Actuator unit

Abstract

To lock a main rod without requiring an excessively large power source.SOLUTION: In view in the direction parallel to a first pin P1, a first link 110 includes a first arm 111 extending from the first pin P1, and a second arm 112 extending from the first pin P1 in the direction different from that of the first arm 111, the first arm 111 being connected to a sub rod 80 for giving power to the first link 110, the second arm 112 being connected to a second link 120 to which a locking collar 60 is connected. The locking collar 60 reciprocates along with the reciprocating rotation of the first link 110 around the first pin P1. A distance from a point where the first arm 111 is connected to the sub rod 80 to the first pin P1 is longer than a distance from a point where the second arm 112 is connected to the second link 120 to the first pin P1.SELECTED DRAWING: Figure 5

Description

[Technical field]

[0001] The present invention relates to an actuator unit. [Background technology]

[0002] The actuator disclosed in Patent Document 1 includes a cylindrical cylinder and an output rod that can move along the central axis of the cylinder. The actuator also includes a first locking member and a second locking member. The first locking member is fixed to the output rod. The first locking member has a cylindrical portion centered on the central axis of the cylinder. The inner peripheral surface of the cylindrical portion is a tapered surface whose diameter increases toward one side in the direction along the central axis of the cylinder. The second locking member can advance and retreat inside the cylindrical portion. The second locking member is in a truncated cone shape centered on the central axis of the cylinder. That is, the outer peripheral surface of the second locking member is a tapered surface whose diameter increases toward one side in the direction along the central axis. When the tapered surface of the first locking member and the tapered surface of the second locking member are brought into contact with each other, the outer peripheral surface of the first locking member is pressed against the inner peripheral surface of the cylinder. At the same time, the first locking member becomes immovable. Accordingly, the output rod is locked so as to be immovable. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] U.S. Pat. No. 3,470,793 Summary of the Invention [Problem to be solved by the invention]

[0004] In the technology of Patent Document 1, the magnitude of the force that tries to restrict the movement of the output rod depends on the magnitude of the force that presses the second locking member against the first locking member. Therefore, in order to restrict the movement of the output rod against the force that tries to move the output rod, it is necessary to press the second locking member against the first locking member with a considerably large force. However, in order to move the second locking member with a large force, a large mechanism is required as a mechanism for moving the second locking member. [Means for solving the problem]

[0005] An actuator unit for solving the above problem includes a main rod movable in an axial direction, a locking mechanism for restricting movement of the main rod, a first link mechanism rotatable about a rotation axis, and a second link mechanism connected to the first link mechanism and the locking mechanism, wherein the locking mechanism includes a locking member having a cylindrical shape into which the main rod is inserted and an outer circumferential surface inclined so as to approach a central axis of the main rod toward one side in the axial direction, and a locking collar having a cylindrical shape into which the main rod and the locking member are inserted and an inner circumferential surface inclined so as to approach the central axis of the main rod toward one side in the axial direction, and the first link mechanism includes , when viewed in a direction parallel to the pivot axis, a first arm extends from the pivot axis, and when viewed in a direction parallel to the pivot axis, a second arm extends from the pivot axis in a direction different from the first arm, wherein the first arm is connected to a power source that provides power to the first link mechanism, and the second arm is connected to the second link mechanism to which the locking collar is connected, and as the first link mechanism rotates back and forth, the locking collar moves back and forth in the axial direction, and when viewed in a direction parallel to the pivot axis, a distance from a connection point of the first arm with the power source to the pivot axis is longer than a distance from a connection point of the second arm with the second link mechanism to the pivot axis.

[0006] Due to the relationship in length between the first arm and the second arm, the first link mechanism of the above configuration can utilize the principle of leverage to amplify the force input from the power source and transmit it to the second link mechanism and, ultimately, the locking collar. In this way, with the above configuration, the force from the power source can be amplified and transmitted to the locking collar, eliminating the need to employ an excessively large power source.

[0007] In the actuator unit, the second link mechanism may convert a force that moves a connection point of the second arm with the second link mechanism in a direction perpendicular to the axial direction into a force that moves an inner circumferential surface of the locking collar toward an outer circumferential surface of the locking member in the axial direction.

[0008] In the actuator unit, when viewed in a direction parallel to the pivot axis, the acute angle formed by a line segment connecting a connection point of the second arm with the second link mechanism and a connection point of the second link mechanism with the locking collar, and the axial direction may be within 30 degrees regardless of the position of the locking collar.

[0009] In the actuator unit, when a locked state is defined as a state in which the outer peripheral surface of the locking member is in contact with the inner peripheral surface of the locking collar, when viewed in a direction parallel to the pivot axis, an angle formed by a line segment connecting a connection point of the first arm with the power source and the pivot axis and a direction of a force applied by the power source to the first arm in the locked state may be greater than or equal to 85 degrees and less than 95 degrees.

[0010] The actuator unit includes an actuator operated by fluid pressure as the power source, the actuator having a cylinder into which fluid is supplied, a piston capable of reciprocating within the cylinder, a rod connected to the piston and the first arm, and a spring member that applies force to the piston, and when the spring member applies force to the piston to move the piston, the inner surface of the locking collar may move toward the outer peripheral surface of the locking member.

[0011] In the actuator unit, the main rod may operate a rotor blade of an aircraft. Effect of the Invention

[0012] According to the above technical concept, an excessively large power source is not required to lock the main rod. [Brief description of the drawings]

[0013] [Figure 1] FIG. 1 is a perspective view of the actuator unit. [Diagram 2] FIG. 2 is a cross-sectional view of the first actuator. [Diagram 3] FIG. 3 is a cross-sectional view of the second actuator. [Figure 4] FIG. 4 is a side view of the actuator unit with the locking collar in a normal position. [Diagram 5] FIG. 5 is a side view of the actuator unit with the locking collar in the locked position. [Figure 6] FIG. 6 is a cross-sectional view of a portion of the first actuator with the locking collar in a locked position. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0014] <Actuator unit> An embodiment of an actuator unit applied to an aircraft will be described below with reference to the drawings. The actuator unit described below is for operating a moving surface of the aircraft.

[0015] 1, the actuator unit 10 includes a first actuator 11, a second actuator 12, a pair of first links 110, and a pair of second links 120. The first link 110 is a first link mechanism. The second link 120 is a second link mechanism.

[0016] As shown in FIGS. 1 and 2, the first actuator 11 includes a main cylinder 50, a main rod 30, a main piston 39, a fixed member 40, a locking mechanism 20, and a housing member 45.

[0017] <Main cylinder> As shown in Fig. 2, the main cylinder 50 includes a peripheral wall 51 and a bottom wall 52. In addition, as shown in Fig. 1, the main cylinder 50 includes a pair of trunnions 54, a pair of first extension pieces 56, a pair of second extension pieces 57, and a pair of connecting pieces 58.

[0018] As shown in FIG. 2, the peripheral wall 51 is cylindrical. Hereinafter, the central axis of the peripheral wall 51 is referred to as the main cylinder axis J1. An axis parallel to the main cylinder axis J1 is defined as the first axis X. A specific axis perpendicular to the first axis X is defined as the second axis Y, and an axis perpendicular to both the first axis X and the second axis Y is defined as the third axis Z. Furthermore, one of the two directions along the first axis X is defined as the first direction A, and the opposite direction is defined as the second direction B. Furthermore, one of the two directions along the third axis Z is defined as the third direction C.

[0019] 2, the bottom wall 52 has a disk shape and closes the end of the peripheral wall 51 on the second direction B side. As shown in FIG. 1, the two trunnions 54 are located at the end of the peripheral wall 51 on the first direction A side. The two trunnions 54 are located on both sides of the peripheral wall 51 in the direction along the second axis Y. The two trunnions 54 are provided symmetrically on both sides of the peripheral wall 51 in the direction along the second axis Y. Similarly, the two first extension pieces 56 are provided symmetrically on both sides of the peripheral wall 51 in the direction along the second axis Y. The same is true for the two second extension pieces 57.

[0020] The trunnion 54 has a large diameter portion 54A and a small diameter portion 54B. Both the large diameter portion 54A and the small diameter portion 54B are cylindrical. The large diameter portion 54A protrudes outward from the outer circumferential surface of the peripheral wall 51. The small diameter portion 54B protrudes outward from the end face of the large diameter portion 54A opposite to the peripheral wall 51. The outer diameter of the small diameter portion 54B is smaller than the outer diameter of the large diameter portion 54A. The central axis of the small diameter portion 54B coincides with the central axis of the large diameter portion 54A. The small diameter portion 54B is connected to the aircraft fuselage.

[0021] The first extension piece 56 is connected to the large diameter portion 54A of the trunnion 54. The first extension piece 56 is plate-shaped and has a thickness in the direction along the second axis Y. The first extension piece 56 protrudes in the first direction A from the end of the large diameter portion 54A opposite to the side connected to the peripheral wall 51. The protruding end of the first extension piece 56 reaches the outside of the peripheral wall 51 in the first direction A. The first extension piece 56 has a through hole 56H. The through hole 56H is located outside the peripheral wall 51 in the first direction A. The through hole 56H penetrates the first extension piece 56 in the direction along the second axis Y. In the direction along the third axis Z, the central axis of the through hole 56H is at the same position as the main cylinder axis J1.

[0022] As shown in FIG. 1, the second extension piece 57 is connected to the end face of the peripheral wall 51 on the first direction A side. The second extension piece 57 is plate-shaped with a thickness in the direction along the second axis Y, similar to the first extension piece 56. The second extension piece 57 protrudes from the end face of the peripheral wall 51 in the first direction A. In the first direction A, the protruding end of the second extension piece 57 reaches the same position as the first extension piece 56. The second extension piece 57 has a through hole. The through hole penetrates the second extension piece 57 in the direction along the second axis Y. The central axis of this through hole coincides with the central axis of the through hole 56H of the first extension piece 56.

[0023] The connecting piece 58 is connected to an end of the peripheral wall 51 on the second direction B side. The two connecting pieces 58 are located on both sides in the direction along the second axis Y, sandwiching the main cylinder axis J1. The two connecting pieces 58 are provided symmetrically on either side of the main cylinder axis J1. The connecting piece 58 is plate-shaped with a thickness in the direction along the second axis Y. The connecting piece 58 protrudes from the outer circumferential surface of the peripheral wall 51 toward the third direction C. The connecting piece 58 has a through hole. The through hole penetrates the connecting piece 58 in the direction along the second axis Y. The central axes of the through holes of the two connecting pieces 58 coincide with each other.

[0024] <Main rod> As shown in Figs. 1 and 2, the main rod 30 includes a main rod body 32 and a main end member 34. The main rod body 32 is cylindrical. The outer diameter of the main rod body 32 is smaller than the inner diameter of the peripheral wall 51 of the main cylinder 50. The main rod body 32 extends in a direction along the first axis X. As shown in Fig. 2, a part of the main rod body 32 is located inside the peripheral wall 51 of the main cylinder 50. The remaining part of the main rod body 32 protrudes outside the peripheral wall 51 through an opening at the end of the peripheral wall 51 of the main cylinder 50 on the first direction A side. The central axis of the main rod body 32 coincides with the main cylinder axis J1.

[0025] As shown in Fig. 1, the main end member 34 is connected to the main rod body 32. The main end member 34 is located at the end of the main rod body 32 on the first direction A side. In other words, the main end member 34 is located outside the peripheral wall 51 of the main cylinder 50. The main end member 34 is in the shape of an annular plate. The main end member 34 is connected to a rotor blade 300 of an aircraft.

[0026] <Main piston> As shown in FIG. 2, the main piston 39 is connected to the main rod body 32. The main piston 39 is located at the end of the main rod body 32 on the second direction B side. That is, the main piston 39 is located inside the peripheral wall 51 of the main cylinder 50. The main piston 39 protrudes outward from the outer peripheral surface of the main rod body 32 in the radial direction centered on the main rod body 32. When the main piston 39 is viewed in a plan view in a direction along the first axis X, the main piston 39 is annular. The outer diameter of the main piston 39 is slightly smaller than the inner diameter of the peripheral wall 51 of the main cylinder 50. An annular seal ring S is attached to the outer peripheral surface of the main piston 39. This seal ring S closes the gap between the main piston 39 and the peripheral wall 51. Similarly, an annular seal ring S is attached to the inner peripheral surface of the main piston 39. This seal ring S closes the gap between the main piston 39 and a housing member 45 described later. The main piston 39 is capable of reciprocating along the first axis X within a peripheral wall 51 of the main cylinder 50 together with the main rod 30 .

[0027] <Fixing material> 2, the fixed member 40 is cylindrical. The outer diameter of the fixed member 40 is approximately the same as the inner diameter of the peripheral wall 51 of the main cylinder 50. The inner diameter of the fixed member 40 is slightly larger than the outer diameter of the main rod body 32.

[0028] The fixed member 40 is located inside the peripheral wall 51 of the main cylinder 50. The central axis of the fixed member 40 coincides with the main cylinder axis J1. The outer peripheral surface of the fixed member 40 is fixed to the inner peripheral surface of the peripheral wall 51. In the direction along the first axis X, the fixed member 40 is located on the first direction A side from the center of the peripheral wall 51. In addition, in the direction along the first axis X, the end of the fixed member 40 on the first direction A side is located on the second direction B side from the end of the peripheral wall 51 on the first direction A side. A certain amount of space is secured between the end of the fixed member 40 on the first direction A side and the end of the peripheral wall 51 on the first direction A side. A seal ring S is attached to the outer peripheral surface of the fixed member 40. The seal ring S closes the gap between the fixed member 40 and the peripheral wall 51.

[0029] The main rod body 32 is inserted into a central hole of the fixed member 40. The main rod body 32 penetrates the fixed member 40. The main rod body 32 is slidable along the inner circumferential surface of the fixed member 40. An annular seal ring S is attached to the inner circumferential surface of the fixed member 40. The seal ring S seals the gap between the fixed member 40 and the main rod body 32.

[0030] <Lock mechanism> As shown in FIG. 2, the locking mechanism 20 includes a locking member 25 and a locking collar 60 .

[0031] The locking member 25 is cylindrical. However, an outer peripheral surface 25A of the locking member 25 is tapered. That is, the outer diameter of the locking member 25 changes along the direction along the central axis of the locking member 25. The maximum value of the outer diameter of the locking member 25 is smaller than the outer diameter of the fixing member 40. The inner diameter of the locking member 25 is slightly larger than the outer diameter of the main rod body 32.

[0032] A portion of the locking member 25 is located inside the peripheral wall 51 of the main cylinder 50. The central axis of the locking member 25 coincides with the central axis of the fixed member 40, and therefore with the main cylinder axis J1. In the direction along the first axis X, the locking member 25 is located on the first direction A side with respect to the fixed member 40. The end face of the locking member 25 on the second direction B side is in contact with the end face of the fixed member 40 on the first direction A side. The locking member 25 extends from the end face of the fixed member 40 to reach the outside of the peripheral wall 51 of the main cylinder 50.

[0033] The main rod body 32 is inserted into the central hole of the locking member 25. In other words, the main rod body 32 passes through the locking member 25. As described above, the inner diameter of the locking member 25 is larger than the outer diameter of the main rod body 32. In relation to this, there is a gap between the locking member 25 and the main rod body 32 under normal circumstances. Note that this gap is exaggerated in FIG. 2. Note that the locking member 25 is elastically deformable to a certain degree. When the locking member 25 is pressed toward the main rod body 32, the locking member 25 exerts a braking force on the main rod body 32.

[0034] As described above, the outer circumferential surface 25A of the locking member 25 is a tapered surface. Specifically, the outer circumferential surface 25A of the locking member 25 is inclined so as to approach the main cylinder axis J1 as it approaches the first direction A side.

[0035] <Locking collar> 2, the locking collar 60 is cylindrical. However, an inner peripheral surface 60A of the locking collar 60 is tapered. That is, the inner diameter of the locking collar 60 changes in a direction along the central axis of the locking collar 60. The details of the inner diameter of the locking collar 60 will be described later. The outer diameter of the locking collar 60 is slightly smaller than the inner diameter of the peripheral wall 51 of the main cylinder 50.

[0036] The locking collar 60 is attached to the peripheral wall 51 of the main cylinder 50. When the locking collar 60 is attached to the peripheral wall 51, the central axis of the locking collar 60 coincides with the main cylinder axis J1. A part of the locking collar 60 is located inside the peripheral wall 51. In detail, a part of the locking collar 60 is located in a part of the peripheral wall 51 on the first direction A side relative to the fixing member 40. The remaining part of the locking collar 60 protrudes to the outside of the peripheral wall 51 through an opening at the end of the peripheral wall 51 on the first direction A side. The outer peripheral surface of the locking collar 60 is slidable against the inner peripheral surface of the peripheral wall 51.

[0037] The inner diameter of the locking collar 60 is set so that the following relationship is satisfied. Here, the inner peripheral surface 60A of the locking collar 60 is inclined so as to approach the main cylinder axis J1 as it approaches the first direction A side. The inner diameter of the end of the locking collar 60 on the second direction B side is smaller than the outer diameter of the end of the locking member 25 on the second direction B side, and is larger than the outer diameter of the end of the locking member 25 on the first direction A side. The inner diameter of the end of the locking collar 60 on the first direction A side is smaller than the outer diameter of the end of the locking member 25 on the first direction A side, and is larger than the outer diameter of the main rod main body 32. Based on this size relationship, a part of the locking member 25 is inserted into the hole in the center of the locking collar 60 through the opening of the end of the locking collar 60 on the second direction B side. Under normal conditions, the inner peripheral surface 60A of the locking collar 60 and the outer peripheral surface 25A of the locking member 25 are not in contact with each other, and there is a gap between them. Furthermore, the main rod body 32, which penetrates the locking member 25, is inserted into the central hole of the locking collar 60. The main rod body 32 penetrates the locking collar 60. Note that in Fig. 2, the gap between the inner peripheral surface 60A of the locking collar 60 and the outer peripheral surface 25A of the locking member 25 is exaggerated.

[0038] <Housing material> 2, the housing member 45 is cylindrical. The inside of the housing member 45 is hollow. The housing member 45 accommodates a position sensor that detects the position of the main rod body 32 in a direction along the first axis X. The outer diameter of the housing member 45 is slightly smaller than the inner diameter of the main rod body 32.

[0039] The housing member 45 is located in a central hole of the main rod body 32. The central axis of the housing member 45 coincides with the central axis of the main rod body 32. In the direction along the first axis X, the end of the housing member 45 on the first direction A side is located further in the first direction A than the end of the fixed member 40 on the first direction A side. A part of the housing member 45 protrudes from the main rod body 32 in the second direction B side and reaches a bottom wall 52 of the main cylinder 50. The housing member 45 is fixed by the bottom wall 52.

[0040] <Fluid chamber> Inside the peripheral wall 51 of the main cylinder 50, a fluid chamber is defined on the second direction B side of the fixed member 40. The fluid chamber is divided into a first fluid chamber 47 and a second fluid chamber 48 by the main piston 39. The first fluid chamber 47 is located on the first direction A side of the main piston 39. The first fluid chamber 47 is defined by the main piston 39, the main rod body 32, the peripheral wall 51 of the main cylinder 50, and the fixed member 40. The second fluid chamber 48 is located on the second direction B side of the main piston 39. The second fluid chamber 48 is defined by the main piston 39, the peripheral wall 51 and bottom wall 52 of the main cylinder 50, and the housing member 45.

[0041] The main cylinder 50 includes a first fluid port 50A and a second fluid port 50B. The first fluid port 50A and the second fluid port 50B communicate with the inside and outside of the peripheral wall 51. The first fluid port 50A is connected to the first fluid chamber 47. The second fluid port 50B is connected to the second fluid chamber 48. Although not shown, outside the peripheral wall 51, both the first fluid port 50A and the second fluid port 50B are connected to a fluid circuit (not shown). This fluid circuit is a hydraulic oil supply and discharge mechanism including an electric pump for pumping hydraulic oil, a flow path through which the hydraulic oil flows, a valve for switching the flow path, and the like. The hydraulic oil is supplied and discharged from the fluid circuit to the first fluid chamber 47 and the second fluid chamber 48 through the first fluid port 50A and the second fluid port 50B. Then, in response to the hydraulic pressure difference between the first fluid chamber 47 and the second fluid chamber 48, the main piston 39 and therefore the main rod body 32 move in a direction along the first axis X. At the same time, the moving blade 300 connected to the main rod 30 moves. When the main rod body 32 moves in a direction along the first axis X, the main rod body 32 moves relative to the main cylinder 50, the fixed member 40, the locking member 25, and the locking collar 60.

[0042] <Second actuator> As shown in FIGS. 1 and 3, the second actuator 12 includes a sub-cylinder 70, a sub-rod 80, a sub-piston 89, a spring member 91, and a closing member 95.

[0043] As shown in FIG. 3, the sub-cylinder 70 includes a peripheral wall 72, a bottom wall 74, and an extension wall 76. The peripheral wall 72 is cylindrical. The bottom wall 74 is disk-shaped. The central axis of the peripheral wall 72 is referred to as the sub-cylinder axis J2. The bottom wall 74 closes one end of the peripheral wall 72 in the direction along the sub-cylinder axis J2. The bottom wall 74 includes a supply / discharge port 74A. The supply / discharge port 74A penetrates the bottom wall 74. The supply / discharge port 74A is connected to a fluid circuit 220 located outside the peripheral wall 72. The extension wall 76 is located outside the peripheral wall 51. The extension wall 76 protrudes from the bottom wall 74. The extension wall 76 includes a through hole. The through hole penetrates the extension wall 76. The end of the peripheral wall 72 opposite the bottom wall 74 in the direction along the sub-cylinder axis J2 is closed by a closing member 95.

[0044] As shown in Figs. 1 and 3, the sub-rod 80 includes a sub-rod body 82 and a sub-end member 84. The sub-rod body 82 is rod-shaped. The sub-rod body 82 extends in a direction along the sub-cylinder axis J2. A part of the sub-rod body 82 is located inside the peripheral wall 72 of the sub-cylinder 70. The remaining part of the sub-rod body 82 passes through the closure member 95 and protrudes to the outside of the peripheral wall 72 of the sub-cylinder 70. The central axis of the sub-rod body 82 coincides with the sub-cylinder axis J2.

[0045] 1, the sub-end member 84 is connected to the end of the sub-rod body 82 that is exposed from the peripheral wall 72. The sub-end member 84 is in the shape of an annular plate. As shown in FIG. 3, the sub-piston 89 is connected to the sub-rod main body 82. In the direction along the sub-cylinder axis J2, the sub-piston 89 is located at the end of the sub-rod main body 82 that is housed in the peripheral wall 72. In other words, the sub-piston 89 is located inside the peripheral wall 72 of the sub-cylinder 70. The sub-piston 89 protrudes outward from the outer circumferential surface of the sub-rod main body 82 in the radial direction centered on the sub-rod main body 82. When the sub-piston 89 is viewed from above in the direction along the sub-cylinder axis J2, the sub-piston 89 is circular. The outer diameter of the sub-piston 89 is slightly smaller than the inner diameter of the peripheral wall 72 of the sub-cylinder 70. An annular seal ring S is attached to the outer circumferential surface of the sub-piston 89. The seal ring S closes the gap between the sub-piston 89 and the peripheral wall 72 of the sub-cylinder 70. The sub-piston 89 can reciprocate together with the sub-rod 80 inside the sub-cylinder 70 in the direction along the sub-cylinder axis J2.

[0046] The sub-piston 89 divides the inside of the peripheral wall 72 of the sub-cylinder 70 into two in the direction along the sub-cylinder axis J2. The inside of the peripheral wall 72 of the sub-cylinder 70, on the bottom wall 74 side relative to the sub-piston 89, forms a fluid chamber 98 to which hydraulic oil is supplied and discharged through a supply and discharge port 74A provided in the bottom wall 74. The fluid chamber 98 is partitioned by the sub-piston 89 and the peripheral wall 72 and bottom wall 74 of the sub-cylinder 70. Meanwhile, the inside of the peripheral wall 72, on the closing member 95 side relative to the sub-piston 89, forms a spring accommodating chamber 99. The spring accommodating chamber 99 is partitioned by the sub-piston 89, the peripheral wall 72 of the sub-cylinder 70, the sub-rod main body 82, and the closing member 95.

[0047] The spring member 91 is spiral. The spring member 91 is located in a spring accommodating chamber 99. The spring member 91 surrounds the sub-rod main body 82. One end of the spring member 91 contacts the closing member 95. The other end of the spring member 91 contacts the sub-piston 89. The spring member 91 presses the sub-piston 89 toward the bottom wall 52 of the sub-cylinder 70 in the direction along the sub-cylinder axis J2. The sub-piston 89 moves inside the peripheral wall 51 of the sub-cylinder 70 depending on the magnitude of the force from the spring member 91 and the hydraulic pressure in the fluid chamber 98. In the following, the state in which the sub-piston 89 is furthest from the bottom wall 74 is referred to as the state in which the sub-piston 89 and the sub-rod 80 are in the first position. Also, the state in which the sub-piston 89 is located furthest from the bottom wall 74 is referred to as the state in which the sub-piston 89 and the sub-rod 80 are in the second position.

[0048] As shown in FIG. 1, the second actuator 12 is connected to the first actuator 11. The sub-cylinder 70 is located on the third direction C side with respect to the main cylinder 50. When the actuator unit 10 is viewed in a plan view in a direction along the second axis Y, the sub-cylinder 70 is arranged in parallel with the main cylinder 50. Viewing the actuator unit 10 in a plan view in a direction along the second axis Y is also viewing the actuator unit 10 in a plan view in a direction parallel to the second axis Y. The extension wall 76 of the sub-cylinder 70 is located between the two connecting pieces 58 in the main cylinder 50. A connecting pin PN penetrates the through holes of the two connecting pieces 58 and the through hole of the extension wall 76. The connecting pin PN is cylindrical. The central axis of the connecting pin PN extends in a direction along the second axis Y. Although not shown, the connecting pin PN is prevented from coming off by a nut or the like. The sub-cylinder 70 is rotatable around the connecting pin PN. When the sub-cylinder 70 is connected to the main cylinder 50, the sub-cylinder axis J2 is generally parallel to the main cylinder axis J1.

[0049] As shown in FIG. 3, the supply / discharge port 74A of the second actuator 12 is connected to a fluid circuit 220 for supplying fluid pressure to the second actuator 12. The fluid circuit 220 can apply a predetermined hydraulic pressure to the fluid chamber 98 of the sub cylinder 70 and remove hydraulic pressure from the fluid chamber 98. For example, the fluid circuit 220 includes a tank 222, a supply passage 224, an electric pump 226, a return passage 228, and a relief valve 229. The tank 222 stores hydraulic oil. The supply passage 224 connects the tank 222 and the supply / discharge port 74A. The electric pump 226 is located in the middle of the supply passage 224. The electric pump 226 pumps out hydraulic oil in the tank 222. The return passage 228 connects the supply passage 224 downstream of the electric pump 226 to the tank 222. The relief valve 229 opens the flow path of the return passage 228 only when the hydraulic pressure in the supply passage 224 downstream of the electric pump 226 is equal to or higher than a predetermined hydraulic pressure. For example, in this fluid circuit 220, when the electric pump 226 continues to be driven, a predetermined hydraulic pressure is applied to the fluid chamber 98. When the electric pump 226 is stopped being driven, hydraulic pressure is no longer applied to the fluid chamber 98. The predetermined hydraulic pressure is set to a value that allows a force sufficiently larger than the elastic force of the spring member 91 to act on the sub-piston 89.

[0050] <First link> As shown in FIG. 1, the two first links 110 are provided symmetrically on both sides of the main cylinder axis J1 in the direction along the second axis Y. The first link 110 is, as a whole, a long plate curved into an arc shape. The configuration of the first link 110 will be described below on the assumption that the first link 110 is viewed in a plan view in the direction along the second axis Y. As shown in FIG. 4, the first link 110 is connected to the sub-end member 84. The first link 110 is, as a whole, V-shaped. That is, the first link 110 includes a first arm 111 and a second arm 112 corresponding to two sides of the V shape. The apex of the V shape in the first link 110 is referred to as the base end. The first arm 111 extends linearly from the base end toward the third direction C. The second arm 112 extends from the base end in a direction different from that of the first arm 111. The second arm 112 extends from the base end generally toward the first direction A. The second arm 112 is inclined at an acute angle with respect to the first arm 111. Specifically, the angle between the extension direction of the second arm 112 and the extension direction of the first arm 111 on the first direction A side and the third direction C side is an acute angle. The extension dimension of the second arm 112 is shorter than the extension dimension of the first arm 111.

[0051] The first link 110 has three through holes. A first through hole 151, which is one of the three through holes, is located at the base end. A second through hole 152, which is one of the three through holes, is located at the end of the first arm 111 opposite the base end. A third through hole 153, which is one of the three through holes, is located at the end of the second arm 112 opposite the base end. Each of the through holes penetrates the first link 110 in a direction along the second axis Y.

[0052] As shown in FIG. 1 and FIG. 4, the first link 110 is connected to both the first actuator 11 and the second actuator 12 via a plurality of pins. Each pin is cylindrical. When the first link 110 is connected to each actuator, the first through hole 151 of the first link 110 is located between the first extension piece 56 and the second extension piece 57 of the main cylinder 50. The first pin P1 penetrates the first through hole 151, the through hole 56H of the first extension piece 56, and the through hole of the second extension piece 57. That is, the first arm 111 is connected to the peripheral wall 51 of the main cylinder 50 via the first extension piece 56 and the second extension piece 57. The central axis of the first pin P1 extends in a direction along the second axis Y. Although not shown, the first pin P1 is prevented from coming off by a nut or the like. The first arm 111 is rotatable around the first pin P1. The first pin P1 constitutes a rotation axis.

[0053] In addition, in a state where the first link 110 is connected to each actuator, the second through hole 152 provided in the first arm 111 of the first link 110 is located on the third direction C side with respect to the first through hole 151. The second through hole 152 faces the sub-end member 84 of the sub-rod 80. The second pin P2 penetrates the second through hole 152 and the central hole of the sub-end member 84. That is, the first arm 111 is connected to the sub-rod main body 82 via the sub-end member 84. As shown in FIG. 1, the second pin P2 penetrates both the second through holes 152 of the two first links 110 on both sides in the direction along the second axis Y. Although not shown, the second pin P2 is prevented from coming off by a nut or the like. The first arm 111 is rotatable relative to the second pin P2.

[0054] Here, as described above, the first arm 111 connects the first pin P1 and the second pin P2. That is, as shown in Fig. 4, when the first link 110 is viewed in a plan view in the direction along the second axis Y, the first arm 111 extends from the first pin P1 to the second pin P2. When the first link 110 is viewed in a plan view in the direction along the second axis Y, the first link 110 is V-shaped, so the second arm 112 extends from the first pin P1 in a direction different from that of the first arm 111.

[0055] Furthermore, in a state in which first link 110 is attached to each actuator, third through hole 153 provided in second arm 112 of first link 110 is positioned on the first direction A side with respect to second through hole 152. The manner in which third through hole 153 is connected to other components will be described in relation to second link 120.

[0056] Here, as shown in FIG. 5, the second through hole 152 of the first link 110, and therefore the second pin P2, are the connection points with the sub-rod 80 in the first arm 111. When the actuator unit 10 is viewed in a plan view in the direction along the second axis Y, a line segment connecting the central axis of the second through hole 152 and the central axis of the first pin P1 is called the first line segment L1. Now, as shown in FIG. 5, when the sub-rod 80 is in the second position, the second pin P2 is in the same position as the first pin P1 in the direction along the first axis X. Therefore, when the sub-rod 80 is in the second position, the first line segment L1 extends in the direction along the third axis Z. Here, the first link 110 rotates as the sub-rod 80 moves from the first position to the second position. At that time, the second pin P2 gradually moves toward the third direction C in accordance with the extension dimension of the first arm 111. With such movement of the second pin P2 in the third direction C, the sub-rod 80 including the sub-end member 84 and the sub-cylinder 70 rotate slightly in the third direction C with the connecting pin PN as a fulcrum. Then, as shown in FIG. 5, when the sub-rod 80 reaches the second position, the sub-cylinder axis J2 is slightly inclined with respect to the main cylinder axis J1. However, this inclination is less than 5 degrees. The direction in which the sub-cylinder axis J2 extends coincides with the direction of the force that the sub-rod 80 applies to the first arm 111. In other words, when the actuator unit 10 is viewed in a plan view facing the second axis Y, the angle between the direction of the force that the sub-rod 80 applies to the first arm 111 and the first line segment L1 is 85 degrees or more and 95 degrees or less.

[0057] <Second link> As shown in FIG. 1, the two second links 120 are provided symmetrically on both sides in the direction along the second axis Y with the main cylinder axis J1 in between. Each second link 120 is connected to the first link 110. The second link 120 includes two support pieces 121, a connection piece 122, and a protruding piece 125. The two support pieces 121 are arranged at an interval in the direction along the second axis Y. Both of the two support pieces 121 are plate-shaped having a thickness in the direction along the second axis Y. As shown in FIG. 4, when the support piece 121 is viewed in a plan view in the direction along the second axis Y, the support piece 121 is substantially rectangular. The support piece 121 includes a fourth through hole 154. The fourth through hole 154 is located at one end of the support piece 121 in the longitudinal direction. The fourth through hole 154 penetrates the support piece 121 in the direction along the second axis Y. The central axes of the fourth through holes 154 in the two support pieces 121 are aligned. As shown in FIG. 1, the connection piece 122 connects the ends of the two support pieces 121 opposite to the fourth through holes 154. The protruding piece 125 protrudes from the connection piece 122 to the opposite side to the support pieces 121. The protruding piece 125 is plate-shaped and has a thickness in the direction along the second axis Y. As shown in FIG. 4, the protruding piece 125 has a fifth through hole 155. The fifth through hole 155 penetrates the protruding piece 125 in the direction along the second axis Y.

[0058] The second link 120, like the first link 110, is connected to both the first link 110 and the first actuator 11 via a plurality of cylindrical pins. As shown in FIG. 4, when the second link 120 is connected to them, the two support pieces 121 are located on the second direction B side with respect to the protruding piece 125. As shown in FIG. 1 and FIG. 4, the second arm 112 of the first link 110 is located between the two support pieces 121. The third pin P3 penetrates the fourth through hole 154 of each of the two support pieces 121 and the third through hole 153 of the second arm 112. That is, the second link 120 is connected to the second arm 112 of the first link 110. The central axis of the third pin P3 extends in the direction along the second axis Y. Although not shown, the third pin P3 is prevented from coming off by a nut or the like. The second arm 112 of the first link 110 is capable of rotating relative to the third pin P3.

[0059] In addition, in a state where the second link 120 is connected to the first link 110 and the first actuator 11, the protruding piece 125 faces the outer circumferential surface of the locking collar 60. The fourth pin P4 penetrates the fifth through hole 155 in the protruding piece 125. The fourth pin P4 is fixed to the outer circumferential surface of the locking collar 60. The central axis of the fourth pin P4 extends in a direction along the second axis Y. In a direction along the third axis Z, the central axis of the fourth pin P4 is at the same position as the main cylinder axis J1. Although not shown in the figure, the fourth pin P4 is prevented from coming off by a nut or the like. The second link 120 is rotatable around the fourth pin P4. In this manner, the second link 120 is connected to the locking collar 60.

[0060] Here, as shown in FIG. 4, in the above-mentioned connected state, the second through hole 152 provided in the first arm 111 and the second pin P2 are the connection point of the first arm 111 with the sub-rod 80. When the actuator unit 10 is viewed in a plan view in the direction along the second axis Y, the distance from this connection point to the first pin P1 is referred to as the first distance. Also, the third through hole 153 provided in the second arm 112 and the third pin P3 are the connection point of the second arm 112 with the second link 120. When the actuator unit 10 is viewed in a plan view in the direction along the second axis Y, the distance from this connection point to the first pin P1 is referred to as the second distance. The first distance is longer than the second distance in consideration of the extension dimensions of the first arm 111 and the second arm 112 described above.

[0061] As described above, the third through hole 153 of the first link 110 is a connection point of the second arm 112 of the first link 110 with the second link 120. The fifth through hole 155 of the second link 120, and therefore the fourth pin P4, are connection points of the second link 120 with the locking collar 60. When the actuator unit 10 is viewed in a plan view along the second axis Y, a line segment connecting the central axis of the third through hole 153 and the central axis of the fifth through hole 155 of the second link 120 is referred to as the second line segment L2. When the actuator unit 10 is viewed in a plan view along the second axis Y, an acute angle formed by the second line segment L2 and the main cylinder axis J1 is referred to as the link angle. As shown in FIG. 4, when the sub-rod 80 is in the first position, the first pin P1, the third pin P3, and the fourth pin P4 are in the same position in the direction along the third axis Z. When the actuator unit 10 is viewed in a plan view in the direction along the second axis Y, the first pin P1, the third pin P3, and the fourth pin P4 are aligned on the main cylinder axis J1. In other words, when the sub-rod 80 is in the first position, the link angle is zero.

[0062] On the other hand, as shown in FIG. 5, when the sub-rod 80 is in the second position, the third through hole 153 is located on the third direction C side with respect to the main cylinder axis J1. Therefore, when the actuator unit 10 is viewed in a plan view from the direction along the second axis Y, the second line segment L2 connecting the central axis of the third through hole 153 and the central axis of the fifth through hole 155 of the second link 120 is inclined with respect to the main cylinder axis J1. The link angle, which is this inclination angle, is a predetermined angle within 30 degrees. Considering this feature and the link angle when the sub-rod 80 is in the first position, the following can be said. That is, in this embodiment, the link angle is within 30 degrees regardless of the position of the locking collar 60.

[0063] <Function of the second actuator> The operation of this embodiment will be described below. First, the function of the second actuator 12 will be described. The amount by which the sub-rod 80 of the second actuator 12 protrudes from the peripheral wall 72 of the sub-cylinder 70 changes depending on the hydraulic pressure acting on the fluid chamber 98 of the sub-cylinder 70. At the same time, the position of the sub-rod 80 in the direction along the sub-cylinder axis J2 changes to a first position or a second position.

[0064] Now, assume that a predetermined hydraulic pressure is acting on the fluid chamber 98. In this case, the hydraulic oil presses the sub-rod body 82 together with the sub-piston 89 toward the closing member 95 against the elastic force of the spring member 91. In this case, the sub-rod 80 is disposed in the first position shown in Figure 4 in the direction along the sub-cylinder axis J2.

[0065] When hydraulic pressure is released from the fluid chamber 98, the spring member 91 applies a force to the sub-piston 89 toward the bottom wall 74 of the sub-cylinder 70. When the spring member 91 applies a force to the sub-piston 89, the sub-rod 80 moves toward the bottom wall 52 in the direction along the sub-cylinder axis J2. The sub-rod 80 then reaches the second position shown in Figure 5 in the direction along the sub-cylinder axis J2. The second position is a position where the amount of protrusion of the sub-rod 80 from the peripheral wall 72 of the sub-cylinder 70 is smaller than the first position.

[0066] In this way, the sub-rod 80 moves to the first position or the second position depending on the hydraulic pressure acting on the fluid chamber 98. When the sub-rod 80 is in the first position, as shown in Fig. 4, the sub-cylinder axis J2 is parallel to the main cylinder axis J1. On the other hand, when the sub-rod 80 is in the second position, as shown in Fig. 5, the sub-cylinder axis J2 is slightly inclined toward the third direction C with respect to the main cylinder axis J1.

[0067] <Lock mechanism function> 2 can lock the main rod 30 so that it cannot move or release the lock as the sub-rod 80 of the second actuator 12 moves to the first position or the second position. This function will be described.

[0068] As described above, in the lock mechanism 20, the locking collar 60 is capable of moving relative to the main cylinder 50. The locking collar 60 moves relative to the main cylinder 50 through the operation of the first link 110 and the second link 120, which will be described later, in conjunction with the operation of the sub-rod 80. Specifically, the locking collar 60 moves between a normal position and a locked position in which the amount of protrusion of the locking collar 60 from the peripheral wall 51 of the main cylinder 50 becomes smaller than in the normal position.

[0069] As shown in Fig. 4, when the sub-rod 80 is in the first position, the locking collar 60 is disposed in the normal position. As shown in Fig. 2, when the locking collar 60 is in the normal position, the inner circumferential surface 60A of the locking collar 60 and the outer circumferential surface 25A of the locking member 25 are separated from each other. In this case, the locking mechanism 20 is in an unlocked state in which a gap exists between the inner circumferential surface of the locking member 25 and the main rod body 32.

[0070] As shown in FIG. 5, when the sub-rod 80 is in the second position, the locking collar 60 is disposed in the above-mentioned locking position in which the amount of protrusion from the peripheral wall 51 is smaller than that in the normal position. As shown in FIG. 6, when the locking collar 60 is in the locking position, the inner peripheral surface 60A of the locking collar 60 and the outer peripheral surface 25A of the locking member 25 are in contact with each other. In detail, when the locking collar 60 is in the locking position, the inner peripheral surface 60A of the locking collar 60 is pressed against the outer peripheral surface 25A of the locking member 25. Here, as described above, the inner peripheral surface 60A of the locking collar 60 and the outer peripheral surface 25A of the locking member 25 are mutually tapered. Therefore, when the inner peripheral surface 60A of the locking collar 60 is pressed against the outer peripheral surface 25A of the locking member 25, the locking member 25 is pressed inward toward the main rod main body 32 in the radial direction centered on the main rod main body 32. At this time, the locking member 25 comes into contact with the main rod body 32 to lock the main rod body 32 so as to prevent it from moving. That is, when the locking collar 60 is in the locked position, the locking mechanism 20 is in a locked state in which the main rod 30 is locked so as to prevent it from moving. In this way, the locking mechanism 20 functions to restrict the movement of the main rod 30.

[0071] <Functions of the 1st and 2nd links> The first link 110 and the second link 120 function to transmit the power of the sub-rod 80 to the locking collar 60. In achieving this function, the first link 110 and the second link 120 gradually change their posture in response to the movement of the sub-rod 80. The changes in posture of each link in response to the position and movement of the sub-rod 80 will be described below.

[0072] First, the posture of the first link 110 when the sub-rod 80 is in the first position will be described. As shown in Fig. 4, when the sub-rod 80 is in the first position, the second pin P2 is located on the first direction A side with respect to the first pin P1. Also, as described above, when the sub-rod 80 is in the first position, the first pin P1, the third pin P3, and the fourth pin P4 are aligned on the main cylinder axis J1 when the actuator unit 10 is viewed in a plan view facing the direction along the second axis Y.

[0073] As shown in FIG. 5, when the sub-rod 80 moves from the first position to the second position, the amount of protrusion of the sub-rod 80 relative to the sub-cylinder 70 decreases, and the second pin P2 connected to the sub-rod 80 moves closer to the sub-cylinder 70. At the same time, the first link 110 rotates with the first pin P1 as a fulcrum so that the second through hole 152 moves closer to the sub-cylinder 70. At this time, the first link 110 rotates in the direction along the first axis X until the second through hole 152 and the second pin P2 are in the same position as the first pin P1. With this rotation, the third through hole 153 of the first link 110 moves in the third direction C together with the third pin P3. Then, the fourth through hole 154 in the second link 120 rotates in the third direction C together with the third pin P3 with the fourth pin P4 as a fulcrum. With this rotation, the fifth through hole 155 of the second link 120 approaches the first pin P1 together with the fourth pin P4. As the fourth pin P4 approaches the first pin P1, the locking collar 60 fixed to the fourth pin P4 moves in the second direction B. That is, the locking collar 60 moves in the direction along the first axis X toward the side where the inner peripheral surface 60A of the locking collar 60 approaches the outer peripheral surface 25A of the locking member 25. Then, the locking collar 60 reaches a lock position where the inner peripheral surface 60A of the locking collar 60 is pressed against the outer peripheral surface 25A of the locking member 25. In this way, the second link 120 converts the force of the third through hole 153, which is the connection point between the first link 110 and the second link 120, moving in the third direction C, into a force of the inner peripheral surface 60A of the locking collar 60 moving in the direction along the first axis X toward the side where the inner peripheral surface 60A of the locking collar 60 approaches the outer peripheral surface 25A of the locking member 25.

[0074] Now, when the sub-rod 80 returns from the second position to the first position, the first link 110 and the second link 120 rotate in the opposite direction to that described above. At the same time, the locking collar 60 returns to the normal position in which the inner peripheral surface 60A of the locking collar 60 is separated from the outer peripheral surface 25A of the locking member 25. In this manner, as the first link 110 and the second link 120 perform the reciprocating rotational motion, the locking collar 60 reciprocates in the direction along the first axis X between the normal position and the locked position. The second actuator 12 is a power source that provides power to the first link 110 to drive the reciprocating rotation of the first link 110 and the second link 120.

[0075] <Effects of the embodiment> (1) As described above, the first link 110 is V-shaped, and the extension dimension of the first arm 111 is longer than the extension dimension of the second arm 112. The first link 110 can rotate about the first pin P1 located at the base end of the first arm 111 and the second arm 112 as a fulcrum. In this case, the first link 110 can increase the force input to the first arm 111 and transmit it to a component connected to the second arm 112 by the principle of leverage. That is, the first link 110 can increase the force input from the sub-rod 80 and transmit it to the second link 120 and the locking collar 60. In this way, in the configuration of this embodiment, the force from the second actuator 12 can be increased and transmitted to the locking collar 60, so there is no need to employ an excessively large actuator as the second actuator 12.

[0076] More specifically, the configuration of this embodiment ensures that the locking collar 60 can be operated quickly even if the force input from the sub-rod 80 to the first link 110 is reduced to a certain extent. Furthermore, because the force input from the sub-rod 80 to the first link 110 may be reduced, this embodiment makes it possible to reduce the size and weight of the spring member 91, which is the source of operation of the sub-rod 80. This contributes to reducing the size of the spring accommodating chamber 99 and therefore the sub-cylinder 70, and furthermore, the size and weight of the second actuator 12.

[0077] (2) The first link 110 and the second link 120 of this embodiment constitute a so-called toggle mechanism. That is, when the third through hole 153, which is the connection point of the first link 110 with the second link 120, moves in the direction along the third axis Z as the first link 110 rotates, the locking collar 60 moves in the direction along the first axis X. In this toggle mechanism, the force input from the sub-rod 80 can be efficiently amplified and transmitted to the locking collar 60. Therefore, the configuration of this embodiment is suitable for achieving the effect of (1).

[0078] (3) As described above, in this embodiment, the link angle is within 30 degrees regardless of the position of the locking collar 60. Due to the characteristics of the toggle mechanism, as the link angle approaches zero degrees, the rate of increase in the output force relative to the input force increases. Therefore, when the first link 110 and the second link 120 operate within a relatively small range of link angles, as in this embodiment, the first link 110 and the second link 120 can very efficiently amplify the force input from the sub-rod 80 and output it to the locking collar 60. Therefore, the configuration of this embodiment is particularly suitable for achieving the effect of (1).

[0079] (4) In this embodiment, the first actuator 11 and the second actuator 12 are aligned in the direction along the third axis Z. Therefore, the power of the sub-rod 80 of the second actuator 12 acts in the direction along the third axis Z via the first link 110 and is transmitted to the locking collar 60. Here, for example, when the sub-rod 80 is in the first position, if the first line segment L1 connecting the first pin P1 and the second pin P2 is inclined with respect to the sub-cylinder axis J2, the component of the force in the direction along the third axis Z is reduced by the amount of the inclination. In contrast, when the first line segment L1 and the sub-cylinder axis J2 are substantially perpendicular to each other, as in the case where the sub-rod 80 is in the second position, the power of the sub-rod 80 can be transmitted to the locking collar 60 effectively via the first link 110. Therefore, in this embodiment, when the sub-rod 80 is in the second position, i.e., when the locking collar 60 is in the locked position, the power of the sub-rod 80 can be more effectively applied to the locking collar 60. This allows the main rod 30 to be firmly locked.

[0080] (5) For example, an abnormality may occur in the hydraulic system of an aircraft, making it impossible to supply hydraulic pressure to each actuator. In this case, since it becomes impossible to control the position of the main rod 30 using the fluid circuit, it is necessary to quickly lock the main rod 30 to restrict the movement of the main rod 30. Here, in this embodiment, the elastic force of the spring member 91 is utilized to move the sub-rod 80 from the first position to the second position to lock the main rod 30. In this manner, in the case of a configuration in which the elastic force of the spring member 91 is utilized to lock the main rod 30, even when an abnormality occurs in the hydraulic system and the supply of hydraulic pressure to the sub-cylinder 70 is lost, the elastic force of the spring member 91 can be applied to the sub-rod 80 to lock the main rod 30.

[0081] (6) In an aircraft, for example, in an emergency, a quick response is required to a request to lock or unlock the main rod 30, such as quickly stopping the operation of the main rod 30. In this regard, as described above, the actuator unit 10 of the present embodiment can quickly operate the locking collar 60 to lock or unlock the main rod 30. Therefore, the actuator unit 10 of the present embodiment is suitable for achieving the above-mentioned quick response required in an aircraft.

[0082] <Example of change> The above embodiment can be modified as follows: The above embodiment and the following modifications can be combined with each other to the extent that no technical contradiction occurs.

[0083] The angle between the sub cylinder axis J2 and the first line segment L1 is not limited to the range of the above embodiment. Even if this angle is outside the range of the above embodiment, a relatively large force can be applied to the locking collar 60 in a configuration that utilizes the principle of leverage or a toggle mechanism. The same can be said about the link angle. In other words, the link angle is not limited to the range of the above embodiment.

[0084] The configuration of the first actuator 11 is not limited to the example of the above embodiment. The first actuator 11 may be one in which the main rod 30 is movable in a direction along the central axis thereof and which includes a locking mechanism 20 that locks the main rod 30. For example, the first actuator 11 may have the main rod body 32 protruding from the peripheral wall 51 of the main cylinder 50 in both the first direction A side and the second direction B side. Also, for example, the first actuator 11 may be configured such that the main rod 30 is operated by a force other than the hydraulic oil. The trunnion 54 may be located at the end of the peripheral wall 51 on the second direction B side.

[0085] The configuration of the locking mechanism 20 is not limited to the example of the above embodiment. For example, the locking member 25 may pass through the locking collar 60. The locking mechanism 20 may be configured to lock the main rod 30 by pressing the tapered surfaces of the locking member 25 and the locking collar 60 against each other.

[0086] The configuration of the fluid circuit 220 is not limited to the example of the above embodiment. The fluid circuit 220 may have any configuration as long as it can apply the necessary fluid pressure to the fluid chamber 98. With regard to the second actuator 12, the pressure medium that applies a force to the sub-rod 80 against the elastic force of the spring member 91 is not limited to hydraulic oil. For example, air may be used as the pressure medium.

[0087] The means for applying force to the sub-rod 80 against the elastic force of the spring member 91 is not limited to using a pressure medium. Any mechanical mechanism may be used as the above means. The above means may be any means capable of moving the sub-rod 80 from the second position to the first position against the elastic force of the spring member 91.

[0088] With regard to the second actuator 12, the power source for moving the sub-rod 80 from the first position to the second position is not limited to the spring member 91. This power source may be any power source that can move the sub-rod 80 from the first position to the second position.

[0089] The power source for operating the first link 110 is not limited to an actuator that uses fluid pressure and the elastic force of the spring member 91 to operate the sub-rod 80. For example, an electromechanical actuator that uses a conversion mechanism that converts the rotational motion of a motor into the linear motion of the sub-rod 80 to reciprocate the sub-rod 80 may be used as the power source for operating the first link 110. An example of such a conversion mechanism is a ball screw mechanism. The power source for operating the first link 110 may be anything that can provide the first link 110 with power for reciprocating rotation. As described above, in a configuration that uses the principle of leverage or a toggle mechanism, the force from the power source can be increased and transmitted to the locking collar. From this perspective, for example, during maintenance of the actuator unit 10, it is also possible for a person to operate the first link 110 using a tool or the like.

[0090] The first link 110 and the second link 120 may be configured as follows. That is, the first link 110 and the second link 120 may be configured such that, from a state in which the first pin P1, the third pin P3, and the fourth pin P4 are located at the same position in the direction along the third axis Z, the third pin P3 moves in the opposite direction to the third direction C relative to the first pin P1 and the fourth pin P4 in response to the operation of the sub-rod 80. In this case, the second link 120 converts the force of the third through-hole 153, which is the connection point of the first link 110 with the second link 120, moving in the opposite direction to the third direction C, into a force that moves the locking collar 60.

[0091] The configuration of the second link mechanism is not limited to the example of the above embodiment. For example, the second link mechanism may be composed of multiple link members, not just one link member as in the above embodiment. The second link mechanism does not have to convert the force of the connection point of the first link mechanism with the second link mechanism moving to one side or the other side along the third axis Z into a force moving the locking collar 60 in the direction along the first axis X. The second link mechanism only needs to connect the first link mechanism with the locking collar 60 and reciprocate the locking collar 60 in accordance with the reciprocating rotation of the first link mechanism.

[0092] The configuration of the first link mechanism is not limited to the example of the above embodiment. For example, the first link mechanism may be composed of multiple link members, not just one link member as in the above embodiment. The first link mechanism has a first arm and a second arm extending in different directions from a rotation axis serving as the center of rotation, and the extension dimension of the first arm is longer than the extension dimension of the second arm. With this configuration, a large output can be transmitted to the locking collar 60 by utilizing the principle of leverage.

[0093] Depending on the configuration of the first link mechanism and the second link mechanism, it may be possible to use a configuration that does not utilize a toggle mechanism for transmitting force. The application of the actuator unit 10 is not limited to rotor blades. In other words, the actuator unit 10 may be used for operating something other than rotor blades in an aircraft.

[0094] The actuator unit 10 may not be installed in an aircraft. In the above embodiment, if a product is made up of multiple objects, the multiple objects may be integrated, and conversely, if a product is made up of one object, it may be divided into multiple objects. Regardless of whether the objects are integrated or not, it is sufficient that the product is configured to achieve the object of the invention. [Explanation of symbols]

[0095] P1…1st pin 10...Actuator unit 11…First actuator 12...Second actuator 20...Lock mechanism 25...Lock member 30…Main rod 60...Locking collar 70...Sub cylinder 80…Sub-rod 89…Sub piston 91...Spring member 110…First link 111…First arm 112…Second arm 120…Second link 300...moving blade

Claims

1. the locking mechanism restricting the movement of the main rod; a first link mechanism rotatable about a rotation axis; and a second link mechanism connected to the first link mechanism and the locking mechanism, The locking mechanism includes: a locking member having a cylindrical shape into which the main rod is inserted and an outer peripheral surface that is inclined so as to approach a central axis of the main rod as it goes toward one side in the axial direction; a locking collar having a cylindrical shape in which the main rod and the locking member are inserted and an inner circumferential surface that is inclined so as to approach a central axis of the main rod as it goes toward one side in the axial direction, The first link mechanism includes: a first arm extending from the rotation shaft when viewed in a direction parallel to the rotation shaft; a second arm extending from the rotation shaft in a direction different from that of the first arm when viewed in a direction parallel to the rotation shaft, the first arm is connected to a power source that provides power to the first link mechanism; the second arm is connected to the second link mechanism to which the locking collar is connected; The first link mechanism reciprocates in the axial direction, and the locking collar reciprocates in the axial direction in response to the reciprocating rotation of the first link mechanism. When viewed in a direction parallel to the rotation shaft, a distance from a connection point of the first arm with the power source to the rotation shaft is longer than a distance from a connection point of the second arm with the second link mechanism to the rotation shaft. Actuator unit.

2. The second link mechanism converts a force that moves a connection point of the second arm with the second link mechanism in a direction perpendicular to the axial direction into a force that moves an inner peripheral surface of the locking collar toward an outer peripheral surface of the locking member in the axial direction. The actuator unit according to claim 1 .

3. When viewed in a direction parallel to the pivot shaft, an acute angle formed by a line segment connecting a connection point of the second arm with the second link mechanism and a connection point of the second link mechanism with the locking collar, and the axial direction is within 30 degrees regardless of the position of the locking collar. The actuator unit according to claim 2 .

4. When the outer circumferential surface of the locking member is in contact with the inner circumferential surface of the locking collar, the locking member is in a locked state. When viewed in a direction parallel to the rotation shaft, in the locked state, an angle formed by a line segment connecting a connection point of the first arm with the power source and the rotation shaft and a direction of a force applied to the first arm by the power source is 85 degrees or more and 95 degrees or less. The actuator unit according to claim 1 .

5. The power source includes an actuator that operates by fluid pressure, the actuator includes a cylinder into which a fluid is supplied, a piston capable of reciprocating within the cylinder, a rod connected to the piston and the first arm, and a spring member that applies a force to the piston; When the spring member applies force to the piston to move the piston, the inner peripheral surface of the locking collar moves toward the outer peripheral surface of the lock member. The actuator unit according to claim 1 .

6. The main rod operates the rotor blades of the aircraft. The actuator unit according to claim 1 .

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