Gear motor with improved compactness

Abstract

The present invention relates to an actuator for positioning a pivot member, said actuator comprising a housing (100) provided with a base (105) closed by a cover (106) and accommodating a single electric motor (110), the shaft (124) of the rotor (113) of which carries a pinion (141) driving an output shaft (127) by means of a multi-stage motion reduction gear train (120), said housing (100) having mounting means on its side surfaces (101, 102) including two guide means (400, 450) extending parallel on either side of said housing (100), said two guide means (400, 450) being positioned in front of said housing (100). The guide means (400, 450) can be engaged with the complementary means (370, 380) of the support (340) by elastic deformation of the guide means (400, 450) or by elastic deformation of the complementary means (370, 380) of the support (340), the guide means (400, 450) being connected to the base (105) of the housing by lateral connections (402, 452), the side edges (11, 12; 13, 14) of the guide means (400, 450) defining a virtual envelope (161), and the center of gravity (156) of the actuator (1) being located inside the virtual envelope (161) or at a distance from this virtual envelope of less than 10% of the length (L) of the actuator (1).

Description

[Technical Field]

[0001] The present invention relates to the field of gear motors, and more particularly to gear motors intended for automotive applications, with a design that is highly robust and limits maintenance and space requirements. Such gear motors typically include an electromagnetic section with a permanent magnet rotor and a wound stator controlled by electronic circuitry. A gear train transmits the motion of the rotor to an output shaft.

[0002] Such actuators are designed specifically for positioning moving parts for vehicles, such as flaps or fins to distribute or direct airflow in heating, ventilation, and air conditioning circuits. Such circuits can be found in vehicle air conditioning systems, such as the air conditioning unit, ducts leading to the passenger compartment, or directly in the passenger compartment ventilation grille, but can also be used in any airflow management situation, for example, in a grille guard to regulate airflow in the engine compartment. One of the challenges is reducing the overall size while maintaining sufficient motor torque. [Background technology]

[0003] Conventional technology In the prior art, U.S. Patent Application Publication No. 2019337387 is known, which discloses a stepping dashboard needle motorization device including a motor body that applies a rotational driving force to a rotating body, a motor casing that houses the motor body, and a motor base plate that holds the motor housing. The motor base plate includes a mounting surface on which the motor body is mounted via the motor casing, a fixing surface opposite the mounting surface, and a fixing hole that penetrates between the mounting surface and the fixing surface. The motor casing includes a fixing arm and a fixing hook. The fixing arm is inserted into the fixing hole in an elastically deformed state in which the fixing arm extends obliquely relative to the mounting surface and the fixing surface. The fixing hook forms a contact surface that extends obliquely relative to the mounting surface and the fixing surface, and is fixed to the motor base plate in a state in which the contact surface is in contact with a fixing wedge area formed by the fixing surface and the fixing hole in the motor base plate.

[0004] Also known is Patent Publication No. 2012220442, which discloses a dashboard needle powered device having a fixing claw inserted into a mounting hole formed in a mounting plate so that the fixing claw is fixed at an edge on the rear surface of the mounting plate by the elastic force of the fixing claw. The rear side of the fixing claw in the insertion direction into the mounting hole is a tapered fixing portion in which the size of the protrusion gradually increases forward in the insertion direction. The fixing portion is formed with multiple steps that can engage with the edge of the mounting plate. The mounting plate is fixed to the fixing claw with corners that form the stepped portions in contact with the rear surface of the mounting plate, and the edge portion of the mounting hole engages with one of the stepped portions.

[0005] EP 1880172 discloses an actuator solution for a measurement indicator for a vehicle dashboard or instrument panel, comprising a housing, a first measuring means for converting a first electrical measurement signal into a first mechanical signal, means for transmitting the first mechanical signal to a first shaft responsible for transmitting a first measurement indication, a second measuring means for converting a second electrical measurement signal into a second mechanical signal, and means for transmitting the second mechanical signal to a second shaft responsible for transmitting a second measurement indication, the first shaft being hollow and arranged coaxially around the second central shaft, the hollow shaft being supported and guided by a first bearing including an outer cylindrical surface of a guide bush arranged on a guide bridge rigidly mounted to the housing, the guide bush being inserted into the hollow shaft at one end of the shaft, the guide bush including an axial through-hole for the free passage of the central shaft through the guide bush, the inner diameter of the axial through-hole being greater than the outer diameter of the central shaft at this point. A second bearing, formed by the inner surface of the tubular extension of the housing, extends from the outer surface of the actuator toward the free end of the hollow shaft. The device includes two independent actuators driving concentric output shafts. The motors and reduction chains are symmetrical, so that those skilled in the art will understand that the center of gravity is not clearly located at the center of one of the motors, but is located close to the output shaft and within an imaginary envelope formed by the clip.

[0006] Also known is application publication no. 2001317970, which discloses a dashboard needle motorization device including a rotor for driving an output shaft, a stator, a winding attached to the stator, and a housing element for storing the rotor, stator, and winding, wherein the output shaft has one end protruding from an upper surface of the housing element for mounting a pointer, and the other end is either flush with or protrudes from a lower surface of the housing element.

[0007] The motorized dashboard needles disclosed in the aforementioned documents are designed to move the driven needles to precise positions with high power, and this arrangement does not require high torque. Therefore, minimizing inertia effects and choosing plastic gears are essential. The actuator housing is also made of plastic due to cost and weight, two important factors in the automotive field. Only electric motors have a high percentage of heavy metal parts in the windings, ferromagnetic stator, and rotor magnets.

[0008] Also known is U.S. Patent Application Publication No. 2017016647, which discloses an air conditioning device provided with an air conditioning housing having an air passage through which conditioned air flows. The air conditioning housing is molded, and a component to be mounted is attached to the outer surface of the air conditioning housing. The component to be mounted is provided with a plate-shaped protruding piece protruding from the housing body of the component to be mounted, and the protruding piece has an alignment hole passing therethrough. The air conditioning housing is provided with a retaining piece protruding from the outer surface and engaging with the protruding piece, and an alignment pin protruding from the outer surface, the alignment pin being inserted into the alignment hole. The retaining piece is provided with a lug portion protruding from the outer surface and capable of elastic deformation, and an engagement portion curvedly extending from a distal end portion of the lug portion and engaging with the protruding piece in a region closer to the distal end than the alignment hole.

[0009] Also known is WO2011023500, which discloses a receiving device for receiving and fixing a motor, in particular a stepper motor, comprising a housing and at least three receiving elements that engage with the motor housing to fix the motor in a defined position, the receiving elements being arranged on a base plate and each including a detent pin and a latch element arranged in close proximity to the detent pin.

[0010] Also known is WO2019068784, which discloses a gear motor in the form of a housing, including an electric motor having a stator assembly and a rotor driving a reduction gear train with several intermediate stages, each formed by a shaft coupled to a gear wheel and a toothed pinion, an output stage formed by a shaft and a coupling member coupled to a wheel, the rotor shaft, the intermediate stages and the output wheel being parallel, the gear motor further including a printed circuit arranged laterally above the stator, the output stage wheel being arranged above a portion of the stator, the intermediate stage shaft being located in an area of the housing opposite, relative to a lateral vertical plane, to an area including the rotor shaft and the output wheel shaft.

[0011] Disadvantages of the prior art Prior art solutions are not entirely satisfactory, as mounting an actuator to its support often requires delicate work in cramped environments with little room for tool access and involves the use of screws or rivets, which represent a significant portion of the cost. Some prior art solutions provide clip fastening with angular displacement after placement, which requires having free space around the actuator when it is mounted. Other prior art solutions are cumbersome to directly drive the member to be moved, which is located in a narrow space, and must be connected to the member by a rod, connecting rod, lever, or any other mechanical element to transmit force to the remote element.

[0012] Furthermore, assembling the actuator onto the support requires precise alignment and attachment by screws or rivets, which can lead to misalignment of the motor shaft and the driven shaft, in either case requiring considerable dexterity and time.

[0013] Finally, these actuators are subject to vibrations from both the rotor and the outside, which over time can lead to premature deterioration and failure or detachment of the mounting system due to the asymmetric forces experienced by the equipment driven by the actuator.

[0014] It is therefore important to provide an actuator that is particularly compact, easy to assemble on its support and optimized with regard to its vibration behavior. Summary of the Invention

[0015] Solution provided by the present invention In order to remedy these drawbacks, the invention proposes a solution comprising an actuator for positioning a pivot member, the housing comprising a housing provided with a base closed by a cover and accommodating an electric motor, the shaft of the rotor of which carries a pinion that drives an output shaft via a multi-stage motion reduction gear train, the housing having mounting means on its side surfaces, the mounting means comprising two guide means extending parallel to either side of the housing, the two guide means being able to engage with complementary means of the support by elastic deformation of the guide means of the housing or of complementary means of the support, the guide means being connected to the base of the housing by lateral connections, the lateral edges of the guide means defining a virtual envelope, the centre of gravity of the actuator being located inside the virtual envelope or at a distance from this virtual envelope of less than 10% of the length of the actuator.

[0016] The actuator includes a single electric motor.

[0017] In particular, in cross-sectional view, the virtual envelope is dominated by the electric motor.

[0018] In a more limited variant, at least 80% of the surface area of the imaginary envelope is occupied by the electric motor in a cross-sectional view.

[0019] Alternatively, the center of gravity of the actuator is located inside the virtual envelope.

[0020] In one variant, the guide means of the housing are elastically deformable blades.

[0021] In another variant, the complementary means of the support are two parallel anchors pierced (traversed) by an aperture, the blades having lateral shoulders adapted to fit into each of the apertures.

[0022] Alternatively, the side of the housing has at least one side extension pierced by an aperture oriented along an axis parallel to the output shaft of the actuator, and a flat wedge surface perpendicular to the output shaft and capable of abutting against a complementary surface of the support.

[0023] The invention also relates to a mechatronic system formed by an apparatus having a support for receiving an actuator for positioning a pivot member and an actuator as described above, the complementary means of the support being two parallel anchors having means complementary to the engagement means provided on the blades of the actuator for snap-fitting the housing onto the support.

[0024] In particular, the support further comprises at least one centering finger arranged to engage the aperture of the side extension, the finger having a shoulder that serves as an abutment for the extension when the actuator is snap-fit onto the support.

[0025] The invention further relates to an actuator for positioning a pivot member, comprising a housing having a base closed by a cover and enclosing an electric motor, the shaft of a rotor of which carries a pinion driving an output shaft via a multi-stage motion reduction gear train, the internal volume of the housing having a length measured at its largest dimension and corresponding to the cross section of the electric motor plus the cross section of a drive wheel of the output shaft, and a transverse width corresponding to the width of a stator of the electric motor, the electric motor and the gears of the gear reducer being distributed in three axial planes, the intermediate gears being located within the length and width envelope in two planes different from the plane of the output wheel, so that in a transverse plane of the actuator the surface area of the motion reducer is less than or equal to the surface area of the electric motor.

[0026] In particular, the electric motor has a yoke with three radially extending winding teeth arranged consecutively in a first angular sector and with no windings in the complementary angular sector, the angle formed between two consecutive winding teeth being 60°, the axis of the first winding tooth forming an angle of 20°±5° with the longitudinal side of the housing, and the yoke having a surface with a linear outer edge at the first tooth such that a complementary surface is formed with an adjacent surface of the housing.

[0027] In one variant, the motion reduction gear train comprises a first shaft guiding a first upper gear wheel and a connecting pinion arranged at an intermediate level, the first upper gear wheel meshing with the pinion mounted on the shaft of the rotor of the motor, the connecting pinion meshing with a second gear wheel guided by a second shaft, the second gear wheel being connected to a third pinion arranged at a lower level, the third pinion meshing with a gear wheel driving the output shaft.

[0028] In particular, the rotating shaft of the rotor of the first intermediate gear and the rotating shaft of the output wheel are parallel and located near a mid-plane, the mid-plane extending along the longitudinal direction of the actuator, and the proximity of the mid-plane is limited to a distance not exceeding 5% of the width of the actuator.

[0029] Alternatively, the rear face has a connector engaged in the space between the second winding tooth and the third winding tooth.

[0030] In particular, the actuator comprises an electronics board containing control means for windings, the electronics board extending above the electric motor, the connector having parallel conductive pins overmolded by a retaining member having two cylindrical tenons perpendicular to the pins and insertable into holes in the electronics board, thereby holding the connector in place until secured by soldering. [Brief explanation of the drawings]

[0031] The present invention will now be described in more detail with reference to non-limiting exemplary embodiments that identify the advantages and considerations set forth above. A more particular description of the invention briefly described above will be made with reference to the accompanying drawings, which show non-limiting examples of such actuators. [Figure 1] 1 shows a front view of an actuator according to the present invention; [Figure 2] 1 shows a perspective rear view of an actuator according to the present invention; [Figure 3] 1 shows a front perspective view of an actuator according to the present invention with the cover and electronics removed; FIG. [Figure 4] 1 shows a front view of an actuator according to the present invention with the cover and electronics removed; [Figure 5] FIG. 1 shows a front view of an actuator according to the present invention with the cover, electronics and gearbox removed. [Figure 6]1 shows a front perspective view of an actuator according to the present invention with the cover removed; FIG. [Figure 7] 1 shows a front perspective view of an actuator according to the present invention; [Figure 8] 1 shows a cross-section in a transverse plane P1 of an actuator according to the invention; [Figure 9] 1 shows a longitudinal section of an actuator according to the invention; [Figure 10] 1 shows a first example of the installation of an actuator according to the invention on a support. [Figure 11] 1 shows a first example of the installation of an actuator according to the invention on a support. [Figure 12] 2 shows a second example of the installation of an actuator according to the invention on its support. [Figure 13] 2 shows a second example of the installation of an actuator according to the invention on its support. [Figure 14] 10 shows a second exemplary embodiment of an actuator according to the present invention, without a clip to hold the actuator in place. [Figure 15] 10 shows an example of how the stator of an actuator is held within its housing before and after the retaining bosses are bolted. [Figure 16] 10 shows an example of how the stator of an actuator is held within its housing before and after the retaining bosses are bolted. DETAILED DESCRIPTION OF THE INVENTION

[0032] General principles of the present invention As can be seen from the various figures, the actuator for positioning a pivot member described with reference to the accompanying drawings consists of a housing (100) fitted with a base (105) closed by a cover (106).

[0033] The housing 100 encloses a single electric motor 110. The single electric motor 110 includes a stator 111 and a rotor 113. The stator 111 is made of ferromagnetic laminations forming teeth surrounded by windings 112. The shaft 124 of the rotor 113 carries a pinion 141. The pinion 141 drives an output shaft 127 (or output shaft 127) through a multi-stage spur gear train that forms the motion reducer 120.

[0034] The motion reducer (120) transmits the torque from the rotor (113) via two intermediate gears (121, 122) to an output wheel (123) fixed to the output shaft (127), the whole being distributed over three axial levels (heights). This configuration makes it possible to arrange the gear reducer (120) so that its surface area (163) in the transverse plane of the actuator is equal to the surface area (162) of the electric motor (110).

[0035] In particular, the rotor (113) and the output wheel (123) lie in the same axial plane and are arranged to bring the axially and radially very bulky output wheel (123) as close as possible to the stator structure. The intermediate gears (121, 122) can then be arranged in the other axial plane to stay within the cross-sectional dimensions of the electric motor (110) or the output wheel (123).

[0036] The result is a very compact solution, with the center of gravity (156) close to the center of the actuator, which distributes the mass well and gives the actuator a particularly interesting vibration behavior.

[0037] In the so-called intelligent variant, the housing (100) also contains an electronic circuit (130) containing electronic components for controlling the motor (100). The electronic circuit (130) is fitted with a connector (135) for supplying power to the actuators and receiving commands from the vehicle ECU. A spring (245) can then provide an electrical connection between the stator yoke (111) and a conductor track provided at the bottom of the electronic circuit (130). The electronic circuit (130) is located in the same axial plane as one of the intermediate stages of the motion reducer. The result is an extremely compact gear motor with a maximum internal volume.

[0038] Alternatively, when the actuator does not have intelligence, the electrical connection connects the winding (112) directly to the connector (135), which receives electrical signals from the vehicle ECU.

[0039] Detailed Description of One Specific Embodiment Figures 1-9 show a specific embodiment of a compact actuator (1) according to the present invention. Figures 1, 2, and 7 are perspective views of the actuator (1) from different orientations, showing its external features. Figures 3 and 4 show the actuator with the cover and electronics removed, providing a clearer view of the electromechanical conversion chain. Figure 5 is similar to Figure 4, but with the motion reducer removed to better understand the integration of the motor within the housing. Figure 6 shows the actuator with the cover open and the electronics connected to the electric motor. Figure 8 shows a cross-section of the actuator 1 along the plane (P1) shown in Figure 6. Figure 9 shows a longitudinal cross-section along a plane (155) passing through the rotor (113) and the shafts (124, 125) of the first gear (121).

[0040] The actuator (1) consists of a housing (100) having openings in both major faces for the passage of the coupling means.

[0041] In the example described, the coupling means is a single cylindrical output having a central channel (128) that opens outwards at both ends.

[0042] For some applications, the joint may be open on only one side.

[0043] The mechanical interface between the controlled member (e.g., shutter) and the electric actuator is typically achieved by a male shaft on the shutter side that fits into a central channel (128) in the female output shaft (127) of the actuator (1). The mechanical interface must be able to transmit the torque generated by the actuator. To accommodate a variety of drive systems, the actuator can have a different output interface on each side of the actuator.

[0044] The sizing of the electric motor and gear train of the actuator according to the invention allows it to handle dynamic torques of the order of 25 N.cm in apparent operation. The output interface is an output member that opens out on each side of the hollow shaft actuator as the female cavity runs through the entire axial length of the actuator (1).

[0045] In this non-limiting example, at least the terminal end of the central channel (128) has an octagonal region in the shape of an eight-pointed star formed by two squares. This region may have other known configurations for transmitting rotational torque, such as a polygonal, elliptical, or jagged inner area.

[0046] In this way it is possible to couple different coupling shafts without having to change the actuator or to drive two coupling shafts, for example two actuators located on either side of the housing.

[0047] The housing has a connector (135) that surrounds electrical terminals (136) for receiving power and control information, as well as location and mounting lugs referred to in the remainder of this specification as side extensions (300, 310, 320).

[0048] As shown more particularly in Figures 3-6, 8 and 9, the housing (100) incorporates an electric motor (110) that is electrically and mechanically connected to an electronic circuit (130).

[0049] The motor (100) has a structure similar to that disclosed in the applicant's French Patent Application Publication No. 2106266. The motor (100) includes a stator (111) formed by the assembly of stamped laminations having six teeth (114, 115, 116, 117, 118, 119) (three of which carry windings (112)), and a rotor having N pairs of alternatingly magnetized poles (preferably radial or festoon-shaped). The windings are arranged around the three long teeth (114, 115, 116) to obtain maximum torque per ampere-turn of the motor. The central axes of the winding teeth each form a mechanical angle of 60° with each pair. Thus, one of these winding teeth (114) is oriented substantially perpendicular to one of the longitudinal sides (101) of the housing, the next winding tooth (115) is oriented at an angle of 60° to the first winding tooth (114) so as to extend in a substantially diagonal direction, and the third winding tooth (116) is at an angle of about 60° to the previous winding tooth (115) so as to extend in a direction substantially perpendicular to the lateral sidewall (103) and is aligned with the attachment point (320). The teeth (117, 118, 119) are distributed within an angular sector (α) located between the third winding tooth (116) and the first winding tooth (114), as can be seen more particularly in FIG. The teeth (117, 118, 119) without windings serve only to transfer magnetic flux from the outer edge belt of the yoke (170) to the rotor and can therefore be very short to keep the stator's footprint as small as possible in the angular sector (α). Thus, in the angular sector (α), the maximum extent of the stator (111) from the rotor's axis of rotation (124) is approximately equal to the diameter of the rotor (113). The rotor (113) typically has a diameter of 12 mm and contains NdFeB permanent magnets (typical remanence of 0.75 T). The electric motor (110) therefore occupies a small space within the housing, allowing the motion reducer (120) to be accommodated in a small housing, with the first intermediate gear (121) of the gear train extending as close as possible to the rotor (113) in the angular sector without windings.

[0050] As shown in Figures 3, 4, 6, and 9, a series of parallel-axis intermediate gears (121, 122) forming a motion reduction train (120) transmits motion from the rotor (113) of the electric motor (110) to an output wheel (123). The gear reducer (120) includes a series of gears (121, 122, 123), and the output wheel (123) is also considered as such. The transmission ratio is typically between 1:100 and 1:200, and in particular, 1:145 in the embodiment shown.

[0051] This parallel-axis gear train, consisting of three reduction stages, is created by the engagement of gears (121, 122, 123) distributed longitudinally along the axis of the actuator (1) in a cavity of a housing (100) of a size equal to or approximately equal to that of the motor (110). For reasons of compactness, it is advantageous to limit the number of gears (121, 122, 123) arranged in a plane in a spur gear reducer. Indeed, the greater the number of gears (121, 122, 123), the larger the size of the gear wheels of the gears must be to provide an equivalent reduction ratio from one stage to the next while supporting an increase in transmitted torque. An exponential increase in the footprint is observed with the number of integrated gears, which leads to a significant increase in the longitudinal or lateral dimensions of the actuator. An alternative solution that has proven effective and is implemented within the scope of the present invention is to limit the number of reduction stages and opt for a larger motor structure without significantly compromising torque. The optimum compromise can be found when the motor footprint (162) (shaded area in Figure 5) in the plane perpendicular to the axis of rotation (124), i.e., the plane of development of the reduction stage, has a surface very similar to the gear reducer footprint (163) (shaded area in Figure 4). The motor footprint refers to the solid surface that follows the outline of the electric motor or gear reducer in the plane perpendicular to the direction of the rotor and gear reducer shafts (124, 125, 126).

[0052] In particular, the output wheel (123) of the motion reducer (120) is located in the same axial plane (150) as the stator stack of the electric motor (110). These two elements are arranged as close as possible laterally to the actuator and are contained in this plane within a rectangular envelope (160) of maximum length L and width l, which corresponds in its entirety to the dimensions of the housing. The two intermediate gears (121, 122) of the gear reducer (120) are arranged in this envelope in axial planes (151, 152) that have a height relative to the bottom of the housing (100) that is greater than the axial plane (150).

[0053] An attractive footprint is achieved when the rotor 113, first gear 121, and output wheel 123 have shafts 125, 127 aligned along a straight line 155 parallel to the longitudinal direction of the housing 100. This arrangement also has advantages with regard to the vibration behavior of the actuator 1. Indeed, in combination with a well-oriented stator structure, the straight line 155 along which the rotating shafts 124, 125, 127 are distributed passes close to the center of gravity 156 of the actuator, making the rotating elements arranged on this shaft less susceptible to vibration coupling. This is particularly interesting for the rotor 113 and first gear 121, which are highly susceptible to vibration excitation due to their high rotational speeds and low inertia, which can easily generate tooth-to-tooth collisions, a new source of uncontrolled vibration. This is also important for the output wheel (123), which is exposed to strong torque fluctuations and therefore high amplitude vibrations, but is also directly exposed to vibrations from the driven components, and its placement is therefore important to ensure optimal isolation from the other mechanical components of the actuator.

[0054] A slightly more precise arrangement specifies that the output wheel (123), the first gear (121), and the rotor (113) are arranged in a particular manner so that their respective rotating shafts (127, 125, 124) are substantially coplanar and lie within a plane (153) referred to as the mid-plane. Said mid-plane (153) extends in the longitudinal direction of the housing (100). By "substantially coplanar" we mean that the distance between each of the axes (124, 125, 127) and the mid-plane (153) does not exceed 5% of the width of the housing (100) in a direction perpendicular to said mid-plane (153).

[0055] As can be seen in Figure 9, the output wheel (123) is made from a single piece of molded plastic. This single piece includes a ring gear (129) with cylindrical axial protrusions (148, 149) on either side, which form the output shaft (127). One and the other of the cylindrical protrusions (148, 149) engage with guide areas (108, 109) located in the cover (106) and base (105) of the housing (100), respectively, to form plain bearings. The cylindrical protrusions (148, 149) are traversed by a central channel (128) that allows the actuator (1) to be coupled to the component to be driven.

[0056] The intermediate gears (121, 122) are also preferably made of plastic and include a fixed pinion and gear wheel, which may be molded in a single piece or made separately and then assembled.

[0057] Except for the output wheel 123, the intermediate gears 121, 122 and rotor of the motion reducer 120 are guided by metal shafts 124, 125, 126. The metal shafts 124, 125, 126 are mounted flush with one end in the base 105 of the housing 1 and with the other end in the cover 106 of the housing 100.

[0058] Advantageously, the metal shaft (125) of the first intermediate gear (121) passes through a housing (171) located within the yoke (170) of the stator (111), with its lower surface (172) resting on the upper surface of the stator (111), which then acts as an axial stop to prevent the intermediate gear (121) from progressing in this direction. This configuration also makes it possible to position the first intermediate reduction gear (121) as close as possible to the rotor (113). Since the housing (171) is located within the angular sector (α) of the stator (111) that does not have windings, it is possible to modify the thickness of the yoke (170) to create the housing (171) without impairing the passage of magnetic flux around the outer edge of the housing and without affecting the overall dimensions of the stator (111).

[0059] Mounting the housing on the support The housing (100) can be attached to its support (340) in a variety of ways. It has three flat side extensions (300, 310, 320) perforated by apertures (301, 311, 321) oriented parallel to the output shaft (127). Preferably, one of the three side extensions (310) is located at a corner (103) of the housing that houses the winding teeth (116) of the stator (111), where the stator yoke (170) has a straight outer edge (173) perpendicular to the winding teeth (116). Because the winding teeth (116) are oriented substantially obliquely to the housing (100), the corner (103) of the housing can be chamfered to match the contour of the stator yoke (170). This allows the side extensions (310) for mounting the housing (100) to protrude from the chamfer so as to minimize the impact of said side extensions (310) on the overall dimensions of the actuator (1).

[0060] The second side extension (320) is disposed diagonally opposite the housing (100) from the first side extension (310), and this opposite portion of the housing housing, which houses the output wheel (123), has a circular outer shape (104) that matches the outer shape of the motion reducer (120). Therefore, the corners housing the second side extension (320) are free, allowing the side extension (320) to be integrated with minimal impact on the overall dimensions of the actuator (1). The location of this second side extension (320) is also selected to improve the vibration behavior of the actuator (1), since the alignment is such that the line passing through the centers of the apertures (311, 321) of the first and second side extensions (310, 320) also passes close to the center of gravity (156) of the actuator. This ensures an optimal balance in force transmission and increases vibration resistance by limiting overhang.

[0061] For cooperative attachment to the side extensions (300, 310, 320), the support (340) may include axial protrusions (341, 342, 343) provided with shoulders (344, 345), the ends (347, 348, 349) of which may engage with apertures (301, 311, 321) of the side extensions (300, 310, 320) until the shoulders (344, 345, 346) abut against the lower plane of the side extensions (300, 310, 320). The ends (347, 348, 349) of the axial protrusions (341, 342, 343) may also be provided with holes for fastening the actuator (1) to the support (340) by screwing or riveting, the screw heads or rivets abutting against the upper flat surfaces (302, 312, 322) of the side extensions (300, 310, 320).

[0062] The housing (100) also has guide means (400, 450) in the form of two deformable blades extending parallel to both sides of the housing (100). The guide means (400, 450) are spaced from the corresponding longitudinal sides of the housing (100) by a distance of a few millimeters, corresponding to the width of the shoulders (401, 451) measured in the lateral plane plus a clearance of at most 10% of this width. The width of this gap is determined so that the shoulders (401, 451) can be released during engagement on a support in a direction parallel to the output shaft (127) by bending the blades. This gap is also minimized to reduce the lateral dimension of the actuator.

[0063] The lateral edges of the deformable blades (400, 450) define an imaginary envelope (161) defined by the planes P1 and P2, within which the center of gravity (156) of the actuator 1 is located.

[0064] Furthermore, in a cross-sectional view, i.e., in a plane perpendicular to the rotor's axis of rotation, at least 80% of the surface area of this imaginary envelope (161) is filled by the electric motor (110), in particular the metal components of the motor, including the stator yoke, windings, and rotor. To minimize the lateral dimensions of the actuator (1), the stator yoke (170) has a flattened portion (174) in an angular sector (α) that does not include windings. The flattened portion (174) is oriented parallel to the longitudinal direction of the housing (1) and creates a local depression (107) into which one of the deformable blades (450) extends. This concentration of mass around the attachment point results in improved vibration behavior of the actuator according to the present invention.

[0065] The support (340) has a body with two complementary recesses (370, 380) for engaging shoulders (401, 451) for a "toggle clamp" type attachment.

[0066] Alternatively, the support may have two shoulders that fit into apertures provided on the deformable blades (400, 450), which are each connected to the housing by a transverse link (402, 452).

[0067] Fixing the actuators 1 in place by deformable blades 400, 450 that form part of the actuators is a preferred configuration for those skilled in the art, but is in no way a limitation of the present invention. These elastic elements are, in fact, more fragile to breakage than the rigid body of the support 340, and therefore, in the event of breakage, only the easily removable actuators need to be replaced. This eliminates the need to replace multiple actuators 1 and the support 340, which may include much more complex mounting means. Conversely, depending on the mounting support for the actuators 1, it is envisioned that the elastic, frangible elements may be integrated into the support rather than the actuators 1.

[0068] Positioning of actuators on supports In the variant shown in Figures 10 and 11, the actuator is positioned on its support by two side extensions (300, 320), with an aperture (301) in the first side extension (300) receiving an axial protrusion (341) of the support (340) in the form of a centering finger (341). The actuator can then pivot about this centering finger (341) to bring the aperture (321) in the second side extension (320) into angular alignment with the axial protrusion (343) of the support (340), with rotational freedom being eliminated by the axial engagement. The aperture (321) has an oval shape to better accommodate manufacturing tolerances. The support (340) is provided with two parallel anchors through which pass apertures (371, 381) that constitute complementary means (370, 380) for engaging with the elastically deformable blades (400, 450) of the housing (100). When the actuator is placed on its support (340) as described above, the deformable blades (400, 450) engage with the anchors of the support (340). Fixation in place is achieved by additional axial engagements, allowing the side extensions (401, 451) to be inserted into the apertures (371, 381). This insertion is achieved by releasing the elastic energy stored in the deformable blades (400, 450) as soon as the upper surfaces of the side extensions (401, 451) are below the upper surfaces of the apertures (371, 381) of the support (340). The actuator (1), now in place and fixed, can then be coupled to the component to be driven by axially fitting the shaft of the driven component into the central channel (128) of the output shaft (127), this connection needing to allow for slight deviations inherent in manufacturing tolerances. The centering fingers (342) and axial projections (343) inserted into the apertures (311) of the second extension (310) then fully support the force generated by the torque.

[0069] In another variation shown in Figures 12 and 13, the apertures (301) of the side extensions (300) engage with axial projections (341) to ensure accurate placement of the mechatronic system relative to its support (340). Placing the mechatronic system on its support (340) involves a first step of engaging the shaft of the driven component with the central channel (128) of the output shaft (127) and a second step of rotating the mechatronic system around the shaft (200) of the driven component so that the centering fingers (341) of the support angularly correspond with the apertures (301) of the second side extensions (300); the mechatronic system can then axially engage by introducing the fingers into the apertures (301) until the shoulders (344) of the centering fingers (341) of the support (340) abut against a vertical wedge surface. The position of the shaft end is then fixed by a screw or rivet inserted into the hole in the axial projection (341, 343) and placed on the upper flat surface (312, 322) of the side extension (300, 310, 320). The torque generated at the output wheel by the reaction of the driven component is absorbed by the centering finger (341).

[0070] In other alternative embodiments, the actuator may have only one or the other of the attachment means, i.e., only the side extensions (300, 310, 320) perforated by apertures (301, 311, 321), as shown in Figure 14, or only the deformable blades (400, 450). In the second case, it is possible to further reduce the overall dimensions of the actuator (1) by partially or entirely eliminating the side extensions (300, 310, 320). The centering and torque-absorbing functions supported by these side extensions (300, 310, 320) can, for example, be transferred to the rigid base of the deformable blades (400, 450).

[0071] Compact Connector In the variant shown in Figure 6, the actuator (1) is fitted with an electronic circuit (130) that integrates the drive components of the windings (112). This electronic circuit (130) is connected directly to the windings by a press-fit connector (131) and extends in a plane above the electric motor (110). The electronic circuit (130) is provided with a hole (132) that allows the guide shaft (124) of the rotor (113) to pass through the housing cover (106). This requires that the electronic circuit (130) be pressed onto the stator (111) with the stator (111) and rotor (113) already assembled in the housing (100), or that the electronic circuit (130) be assembled onto the stator (111) before insertion into the housing (100) containing the rotor (113). This solution provides a large surface area on the electronic circuit (130) for arranging electronic components, facilitating the placement of probes to measure the position of the rotor (113). Alternatively, rotor 113 can be inserted into base 105 of housing 100 after electronic circuitry 130. However, this requires more extensive opening of electronic circuitry 130, which may be important for ease of assembly if component placement on the electronic board is not an issue.

[0072] The electronic circuit (130) is provided with a connector for receiving its power supply and control signals or commands to move the components driven by the actuator (1) via connector (135). This connector consists of conductive pins (136, 137, 138, 139) connected by plastic overmolding to create a retaining member (140), which, depending on the narrow width of the housing, is conveniently located at a corner of the housing (133) adjacent to the adjacent side extensions of the electrical windings.

[0073] This arrangement allows the conductive pins (136, 137, 138, 139) to be integrated as much as possible inside the housing (100) so as not to increase the overall dimensions of the actuator (1). The retaining member (140) of the guide pins (136, 137, 138, 139) is provided with two cylindrical tenons that extend toward the guide shaft (124) of the rotor (113). These tenons are inserted into holes in the circuit board with an interference fit to ensure that the connector (135) is positioned and held in place until, optionally, a reflow soldering operation is performed to ensure final attachment and electrical connection to the circuit board.

[0074] 6, the conductive pins (136, 137, 138, 139) extend parallel to and are brazed to the surface of the circuit board (130). Alternatively, the ends of the conductive pins (136, 137, 138, 139) can be bent 90 degrees and inserted into conductive holes on the circuit board (130) to ensure a brazed electrical connection.

[0075] Installing the cover onto the housing As can be seen in Figure 7, the cover (106) has deformable lugs (201, 202, 203, 204, 205, 206) with rectangular cutouts that are complementary to the shoulders (211, 212, 213) on the housing (100) to enable "toggle-type" clamping. The cover (106) and housing (100) are assembled by engaging the cover (106) onto the housing (100) in a direction perpendicular to their lateral plane. The lugs (201, 202, 203, 204, 205, 206) are able to spread apart by elastic deformation and pass over the corresponding shoulders (211, 212, 213) until the edges of the cutouts abut against the corresponding shoulders (211, 212, 213).

[0076] Other assembly solutions are possible, such as laser welding.

[0077] Inserting the stator into the housing 15 and 16 show more specifically how the stator 111 is positioned and held within the housing 100. To this end, the stator 111 is provided with a hole 364 and a notch 366 that engage with a boss 363 and an axial projection 365, respectively, on the base 105 of the housing 100. The boss 363 on the base 105 is inserted into the hole 364 in a manner sized to create a precisely located pivot point. The axial projection 365 is also inserted into the notch 366 to ensure that the stator 111 can be precisely positioned relative to the base 105 in the lateral plane of the housing 100. The shaft (124) for guiding the rotor (113) is also provided by the base (105) of the housing (100), which has minimal dimensional linkages, making the position of the rotor (113) relative to the stator (111) as robust as possible against manufacturing variations. This base (105) also incorporates the various shafts (125, 126, 127) of the motion reducers in a manner that minimizes localization errors of the various components in the differential motion, giving the actuator inherent robustness against variations in vibration behavior related to manufacturing variations.

[0078] As shown in Figure 16, the upper ends of the bosses (363) can be flared to ensure axial support of the stator. This is particularly useful during the process of assembling the printed circuit (130) to the stator (111), which involves compression of the ground spring, which, by reaction, provides large forces between the base (105) and the electrical circuit (130) attached to the stator (111) by the electrical terminations of the windings. These forces are then temporarily absorbed by the flared portions until the cover (106) of the housing (100) is closed, said cover having an axial protrusion that rests on the top surface of the stator (111).

Claims

1. an actuator for positioning a pivot member, a housing (100) provided with a base (105) closed by a cover (106), the housing (100) containing an electric motor (110); the shaft (124) of the rotor (113) of said electric motor (110) carries a pinion (141) which drives an output shaft (127) by means of a multi-motion reduction gear train (120); The housing (100) has attachment means on its sides (101, 102), The mounting means includes two guide means (400, 450) extending parallel to each other on either side of the housing (100); the two guide means (400, 450) can engage with complementary means (370, 380) of the support (340) by elastic deformation of the guide means (400, 450) of the housing (100) or by elastic deformation of the complementary means (370, 380) of the support (340); the guide means (400, 450) are connected to the base (105) of the housing by transverse connections (402, 452); - the side edges (11, 12; 13, 14) of said guide means (400, 450) define an imaginary envelope (161); the center of gravity (156) of said actuator (1) is located inside said virtual envelope (161) or at a distance from this virtual envelope less than 10% of the length (L) of said actuator (1); - said actuator (1) comprises a single electric motor (110) 1. An actuator for positioning a pivot member, comprising:

2. 2. An actuator for positioning a pivot member according to claim 1, characterized in that, in cross-section, said imaginary envelope (161) is dominated by said electric motor (110).

3. 2. An actuator for positioning a pivot member according to claim 1, characterized in that, in cross-section, at least 80% of the surface area of said imaginary envelope (161) is occupied by said electric motor (110).

4. 2. An actuator for positioning a pivot member according to claim 1, characterized in that the center of gravity (156) of the actuator (1) is located inside the imaginary envelope (161).

5. 2. An actuator for positioning a pivot member according to claim 1, characterized in that the guide means (400, 450) of the housing (100) are elastically deformable blades.

6. said complementary means (370, 380) of said support (340) being two parallel anchors pierced by apertures (371, 381); An actuator for positioning a pivot member according to claim 5, characterized in that said blades have side shoulders (401, 451) that can fit into said apertures (371, 381) respectively.

7. The side surfaces (101, 102) of the housing (100) are at least one side extension (300, 310, 320) pierced by an aperture (301, 311, 321) oriented along an axis parallel to the output shaft (127) of the actuator (1); a flat wedge surface perpendicular to the output axis and capable of abutting against a complementary surface (344, 345, 346) of the support (340); 2. An actuator for positioning a pivot member according to claim 1, comprising:

8. A mechatronic system formed by an apparatus having a support (340) for receiving an actuator (1) for positioning a pivot member and an actuator according to claim 1, 1. A mechatronic system, characterized in that the complementary means (370, 380) of the support (340) are two parallel anchors having complementary means to the engagement means provided on the blades of the actuator for snap-fitting the housing (100) onto the support (340).

9. the support (340) further comprises at least one centering finger (342) arranged to engage the aperture (301) of the side extension (300); 9. The mechatronic system according to claim 8, characterized in that the finger has a shoulder (345) that serves as an abutment for the extension when the actuator (1) is snap-fit onto the support (340).

10. an actuator for positioning a pivot member, a housing (100) having a base (105) closed by a cover (106), the housing (100) enclosing an electric motor (110); the shaft (124) of the rotor (113) of said electric motor (110) carries a pinion (141) which drives an output shaft (127) via a multi-motion reduction gear train (120); The internal volume of the housing (100) is a length (L) measured at the largest dimension of the housing (100) corresponding to the cross section of the electric motor (110) plus the cross section of the drive wheel (123) of the output shaft (127); a lateral width (l) corresponding to the width of the stator (111) of said electric motor (110); and the electric motor (110) and the gears (121, 122, 123) of the gear reducer (120) are distributed along three axial planes (150, 151, 152); the intermediate gears (121, 122) are located on two planes (151, 152) different from the plane (150) of the output wheel (123) within an envelope of length (L) and width (l); As a result, in a transverse plane of the actuator (1), the surface area (163) of the motion reducer (120) is equal to or less than the surface area (162) of the electric motor (110).

11. The electric motor (110) has a yoke (170) with three radially extending winding teeth (114, 115, 116) arranged consecutively in a first angular sector, and with teeth (117, 118, 119) without windings in a complementary angular sector (α), the angle formed between two consecutive winding teeth (114, 115; 115, 116) is 60°; the axis (175) of the first winding tooth (116) forms an angle of 20°±5° with the longitudinal side (101) of the housing (100); 12. The actuator for positioning a pivot member according to claim 11, wherein the yoke (170) has a linear outer edge (173) at the first tooth (116) such that a surface is formed that is complementary to an adjacent surface of the housing.

12. The motion reduction gear train (120) comprises: a first shaft (125) for guiding the gear wheel of the first upper gear (121); a connecting pinion (142) located at an intermediate level; Including, The gear wheel of the first upper gear (121) meshes with the pinion (141) mounted on the shaft (124) of the rotor of the motor; The connecting pinion (142) meshes with a gear wheel (122) of a second gear guided by a second shaft (126); The gear wheel (122) of the second gear is connected to a third pinion (143) located at a lower level; 12. An actuator for positioning a pivot member according to claim 1 or 11, characterized in that the third pinion (143) meshes with a transmission ring gear (129) that drives the output shaft (127).

13. the rotating shafts (124, 125, 127) of the rotor (113) of the first intermediate gear (121) and the rotating shafts (124, 125, 127) of the output wheel (123) are parallel and lie near a mid-plane (153); the central plane extends along a longitudinal direction of the actuator; 13. An actuator for positioning a pivot member according to claim 12, characterized in that the vicinity of the central plane (153) is limited to a distance not exceeding 5% of the width (l) of the actuator (1).

14. 12. The actuator for positioning a pivot member according to claim 11, characterized in that the rear face has a connector (135) engaged in the space between the first winding tooth (114) and the second winding tooth (115).

15. an electronic board (130) containing control means for the windings (112); The electronic board (130) extends above the electric motor (110); The connector (135) has parallel conductive pins (136, 137, 138, 139) overmolded with a retaining member; 15. The actuator for positioning a pivot member according to claim 14, wherein the retaining member has two cylindrical tenons that are perpendicular to the pins and can be inserted into holes in the electronic board (130), thereby holding the connector (135) in place until secured by brazing.

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