EP1234983A1 - Compensated actuator with optimised power - Google Patents

Compensated actuator with optimised power Download PDF

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Publication number
EP1234983A1
EP1234983A1 EP02290425A EP02290425A EP1234983A1 EP 1234983 A1 EP1234983 A1 EP 1234983A1 EP 02290425 A EP02290425 A EP 02290425A EP 02290425 A EP02290425 A EP 02290425A EP 1234983 A1 EP1234983 A1 EP 1234983A1
Authority
EP
European Patent Office
Prior art keywords
piston
actuator
energy
hydraulic
load
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP02290425A
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German (de)
French (fr)
Other versions
EP1234983B1 (en
Inventor
Gérard Flacou
Gérard Mothier
Bruno Robert Thieffry
Jean-Marie Coda
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ECA SA
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ECA SA
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Publication of EP1234983A1 publication Critical patent/EP1234983A1/en
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Publication of EP1234983B1 publication Critical patent/EP1234983B1/en
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Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B15/00—Fluid-actuated devices for displacing a member from one position to another; Gearing associated therewith
    • F15B15/08—Characterised by the construction of the motor unit
    • F15B15/088—Characterised by the construction of the motor unit the motor using combined actuation, e.g. electric and fluid actuation
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B15/00—Fluid-actuated devices for displacing a member from one position to another; Gearing associated therewith
    • F15B15/20—Other details, e.g. assembly with regulating devices
    • F15B15/26—Locking mechanisms
    • F15B15/262—Locking mechanisms using friction, e.g. brake pads
    • F15B15/264—Screw mechanisms attached to the piston
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B15/00—Fluid-actuated devices for displacing a member from one position to another; Gearing associated therewith
    • F15B15/20—Other details, e.g. assembly with regulating devices
    • F15B15/28—Means for indicating the position, e.g. end of stroke
    • F15B15/2815—Position sensing, i.e. means for continuous measurement of position, e.g. LVDT
    • F15B15/2823—Position sensing, i.e. means for continuous measurement of position, e.g. LVDT by a screw mechanism attached to the piston
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T74/00—Machine element or mechanism
    • Y10T74/18—Mechanical movements
    • Y10T74/18568—Reciprocating or oscillating to or from alternating rotary
    • Y10T74/18576—Reciprocating or oscillating to or from alternating rotary including screw and nut
    • Y10T74/18592—Auxiliary drive [e.g., fluid piston, etc.] for load
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T74/00—Machine element or mechanism
    • Y10T74/18—Mechanical movements
    • Y10T74/18568—Reciprocating or oscillating to or from alternating rotary
    • Y10T74/18576—Reciprocating or oscillating to or from alternating rotary including screw and nut
    • Y10T74/186—Alternate power path operable on failure of primary
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T74/00—Machine element or mechanism
    • Y10T74/18—Mechanical movements
    • Y10T74/18568—Reciprocating or oscillating to or from alternating rotary
    • Y10T74/18576—Reciprocating or oscillating to or from alternating rotary including screw and nut
    • Y10T74/18736—Pressurized fluid introduced between nut and screw

Definitions

  • the present invention relates to an actuator for lifting or move a variable load or not.
  • This invention relates more particularly an actuator whose design makes it possible to minimize the energy useful for its operation, and have a simple way to get high accuracy in controlling the speed and position of the load controlled by the actuator.
  • compensation is used load, using for example a counterweight, or a mechanical spring.
  • a precise movement of the load, carried out using a plurality of actuators, requires delicate synchronization of the different actuators.
  • the document EP-A-0.070.811 (SELENIA INDUSTRIE) describes a jack hydraulic powered by a pump and whose hydraulic circuit includes distribution valves.
  • This cylinder is fitted with a mechanical safety system hydraulically or manually controlled.
  • the cylinder piston includes a cavity in which is housed a reversible screw-nut system.
  • the screw is integral with the piston in translation and in rotation.
  • the nut is rotatably mounted in the body of the cylinder, but it can be held by an active locking finger by default, suitable for being unlocked manually or hydraulically, and which acts on the outside of a freewheel secured to the nut.
  • the extension of the cylinder causes the rotation of the nut by the screw-nut system reversible in the direction of rotation which is always allowed by the freewheel.
  • the retraction of the cylinder causes the rotation of the nut in the direction it drives rotating the outer part of the freewheel, so that the piston cannot be retracted only if we unlock the locking finger which acts on the external part of the freewheel.
  • the locking finger being deactivated manually or hydraulically, this guarantees that the return of the cylinder is voluntary and is not due to a loss of hydraulic power.
  • the hydraulic pump must be sized relative to the load maximum that the actuator must support. It will therefore be oversized for many uses.
  • the precision of the actuator movement depends on the solenoid valve and the pump. For certain uses, such as moving a load important with great precision, for an assembly for example, or when the use of several actuators simultaneously to lift a load with precision, these systems are not precise enough because the control of their position and synchronization are difficult.
  • the hydraulic power supply circuit which includes a pump hydraulic, a solenoid valve, an oil tank, and several lines hydraulic, is both bulky and expensive, and can be a source of failures that could cause a fault in the hydraulic power supply.
  • the actuator described in document EP-A-0.070.811 allows the actuator to be locked mechanically. However, we do not can obtain the desired precision.
  • the locking finger acts on the part outside of a freewheel fitted with teeth. The blocking positions are therefore discrete, not infinite.
  • the invention provides an actuator using a reserve or a source of hydraulic power and a source of mechanical power.
  • the invention provides an actuator having a precise means and permanent position control, an effective locking means having infinite positions, a reliable safety device and an integrated device load compensation.
  • the actuator comprises a cylindrical body, and a piston sliding relative to this body.
  • the actuator has a first means for transmitting hydraulic power to the piston, and second means to transmit mechanical energy to the piston.
  • the second plea also forms means for controlling the position of the piston.
  • the hydraulic power supplied to the piston is sufficient for the mechanical energy supplied to the piston to allow control the position of the load via the position of the actuator.
  • the means for transmitting hydraulic energy therefore constitutes a load compensation device integrated into the actuator. So we can use a more economical, low-power mechanical energy source.
  • the means for transmitting mechanical energy can also be irreversible. In this way, only the means of transmitting mechanical energy makes it possible to control the position of the piston. It therefore also constitutes a means of blocking the position of the actuator, means which requires no energy input for maintain its position. It also constitutes an intrinsic safety device. A failure to supply energy, hydraulic or mechanical, does not cause any unexpected movement of the actuator.
  • the actuator has an architecture to simplify the hydraulic or mechanical power supply devices.
  • the device hydraulic power supply is simple, economical, and can be adapted for each use. This characteristic offers great flexibility in the use of the actuator.
  • the means for transmitting mechanical energy being the only one means of controlling the position of the actuator, several actuators according to the invention can be powered by the same energy source or reserve hydraulic.
  • the invention provides an actuator comprising a hydraulic device for load compensation which is integrated into the actuator, which simplifies setting it up work, and reduces its overall size.
  • the actuator then requires a low mechanical energy supply, and allows the use of an energy source economic mechanics.
  • the load compensation device operates in force regardless of control in position
  • the means for transmitting mechanical energy to the piston is an irreversible or reversible screw-nut system with safety brake by example.
  • the piston position is therefore controlled by means of the rotation either of the screw or of the nut according to the embodiment.
  • This device order is precise.
  • the screw-nut system irreversible is also a blocking system with an infinite number of positions, and which does not require energy input to maintain the position desired. It is also a safety device, since it prevents everything movement of the actuator in the event of a fault in the energy supply source mechanical or hydraulic, wherever the fault in the device is located hydraulic power supply.
  • the mechanical energy is supplied by a motor coupled to the screw or nut either directly or through a reducer.
  • the actuator has a servo system which used to control the motor, and therefore the position of the actuator.
  • the system servo may include piston position and speed sensors relative to the cylindrical body, or rotation of the motor shaft
  • the hydraulic energy reserve is an accumulator hydropneumatic.
  • the hydropneumatic accumulator acts on a volume of oil which communicates with a chamber one of the walls of which is formed by the piston.
  • the piston receives the hydraulic energy stored in the accumulator.
  • the circuit hydraulic power supply is simple, reliable and economical. He offers the added benefit of being space-saving and does not require a important maintenance.
  • the accumulator provides significant hydraulic energy permanently, whose contribution to the movement of the piston is controlled by the screw-nut system.
  • Such a hydropneumatic accumulator can be easily replaced or adapted for a specific use of the actuator.
  • we use a more or less powerful accumulator energy hydraulic supplied by the hydropneumatic accumulator to move a load can be, if desired, fully restored at the end of use of the actuator.
  • the use of a hydropneumatic accumulator allows to maintain a pressure substantially constant whatever the stroke of the piston.
  • the means for transmitting hydraulic energy and mechanical energy are arranged coaxially.
  • the space requirement is small and integration into a mechanical assembly is easy.
  • the coaxial action of mechanical and hydraulic forces guarantee good resistance of the elements mechanical which facilitates the design of the actuator.
  • the implementation of the actuator is thereby simplified. It only requires a few fasteners on the load.
  • the actuator 10 comprises a body cylindrical 20 and a piston 30 sliding relative to said cylindrical body 20.
  • the cylindrical body 20 has one end closed by a first wall 21 radial, and pierced with an orifice 27.
  • the cylindrical body 20 comprises a second radial wall 22 close to the first wall 21, and pierced with a hole 29 to receive by rotation a screw 40 mounted coaxially with respect to the main axis of the body cylindrical 20 and rotatably mounted on said second wall 22.
  • the radial wall 22 is separated from the radial wall 21 by a gap.
  • Said cylindrical body 20 includes a third inner wall 23 of cylindrical shape, coaxial with the body cylindrical 20, connected by a radial wall 24 of annular shape to the body cylindrical on the side where the first wall 21 closing the cylindrical body is located, so that said third wall 23 defines a first cylindrical chamber 26 and a second annular chamber 25 in the cylindrical body.
  • the cylindrical wall 23 has a length equivalent to the actuator stroke. Walls 22 and 24 are separated by a gap.
  • the piston 30 comprises a cylindrical base 37 arranged in a radial plane vis-à-vis the axis of the cylindrical body 20.
  • the piston 30 comprises a first elongated cylindrical wall 31, adapted to slide in the annular chamber 25 of the cylindrical body 20, of length substantially equal to the length of this chamber, and integral with the base 37 on its side opposite the closed side of the body cylindrical 20.
  • the first cylindrical wall 31 defines, on the closed side of the body cylindrical, a volume in said annular chamber 25.
  • the cylindrical wall 31 includes seals 32 near its free end.
  • the cylindrical body 20 is pierced with an orifice 28 allowing said volume to be supplied with a fluid, by example of oil, under pressure.
  • the volume forms a means of transmitting hydraulic power to piston 30.
  • the piston 30 comprises a second cylindrical wall 33, coaxial with the first cylindrical wall 31, of equivalent length, and of diameter less than that of the first cylindrical wall 31, so that it enters the chamber cylindrical 26 of the cylindrical body 20.
  • the second cylindrical wall 33 of the piston 30 is secured to the base 37 at its end opposite the closed side of the body cylindrical 20.
  • the base 37 receives a fixing device 38 which once fixed on the load, prevents any movement of rotation of the piston 30 along the axis of the body cylindrical 20.
  • the configuration of the piston 30 represented in this nonlimiting example is such that the output of the piston 30 causes the creation of a volume 35, between the cylindrical wall 31 of the piston 30, the cylindrical wall 33, and the cylindrical wall 23 of the cylindrical body 20.
  • the output of the piston 30 causes the creation of a volume 35, between the cylindrical wall 31 of the piston 30, the cylindrical wall 33, and the cylindrical wall 23 of the cylindrical body 20.
  • the second cylindrical wall 33 of the piston 30 comprises a nut 39 integral with said second cylindrical wall 33 of the piston and which fits on the threaded part 41 of the screw 40.
  • Said screw 40 is mounted for rotation on the second wall 22 of the cylindrical body 20.
  • the length of the threaded portion 41 is substantially equal to the actuator stroke.
  • the screw 40 projects through the orifice 27 of the first wall 21 of the cylindrical body 20. Its end 43 is adapted to be driven in rotation, either directly or via a reduction gear not shown in the drawing.
  • Any movement of the piston 30 is only authorized by a rotation of the screw 40.
  • the example considered is non-limiting.
  • a second embodiment could associate the screw with the piston and the nut with the cylindrical body.
  • the actuator has a hydraulic power source.
  • This source supplies the volume defined by the annular chamber 25 and the first wall cylindrical 31 of the piston 30. It is adapted to provide most of the force necessary to move the load considered.
  • Checking the position of the piston 30 exerted by the screw-nut system makes it possible to preferably use a source of hydraulic energy such as a hydropneumatic accumulator 50 shown in the figure.
  • the energy stored by the hydropneumatic accumulator 50 is transmitted piston 30. It compensates for the weight of the load that you want to move using the actuator. Obviously you can use any other source hydraulic power other than a hydropneumatic accumulator.
  • the screw 40 comprises a ring 42 adapted to be mounted for rotation in the hole 29 in the wall 22 of the cylindrical body 20, by preventing any movement of translation. It includes a part 43 which projects outside the body cylindrical 20, through an orifice 27 in the wall 21 which said said cylindrical body. This part 43 is able to be driven in rotation, either directly or through a reducer not shown in the figure.
  • the screw-nut system prevents the retraction of the piston, with or without input of energy according to the embodiment. Only the screw rotation control allows the piston to be retracted.
  • the actuator combines a means for transmitting hydraulic energy and a means for transmitting mechanical energy which act in parallel and which are arranged coaxially.
  • an actuator is obtained integrating a device for load compensation, and which has a small footprint and whose implementation work is easy.
  • the synchronization of efforts is natural.
  • the actuator has a single volume supplied with hydraulic energy. This characteristic makes it possible to obtain a power supply circuit simplified hydraulics. Depending on the weight of the load considered, a more or less powerful accumulator.
  • the hydraulic circuit consists of a hose 51 leaving the hydropneumatic accumulator 50 and connected to the orifice 28 using of a fitting not shown in the drawing. The change of accumulator is therefore very easy. The simplicity of the supply circuit represents an additional pledge system reliability.
  • a hydraulic pump as a source or any other source of hydraulic power.
  • the presence of the device further simplifies the energy supply system hydraulic.
  • This actuator is mainly designed to move a load creating a force whose direction is oriented towards the closed side of the cylindrical body 20.
  • a different design of piston and chamber 25 can provide a actuator designed for a load creating a force resulting on the actuator in the opposite.
  • FIG. 2 shows an example of the arrangement of two actuators 66 and 65, as described above and whose numbering is resumed, synchronized mechanically.
  • Each actuator 66 and 65 has its own energy reserve hydraulic, referenced respectively 78 and 79.
  • the actuators 66 and 65 must always have an action synchronized in the same way.
  • the actuators 66 and 65 have a single mechanical energy source: for example a electric motor with double direction of rotation 60.
  • the motor shaft 60 drives the toothed wheel 62.
  • the toothed wheel 62 drives on one side the pinion 63 integral in rotation with the screw 40 of the actuator 66.
  • the toothed wheel 62 rotates the pinion 64 integral in rotation of the screw 40 of the actuator 65.
  • the different actuators do not must not go out at the same speed, they can have different reducers or even different screw threads.
  • Actuators can have orientations different, and which are modified during kinematic movements of the device. Such a device can be used to move loads such as dumpsters truck, or for devices with parallel robots
  • FIG. 3 shows an example of the arrangement of three actuators 67, 68 and 69 as described above, each with their own energy reserve hydraulic, referenced respectively 80 81 and 82, and an electric motor with double direction of rotation, respectively 70, 71 and 72.
  • Motors 70, 71 and 72 rotate the screws 40 respectively of the actuators 67, 68 and 69.
  • the motors 70, 71 and 72 are controlled in rotation by the central control unit 61, which synchronizes their movements.
  • This type of layout can be used to synchronize the movements of different actuators, as in the case of a flight simulator reproducing the movements of an aircraft cabin.
  • the actuators can have different orientations, and which are modified during kinematic movements of the device.
  • Figure 4 shows an example of arrangement of two actuators 73 and 74 as described above, powered by a hydropneumatic accumulator 77 common to the two actuators 73 and 74, and whose positions are controlled by electric motors with two directions of rotation 75 and 76 which drive in rotation the screws 40 respectively of the actuators 73 and 74.
  • the means for transmitting mechanical energy being the only means of controlling the position of actuators, a plurality of actuators can have the same source without compromising their individual functioning, or their synchronization, as long as there is sufficient hydraulic power.
  • the average pressure contained in a hydropneumatic accumulator used as an energy source common hydraulics may be greater than that of an accumulator hydropneumatic used for an actuator.
  • the actuators can have different orientations, and which are modified during kinematic movements of the device. Flexible pipes will then be used for the supply circuit in Hydro-electric power.
  • a system may include actuators according to the invention, having an architecture which completely or partially reproduces, the provisions illustrated by Figures 2 to 4 and / or which combines them.
  • the examples illustrated by Figures 2 to 4 are not limiting.
  • an electric motor can be used as mechanical power source, a battery as a power source for the engine electric, and a reversible screw-nut system.
  • the actuator is used to slow down the movement of the charge, we can recover part of the energy by through the screw and nut, and the electric motor to recharge the drums.
  • the invention therefore makes it possible to obtain an actuator associating a means of transmit hydraulic energy and a means of transmitting mechanical energy.
  • the actuator thus has integrated load compensation, compensation which can be very easily adapted to the load considered.
  • the actuator also has a permanent control means and precise actuator stroke, a locking device having a number infinite locking positions, and allowing to maintain a precise position without additional energy supply, and still having a safety device preventing any unexpected movement of the actuator in the event of a power supply fault in energy.

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Actuator (AREA)
  • Transmission Devices (AREA)

Abstract

The activator comprises a cylindrical body (20) and a piston (30) which slides in the body. The piston and body are connected by a screw-nut system which allows the transfer of mechanical energy and constitutes a permanent control device for positioning the piston. Hydraulic energy is supplied by a hydro-pneumatic accumulator (50) to a hydraulic piston (25).

Description

La présente invention concerne un actionneur permettant de soulever ou de déplacer une charge variable ou non. Cette invention concerne plus particulièrement un actionneur dont la conception permet de minimiser l'énergie utile à son fonctionnement, et de disposer d'un moyen simple d'obtenir une grande précision dans le contrôle de la vitesse et de la position de la charge contrôlée par l'actionneur.The present invention relates to an actuator for lifting or move a variable load or not. This invention relates more particularly an actuator whose design makes it possible to minimize the energy useful for its operation, and have a simple way to get high accuracy in controlling the speed and position of the load controlled by the actuator.

Lorsque l'on désire mouvoir des charges importantes, on utilise des actionneurs qui doivent alors être dimensionnés de façon à supporter la charge maximale qui leur sera appliquée, ce qui conduit à utiliser des actionneurs de forte puissance, sans que cette puissance soit toujours indispensable.When we want to move large loads, we use actuators which must then be sized to support the load maximum that will be applied to them, which leads to the use of strong actuators power, without this power being always essential.

Suivant l'importance de la charge, sa disposition, ou les mouvements que l'on souhaite effectuer avec ladite charge, on peut utiliser une pluralité d'actionneurs. Dans le cas de masses importantes, on a recours à une compensation de la charge, en utilisant par exemple un contrepoids, ou un ressort mécanique. Un mouvement précis de la charge, effectué à l'aide d'une pluralité d'actionneurs, nécessite une synchronisation délicate des différents actionneurs.Depending on the size of the load, its arrangement, or the movements that one wishes to carry out with said charge, one can use a plurality actuators. In the case of large masses, compensation is used load, using for example a counterweight, or a mechanical spring. A precise movement of the load, carried out using a plurality of actuators, requires delicate synchronization of the different actuators.

Le document EP-A-0.070.811 (SELENIA INDUSTRIE) décrit un vérin hydraulique alimenté par une pompe et dont le circuit hydraulique comprend des vannes de distribution. Ce vérin est muni d'un système de sécurité mécanique commandé hydrauliquement ou manuellement. Le piston du vérin comprend une cavité dans laquelle est logé un système vis-écrou réversible. La vis est solidaire du piston en translation et en rotation. L'écrou est monté à rotation dans le corps du vérin, mais il peut être maintenu par un doigt de blocage actif par défaut, apte à être débloqué manuellement ou hydrauliquement, et qui agit sur la partie extérieure d'une roue libre solidaire de l'écrou.The document EP-A-0.070.811 (SELENIA INDUSTRIE) describes a jack hydraulic powered by a pump and whose hydraulic circuit includes distribution valves. This cylinder is fitted with a mechanical safety system hydraulically or manually controlled. The cylinder piston includes a cavity in which is housed a reversible screw-nut system. The screw is integral with the piston in translation and in rotation. The nut is rotatably mounted in the body of the cylinder, but it can be held by an active locking finger by default, suitable for being unlocked manually or hydraulically, and which acts on the outside of a freewheel secured to the nut.

L'extension du vérin entraíne la rotation de l'écrou par le système vis-écrou réversible dans le sens de rotation qui est toujours permis par la roue libre. Par contre, la rentrée du vérin provoque la rotation de l'écrou dans le sens où il entraíne en rotation la partie extérieure de la roue libre, de sorte que le piston ne peut être rentré que si on débloque le doigt de blocage qui agit sur la partie extérieure de la roue libre. Le doigt de blocage étant désactivé manuellement ou hydrauliquement, cela garantit que le retour du vérin est volontaire et n'est pas dû à une perte de puissance hydraulique. The extension of the cylinder causes the rotation of the nut by the screw-nut system reversible in the direction of rotation which is always allowed by the freewheel. Through against, the retraction of the cylinder causes the rotation of the nut in the direction it drives rotating the outer part of the freewheel, so that the piston cannot be retracted only if we unlock the locking finger which acts on the external part of the freewheel. The locking finger being deactivated manually or hydraulically, this guarantees that the return of the cylinder is voluntary and is not due to a loss of hydraulic power.

La pompe hydraulique doit être dimensionnée relativement à la charge maximale que devra supporter l'actionneur. Elle sera donc surdimensionnée pour de nombreuses utilisations.The hydraulic pump must be sized relative to the load maximum that the actuator must support. It will therefore be oversized for many uses.

La précision du déplacement de l'actionneur dépend de l'électrovanne et de la pompe. Pour certaines utilisations, comme le déplacement d'une charge importante avec une grande précision, pour un assemblage par exemple, ou lors de l'utilisation de plusieurs actionneurs simultanément pour soulever une charge avec précision, ces systèmes ne sont pas suffisamment précis car la commande de leur position et leur synchronisation sont difficiles.The precision of the actuator movement depends on the solenoid valve and the pump. For certain uses, such as moving a load important with great precision, for an assembly for example, or when the use of several actuators simultaneously to lift a load with precision, these systems are not precise enough because the control of their position and synchronization are difficult.

Le circuit d'alimentation en énergie hydraulique qui comprend une pompe hydraulique, une électrovanne, un réservoir d'huile, et plusieurs conduites hydrauliques, est à la fois encombrant et coûteux, et peut être la source de défaillances qui pourraient causer un défaut d'alimentation en énergie hydraulique.The hydraulic power supply circuit which includes a pump hydraulic, a solenoid valve, an oil tank, and several lines hydraulic, is both bulky and expensive, and can be a source of failures that could cause a fault in the hydraulic power supply.

Il peut être souhaitable de maintenir l'actionneur dans une position précise et sous une certaine charge, et ce pendant un temps long. Il est alors avantageux de ne pas avoir à fournir d'énergie pour maintenir l'actionneur dans cette position précise. L'actionneur décrit dans le document EP-A-0.070.811 (SELENIA INDUSTRIE) permet de bloquer l'actionneur mécaniquement. Néanmoins on ne peut obtenir la précision souhaitée. Le doigt de blocage vient agir sur la partie extérieure d'une roue libre munie de dents. Les positions de blocage sont donc discrètes, et non infinies.It may be desirable to keep the actuator in a precise position and under a certain load, and this for a long time. It is therefore advantageous to not having to provide energy to keep the actuator in this position precise. The actuator described in document EP-A-0.070.811 (SELENIA INDUSTRY) allows the actuator to be locked mechanically. However, we do not can obtain the desired precision. The locking finger acts on the part outside of a freewheel fitted with teeth. The blocking positions are therefore discrete, not infinite.

L'invention propose un actionneur utilisant une réserve ou une source d'énergie hydraulique et une source d'énergie mécanique.The invention provides an actuator using a reserve or a source of hydraulic power and a source of mechanical power.

L'invention propose un actionneur disposant d'un moyen précis et permanent de commande de la position, d'un moyen de blocage efficace disposant d'une infinité de positions, d'un dispositif de sécurité fiable et d'un dispositif intégré de compensation de la charge.The invention provides an actuator having a precise means and permanent position control, an effective locking means having infinite positions, a reliable safety device and an integrated device load compensation.

L'actionneur selon un aspect de l'invention comprend un corps cylindrique, et un piston coulissant par rapport à ce corps. L'actionneur dispose d'un premier moyen pour transmettre de l'énergie hydraulique au piston, et d'un second moyen pour transmettre de l'énergie mécanique au piston. Le second moyen forme en outre un moyen de commande de la position du piston. L'énergie hydraulique fournie au piston est suffisante pour que l'énergie mécanique fournie au piston permette de commander la position de la charge par l'intermédiaire de la position de l'actionneur. Le moyen pour transmettre l'énergie hydraulique constitue donc un dispositif de compensation de la charge intégré à l'actionneur. On peut donc utiliser une source d'énergie mécanique de faible puissance, plus économique.The actuator according to one aspect of the invention comprises a cylindrical body, and a piston sliding relative to this body. The actuator has a first means for transmitting hydraulic power to the piston, and second means to transmit mechanical energy to the piston. The second plea also forms means for controlling the position of the piston. The hydraulic power supplied to the piston is sufficient for the mechanical energy supplied to the piston to allow control the position of the load via the position of the actuator. The means for transmitting hydraulic energy therefore constitutes a load compensation device integrated into the actuator. So we can use a more economical, low-power mechanical energy source.

Le moyen pour transmettre de l'énergie mécanique peut être en outre irréversible. De la sorte, seul le moyen de transmettre l'énergie mécanique permet de commander la position du piston. Il constitue donc aussi un moyen de blocage de la position de l'actionneur, moyen qui ne nécessite aucun apport d'énergie pour maintenir sa position. Il constitue encore un dispositif de sécurité intrinsèque. Un défaut d'alimentation en énergie, hydraulique ou mécanique, ne provoque aucun mouvement inopiné de l'actionneur.The means for transmitting mechanical energy can also be irreversible. In this way, only the means of transmitting mechanical energy makes it possible to control the position of the piston. It therefore also constitutes a means of blocking the position of the actuator, means which requires no energy input for maintain its position. It also constitutes an intrinsic safety device. A failure to supply energy, hydraulic or mechanical, does not cause any unexpected movement of the actuator.

L'actionneur possède une architecture permettant de simplifier les dispositifs d'alimentation en énergie hydraulique ou mécanique. Le dispositif d'alimentation en énergie hydraulique est simple, économique, et peut être adapté pour chaque utilisation. Cette caractéristique offre une grande souplesse dans l'utilisation de l'actionneur.The actuator has an architecture to simplify the hydraulic or mechanical power supply devices. The device hydraulic power supply is simple, economical, and can be adapted for each use. This characteristic offers great flexibility in the use of the actuator.

De plus, le moyen pour transmettre de l'énergie mécanique étant le seul moyen de commander la position de l'actionneur, plusieurs actionneurs selon l'invention peuvent être alimentés par la même source ou réserve d'énergie hydraulique.In addition, the means for transmitting mechanical energy being the only one means of controlling the position of the actuator, several actuators according to the invention can be powered by the same energy source or reserve hydraulic.

L'invention propose un actionneur comprenant un dispositif hydraulique de compensation de la charge qui est intégré à l'actionneur, ce qui simplifie sa mise en oeuvre, et réduit son encombrement global. L'actionneur requiert alors un faible apport d'énergie mécanique, et permet l'utilisation d'une source d'énergie mécanique économique. Le dispositif de compensation de la charge fonctionne en force indépendamment de la commande en positionThe invention provides an actuator comprising a hydraulic device for load compensation which is integrated into the actuator, which simplifies setting it up work, and reduces its overall size. The actuator then requires a low mechanical energy supply, and allows the use of an energy source economic mechanics. The load compensation device operates in force regardless of control in position

De préférence, le moyen pour transmettre de l'énergie mécanique au piston est un système vis-écrou, irréversible ou réversible avec frein de sécurité par exemple. La commande de la position du piston se fait donc par l'intermédiaire de la rotation soit de la vis, soit de l'écrou selon le mode de réalisation. Ce dispositif de commande est précis. Comme la réserve ou la source d'énergie hydraulique fournit l'essentiel de l'effort, la puissance nécessaire pour commander la position du piston par l'intermédiaire de la vis ou de l'écrou est faible. Le système vis-écrou irréversible est également un système de blocage possédant un nombre infini de positions, et qui ne nécessite pas d'apport d'énergie pour maintenir la position souhaitée. C'est également un dispositif de sécurité, puisqu'il prévient tout mouvement de l'actionneur en cas de défaut de la source d'alimentation en énergie mécanique ou hydraulique, et ce, où que se situe la défaillance dans le dispositif d'alimentation en énergie hydraulique.Preferably, the means for transmitting mechanical energy to the piston is an irreversible or reversible screw-nut system with safety brake by example. The piston position is therefore controlled by means of the rotation either of the screw or of the nut according to the embodiment. This device order is precise. As the reserve or source of hydraulic power provides most of the effort, the power required to control the position of the piston through the screw or nut is weak. The screw-nut system irreversible is also a blocking system with an infinite number of positions, and which does not require energy input to maintain the position desired. It is also a safety device, since it prevents everything movement of the actuator in the event of a fault in the energy supply source mechanical or hydraulic, wherever the fault in the device is located hydraulic power supply.

Avantageusement, l'énergie mécanique est fournie par un moteur attelé à la vis ou à l'écrou soit directement, soit par l'intermédiaire d'un réducteur.Advantageously, the mechanical energy is supplied by a motor coupled to the screw or nut either directly or through a reducer.

Avantageusement, l'actionneur dispose d'un système d'asservissement qui permet de commander le moteur, et donc la position de l'actionneur. Le système d'asservissement peut comprendre des capteurs de position et de vitesse de piston par rapport au corps cylindrique, ou de rotation de l'arbre du moteurAdvantageously, the actuator has a servo system which used to control the motor, and therefore the position of the actuator. The system servo may include piston position and speed sensors relative to the cylindrical body, or rotation of the motor shaft

De préférence, la réserve d'énergie hydraulique est un accumulateur hydropneumatique. L'accumulateur hydropneumatique agit sur un volume d'huile qui communique avec une chambre dont une des parois est constituée par le piston. Le piston reçoit l'énergie hydraulique stockée dans l'accumulateur. Le circuit d'alimentation en énergie hydraulique est alors simple, fiable et économique. Il offre l'avantage supplémentaire d'être peu encombrant et n'a pas besoin d'une maintenance importante. L'accumulateur fournit une énergie hydraulique importante en permanence, dont la contribution au mouvement du piston est contrôlée par le système vis-écrou. Un tel accumulateur hydropneumatique peut être facilement remplacé ou adapté pour une utilisation précise de l'actionneur. Selon la charge que l'on doit mouvoir, on utilise un accumulateur plus ou moins puissant. L'énergie hydraulique fournie par l'accumulateur hydropneumatique pour mouvoir une charge peut être, si on le souhaite, entièrement restituée en fin d'utilisation de l'actionneur. L'utilisation d'un accumulateur hydropneumatique permet de conserver une pression sensiblement constante quelle que soit la course du piston.Preferably, the hydraulic energy reserve is an accumulator hydropneumatic. The hydropneumatic accumulator acts on a volume of oil which communicates with a chamber one of the walls of which is formed by the piston. The piston receives the hydraulic energy stored in the accumulator. The circuit hydraulic power supply is simple, reliable and economical. He offers the added benefit of being space-saving and does not require a important maintenance. The accumulator provides significant hydraulic energy permanently, whose contribution to the movement of the piston is controlled by the screw-nut system. Such a hydropneumatic accumulator can be easily replaced or adapted for a specific use of the actuator. Depending on the load that we must move, we use a more or less powerful accumulator. energy hydraulic supplied by the hydropneumatic accumulator to move a load can be, if desired, fully restored at the end of use of the actuator. The use of a hydropneumatic accumulator allows to maintain a pressure substantially constant whatever the stroke of the piston.

Avantageusement, les moyens pour transmettre l'énergie hydraulique et l'énergie mécanique sont disposés coaxialement. Ainsi, l'encombrement est faible et l'intégration dans un ensemble mécanique est facile. De plus, l'action coaxiale des efforts mécaniques et hydrauliques garantie une bonne tenue des éléments mécaniques qui facilite la conception de l'actionneur. De plus, la mise en oeuvre de l'actionneur s'en trouve simplifiée. Il ne nécessite que peu de dispositifs de fixation sur la charge.Advantageously, the means for transmitting hydraulic energy and mechanical energy are arranged coaxially. Thus, the space requirement is small and integration into a mechanical assembly is easy. In addition, the coaxial action of mechanical and hydraulic forces guarantee good resistance of the elements mechanical which facilitates the design of the actuator. In addition, the implementation of the actuator is thereby simplified. It only requires a few fasteners on the load.

La présente invention et ses avantages seront mieux compris à l'étude de la description détaillée de modes de réalisation pris à titre d'exemples non limitatifs et illustrés par les dessins annexés parmi lesquels :

  • Figure 1 : vue en coupe longitudinale d'un actionneur selon un aspect de l'invention ;
  • Figure 2 : vue schématique d'actionneurs selon un aspect de l'invention, synchronisés mécaniquement ;
  • Figure 3 : vue schématique d'actionneurs selon un aspect l'invention, synchronisés par une centrale de commande.
  • Figure 4 : vue schématique d'actionneurs selon un aspect l'invention, alimentés par une source d'énergie hydraulique commune
    • The present invention and its advantages will be better understood on studying the detailed description of embodiments taken by way of nonlimiting examples and illustrated by the appended drawings among which:
  • Figure 1: view in longitudinal section of an actuator according to one aspect of the invention;
  • Figure 2: schematic view of actuators according to one aspect of the invention, mechanically synchronized;
  • Figure 3: schematic view of actuators according to one aspect of the invention, synchronized by a control unit.
  • Figure 4: schematic view of actuators according to one aspect of the invention, powered by a common hydraulic power source

    • L'actionneur 10 selon un aspect de l'invention comprend un corps cylindrique 20 et un piston 30 coulissant par rapport audit corps cylindrique 20. Le corps cylindrique 20 comprend une extrémité fermée par une première paroi 21 radiale, et percée d'un orifice 27. Le corps cylindrique 20 comprend une seconde paroi 22 radiale proche de la première paroi 21, et percée d'un trou 29 pour recevoir à rotation une vis 40 montée coaxialement par rapport à l'axe principal du corps cylindrique 20 et montée à rotation sur ladite seconde paroi 22. La paroi radiale 22 est séparée de la paroi radiale 21 par un interstice. Le dit corps cylindrique 20 comprend une troisième paroi intérieure 23 de forme cylindrique, coaxiale au corps cylindrique 20, reliée par une paroi 24 radiale de forme annulaire au corps cylindrique du côté où se situe la première paroi 21 fermant le corps cylindrique, de sorte que ladite troisième paroi 23 définit une première chambre cylindrique 26 et une seconde chambre annulaire 25 dans le corps cylindrique. La paroi cylindrique 23 possède une longueur équivalente à la course de l'actionneur. Les parois 22 et 24 sont séparées par un interstice.The actuator 10 according to one aspect of the invention comprises a body cylindrical 20 and a piston 30 sliding relative to said cylindrical body 20. The cylindrical body 20 has one end closed by a first wall 21 radial, and pierced with an orifice 27. The cylindrical body 20 comprises a second radial wall 22 close to the first wall 21, and pierced with a hole 29 to receive by rotation a screw 40 mounted coaxially with respect to the main axis of the body cylindrical 20 and rotatably mounted on said second wall 22. The radial wall 22 is separated from the radial wall 21 by a gap. Said cylindrical body 20 includes a third inner wall 23 of cylindrical shape, coaxial with the body cylindrical 20, connected by a radial wall 24 of annular shape to the body cylindrical on the side where the first wall 21 closing the cylindrical body is located, so that said third wall 23 defines a first cylindrical chamber 26 and a second annular chamber 25 in the cylindrical body. The cylindrical wall 23 has a length equivalent to the actuator stroke. Walls 22 and 24 are separated by a gap.

    Le piston 30 comprend une base cylindrique 37 disposée dans un plan radial vis-à-vis de l'axe du corps cylindrique 20. Le piston 30 comprend une première paroi cylindrique 31 allongée, adaptée pour coulisser dans la chambre annulaire 25 du corps cylindrique 20, de longueur sensiblement égale à la longueur de cette chambre, et solidaire de la base 37 de son côté opposé au côté fermé du corps cylindrique 20. La première paroi cylindrique 31 définit, du côté fermé du corps cylindrique, un volume dans ladite chambre annulaire 25. La paroi cylindrique 31 comprend des joints 32 à proximité de son extrémité libre. Le corps cylindrique 20 est percé d'un orifice 28 permettant d'alimenter ledit volume avec un fluide, par exemple de l'huile, sous pression. Le volume forme un moyen pour transmettre de l'énergie hydraulique au piston 30.The piston 30 comprises a cylindrical base 37 arranged in a radial plane vis-à-vis the axis of the cylindrical body 20. The piston 30 comprises a first elongated cylindrical wall 31, adapted to slide in the annular chamber 25 of the cylindrical body 20, of length substantially equal to the length of this chamber, and integral with the base 37 on its side opposite the closed side of the body cylindrical 20. The first cylindrical wall 31 defines, on the closed side of the body cylindrical, a volume in said annular chamber 25. The cylindrical wall 31 includes seals 32 near its free end. The cylindrical body 20 is pierced with an orifice 28 allowing said volume to be supplied with a fluid, by example of oil, under pressure. The volume forms a means of transmitting hydraulic power to piston 30.

    Le piston 30 comprend une seconde paroi cylindrique 33, coaxiale à la première paroi cylindrique 31, de longueur équivalente, et de diamètre inférieur à celui de la première paroi cylindrique 31, de sorte qu'elle pénètre dans la chambre cylindrique 26 du corps cylindrique 20. La seconde paroi cylindrique 33 du piston 30 est solidaire de la base 37 au niveau de son extrémité opposée au côté fermé du corps cylindrique 20. La base 37 reçoit un dispositif de fixation 38 qui une fois fixé sur la charge, prévient tout mouvement de rotation du piston 30 selon l'axe du corps cylindrique 20.The piston 30 comprises a second cylindrical wall 33, coaxial with the first cylindrical wall 31, of equivalent length, and of diameter less than that of the first cylindrical wall 31, so that it enters the chamber cylindrical 26 of the cylindrical body 20. The second cylindrical wall 33 of the piston 30 is secured to the base 37 at its end opposite the closed side of the body cylindrical 20. The base 37 receives a fixing device 38 which once fixed on the load, prevents any movement of rotation of the piston 30 along the axis of the body cylindrical 20.

    La configuration du piston 30 représentée dans cet exemple non limitatif est telle que la sortie du piston 30 provoque la création d'un volume 35, compris entre la paroi cylindrique 31 du piston 30, la paroi cylindrique 33, et la paroi cylindrique 23 du corps cylindrique 20. Afin de maintenir ce volume à la pression atmosphérique, on peut par exemple pratiquer un orifice 36 dans la paroi cylindrique 33 du piston 30, qui met en relation le volume 35 et la chambre 26 du corps cylindrique 20. Toute autre solution ne modifierait pas les caractéristiques fondamentales de l'invention.The configuration of the piston 30 represented in this nonlimiting example is such that the output of the piston 30 causes the creation of a volume 35, between the cylindrical wall 31 of the piston 30, the cylindrical wall 33, and the cylindrical wall 23 of the cylindrical body 20. In order to maintain this volume at atmospheric pressure, one can for example make an orifice 36 in the cylindrical wall 33 of the piston 30, which relates the volume 35 and the chamber 26 of the cylindrical body 20. Any another solution would not modify the fundamental characteristics of the invention.

    La seconde paroi cylindrique 33 du piston 30 comprend un écrou 39 solidaire de ladite seconde paroi cylindrique 33 du piston et qui vient s'adapter sur la partie filetée 41 de la vis 40. Ladite vis 40 est montée à rotation sur la seconde paroi 22 du corps cylindrique 20. La longueur de la partie filetée 41 est sensiblement égale à la course de l'actionneur. La vis 40 fait saillie à travers l'orifice 27 de la première paroi 21 du corps cylindrique 20. Son extrémité 43 est adaptée pour être entraínée en rotation, soit directement, soit par l'intermédiaire d'un réducteur non représenté sur le dessin.The second cylindrical wall 33 of the piston 30 comprises a nut 39 integral with said second cylindrical wall 33 of the piston and which fits on the threaded part 41 of the screw 40. Said screw 40 is mounted for rotation on the second wall 22 of the cylindrical body 20. The length of the threaded portion 41 is substantially equal to the actuator stroke. The screw 40 projects through the orifice 27 of the first wall 21 of the cylindrical body 20. Its end 43 is adapted to be driven in rotation, either directly or via a reduction gear not shown in the drawing.

    Tout mouvement du piston 30 n'est autorisé que par une rotation de la vis 40. L'exemple considéré est non limitatif. Un second mode de réalisation pourrait associer la vis au piston et l'écrou au corps cylindrique.Any movement of the piston 30 is only authorized by a rotation of the screw 40. The example considered is non-limiting. A second embodiment could associate the screw with the piston and the nut with the cylindrical body.

    L'actionneur dispose d'une source d'énergie hydraulique. Cette source alimente le volume défini par la chambre annulaire 25 et la première paroi cylindrique 31 du piston 30. Elle est adaptée pour fournir l'essentiel de l'effort nécessaire pour mouvoir la charge considérée. Le contrôle de la position du piston 30 exercé par le système vis-écrou permet d'utiliser de préférence une source d'énergie hydraulique telle qu'un accumulateur hydropneumatique 50 représenté sur la figure. L'énergie stockée par l'accumulateur hydropneumatique 50 est transmise au piston 30. Elle permet de compenser le poids de la charge que l'on désire mouvoir à l'aide de l'actionneur. Il est évident que l'on peut utiliser toute autre source d'énergie hydraulique autre qu'un accumulateur hydropneumatique.The actuator has a hydraulic power source. This source supplies the volume defined by the annular chamber 25 and the first wall cylindrical 31 of the piston 30. It is adapted to provide most of the force necessary to move the load considered. Checking the position of the piston 30 exerted by the screw-nut system makes it possible to preferably use a source of hydraulic energy such as a hydropneumatic accumulator 50 shown in the figure. The energy stored by the hydropneumatic accumulator 50 is transmitted piston 30. It compensates for the weight of the load that you want to move using the actuator. Obviously you can use any other source hydraulic power other than a hydropneumatic accumulator.

    La vis 40 comprend une bague 42 adaptée pour être montée à rotation dans le trou 29 de la paroi 22 du corps cylindrique 20, en interdisant tout mouvement de translation. Elle comprend une partie 43 qui fait saillie à l'extérieur du corps cylindrique 20, par un orifice 27 de la paroi 21 qui ledit dit corps cylindrique. Cette partie 43 est apte à être entraínée en rotation, soit directement soit par l'intermédiaire d'un réducteur non représenté sur la figure.The screw 40 comprises a ring 42 adapted to be mounted for rotation in the hole 29 in the wall 22 of the cylindrical body 20, by preventing any movement of translation. It includes a part 43 which projects outside the body cylindrical 20, through an orifice 27 in the wall 21 which said said cylindrical body. This part 43 is able to be driven in rotation, either directly or through a reducer not shown in the figure.

    Selon les situations, le système fonctionnera de façons différentes :Depending on the situation, the system will operate in different ways:

    Dans le cas où l'on souhaiterait faire sortir le piston, et où l'énergie hydraulique fournie au piston est supérieure à l'énergie nécessaire pour mouvoir la charge, seule la commande de la rotation de la vis permet de faire sortir le piston.In the case where we would like to bring out the piston, and where the energy hydraulic supplied to the piston is greater than the energy required to move the load, only the screw rotation control allows the piston to come out.

    Dans le cas où on souhaiterait faire sortir le piston, et où l'énergie hydraulique fournie au piston est inférieure à l'énergie nécessaire pour mouvoir la charge, le système vis-écrou empêche la rentrée du piston. Seule la commande de la rotation de la vis permet d'apporter l'énergie mécanique supplémentaire nécessaire pour mouvoir la charge et permet de faire sortir le piston.In the case where we would like to bring out the piston, and where the energy hydraulic supplied to the piston is less than the energy required to move the load, the screw-nut system prevents retraction of the piston. Only the command of the screw rotation provides additional mechanical energy to move the load and allow the piston to come out.

    Dans le cas où on souhaiterait faire rentrer le piston, et où l'énergie hydraulique fournie au piston est inférieure à l'énergie nécessaire pour mouvoir la charge, le système vis-écrou empêche la rentrée du piston, avec ou sans apport d'énergie selon le mode de réalisation. Seule la commande de la rotation de la vis permet de faire rentrer le piston.In the case where we would like to return the piston, and where the energy hydraulic supplied to the piston is less than the energy required to move the load, the screw-nut system prevents the retraction of the piston, with or without input of energy according to the embodiment. Only the screw rotation control allows the piston to be retracted.

    Dans le cas où on souhaiterait faire rentrer le piston, et où l'énergie hydraulique fournie au piston est supérieure à l'énergie nécessaire pour mouvoir la charge, le système vis-écrou empêche la sortie du piston. Seule la commande de la rotation de la vis permet d'apporter l'énergie mécanique supplémentaire nécessaire pour mouvoir la charge et permet de faire rentrer le piston. Avec l'aide de la charge, on restitue l'énergie hydraulique emmagasinée dans l'accumulateur.In the case where we would like to return the piston, and where the energy hydraulic supplied to the piston is greater than the energy required to move the load, the screw-nut system prevents the piston from coming out. Only the command of the screw rotation provides additional mechanical energy to move the load and allow the piston to retract. With the help of the load, the hydraulic energy stored in the accumulator is restored.

    L'actionneur associe un moyen pour transmettre l'énergie hydraulique et un moyen pour transmettre l'énergie mécanique qui agissent de façon parallèle et qui sont disposés coaxialement. Ainsi on obtient un actionneur intégrant un dispositif de compensation de la charge, et qui possède un encombrement faible et dont la mise en oeuvre est facile. La synchronisation des efforts est naturelle.The actuator combines a means for transmitting hydraulic energy and a means for transmitting mechanical energy which act in parallel and which are arranged coaxially. Thus an actuator is obtained integrating a device for load compensation, and which has a small footprint and whose implementation work is easy. The synchronization of efforts is natural.

    L'actionneur possède un unique volume alimenté en énergie hydraulique. Cette caractéristique permet d'obtenir un circuit d'alimentation en énergie hydraulique simplifié. Selon le poids de la charge considérée, on utilise un accumulateur plus ou moins puissant. Le circuit hydraulique est constitué d'un tuyau 51 sortant de l'accumulateur hydropneumatique 50 et relié à l'orifice 28 à l'aide d'un raccord non représenté sur le dessin. Le changement d'accumulateur est donc très aisé. La simplicité du circuit d'alimentation représente un gage supplémentaire de fiabilité du système.The actuator has a single volume supplied with hydraulic energy. This characteristic makes it possible to obtain a power supply circuit simplified hydraulics. Depending on the weight of the load considered, a more or less powerful accumulator. The hydraulic circuit consists of a hose 51 leaving the hydropneumatic accumulator 50 and connected to the orifice 28 using of a fitting not shown in the drawing. The change of accumulator is therefore very easy. The simplicity of the supply circuit represents an additional pledge system reliability.

    On peut si on le désire utiliser une pompe hydraulique comme source d'alimentation, ou tout autre source d'énergie hydraulique. La présence du dispositif de sécurité permet encore de simplifier le système d'alimentation en énergie hydraulique.If desired, you can use a hydraulic pump as a source or any other source of hydraulic power. The presence of the device further simplifies the energy supply system hydraulic.

    Cet actionneur est principalement conçu pour mouvoir une charge créant un effort dont le sens est orienté vers le côté fermé du corps cylindrique 20. Une conception différente du piston et de la chambre 25 peut permettre d'obtenir un actionneur conçu pour une charge créant une force résultant sur l'actionneur dans le sens opposé. On peut également envisager de concevoir un actionneur apte à créer un effort dans les deux sens, en utilisant une deuxième chambre permettant de transmettre de l'énergie hydraulique. Il sera alors nécessaire d'utiliser un dispositif permettant de piloter la pression dans les deux chambres.This actuator is mainly designed to move a load creating a force whose direction is oriented towards the closed side of the cylindrical body 20. A different design of piston and chamber 25 can provide a actuator designed for a load creating a force resulting on the actuator in the opposite. We can also consider designing an actuator capable of creating effort in both directions, using a second chamber allowing transmit hydraulic power. It will then be necessary to use a device to control the pressure in the two chambers.

    Dans le cas de l'association de plusieurs actionneurs, la conception simple, nécessitant peu de puissance, et fiable du moyen de commander la position de l'actionneur facilite la synchronisation de plusieurs actionneurs :In the case of the association of several actuators, the simple design, requiring little power, and reliable means of controlling the position of the actuator facilitates the synchronization of several actuators:

    La figure 2 montre un exemple de disposition de deux actionneurs 66 et 65, tels que décrit précédemment et dont la numérotation est reprise, synchronisés mécaniquement. Chaque actionneur 66 et 65 dispose de sa propre réserve d'énergie hydraulique, référencée respectivement 78 et 79. Les actionneurs 66 et 65 doivent avoir une action toujours synchronisée de la même façon. A cet effet, les actionneurs 66 et 65 disposent d'une unique source d'énergie mécanique : par exemple un moteur électrique à double sens de rotation 60. On pourrait employer une autre source d'énergie mécanique telle qu'un moteur hydraulique ou un moteur pneumatique. L'arbre du moteur 60 entraíne la roue dentée 62. La roue dentée 62 entraíne d'un côté le pignon 63 solidaire en rotation de la vis 40 de l'actionneur 66. De l'autre côté, la roue dentée 62 entraíne en rotation le pignon 64 solidaire en rotation de la vis 40 de l'actionneur 65. Dans ce cas, si les différents actionneurs ne doivent pas sortir à la même vitesse, ils pourront posséder des réducteurs différents ou même des pas de vis différents. Les actionneurs peuvent avoir des orientations différentes, et qui sont modifiées lors des mouvements cinématiques du dispositif. Un tel dispositif peut être utilisé pour mouvoir des charges telles que des bennes de camion, ou pour des dispositifs comportant des robots parallèles FIG. 2 shows an example of the arrangement of two actuators 66 and 65, as described above and whose numbering is resumed, synchronized mechanically. Each actuator 66 and 65 has its own energy reserve hydraulic, referenced respectively 78 and 79. The actuators 66 and 65 must always have an action synchronized in the same way. To this end, the actuators 66 and 65 have a single mechanical energy source: for example a electric motor with double direction of rotation 60. We could use another mechanical power source such as hydraulic motor or motor pneumatic. The motor shaft 60 drives the toothed wheel 62. The toothed wheel 62 drives on one side the pinion 63 integral in rotation with the screw 40 of the actuator 66. On the other side, the toothed wheel 62 rotates the pinion 64 integral in rotation of the screw 40 of the actuator 65. In this case, if the different actuators do not must not go out at the same speed, they can have different reducers or even different screw threads. Actuators can have orientations different, and which are modified during kinematic movements of the device. Such a device can be used to move loads such as dumpsters truck, or for devices with parallel robots

    La figure 3 montre un exemple de disposition de trois actionneurs 67, 68 et 69 tels que décrit précédemment, disposant chacun de leur réserve d'énergie hydraulique, référencée respectivement 80 81 et 82, et d'un moteur électrique à double sens de rotation, respectivement 70, 71 et 72. Les moteurs 70, 71 et 72 entraínent en rotation les vis 40 respectivement des actionneurs 67, 68 et 69. Les moteurs 70, 71 et 72 sont pilotés en rotation par la centrale de commande 61, qui synchronise leurs mouvements. Ce type de disposition peut être utilisé pour synchroniser les mouvements de différents actionneurs, comme dans le cas d'un simulateur de vol reproduisant les mouvements de la carlingue d'un avion. Les actionneurs peuvent avoir des orientations différentes, et qui sont modifiées lors des mouvements cinématiques du dispositif.FIG. 3 shows an example of the arrangement of three actuators 67, 68 and 69 as described above, each with their own energy reserve hydraulic, referenced respectively 80 81 and 82, and an electric motor with double direction of rotation, respectively 70, 71 and 72. Motors 70, 71 and 72 rotate the screws 40 respectively of the actuators 67, 68 and 69. The motors 70, 71 and 72 are controlled in rotation by the central control unit 61, which synchronizes their movements. This type of layout can be used to synchronize the movements of different actuators, as in the case of a flight simulator reproducing the movements of an aircraft cabin. The actuators can have different orientations, and which are modified during kinematic movements of the device.

    La figure 4 montre un exemple de disposition de deux actionneurs 73 et 74 tels que décrit précédemment, alimentés par un accumulateur hydropneumatique 77 commun aux deux actionneurs 73 et 74, et dont les positions sont commandées par les moteurs électriques à double sens de rotation 75 et 76 qui entraínent en rotation les vis 40 respectivement des actionneurs 73 et 74. Le moyen pour transmettre de l'énergie mécanique étant le seul moyen de commande de la position des actionneurs, une pluralité d'actionneurs peuvent disposer de la même source hydraulique sans que cela gêne leur fonctionnement individuel, ou leur synchronisation, du moment que l'énergie hydraulique est suffisante. Dans le cas d'actionneurs synchronisés de façon différente à chaque instant, la pression moyenne contenue dans un accumulateur hydropneumatique utilisé comme source d'énergie hydraulique commune peut être supérieure à celle d'un accumulateur hydropneumatique utilisé pour un actionneur. Les actionneurs peuvent avoir des orientations différentes, et qui sont modifiées lors des mouvements cinématiques du dispositif. On utilisera alors des tuyauteries souples pour le circuit d'alimentation en énergie hydraulique.Figure 4 shows an example of arrangement of two actuators 73 and 74 as described above, powered by a hydropneumatic accumulator 77 common to the two actuators 73 and 74, and whose positions are controlled by electric motors with two directions of rotation 75 and 76 which drive in rotation the screws 40 respectively of the actuators 73 and 74. The means for transmitting mechanical energy being the only means of controlling the position of actuators, a plurality of actuators can have the same source without compromising their individual functioning, or their synchronization, as long as there is sufficient hydraulic power. In the case actuators synchronized differently at each instant, the average pressure contained in a hydropneumatic accumulator used as an energy source common hydraulics may be greater than that of an accumulator hydropneumatic used for an actuator. The actuators can have different orientations, and which are modified during kinematic movements of the device. Flexible pipes will then be used for the supply circuit in Hydro-electric power.

    En variante, un système peut comprendre des actionneurs selon l'invention, possédant une architecture qui reprend complètement ou en partie, les dispositions illustrées par les figures 2 à 4 et/ou qui les associe. Les exemples illustrés par les figures 2 à 4 ne sont pas limitatifs.As a variant, a system may include actuators according to the invention, having an architecture which completely or partially reproduces, the provisions illustrated by Figures 2 to 4 and / or which combines them. The examples illustrated by Figures 2 to 4 are not limiting.

    Selon un mode de réalisation, on peut utiliser un moteur électrique comme source d'énergie mécanique, une batterie comme source d'alimentation du moteur électrique, et un système vis-écrou réversible. Lorsque l'actionneur sert à ralentir le mouvement de la charge, on peut récupérer une partie de l'énergie par l'intermédiaire de la vis et de l'écrou, et du moteur électrique pour recharger la batterie.According to one embodiment, an electric motor can be used as mechanical power source, a battery as a power source for the engine electric, and a reversible screw-nut system. When the actuator is used to slow down the movement of the charge, we can recover part of the energy by through the screw and nut, and the electric motor to recharge the drums.

    L'invention permet donc d'obtenir un actionneur associant un moyen de transmettre l'énergie hydraulique et un moyen de transmettre l'énergie mécanique. L'actionneur dispose ainsi d'une compensation intégrée de la charge, compensation qui peut être très facilement adaptée à la charge considérée. Selon un aspect de l'invention, l'actionneur dispose en outre d'un moyen de commande permanent et précis de la course de l'actionneur, d'un dispositif de blocage possédant un nombre infini de positions de blocage, et permettant de maintenir une position précise sans apport d'énergie supplémentaire, et disposant encore d'un dispositif de sécurité prévenant tout mouvement inopiné de l'actionneur en cas de défaut de l'alimentation en énergie.The invention therefore makes it possible to obtain an actuator associating a means of transmit hydraulic energy and a means of transmitting mechanical energy. The actuator thus has integrated load compensation, compensation which can be very easily adapted to the load considered. According to one aspect of the invention, the actuator also has a permanent control means and precise actuator stroke, a locking device having a number infinite locking positions, and allowing to maintain a precise position without additional energy supply, and still having a safety device preventing any unexpected movement of the actuator in the event of a power supply fault in energy.

    Claims (8)

    Actionneur comprenant un corps cylindrique (10), un piston (30) coulissant par rapport à ce corps, un moyen pour transmettre de l'énergie mécanique audit piston et un moyen pour transmettre de l'énergie hydraulique (25) audit piston, caractérisé par le fait que le moyen pour transmettre de l'énergie mécanique est un moyen de commande de la position du piston (30).Actuator comprising a cylindrical body (10), a piston (30) sliding relative to this body, means for transmitting mechanical energy to said piston and means for transmitting hydraulic energy (25) to said piston, characterized by the fact that the means for transmitting mechanical energy is a means for controlling the position of the piston (30). Actionneur selon la revendication 1 caractérisé par le fait que le moyen pour transmettre de l'énergie mécanique est un système vis-écrou.Actuator according to claim 1 characterized in that the means for transmitting mechanical energy is a screw-nut system. Actionneur selon l'une quelconque des revendications précédentes, caractérisé par le fait que l'énergie mécanique est fournie par un moteur attelé.Actuator according to any one of the preceding claims, characterized in that the mechanical energy is supplied by a coupled motor. Actionneur selon la revendication 3, caractérisé par le fait qu'il comprend un système d'asservissement du moteur pour commander la position du piston.Actuator according to claim 3, characterized in that it comprises a motor control system for controlling the position of the piston. Actionneur selon l'une quelconque des revendications précédentes caractérisé par le fait que l'énergie hydraulique est fournie par un accumulateur hydropneumatique (50).Actuator according to any one of the preceding claims, characterized in that the hydraulic energy is supplied by a hydropneumatic accumulator (50). Actionneur selon l'une quelconque des revendications précédentes caractérisé par le fait que le moyen pour transmettre l'énergie mécanique et le moyen pour transmettre l'énergie hydraulique (25) sont disposés de façon coaxiale.Actuator according to any one of the preceding claims, characterized in that the means for transmitting mechanical energy and the means for transmitting hydraulic energy (25) are arranged coaxially. Actionneur selon la revendication 6 caractérisé par le fait que le moyen pour transmettre de l'énergie hydraulique (25) entoure le moyen pour transmettre de l'énergie mécanique.Actuator according to claim 6 characterized in that the means for transmitting hydraulic energy (25) surrounds the means for transmitting mechanical energy. Actionneur selon l'une quelconque des revendications précédentes caractérisé par le fait que qu'il dispose d'une interface de commande et de synchronisation.Actuator according to any one of the preceding claims, characterized in that it has a control and synchronization interface.
    EP02290425A 2001-02-26 2002-02-21 Compensated actuator with optimised power Expired - Fee Related EP1234983B1 (en)

    Applications Claiming Priority (2)

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    FR0102588A FR2821393B1 (en) 2001-02-26 2001-02-26 COMPENSATED ACTUATOR WITH OPTIMIZED POWER
    FR0102588 2001-02-26

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    EP1234983A1 true EP1234983A1 (en) 2002-08-28
    EP1234983B1 EP1234983B1 (en) 2009-04-22

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    EP (1) EP1234983B1 (en)
    DE (1) DE60232041D1 (en)
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    Also Published As

    Publication number Publication date
    US6928894B2 (en) 2005-08-16
    US20020129699A1 (en) 2002-09-19
    DE60232041D1 (en) 2009-06-04
    FR2821393A1 (en) 2002-08-30
    FR2821393B1 (en) 2005-10-28
    EP1234983B1 (en) 2009-04-22

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