EP0774586B1 - Fluid operated rotary actuator - Google Patents

Fluid operated rotary actuator Download PDF

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Publication number
EP0774586B1
EP0774586B1 EP96116969A EP96116969A EP0774586B1 EP 0774586 B1 EP0774586 B1 EP 0774586B1 EP 96116969 A EP96116969 A EP 96116969A EP 96116969 A EP96116969 A EP 96116969A EP 0774586 B1 EP0774586 B1 EP 0774586B1
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EP
European Patent Office
Prior art keywords
coupling
rotary drive
coupling section
output shaft
drive according
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Lifetime
Application number
EP96116969A
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German (de)
French (fr)
Other versions
EP0774586A2 (en
EP0774586A3 (en
Inventor
Kurt Dr. Stoll
Michael Streck
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Festo SE and Co KG
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Festo SE and Co KG
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Publication date
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Publication of EP0774586A2 publication Critical patent/EP0774586A2/en
Publication of EP0774586A3 publication Critical patent/EP0774586A3/en
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Publication of EP0774586B1 publication Critical patent/EP0774586B1/en
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Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B15/00—Fluid-actuated devices for displacing a member from one position to another; Gearing associated therewith
    • F15B15/08—Characterised by the construction of the motor unit
    • F15B15/12—Characterised by the construction of the motor unit of the oscillating-vane or curved-cylinder type
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B15/00—Fluid-actuated devices for displacing a member from one position to another; Gearing associated therewith
    • F15B15/20—Other details, e.g. assembly with regulating devices
    • F15B15/28—Means for indicating the position, e.g. end of stroke
    • F15B15/2815—Position sensing, i.e. means for continuous measurement of position, e.g. LVDT
    • F15B15/2853—Position sensing, i.e. means for continuous measurement of position, e.g. LVDT using potentiometers

Definitions

  • the invention relates to a fluid-operated rotary drive, with a drive housing, one of which rotates drivable, arranged in the drive housing Drive means cooperating output shaft rotatably on which one protrudes from the drive housing co-rotating control section is provided with Positioning means that interacts with positioning enable the output shaft in certain rotational angle positions.
  • a fluid-operated rotary drive of this type goes from DE 39 41 255 C2. It has a drive housing, included in the drive means containing a swivel wing are with a protruding from the housing Output shaft are connected. On the output shaft can one back and forth in particular outgoing, that is drivable oscillating rotary movement Define component.
  • One of a wave section the control section formed on the output shaft acts with positioning means together, which comprise a stop device, with which the angle of rotation of the output shaft can be variably specified.
  • variable Positioning within the maximum rotation angle range are not, however, at least not with accuracy, executable.
  • the positioning means comprise a position detection device, the one firmly connected to the drive housing Base body and a rotatably mounted on the base body
  • first detection means to be connected to an evaluation device and on the rotating body during its rotational movement
  • second detection means moving along the first detection means are arranged that on the rotating body non-circular profiled first coupling section and the control section is coaxial with the first coupling section, non-circular profiled second coupling section is provided and that a coupling part is present, that about complementary coupling parts to the coupling parts has it at the same time with the two coupling parts in positive engagement stands, and that to compensate for misalignments at least between the longitudinal axes of the coupling parts is partially designed as an elastic body.
  • the rotary drive with a position detection device equipped which enables Intermediate values between the maximum possible rotation angle positions to detect the output shaft.
  • This allows the Output shaft precisely positioned even in intermediate positions be, and / or depending on certain Intermediate positions of the output shaft determined Initiate operations.
  • the Position detection device as a potentiometer device trained in which the second detection means are formed by at least one sliding contact, the one belonging to the first means of registration circular arc-shaped resistance strips, so that the connected evaluation device due to resistance values that can be determined in each case to the current Angle position of the driven part can close.
  • the Connection between the position detection device and the control section of the output shaft is via a coupling part manufactured, which is preferably releasable insertion with profiled coupling sections of the control section and that in the case of the potentiometer device standing contact bearing rotating body.
  • a coupling part interposed, at least in part as more compliant Is formed elastic body, the occurring Alignment errors compensate without the exact turning entrainment to interfere.
  • the coupling part expediently consists completely made of material with rubber-elastic properties, it being can be designed as a rubber part or elastomer part.
  • first coupling section on Rotating body as an inner profile and the second coupling section run on the control section as an outer profile, the Mating coupling parts via complementary profiles feature.
  • the two counter coupling parts on the coupling part are preferred so arranged that they are at least partially and preferably enclose concentrically over its entire length.
  • the coupling part is advantageously as Ring part executed.
  • the positioning means are expediently under one in particular, hood-like cover part protected, the cover part detachably on the drive housing is fixed and the basic body of the position detection device in turn attached to the cover is.
  • the position detection device is expedient realized in combination with an anchor device, which latter can be used to oscillate Operation the maximum possible angle of rotation Output shaft, in particular variably adjustable to specify.
  • the rotary actuator according to the example has a drive housing 1 designated housing in multi-part Construction that has a work space 2 inside.
  • the Drive housing 1 including the work area 2 is penetrated by an output shaft 3, which via suitable Bearing devices 4 on the drive housing 1 rotatable is stored.
  • Drive means 5 are arranged in the work space 2 in the exemplary embodiment comprise a swivel wing 6, the one in non-rotatable connection with the output shaft 3 stands. It is on the output shaft 3 with respect to their Longitudinal axis 7 pivotally mounted, being within the Swiveling movement with the interposition of a seal 8 slides along the inner circumference of the work space 2.
  • On additional room divider 9 inserted in the work area 2 ensures that the workroom 2 in two is not closer pressurization spaces shown is subdivided, which via connection openings 12 optionally with an actuating fluid can be pressurized or vented.
  • Actuating fluid is particularly suitable for compressed air.
  • the Swivel wing 6 By appropriately controlling the fluid supply, the Swivel wing 6 to an oscillating swivel movement the longitudinal axis 7 are driven. Because of the non-rotating Connection with the output shaft 3 leads this thus a rotary movement, with its longitudinal axis 7 the Axis of rotation forms.
  • the rotary movement can be done on one the drive housing 1 outstanding tapping section 13 of the Tap the output shaft 3 to any component rotate or swivel.
  • the tapping section 13 is located on the front of the Drive housing 1. On the opposite rear of the housing the output shaft 3 also projects over the Drive housing 1 addition, with a control section 14. This works together with positioning means that are generally designated by reference number 15.
  • a stop device is located under the positioning means 15 16, which is rotatably attached to the control section 14 fixed, projecting radially from this wing-like Has pivot stop 17.
  • this pivot stop 17 are one or more on Drive housing 1 anchored counter stops 18 arranged, 3 of which is shown in FIG.
  • the counterstops 18 give the output shaft 3 the maximum possible Swivel angle before, so practically the end positions of the Rotational movement by reaching the pivot stop 17 the relevant end position on one of the counter stops 18 accumulates.
  • the positioning means 15 enable a positioning of the output shaft 3 in certain Angle of rotation positions also within the through the anchor device 16 predetermined end positions.
  • the positioning means 15 of the further a position detection device 23, the together with the stop device 16 under a pot or hood-like cover part 24 that sits with the open Side ahead on the rear of the drive housing 1 is releasably set.
  • a locking connection device can be used for fixing used in the embodiment over several over the edge 25 of the opening of the cover 24 distributed locking projections 26th has in a groove-like recess 27 on the drive housing 1 can snap into place.
  • the position detection device has a fixed with the drive housing 1 connected base body 32 firm connection is, for example, via the cover part 24 achieved.
  • the base body 32 is on the inside Bottom 33 of the cover part 24 attached, which according to the example by means of screws 34.
  • the position detection device 23 also has via a rotating body 35 which is rotatable on the base body 32 is stored.
  • An intermediate storage facility can be seen at 36.
  • the base body 32 and the rotating body 35 form in the embodiment an annular housing that is protective receives first and second detection means 36, 37.
  • the first detection means 36 are fixed on the base body 32, while the second detection means 37 on the Rotating body 35 are attached.
  • the assignment is made that the second detection means 37 when twisted of the rotating body 35 relative to the base body 32 run along the first detection means 36.
  • Based on current relative position between the first and second Detection means 36, 37 can be based on the current angle of rotation position of the rotating body 35 with respect to the base body 35 can be closed.
  • a position detection device 23 a very precise and proportionate simply constructed potentiometer device 38 for use.
  • Your first detection means 36 have, for example via a resistance strip 43 with a circular arc Longitudinal course and a concentric to this arranged neutral conductor 44 with the lowest possible resistance.
  • These first detection means 36 are, as well 4, with a connector 45 in electrical connection, via the one not shown electronic evaluation device connected can be.
  • the first detection means are expedient 36 arranged on a circuit board 46 which in Inside the housing of the potentiometer device 38 on the Base body 32 is fixed.
  • the second detection means 37 is in the potentiometer device 38 a sliding contact 47 is provided, which on Rotary body 35 is attached and at the same time with the Resistance strip 43 and the neutral conductor 44 in electrical Touch contact is.
  • a suitable sealing device 48 turned on the example consists of several sealing rings.
  • a coupling part 51 is provided for the rotationally fixed connection between the rotating body 35 and the output shaft 3. It stands both with the rotating body 35 and with the Control section 14 of the output shaft 3 in a positive axial engagement.
  • a non-circular shape is formed on the rotating body 35 contoured first coupling section 52 provided with a complementary first counter coupling part 54 of the Coupling part 51 is in engagement.
  • the control section 14 also has a non-circular shape contoured second coupling section 53 with a complementarily contoured second counter coupling section 55 of the coupling part 51 is also in mating engagement.
  • the clutch and counter clutch parts 52, 53, 54, 55 are of the type of Multi-spline profiles, as used for spline shafts Application.
  • the first coupling section 52 is preferably an inner profile designed and in the annular recess 59 of the annular Rotating body 35 arranged. Is accordingly the first counter coupling part 54 has an outer profile.
  • the second clutch section provided on the control section 14 53 is formed by an outer profile, so that the assigned second counter-coupling part 55 of the coupling part 51 is an inner profile.
  • the pitch circle diameter in the area of the first coupling section 52 and the first counter-coupling section 54 larger than that in the area of the second coupling section 53 and the second counter-coupling section 55. Due to the Difference in diameter, it is possible to the two counter coupling parts 54, 55 to be provided on the coupling part 51 in such a way that they overlap at least partially axially and enclose concentrically. This results in one small axial length and a power transmission in about in the same radial plane.
  • the coupling part 51 is expediently around a ring part.
  • the first counter-coupling section 54 extends over the outer circumference, the second counter coupling section 55 over the inner circumference of this ring part.
  • Both counter coupling parts 54, 55 can by radial stop collars 56 projecting outwards or inwards be limited to the fitting or insertion dimension for the first and limit the second coupling section 52, 53 and the plug-in assembly facilitate.
  • the coupling part 51 In addition to the torque transmission from the output shaft 3 to the rotating body 35, the coupling part 51 still has the another essential task, due to production and assembly misalignment occurring between the longitudinal axes 57, 58 of the two coupling parts 52, 53 to compensate. In other words, misalignment compensation takes place between the longitudinal axes of the rotating body 35 and the tax section 14.
  • Tensions of this type can be in the inventive Rotary drive does not occur because the coupling part 51st is at least partially designed as an elastic body compensates for the misalignment mentioned.
  • the existing one Rubber elasticity allows deformations in particular Radial direction, so that an existing transverse offset or in Operation flexibly recorded tumbling movements without affecting the rotary driving connection.
  • a rubber or elastomer material is expedient chosen that is sufficiently stiff to the required Ensure turning driving, nonetheless however the required limited compensatory movements to allow. Since the rotating body 35 is relatively light running on the base body 32 is the torque load that occurs very low, so that the described Working conditions easily with a not too harsh and not let too soft rubber material be realized.
  • the coupling part is advantageously of one piece Elastic body made of material with rubber-elastic properties. He can therefore be very easy to manufacture.
  • the coupling part 51 is by means of the stop collars 56 safely between the rotating body 35 and the Tax section 14 held, the latter not otherwise necessarily an integral part of the output shaft 3 must be.
  • the output shaft 3 With the help of the position detection device 23, a easy positioning of the output shaft 3 within the maximum possible angle of rotation range.
  • the output shaft 3 depending on certain detected angles of rotation in any rotational position within the maximum Angular range can be stopped or positioned. For example, this is conveniently done by simultaneous fluid loading of the two from the swivel wing 6 separate chambers of the work area 2.

Description

Die Erfindung betrifft einen fluidbetätigten Drehantrieb, mit einem Antriebsgehäuse, an dem eine zu einer Drehbewegung antreibbare, mit im Antriebsgehäuse angeordneten Antriebsmitteln zusammenarbeitende Abtriebswelle drehgelagert ist, an der eine aus dem Antriebsgehäuse herausragende mitdrehende Steuerpartie vorgesehen ist, die mit Positioniermitteln zusammenwirkt, die eine Positionierung der Abtriebswelle in bestimmten Drehwinkelpositionen ermöglichen.The invention relates to a fluid-operated rotary drive, with a drive housing, one of which rotates drivable, arranged in the drive housing Drive means cooperating output shaft rotatably on which one protrudes from the drive housing co-rotating control section is provided with Positioning means that interacts with positioning enable the output shaft in certain rotational angle positions.

Ein fluidbetätigter Drehantrieb dieser Art geht aus der DE 39 41 255 C2 hervor. Er verfügt über ein Antriebsgehäuse, in dem einen Schwenkflügel enthaltende Antriebsmittel aufgenommen sind, die mit einer aus dem Gehäuse herausragenden Abtriebswelle verbunden sind. An der Abtriebswelle läßt sich ein zu einer insbesondere hin und her gehenden, das heißt oszillierenden Drehbewegung antreibbares Bauteil festlegen. Eine von einem Wellenabschnitt der Abtriebswelle gebildete Steuerpartie wirkt mit Positioniermitteln zusammen, die eine Anschlageinrichtung umfassen, mit der sich der Drehwinkel der Abtriebswelle variabel vorgeben läßt.A fluid-operated rotary drive of this type goes from DE 39 41 255 C2. It has a drive housing, included in the drive means containing a swivel wing are with a protruding from the housing Output shaft are connected. On the output shaft can one back and forth in particular outgoing, that is drivable oscillating rotary movement Define component. One of a wave section the control section formed on the output shaft acts with positioning means together, which comprise a stop device, with which the angle of rotation of the output shaft can be variably specified.

Bei dem bekannten Drehantrieb lassen sich zwar die Endpositionen der Drehbewegung exakt vorgeben. Variable Positionierungen innerhalb des maximalen Drehwinkelbereiches sind jedoch nicht, zumindest nicht mit Exaktheit, ausführbar.In the known rotary drive, the end positions can be precisely specify the rotary movement. variable Positioning within the maximum rotation angle range are not, however, at least not with accuracy, executable.

Es ist daher die Aufgabe der vorliegenden Erfindung, einen Drehantrieb der eingangs genannten Art zu schaffen, der eine variablere und dennoch exakte Positionierung der Abtriebswelle ermöglicht.It is therefore the object of the present invention, a To create a rotary drive of the type mentioned, the a more variable, yet exact positioning of the Output shaft allows.

Zur Lösung dieser Aufgabe ist vorgesehen, daß die Positioniermittel eine Positionserfassungseinrichtung umfassen, die einen fest mit dem Antriebsgehäuse verbundenen Grundkörper und einen an dem Grundkörper drehbar gelagerten Drehkörper aufweisen, wobei an dem Grundkörper mit einer Auswerteeinrichtung zu verbindende erste Erfassungsmittel und an dem Drehkörper sich bei dessen Drehbewegung entlang den ersten Erfassungsmitteln bewegende zweite Erfassungsmittel angeordnet sind, daß an dem Drehkörper eine unkreisförmige profilierte erste Kupplungspartie und an der Steuerpartie eine zu der ersten Kupplungspartie koaxiale, unkreisförmig profilierte zweite Kupplungspartie vorgesehen ist, und daß ein Kupplungsteil vorhanden ist, das über zu den Kupplungspartien komplementäre Gegenkupplungspartien verfügt, über die es gleichzeitig mit den beiden Kupplungspartien in formschlüssigem Steckeingriff steht, und das zum Ausgleich von Fluchtungsfehlern zwischen den Längsachsen der Kupplungspartien zumindest teilweise als Elastikkörper ausgebildet ist.To solve this problem it is provided that the positioning means comprise a position detection device, the one firmly connected to the drive housing Base body and a rotatably mounted on the base body Have rotating body, with on the base body first detection means to be connected to an evaluation device and on the rotating body during its rotational movement second detection means moving along the first detection means are arranged that on the rotating body non-circular profiled first coupling section and the control section is coaxial with the first coupling section, non-circular profiled second coupling section is provided and that a coupling part is present, that about complementary coupling parts to the coupling parts has it at the same time with the two coupling parts in positive engagement stands, and that to compensate for misalignments at least between the longitudinal axes of the coupling parts is partially designed as an elastic body.

Auf diese Weise ist der Drehantrieb mit einer Positionserfassungseinrichtung ausgestattet, die es ermöglicht, Zwischenwerte zwischen den maximal möglichen Drehwinkelpositionen der Abtriebswelle zu erfassen. Dadurch kann die Abtriebswelle auch in Zwischenstellungen exakt positioniert werden, und/oder man kann in Abhängigkeit von gewissen Zwischenstellungen der Abtriebswelle bestimmte Vorgänge veranlassen. In bevorzugter Ausgestaltung ist die Positionserfassungseinrichtung als Potentiometereinrichtung ausgebildet, bei der die zweiten Erfassungsmittel von wenigstens einem Schleifkontakt gebildet sind, der an einem zu den ersten Erfassungsmitteln gehörenden kreisbogenförmigen Widerstandsstreifen entlanggleitet, so daß die angeschlossene Auswerteeinrichtung auf Grund der jeweils ermittelbaren Widerstandswerte auf die aktuelle Drehwinkelposition des Abtriebsteils schließen kann. Die Verbindung zwischen der Positionserfassungseinrichtung und der Steuerpartie der Abtriebswelle wird über ein Kupplungsteil hergestellt, das in vorzugsweise lösbarem Steckeingriff mit profilierten Kupplungspartien der Steuerpartie und des im Falle der Potentiometereinrichtung schleifkontakttragenden Drehkörpers steht. Um Fehlermessungen und auch Beschädigungen der Bauteile zu vermeiden, die von fertigungs- und/oder montagebedingten Fluchtungsfehlern zwischen den Längsachsen der Kupplungspartien hervorgerufen werden könnten, ist ein Kupplungsteil zwischengeschaltet, das zumindest teilweise als nachgiebiger Elastikkörper ausgebildet ist, der die auftretenden Fluchtungsfehler ausgleicht, ohne die exakte Drehmitnahme zu beeinträchten.In this way, the rotary drive with a position detection device equipped which enables Intermediate values between the maximum possible rotation angle positions to detect the output shaft. This allows the Output shaft precisely positioned even in intermediate positions be, and / or depending on certain Intermediate positions of the output shaft determined Initiate operations. In a preferred embodiment, the Position detection device as a potentiometer device trained in which the second detection means are formed by at least one sliding contact, the one belonging to the first means of registration circular arc-shaped resistance strips, so that the connected evaluation device due to resistance values that can be determined in each case to the current Angle position of the driven part can close. The Connection between the position detection device and the control section of the output shaft is via a coupling part manufactured, which is preferably releasable insertion with profiled coupling sections of the control section and that in the case of the potentiometer device standing contact bearing rotating body. To measure errors and also to avoid damage to the components, those of manufacturing and / or assembly related Misalignment between the longitudinal axes of the coupling parts could be caused is a coupling part interposed, at least in part as more compliant Is formed elastic body, the occurring Alignment errors compensate without the exact turning entrainment to interfere.

Vorteilhafte Weiterbildungen der Erfindung gehen aus den Unteransprüchen hervor.Advantageous developments of the invention can be seen in the Sub-claims emerge.

Zweckmäßigerweise besteht das Kupplungsteil vollständig aus Material mit gummielastischen Eigenschaften, wobei es als Gummiteil oder Elastomerteil ausgeführt sein kann.The coupling part expediently consists completely made of material with rubber-elastic properties, it being can be designed as a rubber part or elastomer part.

Es ist ferner zweckmäßig, die erste Kupplungspartie am Drehkörper als Innenprofil und die zweite Kupplungspartie an der Steuerpartie als Außenprofil auszuführen, wobei die Gegenkupplungspartien über komplementäre Profilierungen verfügen. It is also appropriate to the first coupling section on Rotating body as an inner profile and the second coupling section run on the control section as an outer profile, the Mating coupling parts via complementary profiles feature.

Bevorzugt sind die beiden Gegenkupplungspartien am Kupplungsteil so angeordnet, daß sie sich zumindest teilweise und vorzugsweise über ihre gesamte Länge konzentrisch umschließen. Das Kupplungsteil ist zweckmäßigerweise als Ringteil ausgeführt.The two counter coupling parts on the coupling part are preferred so arranged that they are at least partially and preferably enclose concentrically over its entire length. The coupling part is advantageously as Ring part executed.

Die unkreisförmigen Profilierungen der Kupplungs- und Gegenkupplungspartien erreicht man zweckmäßigerweise durch Verwendung von Mehrkantprofilen, wobei sich Vielkeilprofile vergleichbar dem Profil von sogenannten Keilwellen als besonders geeignet erwiesen haben.The non-circular profiles of the coupling and Counter-coupling parts are expediently reached by Use of polygonal profiles, with multiple wedge profiles comparable to the profile of so-called spline shafts have proven to be particularly suitable.

Zweckmäßigerweise sind die Positioniermittel unter einem insbesondere haubenartigen Abdeckteil geschützt untergebracht, wobei das Abdeckteil lösbar am Antriebsgehäuse festgelegt ist und der Grundkörper der Positionserfassungseinrichtung seinerseits an dem Abdeckteil angebracht ist.The positioning means are expediently under one in particular, hood-like cover part protected, the cover part detachably on the drive housing is fixed and the basic body of the position detection device in turn attached to the cover is.

Zweckmäßigerweise ist die Positionserfassungseinrichtung in Kombination mit einer Anschlageinrichtung verwirklicht, welche letztere dazu verwendet werden kann, um bei oszillierendem Betrieb den maximal möglichen Drehwinkel der Abtriebswelle, insbesondere variabel einstellbar, vorzugeben. The position detection device is expedient realized in combination with an anchor device, which latter can be used to oscillate Operation the maximum possible angle of rotation Output shaft, in particular variably adjustable to specify.

Nachfolgend wird die Erfindung anhand der beiliegenden Zeichnung näher erläutert. In dieser zeigen:

Fig. 1
eine erste Bauform des erfindungsgemäßen Drehantriebes in perspektivischer Darstellung,
Fig. 2
den Drehantrieb aus Fig. 1 aus anderem Blickwinkel in Explosionsdarstellung,
Fig. 3
den Drehantrieb aus Fig. 1 im Längsschnitt gemäß Schnittlinie III-III aus Fig. 1 und
Fig. 4
den prinzipiellen Funktionsaufbau der beim Ausführungsbeispiel verwirklichten Potentiometereinrichtung in schematischer Darstellung, etwa entsprechend Schnittlinie IV-IV aus Fig. 3.
The invention is explained in more detail below with reference to the accompanying drawing. In this show:
Fig. 1
a first design of the rotary drive according to the invention in a perspective view,
Fig. 2
1 from another perspective in an exploded view,
Fig. 3
the rotary drive from Fig. 1 in longitudinal section along section line III-III of Fig. 1 and
Fig. 4
the basic functional structure of the potentiometer device implemented in the exemplary embodiment in a schematic representation, approximately corresponding to section line IV-IV from FIG. 3.

Der beispielsgemäße Drehantrieb verfügt über ein als Antriebsgehäuse 1 bezeichnetes Gehäuse in mehrteiliger Bauweise, das im Innern einen Arbeitsraum 2 aufweist. Das Antriebsgehäuse 1 einschließlich des Arbeitsraumes 2 ist von einer Abtriebswelle 3 durchsetzt, die über geeignete Lagereinrichtungen 4 an dem Antriebsgehäuse 1 drehbar gelagert ist.The rotary actuator according to the example has a drive housing 1 designated housing in multi-part Construction that has a work space 2 inside. The Drive housing 1 including the work area 2 is penetrated by an output shaft 3, which via suitable Bearing devices 4 on the drive housing 1 rotatable is stored.

In dem Arbeitsraum 2 sind Antriebsmittel 5 angeordnet, die beim Ausführungsbeispiel einen Schwenkflügel 6 umfassen, der in drehfester Verbindung mit der Abtriebswelle 3 steht. Er ist über die Abtriebswelle 3 bezüglich deren Längsachse 7 schwenkbar gelagert, wobei er im Rahmen der Schwenkbewegung unter Zwischenschaltung einer Dichtung 8 am Innenumfang des Arbeitsraums 2 entlanggleitet. Ein zusätzlich in den Arbeitsraum 2 eingesetzter Raumteiler 9 sorgt dafür, daß der Arbeitsraum 2 in zwei nicht näher dargestellte Druckbeaufschlagungsräume unterteilt wird, die über Anschlußöffnungen 12 wahlweise mit einem Betätigungsfluid beaufschlagt oder entlüftet werden können. Als Betätigungsfluid kommt insbesondere Druckluft in Betracht.Drive means 5 are arranged in the work space 2 in the exemplary embodiment comprise a swivel wing 6, the one in non-rotatable connection with the output shaft 3 stands. It is on the output shaft 3 with respect to their Longitudinal axis 7 pivotally mounted, being within the Swiveling movement with the interposition of a seal 8 slides along the inner circumference of the work space 2. On additional room divider 9 inserted in the work area 2 ensures that the workroom 2 in two is not closer pressurization spaces shown is subdivided, which via connection openings 12 optionally with an actuating fluid can be pressurized or vented. As Actuating fluid is particularly suitable for compressed air.

Durch entsprechende Steuerung der Fluidzufuhr kann der Schwenkflügel 6 zu einer oszillierenden Schwenkbewegung um die Längsachse 7 angetrieben werden. Auf Grund der drehfesten Verbindung mit der Abtriebswelle 3 führt diese somit eine Drehbewegung aus, wobei ihre Längsachse 7 die Drehachse bildet. Die Drehbewegung läßt sich an einer aus dem Antriebsgehäuse 1 herausragenden Abgreifpartie 13 der Abtriebswelle 3 abgreifen, um ein beliebiges Bauteil zu drehen oder zu verschwenken.By appropriately controlling the fluid supply, the Swivel wing 6 to an oscillating swivel movement the longitudinal axis 7 are driven. Because of the non-rotating Connection with the output shaft 3 leads this thus a rotary movement, with its longitudinal axis 7 the Axis of rotation forms. The rotary movement can be done on one the drive housing 1 outstanding tapping section 13 of the Tap the output shaft 3 to any component rotate or swivel.

Die Abgreifpartie 13 befindet sich an der Vorderseite des Antriebsgehäuses 1. An der entgegengesetzten Gehäuse-Rückseite ragt die Abtriebswelle 3 ebenfalls über das Antriebsgehäuse 1 hinaus, und zwar mit einer Steuerpartie 14. Diese arbeitet mit Positioniermitteln zusammen, die allgemein durch Bezugsziffer 15 bezeichnet sind.The tapping section 13 is located on the front of the Drive housing 1. On the opposite rear of the housing the output shaft 3 also projects over the Drive housing 1 addition, with a control section 14. This works together with positioning means that are generally designated by reference number 15.

Unter den Positioniermitteln 15 befindet sich eine Anschlageinrichtung 16, die einen drehfest an der Steuerpartie 14 festgelegten, von dieser flügelartig radial abstehenden Schwenkanschlag 17 aufweist. Im Schwenkweg dieses Schwenkanschlages 17 sind ein oder mehrere am Antriebsgehäuse 1 verankerte Gegenanschläge 18 angeordnet, von denen in Fig. 3 einer abgebildet ist. Die Gegenanschläge 18 geben der Abtriebswelle 3 den maximal möglichen Schwenkwinkel vor, also praktisch die Endlagen der Drehbewegung, indem der Schwenkanschlag 17 beim Erreichen der betreffenden Endlage auf einen der Gegenanschläge 18 aufläuft.A stop device is located under the positioning means 15 16, which is rotatably attached to the control section 14 fixed, projecting radially from this wing-like Has pivot stop 17. In the swivel path this pivot stop 17 are one or more on Drive housing 1 anchored counter stops 18 arranged, 3 of which is shown in FIG. The counterstops 18 give the output shaft 3 the maximum possible Swivel angle before, so practically the end positions of the Rotational movement by reaching the pivot stop 17 the relevant end position on one of the counter stops 18 accumulates.

Um den maximal möglichen Drehwinkel variabel einstellen zu können, sind die Gegenanschläge 18 an einer mit dem Antriebsgehäuse 1 verbundenen und konzentrisch zur Abtriebswelle 3 angeordneten Kreisbogenführung 22 verstellbar geführt und können stufenlos in beliebigen Positionen lösbar gehäusefest festgesetzt werden.To variably set the maximum possible angle of rotation can, the counter stops 18 on one with the drive housing 1 connected and concentric to the output shaft 3 arranged circular arc guide 22 adjustable guided and can be steplessly in any position releasably fixed to the housing.

Weitere Details des fluidbetätigten Drehantriebes können aus der DE 39 41 255 C2 entnommen werden, so daß sich an dieser Stelle weitere Ausführungen erübrigen.Further details of the fluid-operated rotary actuator can be found can be taken from DE 39 41 255 C2, so that there is no need for further explanations here.

Die erfindungsgemäßen Positioniermittel 15 ermöglichen eine Positionierung der Abtriebswelle 3 in bestimmten Drehwinkelpositionen auch innerhalb der durch die Anschlageinrichtung 16 vorgegebenen Endlagen.The positioning means 15 according to the invention enable a positioning of the output shaft 3 in certain Angle of rotation positions also within the through the anchor device 16 predetermined end positions.

Zu diesem Zweck umfassen die Positioniermittel 15 des weiteren eine Positionserfassungseinrichtung 23, die gemeinsam mit der Anschlageinrichtung 16 unter einem topf- bzw. haubenartigen Abdeckteil 24 sitzt, das mit der offenen Seite voraus an der Rückseite des Antriebsgehäuses 1 lösbar festgelegt ist. Zur Fixierung kann eine Rastverbindungseinrichtung verwendet werden, die beim Ausführungsbeispiel über mehrere über den Rand 25 der Öffnung des Abdeckteils 24 verteilt angeordnete Rastvorsprünge 26 verfügt, die in eine nutartige Vertiefung 27 am Antriebsgehäuse 1 einrasten können. Es sind Ausrichtmittel 28, 28' vorhanden, die eine Montage des Abdeckteils 24 lediglich in einer ganz bestimmten Winkelausrichtung an dem Antriebsgehäuse 1 ermöglichen. Sie umfassen beispielsgemäß einen rippenartigen Vorsprung 28, der bei korrekter Winkellage in eine komplementäre Vertiefung 28' des Antriebsgehäuses 1 einsteckbar ist.For this purpose, the positioning means 15 of the further a position detection device 23, the together with the stop device 16 under a pot or hood-like cover part 24 that sits with the open Side ahead on the rear of the drive housing 1 is releasably set. A locking connection device can be used for fixing used in the embodiment over several over the edge 25 of the opening of the cover 24 distributed locking projections 26th has in a groove-like recess 27 on the drive housing 1 can snap into place. There are alignment means 28, 28 ' available, the assembly of the cover part 24 only in a very specific angular orientation on the drive housing 1 enable. They include, for example a rib-like projection 28 which, when correct Angular position in a complementary recess 28 'of the drive housing 1 can be inserted.

Die Positionserfassungseinrichtung verfügt über einen fest mit dem Antriebsgehäuse 1 verbundenen Grundkörper 32. Die feste Verbindung wird beispielsgemäß über das Abdeckteil 24 erzielt. Der Grundkörper 32 ist von innen her an den Boden 33 des Abdeckteils 24 angesetzt, was beispielsgemäß mittels Schrauben 34 erfolgt.The position detection device has a fixed with the drive housing 1 connected base body 32 firm connection is, for example, via the cover part 24 achieved. The base body 32 is on the inside Bottom 33 of the cover part 24 attached, which according to the example by means of screws 34.

Des weiteren verfügt die Positionserfassungseinrichtung 23 über einen Drehkörper 35, der an dem Grundkörper 32 drehbar gelagert ist. Eine zwischengeschaltete Lagereinrichtung ist bei 36 erkennbar.The position detection device 23 also has via a rotating body 35 which is rotatable on the base body 32 is stored. An intermediate storage facility can be seen at 36.

Der Grundkörper 32 und der Drehkörper 35 bilden beim Ausführungsbeispiel ein ringförmiges Gehäuse, das schützend erste und zweite Erfassungsmittel 36, 37 aufnimmt. Die ersten Erfassungsmittel 36 sind am Grundkörper 32 festgelegt, während die zweiten Erfassungsmittel 37 an dem Drehkörper 35 befestigt sind. Die Zuordnung ist so getroffen, daß die zweiten Erfassungsmittel 37 beim Verdrehen des Drehkörpers 35 relativ zum Grundkörper 32 an den ersten Erfassungsmitteln 36 entlanglaufen. Anhand der momentanen Relativposition zwischen den ersten und zweiten Erfassungsmitteln 36, 37 kann auf die momentane Drehwinkelstellung des Drehkörpers 35 bezüglich des Grundkörpers 35 geschlossen werden.The base body 32 and the rotating body 35 form in the embodiment an annular housing that is protective receives first and second detection means 36, 37. The first detection means 36 are fixed on the base body 32, while the second detection means 37 on the Rotating body 35 are attached. The assignment is made that the second detection means 37 when twisted of the rotating body 35 relative to the base body 32 run along the first detection means 36. Based on current relative position between the first and second Detection means 36, 37 can be based on the current angle of rotation position of the rotating body 35 with respect to the base body 35 can be closed.

Beim Ausführungsbeispiel kommt als Positionserfassungseinrichtung 23 eine sehr exakt arbeitende und verhältnismäßig einfach aufgebaute Potentiometereinrichtung 38 zum Einsatz. Ihre ersten Erfassungsmittel 36 verfügen beispielsgemäß über einen Widerstandsstreifen 43 mit kreisbogenförmigem Längsverlauf und einem konzentrisch zu diesem angeordneten Null-Leiter 44 mit möglichst geringem Widerstand. Diese ersten Erfassungsmittel 36 stehen, wie auch aus Fig. 4 hervorgeht, mit einem Steckverbindungsteil 45 in elektrischer Verbindung, über das eine nicht näher dargestellte elektronische Auswerteeinrichtung angeschlossen werden kann. Zweckmäßigerweise sind die ersten Erfassungsmittel 36 an einer Leiterplatte 46 angeordnet, die im Innern des Gehäuses der Potentiometereinrichtung 38 an dem Grundkörper 32 festgelegt ist.In the exemplary embodiment comes as a position detection device 23 a very precise and proportionate simply constructed potentiometer device 38 for use. Your first detection means 36 have, for example via a resistance strip 43 with a circular arc Longitudinal course and a concentric to this arranged neutral conductor 44 with the lowest possible resistance. These first detection means 36 are, as well 4, with a connector 45 in electrical connection, via the one not shown electronic evaluation device connected can be. The first detection means are expedient 36 arranged on a circuit board 46 which in Inside the housing of the potentiometer device 38 on the Base body 32 is fixed.

Als zweite Erfassungsmittel 37 ist bei der Potentiometereinrichtung 38 ein Schleifkontakt 47 vorgesehen, der am Drehkörper 35 befestigt ist und gleichzeitig mit dem Widerstandsstreifen 43 und dem Null-Leiter 44 in elektrischem Berührkontakt steht.The second detection means 37 is in the potentiometer device 38 a sliding contact 47 is provided, which on Rotary body 35 is attached and at the same time with the Resistance strip 43 and the neutral conductor 44 in electrical Touch contact is.

Entsprechend der momentanen Drehstellung des Drehkörpers 35 ergeben sich unterschiedlich lange stromdurchflossene Längenabschnitte des Widerstandsstreifens 43 und somit unterschiedliche elektrische Widerstände. Anhand des momentan gemessenen elektrischen Widerstandes kann die Auswerteeinrichtung die Relativposition zwischen dem Grundkörper 32 und dem Drehkörper 35 bestimmen.According to the current rotational position of the rotating body 35 result in different lengths of current Longitudinal sections of the resistance strip 43 and thus different electrical resistances. Based on the currently measured electrical resistance can Evaluation device the relative position between the Determine the base body 32 and the rotating body 35.

Um zu verhindern, daß die Erfassungsmittel 36, 37 Verschmutzung und Feuchtigkeit ausgesetzt werden, ist zwischen den Drehkörper 35 und den Grundkörper 32 eine geeignete Dichtungseinrichtung 48 eingeschaltet, die beispielsgemäß aus mehreren Dichtringen besteht.To prevent the detection means 36, 37 pollution and exposed to moisture between the rotating body 35 and the base body 32 a suitable sealing device 48 turned on, the example consists of several sealing rings.

Um im Betrieb des Drehantriebes den momentanen Drehwinkel der Abtriebswelle 3 bezogen auf eine Ausgangsposition feststellen zu können, ist die Abtriebswelle 3 mit dem Drehkörper 35 der Positionserfassungseinrichtung 23 drehfest verbunden. Eine Drehung der Abtriebswelle 3 bewirkt somit eine Verlagerung des Schleifkontaktes 47 auf einer Kreisbogenbahn längs des Widerstandsstreifens 43, so daß in der geschilderten Art und Weise die Drehwinkelposition der Abtriebswelle 3 erfaßt werden kann.To the current angle of rotation during operation of the rotary drive the output shaft 3 based on a starting position To be able to determine the output shaft 3 with the Rotary body 35 of the position detection device 23 rotatably connected. A rotation of the output shaft 3 causes thus a displacement of the sliding contact 47 on one Circular arc along the resistance strip 43, so that in the described manner the rotational angle position of the Output shaft 3 can be detected.

Zur drehfesten Verbindung zwischen dem Drehkörper 35 und der Abtriebswelle 3 ist ein Kupplungsteil 51 vorgesehen. Es steht sowohl mit dem Drehkörper 35 als auch mit der Steuerpartie 14 der Abtriebswelle 3 in formschlüssigem axialem Steckeingriff.For the rotationally fixed connection between the rotating body 35 and the output shaft 3, a coupling part 51 is provided. It stands both with the rotating body 35 and with the Control section 14 of the output shaft 3 in a positive axial engagement.

Im einzelnen ist an dem Drehkörper 35 eine unkreisförmig konturierte erste Kupplungspartie 52 vorgesehen, die mit einer komplementären ersten Gegenkupplungspartie 54 des Kupplungsteils 51 in Steckeingriff steht. Des weiteren verfügt die Steuerpartie 14 über eine ebenfalls unkreisförmig konturierte zweite Kupplungspartie 53, die mit einer komplementär konturierten zweiten Gegenkupplungspartie 55 des Kupplungsteils 51 ebenfalls in Steckeingriff steht. Bevorzugt sind die Kupplungs- und Gegenkupplungspartien 52, 53, 54, 55 als Mehrkantprofile mit axial verlaufenden Kanten oder Zähnen ausgeführt, beispielsgemäß sind sie nach Art von Vielkeilprofilen aufgebaut, wie sie bei Keilwellen zur Anwendung gelangen.Specifically, a non-circular shape is formed on the rotating body 35 contoured first coupling section 52 provided with a complementary first counter coupling part 54 of the Coupling part 51 is in engagement. Furthermore the control section 14 also has a non-circular shape contoured second coupling section 53 with a complementarily contoured second counter coupling section 55 of the coupling part 51 is also in mating engagement. Are preferred the clutch and counter clutch parts 52, 53, 54, 55 as polygonal profiles with axially running edges or Teeth executed, for example, they are of the type of Multi-spline profiles, as used for spline shafts Application.

Die erste Kupplungspartie 52 ist vorzugsweise als Innenprofil gestaltet und in der Ringausnehmung 59 des ringförmigen Drehkörpers 35 angeordnet. Dementsprechend ist die erste Gegenkupplungspartie 54 ein Außenprofil.The first coupling section 52 is preferably an inner profile designed and in the annular recess 59 of the annular Rotating body 35 arranged. Is accordingly the first counter coupling part 54 has an outer profile.

Die an der Steuerpartie 14 vorgesehene zweite Kupplungspartie 53 ist von einem Außenprofil gebildet, so daß die zugeordnete zweite Gegenkupplungspartie 55 des Kupplungsteils 51 ein Innenprofil ist.The second clutch section provided on the control section 14 53 is formed by an outer profile, so that the assigned second counter-coupling part 55 of the coupling part 51 is an inner profile.

Der Teilkreisdurchmesser im Bereich der ersten Kupplungspartie 52 und der ersten Gegenkupplungspartie 54 ist größer als derjenige im Bereich der zweiten Kupplungspartie 53 und der zweiten Gegenkupplungspartie 55. Auf Grund des Durchmesserunterschiedes ist es möglich, die beiden Gegenkupplungspartien 54, 55 am Kupplungsteil 51 derart vorzusehen, daß sie sich wenigstens teilweise axial überlappen und konzentrisch umschließen. Daraus resultiert eine geringe axiale Baulänge und eine Kraftübertragung in etwa in der gleichen Radialebene.The pitch circle diameter in the area of the first coupling section 52 and the first counter-coupling section 54 larger than that in the area of the second coupling section 53 and the second counter-coupling section 55. Due to the Difference in diameter, it is possible to the two counter coupling parts 54, 55 to be provided on the coupling part 51 in such a way that they overlap at least partially axially and enclose concentrically. This results in one small axial length and a power transmission in about in the same radial plane.

Bei dem Kupplungsteil 51 handelt es sich zweckmäßigerweise um ein Ringteil. Die erste Gegenkupplungspartie 54 erstreckt sich über den Außenumfang, die zweite Gegenkupplungspartie 55 über den Innenumfang dieses Ringteils.The coupling part 51 is expediently around a ring part. The first counter-coupling section 54 extends over the outer circumference, the second counter coupling section 55 over the inner circumference of this ring part.

Beide Gegenkupplungspartien 54, 55 können durch radial nach außen bzw. nach innen vorstehende Anschlagbunde 56 begrenzt sein, die das Auf- bzw. Einsteckmaß für die erste und zweite Kupplungspartie 52, 53 begrenzen und die Steckmontage erleichtern.Both counter coupling parts 54, 55 can by radial stop collars 56 projecting outwards or inwards be limited to the fitting or insertion dimension for the first and limit the second coupling section 52, 53 and the plug-in assembly facilitate.

Neben der Drehmomentübertragung von der Abtriebswelle 3 zu dem Drehkörper 35 hat das Kupplungsteil 51 noch die weitere wesentliche Aufgabe, fertigungs- und montagebedingt auftretende Fluchtungsfehler zwischen den Längsachsen 57, 58 der beiden Kupplungspartien 52, 53 auszugleichen. Mit anderen Worten, es erfolgt ein Fluchtungsfehlerausgleich zwischen den Längsachsen des Drehkörpers 35 und der Steuerpartie 14.In addition to the torque transmission from the output shaft 3 to the rotating body 35, the coupling part 51 still has the another essential task, due to production and assembly misalignment occurring between the longitudinal axes 57, 58 of the two coupling parts 52, 53 to compensate. In other words, misalignment compensation takes place between the longitudinal axes of the rotating body 35 and the tax section 14.

Es ist sehr schwierig, die Positionserfassungseinrichtung 23 in einer Weise zu installieren, daß sie exakt koaxial mit Bezug zur Steuerpartie 14 bzw. der Abtriebswelle 3 ausgerichtet ist. Schon geringe Lageabweichungen verursachen jedoch im Betrieb Verspannungen, die zu Beschädigungen führen können, weil die Positionserfassungseinrichtung 23 unverrückbar bezüglich des Antriebsgehäuses 1 fixiert ist.It is very difficult to position the device 23 to install in such a way that they are exactly coaxial with reference to the control section 14 or the output shaft 3 is aligned. Cause even slight deviations in position however, tension during operation that leads to damage can lead because the position detection device 23 immovable with respect to the drive housing 1 is fixed.

Verspannungen dieser Art können bei dem erfindungsgemäßen Drehantrieb nicht auftreten, weil das Kupplungsteil 51 zumindest teilweise als Elastikkörper ausgebildet ist, der die erwähnten Fluchtungsfehler kompensiert. Die vorhandene Gummielastizität gestattet Verformungen insbesondere in Radialrichtung, so daß ein vorhandener Querversatz oder im Betrieb auftretende Taumelbewegungen flexibel aufgenommen werden, ohne die Drehmitnahmeverbindung zu beeinträchtigen. Zweckmäßigerweise wird ein Gummi- oder Elastomermaterial gewählt, das ausreichend steif ist, um die erforderliche Drehmitnahme zu gewährleisten, gleichwohl jedoch die erforderlichen begrenzten Ausgleichsbewegungen zu gestatten. Da der Drehkörper 35 verhältnismäßig leicht an dem Grundkörper 32 läuft, ist die auftretende Drehmomentbelastung sehr gering, so daß sich die geschilderten Arbeitsbedingungen ohne weiteres mit einem nicht zu harten und nicht zu weichen Gummimaterial verwirklichen lassen.Tensions of this type can be in the inventive Rotary drive does not occur because the coupling part 51st is at least partially designed as an elastic body compensates for the misalignment mentioned. The existing one Rubber elasticity allows deformations in particular Radial direction, so that an existing transverse offset or in Operation flexibly recorded tumbling movements without affecting the rotary driving connection. A rubber or elastomer material is expedient chosen that is sufficiently stiff to the required Ensure turning driving, nonetheless however the required limited compensatory movements to allow. Since the rotating body 35 is relatively light running on the base body 32 is the torque load that occurs very low, so that the described Working conditions easily with a not too harsh and not let too soft rubber material be realized.

Das Kupplungsteil ist zweckmäßigerweise von einem einstückigen Elastikkörper gebildet, der aus Material mit gummielastischen Eigenschaften besteht. Er läßt sich daher sehr einfach herstellen.The coupling part is advantageously of one piece Elastic body made of material with rubber-elastic properties. He can therefore be very easy to manufacture.

Vorzugsweise bedarf es keiner weiteren Arretierhilfsmittel, um das Kupplungsteil 51 an Ort und Stelle zu fixieren.. Das Kupplungsteil 51 ist vermittels der Anschlagbunde 56 sicher zwischen dem Drehkörper 35 und der Steuerpartie 14 gehalten, welche letztere im übrigen nicht notwendigerweise ein einstückiger Bestandteil der Abtriebswelle 3 sein muß.Preferably, no further locking aids are required, around the coupling member 51 in place fix .. The coupling part 51 is by means of the stop collars 56 safely between the rotating body 35 and the Tax section 14 held, the latter not otherwise necessarily an integral part of the output shaft 3 must be.

Soll die Einstellung der Drehwinkel-Endlagen geändert werden, geschieht dies zweckmäßigerweise durch kurzzeitiges Entfernen des Abdeckteils 24 zusammen mit der Positionserfassungseinrichtung 23. Dabei kann auch das Kupplungsteil 51 von einer oder von beiden Kupplungspartien 52, 53 abgezogen werden. Nachdem die Einstellung vorgenommen worden ist, braucht das Abdeckteil 24 lediglich wieder axial an das Antriebsgehäuse 1 angesetzt werden, wobei man das Kupplungsteil 51 zuvor entweder in die erste Kupplungspartie 52 eingesetzt oder auf die zweite Kupplungspartie 53 aufgesetzt hat. Should change the setting of the angle of rotation end positions be, this is conveniently done by short-term Remove the cover part 24 together with the Position detection device 23. This can also Coupling part 51 of one or both coupling parts 52, 53 are deducted. After hiring has been made, the cover part 24 only axially attached to the drive housing 1 again be, the coupling part 51 previously either in the first coupling section 52 inserted or on the second coupling section 53 has placed.

Mit Hilfe der Positionserfassungseinrichtung 23 kann eine einfache Positionierung der Abtriebswelle 3 innerhalb des maximal möglichen Drehwinkelbereiches erfolgen. Beispielsweise durch geeignete Ansteuerung der Antriebsmittel 5 unter Mitwirkung einer über das Steckverbindungsteil 45 angeschlossenen elektronischen Steuereinrichtung kann die Abtriebswelle 3 in Abhängigkeit von bestimmten erfaßten Drehwinkeln in beliebigen Drehpositionen innerhalb des maximalen Drehwinkelbereiches gestoppt bzw. positioniert werden. Beispielsgemäß geschieht dies zweckmäßigerweise durch gleichzeitige Fluidbeaufschlagung der beiden vom Schwenkflügel 6 abgeteilten Kammern des Arbeitsraumes 2.With the help of the position detection device 23, a easy positioning of the output shaft 3 within the maximum possible angle of rotation range. For example by suitable control of the drive means 5 with the participation of a connected via the connector 45 electronic control device, the output shaft 3 depending on certain detected angles of rotation in any rotational position within the maximum Angular range can be stopped or positioned. For example, this is conveniently done by simultaneous fluid loading of the two from the swivel wing 6 separate chambers of the work area 2.

Claims (12)

  1. Fluid-actuated rotary drive with a drive housing (1) on which is rotatably mounted an output shaft (3), drivable to perform a rotary movement and working in conjunction with drive means (5) mounted in the drive housing (1), while the said output shaft is provided with a co-rotating control section (14) extending out of the drive housing (1) and working in conjunction with positioning means (15) which allow for positioning of the output shaft (3) in specific rotation angle positions, characterized in that the positioning means (15) comprise a position detection device (23) having a body (32) firmly connected to the drive housing (1), and a rotating body (35) rotatably mounted on the body (32), wherein first detection means (36) for connection to an evaluation device are located on the body (32), and second detection means (37) moving along the first detection means (36) during rotary movement of the rotating body are mounted on the rotating body (35), that the rotating body (35) is provided with a non-circular, profiled first coupling section (52), and the control section (14) is provided with a non-circular, profiled second coupling section (53) coaxial to the first coupling section (52), and that there is a coupling element (51) with mating coupling sections (54, 55) complementary to the coupling sections (52, 53), through which it is simultaneously in positive plug-type engagement with the two coupling sections (52, 53), and that to compensate for misalignments between the longitudinal axes (57, 58) of the coupling sections (52, 53) it is at least partly in the form of an elastic body.
  2. Rotary drive according to claim 1, characterized in that the whole of the coupling element (51) is in the form of an elastic body made from material with rubberelastic properties.
  3. Rotary drive according to claim 1 or 2, characterized in that the first mating coupling section (54) acting in conjunction with the first coupling section (52) has an external profile, and the second mating coupling section (55) acting in conjunction with the second coupling section (53) has an internal profile.
  4. Rotary drive according to any of claims 1 to 3, characterized in that the first mating coupling section (54) acting in conjunction with the first coupling section (52) has a greater diameter than the second mating coupling section (55) acting in conjunction with the second coupling section (53).
  5. Rotary drive according to any of claims 1 to 4, characterized in that the two mating coupling sections (54, 55) encompass one another concentrically, at least in part.
  6. Rotary drive according to any of claims 1 to 5, characterized in that the coupling element (51) is an annular element, with the first mating coupling section (54) located on its outer periphery and the second mating coupling section (55) located on its inner periphery.
  7. Rotary drive according to any of claims 1 to 6, characterized in that the coupling sections (52, 53) and mating coupling sections (54, 55) are in the form of polygonal profiles, in particular in the form of splines.
  8. Rotary drive according to any of claims 1 to 7, characterized in that the position detection device (23) is in the form of a potentiometer unit (38), wherein the first detection means (36) are formed by one or more resistor strips (43) and the second detection means (37) are formed by one or more sliding contacts (47) scanning the resistor strips (53).
  9. Rotary drive according to any of claims 1 to 8, characterized in that the body (32) and the rotating body (35) of the position detection device (23) form a housing containing the detection means (36, 37).
  10. Rotary drive according to any of claims 1 to 9, characterized in that the body (32) of the position detection device (23) is fastened to a covering part (24), in particular hood-like, which in turn is attached to the drive housing (1).
  11. Rotary drive according to any of claims 1 to 10, characterized in that the drive means (5) comprise a swinging vane (6) which may be supplied with pressurised fluid and is connected, so as to be incapable of rotating, to the output shaft (3).
  12. Rotary drive according to any of claims 1 to 11, characterized in that the positioning means (15) comprise a stop device (16) for setting the specified rotation angle of the output shaft (3), in particular adjustably, which is expediently located between the drive housing (1) and the position detection device (23).
EP96116969A 1995-11-18 1996-10-23 Fluid operated rotary actuator Expired - Lifetime EP0774586B1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE29518346U 1995-11-18
DE29518346U DE29518346U1 (en) 1995-11-18 1995-11-18 Fluid operated rotary actuator

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EP0774586A2 EP0774586A2 (en) 1997-05-21
EP0774586A3 EP0774586A3 (en) 1998-08-05
EP0774586B1 true EP0774586B1 (en) 2001-02-07

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DE59606421D1 (en) 2001-03-15
EP0774586A2 (en) 1997-05-21
DE29518346U1 (en) 1996-01-18
EP0774586A3 (en) 1998-08-05
ES2153929T3 (en) 2001-03-16

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