ACTUATOR COMPRISING, WITHIN A HOUSING, AN ELECTRIC MOTOR AND A MOTOR CONTROL CIRCUIT

Abstract

The invention relates to an actuator comprising, within a housing (220), an electric motor including: - a stator (104), - a rotor (102); - a motor output shaft (112), - a motor control circuit (130) disposed between the motor and a gearbox (200), which includes an actuator output shaft (208) guided by bearings, one located in the motor housing (220) and the other in an intermediate element (222) disposed between the output shaft (208) and the electric motor. Figure 1

Description

Title of the invention: ACTUATOR COMPRISING, IN A CASING, AN ELECTRIC MOTOR AND A MOTOR CONTROL CIRCUIT TECHNICAL FIELD AND PRIOR ART

[0001] The invention relates to the field of actuators, comprising in particular an electric motor, with a view to controlling members such as, for example, fluid distribution agents in a cooling system, for example of the medium temperature and / or high temperature type.

[0002] Such an actuator is generally contained in a housing, but this type of device is often bulky, and the problem arises of finding an actuator structure that is more compact.

[0003] Furthermore, the electric motor of this type of device comprises a plurality of coils, some of which are connected to each other by connections.

[0004] Usually, an electronic card is used to connect these connections together, but also to carry various control components of the motor and / or the valve. In other words, connection cables are arranged on this card. When these cables carry current, disturbances can occur in the other control components. Furthermore, the presence of these cables requires the use of a larger card. However, there is an increasing desire to produce motors or actuators with a small footprint. Finally, the motors usually used most often have a fairly limited number of coils, for example 3. Using more coils requires new components, also poses a problem of space requirement, and further increases the problems linked to the presence of the disturbances mentioned above.

[0005] The problem therefore also arises of finding a new system for interconnecting the wires of the coils of an electric motor which does not have the above drawbacks.

[0006] There is also the problem, in a "sensorless" control, i.e. without a rotor position sensor, of measuring the signals of the different phases of the coils. To this end, we need to measure the voltage at the so-called "neutral point". However, this is not accessible. In a known manner, and as illustrated in [Fig. 10], we use, for a three-phase system, resistors RI - R3 in parallel with the coils B1 - B3 (one for each phase) in order to have an image of the neutral point N, which is said to be virtual. The use of this virtual neutral point obviously complicates the circuit, adds parameters (in particular the values ​​of the resistors RI - R3) which requires greater computing resources, these parameters also modifying the impedance of coils B1-B3. In addition:

[0007] - the parameters in question must be adapted for each type of engine and each application;

[0008] - a virtual neutral point fluctuates during operations or functioning of the motor, a variation in speed or load of the motor may affect this virtual neutral point; and the magnetic characteristics of the motor may fluctuate depending on temperature and / or other environmental factors.

[0009] The problem therefore also arises of finding a device which allows easier access to this neutral point, without having to resort to additional components.

[0010] Another problem concerns the addressing of the different components or devices, for example different valves or their actuators, of the same system or network, for example of the same vehicle. A different address in the system or network, for example of the CAN type, can be assigned to each of these components. This is usually done in software, which is complex and does not offer the possibility of modifying this address, whereas this may be necessary if the network or system evolves. It is therefore sought to achieve, in a simpler manner than in the prior art, individualized addressing of different components, for example valves, or their actuators of the same system or network, for example of the same vehicle.

[0011] Finally, in certain applications, it is desired to have a rotation of a distributor or an actuator of a member, for example a hydraulic valve which has a well-defined limited angular range (<360°). The problem therefore arises of finding new components for a system, for example a distributor or a valve, which can only be actuated over a limited angular range, while offering possibilities of adaptation to various environments. Statement of the invention

[0012] The invention aims to solve all or part of these problems.

[0013] To this end, the invention firstly relates to an actuator comprising, in a casing, an electric motor comprising:

[0014] - a stator, comprising a plurality of coils, for example at least 3, by example still 6 or even 12 reels;

[0015] -a rotor;

[0016] - an output shaft of the engine,

[0017] - at least one motor control circuit and a reducer, which comprises a shaft output of the actuator guided by bearings, for example rolling bearings, one of which is arranged in the motor housing and the other in an element, for example an intermediate plate, arranged between the output shaft and the electric motor.

[0018] The reducer allows the rotation of the motor output shaft or axis to be transmitted to the actuator output shaft.

[0019] The motor control circuit can advantageously be arranged between the latter and the reducer.

[0020] According to an exemplary embodiment, the stator is electrically mounted in a star configuration.

[0021] The stator may have 3 or more coils, for example up to at least 6 or 12 reels.

[0022] The presence of the intermediate element makes it possible to house or accommodate one or more bearings and / or rolling bearings of the output shaft of the actuator, but also other shafts or axes or elements of the reducer, which makes it possible to limit the size of these shafts or axes or elements, and to produce an actuator which is more compact than known structures.

[0023] According to an exemplary embodiment, the output shaft of the motor is guided by a 1st bearing and by a 2nd bearing which can be, at least in part, arranged or housed in said intermediate element.

[0024] The reducer may comprise an intermediate stage between the output shaft of the motor and the output shaft of the actuator, this intermediate stage comprising a shaft guided by a 1st bearing and by a 2nd bearing, which is arranged in said intermediate element.

[0025] If one end of each axis or shaft were not included in the intermediate plate, it would be impossible, unless there were a significant increase in the overall size of the device, to have any axis included in the upper or lower wall of the casing. In fact, various elements of the device are located above or below these axes or shafts, preventing such inclusion in the upper or lower wall.

[0026] The output shaft of the reducer may comprise a magnetic element for measuring position and / or speed, for example using a magnetic sensor. Indeed, the actuator may comprise one or more magnetic sensors, for example of the Hall effect type, for capturing or detecting the position of the magnetic element.

[0027] The rotor may comprise or be provided with a magnetic element to identify its position during its rotation. Such a magnetic element, for example a magnet, may interact with a sensor disposed in the actuator, to identify the position of the rotor during its rotation.

[0028] An actuator according to the invention may further comprise an element, or spacer, made of non-magnetic material at one end of the rotor. The advantages of this element are explained further.

[0029] The control circuit can be produced in the form of an electronic card or plate (or "PCBA" for "printed circuit board assembled", subsequently most often called "card", "main card" or "control card"), which can comprise:

[0030] - means, for example a processor or a microcontroller, controlling and / or coil power supply control;

[0031] - and / or at least one detector of the position and / or the rotation speed of a magnetic element, for example associated or coupled to the rotor or to a shaft or axis for transmitting the movement of the motor, as explained later; this detector is for example a Hall effect detector;

[0032] - and / or one or more other electrical or electronic components;

[0033] - and / or an addressing connector of the card (or of the associated motor or actuator or corresponding), for example a connector to determine a network address, for example a CAN address, of this card or of the motor or actuator to which it is associated or coupled.

[0034] In particular, vehicles today have a distributed CAN network system comprising central ECUs and possibly sub-ECUs. Devices, for example motors or actuators, are also connected to this network, each of which has a CAN address or ID. The invention makes it possible to configure an address of a device with different CAN IDs, for example in accordance with user specifications. This is achieved by storing different CAN IDs in a memory, for example an EEPROM, control means, or associated with them, of the corresponding device. This CAN ID can be dynamically modified using the connector mentioned above, without intervening in the memory or in the control software of the device.For example, 2 pins for this connector are used digitally ("0" or "1"), with the selection logic assigning the desired address or identifier, e.g. a CAN ID, to the device in question.

[0035] This control card extends for example, but preferably, in a direction perpendicular to the axis (XX') of rotation of the rotor of the electric motor.

[0036] An actuator according to the invention may further comprise means, for example a circuit which may be produced on or in a plate or an electronic card (or "PCB" for "printed circuit board", subsequently most often called "connection card" or "card"), for connecting the coils of the electric motor; preferably, this card for connecting the coils of the electric motor is separate from the circuit (or card) for controlling and / or commanding the motor, which makes it possible to avoid disturbances which would be generated by the current flowing in the coils and which would act on the elements of the control circuit.

[0037] This connection card:

[0038] - extends for example, but preferably, in a direction perpendicular to the axis (XX') of rotation of the rotor of the electric motor;

[0039] - may comprise one or more connection tracks, for example having a shape in an arc of a circle, which may be provided with at least, or combined with at least, one radial connecting track which extends from the arc of a circle, for example from one end thereof to a connecting point or to another connecting track, for example itself in the shape of an arc of a circle;

[0040] - and / or may comprise means, for example zones or ranges of connection for three-phase power supply;

[0041] - and / or may include connection holes to one or more neutral points, which offers several advantages:

[0042] * it is then no longer necessary to use a virtual neutral point N as explained above. above in connection with [Fig.10]: we therefore no longer need the resistors R1-R3, which means that the number of parameters to be used and / or measured or estimated is reduced;

[0043] * the same physical neutral point can be used for different types of motors; whereas, in the case of the virtual neutral point N, parameters must be used which must be adapted for each type of motor;

[0044] * a virtual neutral point fluctuates during operations or functioning of the motor: a variation in speed or load may affect this virtual neutral point; in addition, the magnetic characteristics of the motor may fluctuate depending on temperature and / or other environmental factors; use of the physical neutral point, on a card according to the invention, avoids such fluctuations;

[0045] - and / or may include means for electrical connection to the connection tracks, for example example of connection holes, each electrical connection hole may include:

[0046] * a 1st wide part, into which it is possible to introduce one end of means, for example a lug or terminal, for connecting the coils to the tracks of the plate;

[0047] * and a 2nd narrower part, in which said end can be pinched and maintained to ensure electrical contact;

[0048] - and / or this connection card can be in the form of a circular crown, the center of the crown that can be aligned with the axis of rotation (XX') of the rotor. For example, the connection board can have an internal diameter greater than or equal to the internal diameter of the stator and / or an external diameter less than or equal to the external diameter of the stator. These conditions ensure minimal bulk of the plate.

[0049] Said connection circuit can be used in combination with lugs or terminals for connecting the coils of an electric motor to tracks on the board.

[0050] According to an exemplary embodiment, this connection circuit can be arranged in the actuator, between the electric motor and the motor control circuit. Preferably, the connection board or circuit and the command or control board or circuit are separate but arranged at least partly above or opposite each other. In other words, the 2 boards are "stacked" (while being separated from each other) in one direction, for example the vertical direction or more, generally, a direction which is perpendicular to each of these 2 boards. This arrangement helps to improve the lateral space, further meeting the needs of controlling the motor separated from the motor interconnection to avoid interference and noise.The separation of the 2 cards, the currents which will circulate in the connection tracks carried by the connection card will not affect the components of the circuit or the control card, this effect being even more advantageous when the stator has more than 3 coils, for example up to at least 6 or 12 coils.

[0051] The actuator may further comprise means, for example one or more shielding plates or sheets, arranged between the electric motor and the motor control circuit.

[0052] In an actuator according to the invention, the output shaft of the bearing may be provided with a wheel or a pinion comprising gear teeth on only part of its periphery, for example on an angular sector between 50° and 200°.

[0053] An actuator according to the invention may further comprise:

[0054] - at least one stop to limit the travel of the wheel or pinion of the stage of output, that is to say of the stage comprising the output shaft of the actuator;

[0055] - and / or a damping element between the wheel and said stop;

[0056] - and / or means for returning the output shaft; these return means comprise for example a spring, for example a torsion spring, one end of which is fixed to the output stage of the reducer and the other end of which is fixed to the housing.

[0057] - and / or a connector accessible from outside the housing and connected to the circuit of control.

[0058] The invention also relates to a valve for regulating the flow rate of a fluid, comprising a member, for example at least one valve, for opening or closing a flow of fluid and an actuator according to the invention, as described above or in the remainder of the present application.

[0059] The invention also relates to a cooling system for a vehicle, comprising at least one valve according to the invention.

[0060] The invention also relates to a cooling system for a vehicle, comprising a plurality of valves and an actuator for each valve, at least one actuator or each of these actuators being according to the invention, as described above or in the remainder of the present application.

[0061] In such a cooling system:

[0062] - at least 2 of the valves can have different maximum flow rates;

[0063] - and / or each actuator has a CAN address different from that of the other ac- tioners.

[0064] The invention also relates to a land vehicle (truck or utility vehicle or construction vehicle or agricultural vehicles) or air vehicle (plane or aircraft) or nautical or naval vehicle (boat for example), comprising a thermal or electric, or hybrid, and / or fuel cell engine(s), further comprising a cooling system according to the invention.

[0065] The invention also relates to a CAN network of a vehicle, comprising a plurality of actuators, a central unit connected to the different actuators by a bus, at least one of these actuators being according to the invention, as described above or in the remainder of the present application.

[0066] The invention also relates to a vehicle, land (truck or utility vehicle or construction vehicle or agricultural vehicles) or air (plane or aircraft) or nautical or naval (boat for example) comprising a thermal or electric, or hybrid, and / or fuel cell engine(s), and at least one CAN network according to the invention. Brief description of the drawings

[0067] [Fig. 1] represents an embodiment of an actuator according to an embodiment of the present invention;

[0068] [Fig.2A], [Fig.2B] and [Fig.2C] represent an exemplary embodiment of a rotor which can be used within the scope of the invention;

[0069] [Fig.3A], [Fig.3B], [Fig.3C] and [Fig.3D] represent aspects of realization of a stator which can be used within the scope of the invention;

[0070] [Fig.4] shows an example of a lug or terminal that may be used in the scope of the invention;

[0071] [Fig.5A] and [Fig.5B] represent an exemplary embodiment of a connection card which can be used within the framework of the invention;

[0072] [Fig.6A] represents the assembly of a stator and a connection card which can be implemented within the framework of the present invention;

[0073] [Fig.6B] represents an embodiment of a connection hole of a connection board which can be implemented within the framework of the present invention;

[0074] [Fig.7A] and [Fig.7B] show an embodiment of a main board that can be implemented within the framework of an embodiment of the present invention;

[0075] [Fig.8] represents an embodiment of a CAN network;

[0076] [Fig.9A], [Fig.9B], [Fig.9C] and [Fig.9D] represent various aspects of an embodiment of an output stage of a reducer which can be implemented within the framework of the present invention.

[0077] [Fig. 10] shows a known embodiment for sensorless measurement of the position of a rotor of an actuator.

[0078] DETAILED DESCRIPTION OF PARTICULAR EMBODIMENTS

[0079] [Fig.l] represents an actuator comprising, in a casing 220, an electric motor comprising:

[0080] - a stator 104, comprising a plurality of coils,

[0081] - a rotor 102;

[0082] - an output shaft 112 of the motor,

[0083] - at least one control circuit 130 of the motor arranged between the latter and at least part of a 200 reducer.

[0084] The latter comprises an output shaft 208 of the actuator guided by bearings, one of which is arranged in the casing 220 of the motor and the other in an element 222, for example an intermediate plate, arranged between the output shaft 208 of the actuator and the electric motor 102, 104.

[0085] More detailed aspects of an example of a reducer (or transmission element) 200 of this actuator will now be described in connection with [Fig.l].

[0086] First of all, such a reducer may comprise a plurality of pinions and / or toothed wheels, for example:

[0087] - a pinion 202 which extends the axis 112 of the rotor (see also [Fig.2A], these 2 elements forming a single piece) and which is driven in rotation by the latter;

[0088] - an intermediate wheel 204, which mechanically engages the pinion 202;

[0089] - an output shaft 206 on which a wheel or pinion 230 is mounted integrally in rotation, this wheel or pinion 230 mechanically engaging the wheel 204 or a pinion 204p integral with the latter or with a shaft 205 on which both are mounted.

[0090] The axes or shafts on which these different elements are mounted are parallel to each other. Each of these elements can be mounted on bearings or rollers (202a, 202b, 204a, 204b, 206a, 206b), for example ball bearings, in order to guarantee the most precise positioning (to ensure a better center distance, and / or better parallelism of the axes). To ensure the bearing function, one or more ball bearings can be used as mentioned above, but bronze or plastic rings could be suitable in certain cases, for example for shafts with low rotation speed. In the following, we will mainly mention “bearings”, but all the bearing variants which have just been mentioned can be used.

[0091] These different elements are made for example of non-magnetic material (for example stainless steel or another material, plastic for example) to avoid problems of magnetic field feedback. In the case of bearings, stainless steel will be used instead; guide rings can be made of plastic material.

[0092] The rotor pinion shaft is fitted into the stack of rotor laminations, for example by press fitting, and one or more anti-rotation elements make it possible to eliminate any slippage due to cylinder / cylinder contact; for example, one or more anti-rotation elements implement one or more flats on each side of the shaft, as described below in connection with [Fig.2B]. This shaft 112 can be mounted in bearings 202a, 202b which can be located in parts of the casing, for example on the one hand in a wall 220i (hereinafter called the upper wall) of the casing 220, on the other in the intermediate element or plate 222. These bearings are mounted tightly in these different parts. This same intermediate plate 222 can serve as a housing for a bearing 204a of the intermediate wheel 204, another bearing 204b of the latter being housed in a wall 2202 of the casing, here called the lower wall, for example opposite the wall 220i.This intermediate wheel may comprise two parts, on the one hand the wheel 204 itself and, on the other hand, a pinion 204p, both mounted integrally on the same axis 205. An adjustment between the two may be obtained by an adjusted diameter and one or more anti-rotation elements; for example, one or more anti-rotation elements implement one or more flats on each side of the shaft, as already described above in connection with [Fig.2B], .

[0093] An output stage of the reducer comprises a pinion 206 which engages the wheel 204 or the pinion 204p and which drives the output shaft 208, mounted in bearings 208a, 208b which can be located, on the one hand in the wall 2202 of the casing of the casing 220, on the other in the intermediate plate 222.

[0094] A rotary member or mechanism may be mounted at the end (outside the casing) 208i of the shaft 208, for example a flap or a valve or a valve core. This rotary member or mechanism, for example this valve, may therefore be actuated by the electric motor, the movement of which is transmitted to the reducer, the output of the latter actuating this rotary member or mechanism, for example this valve. In the case of a valve, this may for example belong to a cooling system, for example again in a motor vehicle or in any motorized transport device. Alternatively, an actuator as described above or in the present application may be implemented not only in the automotive field, but in many other fields, for example in the field of robotics or medicine.

[0095] A magnetic element 214 may be arranged at the other end (inside the casing) 2082 of the shaft 208 (for example in a hollow made at the end thereof), to allow detection of the angular position thereof by a sensor 133, for example a Hall effect sensor, which is preferably mounted on a card 130 (described later).

[0096] An annular position magnet 114 may also be implemented in order to sense the position of the rotor; between the rotor power magnets 106 (described below) and the position magnet 114, a spacer 119 made of plastic material (the various functions of which are explained below) and possibly one or more shielding sheets 118 may be present so that the position signal of the annular magnet 114, detected by a sensor 135, is not disturbed.

[0097] As understood from the above description, the intermediate plate 222 separates the casing into 2 parts:

[0098] - a first part or a first compartment (located above the plate 222 in [Fig.l]) which includes the motor, with its rotor 102 and its stator 104, as well as one or more cards 120, 130 (PCB);

[0099] - and a 2nd part or a 2nd compartment (located below plate 222 on the [Fig.l]) which comprises most of the elements of the reducer and from which the output shaft 208 projects to be coupled to a member to be actuated, for example a valve.

[0100] The intermediate plate 222 makes it possible to house bearings of the various shafts or axles. This saves space, since the axles in question do not need to be extended to the opposite wall to be guided in rotation.

[0101] If one end of each axis were not taken up in the intermediate plate, it would be impossible, unless there were a significant increase in the size of the entire device, to have any axis taken up in the upper or lower wall of the casing. In fact, various elements of the device are located above or below these axes, preventing such a take up in the upper or lower wall.

[0102] As seen in [Fig.l], return means 230, for example a torsion spring, make it possible to return the element 206 to an initial position when it has been rotated by the motor or by the reducer from this initial position; such a return function can be very useful, particularly in the event of a power cut. The means 230 can therefore act as a safety element. This operates over the entire angular range permitted by the device. It can be fixed on the one hand to the wheel or pinion 206, and on the other hand to the casing 220.

[0103] The return means can be calibrated so as to respond to the performance of each valve which can be associated with it (for example to fix maximum angular range, and / or a resistive torque, and / or a return time, etc.). This calibration is done using several bores 236 present on the wheel of the output shaft allowing, depending on the choice of the bore 236, to prestress the return means more or less. Consequently, these return means can be adapted to the specific needs of the application. In particular, these return means are preferably adapted to provide sufficient torque to return the member (for example a valve) coupled to the actuator to its initial position, for example in the event of a power cut or a switch to degraded mode, and this for example over the entire angular travel permitted by the actuator. For example, if a greater torque is required to return the actuated member, the position of the end of the return means 230 can be changed in order to prestress them more and therefore to have a greater return torque. This makes it possible to have a single type of return means, for example a single type of spring, for a wide variety of members, for example valves. For example, the actuator can be mechanically defined to cover a larger angle than the useful angle of the rotary member to be actuated; the return means are then functional over the largest angle.

[0104] According to an exemplary embodiment, 18 holes equidistant by 20° from each other were made to define as many possible positions for one end of the return means.

[0105] According to a particular embodiment, the element 206 can be engaged with the pinion 204p over a limited angular sector, for example between 90° and 200°, for example still approximately 110°, allowing rotation of the output shaft 208 over this same limited angular range. This angular range can also be limited by the presence of one or more stops, for example stops 225, 227, made in the casing. To this end, the element 206 preferably comprises:

[0106] - a 1st angular sector 206a which has a 1st radius or diameter, and which comprises gear teeth,

[0107] - a 2nd angular sector 206b which has a 2nd radius or diameter less than the 1st radius or diameter, and which does not have gear teeth; this aspect saves space.

[0108] Thus, the transition zones 209 (figures 9A and 9C) between the first first angular sector 206a and the second angular sector form shoulders which will be able to bear against the stop(s) 225, 227.

[0109] It is understood that the arrangement of the positioning holes of one end of the return means at a distance from the center of rotation of the wheel which is less than that of the 2nd angular sector 206b makes it possible to have such positioning holes over 360°.

[0110] The output shaft 208 can also use the same fit with the wheel 206 and shaft with one or more flats, as already explained below, to prevent rotation of one of these 2 elements relative to the other). This output shaft 208 can be engaged between the intermediate plate 222 and the lower wall 2202 of the casing and also uses bearings.

[0111] An exemplary embodiment of the pinion 206 is shown in Figures 9A and 9B and is described further.

[0112] Figures 2A - 3D show elements of an exemplary rotor and stator forming a motor that can be used in a system such as that of [Fig. 1]. It comprises a rotor 102, one embodiment of which is shown in Figures 2A - 2C and a wound stator 104, one embodiment of which is shown in Figures 3A - 3D.

[0113] This is for example a brushless motor (BLDC, or Brushless Direct Current) of the “IPMSM” (“Interior Permanent Magnet Synchronous Motor”) type.

[0114] The rotor 102 comprises, for example, stacked sheets of ferromagnetic steel with housings 103 for receiving buried NdFeB magnets 106. The thickness of iron between the magnets and the air gap (which separates the rotor from the stator) is constant. This thickness is the thickness of iron between a magnet and the outside diameter of the rotor (it can be seen in [Fig.2B]); between the inside diameter of the stator and the magnets of the rotor, there is therefore a distance equal to the air gap increased by this thickness of iron.

[0115] The rotor may also include a bore with a keying device 110 for mounting a rotor shaft 112 to transmit a force. This keying device here has the form of 2 flats 110 ([Fig.2B]). The keying device allows the rotor not to "slip" relative to the associated shaft or axis and to transmit the force correctly, but not only by tight mounting. In other words, the center of the rotor may be pierced with a bore and provided with 1 or 2 flats 110. The rotor axis may be provided with the corresponding male shape, the cylindrical part ensuring the coaxiality of the components, the flat(s) ensuring anti-rotation between the assembled components. These aspects (combination of a cylindrical part and flat(s)) may be implemented in other assemblies of axes or shafts, as indicated below.

[0116] As already explained above (in connection with [Fig. 8]), a magnetic element 114 of angular position, for example a magnet, for example again a ring magnet, can also be implemented, being applied on or against the rotor 102 in order to capture the position of the latter; between the power magnets 106 and the position magnet 114, an intermediate element 119, or a spacer, made of plastic material as well as possibly at least one shielding plate 118 can be present so that the position signal of the ring magnet 114, detected by a sensor 135 (shown in [Fig. 1]), is not disturbed. The intermediate element 119 has several functions:

[0117] - one function is to move the power magnets of the rotor away from the element ma genetic 114 position (so that their fields do not disturb each other);

[0118] - another function is to bring the magnetic element 114 closer to a sensor ma genetics which will make it possible to detect the position of this magnetic element 114;

[0119] - yet another function is to serve as support for possible means 118 of shielding, for example one or more shielding sheets, by positioning these means not only between the power magnets and the magnetic position element 114 but also by allowing these shielding means not to be very close to, or even stuck to, the magnets and for the field overlapping to be optimal; this function is illustrated in [Fig.2C] in which we see that the means 118 are taken between 2 parts of the intermediate element 119.

[0120] The stator 104 (figures 3A - 3D) comprises for example a stack of star-ring type stator laminations with a star part 104i comprising so-called "solid" laminations 1051 allowing the plates to be held together, and "non-solid" laminations 1052 allowing losses to be limited. Such a star structure makes it possible to insert wound plastic carcasses directly onto a winding machine, called a "spindle" (rotating coil), which allows winding with simpler machines (which is less expensive and faster).

[0121] The star 104i accommodates N (N>1; in this example: N = 12) plastic carcasses 116, each equipped with a coil 117. A crown 1042 made of stator laminations (these laminations are visible in [Fig.6A]) can be assembled on the stator to allow the wound carcasses to be held and to loop back the magnetic fields.

[0122] Preferably, the stator 104 is electrically mounted in a star configuration, with a neutral point

[0123] An electronic board or card 120 (“PCB”, or printed circuit board) interconnection is provided in the extension of the electric motor to connect together the coils which are to be connected to each other. This card, which extends in a direction perpendicular to the axis (XX') of rotation of the rotor, carries a plurality of connection tracks 124, for example as illustrated in figures 5A-5B, these tracks being provided to connect the coils of the stator together.

[0124] These tracks are connected to the output or input wires of the different coils by connection means 122 made of conductive material, for example by soldering the ends of the wires of the coils, or by connection terminals 122, for example of the “press fit” type (connector or insertion pin) and / or

[0125] enamel breakaway terminals (IDC). An example of such a connection 122 is shown in [Fig.4]: it comprises an end 122i (for example of the “pressfit” type) preferably comprising a part 122' forming a spring in a lateral direction perpendicular to the direction of extension of the connection, configured to be introduced into a contact hole 126 of the card 120 and an end 1222 (for example of the enamel breakaway terminal type) configured to come into contact with a wire of a coil, for example by pinching this wire. Preferably, the connection means 122 are designed to be pushed into the corresponding holes or receptacles of a component, creating a solid and secure connection without the need for soldering or additional fixings; this is the case, in particular, for the connection terminals 122 of the “press fit ».

[0126] These connection means provide both an electrical connection and mechanical support for the card 120.

[0127] More precisely, the card 120 may comprise a plurality of means, for example holes or contact pads 126, preferably equidistant, each being for example in the form of a metallized hole in which a connection means 122, for example the end (which may be soldered to the metallization) of a wire of a coil, or one end of a connection terminal, will be able to be housed and thus establish an electrical contact between a wire of one of the coils, the metallization of the hole with which this means 22 is in contact and one or more of the tracks 124. Among the holes or contact pads 126, some 126n[, 126n2, 126n3 are neutral points and allow easier access to these neutral points, without having to resort to additional components.The 3 phases of the power supply (coming for example from the card 130 described below) are connected to a series of 3 connection pads or holes 1263 for example by soldering or, in particular in the case of connection holes, by "pressfit" type means as explained above. These 3 connection pads or holes 1263 are connected to the different coils by tracks 124.

[0128] The card 120 preferably has a crown shape, as seen in the example of figures 3D and 5A - 5B, which reproduces the shape of the stator 104. It can have any other shape, which has a maximum dimension less than that of the stator 104 and a central hole to allow the axis 112 of the rotor to pass through.

[0129] [Fig.5A] shows how the connections were designed for the board 120 and [Fig.5B] is the final output of the board according to another representation, in 3D.

[0130] Thus, when this card is mounted, it does not add any space in width (i.e. in a direction located in a plane perpendicular to the axis of rotation of the rotor); preferably, if the card 120 has a crown shape, then its internal diameter is greater than or equal to the internal diameter of the stator and its external diameter is less than or equal to the external diameter of the stator: in this way, it strictly respects the space requirement of the motor.

[0131] Furthermore, as this card 120 is located close to the motor along the axis (XX'), it does not add any bulk in the axial direction, i.e. along the axis of rotation of the rotor.

[0132] Preferably, the center of the crown is aligned with the axis of rotation (XX') of the rotor.

[0133] On the board 120, one or more of the connection tracks 124 preferably have an arc-shaped form 124b with one or more radial connection tracks 1242, 1243 extending from the arc-shaped form, for example from one or more of its ex ends towards a connection point 126. or towards another track in the shape of an arc of a circle.

[0134] The tracks 124 can be designed while preferably keeping:

[0135] - the shortest distance between two points, respecting the geometry of the stator;

[0136] - and / or having sufficient width for current conduction;

[0137] - and / or having sufficient inter-path distance.

[0138] Furthermore, to avoid clutter in the design of the paths followed by the tracks and to comply with the above points, it is possible to have a straight part, following a radial direction (this is one or more of the radial tracks already mentioned above), and a part in the form of a portion of an arc.

[0139] [Fig.6A] represents the assembly comprising the stator 104, the connection card 120 and one end of the connection means 122; this assembly is compact (the distance between the rotor-stator assembly and the card 120 can vary, but, for example, be between 1 mm and 5 mm. In addition, the connection card 120 avoids the presence of connection tracks (between the coils) on a 2nd electronic circuit board or card ("PCB") (described below), which is also provided with components which may be sensitive to the current flowing in the coils and which may generate interference. Thus, the functions of connection between the coils (connection provided by the card 120) and motor control (provided by the 2nd electronic card) are separated.

[0140] As can be understood from this [Fig.6A], when, on the one hand, the assembly consisting of the stator and the rotor is ready, as well as, on the other hand, the card 120 provided with its tracks 124, it is sufficient to align the holes 126 of the card with the corresponding means 122 and to press the plate towards the stator.

[0141] The holes 126 may be circular, but this circular shape may pose a problem of precision of alignment and / or guidance of the means 122 in these same holes. To solve this problem, it is possible to give each hole 126 a particular shape, as illustrated in [Fig.6B]: this comprises a wide part 126a, into which it is possible to introduce the end of a means 122 (for example the end of a wire or a connector 122, for example such as that illustrated in [Fig.4]), and a narrower part 126b, into which the end in question can then be pinched and held to ensure electrical contact.

[0142] Thus, when the end of each means 122 is introduced into the part 126a, the widest, it is then possible to rotate the card 120, as indicated by the arrow in [Fig.6B], to bring this end into the narrower part 126b in which it is then held. This also ensures that the entire card 120 is locked.

[0143] An example of another or a 2nd electronic plate or card 130 (or “PCB”), called the control or command card or main card, is shown schematically in figures 7A and 7B. This control or main card is different from the connection card 120.

[0144] This main electronic card 130 comprises, on a face 132i ([Fig.7B]), called “lower”, one or more components 132, for example one or more magnetic sensor(s), for example one or more Hall effect sensor(s) 133, for example to detect a position of an output shaft of the motor, as explained below; it may optionally comprise on the opposite face 1322 ([Fig.7A]), called “upper”, one or more sensor(s), for example Hall effect 135, opposite for example a rotor position magnet 114, in order to detect the position of the latter. This main electronic card 130 comprises connectors or connection points for a three-phase power supply of the motor; these connectors can be connected to the three-phase of the connection card 120. This card 130 may also comprise a point for the neutral (not shown in FIGS. 7A and 7B).So in total there can be 4 connections between the main board 130 and the interconnection board 120 (3 connections for the 3 phases and one connection for the neutral).

[0145] Furthermore, this electronic card 130 comprises means or a control element 134, for example a microprocessor or microcontroller 134.

[0146] This element 134 can be programmed, or include instructions for, controlling the electrical power supply to the motor.

[0147] In particular, this element 134 can measure or estimate the consumption of current supplied to the electric motor. This current consumed reflects the force supplied by the motor. If, for example, a valve, which is controlled by the motor or by an actuator which comprises this motor, is blocked or is slowed down due to impurities in a fluid whose flow is controlled by the valve, or if the actuator is defective, the element 134 sees an increase in the force applied by the increase in the current supplied; it can therefore send an instruction to stop the actuator and the member which it controls.

[0148] This element 134 can start a work sequence, after an interruption in the operation of the member, for example the valve, which it controls, by sending jolts to the latter: for example, short pulses can be generated by this same element 134, with a predetermined torque, in order to detach the member or the valve after an interruption in its operation.

[0149] It is also possible to magnetically isolate a component, for example a magnetic sensor 135, for example a Hall sensor by positioning on the upper face 1322, or opposite the latter, one or more shielding sheets 118 (which can be seen in [Fig.l]).

[0150] On this card 130, a connector 136 can also be arranged to allow an electrical interface, for example with a specific connector which will allow an interface, for example a CAN network of a vehicle, including the 130 card (or the motor or actuator which it controls).

[0151] The card 130 allows calibration of the actuator each time the device is started.

[0152] According to one aspect, the card 130 is provided, on one of its faces, with a connector 136 (already described above), which comprises a plurality of connection pads (or "pins"), each combination of pads making it possible to determine an address of the card in a network, for example a network for example a CAN network, for example of a vehicle. Plugs or pins are connected to several pads of this connector 136, according to a configuration determined by the desired address. For example, 2 plugs or pins make it possible to determine the address: each can have one of the 2 values ​​0 and 1; thus, with 2 plugs or pins, one can have 4 different addresses.

[0153] Furthermore, the different addresses can be stored by the element 134 (for example in a memory, for example an EEPROM, thereof) or in a memory, for example an EEPROM, separate.

[0154] Thus, programming the address of each card is easy and can be easily modified since it is sufficient to modify the position of the different plugs in the connector 136, without intervening on the element 134 or on aspects of software implemented by the latter. The exchanges of information between the network and the element 134 can then take place via this connector.

[0155] Thus, if a vehicle is equipped with a plurality of cards 130, each actuating for example a valve via an electric motor (for example as explained above; an address can be easily assigned to each card 130, and implemented using the connector 136, all these addresses being different from each other. There is thus no need to resort to complex programming to determine the addresses of the different cards.

[0156] For example, for a 6-input 136 connector (usually most of these connectors just have 4 inputs):

[0157] - one input is used for CAN High, one of the wires of a CAN bus;

[0158] - one input is used for CAN Low, the other wire for the same CAN bus;

[0159] - one input is used for the voltage supply V+;

[0160] - another input is used for the voltage supply V- (or ground);

[0161] - the other 2 inputs can be used to select an address, each input that can be in state “0” (Ground) or “1” (“open”); in total, 4 different addresses can be generated for the same actuator or motor.

[0162] This possibility of allocating different addresses to the same motor or actuator has several advantages. Indeed, a fixed CAN address imposes numerous restrictions on the use of this motor or actuator in a network. In particular, when a user wants to connect several devices (e.g. motors or actuators) to the same network and wishes to identify them, he needs different identifiers. The invention allows:

[0163] - to avoid conflicts of CAN addresses or identifiers;

[0164] - possibly to expand the network by including new devices and by allocating additional CAN addresses or identifiers;

[0165] - avoid having to intervene in the memory which stores the addresses or the iden CAN modules and to intervene on the software that implements them, which can often be difficult for an end user and can compromise the security of the system: the user can, on the other hand, intervene more easily on the connector 136, without needing to modify said memory and / or said software.

[0166] An example of a vehicle CAN network is shown in [Fig.8]: this vehicle comprises several actuators 142-148, a CAN address being assigned to each of them (CAN1 address for actuator 142, CAN2 address for actuator 144, CAN3 address for actuator 146, CAN4 address for actuator 146). The control instructions are generated and sent to the different actuators, according to their addresses, by a central unit 140. Each of these actuators is provided with a card 130, as described above, and the address of each card 130 can be programmed using the connector 136 of this card, in the manner explained above. Each of the means 134, for example microprocessor or microcontroller, stores the possible addresses for the actuator with which it is associated.

[0167] [Fig.l], already commented on above, shows a particularly interesting arrangement of various means already presented above:

[0168] - the spacer 119 can be arranged at the end of the rotor 102;

[0169] - an armor plate 118 can be arranged in the spacer 119;

[0170] - the magnetic means 114 can be arranged on the spacer 119, which is arranged between these magnetic means 114 and the rotor 102;

[0171] - the card 120 can be arranged opposite the rotor, and surrounds the means ma genetics 114;

[0172] - the card 120 can be arranged opposite the card 130, which carries the detector 135 arranged opposite the magnetic means 114.

[0173] The return means 230 can be calibrated so as to respond to the performance of each valve which can be associated with it (for example to fix maximum angular range, and / or a resistive torque, and / or a return time, etc.). This calibration is done using several bores 236 (see figures 9A and 9B and description below) present on the wheel of the output shaft allowing, depending on the choice of bore 236, to prestress the return means more or less.

[0174] Consequently, these return means can be adapted to the specific needs of the application. In particular, these return means are preferably adapted to provide sufficient torque to return the member (for example a valve) coupled to the actuator to its initial position, for example in the event of a power cut or a switch to degraded mode, and this for example over the entire angular movement authorized by the actuator. For example, if a greater torque is needed to return the actuated member, the position of the end of the return means 230 can be changed in order to prestress them more and therefore to have a greater return torque. This makes it possible to have a single type of return means, for example a single and same type of spring, for a wide variety of members, for example valves.For example, the actuator can be mechanically defined to cover an angle greater than the useful angle of the rotary member to be actuated; the return means are then functional over the largest angle.

[0175] According to an exemplary embodiment, 18 holes equidistant by 20° from each other were made to define as many possible positions for one end of the return means.

[0176] According to a particular embodiment, the element 206, an example of which is shown in FIGS. 9A and 9B, can be engaged with the pinion 204p over a limited angular sector, for example between 90° and 200°, for example still approximately 110°, allowing rotation of the output shaft 208 over this same limited angular range. This angular range can also be limited by the presence of one or more stops 225, 227, made in the casing.

[0177] To this end, element 206 preferably comprises:

[0178] - a 1st angular sector 206a which has a 1st radius or diameter, and which comprises gear teeth,

[0179] - a 2nd angular sector 206b which has a 2nd radius or diameter less than the 1st radius or diameter, and which does not have gear teeth; this aspect saves space.

[0180] Thus, the transition zones 209 (figures 9A and 9C) between the first angular sector 206a and the second angular sector form shoulders which will be able to bear against the stop(s) 225, 227.

[0181] It is understood that the arrangement of the positioning holes of one end of the return means at a distance from the center of rotation of the wheel which is less than that of the 2nd angular sector 206b makes it possible to have such positioning holes over 360°.

[0182] The output shaft 208 may also use an adjustment with the wheel 206 with one or more flats, as already explained above, to prevent rotation of one of these 2 elements relative to the other. This output shaft 208 may be engaged between the intermediate plate 222 and the lower wall 2202 of the casing and also uses bearings.

[0183] As can be seen in these figures, this pinion only has gear teeth on one section, or angular sector, 206a of its periphery.

[0184] Furthermore, it is provided with holes or bores 236 which will make it possible to adjust one end of the return spring 230, for example according to the desired performance of an element, for example a valve, which will be coupled to the output shaft 208: it may be desired to have a more or less rapid return and / or with more or less torque (the greater the return constraint, the greater the return torque) of this element and to adjust the position of the end of the return spring accordingly using the different positions in the different holes 236.

[0185] Finally, as already indicated above, one or more stops 225, 227 may be provided to limit the travel of the pinion 206. One or more damping elements 207, for example made of plastic material, may be provided on the zone(s) 209 to avoid excessively abrupt contact between the pinion 206 and the stop(s) and to ensure that this contact is damped.

[0186] At the inner end 2082 of the shaft 208, on the side of the plate 130, a magnetic element, for example a magnetized disc, 214 allows a magnetic sensor 133 (for example a Hall effect sensor) to detect the position of the output shaft 208; thus, a closed-loop operation of the device can be achieved: thus, the desired position of the shaft or of the output of the actuator can be controlled and maintained, the means 134 implementing a closed-loop system monitoring, preferably continuously, the actual position of the actuator and making adjustments to ensure that it remains as close as possible to the desired position.

[0187] Finally, a dynamic seal 230 can be arranged in the casing wall 2202 to ensure the sealing of the assembly.

[0188] Furthermore, the connector 136 passes through a wall of the casing to allow access to it from outside the casing.

[0189] As understood from the above explanations, a casing 220 that can be implemented according to the present invention may comprise an upper part (upper casing) and a lower part (lower casing). This casing may have a guiding function, since bearings and / or elements may be housed therein. For example, as illustrated in FIGS. 9C and 9D, positioning and / or centering pins 306 may be housed therein, as explained above, making it possible to ensure a good position of the rotating elements and of the intermediate plate which may have one or more of the similar functionalities already explained above, in particular the housing of the end bearing(s) of the shafts or axes. These good positions also make it possible to ensure the desired distance between the axes and the desired clearances. for these.

[0190] Threaded holes 308 (see for example [Fig.9A]) may be provided in the different parts of the casing to allow the fixing of these positioning and / or centering elements, but also the fixing of the element 222 and / or one or more cards 120, 130 and / or that of the stator. The threaded holes 302, 304 (figures 9A, 9C, 9D) allow the 2 parts of the casing to be joined and fixed to each other.

[0191] A dynamic seal 209 is also inserted, allowing internal / external sealing.

[0192] An electric motor described within the scope of the present invention may be used with a reducer other than that just described. And the output wheel or pinion 206 may be of the type described above, or may have teeth around its entire periphery.

Claims

Claims

1. Actuator comprising, in a casing (220), an electric motor comprising: - a stator (104), comprising a plurality of coils (117), - a rotor (102); - an output shaft of the motor (112), - at least one control circuit (130) of the motor arranged between the latter and a reducer (200), which comprises an output shaft (208) of the actuator guided by bearings, one of which is arranged in the casing (220) of the motor and the other in an element (222), for example an intermediate plate, arranged between the output shaft (208) and the electric motor.

2. Actuator according to claim 1, the output shaft (112) of the motor being guided by a 1st bearing and by a 2nd bearing which is arranged in said intermediate element (222).

3. Actuator according to claim 1 or 2, said reducer comprising an intermediate stage (204, 204p) between the output shaft (112) of the motor and the output shaft of the actuator, this intermediate stage comprising a shaft guided by a 1st bearing and by a 2nd bearing, which is arranged in said intermediate element.

4. Actuator according to one of claims 1 to 3, the output shaft (208) of the reducer comprising a magnetic element (214) for position and / or speed measurement.

5. Actuator according to claim 4, further comprising a sensor (133) of the position of the magnetic element.

6. Actuator according to one of claims 1 to 5, further comprising a connection circuit (120) for the coils (117) of the electric motor.

7. Actuator according to claim 6, said connection circuit (120) of the coils (117) of the electric motor being separate from the control circuit (130) of the motor.

8. Actuator according to claim 7, said connection circuit being arranged between the electric motor (102, 104) and the motor control circuit (130).

9. Actuator according to one of claims 1 to 8, comprising a shielding element between the electric motor (118) and the motor control circuit.

10. Actuator according to one of claims 1 to 9, the output shaft of the bearing being provided with a wheel (206) comprising gear teeth on only a part (206a) of its periphery, for example on an angular sector between 50° and 200°.

11. Actuator according to claim 10, further comprising at least one stop (225, 227) for limiting the travel of the wheel.

12. Actuator according to claim 11, further comprising a damping element (207) between the wheel and said stop.

13. Actuator according to one of claims 1 to 12, further comprising means (230) for returning the output shaft.

14. Actuator according to claim 13, the return means comprising a spring, for example a torsion spring, one end of which is fixed to the output stage of the reducer (206) and the other end of which is fixed to the casing (220).

15. Actuator according to one of claims 1 to 14, further comprising a connector (136) accessible from outside the housing and connected to the control circuit (130).

16. Valve for regulating the flow of a fluid, comprising a member for opening or closing a flow of fluid and an actuator according to one of claims 1 to 15.

17. Cooling system of a vehicle, comprising at least one valve according to claim 16.

18. A cooling system of a vehicle, comprising a plurality of valves and an actuator of each valve, each of these actuators being according to one of claims 1 to 15.

19. A cooling system according to claim 18, at least 2 of the valves having different maximum flow rates.

20. Cooling system according to one of claims 17 to 19, comprising a plurality of valves, each actuator having a CAN address different from that of the other actuators.

21. Vehicle, comprising a thermal or electric engine, further comprising a cooling system according to one of claims 17 to 20.

22. CAN network of a vehicle, comprising a plurality of actuators (142, 144, 146, 148), a central unit (140) connected to the different actuators by a bus, at least one of these actuators being according to one of claims 1 to 15.

23. Vehicle, comprising a thermal or electric engine, and at least one CAN network according to claim 22.

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