Patent Grant
12012947
This application is a National Stage of International patent application PCT/EP2020/054895, filed on Feb. 25, 2020, which claims priority to foreign French patent application No. FR 1901923, filed on Feb. 25, 2019, the disclosures of which are incorporated by reference in their entirety.
The invention relates to a hydraulic actuator. This type of actuator is widely used for maneuvering mobile elements. The use of hydraulic energy offers an advantage over electrical energy because of its very good ratio between the delivered power and the mass of the actuator. Another advantage likewise lies in a very good ratio between the delivered power and the volume of the actuator.
In addition, actuators that employ electric motors are highly suitable only for high speeds and low torques. In particular applications, notably robotics, the reverse situation is frequently encountered: low speed and high torque. The use of electric motors for low speeds entails significant reduction ratios which are therefore complicated to achieve with a fixed and limited reduction ratio.
Furthermore, in the use of any actuator, be it hydraulic or electrical, it is often necessary to provide for limiting the load or the speed exerted by the actuator. Limitation may be achieved by means of an actuator control loop comprising a sensor that measures the load or the speed, the sensor being associated with a controller allowing the commanding of the actuator to be modulated according to an output signal from the sensor and a load or speed set point that must not be exceeded.
This type of limitation is often linked with the operational safety of the actuator and is associated with undesired events, notably for protecting the surroundings of the actuator. This type of limitation also allows the actuator to be protected from external attack.
It is possible to incorporate this type of limitation into an operational control loop. For example, when the operation of the actuator requires the feedback control over the angular position of a rotor of the actuator, it is possible to benefit from the presence of the operational feedback-control loop to incorporate a safety limitation thereinto, for example in order to limit the force delivered by the actuator. However, the operating parameter and the safety parameter are often different, with different requirements in terms of response time, stability and the like, and it is then necessary to provide two sensors, one for each of the parameters.
Furthermore, in the case of open-loop operation, it would be necessary to provide a control loop solely for controlling the safety parameter.
In general, the operational and/or safety control loop has numerous disadvantages. First of all, the sequence connecting the quantity that is to be measured and the commanding of the actuator is long, and this has a tendency to increase the response time. This may prove problematical in responding to unforeseen and instantaneous loadings such as impacts. In addition, the number of components required to produce the control loop often leads to deterioration of the reliability of the actuator. In addition, in the case of a safety loop designed to guard against an impact, it is necessary to situate the impact sensor as close as possible to the zone liable to suffer the impact. This zone is often distant from the actuator, thereby lengthening the path taken by the information between the sensor and the actuator. This lengthening reduces the responsiveness of the actuator in the face of an impact. In addition, the length of the path has a tendency to reduce the reliability of the safety loop.
The invention seeks to overcome all or some of the problems mentioned hereinabove by proposing a hydraulic actuator able to dispense with the control loop for guarding against the effects of an overpressure arising, the overpressure generally being associated with too high a force, for example associated with an impact.
The invention makes it possible to reduce the response time of the actuator in the event of abnormal operation, without impairing the reliability thereof.
To this end, the subject of the invention is a hydraulic actuator comprising a variable-delivery positive-displacement pump, a first directional-control valve commanded on the basis of an actuator movement instruction, and a ram supplied by the first directional-control valve, the pump comprising a mobile member a movement of which allows the delivery of the pump to be continuously varied, the member being able to be moved by the ram, the first directional-control valve being able to apply a continuous function linking the movement instruction to the delivery of the pump via the position of the member as it moves. According to the invention, the actuator comprises a second directional-control valve commanded on the basis of an output pressure of the pump, the second directional-control valve comprising two positions, one of them, known as the rest position, obtained as long as the output pressure of the pump is below a predetermined pressure and transmitting the output from the first directional-control valve directly to the double-acting ram, thereby allowing the pump to follow the continuous function and the other, referred to as the active position, 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 ram so as to reduce the output pressure of the pump without passing via the first directional-control valve and without following the continuous function.
Advantageously, the predetermined pressure is adjustable.
The member may be configured to allow the pump to reverse the direction of its delivery.
Advantageously, the ram comprises two chambers. The actuator then comprises a third directional-control valve configured to transmit the output pressure of the pump either to one or the other of the two chambers according to the direction of the delivery of the pump.
The hydraulic actuator advantageously further comprises a set of valves which is configured to command the second directional-control valve by means of the highest output pressure of the pump.
The ram advantageously comprises a mobile rod connected to a body of the first directional-control valve.
The mobile rod may be connected to the body of the first directional-control valve by means of an encastre connection.
The pump may be a piston pump with axial pistons, the member allowing the delivery to be varied being a swashplate with variable inclination against which the pistons press, varying the inclination of the swashplate allowing the stroke of the pistons to be varied, the inclination of the swashplate being adjusted by the ram driven by a microactuator defining the actuator instruction through the first directional-control valve as long as the output pressure of the pump is below a predetermined pressure.
The hydraulic actuator advantageously comprises a casing inside which are arranged: the pump, a motor allowing actuation of the pump, the member allowing the delivery of the pump to be continuously varied, the ram actuating the member, the first directional-control valve supplying the ram, a microactuator maneuvering the first directional-control valve and the second directional-control valve. The actuator further comprises at least one electrical connector passing through the casing and allowing the actuator to receive electrical energy that powers the motor and an electrical signal which drives the microactuator, and a hydraulic connector passing through the casing and allowing the actuator to deliver hydraulic energy.
Alternatively, the hydraulic actuator advantageously comprises a casing inside which are arranged: the pump, a motor allowing actuation of the pump, the member allowing the delivery of the pump to be continuously varied, the ram actuating the member, the first directional-control valve supplying the ram, a microactuator maneuvering the first directional-control valve and the second directional-control valve. The actuator further comprises at least one electrical connector passing through the casing and allowing the actuator to receive electrical energy that powers the motor and an electrical signal which drives the microactuator, and a mechanical output passing through the casing and allowing the actuator to deliver mechanical energy.
The electrical connector advantageously allows the actuator to receive a second electrical signal to drive the adjustment of the predetermined pressure.
The first directional-control valve may comprise a neutral position in which the member is immobile, not causing the delivery of the pump to vary, and two active positions in which the member moves, causing the delivery of the pump to vary. The directional-control valve is advantageously configured in such a way that the transition between the neutral position and one of the active positions takes place continuously.
The invention will be better understood and further advantages will become apparent from reading the detailed description of one embodiment given purely by way of example, the description being illustrated by the attached drawings in which:
For the sake of clarity, the same elements will bear the same references in the various figures.
There are different types of variable-delivery positive-displacement pump that can be employed in an actuator according to the invention.
A first type of pump, referred to as a radial-pistons pump, comprises a shaft driven in rotation about an axis, a hub having a cylindrical bore and pistons able to move in radial cylinders made in the shaft. The pistons slide over the interior surface of the bore. Eccentricity between the axis of the shaft and that of the bore allows the pistons to move in their cylinder. In this type of pump, it is the movement of the pistons in their cylinder that drives the fluid. The delivery of the pump can be modified by adjusting the eccentricity.
A second type of pump, referred to as a vane pump, likewise employs an eccentric shaft rotating in the bore of a hub. The pistons are replaced by sliding vanes that slide on the interior surface of the bore. Eccentricity between the shaft and the bore causes the volume situated between two vanes either to increase, causing fluid to be admitted between two vanes, or to decrease, causing the fluid to be expelled. Here again, the pump delivery can be modified by adjusting the eccentricity.
A third type of pump, referred to as an axial-pistons pump also allows a fluid delivery to be varied continuously. This type of pump likewise 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 comprises a swashplate that is inclined with respect to a plane perpendicular to the axis of rotation of the shaft. The pitons press against the swashplate. The inclination of the swashplate allows the pistons to move in their cylinder. The pump delivery can be modified by adjusting the inclination of the swashplate.
In general, the movement of a mobile member of the pump modifies the delivery thereof. In the example of a radial-pistons pump or of a vane pump, the mobile member is secured to the shaft and the movement of the member is a translational movement perpendicular to the axis of the bore so as to modify the eccentricity of the pump. In the example of an axial-pistons pump, the swashplate forms the mobile member and the movement of the member is an angular movement of the swashplate with respect to a plane perpendicular to the axis of rotation of the shaft. In the various variable-delivery positive-displacement pumps. the pump delivery is dependent on the position of the member and moving the member provides continuous modification of the delivery of the pump. It is thus possible to define a continuous function linking an actuator movement instruction or setpoint to the delivery of the pump via the position of the member when it moves. This continuous function may be a linear function, namely one defined by a proportionality coefficient. Alternatively, the function may follow a non-linear curve, provided that the function remains continuous, which is to say involves no step change.
The actuator 10 comprises an axial-pistons pump 12 comprising a shaft 14 driven in rotation about an axis 16 by a motor which has not been depicted in
The pump 12 comprises a fixed end plate 26 against which the shaft 14 bears. The end plate comprises two orifices 28 and 30 passing through the end plate 26 opposite the cylinders 18 and each substantially half-moon shaped. When the piston or pistons 24 facing one of the orifices move away from the end plate 26 as the shaft 14 rotates, this orifice forms an inlet orifice. By contrast, when the piston or pistons 24 facing the other orifice move closer toward the end plate 26 as the shaft 14 rotates, this orifice forms a delivery orifice. A change in sign of the inclination α switches over the delivery and the inlet of the pump 12. Alternatively, in order to reverse the flow passing through the orifices 28 and 30, it is possible to keep the same sign for the inclination α but reverse the rotation of the shaft 14 about the axis 16.
The actuator 10 comprises a ram 32 forming the mechanical output of the actuator 10. More specifically, the actuator receives energy, for example in electrical form, to cause the shaft 14 to rotate, for example via an electric motor, and delivers mechanical energy by means of the ram 32. In
The ram 32 is a double-acting ram in the example depicted. It is also possible to employ a single-acting ram. In that case, it is possible to implement a pump 12 in which the inclination α changes sign, by connecting one of the orifices of the pump 12 to a tank. As mentioned above, it is also possible to reverse the direction of rotation of the shaft 14.
The ram 32 may be a symmetrical ram in which the hydraulic fluid in each of the chambers 34 and 36 acts on the same surface area of piston. The ram 32 is symmetrical when its rod 38 emerges from the two chambers and maintains the same cross section as depicted in
The swashplate 20 is moved by means of a ram 40 which, in the example depicted, is a double-acting ram. Alternatively, a single-acting ram fitted with a return spring may also be employed. A rotary ram may also be used. The ram 40 comprises two chambers 42 and 44 each supplied with fluid. A difference in fluid pressure between the two chambers 42 and 44 allows the ram 40 rod 46 connected to the swashplate 20 to move, so as to modify the swashplate inclination α.
A ram similar to the ram 40 and able to vary the eccentricity of the pump is encountered in the case of a radial-pistons or vane pump.
The ram 40 is supplied by a directional-control valve 48 commanded on the basis of an actuator 10 movement instruction. More specifically, the directional-control valve 48 is connected to two sources of fluid pressure, a high-pressure source P and a low-pressure source T. The directional-control valve 48 may adopt three positions. In a neutral position 48a, the directional-control valve 48 closes off access to the chambers 42 and 44 and the swashplate 20 remains immobile. Its orientation α is unchanged. In one 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 swashplate 20 positioned depicted in
The high-pressure source P and low-pressure source T may be generated independently of the pump 12. However, that adds complexity to the actuator 40 which has to be supplied from external pressure sources. In order to avoid these external sources, it is advantageous to use the pump 12 to create the two pressure sources P and T. By selecting a pump 12 of which the inclination α always maintains the same sign, the orifices 28 and 30 always maintain a pressure difference in the same direction. It is thus possible to generate the high-pressure source P and low-pressure source 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 nonreturn valve between the delivery orifice and a microtank that forms an accumulator for the high-pressure source P. The nonreturn value is rated according to the pressure desired for the high-pressure source P. Thus, the accumulator will be supplied with fluid only when the pressure at the delivery orifice is sufficient. This pressure is linked with a minimum inclination α.
By contrast, when the inclination α is liable to adopt positive and negative values, the difference in pressure between the two orifices 28 and 30 may be positive or negative. It is nevertheless desirable to generate the pressure sources P and T from the two orifices 28 and 30. To do that, the actuator 10 comprises a set of valves 52 which is configured to supply the high-pressure source P from the orifice 28 or 30 at which the higher pressure prevails, and to supply there low-pressure source T from the orifice 28 or 30 at which the lower pressure prevails. To do that, the set of valves comprises four valves of which one value 52a is positioned between the orifice 28 and the source P, one valve 52b is positioned between the orifice 30 and the source P, one valve 52c is positioned between the orifice 28 and the source T, and one valve 52d is positioned between the orifice 30 and the source T. The orientation of the four valves may be understood by analogy with an electrical circuit in which the set of valves forms a full rectifier bridge for which the AC voltage would be formed between the orifices 28 and 30 and the DC voltage would be formed between the sources P and T. The orientation of the values 52a to 52d is similar to that of the diodes of the rectifier bridge.
The actuator 10 comprises means for limiting the effects of an overpressure at the outlet of the pump 12. Such an overpressure may be due to an internal malfunctioning of the actuator or to an external event such as an effect applied to the rod 38 of the ram 32. Any other cause of overpressure may of course generate harmful effects that need to be limited. To do that, the actuator 10 comprises a second directional-control valve 60 commanded on the basis of an outlet pressure of the pump 12. The directional-control valve 60 has two positions, one of them referred to as a rest position 60a obtained as long as the outlet pressure of the pump 12 is below a predetermined pressure, and the other referred to as an active position 60b when the outlet pressure of the pump 12 is equal to or exceeds the predetermined pressure. This predetermined pressure forms a pressure limit below which the actuator 10 operates normally. In the rest position 60a, the directional-control valve 60 transmits the outlet pressures directly from the directional-control valve 48 to the chambers of the ram 40. When the outlet pressure of the pump 12 reaches or tends to exceed the predetermined pressure, in the active position 60b, the directional-control valve 60 transmits the high outlet pressure of the pump 12 to one of the chambers 42 or 44 of the ram 40 so as to reduce the inclination α of the swashplate 20 in order to reduce the outlet pressure of the pump 12. In practice, it is the high-pressure source P that is connected to one of the two chambers without passing via the directional-control valve 48. The other chamber may be connected to the low-pressure source T or to a sump 61 as depicted in
When the output pressure of the pump 12 drops below the predetermined pressure value, the directional-control valve 60 returns to the rest position 60a and the directional-control valve 48 once again commands the ram 40 directly. The transition of the directional-control valve 60 between its two positions 60a and 60b is commanded by the output pressure of the pump 12.
In the event of overpressure, the directional-control valve 60 bypasses the directional-control valve 48. In other words, the high pressure P is connected to the ram 40 in such a way 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 connecting the actuator 10 movement instruction to the delivery of the pump via the directional-control valve 48 is deactivated. This continuous function represents nominal operation of the actuator 10. The deactivation of the function occurs in the event of an overpressure connected with abnormal operation of the actuator 10. By implementing the invention, deactivation of the continuous function by bypassing the directional-control valve 48 avoids the need to fit a pressure sensor to measure the output pressure of the pump 12 in order to detect an overpressure. Such a pressure sensor could act on the commanding of the directional-control valve 48. The invention, by bypassing the directional-control valve 48, allows the pump 12 to react far more rapidly.
It is advantageous to use the pressure source P to command the directional-control valve 60 directly. Without the use of a pressure sensor, the response of the actuator 10 to an overpressure is rapid. The only intermediary in this response is the change in position of the directional-control valve 60.
The value of the predetermined pressure beyond which the directional-control valve 60 changes position can be fixed and determined during the design of the actuator 10. To do that, the directional-control valve 60 comprises a mobile slide pushed by a spring 62. As long as the pressure P is below the predetermined pressure, the spring 62 is rated to push the slide in such a way as to keep the directional-control valve 60 in the rest position 60a. When the pressure P reaches or exceeds the predetermined pressure, the commanding of the directional-control valve 60, which is performed through the pressure P, is able to compress the spring 62, tending to move the slide in order to reach the active position 60b. The rating of the spring 62 may be set during the design of the actuator 10.
It is possible to provide for adjustment of the predetermined pressure by providing the possibility of modifying the rating of the spring 62. The spring rating may be adjusted manually, for example by means of a screw that allows the length of the spring 62 to be modified. The screw is advantageously accessible from outside the actuator 10 so that an operator can make the adjustment. It is also possible to motorize the adjustment so as to use a command, for example an electrical command, to adjust the predetermined pressure. To do that, it is possible to provide a stepping motor 64 that turns the screw. A linear motor may also act directly on the spring 62. In addition to the spring 62, it is possible to add other mechanical components, notably a damper in order to introduce a time constant into the response of the directional-control valve 60 upon the appearance of an overpressure. It is thus possible to filter out certain overpressures which are adjudged to be too brief.
In the swashplate 20 position as depicted in
The directional-control value 48 comprises a body 80 and a slide 82 capable of moving in the body 80 under the action of a microactuator 83. The microactuator 83 allows the slide 82 to move with respect to a casing 84 of the actuator 10. In
Furthermore, the ram 40 comprises a body 86 in which there moves a piston 88 separating the two chambers 42 and 44. The rod 46 is secured to the piston 88. The body 86 is secured to the casing 84.
The body 80 of the directional-control valve 48 may be secured to the casing 84. In normal use, as long as the output pressure of the pump 12 remains below the predetermined pressure limit, it is then necessary to provide two steps in the commanding of the microactuator 83 in order to move the swashplate 20 between two values of inclination α: a first step to transition from the position 48a, for example to the position 48b, and a second step to return to the position 48a.
In order to limit the energy consumption of the microactuator 83, it is desirable to avoid the second step in the commanding of the microactuator 83 by connecting the body 80 of the directional-control valve 48 to the rod 46 of the ram 40. Thus, when the slide 82 is placed in the 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 directional-control valve 48 via the rod 46 until the directional-control valve 48 regains its position 48a thereby blocking off the supply to the two chambers 42 and 44. A continuous movement of the slide 82 between its three positions in this case becomes particularly beneficial. Specifically, starting from the neutral position 48a and after driving of the microactuator 83 to allow the slide 82 to be moved, one of the chambers 42 and 44 is supplied with high pressure P and the other with low pressure T. The orientation α of the swashplate 20 changes and the rod 46 moves the body 80 until the slide 82 is returned to the neutral position 48a. This return to the neutral position 48a occurs continuously, coming to a standstill progressively.
The connection between the rod 46 of the ram 40 and the body 80 of the directional-control valve 48 may be an encastre connection. It is also possible to insert, between the rod 46 and the body 80, one or more elements that allow the transmission of movement from the piston 88 to the body 80 to be modified temporarily. Thus it is possible to insert a spring and/or a damper between the rod 46 and the body 80.
The connection between the rod 46 of the ram 40 and the body 80 of the directional-control valve 48 may be performed independently of the fitting of the directional-control valve 60.
The directional-control valve 60 comprises a body 90 and a slide 92 able to move in the body 90 under the action of the pressure P. The movement of the slide 92 allows hydraulic ducts internal to the directional-control valve 60 to be placed in communication or blocked off so as to allow the transition of the directional-control valve 60 between the two positions 60a and 60b. As long as the pressure P is below the predetermined pressure, the slide 92 is held in the position 60a by the spring 62. Conversely, when the pressure P reaches or exceeds the predetermined pressure, the spring 62 is compressed and the slide 92 moves in the body 90 to reach the position 60b. The body 90 is secured to the casing 84. The motor 64 can be used to adjust the compression of the spring 62 with respect to the body 90.
The actuator 10 may receive electrical energy and deliver hydraulic energy. To do that, inside the casing 84 there are at least the motor 100, the pump 12, the swashplate 20, the ram 40, the directional-control valve 48, the microactuator 83 and the directional-control valve 60. At least one electrical connector 106 passing through the casing 84 allows the transmission to the actuator 10 of the electrical energy needed to rotate the pump 12 and a command signal for driving the inclination α of the swashplate 20. When an adjustment of the predetermined position is planned, the electrical connector 106 allows the actuator 10 to receive a command signal for adjusting the predetermined pressure. In practice, the connector 106 may be a single connector or may be split into two connectors, one for the power and the other for the command signal or signals. The actuator 10 may deliver energy in hydraulic form and more precisely in the form of a delivery of fluid. To that end, a hydraulic connector 108, arranged so that it passes through the casing 84, allows energy in hydraulic form to be transmitted to outside the actuator 10.
Alternatively, the actuator 10 receives electrical energy through the connector 106 and delivers mechanical energy through the ram 32 which is positioned inside the casing 84. In other words, the actuator 10 comprises a mechanical output 110 passing through the casing 84 and allowing the actuator 10 to deliver mechanical energy. The mechanical output may adopt various forms, such as, for example, the rod of the ram 32 in the case of a linear ram, the end of a rotary shaft in the case of a rotary ram. The hydraulic ducts 102 and 104 supply the ram 32. It is possible to dispense with the hydraulic connector 108. The ducts 102 and 104 do not open to the outside of 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 with a actuator according to the invention, making savings in terms of volume and of mass.
| Number | Date | Country | Kind |
|---|---|---|---|
| 1901923 | Feb 2019 | FR | national |
| Filing Document | Filing Date | Country | Kind |
|---|---|---|---|
| PCT/EP2020/054895 | 2/25/2020 | WO |
| Publishing Document | Publishing Date | Country | Kind |
|---|---|---|---|
| WO2020/173933 | 9/3/2020 | WO | A |
| Number | Name | Date | Kind |
|---|---|---|---|
| 4456434 | El Ibiary | Jun 1984 | A |
| 4723892 | Cowan | Feb 1988 | A |
| 4729717 | Gupta | Mar 1988 | A |
| 4750866 | Entwistle | Jun 1988 | A |
| 6105367 | Tsuruga | Aug 2000 | A |
| 8734123 | Alfayad et al. | May 2014 | B2 |
| 10954927 | Kharpas et al. | Mar 2021 | B2 |
| 20180149150 | Lettini | May 2018 | A1 |
| 20200158140 | Orth | May 2020 | A1 |
| Number | Date | Country |
|---|---|---|
| 1 301 543 | May 1992 | CA |
| 197 58 012 | Jul 1998 | DE |
| 10 2008 038 435 | Feb 2009 | DE |
| 0 879 968 | Nov 1998 | EP |
| 2965311 | Mar 2012 | FR |
| S58-156186 | Oct 1983 | JP |
| 62-168973 | Jul 1987 | JP |
| 10-331773 | Dec 1998 | JP |
| 2018-533692 | Nov 2018 | JP |
| 2017083839 | May 2017 | WO |
| Entry |
|---|
| FR2965311A1_t machine translation thereof (Year: 2012). |
| Notice of Reasons for Rejection issued in Japanese Patent Application No. 2021-549131 dated Feb. 6, 2024, with English translation. |
| Number | Date | Country | |
|---|---|---|---|
| 20220145868 A1 | May 2022 | US |
