EP2268921B1 - Convertisseur d'energie mecanique en energie hydraulique et robot mettant en oeuvre le convertisseur - Google Patents

Convertisseur d'energie mecanique en energie hydraulique et robot mettant en oeuvre le convertisseur Download PDF

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Publication number
EP2268921B1
EP2268921B1 EP09724364A EP09724364A EP2268921B1 EP 2268921 B1 EP2268921 B1 EP 2268921B1 EP 09724364 A EP09724364 A EP 09724364A EP 09724364 A EP09724364 A EP 09724364A EP 2268921 B1 EP2268921 B1 EP 2268921B1
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EP
European Patent Office
Prior art keywords
converter
fluid
axis
pressure
energy
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.)
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Application number
EP09724364A
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German (de)
English (en)
French (fr)
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EP2268921A1 (fr
Inventor
Samer Alfayad
Fathi Ben Ouezdou
Fayçal NAMOUN
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BIA SAS
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BIA SAS
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Priority to PL09724364T priority Critical patent/PL2268921T3/pl
Publication of EP2268921A1 publication Critical patent/EP2268921A1/fr
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Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
    • F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
    • F04B1/00—Multi-cylinder machines or pumps characterised by number or arrangement of cylinders
    • F04B1/04—Multi-cylinder machines or pumps characterised by number or arrangement of cylinders having cylinders in star- or fan-arrangement
    • F04B1/06—Control
    • F04B1/07—Control by varying the relative eccentricity between two members, e.g. a cam and a drive shaft
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
    • F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
    • F04B1/00—Multi-cylinder machines or pumps characterised by number or arrangement of cylinders
    • F04B1/04—Multi-cylinder machines or pumps characterised by number or arrangement of cylinders having cylinders in star- or fan-arrangement
    • F04B1/047—Multi-cylinder machines or pumps characterised by number or arrangement of cylinders having cylinders in star- or fan-arrangement with actuating or actuated elements at the outer ends of the cylinders
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
    • F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
    • F04B1/00—Multi-cylinder machines or pumps characterised by number or arrangement of cylinders
    • F04B1/04—Multi-cylinder machines or pumps characterised by number or arrangement of cylinders having cylinders in star- or fan-arrangement
    • F04B1/047—Multi-cylinder machines or pumps characterised by number or arrangement of cylinders having cylinders in star- or fan-arrangement with actuating or actuated elements at the outer ends of the cylinders
    • F04B1/0474—Multi-cylinder machines or pumps characterised by number or arrangement of cylinders having cylinders in star- or fan-arrangement with actuating or actuated elements at the outer ends of the cylinders with two or more serially arranged radial piston-cylinder units

Definitions

  • the invention relates to a converter, mechanical energy in hydraulic energy according to the preamble of claim 1 and a robot according to claim 14 implementing .Je converter.
  • the invention finds particular utility in the realization of humanoid robots for which one seeks to improve the autonomy.
  • Such robots are equipped with actuating mechanisms to move the different parts of the robot.
  • These mechanisms connect a power source providing mechanical energy such as for example an electric motor, hydraulic or pneumatic, with a load.
  • an actuating mechanism provides mechanical power transmission between a motor and a load.
  • An essential parameter of an actuating mechanism is its transmission ratio which is chosen to adapt a nominal operating point of the load to that of the motor.
  • actuating devices described above are bulky, heavy and complex which is detrimental to robotic applications.
  • electric motors are only suitable for high speeds and low torques.
  • the opposite situation is frequent: low speed and high torque.
  • the implementation of electric motors for low speed imposes significant reduction ratios so complicated to achieve.
  • a central hydraulic unit is used which is connected to different links to be motorized by pipes carrying a fluid under pressure.
  • the pipeline network becomes complex.
  • the hydraulic unit must provide all the connections with the maximum pressure imposed by the most stressed connection.
  • the aim of the invention is to overcome all or some of the problems mentioned above by proposing an actuating mechanism transforming the mechanical energy supplied by a motor into hydraulic energy used by a load, for example in the form of a jack allowing a part to move mobile of a robot. It is understood that the invention is not limited to the robotics field. The invention can be implemented in any field where one seeks to optimize an actuating mechanism. More specifically, the invention proposes a mechanical energy converter into hydraulic energy that can be decentralized, that is to say associated with a single load. The converter then only provides the hydraulic power required by the load.
  • the invention relates to a mechanical energy converter in hydraulic energy, comprising a shaft driven in rotation by the mechanical energy around a first axis relative to a housing, a hub having a bore formed around a second axis, the shaft rotating in the bore, the two axes being parallel and a distance between the axes forming an eccentricity, at least two pistons each able to move in a radial housing of the shaft, the housing guiding the pistons, the pistons resting on the bore, the displacement of the pistons causing a hydraulic fluid in two annular grooves of the casing, the grooves being arranged in an arc around the first axis, the hydraulic energy being generated by a pressure difference of the fluid present between the two grooves, characterized in that the hub is movable in translation along a third axis perpendicular to the first two axes r modify the value of the eccentricity between two extreme values, one being positive and the other being negative in order to allow a reversal of the fluid pressures in the
  • the invention also relates to a robot comprising a plurality of independent links driven by hydraulic energy, characterized in that it further comprises as many converters according to the invention as independent links, each converter being associated with a link.
  • the converter represented on the figure 1 receives mechanical energy in the form of a rotational movement of a shaft 10 driven by a motor 11, for example electric DC.
  • the motor 11 rotates at a constant speed of rotation which optimizes its operation.
  • the shaft 10 and connected to the motor 11 by a coupling 12. It is also possible to remove the coupling 12 by directly making stator windings of the motor 11 on the shaft 10.
  • the shaft 10 rotates about an axis 13 relative to a housing 14 closed at the ends of the shaft 10 by two covers 15 and 16.
  • a rolling bearing, respectively 17 and 18 provides guidance, limits the friction between the shaft 10 and the assembly formed by the housing 14, and the covers 15 and 16 and seals the converter.
  • the figure 2 represents elements of the converter ensuring the pumping of a hydraulic fluid.
  • the converter comprises a hub 20 comprising a bore 21 formed around a second axis 22.
  • the shaft 10 rotates in the bore 21.
  • the two axes 13 and 22 are parallel and a distance between the axes 13 and 22 forms an eccentricity E.
  • the converter comprises at least two pistons capable of moving each in a radial housing of the shaft. It is possible to implement the invention for a converter in which the pistons are parallelepipedal pallets.
  • the housings are cylinders and three pistons 23, 24 and 25 each move in a cylinder, respectively 26, 27 and 28.
  • One end of each piston bears on the bore 21.
  • the shaft 10 comprises at least two channels s' extending parallel to the axis 13.
  • the two channels 29 and 30 appear in the plane of the figure 2 .
  • the cylinder 26 opens on the channel 29 and the cylinders 27 and 28 open on the channel 30.
  • the number of pistons per channel can be increased to occupy the entire volume of the shaft 10 included inside the bore 21.
  • the pistons are staggered about the axis 13. In other words, between two adjacent channels, the longitudinal position along the axis 13 of a cylinder opening into a first channel is interposed between the longitudinal positions of two adjacent cylinders of the second channel. This distribution makes it possible to increase as much as possible the number of pistons for a given bore 21. The distribution improves the dynamic balancing of the shaft 10 and its pistons when the shaft 10 rotates.
  • the distribution also ensures a lesser variation in the radial forces on the shaft 10 as a function of the angle of rotation of the shaft 10.
  • the displacement of the pistons 23, 24 and 25 causes a hydraulic fluid in the channels 29 and 30. More precisely, in the relative position of the shaft 10 and the hub 20 shown in FIG. figure 2 the pistons 24 and 25 are in a position called top dead center and the piston 24 is in a position called bottom dead center. During the rotation of the shaft 10 about its axis 13, the pistons 23 to 25 move in their respective cylinder between their two dead spots. This displacement causes the fluid present in the part of the cylinders 26, 27 and 28 communicating with the channels 29 and 30.
  • each channel 29 and 30 is closed at one of its ends by a plug 31, visible on the figure 1 and communicates with intake and discharge ports at the other of its ends, orifices which will be described later.
  • the figure 3 represents an alternative embodiment of the elements represented on the figure 2 variant in which the pistons 23, 24 and 25 are replaced by balls 32 to 35. The diameter of the balls is adjusted with the inner diameter of the corresponding cylinders.
  • the term "piston" will be used to denote indifferently cylindrical pistons as represented on the figure 2 or marbles like represented on the figure 3 .
  • the fact of using beads does not ensure such good sealing of the fluid in the cylinders because of the least contact area between balls and cylinders. The efficiency of the converter is reduced. Nevertheless, the variant using beads is much cheaper to achieve.
  • the hub 20 forms an inner ring of a bearing 36, for example a needle.
  • the hub 20 can rotate together with the shaft 10 and thus limit the friction of the pistons on the bore 21.
  • the figure 4 represents fluid inlet and discharge ports of the converter in section in a plane perpendicular to that of the Figures 1 to 3 .
  • the shaft 10 comprises ten longitudinal channels, including the channels 29 and 30.
  • the housing 14 comprises two grooves 40 and 41 annular in an arc around the axis 13 and each communicating alternately with the channels of the shaft 10.
  • the groove 40 ensures, for example, the admission of the fluid to the facing channels and likewise, the groove 41 ensures the delivery of the fluid to the facing channels.
  • Each of the grooves 40 and 41 communicates with a coupling, respectively 42 and 43 for supplying a load associated with the converter either directly or through a distributor which will be described later.
  • the converter operates as a constant displacement volumetric pump, assuming the rotation speed of the constant shaft 10.
  • the hydraulic energy generated by the converter is due to a pressure difference of the fluid present between the two grooves 40 and 41.
  • Two seals 44 and 45 visible on the figure 1 and for example with lips, can be placed on either side of the grooves 40 and 41 along the shaft 10 to seal the two grooves 40 and 41.
  • the hub 20 is movable in translation along an axis 46 perpendicular to the axes 13 and 22 to modify the value of the eccentricity E between two extreme values, one being positive and the other being negative.
  • an outer ring 47 of the bearing 36 is integral with a carriage 48 capable of moving along the axis 46 to modify the value of the eccentricity E.
  • the eccentricity E is zero, that is to say when the axes 13 and 22 are merged, the pistons are stationary in their respective cylinders and the converter delivers no fluid flow.
  • the flow rate of the converter increases.
  • the value of the eccentricity E is increased in a second direction opposite to the first one, the flow rate of the converter becomes negative. In other words, the groove 40 passes from the inlet to the discharge and vice versa for the groove 41.
  • the fact of varying the eccentricity E between a positive value and a negative value makes it possible to reverse the inlet and the discharge of the converter without thereby reversing the direction of rotation of the motor 11.
  • the eccentricity adjustment E makes it possible to use a motor whose control is very simple to drive the shaft 10 in rotation. This motor can rotate at almost constant speed without precise speed control, which simplifies the control of it. With this type of motor, the converter flow adjustment is done only by varying the eccentricity E.
  • the reversal admission / discharge is much faster by reversing the eccentricity E by reversing the direction of rotation of the motor due to the very low inertia of the carriage 48 compared to that of the motor and pump assembly in the conventional case . It is of course possible when necessary to adjust both the eccentricity E of the converter and the speed of the motor in its operating range.
  • the figure 5 is a sectional view of the converter by a plane parallel to the plane of the figure 1 .
  • the converter comprises two pistons 50 and 51 integral with the casing 14.
  • the pistons 50 and 51 provide guiding and movement of the carriage 14 along the axis 46.
  • a differential pressure of a fluid between the two chambers 52 and 53 makes it possible to move the carriage 48 to modify the eccentricity E of the converter.
  • the converter comprises a valve 55 controlling the movement of the carriage 48 by means of a pressure difference of a hydraulic fluid.
  • a hydraulic diagram of the valve 55 is shown figure 6 .
  • the valve 55 forms a hydraulic distributor fed by the fluid moving the carriage 48.
  • a high pressure of this fluid is noted P and a low pressure is noted T on the figure 6 .
  • the dispenser can take three positions. In a central position 55a, neither of the two chambers 52 and 53 is powered by the fluid. In a position 55c, shown to the right on the figure 6 , the chamber 53 receives the low pressure T and the chamber 52 receives the high pressure P. In a position 55b, shown on the left on the figure 6 the chamber 52 receives the low pressure T and the chamber 53 receives the high pressure P.
  • the valve 55 is made in the carriage 48. Thus all the channels supplying the chambers 52 and 53 from the valve 55 are made in the carriage 48 which frees up space in the housing 14.
  • the valve 55 comprises a bore 56 formed in the slide 48.
  • the bore is formed along an axis 57 parallel to the axis 46.
  • the diameter of the bore 56 is constant.
  • the valve 55 comprises a rod 58 slidable within the bore 56.
  • the outer surface of the rod 58 is formed of alternating cylindrical shapes of small diameter d and large diameter D extending along the axis 57. Five cylindrical shapes follow one another along the axis 57. These shapes have in the order of diameters D, D, D, D and D.
  • the diameter D is adjusted with the inside diameter of the bore 56.
  • Two communication chambers 59 and 60 are formed between the bore 56 and the shapes of diameter d.
  • the channels 61 to 65 made in the bore 56 allow the fluid to communicate with the chambers 59 and 60.
  • the channels 61 and 65 are connected to the low pressure T of fluid.
  • the channel 62 is connected to the chamber 52.
  • the channel 63 is connected to the high pressure P of fluid and the channel 64 is connected to the chamber 53.
  • the Figures 7a and 7b represent two positions of the rod 58 inside the bore 56.
  • the two chambers 52 and 53 communicate permanently with the communication chambers, respectively 59 and 60 and the displacement of the rod 58 makes it possible to connect each communication chamber 59 and 60 with either the high pressure fluid P present in the channel 63 is with the low pressure fluid T present in the channels 61 and 65.
  • the represented position 55a is said position of equilibrium because neither the high pressure nor the low fluid pressure communicates with the chambers 52 and 53. In this position the eccentricity E remains constant. More precisely, the three cylindrical shapes of diameter D obstruct the low pressure channels 61 and 65 as well as the high pressure channel 63.
  • the chambers 52 and 53 only communicate with the communication chambers, respectively 59 and 60, with neither access to the high pressure or low fluid pressure.
  • the rod 58 is moved to the left of the figure. This is position 55b.
  • the central cylindrical shape of diameter D frees access to the channel 63 and the high pressure P of the fluid communicates with the communication chamber 60.
  • the left cylindrical shape of diameter D releases access to the channel 61.
  • the low pressure T of the fluid communicates with the communication chamber 59 and the chamber 52.
  • the carriage 48 moves to the left. A reverse movement of the carriage 48 is possible with a movement of the rod 58 to the right to reach the position 55c.
  • the displacement of the rod 58 is for example ensured by means of a winding 70 supplied with an electric control current.
  • a core 71 integral with the rod 58 moves in the winding 70 as a function of the control current.
  • Another advantage related to the embodiment of the valve 55 in the carriage 48 is the achievement of a servocontrol of the eccentricity E of the carriage 48 relative to the control. More specifically, a displacement of the rod 58 of the value of the desired eccentricity E with respect to the casing 14 puts certain channels 61, 63 or 65 in communication with the corresponding communication chambers 59 and 60. When the carriage 48 reaches the desired eccentricity E, the relative position of the rod 58 with respect to the carriage 48 causes the rod 58 to assume the position 55a, shown in FIG. figure 7a , without the need for a new control to be applied to the winding 70.
  • the converter comprises a sensor 72 making it possible to determine its eccentricity E.
  • the sensor 72 measures the position of the rod 58 with respect to the housing 14.
  • the measurement made by the sensor 72 is the position of the carriage 48.
  • the measurement made by the sensor 72 is the position of the carriage 48 to which is added the displacement of the rod 58 relative to the carriage 48.
  • the displacement of the rod 58 relative to the carriage 48 is relatively fugitive. Indeed, the valve 55 quickly resumes its central position 55a after application of a command to the winding 70.
  • the sensor 72 measures the eccentricity E of the converter.
  • This eccentricity E is proportional to the flow rate of the converter and therefore to the speed of displacement of a load moved by the fluid delivered by the converter.
  • the knowledge of the variation of the acceleration of the load called jerk and well known in the English literature under the name of "jerk" is important in an application of the converter to the realization of a humanoid robot for to get closer to the functioning of the human body. Indeed, we realized that the human being tends to minimize any jerk in his movements.
  • the knowledge of the variation of the acceleration of the load makes it possible, in a control strategy of the converter, to control the shaking and thus to get closer to the human behavior.
  • the converter comprises means for determining the acceleration of the converter flow from the control of the valve 55. More precisely, the variation of the position of the rod 58 is proportional to the control signal applied to the winding 70 So the control signal is proportional to the acceleration of the load. By deriving the control signal with respect to time, one thus obtains the acceleration of the flow of the converter or the shaking.
  • an inductive electric displacement sensor of linear displacement well known in the English literature under the name of LVDT sensor for Linear Variable Differential Transformer is used.
  • the fluid used to move the carriage 48 may be from a source external to the converter.
  • This solution makes it possible to simplify the supply of the valve 55 by using an external source in which the high and low pressures P and T have constant pressures.
  • This solution nevertheless has the disadvantage of requiring additional pipes to supply the valve 55 with fluid.
  • the pressure prevailing in the grooves 40 and 41 is used to move the carriage 48. This improves the independence of the converter relative to its environment.
  • the converter comprises a distributor 75 for communicating the high pressure input P of the valve 55 with the groove 40 or 41 in which the pressure of the fluid is the strongest and for communicating the low pressure input T of the valve 55 with the groove 40 or 41 in which the pressure of the fluid is the lowest.
  • the distributor 75 it is possible to perform an electrical analogy with the hydraulic operation of the distributor 75.
  • the pressure delivered by the grooves 40 and 41 is compared to an alternating voltage since the eccentricity E can be positive or negative.
  • the distributor 75 then behaves as a voltage rectifier for supplying the valve 55 between positive and negative electrical terminals of the rectifier.
  • the figure 8 represents a hydraulic diagram of the distributor 75 fed by the fluid present in the groove 40 and by the fluid present in the groove 41.
  • the distributor 75 can take three positions. In a central position 75a, the eccentricity E is zero and the pressure of the fluid in the groove 40 is equal to the pressure of the fluid in the groove 41.
  • the distributor 75 connects the groove 40 to the inlet P of the valve 55 and the groove 41 at the inlet T of the valve 55.
  • a load 76 supplied by the converter is represented in the form of a double-acting cylinder comprising two chambers 77 and 78. In the central position 75a, none of the chambers the load 76 is powered.
  • the distributor 75 moves to reach a second position denoted 75b in which the groove 40 is connected to the inlet low pressure T and the groove 41 is connected to the high pressure inlet P of the valve 55.
  • the pressure difference between the two grooves 40 and 41 is achieved by pumping means 79 of the converter comprising in particular the pistons 23 to 25 described upper.
  • chamber 77 of the load 76 is connected to the groove 41 and the chamber 78 is connected to a reservoir 80 of fluid marked R.
  • the distributor 75 moves to reach a third position denoted 75c in which the groove 41 is connected to the low pressure inlet T and the groove 40 is connected to the high pressure inlet P of the valve 55.
  • the converter comprises means so that when the fluid pressure is balanced between the chambers 52 and 53, the eccentricity E of the converter is not zero.
  • These means comprise for example a spring located in one of the chambers 52 or 53 tending to exert a force between the carriage 48 and the respective piston 50 or 51. This spring is useful for starting the converter.
  • the central position 75a is an equilibrium position obtained for a zero eccentricity.
  • the converter comprises means for recycling any internal leakage of fluid involved in particular during the pumping. These leaks are recovered in an internal hydraulic space 82 denoted PE on the figure 8 .
  • the internal hydraulic space 82 is located inside the casing 14 in particular on either side of the carriage 48.
  • the distributor 75 comprises means so that when it leaves its central position 75a, the throat whose pressure is the lowest, in this case the groove 41, is connected to the internal hydraulic space 82 recovering internal leakage of the converter as the channels feeding the load 76 remain closed by the distributor 75.
  • the rectifier representing the distributor
  • the rectifier can be illustrated as a bridge of diodes whose threshold voltages would be different.
  • Leak recycling is done as long as the AC voltage is lower than the threshold voltage.
  • the leak recycling means are not visible since only in central position 75a, the internal hydraulic space 82 is connected to one of the grooves.
  • the Figures 9 and 10 represent an embodiment of a dispenser for both the supply of the valve 55 and the recycling of leaks.
  • the distributor 75 comprises a movable part, called butterfly 85, free to rotate about the axis 13 inside the casing 14.
  • the butterfly 85 has the shape of a flat washer.
  • the rotational guidance of the throttle valve 85 is provided between an annular cavity 86 of the casing 14 and an additional annular shape of the throttle valve 85.
  • the annular cavity 86 is limited by two faces 87 and 88 of the casing 14 perpendicular to the axis 13.
  • the face 88 belongs to the lid 16.
  • the groove 40 communicates with the orifices 90a, 90b, 90c and 90d of the face 87 and the groove 41 communicates with the openings 91a, 91b, 91c and 91d of the face 87.
  • the fluid reservoir 80 communicates with an orifice 94 of the face 88.
  • the face 87 includes a hole 97 visible on the figures 11 a to 11 g communicating with the internal hydraulic space 82.
  • the housing 14 comprises a stop 100 limiting the rotation of the butterfly 85.
  • the butterfly 85 comprises an annular groove 101 whose ends 102 and 103 can bear against the stop 100.
  • the support of one end 102 or 103 against the stop 100 depends on the pressure difference of the fluid present in the grooves 40 and 41.
  • the butterfly 85 may cover an angular sector of + or - 22.5 ° around the axis 13.
  • the butterfly 85 comprises several annular countersinks in communication with the fluid from the grooves 40 and 41.
  • a countersink 105 is permanently located in front of the orifice 90d.
  • a countersink 106 is permanently located in front of the orifice 91 d.
  • two countersinks 107 and 108 are permanently located in front of the orifices 90b and 90c.
  • two counterbore 109 and 110 are permanently located in front of the orifices 91b and 91c.
  • the term "permanently located" means that the countersink and orifice considered are opposite for any position of the butterfly 85 in its rotational movements about the axis 13.
  • the countersinks 105, 107 and 108 contain fluid at the pressure of the groove 40 and the counterbore 106, 109 and 110 contain fluid at the pressure of the groove 41.
  • the butterfly 85 is shown in central position 75a. In its rotation around the axis 13, the butterfly 85 allows the passage or the blocking of the fluid between the orifices of the face 87 and the orifices of the face 88.
  • the different positions that can take the butterfly 85 and the communications between holes are represented in the figures 11 at 11 g.
  • the figure 11 a represents the butterfly 85 in central position 75a. In this position, the orifices 95 and 96 for supplying the load 76 are obstructed by solid portions 113 and 114 of the butterfly 85 respectively between the countersinks 107 and 108 on the one hand and 109 and 110 on the other hand.
  • the orifices 92 and 93 communicate in part with respectively the countersinks 108 and 109 so as to supply the valve 55.
  • the orifice 94 connected to the reservoir 80 communicates with the countersink 106 and the orifice 97 for recycling the leaks is completely obstructed.
  • the end 102 is at an angular position of 22.5 ° relative to the stop 100.
  • the figure 11b represents the butterfly 85 in a position in which the pressure of the fluid in the groove 41 is slightly greater than that of the fluid present in the groove 40.
  • the orifices 95 and 96 for feeding the load 76 are obstructed by the solid portions 113 and 114 of the throttle valve 85.
  • the orifices 92 and 93 communicate in part with the countersinks 108 and 109, respectively, so as to supply the valve 55.
  • the orifice 94 connected to the tank 80 communicates with the counterbore 106.
  • the orifice 97, for recycling the leaks communicates in part with the counterbore 105 through an orifice 120 passing through the bottom of the counterbore 105.
  • the fluid contained in the internal hydraulic space 82 communicates with the groove 40 which is in depression.
  • the contents of the internal hydraulic space 82 are sucked by the pumping of the converter towards the tank 80.
  • the position of the butterfly 85 shown on the figure 11b is intermediate between position 75a and 75c b.
  • the end 102 is at an angular position of 26.32 ° with respect to the stop 100.
  • the figure 11c represents the butterfly 85 in a position where it moves from the position of the figure 11a to the position 75b so that the orifices 97 and 120 are completely opposite and the recycling of the leaks is maximum.
  • the position of the butterfly 85 shown on the figure 11c is intermediate between the position of the figure 11b and the position 75b
  • the end 102 is at an angular position of 29.32 ° relative to the stop 100.
  • the figure 11d represents the butterfly 85 in a position where it moves between the position of the figure 11b and the position 75b so that the orifices 97 and 120 are no longer facing. Leaks are no longer aspirated.
  • the end 102 is at an angular position of 37.32 ° relative to the stop 100.
  • the end 103 comes into contact with the stop 100 and the orifices 95 and 96 for feeding the load 76 are completely in communication with the countersinks respectively 107 and 110.
  • the orifice 94 is also completely in communication with the counterbore 105.
  • the figure 11f represents the butterfly 85 in an intermediate position between the central position 75a shown in FIG. figure 11 a and position 75c.
  • the orifices 95 and 96 making it possible to supply the load 76 come into communication with the countersinks respectively 108 and 109 and the orifice 94 remains in communication with the countersink 106 so as to feed the load 76 between the high pressure delivered by the converter and the reservoir 80.
  • the end 102 is at an angular position of 20.5 ° relative to the stop 100. In this position, the orifices 92 and 93 are not completely obstructed in order to allow feeding of the valve 55. In position 75c, shown in figure 11g, the end 102 comes into contact with the stop 100 and the orifices 95 and 96 for feeding the load 76 are completely in communication with the countersinks respectively 108 and 109.
  • the orifice 94 is also completely in communication with the counterbore 106.
  • the orifices 92 and 93 supplying the valve 55 communicate with the countersinks, respectively 110 and 107.
  • the converter comprises means for accumulating hydraulic energy in a pressure tank 119.
  • the accumulation can be done when the load 76 must remain stationary.
  • a load such as a jack to move, for example an ankle
  • the accumulation of hydraulic energy is during periods of rest and it is possible to size the pressure vessel 119 according to a duty cycle between the periods of work and the rest periods of the cylinder.
  • the pressure tank 119 is common to several converters of the robot.
  • a variant for illustrating an example of means for accumulating hydraulic energy is represented using the Figures 12a and 12b for a hydraulic scheme, Figures 13 and 14 for an exemplary embodiment, Figures 15a to 15g for the different positions of a butterfly of a first distributor 120 and Figures 16a and 16b for different positions of a butterfly of a second distributor 121.
  • the distributor 120 as the distributor 75 is fed by the grooves 40 and 41 and supplies the chambers 77 and 78 of the load 76, the valve 55 by its high pressure inputs P and low pressure T.
  • the distributor 120 can take three positions 120a , 120b and 120c.
  • the position 120a is identical to the position 75a.
  • the pressure of the groove 41 is greater than that of the groove 40.
  • the high-pressure inputs P and low pressure T of the valve 55 are, as for the position 75b, supplied by, respectively, the grooves 41 and 40.
  • the chamber 77 is fed by the groove 41.
  • the chamber 78 is connected to the reservoir 80 without connection with the pumping means 79 and the groove 40 draws the fluid into the pressure tank 119.
  • a valve 122 ensures that the pressure of the pressure tank 119 is never less than the pressure of the reservoir 80 which is for example maintained at atmospheric pressure.
  • the pressure of the groove 40 is greater than that of the groove 41.
  • the high-pressure inputs P and low pressure T of the valve 55 are, as for the position 75c, fed by, respectively, the grooves 40 and 41.
  • the load 76 and the tanks 80 and 119 are not directly connected to the distributor 120 but through the distributor 121 whose hydraulic diagram is represented on the figure 12b .
  • the distributor 121 can take two positions, 121 a, said rest position 121b and said active position.
  • the distributor 121 is controlled by an external actuator 122, for example electric. In the absence of control of the actuator 122, the distributor 121 is returned to its rest position by means of a spring 123.
  • the two chambers 77 and 78 of the load 76 are isolated and the pumping means 79 draw fluid into the reservoir 80 to raise the pressure of the pressure vessel 119.
  • the actuator 122 is activated when it is desired to move the load in the direction indicated by an arrow 124.
  • the distributor 121 takes the position 121 b, the chamber 77 is connected to the reservoir 80 and the pumping means 79 suck in the pressure tank 119 to supply the chamber 78.
  • the pressure difference between the two chambers 77 and 78 is equal to the sum of the pressure difference between the two tanks 80 and 119 and the difference The pressure obtained by the pumping means 79.
  • the distributor 120 comprises a butterfly 130, free to rotate about the axis 13 inside the casing 14.
  • the butterfly 130 like the butterfly 85, is guided in rotation in an annular cavity 131 of the casing 14.
  • the annular cavity 131 is limited by two faces 132 and 133 of the housing 14 perpendicular to the axis 13.
  • the throttle 130 is shown in different positions on the Figures 15a to 15g .
  • the distributor 120 makes it possible to communicate the high-pressure input P of the valve 55 with the groove 40 or 41 in which the pressure of the fluid is the strongest and to communicate the low pressure input T of the valve 55 with the groove 40 or 41 in which the pressure of the fluid is the lowest.
  • the distributor comprises orifices 135 and 136 connected with the channel 63, forming the high pressure inlet P the valve 55, for the orifice 135 and with the channels 61 and 65, forming the low pressure inlet T valve 55, for the orifice 136.
  • the orifices 135 and 136 communicate either with countersinks 137 and 138 connected to the groove 40 via the orifice 90a or with countersinks 139 and 140 to the groove 41 through the orifice 91a.
  • the distributor 120 also makes it possible to communicate the chambers 77 and 78 of the load 76 with the grooves 40 and 41 via the distributor 121 when the latter is in its position 121 b.
  • the dispenser 120 comprises an orifice 141 communicating with the counterbore 138 so that the orifice 141 communicates with the groove 40, see figure 15g or with a counterbore 145 so that the orifice 141 communicates with the reservoir 80 via an orifice 146 of the housing 14, see figure 15e .
  • the dispenser 120 also comprises an orifice 142 communicating with the countersink 140 so that the orifice 142 communicates with the groove 41, see figure 15e or with a counterbore 143 so that the orifice 142 communicates with the reservoir 80 via an orifice 144 of the casing 14, see figure 15g .
  • the pumping of the fluid from the pressure tank 119 is done by putting in communication an orifice 150 of the housing 14 or with a counterbore 151 of the throttle 130 connected to the groove 40, see figure 15e , or with a countersink 152 of the butterfly 130 connected to the groove 41, see figure 15g .
  • the distributor 120 makes it possible to recycle the leaks contained in the internal hydraulic space 82 by suction to the reservoir 80.
  • Recycling takes place between the central position of the figure 15a and the extreme position of the figure 15e . Recycling is illustrated in the positions of the butterfly 130 shown on the figures 15b , 15c and 15d . In these positions, the load 76 is isolated and the orifices 141 and 142 do not communicate with the grooves 40 and 41 through the counterbores 138 and 140 nor with the reservoir 80 via countersinks 143 or 145.
  • the positions of the butterfly 130 represented at figures 15b , 15c and 15d correspond to the central position 120a of the figure 12a .
  • the pumping means 79 draw the fluid contained in the internal hydraulic space 82 to discharge it into the reservoir 80.
  • the internal hydraulic space 82 is connected to the groove 40 whose pressure is lower than that of the groove 41. connection is made by communicating an orifice 157 of one of the faces of the housing 14 connected to the internal hydraulic space 82 with a counterbore 158 of the butterfly 130 connected to the groove 40.
  • the reservoir 80 is connected to the groove 41 This connection is made by communicating an orifice 159 of one of the faces of the housing 14 connected to the groove 41 by a countersink 160 of the butterfly 130.
  • figure 15b marks the beginning of recycling of leaks in the rotation of the throttle 130 away from the central position 120a.
  • the figure 15c marks the maximum suction of leaks.
  • the orifice 157 is completely opposite the countersink 158 and the orifice 159 is completely opposite to the countersink 160.
  • figure 15d shows the end of the suction of the leaks before feeding the load 76.
  • the distributor 121 can be made by means of a butterfly 170 rotating about the axis 13 inside an annular cavity 171 of the casing 14.
  • Figures 16a and 16b represent two positions of the butterfly 170 respectively corresponding to positions 121a and 121b defined in the hydraulic diagram of the figure 12b .
  • the butterfly 170 comprises a plurality of ports making it possible to communicate orifices located on opposite faces closing the annular cavity 171 perpendicularly to the axis 13.
  • the spring 123 disposed between the housing 14 and the butterfly 170, tends to bring the butterfly 170 back into position. his position of the figure 16a .
  • a light 175 communicates the reservoir 80 with an outlet S1 of the distributor 120.
  • a solid portion 176 of the butterfly 170 prevents this communication.
  • a light 177 communicates the chamber 77 of the load 76 with an outlet S2 of the distributor 120.
  • a solid portion 178 of the butterfly 170 prevents this communication.
  • the position 121 has a light 179 communicates the chamber 78 of the load 76 with an outlet S3 of the distributor 120.
  • a solid portion 180 of the butterfly 170 prevents this communication.
  • a light 181 communicates the pressure vessel 119 with an outlet S4 of the distributor 120.
  • a solid portion 182 of the butterfly 170 prevents this communication.
  • a light 183 communicates the pressure tank 119 with the outlet S3 of the distributor 120.
  • a solid portion 184 of the butterfly 170 prevents this communication.
  • a light 185 communicates the reservoir 80 with the outlet S4 of the distributor 120.
  • a solid portion 186 of the butterfly 170 prevents this communication.
  • the distributor 121 is controlled by the actuator 122 only in the position 120c of the distributor 120.
  • the dispenser 121 comprises a chamber 190 formed in the housing 14 allowing the fluid entering the chamber to push a finger 191 of the butterfly 170.
  • the dispenser 121 also comprises a valve that can be disposed in a space 192 of the casing 14. The valve allows the admission of the fluid to the chamber 190.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Reciprocating Pumps (AREA)
  • Hydraulic Motors (AREA)
  • Details Of Reciprocating Pumps (AREA)
  • Fluid-Pressure Circuits (AREA)
  • Other Liquid Machine Or Engine Such As Wave Power Use (AREA)
  • Supply Devices, Intensifiers, Converters, And Telemotors (AREA)
  • Manipulator (AREA)
EP09724364A 2008-03-26 2009-03-25 Convertisseur d'energie mecanique en energie hydraulique et robot mettant en oeuvre le convertisseur Active EP2268921B1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
PL09724364T PL2268921T3 (pl) 2008-03-26 2009-03-25 Przemiennik energii mechanicznej na energię hydrauliczną i robot realizujący przemiennik

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR0851943A FR2929347A1 (fr) 2008-03-26 2008-03-26 Convertisseur d'energie mecanique en energie hydraulique et robot mettant en oeuvre le convertisseur
PCT/EP2009/053553 WO2009118366A1 (fr) 2008-03-26 2009-03-25 Convertisseur d'energie mecanique en energie hydraulique et robot mettant en oeuvre le convertisseur

Publications (2)

Publication Number Publication Date
EP2268921A1 EP2268921A1 (fr) 2011-01-05
EP2268921B1 true EP2268921B1 (fr) 2011-08-10

Family

ID=40380244

Family Applications (1)

Application Number Title Priority Date Filing Date
EP09724364A Active EP2268921B1 (fr) 2008-03-26 2009-03-25 Convertisseur d'energie mecanique en energie hydraulique et robot mettant en oeuvre le convertisseur

Country Status (12)

Country Link
US (1) US8734123B2 (es)
EP (1) EP2268921B1 (es)
JP (1) JP5613946B2 (es)
KR (1) KR101729785B1 (es)
CN (1) CN102027234B (es)
AT (1) ATE519945T1 (es)
CA (1) CA2719843C (es)
ES (1) ES2370355T3 (es)
FR (1) FR2929347A1 (es)
MY (1) MY159090A (es)
PL (1) PL2268921T3 (es)
WO (1) WO2009118366A1 (es)

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2956841B1 (fr) 2010-02-26 2012-06-08 Assistive Robotic Technologies Dispositif de propulsion d'un vehicule avec recuperation et restitution d'energie
US10279482B1 (en) 2014-12-18 2019-05-07 Boston Dynamics, Inc. Braking and regeneration control in a legged robot
US11624447B2 (en) * 2019-05-13 2023-04-11 Boston Dynamics, Inc. Rotary valve assembly

Family Cites Families (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE2219881A1 (de) * 1972-04-22 1973-10-25 Bosch Gmbh Robert Radialkolbenmaschine
US4420812A (en) * 1979-09-14 1983-12-13 Tokico, Ltd. Teaching- playback robot
DE3204180A1 (de) * 1982-02-06 1983-08-11 Hartmann & Lämmle GmbH & Co KG, 7255 Rutesheim "industrieroboter"
US4598628A (en) * 1984-05-21 1986-07-08 4 Square Motors Rotary hydraulic engine having oppositely disposed pistons in a scotch yoke assembly
JPS6131675A (ja) * 1984-07-24 1986-02-14 Nippon Denso Co Ltd 可変容量ポンプ
US5634777A (en) * 1990-06-29 1997-06-03 Albertin; Marc S. Radial piston fluid machine and/or adjustable rotor
DE9104126U1 (es) * 1991-04-05 1992-08-06 Robert Bosch Gmbh, 7000 Stuttgart, De
DE4143152C2 (de) * 1991-12-28 2001-08-23 Bosch Gmbh Robert Radialkolbenmaschine
US5249512A (en) * 1992-05-18 1993-10-05 Christenson Howard W hydrostatic pump and motor
DE19513987C2 (de) * 1995-04-13 1998-10-08 Bosch Gmbh Robert Verstellbare, hydrostatische Radialkolbenmaschine
EP1293667A1 (de) * 2001-09-14 2003-03-19 Seneca-Holding S.A. Radialkolbenpumpe
CN1282826C (zh) * 2003-02-14 2006-11-01 中国科学院金属研究所 一种调心距增压机

Also Published As

Publication number Publication date
EP2268921A1 (fr) 2011-01-05
JP2011525222A (ja) 2011-09-15
MY159090A (en) 2016-12-15
CA2719843A1 (en) 2009-10-01
KR101729785B1 (ko) 2017-04-24
PL2268921T3 (pl) 2012-01-31
US8734123B2 (en) 2014-05-27
ATE519945T1 (de) 2011-08-15
ES2370355T3 (es) 2011-12-14
CA2719843C (en) 2016-10-04
US20110085922A1 (en) 2011-04-14
JP5613946B2 (ja) 2014-10-29
WO2009118366A1 (fr) 2009-10-01
FR2929347A1 (fr) 2009-10-02
KR20110019356A (ko) 2011-02-25
CN102027234A (zh) 2011-04-20
CN102027234B (zh) 2014-04-16

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