actuator 102 is a double-acting fluid actuator, wherein a hydraulic system (not shown) is connected to the piston chamber 106 at two opposite sides of the piston cylinder 112. In other words, the hydraulic system uses pressurized fluid to act on the piston cylinder 112 along a translation axis T1 in either longitudinal direction to translate the piston cylinder 112 along the translation axis T1, and thereby translate the piston shaft end 114. The piston cylinder 112 may include seals, such as one or more elastomeric seals or rings (e.g., O-rings) between the outer surface of the piston cylinder 112 and the inner surface of the piston chamber 106, to fluidly separate the pressurized fluid in the piston chamber 106 on either side of the piston cylinder 112. In some embodiments, the actuator housing 104 substantially fluidly encloses the piston chamber 106 to effectively allow the pressurized fluid in the piston chamber 106 to impart force on the piston cylinder 112 to translate the piston 108. Although Figure 1A and Figure 1B Although not shown, the hydraulic system may include fluid paths fluidly connected to the piston chamber 106 on opposite sides of the piston cylinder 112. These fluid paths allow pressurized fluid to flow to either side of the piston chamber and impart a desired translational force on the piston cylinder 112. These fluid paths may include rigid or flexible tubing.

[0070] In some implementations, the example linear-to-rotary device 100 may include an additional linear actuator (e.g., acting in opposition to the first linear actuator 102) to supplement the actuated rotation of the rotor arm 122, and the rotor device 120 may include additional features and linkage mechanisms to connect to the additional linear actuator. For example, Figure 2A , Figure 2B and Figure 2C This is a schematic side view of a second example linear-to-rotary motion device 200, which is similar to the example device 100 except that: the second example device 200 includes a second linear actuator 202 that acts in opposition to the first linear actuator 102, and the first linear actuator 102 and the second linear actuator 202 are fixedly mounted in space, rather than rotatably coupled to a rotary joint (e.g., the first linear actuator 102 is coupled to a rotary joint 118, such as...). Figure 1A and Figure 1B (As shown in the diagram). Further, the second example device 200 includes a second rotor device 220, which is similar to, except for the following: Figure 1A and Figure 2A The first rotor device 120: The second rotor device 220 includes additional, mirror- or symmetrical features for connection to the second linear actuator 202. Figure 2A The device 200 is shown in a neutral center position, with the first rotor arm portion 126 positioned at the center of rotation. Figure 2B The device 200 is shown to be in a similar position. Figure 1A In the first position of the first position, and Figure 2C Example second device 200 is shown in a similar state. Figure 1B In the second position of the second position.

[0071] Figure 2A The neutral center position of the second example device 200 defines a symmetry center plane passing through the first rotary joint 124 and the first rotor arm portion 126. However, this symmetry center plane illustrates the symmetry of the 2D view plane of rotation and is not necessarily the physical symmetry of the parts. When the second example device 200 is in Figure 2A In a neutral central position (e.g., in) Figure 2B First position and Figure 2C The second linear actuator 202 (centered between the second and third positions) spans the central plane and is substantially a mirror image of the first linear actuator 102. The second linear actuator 202 acts in the opposite direction to the first linear actuator 102, because when the first linear actuator 102 retracts, the second linear actuator 202 extends, and when the first linear actuator 102 extends, the second linear actuator 202 retracts.

[0072] As previously described, the second linear actuator 202 of the example second device 200 mirrors the first linear actuator 102 and includes a number of elements similar to those of the first linear actuator 102, but is positioned substantially symmetrically across a central plane when the device 200 is in a neutral central position. For example, the second linear actuator 202 includes: a second actuator housing 204 having a second piston chamber 206, and a second piston 208 having a second piston shaft 210 at least partially disposed within the second piston chamber 206. The second piston 208 (including the second piston shaft 210 and the second piston cylinder 212) translates within the second piston chamber 206 along a second translation axis T2. The second translation axis T2 is a longitudinal axis centered on and extending along the longitudinal length of the second piston shaft 210 and the second piston cylinder 212. The second piston cylinder 212 is the cylindrical portion of the second piston 208, configured to hermetically engage the inner surface of the second actuator housing 204 and translate within the second piston chamber 206 of the second actuator housing 204. In some embodiments, the second linear actuator 202 is a fluid actuator (e.g., a hydraulic actuator) such that pressurized fluid within the second piston chamber 206 imparts a directional force along the second translation axis T2 to the second piston cylinder 212 and, in response to this directional force, drives the second piston 208 to translate along the second translation axis T2. At the longitudinal end of the second piston shaft 210 opposite the second piston cylinder 212, the second piston shaft end 214 selectively extends and retracts linearly relative to the second actuator housing 204 along the second translation axis T2.

[0073] In some embodiments, the second actuator housing 204 is pivotally mounted on a rotary joint and configured to pivot at least partially about the rotary joint. For example, the second actuator housing 204 may be pivotally mounted on the rotary joint such that the second actuator housing 204, the second piston 208, and the second translation axis T2 can rotate or pivot about the rotary joint during operation. However, the second actuator housing 204 may be mounted in other ways. For example, the second actuator housing 204 may be fixedly mounted to a fixed surface (e.g., the stationary portion of a wing), such as... Figure 2A-2C As depicted herein, or otherwise mounted to a surface. In some examples, the mounting type of the second linear actuator 202 (particularly the second actuator housing 204) may depend at least in part on the type of structural connection or linkage between the second piston shaft 210 and the rotor device.

[0074] Example second device 200 includes second rotor device 220, which is similar to, except for, the following: Figure 1A and Figure 1BRotor device 120: Example second device 200's second rotor device 220 includes a rotor arm 222, which, in addition to a first rotor arm portion 126 and a second rotor arm portion 128, also has a third rotor arm portion 228. Furthermore, in addition to a first torque linkage mechanism 134, the second rotor device 220 also includes a second torque linkage mechanism 234. The third rotor arm portion 228 is symmetrically positioned relative to the second rotor arm portion 128 across a central plane, and the second torque linkage mechanism 234 is symmetrically positioned relative to the first torque linkage 134 across a central plane. The second rotor device 220 is connected to both a first linear actuator 102 (via the first torque linkage mechanism 134) and a second linear actuator 202 (via the second torque linkage mechanism 234). The second rotor device 220 receives linear inputs (e.g., linear translation of piston 108) from the first linear actuator 102 and second linear inputs (e.g., linear translation of second piston 208) from the second linear actuator 202, and converts these linear inputs into rotational outputs of rotor elements (e.g., rotor arm 222).

[0075] The rotor arm 222 of the second rotor device 220 is rotatably or pivotally coupled (e.g., coupled to enable pivoting) to the first rotary joint 124 and configured to rotate or pivot at least partially about the first rotary joint 124. The rotary joint 124 defines a first axis of rotation R1 about which the rotor arm 222 can pivot. In some cases, the first axis of rotation R1 is perpendicular (precisely or substantially) to both the first translation axis T1 and the second translation axis T2.

[0076] Figure 2A-2C The second rotor arm 222 is schematically shown as including a first rotor arm portion 126, a second rotor arm portion 128, and a third rotor arm portion 228. Although Figure 2A-2C The second rotor arm 222 is shown having three distinct rotor arm portions 126, 128, and 228, but these portions are at least partially connected to each other such that the first rotor arm portion 126, the second rotor arm portion 128, and the third rotor arm portion 228 rotate or pivot together about the first rotary joint 124. For example, a force applied to any of the first rotor arm portions 126, the second rotor arm portion 128, or the third rotor arm portion 228 will cause the entire rotor arm 222 to rotate about the first rotary joint 124.

[0077] The third rotor arm portion 228 (or the third rotor arm) extends radially from the first rotary joint 124. In some embodiments, the third rotor arm end 230 of the third rotor arm portion 228 (e.g., the longitudinal end of the third rotor arm portion 228 near the first rotary joint 124) is attached to the first rotor arm portion 126, and the fourth rotor arm end 232 of the third rotor arm portion 228 (e.g., the longitudinal end of the third rotor arm portion 228 opposite to the first rotary joint 124 and opposite to the third rotor arm end 230) may be spaced apart from the first rotor arm portion 126.

[0078] The second torque linkage 234 is pivotally connected at its third end to the second rotor arm 222, and pivotally connected at its fourth end to the second piston shaft 210. Figure 2A-2C In the example of the second device 200, the second torque linkage 234 is pivotally connected at a third torque linkage end 236 (e.g., the longitudinal end of the second torque linkage 234) to a fourth rotor arm end 232 of the third rotor arm portion 228, and pivotally connected at a fourth torque linkage end 238 (e.g., the longitudinal end of the second torque linkage 234 opposite to the third torque linkage end 236) to a second piston shaft end 214. The pivotal connection at the second piston shaft end 214 defines a second pivot joint 216, wherein the second piston shaft 210 is pivotally connected to the second torque linkage 234. The second pivot joint 216 defines a second pivot axis P2, which is (substantially or precisely) perpendicular to the second translation axis T2 and, in some cases, intersects the second translation axis T2 at the second piston shaft end 214.

[0079] The second piston 208, the second rotor arm 222, and the second torque linkage mechanism 234 are also rigid structures with pivotal connections, as previously described. The corresponding translations of the first piston 108 and the second piston 208 are opposite to each other, because the first piston 108 extends as the second piston 208 retracts, and the first piston 108 retracts as the second piston 208 extends. The mirror-image, symmetrical example of the second device 200, and the opposing translations of pistons 108 and 208, maximize the output torque of the second rotor arm 222 and eliminate or reduce bending loads on the linear actuators 102 and 202. Similar to... Figure 1A and Figure 1BThe schematic diagram illustrates that some of the components of the example second device 200 are positioned in offset, parallel planes to avoid interference between parts and to maximize the effective drive radius of the second rotor arm 222. In some examples, the first actuator 102 and the second actuator 202 are in the same plane (e.g., a plane intersecting T1 and T2 and perpendicular to axis R1). Arms 126, 128, and 228 may also be in the same plane, for example, if integrated into a single piece. Links 134 and 234 may be in a single plane, for example, because they do overlap each other. One or both of links 134 and 234 may also be partially in the plane of piston cylinders 112 and 212, but not in the plane of piston shafts 110 and 210.

[0080] Example second device 200 also includes a second guide structure 240 connected to a second pivot joint 216 and at least partially guiding the movement of the second pivot joint during actuation of the second linear actuator 202 (e.g., translation of the second piston 208 relative to the second actuator housing 204). The second guide structure 240 is similar to the first guide structure 140 and can reduce or eliminate bending moments in the second piston 208, the second torque linkage 234, and / or the second rotor arm 222, such that the stresses in device 200 are primarily simple tension, compression, or shear.

[0081] exist Figure 2A-2C In the example device 200, the second guide structure 240 includes a second guide slider 242, which is positioned in space relative to the first rotary joint 124 and slidably coupled to the second pivot joint 216. The second guide slider 242 is similar to the first guide slider 142 except that it guides the sliding movement of the second pivot joint 216 within the second channel 244. In some embodiments, the second guide slider 242 is symmetrically positioned across a central plane from the first guide slider 142. The second guide slider 242 guides the sliding movement of the second pivot joint 216, for example, by providing the second channel 244 along which the second pivot joint 216 travels. In some examples, the second pivot joint 216 includes a stud or other protrusion that engages the second channel 244 of the second pivot joint 216. Figure 2A-2C In the example of the second device 200, the second channel 244 is straight and extends parallel to the second translation axis T2 (e.g., in a straight line with it). However, the shape and orientation of the second channel 244 can vary. For example, the second channel 244 of the second guide slider 242 can be curved (e.g., arc-shaped), angularly offset from the second translation axis T2, parallel to but offset from the second translation axis T2, or have another shape and / or orientation.

[0082] Figure 2B and Figure 2C The first piston 108 is shown in a first, fully retracted position and a second, fully extended position; while, in contrast to the first piston 108, the second piston 208 is in the fully extended position and the fully retracted position. Figure 2A-2C One or both of the linear actuators 102 and 202 in the example second device 200 may be fluid actuators, such as hydraulic actuators. Specifically, the first linear actuator 102 and the second linear actuator 202 form a double-acting fluid actuator, wherein a hydraulic system (not shown) is connected to the first piston chamber 106 at two opposite sides of the first piston cylinder 112 and to the second piston chamber 206 at two opposite sides of the second piston cylinder 212. In other words, the hydraulic system acts on the first piston cylinder 112 along a first translation axis T1 using pressurized fluid in a first longitudinal direction to translate the first piston cylinder 112 along the first translation axis T1, and also acts on the second piston cylinder 212 along a second longitudinal direction substantially opposite to the first longitudinal direction and along a second translation axis T2 to translate the second piston cylinder 212 along the second translation axis T2. In some embodiments, the head end of the first piston chamber 106 is hydraulically connected to the shaft end of the second piston chamber 206, and the shaft end of the first piston chamber 106 is hydraulically connected to the head end of the second piston chamber 206, such that the pressure difference supplied to the first piston chamber 106 and the second piston chamber 206 causes one of the first piston shaft end 114 or the second piston shaft end 214 to extend, while causing the other of the first piston shaft end 114 or the second piston shaft end 214 to retract.

[0083] As previously described, the guiding structure (e.g., Figure 1A-2C The boot structure 140, or Figure 2A-2C The second guiding structure 240 can take many forms. Figure 3A and Figure 3B This is another example of a schematic side view of a linear-to-rotary motion device 300, in which... Figure 3A The device 300 is shown to be in the first position, and Figure 3B The device 300 is shown in the second position. Aside from the different guiding structure... Figure 3A and Figure 3B Example third device 300 and Figure 1A and Figure 1BThe device 100 is identical. For example, the example third device 300 has a third guide structure 340, which includes a guide linkage mechanism 342 connected at a first guide linkage end 344 to a first pivot joint 116 and at a second guide linkage end 346 opposite to the first guide linkage end 344 to a third rotary joint 302. The third rotary joint 302 is fixed in space relative to the first rotary joint 124 and defines a third rotation axis R3 perpendicular to the translation axis T1 and parallel to the first rotation axis R1. The guide linkage mechanism 342 is configured to pivot at least partially about the third rotation axis R3 at the third rotary joint 302. As the piston 108 translates along the translation axis T1, the guide linkage mechanism 342 guides the pivot joint 116 to move about the third rotary joint 302 along an arcuate, rocker-type path. The third guide structure 340 can reduce or eliminate bending moments in the piston 108, torque linkage 134, and / or rotor arm 122, so that the stresses in the example third device 300 are primarily simple tension, compression, or shear.

[0084] The longitudinal length of the guide linkage 342 can vary. In some embodiments, the longitudinal length between the pivot connections of the guide linkage 342 is greater than half the maximum translational distance of the piston 108. For example, for an example piston 108 longitudinal length of 2.7 inches producing a 44-degree total stroke of the rotor arm output 126, the guide linkage 342 (and guide linkage 442) can have a longitudinal length of 0.85 inches between their respective pivot connections, where the stroke of the piston 108 can be approximately 1.14 inches. (See, for example, a description later.) Figure 5 (See Figure 500). Output rotation can be increased by lengthening links 342 and 442 along with the actuator stroke and length. For example, by increasing the length of piston 108 by approximately 0.1 inches, increasing the guide linkage 342 (and guide linkage 442) by approximately 0.1 inches, and increasing the stroke of piston 108 by approximately 0.2 inches, an example piston 108 can have a longitudinal length of 2.8 inches, which produces a total stroke of 53 degrees for rotor arm output 126. In this example, guide linkage 342 (and guide linkage 442) can have a longitudinal length of 0.95 inches between their respective pivot connections, and the stroke of piston 108 is approximately 1.34 inches. The lengths of these linkages can be varied and optimized to produce a desired output torque, a desired output stroke, another output parameter, or a combination of these desired outputs. Under certain length constraints, the actuator may not produce torque or may restrict the linkages.

[0085] As previously described, some embodiments of the linear-to-rotary device 300 may include one or more additional linear actuators (e.g., acting together with or opposite to the first linear actuator 102) to supplement the actuated rotation of the rotor arm 122, and the rotor device 120 may include additional features and linkage mechanisms to connect to said one or more additional linear actuators. For example, Figure 4A , Figure 4B and Figure 4C This is a schematic side view of a fourth example linear-to-rotational motion device 400, similar to example second device 200 and example third device 300. Specifically, example fourth device 400 is similar to... Figure 2A-2C Example second device 200 is similar: Example fourth device 400 includes similar Figure 3A and Figure 3B The third guide structure 340 has two guide structures, and the first actuator housing 104 and the second actuator housing 204 are rotatably mounted to the second rotary joint 118 and the fourth rotary joint 218, respectively. Figure 4A The device 400 is shown to be in a similar state. Figure 2A In the neutral center position, the first rotor arm portion 126 is positioned at the rotation center position. Figure 4B The device 400 is shown to be in a similar state. Figure 2B In the first position of the first position, and Figure 4C Example fourth device 400 is shown in a similar state. Figure 2C In the second position of the second position.

[0086] Example fourth device 400 is partially composed of Figure 3A and Figure 3B An example device 300 is formed including a third guide structure 340 having a guide linkage mechanism 342 rotatably coupled to a third rotary joint 302. An example fourth device 400 also includes a fourth guide structure 440, which is similar to the third guide structure 340 except that it is mirror-image across a central plane. The fourth guide structure 440 includes a second guide linkage mechanism 442 connected at an end 444 of the third guide linkage mechanism to a second pivot joint 216 and at an end 446 of the fourth guide linkage mechanism opposite to the end 444 of the third guide linkage mechanism to the third rotary joint 302. In some embodiments, the end 446 of the fourth guide linkage mechanism is connected to a fifth rotary joint (not shown), which is fixed in space relative to the first rotary joint 124 but positioned at a different location than the third rotary joint 302.

[0087] The second guide linkage 442 is configured to pivot at least partially about a third rotation axis R3 at the third rotary joint 302 (or about a parallel rotation axis at the fifth rotary joint). As the second piston 208 translates along the second translation axis T2, the second guide linkage 442 guides the movement of the second pivot joint 216 about the third rotary joint 302 along an arcuate, rocker-like path. The fourth guide structure 440 can reduce or eliminate bending moments in the second piston 208, the second torque linkage 234, and / or the second rotor arm 222, such that the stresses in the example fourth device 400 are primarily simple tension, compression, or shear.

[0088] Figure 5 Figure 500 illustrates an example linear-to-rotational motion device (such as...). Figures 1A to 4C The example straight line (to the torque curve of rotary motion devices 100, 200, 300, or 400) is shown. This torque curve illustrates the torque output of the rotor arm at the angular position of the rotor arm. By utilizing the mechanics of links 134 and 234, a largely flat torque curve with increased torque in extreme cases (e.g., the maximum and minimum angular output of the rotor arm) can be generated. This contrasts with some conventional mechanisms (such as sliders, stop yokes, or other examples) that produce maximum torque in the middle stroke and lower torque in extreme cases. Figure 500 also shows the total stroke output of the rotor arm at approximately 44 degrees. However, this total stroke output range can be varied to an optimized value or range, for example, by adjusting the length of the linkage mechanism, as previously described.

[0089] Figure 6 This is a flowchart describing an example method 600 for transmitting rotational motion, such as by... Figures 1A to 4CExamples of linear-to-rotary motion devices 100, 200, 300, or 400 are performed. At 602, a first piston shaft end of a first piston shaft of a first linear actuator is selectively extended or retracted linearly along a translation axis relative to a first actuator housing of a first linear actuator. The first piston shaft is at least partially disposed within the first actuator housing, and the first piston shaft end is coupled to a first pivot joint, wherein the first pivot joint defines a first pivot axis substantially perpendicular to the translation axis. At 604, a guide structure guides movement of the first pivot joint. At 606, in response to the selective extension or retraction of the first piston shaft end of the first piston shaft, a first torque linkage mechanism is actuated, the first torque linkage mechanism being coupled to the first pivot joint at a first torque linkage mechanism end. The first torque linkage mechanism is configured to pivot at least partially about a first pivot axis, and the first torque linkage mechanism includes a second torque linkage mechanism end opposite to the first torque linkage mechanism end. At 608, in response to causing movement of the first torque linkage, the rotor arm is pivoted about a first rotary joint, which defines a first axis of rotation substantially perpendicular to the translation axis. The rotor arm includes a first rotor arm end proximate to the first rotary joint and a second rotor arm end pivotally connected to a second torque linkage end of the first torque linkage. In some embodiments, the second rotor arm is coupled to or integral with the first rotor arm, and in response to causing pivoting of the rotor arm, the second rotor arm is pivoted about the first rotary joint.

[0090] Many implementations have been described. However, it will be understood that various modifications may be made without departing from the spirit and scope of this disclosure.

Claims

1. A linear-to-rotary motion device, comprising: A first linear actuator, comprising: The first actuator housing includes a first piston chamber; and A first piston shaft, at least partially disposed within the first piston chamber and configured to translate within the first piston chamber along a first translational axis, the first piston shaft including a first piston shaft end configured to selectively extend and retract linearly relative to the first actuator housing along the first translational axis; and Rotor equipment, the rotor equipment comprising: A first rotary joint, which defines a first rotation axis that is substantially perpendicular to the first translation axis; A rotor arm that extends radially from the first rotary joint and is configured to pivot at least partially about the first rotary joint, the rotor arm having a rotor arm end positioned away from the first rotary joint; A first torque linkage mechanism has a first torque linkage mechanism end pivotally connected to an end of the rotor arm of the rotor arm, and a second torque linkage mechanism end opposite to the first torque linkage mechanism end and pivotally connected at a first pivot joint to an end of the first piston shaft of the first piston shaft, the first pivot joint defining a first pivot axis substantially perpendicular to the first translational axis of the first piston shaft, wherein the rotor arm and the first piston shaft at least partially overlap in a two-dimensional observation plane, and the first pivot axis and the first rotation axis are perpendicular to the two-dimensional observation plane; and A guiding structure is connected to the first pivot joint and configured to at least partially guide the movement of the first pivot joint.

2. The device according to claim 1, wherein, The guide structure is directly connected to the first pivot connection joint.

3. The device according to claim 1 or claim 2, wherein, The rotor arm end is the second rotor arm end, and the rotor arm has a first rotor arm end that is close to the rotary joint.

4. The device according to claim 1 or claim 2, wherein, The guiding structure includes a first guide slider, which is positioned in space relative to the first rotary joint and slidably connected to the first pivot joint. The first guide slider is configured to guide the sliding movement of the first pivot joint parallel to the first translation axis.

5. The device according to claim 1 or claim 2, wherein, The first actuator housing is configured to pivot about a second rotary joint, which is fixed in space relative to the first rotary joint and has a second rotation axis perpendicular to the first translation axis.

6. The device according to claim 5, wherein, The guiding structure includes a first guiding linkage mechanism having a first guiding linkage mechanism end pivotally connected at the end of the first piston shaft to the first pivot joint, and a second guiding linkage mechanism end pivotally connected to a third rotary joint fixed in space relative to the first rotary joint. The first guiding linkage mechanism is configured to pivot about a third rotation axis of the third rotary joint, the third rotation axis being perpendicular to the first translation axis and parallel to the first rotation axis.

7. The device according to claim 5, wherein, The second rotation axis intersects the first translation axis.

8. The device according to claim 5, wherein, The distance from the second rotary joint to the first rotary joint is relatively smaller than the distance from the second rotary joint to the end of the first piston shaft.

9. The device according to claim 1 or claim 2, wherein, The first linear actuator is a fluid actuator.

10. The device according to claim 9, wherein, The fluid actuator is a double-acting fluid actuator.

11. The device according to claim 1 or claim 2, wherein, One of the first actuator housing or the rotor arm is configured to be coupled to the fuselage structure of the aircraft, and the other of the first actuator housing or the rotor arm is configured to be coupled to a movable control surface of the aircraft, such that the movable control surface is configured to move relative to the fuselage structure via the linear-to-rotational motion device.

12. The device according to claim 3, further comprising: A second linear actuator, comprising: The second actuator housing includes a second piston chamber; and A second piston shaft, which is at least partially disposed in the second piston chamber and configured to translate along a second translation axis within the second piston chamber of the second actuator housing, the second piston shaft including a second piston shaft end configured to selectively extend and retract linearly relative to the second actuator housing along the second translation axis; The rotor arm includes a second rotor arm end positioned away from the first rotary joint and away from the end of the first rotor arm, wherein the second rotor arm end is positioned substantially opposite to the first rotor arm end relative to the first rotary joint; and The rotor device further includes: A second torque linkage mechanism has a third torque linkage end pivotally connected to the second rotor arm end of the rotor arm, and a fourth torque linkage end opposite the third torque linkage end and pivotally connected at a second pivot joint to the second piston shaft end of the second piston shaft, the second pivot joint defining a second pivot axis substantially perpendicular to the second translational axis of the second piston shaft and parallel to the first pivot axis of the first pivot joint; and A second guide structure is connected to the second pivot joint and configured to at least partially guide the movement of the second pivot joint.

13. The device according to claim 12, wherein, The second guide structure includes a second guide slider, which is positioned in space relative to the first rotary joint and slidably connected to the second pivot joint. The second guide slider is configured to guide the sliding movement of the second pivot joint parallel to the second translation axis.

14. The device according to claim 12, wherein, The second actuator housing is configured to pivot about a fourth rotary joint, which is fixed in space relative to the first rotary joint and has a fourth rotation axis perpendicular to the second translation axis.

15. The device according to claim 14, wherein, The second guiding structure includes a second guiding linkage mechanism having a third guiding linkage end pivotally connected at the end of the second piston shaft to the second pivot joint, and a fourth guiding linkage end pivotally connected to a third rotary joint fixed in space relative to the first rotary joint. The second guiding linkage mechanism is configured to pivot about a third rotation axis of the third rotary joint, the third rotation axis being perpendicular to the second translation axis and parallel to the first rotation axis.

16. The device according to claim 14, wherein, The fourth rotation axis intersects with the second translation axis.

17. The apparatus according to claim 12, wherein: The first actuator housing and the second actuator housing are configured to be coupled to the fuselage structure of the aircraft, and the rotor arm is configured to be coupled to a movable control surface of the aircraft, such that the movable control surface is configured to move relative to the fuselage structure via the linear-to-rotational motion device; or The first actuator housing and the second actuator housing are configured to be coupled to the movable control surface of the aircraft, and the rotor arm is configured to be coupled to the fuselage structure of the aircraft, such that the movable control surface is configured to move relative to the fuselage structure via the linear-to-rotational motion device.

18. The device according to claim 12, wherein, At least one of the first linear actuator or the second linear actuator is a fluid actuator.

19. The device according to claim 12, wherein, At least one of the first linear actuator or the second linear actuator is a double-acting fluid actuator.

20. A method for transmitting rotational motion, the method comprising: The first piston shaft end of the first piston shaft of the first linear actuator selectively extends or retracts linearly along the translation axis relative to the first actuator housing of the first linear actuator. The first piston shaft is at least partially disposed within the first actuator housing, and the first piston shaft is coupled at the first piston shaft end to a first pivot joint, the first pivot joint defining a first pivot axis substantially perpendicular to the translation axis. A guiding structure is used to guide the movement of the first pivot joint; In response to selectively extending or retracting the first piston shaft end, a first torque linkage mechanism is actuated, the first torque linkage mechanism being connected at a first torque linkage mechanism end to the first pivot joint, the first torque linkage mechanism being configured to pivot about the first pivot axis, and the first torque linkage mechanism including a second torque linkage mechanism end opposite to the first torque linkage mechanism end; and In response to causing movement of the first torque linkage, a rotor arm is pivoted about a first rotary joint, the first rotary joint defining a first rotation axis substantially perpendicular to the translation axis. The rotor arm includes a first rotor arm end proximate to the first rotary joint and a second rotor arm end pivotally connected to a second torque linkage end of the first torque linkage, wherein the rotor arm at least partially overlaps with the first piston shaft in a two-dimensional observation plane, and the first pivot axis and the first rotation axis are perpendicular to the two-dimensional observation plane.

21. The method according to claim 20, wherein, The guiding structure includes a first guide slider, and guiding the movement of the first pivot joint includes using the first guide slider to guide the movement of the first pivot joint, the first guide slider being positioned in space relative to the first rotary joint and slidably coupled to the first pivot joint.

22. The method according to claim 21, wherein, Using the first guide slider to guide the movement of the first pivot joint includes guiding the first pivot joint to move linearly parallel to the translation axis.

23. The method of claim 20, wherein, The first actuator housing is configured to pivot about a second rotary joint at least partially in response to selectively extending or retracting the end of the first piston shaft, the second rotary joint being fixed in space relative to the first rotary joint and having a second axis of rotation parallel to the first axis of rotation of the first rotary joint.

24. The method according to claim 23, wherein, The guiding structure includes a first guiding linkage mechanism pivotally connected at a first guiding linkage mechanism end to a third rotary joint fixed in space relative to the first rotary joint, the first guiding linkage mechanism pivotally connected at a second guiding linkage mechanism end opposite to the first guiding linkage mechanism end to the first pivot connection, and guiding the movement of the first pivot connection joint includes using the first guiding linkage mechanism to guide the first pivot connection joint to rocker about the third rotary joint, the third rotary joint defining a third rotation axis parallel to the first pivot axis and perpendicular to the translation axis.

25. The method according to claim 23, wherein, The distance from the second rotary joint to the first rotary joint is relatively smaller than the distance from the second rotary joint to the end of the first piston shaft.

26. The method of claim 20, wherein, The first linear actuator is a linear fluid actuator, and the first piston shaft end of the first piston shaft of the first linear actuator extends or retracts linearly relative to the first actuator housing of the first linear actuator, including the supply of pressurized fluid to the linear fluid actuator.

27. The method according to claim 26, wherein, The linear fluid actuator is a double-acting fluid actuator.

28. The method according to claim 20, wherein, One of the first actuator housing or the rotor arm is configured to be coupled to the fuselage structure of the aircraft, and the other of the first actuator housing or the rotor arm is configured to be coupled to a movable control surface of the aircraft, the method further comprising: causing movement of the movable control surface of the aircraft relative to the fuselage structure of the aircraft via one of the first actuator housing or the rotor arm.

29. The method of claim 20, further comprising: In contrast to the selective extension or retraction of the first piston shaft end, the second piston shaft end of the second piston shaft of the second linear actuator is selectively retracted or extended linearly along the second translation axis relative to the second actuator housing of the second linear actuator. The second piston shaft is at least partially disposed within the second actuator housing, and the second piston shaft end is coupled to a second pivot joint, the second pivot joint defining a second pivot axis substantially perpendicular to the second translation axis. The movement of the second pivot joint is guided by a second guiding structure. In response to selective retraction or extension of the second piston shaft end, movement is caused in a second torque linkage mechanism connected to the second pivot joint at the third torque linkage mechanism end of the second torque linkage mechanism. This second torque linkage mechanism is configured to pivot about the second pivot axis, and includes a fourth torque linkage mechanism end opposite the third torque linkage mechanism end; and In response to causing movement of the second torque linkage, the rotor arm is pivotally moved about the first rotary joint, the rotor arm including a third rotor arm end that is pivotally connected to the fourth torque linkage end of the second torque linkage.

30. The method according to claim 29, wherein, The first linear actuator is a first linear fluid actuator, and the first piston shaft end of the first piston shaft of the first linear actuator selectively extends or retracts linearly relative to the first actuator housing of the first linear actuator, including the supply of pressurized fluid to the first linear fluid actuator.

31. The method according to claim 30, wherein, The second linear actuator is a second linear fluid actuator, and the second piston shaft end of the second piston shaft of the second linear actuator selectively extends or retracts linearly relative to the second actuator housing of the second linear actuator, including the supply of pressurized fluid to the second linear fluid actuator.

32. The method according to claim 31, wherein, The first linear fluid actuator and the second linear fluid actuator form a dual-acting fluid actuator.

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