EP3931444B1 - Hydraulic actuator for compensation of over pressure - Google Patents

Hydraulic actuator for compensation of over pressure 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
German (de)
French (fr)
Other versions
EP3931444A1 (en
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/en
Application granted granted Critical
Publication of EP3931444B1 publication Critical patent/EP3931444B1/en
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)

Description

L'invention concerne un actionneur hydraulique. Ce type d'actionneur est largement utilisé pour la manœuvre d'éléments mobiles. L'utilisation de l'énergie hydraulique présente un avantage par rapport à l'énergie électrique pour son très bon rapport entre la puissance délivrée et la masse de l'actionneur. Un autre avantage réside également dans un très bon rapport entre la puissance délivrée et le volume de l'actionneur.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.

De plus, les actionneurs mettant en œuvre des moteurs électriques ne sont bien adaptés que pour des vitesses importantes et des couples faibles. Dans des applications particulières, notamment robotiques, la situation inverse est fréquente : vitesse faible et couple important. La mise en œuvre de moteurs électriques pour de faible vitesse impose des rapports de réduction importants donc compliqués à réaliser avec un rapport de réduction fixe et limité.In addition, actuators implementing electric motors are only well suited for high speeds and low torques. In particular applications, in particular robotics, 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.

Par ailleurs, lors de l'utilisation de tout actionneur, qu'il soit hydraulique ou électrique, il est souvent nécessaire de prévoir une limitation d'effort ou de vitesse exercée par l'actionneur. La limitation peut être réalisée au moyen d'une boucle de contrôle de l'actionneur comprenant un capteur mesurant l'effort ou la vitesse, le capteur étant associé à un régulateur permettant de moduler la commande de l'actionneur en fonction d'un signal de sortie du capteur et d'une consigne d'effort ou de vitesse à ne pas dépasser.Furthermore, when using any actuator, whether hydraulic or electric, it is often necessary to provide a limitation of force or speed exerted by the actuator. The limitation can be achieved by means of 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.

Ce type de limitation est souvent lié à la sécurité de fonctionnement de l'actionneur et est associé à des événements non désirés, notamment pour protéger l'environnement de l'actionneur. Ce type de limitation permet également de protéger l'actionneur d'agressions extérieures.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.

Il est possible d'intégrer ce type de limitation à une boucle de régulation de fonctionnement. Par exemple, lorsque le fonctionnement de l'actionneur nécessite d'asservir la position angulaire d'un rotor de l'actionneur, il est possible de profiter de la présence de la boucle d'asservissement de fonctionnement pour y intégrer une limitation de sécurité par exemple pour limiter l'effort délivré par l'actionneur. Cependant, le paramètre de fonctionnement et le paramètre de sécurité sont souvent différents avec des besoins différents au niveau temps de réponse, stabilité et autres, et il est alors nécessaire de prévoir deux capteurs, un pour chacun des paramètres.It is possible to integrate this type of limitation into an operating regulation loop. For example, when the operation of the actuator requires the angular position of a rotor of the actuator to be controlled, it is possible to take advantage of the presence of the operating control loop to integrate a safety limitation therein. for example to limit the force delivered by the actuator. However, the operating parameter and the safety parameter are often different with different needs in terms of response time, stability and others, and it is then necessary to provide two sensors, one for each of the parameters.

Par ailleurs, dans le cas d'un fonctionnement en boucle ouverte, il serait nécessaire de prévoir une boucle de régulation uniquement pour le contrôle du paramètre de sécurité.Furthermore, in the case of open loop operation, it would be necessary to provide a regulation loop solely for controlling the safety parameter.

De façon générale, la boucle de régulation de fonctionnement et/ou de sécurité présente plusieurs inconvénients. Tout d'abord, la chaîne reliant la grandeur à mesurer et la commande de l'actionneur est longue ce qui tend à en augmenter le temps de réaction. Ceci peut être problématique pour répondre à des sollicitations imprévues et instantanées tels que des chocs. De plus, le nombre de composants nécessaires pour réaliser la boucle régulation entraine souvent une détérioration de la fiabilité de l'actionneur. De plus, dans le cas d'une boucle de sécurité adaptée à se prémunir d'un choc, il est nécessaire de disposer le capteur de choc au plus près de la zone risquant de recevoir le choc. Cette zone est souvent éloignée de l'actionneur ce qui allonge le trajet de l'information entre le capteur et l'actionneur. Cet allongement réduit la réactivité de l'actionneur face au choc. De plus, la longueur du trajet tend à diminuer la fiabilité de la boucle de sécurité.In general, the operating and/or safety regulation loop has several drawbacks. First of all, 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. In addition, the number of components necessary to produce the control loop often leads to a deterioration in the reliability of the actuator. In addition, in the case of a safety loop adapted to guard against a shock, it is necessary to place the shock sensor as close as possible to the area at risk of receiving the shock. This zone is often far from the actuator, which lengthens the information path between the sensor and the actuator. This elongation reduces the reactivity of the actuator to shock. In addition, the length of the path tends to decrease the reliability of the safety loop.

Le document EP 0 879 968 divulgue une pompe à débit variable avec un vérin contrôlé par un distributeur.The document EP 0 879 968 discloses a variable displacement pump with a cylinder controlled by a valve.

L'invention vise à pallier tout ou partie des problèmes cités plus haut en proposant un actionneur hydraulique permettant de se passer de boucle de régulation pour se prémunir des effets de l'apparition d'une surpression, la surpression étant généralement associée à un effort trop important, par exemple lié à un choc.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.

L'invention permet de réduire le temps de réaction de l'actionneur en cas de fonctionnement anormal sans altérer sa fiabilité.The invention makes it possible to reduce the reaction time of the actuator in the event of abnormal operation without altering its reliability.

A cet effet, l'invention a pour objet un actionneur hydraulique comprenant une pompe volumétrique à débit variable, un premier distributeur commandé en fonction d'un ordre de déplacement de l'actionneur et un vérin alimenté par le premier distributeur, la pompe comprenant un organe mobile dont un déplacement permet de faire varier en continu le débit de la pompe, l'organe pouvant être déplacé par le vérin, le premier distributeur permettant d'appliquer une fonction continue reliant l'ordre de déplacement au débit de la pompe via la position de l'organe lors de son déplacement. Selon l'invention, l'actionneur comprend un deuxième distributeur commandé en fonction d'une pression de sortie de la pompe, le deuxième distributeur comprenant deux positions, l'une dite repos obtenue tant que la pression de sortie de la pompe est inférieure à une pression prédéterminée et transmettant directement la sortie du premier distributeur au vérin double effet en permettant à la pompe de suivre la fonction continue et l'autre dite active, obtenue lorsque la pression de sortie de la pompe est supérieure ou égale à la pression prédéterminée et transmettant la pression de sortie de la pompe au vérin de façon à réduire la pression de sortie de la pompe sans passer par le premier distributeur et sans suivre la fonction continue.To this end, 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. According to the invention, 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.

Avantageusement, la pression prédéterminée est réglable.Advantageously, the predetermined pressure is adjustable.

L'organe peut être configuré pour permettre à la pompe d'inverser le sens de son débit.The member can be configured to allow the pump to reverse the direction of its flow.

Avantageusement, le vérin comprend deux chambres. L'actionneur comprend alors un troisième distributeur configuré pour transmettre la pression de sortie de la pompe soit à l'une ou soit à l'autre des deux chambres en fonction du sens du débit de la pompe.Advantageously, 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.

L'actionneur hydraulique comprend avantageusement en outre un jeu de clapets configuré pour commander le deuxième distributeur au moyen de la plus forte pression de sortie de la pompe.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.

Le vérin comprend avantageusement une tige mobile reliée à un corps du premier distributeur.The cylinder advantageously comprises a movable rod connected to a body of the first distributor.

La tige mobile peut être reliée au corps du premier distributeur au moyen d'une liaison complète.The movable rod can be connected to the body of the first distributor by means of a complete connection.

La pompe peut être une pompe à pistons axiaux, l'organe permettant de faire varier le débit étant un plateau à inclinaison variable sur lequel s'appuient les pistons, la variation de l'inclinaison du plateau permettant de faire varier la course des pistons, l'inclinaison du plateau étant réglée par le vérin piloté par un micro actionneur définissant l'ordre de l'actionneur au travers du premier distributeur tant que la pression de sortie de la pompe est inférieure à une pression prédéterminée.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 .

L'actionneur hydraulique comprend avantageusement un boitier à l'intérieur duquel sont disposés : la pompe, un moteur permettant l'actionnement de la pompe, l'organe permettant de faire varier en continu le débit de la pompe, le vérin actionnant l'organe, le premier distributeur alimentant le vérin, un micro actionneur manœuvrant le premier distributeur et le second distributeur. L'actionneur comprend en outre au moins un connecteur électrique situé en traversée du boitier et permettant à l'actionneur de recevoir de l'énergie électrique alimentant le moteur et un signal électrique pilotant le micro actionneur, et un connecteur hydraulique situé en traversée du boitier et permettant à l'actionneur de délivrer de l'énergie hydraulique.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.

Alternativement, l'actionneur hydraulique comprend avantageusement un boitier à l'intérieur duquel sont disposés : la pompe, un moteur permettant l'actionnement de la pompe, l'organe permettant de faire varier en continu le débit de la pompe, le vérin actionnant l'organe, le premier distributeur alimentant le vérin, un micro actionneur manœuvrant le premier distributeur et le second distributeur. L'actionneur comprend en outre au moins un connecteur électrique situé en traversée du boitier et permettant à l'actionneur de recevoir de l'énergie électrique alimentant le moteur et un signal électrique pilotant le micro actionneur, et une sortie mécanique disposée en traversée du boitier et permettant à l'actionneur de délivrer de l'énergie mécanique.Alternatively, 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.

Le connecteur électrique permet avantageusement à l'actionneur de recevoir un second signal électrique permettant de piloter le réglage de la pression prédéterminée.The electrical connector advantageously allows the actuator to receive a second electrical signal making it possible to control the adjustment of the predetermined pressure.

Le premier distributeur peut comprendre une position neutre où l'organe est immobile ne faisant pas varier le débit de la pompe et deux positions actives où l'organe se déplace faisant varier le débit de la pompe. Le distributeur est avantageusement configuré pour que le passage entre la position neutre et l'une des positions actives se fasse en continu.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.

L'invention sera mieux comprise et d'autres avantages apparaîtront à la lecture de la description détaillée d'un mode de réalisation donné à titre d'exemple, description illustrée par le dessin joint dans lequel :

  • la figure 1 représente sous forme de schéma hydraulique, un exemple d'actionneur selon l'invention ;
  • la figure 2 représente l'actionneur de la figure 1 dans lequel le détail de distributeurs apparait ;
  • la figure 3 représente schématiquement les principaux éléments de l'actionneur.
The invention will be better understood and other advantages will appear on reading the detailed description of an embodiment given by way of example, description illustrated by the attached drawing in which:
  • the figure 1 represents in the form of a hydraulic diagram, an example of an actuator according to the invention;
  • the figure 2 represents the actuator of the figure 1 in which the detail of distributors appears;
  • the picture 3 schematically represents the main elements of the actuator.

Par souci de clarté, les mêmes éléments porteront les mêmes repères dans les différentes figures.For the sake of clarity, the same elements will bear the same references in the different figures.

Il existe différents types de pompe volumétrique à débit variable pouvant être mise en œuvre dans un actionneur conforme à l'invention.There are different types of variable flow volumetric pump that can be implemented in an actuator according to the invention.

Un premier type de pompe dite à pistons radiaux comprend un arbre entrainé en rotation autour d'un axe, un moyeu possédant un alésage cylindrique et des pistons pouvant se déplacer dans des cylindres radiaux réalisés dans l'arbre. Les pistons glissent sur la surface intérieure de l'alésage. Une excentricité entre l'axe de l'arbre et celui de l'alésage permet le déplacement des pistons dans leur cylindre. Dans ce type de pompe, c'est le mouvement des pistons dans leur cylindre qui entraine le fluide. Le débit de la pompe peut être modifié en réglant l'excentricité.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. In this type of pump, it is the movement of the pistons in their cylinder which drives the fluid. Pump flow can be changed by adjusting the eccentricity.

Un second type de pompe dite pompe à palette met également en œuvre un arbre excentré tournant dans l'alésage d'un moyeu. Les pistons sont remplacés par des palettes glissant sur la surface intérieure de l'alésage. Une excentricité entre l'arbre et l'alésage permet au volume existant entre deux palettes soit d'augmenter provocant l'admission de fluide entre deux palettes, soit de diminuer provocant le refoulement du fluide. Ici encore, le débit de la pompe peut être modifié en réglant l'excentricité.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.

Un troisième type de pompe dite à pistons axiaux permet également de faire varier un débit de fluide de façon continue. Ce type de pompe comprend également un arbre entrainé en rotation autour d'un axe. Des cylindres parallèles à l'axe sont réalisés dans l'arbre. Des pistons se déplacent dans les cylindres. La pompe comprend également un plateau incliné par rapport à un plan perpendiculaire à l'axe de rotation de l'arbre. Les pistons s'appuient sur le plateau. L'inclinaison du plateau permet le déplacement des pistons dans leur cylindre. Le débit de la pompe peut être modifié en réglant l'inclinaison du plateau.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.

De façon générale, le déplacement d'un organe mobile de la pompe modifie son débit. Dans l'exemple d'une pompe à pistons radiaux ou d'une pompe à palette, l'organe mobile est solidaire de l'arbre et le déplacement de l'organe se fait en translation perpendiculairement à l'axe de l'alésage de façon à modifier l'excentricité de la pompe. Dans l'exemple d'une pompe à pistons axiaux, le plateau forme l'organe mobile et le déplacement de l'organe est un déplacement angulaire du plateau par rapport à un plan perpendiculaire à l'axe de rotation de l'arbre. Dans les différentes pompes volumétriques à débit variable, le débit de la pompe est fonction de la position de l'organe et le déplacement de l'organe permet de modifier en continu le débit de la pompe. On peut définir une fonction continue reliant un ordre ou consigne de déplacement de l'actionneur au débit de la pompe via la position de l'organe lors de son déplacement. Cette fonction continue peut être une fonction linéaire, c'est-à-dire définie par un coefficient de proportionnalité. Alternativement la fonction peut suivre une courbe non linéaire, tant que la fonction reste continue c'est-à-dire sans saut.In general, the displacement of a moving member of the pump modifies its flow rate. In the example of a radial piston pump or a vane pump, 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. In the example of an axial piston 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. In the various volumetric pumps with variable flow, 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. It is possible to define a continuous function linking an order or instruction for movement of the actuator to the flow rate of the pump via the position of the component during its movement. This continuous function can be a linear function, that is to say defined by a proportionality coefficient. Alternatively the function can follow a nonlinear curve, as long as the function remains continuous, ie without jumps.

La figure 1 représente sous forme de schéma hydraulique, un exemple d'actionneur 10 comprenant une pompe à pistons axiaux. Comme annoncé plus haut, il est possible de mettre en œuvre l'invention avec tout type de pompe volumétrique à débit variable.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.

L'actionneur 10 comprend une pompe 12 à pistons axiaux comprenant un arbre 14 entrainé en rotation autour d'un axe 16 par un moteur non représenté sur la figure 1. Plusieurs cylindres 18 s'étendant parallèlement à l'axe 16 sont réalisés dans l'arbre 14. La pompe 12 comprend un plateau 20 inclinable par rapport à un plan 22 perpendiculaire à l'axe 16. Une inclinaison α du plateau 20 est définie autour d'un axe 23 perpendiculaire à l'axe 16. Le plateau 20 est mobile en rotation autour de l'axe 23 permettant de faire varier l'inclinaison a. On définit une inclinaison α nulle du plateau 20 lorsque celui-ci est perpendiculaire à l'axe16, c'est-à-dire que le plateau 20 s'étend dans le plan 22. Des pistons 24 peuvent se déplacer dans leur cylindre respectif 18. Les pistons 24 s'appuient sur le plateau 20. Le plateau 20 forme un organe permettant de faire varier en continu le débit de la pompe 12 en faisant varier l'inclinaison α du plateau 20 par rapport au plan 22. Le plateau 20 ne tourne pas avec l'arbre 14. Lorsque le plateau 20 est perpendiculaire à l'axe16, les pistons 24 ne se déplacent pas dans leur cylindre 18 et le débit de la pompe 12 est nul. Par contre, lorsque l'inclinaison α du plateau 20 est non nulle les pistons se déplacent dans leur cylindre 18 et réalisent un cycle de va-et-vient sensiblement sinusoïdal en un tour de rotation de l'arbre 14. Ce cycle de déplacement permet à la pompe 12 de déplacer du fluide.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 α 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 α 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 α of the plate 20 with respect to the plane 22. The plate 20 does not does not rotate with the shaft 14. When the plate 20 is perpendicular to the axis 16, the pistons 24 do not move in their cylinder 18 and the flow rate of the pump 12 is zero. On the other hand, when the inclination α 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.

La pompe 12 comprend une plaque de fermeture 26 fixe sur laquelle s'appuie l'arbre 14. La plaque de fermeture comprend deux orifices 28 et 30 traversant la plaque de fermeture 26 face aux cylindres 18 et s'étendant chacun sensiblement en demi-lune. Lorsque le ou les pistons 24 faisant face à l'un des orifices s'éloignent de la plaque de fermeture 26 lors de la rotation de l'arbre 14, cet orifice forme un orifice d'admission. Au contraire, lorsque le ou les pistons 24 faisant face à l'autre orifice se rapprochent de la plaque de fermeture 26 lors de la rotation de l'arbre 14, cet orifice forme un orifice de refoulement. Un changement de signe de l'inclinaison α inverse le refoulement et l'admission de la pompe 12. Alternativement, pour obtenir une inversion du débit traversant les orifices 28 et 30, il est possible de conserver un même signe pour l'inclinaison α en inversant la rotation de l'arbre 14 autour de l'axe 16.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 . When 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. On the contrary, when 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 α reverses the delivery and the admission of the pump 12. Alternatively, to obtain an inversion of the flow passing through the orifices 28 and 30, it is possible to keep the same sign for the inclination α in reversing the rotation of shaft 14 around axis 16.

L'actionneur 10 comprend un vérin 32 formant la sortie mécanique de l'actionneur 10. Plus précisément, l'actionneur reçoit de l'énergie par exemple sous forme électrique pour faire tourner l'arbre 14, par exemple au travers d'un moteur électrique, et délivre une énergie mécanique au moyen du vérin 32. Sur la figure 1, le vérin 32 est un vérin linéaire. Un vérin rotatif peut bien entendu le remplacer. Le vérin 32 comprend deux chambres 34 et 36, chacune reliée à un des orifices, respectivement reliées à l'orifice 28 et à l'orifice 30. Une différence de pression entre les deux orifices 28 et 30, obtenue au moyen d'une inclinaison α non nulle, permet de déplacer la tige 38 du vérin 32 dans un sens. Un changement de signe de l'inclinaison α permet d'inverser le déplacement de la tige 38. Lorsque l'inclinaison α devient nulle, les pressions entre les deux orifices 28 et 30 s'équilibrent et la tige 38 s'immobilise.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. On the figure 1 , 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 α non-zero, makes it possible to move the rod 38 of the jack 32 in one direction. A change of sign of the inclination α makes it possible to reverse the movement of the rod 38. When the inclination α becomes zero, the pressures between the two orifices 28 and 30 are balanced and the rod 38 is immobilized.

Le vérin 32 est un vérin double effet dans l'exemple représenté. Il est également possible de mettre en œuvre un vérin simple effet. Dans ce cas, il est possible de mettre en œuvre une pompe 12 où l'inclinaison α change le signe, en reliant un des orifices de la pompe 12 à un réservoir. Comme évoqué plus haut, il est également possible d'inverser le sens de rotation de l'arbre 14.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 α 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.

Le vérin 32 peut être un vérin symétrique où dans chacune des chambres 34 et 36, le fluide hydraulique agit sur une même surface de piston. Le vérin 32 est symétrique lorsque sa tige 38 sort des deux chambres et conserve une même section comme représenté sur la figure 1. Alternativement, il est également possible de mettre en œuvre un vérin asymétrique, par exemple lorsque la tige 38 ne sort du vérin 32 que d'un seul côté du piston.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 . Alternatively, it is also possible to implement an asymmetric cylinder, for example when the rod 38 comes out of the cylinder 32 only on one side of the piston.

Le plateau 20 est déplacé au moyen d'un vérin 40 qui, dans l'exemple représenté, est double effet. Alternativement, un vérin simple effet possédant un ressort de rappel peut également être mis en œuvre. Un vérin rotatif peut être aussi utilisé. Le vérin 40 comprend deux chambres 42 et 44 chacune alimenté en fluide. Une différence de pression de fluide entre les deux chambres 42 et 44 permet de déplacer la tige 46 du vérin 40 reliée au plateau 20 afin de modifier son inclinaison a.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.

Dans le cas d'une pompe à pistons radiaux ou à palette, on retrouve un vérin semblable au vérin 40 et permettant de faire varier l'excentricité de la pompe.In the case of a radial piston or vane pump, there is a jack similar to the jack 40 and allowing the eccentricity of the pump to be varied.

Le vérin 40 est alimenté par un distributeur 48 commandé en fonction d'un ordre de déplacement de l'actionneur 10. Plus précisément, le distributeur 48 est relié à deux sources de pression de fluide, une source haute pression P et une source basse pression T. Le distributeur 48 peut prendre trois positions. Dans une position neutre 48a, le distributeur 48 ferme les accès aux chambres 42 et 44 et le plateau 20 reste immobile. Son orientation α est inchangée. Dans une position 48b la source haute pression P est reliée à la chambre 44 et la source basse pression T est reliée à la chambre 42. Dans la position du plateau 20 représentée sur la figure 1, la position 48b tend à réduire la valeur de l'orientation a. A l'inverse, dans une position 48c la source haute pression P est reliée à la chambre 42 et la source basse pression T est reliée à la chambre 44 et dans la position du plateau 20 représentée sur la figure 1, la position 48c tend à augmenter la valeur de l'orientation 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 α 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.

Les sources haute pression P et basse pression T peuvent être générées indépendamment de la pompe 12. Cependant cela complique l'actionneur 40 qui doit être alimenté par des sources de pression extérieures. Afin d'éviter ces sources extérieures, il est avantageux d'utiliser la pompe 12 pour réaliser les deux sources de pression P et T. En choisissant une pompe 12 dont l'inclinaison α conserve toujours le même signe, les orifices 28 et 30 conservent toujours une différence de pression de même sens. Il est ainsi possible de générer la source haute pression P et basse pression T directement à partir de chacun des orifices 28 et 30. Afin de conserver une pression minimale à la source haute pression P, il est possible de prévoir un clapet antiretour entre l'orifice de refoulement et un micro réservoir formant un accumulateur pour la source haute pression P. Le clapet antiretour est taré en fonction de la pression souhaitée pour la source haute pression P. Ainsi l'accumulateur ne sera alimenté en fluide qui lorsque la pression de l'orifice de refoulement est suffisante. Cette pression est liée à une inclinaison α minimale.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 α 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 α.

Par contre lorsque l'inclinaison α est susceptible de prendre des valeurs positive et négative, la différence de pression entre les deux orifices 28 et 30 peut être positive ou négative. Il est tout de même souhaitable de générer les sources de pression P et T à partir des deux orifices 28 et 30. A cet effet, l'actionneur 10 comprend un jeu de clapets 52 configuré pour alimenter la source haute pression P à partir de l'orifice 28 ou 30 dans lequel règne la plus forte pression et pour alimenter la source basse pression T à partir de l'orifice 28 ou 30 dans lequel règne la plus faible pression. A cet effet, le jeu de clapet comprend quatre clapets dont un clapet 52a est disposé entre l'orifice 28 et la source P, un clapet 52b est disposé entre l'orifice 30 et la source P, un clapet 52c est disposé entre l'orifice 28 et la source T et un clapet 52d est disposé entre l'orifice 30 et la source T. L'orientation des quatre clapets peut être comprise par analogie avec un circuit électrique où le jeu de clapets forme un pont complet de redressement pour lequel, la tension alternative serait formée entre les orifices 28 et 30 et la tension continue serait formée entre les sources P et T. L'orientation des clapets 52a à 52d est semblable à celui des diodes du pont de redressement.On the other hand, when the inclination α is capable of taking positive and negative values, the pressure difference between the two orifices 28 and 30 can be positive or negative. It is nevertheless desirable to generate the pressure sources P and T from the two orifices 28 and 30. For this purpose, 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. To this end, 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.

L'actionneur 10 comprend des moyens permettant de limiter les effets d'une surpression en sortie de la pompe 12. Cette surpression peut être due à un dysfonctionnement interne à l'actionneur ou à un événement extérieur tel qu'un effort appliqué à la tige 38 du vérin 32. Toute autre cause d'une surpression peut bien entendu générer des effets néfastes qu'il convient de limiter. A cet effet, l'actionneur 10 comprend un deuxième distributeur 60 commandé en fonction d'une pression de sortie de la pompe 12. Le distributeur 60 comprend deux positions, l'une dite repos 60a obtenue tant que la pression de sortie de la pompe 12 est inférieure à une pression prédéterminée et l'autre dite active 60b lorsque la pression de sortie de la pompe 12 est égale ou dépasse la pression prédéterminée. Cette pression prédéterminée forme une pression limite en deçà de laquelle l'actionneur 10 fonctionne normalement. En position de repos 60a, le distributeur 60 transmet directement les pressions de sortie du distributeur 48 aux chambres du vérin 40. Lorsque la pression de sortie de la pompe 12 atteint ou tend à dépasser la pression prédéterminée, en position active 60b, le distributeur 60 transmet la pression de sortie haute de la pompe 12 à l'une des chambres 42 ou 44 du vérin 40 de façon à réduire l'inclinaison α du plateau 20 afin de réduire la pression de sortie de la pompe 12. En pratique, c'est la source de haute pression P qui est connectée à l'une des deux chambres sans passer par le distributeur 48. L'autre chambre peut être connectée à la source basse pression T ou à une bâche 61 tel que représentée sur la figure 1. La bâche 61 est à la pression atmosphérique. En pratique la basse pression T est sensiblement égale à la pression atmosphérique.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. To this end, 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. In rest position 60a, distributor 60 directly transmits the outlet pressures of distributor 48 to the chambers of cylinder 40. When the outlet pressure of pump 12 reaches or tends to exceed the predetermined pressure, in active position 60b, 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 α of the plate 20 in order to reduce the output pressure of the pump 12. In practice, 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. In practice, the low pressure T is substantially equal to atmospheric pressure.

Lorsque la pression de sortie de la pompe 12 baisse pour passer en dessous de la valeur de pression prédéterminée, le distributeur 60 repasse en position de repos 60a et le distributeur 48 commande à nouveau en direct le vérin 40. Le passage du distributeur 60 entre ses deux positions 60a et 60b est commandé par la pression de sortie de la pompe 12.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.

En cas de surpression, le distributeur 60 court-circuite le distributeur 48. Autrement dit, la haute pression P est connectée au vérin 40 de façon à réduire la haute pression P lorsque la pression de sortie P de la pompe 12 est supérieure ou égale à la pression prédéterminée. La fonction continue reliant l'ordre de déplacement de l'actionneur 10 au débit de la pompe via le distributeur 48 est désactivée. Cette fonction continue représente le fonctionnement nominal de l'actionneur 10. La désactivation de la fonction intervient en cas de surpression liée à un fonctionnement anormal de l'actionneur 10. En mettant en œuvre l'invention, la désactivation de la fonction continue en court-circuitant le distributeur 48 permet d'éviter la mise en place d'un capteur de pression pour mesurer la pression de sortie de la pompe 12 pour détecter une surpression. Un tel capteur de pression pourrait agir sur la commande du distributeur 48. L'invention, en court-circuitant le distributeur 48, permet une réaction beaucoup plus rapide de la pompe 12.In the event of overpressure, the distributor 60 short-circuits the distributor 48. In other words, 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. By implementing the invention, 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.

Il est avantageux d'utiliser la source de pression P pour commander directement le distributeur 60. Sans l'utilisation d'un capteur de pression, la réaction de l'actionneur 10 à une surpression est rapide. Le seul intermédiaire dans cette réaction est le changement de position du distributeur 60.It is advantageous to use the pressure source P to directly control the distributor 60. Without the use of a pressure sensor, the reaction of the actuator 10 to an overpressure is rapid. The only intermediary in this reaction is the change in position of the distributor 60.

La valeur de la pression prédéterminée à partir de laquelle le distributeur 60 change de position, peut être fixe et déterminée lors de la conception de l'actionneur 10. A cet effet, le distributeur 60 comprend un tiroir mobile poussé par un ressort 62. Tant que la pression P est inférieure à la pression prédéterminée, le ressort 62 est taré pour pousser le tiroir de façon à maintenir le distributeur 60 en position de repos 60a. Lorsque la pression P atteint ou dépasse la pression prédéterminée, la commande du distributeur 60, réalisée par la pression P, peut écraser le ressort 62 tendant à déplacer le tiroir pour atteindre la position active 60b. Le tarage du ressort 62 peut être fixé lors de la conception de l'actionneur 10.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. For this purpose, the distributor 60 comprises a mobile drawer pushed by a spring 62. As long as the pressure P is lower than the predetermined pressure, the spring 62 is calibrated to push the drawer so as to maintain the distributor 60 in the rest position 60a. When the pressure P reaches or exceeds the predetermined pressure, 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.

Il est possible de prévoir un réglage de la pression prédéterminée en permettant la modification du tarage du ressort 62. Le réglage du tarage du ressort peut être manuel, par exemple au moyen d'une vis permettant de modifier la longueur du ressort 62. La vis est avantageusement accessible de l'extérieur de l'actionneur 10 afin qu'un opérateur puisse réaliser le réglage. Il est également possible de motoriser le réglage afin d'utiliser une commande par exemple électrique pour régler la pression prédéterminée. A cet effet, il est possible de prévoir un moteur 64 pas à pas assurant la rotation de la vis. Un moteur linéaire peut également agir directement sur le ressort 62. En complément du ressort 62, il est possible d'ajouter d'autres composants mécaniques, notamment un amortisseur permettant d'introduire une constante de temps dans la réponse du distributeur 60 à l'apparition d'une surpression. Il est ainsi possible de filtrer certaines surpressions jugées trop brèves.It is possible to provide an adjustment of the predetermined pressure by allowing the modification of the calibration of the spring 62. 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. It is also possible to motorize the adjustment in order to use a control, for example electric, to adjust the predetermined pressure. To this end, it is possible to provide a stepping motor 64 ensuring the rotation of the screw. A linear motor can also act directly on the spring 62. In addition to the spring 62, it is possible to add other mechanical components, in particular a damper making it possible to introduce a time constant into the response of the distributor 60 to the occurrence of overpressure. It is thus possible to filter certain overpressures deemed too short.

Dans la position du plateau 20 telle que représentée sur la figure 1, où on considère par exemple l'inclinaison α positive, en cas de surpression, le distributeur 60 permet d'alimenter la chambre 44 avec la source P afin de réduire l'inclinaison α pour rapprocher le plateau 20 du plan 22. En d'autres termes, la tige 46 du vérin 40 se déplace vers la gauche dans la représentation de la figure 1. A l'inverse lorsque l'inclinaison α est négative, en cas de surpression, il est nécessaire d'alimenter la chambre 42 avec la source P pour déplacer la tige 46 vers la droite. De façon plus générale, en cas de surpression, il est nécessaire de réduire la course des pistons 24. Autrement dit, en cas de surpression, il est nécessaire de réduire en valeur absolue la valeur de l'inclinaison a. Le choix de la chambre 42 ou 44 à alimenter pour déplacer le plateau 20 soit dans un sens soit dans l'autre peut être obtenu de façon automatique au moyen d'un troisième distributeur 68 commandé par l'inclinaison a. Le distributeur 68 permet soit d'alimenter la chambre 44 au moyen de la source haute pression P et de relier la chambre 42 à la bâche 61 soit d'inverser l'alimentation des deux chambres en fonction du signe de l'inclinaison a. Le distributeur 68 comprend au moins deux positions : 68a sans inversion et 68b avec inversion. Le distributeur 68 peut comprendre une troisième position 68c médiane où les circuits d'alimentation des deux chambres 42 et 44 sont ouverts. Cette position correspond à une valeur d'inclinaison α nulle. Le distributeur 68 est commandé par la valeur de l'inclinaison a. A cet effet, la commande du distributeur 68 peut être réalisée au moyen d'une tringle 70 reliant le plateau 20 et un tiroir mobile du distributeur 68.In the position of the plate 20 as shown in the figure 1 , where the positive inclination α is considered for example, in the event of overpressure, the distributor 60 makes it possible to supply the chamber 44 with the source P in order to reduce the inclination α 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 . Conversely, when the inclination α 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 α. The distributor 68 is controlled by the value of the inclination a. For this purpose, 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.

La figure 2 représente plus en détail les trois distributeurs 48, 60 et 68. Pour chacun des trois distributeurs, les différentes positions définissant les raccordements qu'ils peuvent réaliser sont réalisées au moyen d'un tiroir pouvant se déplacer à l'intérieur d'un corps. Le déplacement du tiroir permet d'ouvrir ou de fermer certains circuits hydrauliques en fonction du besoin.The figure 2 shows in more detail the three distributors 48, 60 and 68. For each of the three distributors, 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.

Le distributeur 48 comprend un corps 80 et un tiroir 82 pouvant se déplacer dans le corps 80 sous l'action d'un micro actionneur 83. Le micro actionneur 83 permet le déplacement du tiroir 82 par rapport à un boitier 84 de l'actionneur 10. Sur la figure 2, le tiroir 82 est représenté en position médiane par rapport au corps 80. Cette position forme la position neutre 48a du distributeur 48 et le tiroir 82 obture les canaux hydrauliques de sortie du distributeur 48 alimentant les chambres 42 et 44 du vérin 40. Autrement dit, en fonctionnement normal, c'est-à-dire tant que la haute pression P n'atteint pas la pression limite, l'inclinaison α du plateau 20 reste inchangée. Lorsque le tiroir 82 est poussé vers la droite, le distributeur 48 atteint la position 48b où, en fonctionnement normal, la chambre 44 est alimentée avec la haute pression P. A l'inverse, lorsque le tiroir 82 est poussé vers la gauche, le distributeur 48 atteint la position 48c où, en fonctionnement normal, la chambre 42 est alimentée avec la haute pression P. Les positions du tiroir 82 peuvent être discrètes. Mais avantageusement, le tiroir 82 se déplace en continu entre ses trois positions. Plus précisément, au moyen du micro actionneur 83, il est possible de positionner le tiroir 82 en position intermédiaire entre la position neutre 48a et l'une des positions 48b ou 48c. En position 48b ou 48c le distributeur 48 ouvre complètement le circuit hydraulique alimentant les chambres 42 et 44. En position intermédiaire, le distributeur n'ouvre que partiellement le circuit hydraulique formant ainsi une restriction dans l'alimentation des chambres 42 et 44. Il est ainsi possible de maîtriser la vitesse de variation de l'inclinaison α du plateau 20.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 . On the figure 2 , 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. In other words , in normal operation, that is to say as long as the high pressure P does not reach the limit pressure, the inclination α of the plate 20 remains unchanged. When spool 82 is pushed to the right, distributor 48 reaches position 48b where, in normal operation, chamber 44 is supplied with high pressure P. Conversely, when spool 82 is pushed to the left, the distributor 48 reaches position 48c where, in normal operation, chamber 42 is supplied with high pressure P. The positions of spool 82 can be discrete. But advantageously, the drawer 82 moves in continuous between its three positions. More precisely, by means of the micro actuator 83, it is possible to position the drawer 82 in the intermediate position between the neutral position 48a and one of the positions 48b or 48c. In position 48b or 48c the distributor 48 completely opens the hydraulic circuit supplying the chambers 42 and 44. In the intermediate position, the distributor only partially opens the hydraulic circuit thus forming a restriction in the supply of the chambers 42 and 44. It is thus possible to control the speed of variation of the inclination α of the plate 20.

Par ailleurs, le vérin 40 comprend un corps 86 dans lequel se déplace un piston 88 séparant les deux chambres 42 et 44. La tige 46 est solidaire du piston 88. Le corps 86 est solidaire du boitier 84.Furthermore, 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.

Le corps 80 du distributeur 48 peut être solidaire du boitier 84. En utilisation normale, tant que la pression de sortie de la pompe 12 reste inférieure à la pression limite prédéterminée, il est alors nécessaire de prévoir deux étapes de commande du micro actionneur 83 pour déplacer le plateau 20 entre deux valeurs d'inclinaison α : une première étape pour passer de la position 48a, par exemple à la position 48b, et une seconde étape pour revenir à la position 48a.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 α: a first step to move from position 48a, for example to position 48b, and a second step to return to position 48a.

Afin de limiter la consommation énergétique du micro actionneur 83, il est souhaitable d'éviter la seconde étape de commande du micro actionneur 83 en reliant le corps 80 du distributeur 48 à la tige 46 du vérin 40. Ainsi, lorsque le tiroir 82 est placé dans la position 48b par exemple, les deux chambres 42 et 44 sont alimentées et le piston 88 se déplace. Le déplacement du piston 88 déplace à son tour le corps du distributeur 48 par l'intermédiaire de la tige 46 jusqu'à ce que le distributeur 48 reprenne sa position 48a ce qui bloque l'alimentation des deux chambres 42 et 44. Un déplacement en continu du tiroir 82 entre ses trois positions prend, dans ce cas, un intérêt particulier. En effet, à partir de la position neutre 48a et après le pilotage du micro actionneur 83 permettant de déplacer le tiroir 82, l'une des chambres 42 et 44 est alimentée en haute pression P et l'autre en basse pression T. L'orientation α du plateau 20 se modifie et la tige 46 déplace le corps 80 jusqu'à ramener le tiroir 82 en position neutre 48a. Ce retour à la position neutre 48a se fait en continu avec un arrêt progressif.In order to limit the energy consumption of the micro actuator 83, it is desirable to avoid the second step of controlling the micro actuator 83 by connecting the body 80 of the distributor 48 to the rod 46 of the cylinder 40. Thus, when the drawer 82 is placed in position 48b for example, the two chambers 42 and 44 are supplied and the piston 88 moves. The movement of the piston 88 in turn moves the body of the distributor 48 via the rod 46 until the distributor 48 resumes its position 48a which blocks the supply of the two chambers 42 and 44. A movement in continuous drawer 82 between its three positions takes, in this case, a particular interest. Indeed, from the neutral position 48a and after the piloting of the micro actuator 83 making it possible to move the drawer 82, one of the chambers 42 and 44 is supplied with high pressure P and the other with low pressure T. orientation α of plate 20 changes and rod 46 moves body 80 until drawer 82 is returned to neutral position 48a. This return to the neutral position 48a is done continuously with a gradual stop.

La liaison entre la tige 46 du vérin 40 et le corps 80 du distributeur 48 peut être une liaison complète. Il est également possible d'insérer entre la tige 46 et le corps 80, un ou plusieurs éléments permettant de modifier temporellement la transmission du mouvement du piston 88 vers le corps 80. Il est par exemple possible d'insérer un ressort et/ou un amortisseur entre la tige 46 et le corps 80.The 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.

La liaison entre la tige 46 du vérin 40 et le corps 80 du distributeur 48 peut être mise en œuvre indépendamment de la mise en place du distributeur 60.The 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.

Le distributeur 60 comprend un corps 90 et un tiroir 92 pouvant se déplacer dans le corps 90 sous l'action de la pression P. Le déplacement du tiroir 92 permet de mettre en communication ou d'obturer des canaux hydrauliques internes au distributeur 60 de façon permettre le passage entre les deux positions 60a et 60b du distributeur 60. Tant que la pression P est inférieure à la pression prédéterminée, le tiroir 92 est retenu en position 60a par le ressort 62. A l'inverse, quand la pression P atteint ou dépasse la pression prédéterminée, le ressort 62 se comprime et le tiroir 92 se déplace dans le corps 90 pour atteindre la position 60b. Le corps 90 est solidaire du boitier 84. Le moteur 64 permet de régler la compression du ressort 62 par rapport au corps 90.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. As long as the pressure P is lower than the predetermined pressure, the slide valve 92 is retained in position 60a by the spring 62. Conversely, when the pressure P reaches or exceeds the predetermined pressure, 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.

La figure 3 représente les éléments principaux de l'actionneur 10. On y retrouve la pompe 12, le plateau 20 et les éléments permettant de commander son inclinaison α : le vérin 40, le distributeur 48 et son micro actionneur 83. On retrouve également, le dispositif limiteur de surpression comprenant le distributeur 60 et le ressort 62 ainsi que le dispositif de réglage de la valeur de la surpression comprenant le moteur 64. Le moteur permettant la rotation de l'arbre 14 de la pompe 12 apparait ici sous la référence 100. On retrouve enfin sur la figure 3, la partie puissance hydraulique de l'actionneur 10 formée par des canaux hydrauliques 102 et 104 issu chacun d'un des orifices de sortie de la pompe 12 respectivement 28 et 30.The picture 3 represents the main elements of the actuator 10. There we find the pump 12, the plate 20 and the elements making it possible to control its inclination α: the cylinder 40, the distributor 48 and its micro-actuator 83. We also find 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. finally on the picture 3 , 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.

L'actionneur 10 peut recevoir de l'énergie électrique et délivrer de l'énergie hydraulique. A cet effet, à l'intérieur du boitier 84 sont disposés au moins le moteur 100, la pompe 12, le plateau 20, le vérin 40, le distributeur 48, le micro actionneur 83 et le distributeur 60. Au moins un connecteur électrique 106 situé en traversée du boitier 84 permet de transmettre à l'actionneur 10 de l'énergie électrique permettant la rotation de la pompe 12 et un signal de commande permettant de piloter l'inclinaison α du plateau 20. Lorsqu'un réglage de la pression prédéterminée est prévu, le connecteur électrique 106 permet à l'actionneur 10 de recevoir un signal de commande de réglage de la pression prédéterminée. En pratique, le connecteur 106 peut être unique ou divisé en deux connecteurs, l'un pour la puissance et l'autre pour le ou les signaux de commande. L'actionneur 10 peut délivrer de l'énergie sous forme hydraulique et plus précisément sous forme de débit de fluide. A cet effet, un connecteur hydraulique 108, disposé en traversée du boitier 84, permet de transmettre vers l'extérieur de l'actionneur 10 l'énergie sous forme hydraulique.The actuator 10 can receive electrical energy and deliver hydraulic energy. To this end, 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 α of the plate 20. When an adjustment of the predetermined pressure is provided, the electrical connector 106 allows the actuator 10 to receive a control signal for adjusting the predetermined pressure. In practice, 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. For this purpose, 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.

Alternativement, l'actionneur 10 reçoit de l'énergie électrique au travers du connecteur 106 et délivre de l'énergie mécanique au travers du vérin 32 qui est disposé à l'intérieur du boitier 84. Autrement dit, l'actionneur 10 comprend une sortie mécanique 110 disposée en traversée du boitier 84 et permettant à l'actionneur 10 de délivrer de l'énergie mécanique. La sortie mécanique peut prendre différentes formes, telle que par exemple la tige du vérin 32 pour un vérin linéaire, un bout d'arbre tournant pour un vérin rotatif. Les canaux hydrauliques 102 et 104 alimentent le vérin 32. Il est possible de se passer du connecteur hydraulique 108. Les canaux 102 et 104 ne débouchent pas à l'extérieur de l'actionneur 10. Ainsi l'actionneur 10 possède une entrée électrique et une sortie mécanique. Le fluide hydraulique reste confiné à l'intérieur du boitier 84. Il est ainsi possible de remplacer un actionneur basé sur un moteur électrique par un actionneur selon l'invention en réalisant des gains de volume et de masse.Alternatively, 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. In other words, 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. Thus 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.

Claims (12)

  1. A hydraulic actuator (10) comprising a variable-delivery positive-displacement pump (12), a first directional-control valve (48) commanded on the basis of an actuator (10) movement instruction, and a ram (40) supplied by the first directional-control valve (48), the pump comprising a mobile member (20) a movement of which allows the delivery of the pump (12) to be continuously varied, the member (20) being able to be moved by the ram (40), the first directional-control valve (48) allowing to apply a continuous function linking the movement instruction to the delivery of the pump via the position of the member (20) as it moves, characterised in that the actuator (10) comprises a second directional-control valve (60) commanded on the basis of an output pressure (P) of the pump (12), the second directional-control valve (60) comprising two positions, one (60a) said rest position, obtained as long as the output pressure (P) of the pump (12) is below a predetermined pressure and transmitting the output from the first directional-control valve (48) directly to the double-acting ram (40), thereby allowing the pump (12) to follow the continuous function and the other (60b), said active position, obtained when the output pressure (P) of the pump (12) is greater than or equal to the predetermined pressure and transmitting the output pressure (P) of the pump (12) to the ram (40) so as to reduce the output pressure (P) of the pump (12) without passing via the first directional-control valve (48) and without following the continuous function.
  2. The hydraulic actuator according to claim 1, characterised in that the predetermined pressure is adjustable.
  3. The hydraulic actuator according to one of the preceding claims, characterised in that the member (20) is configured to allow the pump (12) to reverse the direction of its delivery.
  4. The hydraulic actuator according to claim 3, characterised in that the ram (40) comprises two chambers (42, 44) and in that the actuator (10) comprises a third directional-control valve (68) configured to transmit the output pressure (P) of the pump (12) either to one or the other of the two chambers (42, 44) according to the direction of the delivery of the pump (12).
  5. The hydraulic actuator according to one of claims 3 or 4, characterised in that it further comprises a set of valves (52) which is configured to command the second directional-control valve (60) by means of the highest output pressure of the pump (12).
  6. The hydraulic actuator according to one of the preceding claims, characterised in that the ram (40) comprises a mobile rod (46) connected to a body (80) of the first directional-control valve (48).
  7. The hydraulic actuator according to claim 6, characterised in that the mobile rod (46) is connected to the body (80) of the first directional-control valve (48) by means of an encastre connection.
  8. The hydraulic actuator according to one of the preceding claims, characterised in that the pump (12) is a pump with axial pistons (24), the member allowing the delivery to be varied being a swashplate (20) with variable inclination (α) against which the pistons (24) press, varying the inclination (α) of the swashplate (20) allowing the stroke of the pistons (24) to be varied, the inclination (α) of the swashplate (20) being adjusted by the ram (40) driven by a microactuator (83) defining the actuator (10) instruction through the first directional-control valve (48) as long as the output pressure (P) of the pump (12) is below a predetermined pressure.
  9. The hydraulic actuator according to one of the preceding claims, characterised in that it comprises a casing (84) inside which are arranged: the pump (12), a motor (100) allowing actuation of the pump (12), the member (20) allowing the delivery of the pump (12) to be continuously varied, the ram (40) actuating the member (20), the first directional-control valve (48) supplying the ram (40), a microactuator (83) maneuvering the first directional-control valve (48) and the second directional-control valve (60), in that it further comprises at least one electrical connector (106) passing through the casing (84) and allowing the actuator (10) to receive electrical energy that powers the motor (100) and an electrical signal which drives the microactuator (83), and a hydraulic connector (108) passing through the casing (84) and allowing the actuator (10) to deliver hydraulic energy.
  10. The hydraulic actuator according to one of claims 1 to 8, characterised in that it comprises a casing (84) inside which are arranged: the pump (12), a motor (100) allowing actuation of the pump (12), the member (20) allowing the delivery of the pump (12) to be continuously varied, the ram (40) actuating the member (20), the first directional-control valve (48) supplying the ram (40), a microactuator (83) maneuvering the first directional-control valve (48) and the second directional-control valve (60), in that it further comprises at least one electrical connector (106) passing through the casing (84) and allowing the actuator (10) to receive electrical energy that powers the motor (100) and an electrical signal which drives the microactuator (83), and a mechanical output (110) passing through the casing (84) and allowing the actuator (10) to deliver mechanical energy.
  11. The hydraulic actuator according to one of claims 9 or 10 as a claim dependent on claim 2, characterised in that the at least one electrical connector (106) allowing the actuator (10) to receive a second electrical signal to drive the adjustment of the predetermined pressure.
  12. The hydraulic actuator according to one of the preceding claims, characterised in that the first directional-control valve (48) comprises a neutral position (48a) in which the member (20) is immobile, not causing the delivery of the pump (12) to vary, and two active positions (48b, 48c) in which the member (20) moves, causing the delivery of the pump (12) to vary, and in that the first directional-control valve (48) is configured in such a way that the transition between the neutral position (48a) and one of the active positions (48b, 48c) takes place continuously.
EP20705749.8A 2019-02-25 2020-02-25 Hydraulic actuator for compensation of over pressure Active EP3931444B1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR1901923A FR3093138B1 (en) 2019-02-25 2019-02-25 Overpressure Compensated Hydraulic Actuator
PCT/EP2020/054895 WO2020173933A1 (en) 2019-02-25 2020-02-25 Hydraulic actuator with overpressure compensation

Publications (2)

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

Family

ID=67514756

Family Applications (1)

Application Number Title Priority Date Filing Date
EP20705749.8A Active EP3931444B1 (en) 2019-02-25 2020-02-25 Hydraulic actuator for compensation of over pressure

Country Status (6)

Country Link
US (1) US20220145868A1 (en)
EP (1) EP3931444B1 (en)
JP (1) JP2022523352A (en)
CN (1) CN113454338B (en)
FR (1) FR3093138B1 (en)
WO (1) WO2020173933A1 (en)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2022548806A (en) * 2019-09-18 2022-11-22 ７アールディーディー リミテッド pressure washer

Family Cites Families (18)

* 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
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 (en) * 1990-03-20 1999-08-30 サンデン株式会社 Variable capacity swash plate compressor
DE69727659T2 (en) * 1996-11-15 2004-10-07 Hitachi Construction Machinery HYDRAULIC DRIVE DEVICE
US5890877A (en) * 1996-12-26 1999-04-06 Dana Corporation Cavitation control for swash-plate hydraulic pumps
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 (en) * 2005-10-28 2008-01-23 兰州理工大学 Oil film thickness controlling system for end fluid-distributing axial plunger pump
DE102008038435A1 (en) * 2007-08-20 2009-02-26 Robert Bosch Gmbh Hydraulic system with an adjustable hydrostatic machine
FR2965311B1 (en) * 2010-09-29 2012-09-28 Hydro Leduc HYDRAULIC DISTRIBUTION DEVICE USING A DOUBLE SENSE PUMP WITH VARIABLE FLOW RATE
US8781696B2 (en) * 2012-06-01 2014-07-15 Caterpillar Inc. Variable transmission and method
JP5564541B2 (en) * 2012-08-13 2014-07-30 カヤバ工業株式会社 Actuator
DE102013225892A1 (en) * 2013-12-13 2015-06-18 Robert Bosch Gmbh Swash plate machine, swashplate and method for hydrostatic discharge of a Stellteilanbindung a swash plate machine and to reduce the pressure of a working fluid during a Umsteuervorgangs the swash plate machine
CN204099146U (en) * 2014-07-11 2015-01-14 北京航天发射技术研究所 Hydraulic variable displacement pump
CN104847613B (en) * 2015-04-13 2017-09-19 徐州重型机械有限公司 A kind of inclined disc type axial hydraulic plunger pump or motor apparatus
US10598173B2 (en) * 2015-06-26 2020-03-24 Casappa S.P.A. Variable displacement pump and a method for regulating the pump
JP6613135B2 (en) * 2015-12-25 2019-11-27 川崎重工業株式会社 Capacity adjustment device for swash plate pump
DE102017206506A1 (en) * 2017-04-18 2018-10-18 Robert Bosch Gmbh Electrohydraulic system for underwater use with an electrohydraulic actuator

Also Published As

Publication number Publication date
CN113454338A (en) 2021-09-28
EP3931444A1 (en) 2022-01-05
CN113454338B (en) 2023-05-23
JP2022523352A (en) 2022-04-22
US20220145868A1 (en) 2022-05-12
FR3093138A1 (en) 2020-08-28
FR3093138B1 (en) 2022-07-15
WO2020173933A1 (en) 2020-09-03

Similar Documents

Publication Publication Date Title
EP0388244B1 (en) Coupling for the transmission of alternating couples
EP0524056B1 (en) Vibrator with variable imbalance, particularly for driving objects into the ground
FR2511736A1 (en) ELECTROHYDRAULIC ADJUSTMENT DEVICE FOR A HYDROSTATIC MACHINE
FR2683789A1 (en) LOWER LIMIT SWITCH WITH HYDRAULIC CONTROL FOR A DEVICE FOR VARYING THE STEP OF A PROPELLER.
EP0639499A1 (en) Servo control device of an aircraft flight control member
EP3931444B1 (en) Hydraulic actuator for compensation of over pressure
EP3242041B1 (en) Servo valve with asymmetric redundant piezoelectric actuator
EP0500419B1 (en) Proportional valve and control system with a plurality of actuators having each such a valve
FR2551144A1 (en) Speed-reducing compensation control device for a pump with variable cylinder capacity connected to an engine
FR2818331A1 (en) Servo valve for aircraft engine fuel injection has slide with supports defining annular working chambers with housing to control flow ports
FR2566498A1 (en) VARIABLE TRANSMISSION WITHOUT V-BELT STEP
EP3313730B1 (en) Regulating device for a turboprop propeller with variable pitch blades
EP0582497B1 (en) Control system for a plurality of hydraulic actuators
FR2694606A1 (en) Control assembly for a plurality of hydraulic receivers.
EP2268921A1 (en) Converter for converting mechanical energy into hydraulic energy and robot implementing said converter
EP0166630A1 (en) Control device for a brake pressure regulator
FR2575307A1 (en) CONTROL DEVICE FOR MOTOR EQUIPMENT, ESPECIALLY A FORKLIFT, WHOSE CONTROL PRESSURE IS CONTROLLED AT WILL
FR2541391A1 (en) PROPORTIONAL HYDRAULIC DISTRIBUTION DEVICE AND APPLICATION TO A HYDRAULIC DISPENSER, PRESSURE LIMITER, FLOW REGULATOR AND HYDRAULIC MACHINE
FR3090788A1 (en) Displacement management system for delimbing head
FR2738040A1 (en) Pneumatic actuator with speed control of piston
FR2573169A1 (en) APPARATUS FOR REMOTELY POSITIONING A VALVE
FR2524075A1 (en) DEVICE FOR CONTROLLING A DRIVE ASSEMBLY WITH MULTI-PISTON ENGINE
EP0262007A1 (en) Flow control servo device for a hydraulic installation, particularly for vehicle servo steering
WO2020126959A1 (en) Cylinder capacity management system for a lopping head
FR2931522A1 (en) Linear actuator for e.g. variable bleed valve, of jet engine of airplane or aircraft, has pivot actuator displacing movable pivot with respect to lever according to received set point so that intensity of actuating force is varied

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

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

Ref country code: FR

Payment date: 20230123

Year of fee payment: 4

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