EP3931444B1 - Hydraulisches stellglied zur kompensierung von überdruck - Google Patents

Hydraulisches stellglied zur kompensierung von überdruck Download PDF

Info

Publication number
EP3931444B1
EP3931444B1 EP20705749.8A EP20705749A EP3931444B1 EP 3931444 B1 EP3931444 B1 EP 3931444B1 EP 20705749 A EP20705749 A EP 20705749A EP 3931444 B1 EP3931444 B1 EP 3931444B1
Authority
EP
European Patent Office
Prior art keywords
pump
directional
control valve
actuator
allowing
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.)
Active
Application number
EP20705749.8A
Other languages
English (en)
French (fr)
Other versions
EP3931444A1 (de
Inventor
Samer Alfayad
Mohamad KARDOFAKI
Maya SLEIMAN
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Universite de Versailles Saint Quentin en Yvelines
Original Assignee
Universite de Versailles Saint Quentin en Yvelines
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Universite de Versailles Saint Quentin en Yvelines filed Critical Universite de Versailles Saint Quentin en Yvelines
Publication of EP3931444A1 publication Critical patent/EP3931444A1/de
Application granted granted Critical
Publication of EP3931444B1 publication Critical patent/EP3931444B1/de
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

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
    • F04B1/12—Multi-cylinder machines or pumps characterised by number or arrangement of cylinders having cylinder axes coaxial with, or parallel or inclined to, main shaft axis
    • F04B1/26—Control
    • F04B1/30—Control of machines or pumps with rotary cylinder blocks
    • F04B1/32—Control of machines or pumps with rotary cylinder blocks by varying the relative positions of a swash plate and a cylinder block
    • 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
    • F04B49/00—Control, e.g. of pump delivery, or pump pressure of, or safety measures for, machines, pumps, or pumping installations, not otherwise provided for, or of interest apart from, groups F04B1/00 - F04B47/00
    • F04B49/08—Regulating by delivery pressure
    • 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
    • F04B2203/00—Motor parameters
    • F04B2203/06—Motor parameters of internal combustion engines
    • F04B2203/0605—Rotational speed

Definitions

  • the invention relates to a hydraulic actuator.
  • This type of actuator is widely used for maneuvering moving parts.
  • the use of hydraulic energy has an advantage over electrical energy for its very good ratio between the power delivered and the mass of the actuator.
  • Another advantage also lies in a very good ratio between the power delivered and the volume of the actuator.
  • actuators implementing electric motors are only well suited 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 large reduction ratios which are therefore complicated to achieve with a fixed and limited reduction ratio.
  • an actuator control loop comprising a sensor measuring the effort or the speed, the sensor being associated with a regulator making it possible to modulate the control of the actuator according to a signal sensor output and a force or speed setpoint not to be exceeded.
  • This type of limitation is often linked to the operating safety of the actuator and is associated with unwanted events, in particular to protect the environment of the actuator. This type of limitation also makes it possible to protect the actuator from external attacks.
  • the operating and/or safety regulation loop has several drawbacks.
  • the chain linking the quantity to be measured and the actuator control is long, which tends to increase the reaction time. This can be problematic in responding to unexpected and instantaneous stresses such as shocks.
  • the number of components necessary to produce the control loop often leads to a deterioration in the reliability of the actuator.
  • the length of the path tends to decrease the reliability of the safety loop.
  • EP 0 879 968 discloses a variable displacement pump with a cylinder controlled by a valve.
  • the invention aims to overcome all or part of the problems mentioned above by proposing a hydraulic actuator making it possible to dispense with a regulation loop in order to guard against the effects of the appearance of an overpressure, the overpressure being generally associated with an excessive force. important, for example due to a shock.
  • the invention makes it possible to reduce the reaction time of the actuator in the event of abnormal operation without altering its reliability.
  • the subject of the invention is a hydraulic actuator comprising a volumetric pump with variable flow, a first distributor controlled according to an order to move the actuator and a cylinder supplied by the first distributor, the pump comprising a moving body movement of which makes it possible to continuously vary the flow rate of the pump, the member being able to be moved by the cylinder, the first distributor making it possible to apply a continuous function linking the order of movement to the flow rate of the pump via the position of the organ as it moves.
  • the actuator comprises a second distributor controlled as a function of an outlet pressure of the pump, the second distributor comprising two positions, one called rest obtained as long as the outlet pressure of the pump is lower than a predetermined pressure and directly transmitting the output of the first valve to the double-acting cylinder, allowing the pump to follow the continuous function and the other called active, obtained when the output pressure of the pump is greater than or equal to the predetermined pressure and transmitting the output pressure of the pump to the cylinder so as to reduce the output pressure of the pump without passing through the first valve and without following the continuous function.
  • the predetermined pressure is adjustable.
  • the member can be configured to allow the pump to reverse the direction of its flow.
  • the cylinder comprises two chambers.
  • the actuator then comprises a third distributor configured to transmit the outlet pressure of the pump either to one or to the other of the two chambers depending on the direction of the flow rate of the pump.
  • the hydraulic actuator advantageously further comprises a set of valves configured to control the second distributor by means of the highest output pressure of the pump.
  • the cylinder advantageously comprises a movable rod connected to a body of the first distributor.
  • the movable rod can be connected to the body of the first distributor by means of a complete connection.
  • the pump may be an axial piston pump, the device making it possible to vary the flow rate being a plate with variable inclination on which the pistons rest, the variation in the inclination of the plate making it possible to vary the stroke of the pistons, the inclination of the plate being adjusted by the cylinder controlled by a micro actuator defining the order of the actuator through the first distributor as long as the outlet pressure of the pump is lower than a predetermined pressure .
  • the hydraulic actuator advantageously comprises a box inside which are arranged: the pump, a motor allowing the actuation of the pump, the device allowing the flow rate of the pump to be varied continuously, the cylinder actuating the device , the first distributor supplying the jack, a micro-actuator operating the first distributor and the second distributor.
  • the actuator further comprises at least one electrical connector located across the housing and allowing the actuator to receive electrical energy supplying the motor and an electrical signal controlling the micro-actuator, and a hydraulic connector located across the housing and allowing the actuator to deliver hydraulic energy.
  • the hydraulic actuator advantageously comprises a box inside which are arranged: the pump, a motor allowing the actuation of the pump, the device allowing the flow rate of the pump to be varied continuously, the cylinder actuating the body, the first distributor supplying the cylinder, a micro actuator operating the first distributor and the second distributor.
  • the actuator further comprises at least one electrical connector located across the housing and allowing the actuator to receive electrical energy supplying the motor and an electrical signal controlling the micro-actuator, and a mechanical output disposed across the housing and allowing the actuator to deliver mechanical energy.
  • the electrical connector advantageously allows the actuator to receive a second electrical signal making it possible to control the adjustment of the predetermined pressure.
  • the first distributor can comprise a neutral position where the member is immobile, not varying the flow rate of the pump, and two active positions where the member moves, varying the flow rate of the pump.
  • the distributor is advantageously configured so that the transition between the neutral position and one of the active positions takes place continuously.
  • variable flow volumetric pump that can be implemented in an actuator according to the invention.
  • a first type of so-called radial piston pump comprises a shaft driven in rotation around an axis, a hub having a cylindrical bore and pistons which can move in radial cylinders made in the shaft.
  • the pistons slide on the inner surface of the bore.
  • An eccentricity between the axis of the shaft and that of the bore allows the displacement of the pistons in their cylinder.
  • it is the movement of the pistons in their cylinder which drives the fluid. Pump flow can be changed by adjusting the eccentricity.
  • a second type of pump called vane pump also implements an eccentric shaft rotating in the bore of a hub.
  • the pistons are replaced by vanes sliding on the inner surface of the bore.
  • An eccentricity between the shaft and the bore allows the existing volume between two vanes either to increase causing the admission of fluid between two vanes, or to decrease causing the discharge of the fluid. Again, the flow rate of the pump can be changed by adjusting the eccentricity.
  • a third type of so-called axial piston pump also makes it possible to vary a flow rate of fluid continuously.
  • This type of pump also comprises a shaft driven in rotation about an axis. Cylinders parallel to the axis are made in the shaft. Pistons move in the cylinders.
  • the pump also includes a plate inclined with respect to a plane perpendicular to the axis of rotation of the shaft. The pistons rest on the plate. The inclination of the plate allows the displacement of the pistons in their cylinder.
  • the flow rate of the pump can be modified by adjusting the inclination of the plate.
  • the displacement of a moving member of the pump modifies its flow rate.
  • the movable member is integral with the shaft and the movement of the member takes place in translation perpendicular to the axis of the bore of the so as to modify the eccentricity of the pump.
  • the plate forms the movable member and the displacement of the member is an angular displacement of the plate relative to a plane perpendicular to the axis of rotation of the shaft.
  • the flow of the pump is a function of the position of the member and the displacement of the member makes it possible to continuously modify the flow of the pump.
  • This continuous function can be a linear function, that is to say defined by a proportionality coefficient.
  • the function can follow a nonlinear curve, as long as the function remains continuous, ie without jumps.
  • the figure 1 represents in the form of a hydraulic diagram, an example of an actuator 10 comprising an axial piston pump. As announced above, it is possible to implement the invention with any type of variable flow volumetric pump.
  • the actuator 10 comprises an axial piston pump 12 comprising a shaft 14 driven in rotation about an axis 16 by a motor, not shown in the figure. figure 1 .
  • Several cylinders 18 extending parallel to the axis 16 are made in the shaft 14.
  • the pump 12 comprises a plate 20 tiltable with respect to a plane 22 perpendicular to the axis 16.
  • An inclination ⁇ of the plate 20 is defined around an axis 23 perpendicular to the axis 16.
  • the plate 20 is rotatable around the axis 23 allowing vary the inclination a.
  • a zero inclination ⁇ of the plate 20 is defined when the latter is perpendicular to the axis 16, that is to say that the plate 20 extends in the plane 22.
  • Pistons 24 can move in their respective cylinder 18
  • the pistons 24 rest on the plate 20.
  • the plate 20 forms a device making it possible to continuously vary the flow rate of the pump 12 by varying the inclination ⁇ of the plate 20 with respect to the plane 22.
  • the plate 20 does not does not rotate with the shaft 14.
  • the pistons 24 do not move in their cylinder 18 and the flow rate of the pump 12 is zero.
  • the inclination ⁇ of the plate 20 is non-zero, the pistons move in their cylinder 18 and carry out a substantially sinusoidal back-and-forth cycle in one revolution of the shaft 14. This movement cycle allows pump 12 to move fluid.
  • the pump 12 comprises a fixed closure plate 26 on which the shaft 14 rests.
  • the closure plate comprises two orifices 28 and 30 passing through the closure plate 26 facing the cylinders 18 and each extending substantially in a half-moon .
  • the piston or pistons 24 facing one of the orifices move away from the closing plate 26 during the rotation of the shaft 14, this orifice forms an inlet orifice.
  • the piston(s) 24 facing the other orifice approach the closing plate 26 during the rotation of the shaft 14, this orifice forms a discharge orifice.
  • a change of sign of the inclination ⁇ reverses the delivery and the admission of the pump 12.
  • the actuator 10 comprises a cylinder 32 forming the mechanical output of the actuator 10. More specifically, the actuator receives energy, for example in electrical form, to rotate the shaft 14, for example through a motor electric, and delivers mechanical energy by means of the actuator 32.
  • the actuator 32 is a linear actuator.
  • a rotary cylinder can of course replace it.
  • the jack 32 comprises two chambers 34 and 36, each connected to one of the orifices, respectively connected to the orifice 28 and to the orifice 30.
  • a pressure difference between the two orifices 28 and 30, obtained by means of an inclination ⁇ non-zero, makes it possible to move the rod 38 of the jack 32 in one direction.
  • a change of sign of the inclination ⁇ makes it possible to reverse the movement of the rod 38.
  • the inclination ⁇ becomes zero, the pressures between the two orifices 28 and 30 are balanced and the rod 38 is immobilized.
  • Cylinder 32 is a double-acting cylinder in the example shown. It is also possible to use a single-acting cylinder. In this case, it is possible to implement a pump 12 where the inclination ⁇ changes the sign, by connecting one of the orifices of the pump 12 to a reservoir. As mentioned above, it is also possible to reverse the direction of rotation of the shaft 14.
  • the jack 32 can be a symmetrical jack where in each of the chambers 34 and 36, the hydraulic fluid acts on the same piston surface.
  • the cylinder 32 is symmetrical when its rod 38 comes out of the two chambers and retains the same section as shown in the figure 1 .
  • the plate 20 is moved by means of a jack 40 which, in the example shown, is double acting. Alternatively, a single-acting cylinder having a return spring can also be implemented. A rotary actuator can also be used.
  • the cylinder 40 comprises two chambers 42 and 44 each supplied with fluid. A difference in fluid pressure between the two chambers 42 and 44 makes it possible to move the rod 46 of the cylinder 40 connected to the plate 20 in order to modify its inclination a.
  • Cylinder 40 is supplied by a distributor 48 controlled according to an order to move actuator 10. More specifically, distributor 48 is connected to two sources of fluid pressure, a high pressure source P and a low pressure source T. Distributor 48 can assume three positions. In a neutral position 48a, the distributor 48 closes the accesses to the chambers 42 and 44 and the plate 20 remains stationary. Its orientation ⁇ is unchanged. In a position 48b the high pressure source P is connected to the chamber 44 and the low pressure source T is connected to the chamber 42. In the position of the plate 20 represented on the figure 1 , position 48b tends to reduce the value of orientation a. Conversely, in a position 48c the high pressure source P is connected to the chamber 42 and the low pressure source T is connected to the chamber 44 and in the position of the plate 20 represented on the figure 1 , position 48c tends to increase the value of orientation a.
  • the high pressure P and low pressure T sources can be generated independently of the pump 12. However, this complicates the actuator 40 which must be powered by external pressure sources. In order to avoid these external sources, it is advantageous to use the pump 12 to produce the two sources of pressure P and T. By choosing a pump 12 whose inclination ⁇ always retains the same sign, the orifices 28 and 30 retain always a pressure difference in the same direction. It is thus possible to generate the high pressure source P and low pressure T directly from each of the orifices 28 and 30. In order to maintain a minimum pressure at the high pressure source P, it is possible to provide a non-return valve between the discharge orifice and a micro reservoir forming an accumulator for the high pressure source P. The non-return valve is calibrated according to the desired pressure for the high pressure source P. Thus the accumulator will only be supplied with fluid when the pressure of the discharge port is sufficient. This pressure is linked to a minimum inclination ⁇ .
  • the actuator 10 comprises a set of valves 52 configured to supply the high pressure source P from the orifice 28 or 30 in which the highest pressure prevails and to supply the low pressure source T from the orifice 28 or 30 in which the lowest pressure prevails.
  • the valve set comprises four valves of which a valve 52a is placed between the orifice 28 and the source P, a valve 52b is placed between the orifice 30 and the source P, a valve 52c is placed between the orifice 28 and the source T and a valve 52d is arranged between the orifice 30 and the source T.
  • the orientation of the four valves can be understood by analogy with an electrical circuit where the set of valves forms a complete rectifying bridge for which , the alternating voltage would be formed between the ports 28 and 30 and the direct voltage would be formed between the sources P and T.
  • the orientation of the valves 52a to 52d is similar to that of the diodes of the rectifier bridge.
  • the actuator 10 comprises means making it possible to limit the effects of an overpressure at the outlet of the pump 12. This overpressure may be due to an internal malfunction in the actuator or to an external event such as a force applied to the rod 38 of the cylinder 32. Any other cause of an overpressure can of course generate harmful effects which should be limited.
  • the actuator 10 comprises a second distributor 60 controlled as a function of an outlet pressure of the pump 12.
  • the distributor 60 comprises two positions, one called rest 60a obtained as long as the outlet pressure of the pump 12 is lower than a predetermined pressure and the other said active 60b when the output pressure of the pump 12 is equal to or exceeds the predetermined pressure. This predetermined pressure forms a limit pressure below which the actuator 10 operates normally.
  • distributor 60 In rest position 60a, distributor 60 directly transmits the outlet pressures of distributor 48 to the chambers of cylinder 40.
  • distributor 60 transmits the high output pressure of the pump 12 to one of the chambers 42 or 44 of the cylinder 40 so as to reduce the inclination ⁇ of the plate 20 in order to reduce the output pressure of the pump 12.
  • this is the source of high pressure P which is connected to one of the two chambers without passing through the distributor 48.
  • the other chamber can be connected to the low pressure source T or to a tank 61 as represented on the figure 1 .
  • the cover 61 is at atmospheric pressure.
  • the low pressure T is substantially equal to atmospheric pressure.
  • the distributor 60 When the outlet pressure of the pump 12 drops to drop below the predetermined pressure value, the distributor 60 returns to the rest position 60a and the distributor 48 once again directly controls the cylinder 40.
  • the passage of the distributor 60 between its two positions 60a and 60b is controlled by the outlet pressure of pump 12.
  • the distributor 60 short-circuits the distributor 48.
  • the high pressure P is connected to the cylinder 40 so as to reduce the high pressure P when the output pressure P of the pump 12 is greater than or equal to the predetermined pressure.
  • the continuous function linking the command to move the actuator 10 to the flow rate of the pump via the distributor 48 is deactivated.
  • This continuous function represents the nominal operation of the actuator 10.
  • the deactivation of the function occurs in the event of overpressure linked to abnormal operation of the actuator 10.
  • the deactivation of the continuous function in short - circuiting the distributor 48 avoids the establishment of a pressure sensor to measure the outlet pressure of the pump 12 to detect an overpressure. Such a pressure sensor could act on the control of the distributor 48.
  • the invention, by short-circuiting the distributor 48 allows a much faster reaction of the pump 12.
  • the value of the predetermined pressure from which the distributor 60 changes position can be fixed and determined during the design of the actuator 10.
  • the distributor 60 comprises a mobile drawer pushed by a spring 62.
  • the spring 62 is calibrated to push the drawer so as to maintain the distributor 60 in the rest position 60a.
  • the control of the distributor 60 carried out by the pressure P, can crush the spring 62 tending to move the slide to reach the active position 60b.
  • the calibration of the spring 62 can be fixed during the design of the actuator 10.
  • the adjustment of the calibration of the spring can be manual, for example by means of a screw making it possible to modify the length of the spring 62.
  • the screw is advantageously accessible from outside the actuator 10 so that an operator can carry out the adjustment.
  • motorize the adjustment in order to use a control, for example electric, to adjust the predetermined pressure.
  • a stepping motor 64 ensuring the rotation of the screw.
  • a linear motor can also act directly on the spring 62.
  • the distributor 60 makes it possible to supply the chamber 44 with the source P in order to reduce the inclination ⁇ to bring the plate 20 closer to the plane 22. other words, the rod 46 of the cylinder 40 moves to the left in the representation of the figure 1 .
  • the inclination ⁇ is negative, in the event of overpressure, it is necessary to supply the chamber 42 with the source P to move the rod 46 to the right. More generally, in the event of overpressure, it is necessary to reduce the stroke of the pistons 24. In other words, in the event of overpressure, it is necessary to reduce the value of the inclination a in absolute value.
  • the choice of the chamber 42 or 44 to be supplied in order to move the plate 20 either in one direction or in the other can be obtained automatically by means of a third distributor 68 controlled by the inclination a.
  • the distributor 68 makes it possible either to supply the chamber 44 by means of the high pressure source P and to connect the chamber 42 to the cover 61 or to reverse the supply of the two chambers according to the sign of the inclination a.
  • the distributor 68 comprises at least two positions: 68a without inversion and 68b with inversion.
  • the distributor 68 can comprise a third middle position 68c where the supply circuits of the two chambers 42 and 44 are open. This position corresponds to a zero inclination value ⁇ .
  • the distributor 68 is controlled by the value of the inclination a.
  • the control of the distributor 68 can be carried out by means of a rod 70 connecting the plate 20 and a movable drawer of the distributor 68.
  • the figure 2 shows in more detail the three distributors 48, 60 and 68.
  • the different positions defining the connections that they can make are made by means of a drawer that can move inside a body. Moving the spool makes it possible to open or close certain hydraulic circuits as needed.
  • the distributor 48 comprises a body 80 and a drawer 82 which can move in the body 80 under the action of a micro actuator 83.
  • the micro actuator 83 allows the movement of the drawer 82 relative to a housing 84 of the actuator 10 .
  • the spool 82 is shown in the middle position with respect to the body 80. This position forms the neutral position 48a of the distributor 48 and the spool 82 closes off the hydraulic outlet channels of the distributor 48 supplying the chambers 42 and 44 of the cylinder 40.
  • the inclination ⁇ of the plate 20 remains unchanged.
  • cylinder 40 comprises a body 86 in which moves a piston 88 separating the two chambers 42 and 44.
  • Rod 46 is integral with piston 88.
  • Body 86 is integral with housing 84.
  • the body 80 of the distributor 48 can be integral with the box 84. In normal use, as long as the outlet pressure of the pump 12 remains below the predetermined limit pressure, it is then necessary to provide two control steps for the micro actuator 83 to move the plate 20 between two values of inclination ⁇ : a first step to move from position 48a, for example to position 48b, and a second step to return to position 48a.
  • connection between the rod 46 of the cylinder 40 and the body 80 of the distributor 48 can be a complete connection. It is also possible to insert between the rod 46 and the body 80, one or more elements making it possible to temporarily modify the transmission of the movement of the piston 88 towards the body 80. It is for example possible to insert a spring and/or a damper between rod 46 and body 80.
  • connection between the rod 46 of the cylinder 40 and the body 80 of the distributor 48 can be implemented independently of the installation of the distributor 60.
  • the distributor 60 comprises a body 90 and a spool 92 which can move in the body 90 under the action of the pressure P.
  • the movement of the spool 92 makes it possible to put in communication or to block hydraulic channels internal to the distributor 60 so as to allow the passage between the two positions 60a and 60b of the distributor 60.
  • the slide valve 92 is retained in position 60a by the spring 62.
  • the spring 62 compresses and the slide 92 moves in the body 90 to reach the position 60b.
  • Body 90 is integral with case 84.
  • Motor 64 adjusts the compression of spring 62 relative to body 90.
  • the picture 3 represents the main elements of the actuator 10.
  • the pump 12 the plate 20 and the elements making it possible to control its inclination ⁇ : the cylinder 40, the distributor 48 and its micro-actuator 83.
  • the limiter device valve comprising the distributor 60 and the spring 62 as well as the device for adjusting the value of the overpressure comprising the motor 64.
  • the motor allowing the rotation of the shaft 14 of the pump 12 appears here under the reference 100.
  • the hydraulic power part of the actuator 10 formed by hydraulic channels 102 and 104 each coming from one of the outlet ports of the pump 12 respectively 28 and 30.
  • the actuator 10 can receive electrical energy and deliver hydraulic energy.
  • inside the box 84 are arranged at least the motor 100, the pump 12, the plate 20, the cylinder 40, the distributor 48, the micro actuator 83 and the distributor 60.
  • At least one electrical connector 106 located across the box 84 makes it possible to transmit to the actuator 10 electrical energy allowing the rotation of the pump 12 and a control signal making it possible to control the inclination ⁇ of the plate 20.
  • the electrical connector 106 allows the actuator 10 to receive a control signal for adjusting the predetermined pressure.
  • the connector 106 can be single or divided into two connectors, one for the power and the other for the control signal(s).
  • the actuator 10 can deliver energy in hydraulic form and more precisely in the form of fluid flow.
  • a hydraulic connector 108, placed across the box 84 makes it possible to transmit energy in hydraulic form to the outside of the actuator 10.
  • the actuator 10 receives electrical energy through the connector 106 and delivers mechanical energy through the cylinder 32 which is arranged inside the box 84.
  • the actuator 10 comprises an output mechanism 110 disposed across the housing 84 and allowing the actuator 10 to deliver mechanical energy.
  • the mechanical output can take different forms, such as for example the rod of the jack 32 for a linear jack, a rotating shaft end for a rotary jack.
  • the hydraulic channels 102 and 104 supply the cylinder 32. It is possible to dispense with the hydraulic connector 108.
  • the channels 102 and 104 do not open outside the actuator 10.
  • the actuator 10 has an electrical input and a mechanical output.
  • the hydraulic fluid remains confined inside the casing 84. It is thus possible to replace an actuator based on an electric motor by an actuator according to the invention by achieving savings in volume and mass.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Fluid-Pressure Circuits (AREA)
  • Reciprocating Pumps (AREA)

Claims (12)

  1. Hydraulisches Stellglied (10), umfassend eine Verdrängerpumpe (12) mit veränderlicher Förderleistung, ein erstes Wegeventil (48), das basierend auf einem Befehl zum Verschieben des Stellglieds (10) gesteuert wird, und einen Zylinder (40), der von dem ersten Wegeventil (48) gespeist wird, wobei die Pumpe ein bewegliches Element (20) umfasst, durch dessen Verschiebung die Förderleistung der Pumpe (12) kontinuierlich variiert werden kann, wobei das Element (20) durch den Zylinder (40) verschoben werden kann, wobei es das erste Wegeventil (48) ermöglicht, eine kontinuierliche Funktion anzuwenden, die über die Position des Elements (20) während dessen Verschiebung den Befehl zum Verschieben mit der Förderleistung der Pumpe verknüpft, dadurch gekennzeichnet, dass das Stellglied (10) ein zweites Wegeventil (60) umfasst, das basierend auf einem Ausgangsdruck (P) der Pumpe (12) gesteuert wird, wobei das zweite Wegeventil (60) zwei Positionen aufweist, wobei die eine (60a), die als Ruheposition bezeichnet wird, erhalten wird, solange der Ausgangsdruck (P) der Pumpe (12) unter einem vorbestimmten Druck liegt und die Ausgabe des erste Wegeventils (48) direkt an den doppelt wirkenden Zylinder (40) überträgt, wobei es der Pumpe (12) ermöglicht wird, der kontinuierlichen Funktion zu folgen, und die andere (60b), die als aktive Position bezeichnet wird, erhalten wird, wenn der Ausgangsdruck (P) der Pumpe (12) größer oder gleich dem vorbestimmten Druck ist und den Ausgangsdruck (P) der Pumpe (12) derart an den Zylinder (40) überträgt, dass der Ausgangsdruck (P) der Pumpe (12) reduziert wird, ohne über das erste Wegeventil (48) zu gehen und ohne der kontinuierlichen Funktion zu folgen.
  2. Hydraulisches Stellglied nach Anspruch 1, dadurch gekennzeichnet, dass der vorbestimmte Druck einstellbar ist.
  3. Hydraulisches Stellglied nach einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, dass das Element (20) dafür konfiguriert ist, es der Pumpe (12) zu ermöglichen, die Richtung ihrer Förderleistung umzukehren.
  4. Hydraulisches Stellglied nach Anspruch 3, dadurch gekennzeichnet, dass der Zylinder (40) zwei Kammern (42, 44) umfasst und dass das Stellglied (10) ein drittes Wegeventil (68) umfasst, das dafür konfiguriert ist, den Ausgangsdruck (P) der Pumpe (12) basierend auf der Richtung der Förderleistung der Pumpe (12) entweder in die eine oder in die andere der beiden Kammern (42, 44) zu übertragen.
  5. Hydraulisches Stellglied nach einem der Ansprüche 3 oder 4, dadurch gekennzeichnet, dass es des Weiteren einen Ventilsatz (52) umfasst, der dafür konfiguriert ist, das zweite Wegeventil (60) mittels des größten Ausgangsdrucks der Pumpe (12) zu steuern.
  6. Hydraulisches Stellglied nach einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, dass der Zylinder (40) einen beweglichen Stab (46) umfasst, der mit einem Körper (80) des ersten Wegeventils (48) verbunden ist.
  7. Hydraulisches Stellglied nach Anspruch 6, dadurch gekennzeichnet, dass der bewegliche Stab (46) mittels einer vollständigen Verbindung mit dem Körper (80) des ersten Wegeventils (48) verbunden ist.
  8. Hydraulisches Stellglied nach einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, dass die Pumpe (12) eine Axialkolbenpumpe (24) ist, wobei das Element, das es ermöglicht, die Förderleistung zu variieren, eine Taumelscheibe (20) mit variabler Neigung (a) ist, auf der sich die Kolben (24) abstützen, wobei das Variieren der Neigung (a) der Taumelscheibe (20) es ermöglicht, den Hub der Kolben (24) zu variieren, wobei die Neigung (a) der Taumelscheibe (20) durch den Zylinder (40) eingestellt wird, der von einem Mikrostellglied (83) angetrieben wird, welches den Stellgliedbefehl (10) durch das erste Wegeventil (48) definiert, solange der Ausgangsdruck (P) der Pumpe (12) unter einem vorbestimmten Druck liegt.
  9. Hydraulisches Stellglied nach einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, dass es ein Gehäuse (84) umfasst, in dessen Innerem Folgendes angeordnet ist: die Pumpe (12), ein Motor (100), der die Betätigung der Pumpe (12) ermöglicht, das Element (20), durch das die Förderleistung der Pumpe (12) kontinuierlich variiert werden kann, der Zylinder (40), der das Element (20) betätigt, das erste Wegeventil (48), das den Zylinder (40) speist, ein Mikrostellglied (83), das das erste Wegeventil (48) und das zweite Wegeventil (60) betätigt, dass es des Weiteren mindestens ein elektrisches Verbindungsstück (106) umfasst, das durch das Gehäuse (84) hindurchgeht und es dem Stellglied (10) ermöglicht, Elektroenergie, die den Motor (100) speist, und ein elektrisches Signal aufzunehmen, das das Mikrostellglied (83) antreibt, und ein hydraulisches Verbindungsstück (108), dass durch das Gehäuse (84) hindurchgeht und es dem Stellglied (10) ermöglicht, hydraulische Energie zu liefern.
  10. Stellglied nach einem der Ansprüche 1 bis 8, dadurch gekennzeichnet, dass es ein Gehäuse (84) umfasst, in dessen Innerem Folgendes angeordnet ist: die Pumpe (12), ein Motor (100), der die Betätigung der Pumpe (12) ermöglicht, das Element (20), durch das die Förderleistung der Pumpe (12) kontinuierlich variiert werden kann, der Zylinder (40), der das Element (20) betätigt, das erste Wegeventil (48), das den Zylinder (40) speist, ein Mikrostellglied (83), das das erste Wegeventil (48) und das zweite Wegeventil (60) betätigt, dass es des Weiteren mindestens ein elektrisches Verbindungsstück (106), das durch das Gehäuse (84) hindurchgeht und es dem Stellglied (10) ermöglicht, Elektroenergie, die den Motor (100) speist, und ein elektrisches Signal aufzunehmen, das das Mikrostellglied (83) antreibt, und einen mechanischen Ausgang (110) umfasst, der durch das Gehäuse (84) hindurchgeht und es dem Stellglied (10) ermöglicht, mechanische Energie zu liefern.
  11. Hydraulisches Stellglied nach einem der Ansprüche 9 oder 10, als Anspruch, der von Anspruch 2 abhängig ist, dadurch gekennzeichnet, dass das mindestens eine elektrische Verbindungsstück (106) es dem Stellglied (10) ermöglicht, ein zweites elektrisches Signal aufzunehmen, durch das die Einstellung des vorbestimmten Drucks gesteuert werden kann.
  12. Hydraulisches Stellglied nach einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, dass das erste Wegeventil (48) eine neutrale Position (48a), in der das Element (20) unbeweglich ist und die Förderleistung der Pumpe (12) nicht variiert, und zwei aktive Positionen (48b, 48c) umfasst, in denen sich das Element (20) verschiebt und die Förderleistung der Pumpe (12) variiert, und dass das erste Wegeventil (48) so konfiguriert ist, dass der Übergang zwischen der neutralen Position (48a) und einer der aktiven Positionen (48b, 48c) kontinuierlich erfolgt.
EP20705749.8A 2019-02-25 2020-02-25 Hydraulisches stellglied zur kompensierung von überdruck Active EP3931444B1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR1901923A FR3093138B1 (fr) 2019-02-25 2019-02-25 Actionneur hydraulique à compensation de surpression
PCT/EP2020/054895 WO2020173933A1 (fr) 2019-02-25 2020-02-25 Actionneur hydraulique a compensation de surpression

Publications (2)

Publication Number Publication Date
EP3931444A1 EP3931444A1 (de) 2022-01-05
EP3931444B1 true EP3931444B1 (de) 2022-11-16

Family

ID=67514756

Family Applications (1)

Application Number Title Priority Date Filing Date
EP20705749.8A Active EP3931444B1 (de) 2019-02-25 2020-02-25 Hydraulisches stellglied zur kompensierung von überdruck

Country Status (6)

Country Link
US (1) US12012947B2 (de)
EP (1) EP3931444B1 (de)
JP (1) JP2022523352A (de)
CN (1) CN113454338B (de)
FR (1) FR3093138B1 (de)
WO (1) WO2020173933A1 (de)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20230349370A1 (en) * 2019-09-18 2023-11-02 7Rdd Limited Pressure washer apparatus

Family Cites Families (23)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4456434A (en) * 1982-03-01 1984-06-26 Vickers, Incorporated Power transmission
JPS58156186U (ja) 1982-04-15 1983-10-18 油研工業株式会社 可変容量形油圧ポンプの制御装置
DE3600787C1 (de) 1986-01-14 1987-04-02 Danfoss As Steuergeraet fuer eine Pumpe mit einstellbarer Foerdermenge
US4729717A (en) * 1986-12-24 1988-03-08 Vickers, Incorporated Power transmission
US4723892A (en) * 1987-03-19 1988-02-09 Cowan Philip L Constant power variable volume pump
JP2943934B2 (ja) * 1990-03-20 1999-08-30 サンデン株式会社 容量可変型斜板式圧縮機
DE69727659T2 (de) * 1996-11-15 2004-10-07 Hitachi Construction Machinery Hydraulische antriebsvorrichtung
US5890877A (en) * 1996-12-26 1999-04-06 Dana Corporation Cavitation control for swash-plate hydraulic pumps
JP3909935B2 (ja) 1997-03-31 2007-04-25 カヤバ工業株式会社 ポンプ制御装置
US6374722B1 (en) * 2000-10-26 2002-04-23 Caterpillar Inc. Apparatus and method for controlling a discharge pressure of a variable displacement hydraulic pump
CN100363614C (zh) * 2005-10-28 2008-01-23 兰州理工大学 端面配流轴向柱塞泵的油膜厚度控制系统
DE102008038455A1 (de) * 2007-08-20 2009-02-26 Robert Bosch Gmbh Axialkolbenmaschine in Schrägscheibenbauweise mit einer Stellvorrichtung
FR2929347A1 (fr) 2008-03-26 2009-10-02 Bia Soc Par Actions Simplifiee Convertisseur d'energie mecanique en energie hydraulique et robot mettant en oeuvre le convertisseur
FR2965311B1 (fr) * 2010-09-29 2012-09-28 Hydro Leduc Dispositif de distribution hydraulique au moyen d'une pompe a double sens et a debit variable
US8781696B2 (en) * 2012-06-01 2014-07-15 Caterpillar Inc. Variable transmission and method
JP5564541B2 (ja) * 2012-08-13 2014-07-30 カヤバ工業株式会社 アクチュエータ
DE102013225892A1 (de) * 2013-12-13 2015-06-18 Robert Bosch Gmbh Schrägscheibenmaschine, Schrägscheibe und Verfahren zur hydrostatischen Entlastung einer Stellteilanbindung einer Schrägscheibenmaschine und zum Druckabbau eines Arbeitsmediums während eines Umsteuervorgangs der Schrägscheibenmaschine
CN204099146U (zh) * 2014-07-11 2015-01-14 北京航天发射技术研究所 液压变量泵
CN104847613B (zh) * 2015-04-13 2017-09-19 徐州重型机械有限公司 一种斜盘式轴向液压柱塞泵或马达装置
WO2016207768A1 (en) * 2015-06-26 2016-12-29 Casappa S.P.A. A variable displacement pump and a method for regulating the pump
DK3374639T3 (da) 2015-11-15 2021-03-08 Eaton Intelligent Power Ltd Styresystem til hydraulikpumpe
JP6613135B2 (ja) * 2015-12-25 2019-11-27 川崎重工業株式会社 斜板ポンプの容量調整装置
DE102017206506A1 (de) * 2017-04-18 2018-10-18 Robert Bosch Gmbh Elektrohydraulisches System für den Einsatz unter Wasser mit einem elektrohydraulischen Stellantrieb

Also Published As

Publication number Publication date
US12012947B2 (en) 2024-06-18
CN113454338B (zh) 2023-05-23
CN113454338A (zh) 2021-09-28
US20220145868A1 (en) 2022-05-12
FR3093138A1 (fr) 2020-08-28
JP2022523352A (ja) 2022-04-22
WO2020173933A1 (fr) 2020-09-03
EP3931444A1 (de) 2022-01-05
FR3093138B1 (fr) 2022-07-15

Similar Documents

Publication Publication Date Title
EP0524056B1 (de) Schwingungserreger mit einstellbarer Unwucht, insbesondere zum Eintreiben von Gegenständen in den Boden
FR2511736A1 (fr) Dispositif de reglage electrohydraulique pour une machine hydrostatique
FR2683789A1 (fr) Interrupteur de limite inferieure du pas, a commande hydraulique, pour un dispositif de variation du pas d'une helice.
EP0639499A1 (de) Servosteuerungvorrichtung eines Steuerwerkes eines Flugzeuges
EP3931444B1 (de) Hydraulisches stellglied zur kompensierung von überdruck
EP3242041B1 (de) Servoventil mit asymmetrischem redundantem piezoelektrischem stellglied
EP0500419B1 (de) Proportionales Wegeventil und Steuersystem für mehrere hydraulische Verbrauchen, wobei jeder solch ein Ventil beinhaltet
FR2551144A1 (fr) Commande de compensation de baisse de vitesse d'une pompe a cylindree variable reliee a un moteur
EP3313730B1 (de) Regeleinrichtung für einen turboprop-propeller mit variabler blattverstellung
FR2566498A1 (fr) Transmission variable sans etape a courroie en v
EP2268921B1 (de) Wandler zur umwandlung von mechanischer energie in hydraulische energie und den wandler implementierender roboter
EP0582497B1 (de) Steuervorrichtung für mehrere hydraulische Verbraucher
FR2694606A1 (fr) Ensemble de commande d'une pluralité de récepteurs hydrauliques.
FR3090788A1 (fr) Système de gestion de cylindrée pour tête d’ébranchage
EP0166630A1 (de) Bedienungsvorrichtung für Bremsdruckregler
FR2575307A1 (fr) Dispositif de commande pour un equipement moteur notamment d'un chariot elevateur dont la pression de commande est controlable a volonte
FR2541391A1 (fr) Dispositif de distribution hydraulique proportionnelle et application a un distributeur hydraulique, a un limiteur de pression, a un regulateur de debit et a une machine hydraulique
EP3803080B1 (de) Kurbelwelle für einen motor mit gesteuertem variablem verdichtungsverhältnis
FR2738040A1 (fr) Dispositif pour la regulation de la vitesse de l'organe d'actionnement d'un actionneur pneumatique
FR2573169A1 (fr) Appareil de positionnement a distance d'une valve
FR2524075A1 (fr) Dispositif de commande d'un ensemble d'entrainement a moteur a plusieurs pistons
EP0262007A1 (de) Durchflusskontrolle-Nachlaufeinrichtung für hydraulische Anlage, insbesondere für Kraftfahrzeug-Servolenkung
FR2465099A1 (fr) Servomoteur forme d'une servovalve commandant un moteur hydraulique a barillet
WO2020126959A1 (fr) Système de gestion de cylindrée pour tête d'ébranchage
FR2931522A1 (fr) Actionneur lineaire a levier.

Legal Events

Date Code Title Description
STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: UNKNOWN

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: THE INTERNATIONAL PUBLICATION HAS BEEN MADE

PUAI Public reference made under article 153(3) epc to a published international application that has entered the european phase

Free format text: ORIGINAL CODE: 0009012

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: REQUEST FOR EXAMINATION WAS MADE

17P Request for examination filed

Effective date: 20210819

AK Designated contracting states

Kind code of ref document: A1

Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR

DAV Request for validation of the european patent (deleted)
DAX Request for extension of the european patent (deleted)
GRAP Despatch of communication of intention to grant a patent

Free format text: ORIGINAL CODE: EPIDOSNIGR1

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: GRANT OF PATENT IS INTENDED

GRAS Grant fee paid

Free format text: ORIGINAL CODE: EPIDOSNIGR3

INTG Intention to grant announced

Effective date: 20220914

GRAA (expected) grant

Free format text: ORIGINAL CODE: 0009210

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: THE PATENT HAS BEEN GRANTED

AK Designated contracting states

Kind code of ref document: B1

Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR

REG Reference to a national code

Ref country code: GB

Ref legal event code: FG4D

Free format text: NOT ENGLISH

REG Reference to a national code

Ref country code: CH

Ref legal event code: EP

REG Reference to a national code

Ref country code: DE

Ref legal event code: R096

Ref document number: 602020006338

Country of ref document: DE

REG Reference to a national code

Ref country code: IE

Ref legal event code: FG4D

Free format text: LANGUAGE OF EP DOCUMENT: FRENCH

REG Reference to a national code

Ref country code: AT

Ref legal event code: REF

Ref document number: 1531913

Country of ref document: AT

Kind code of ref document: T

Effective date: 20221215

REG Reference to a national code

Ref country code: LT

Ref legal event code: MG9D

REG Reference to a national code

Ref country code: NL

Ref legal event code: MP

Effective date: 20221116

REG Reference to a national code

Ref country code: AT

Ref legal event code: MK05

Ref document number: 1531913

Country of ref document: AT

Kind code of ref document: T

Effective date: 20221116

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: SE

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20221116

Ref country code: PT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20230316

Ref country code: NO

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20230216

Ref country code: LT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20221116

Ref country code: FI

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20221116

Ref country code: ES

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20221116

Ref country code: AT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20221116

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: RS

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20221116

Ref country code: PL

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20221116

Ref country code: LV

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20221116

Ref country code: IS

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20230316

Ref country code: HR

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20221116

Ref country code: GR

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20230217

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: NL

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20221116

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: SM

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20221116

Ref country code: RO

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20221116

Ref country code: EE

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20221116

Ref country code: DK

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20221116

Ref country code: CZ

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20221116

REG Reference to a national code

Ref country code: DE

Ref legal event code: R097

Ref document number: 602020006338

Country of ref document: DE

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: SK

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20221116

Ref country code: AL

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20221116

PLBE No opposition filed within time limit

Free format text: ORIGINAL CODE: 0009261

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: NO OPPOSITION FILED WITHIN TIME LIMIT

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: MC

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20221116

REG Reference to a national code

Ref country code: CH

Ref legal event code: PL

REG Reference to a national code

Ref country code: BE

Ref legal event code: MM

Effective date: 20230228

26N No opposition filed

Effective date: 20230817

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: LU

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20230225

Ref country code: LI

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20230228

Ref country code: CH

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20230228

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: SI

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20221116

REG Reference to a national code

Ref country code: IE

Ref legal event code: MM4A

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: IE

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20230225

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: BE

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20230228

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: DE

Payment date: 20240116

Year of fee payment: 5

Ref country code: GB

Payment date: 20240118

Year of fee payment: 5

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: IT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20221116

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: FR

Payment date: 20240123

Year of fee payment: 5