CN102410273B - Fluid actuated rotating driving device - Google Patents

Abstract

The present invention relates to a kind of fluid actuated rotating driving device (1), it has the driven unit (23) that can rotate around rotation axis (24), the working cell (12 that driven unit (23) can be moved linearly with first and second in the first working face (16), 12a, 12b) it is in engagement joint.Except the two working cell (12a, 12b), rotating driving device (1) also has at least another working cell (12,12c, 12d), its same being in driven unit (23) in the second working face (17) be parallel to the first working face (16) is engaged in joint.One or more in working cell (12) may be configured to fluid actuated driver element (33).Additionally, at least one working cell (12) can work as stop block (43), utilize this stop block (43) can the anglec of rotation of predetermined driven unit (23).

Description

Fluid actuated rotating driving device

Technical field

The present invention relates to the rotating driving device of a kind of fluid actuated (fluidbet tigt), it is with the device housing that extends along main shaft；With the driven unit (Abtribseinheit) with driven ring gear (Abtriebszahnkranz) that can rotate around (rechtwinkelig) rotation axis vertical with main shaft relative to device housing；In addition and the first and second working cells, it can moving back and forth axially with respect to device housing at main shaft the most linearly in the case of implementing linear working motion respectively, and it is respectively provided with linear tooth bar section, first and second driver elements are in driven ring gear by means of this tooth bar section and engage in joint, wherein, this is occurred to engage joint in common first working face vertical with rotation axis.

Background technology

From file DE 198 03 819 B4, known such rotating driving device includes two respectively can be loaded the working cell of the form of the driver element adjusted linearly by fluid.Two driver elements being configured essentially to piston shape have linear tooth bar section, and driver element is in the driven ring gear of the driven unit rotatably supported by this tooth bar section and engages in joint.Being loaded by controlled fluid, driver element can be driven with the contrary working motion of travel direction, owing to engagement engages, its result is the rotary motion back and forth carried out of driven unit.Limited the anglec of rotation of driven unit by the pairing retainer (Gegenanschlag) formed by device housing, driver element collides (aufprallen) to this pairing retainer at the end of its stroke motion.

By utilizing pressure medium can load two driver elements simultaneously in known rotating driving device, at driven unit, can be taken off the torque that (abgreifen) is relatively high.But, when one of driver element arrives the final position limited by pairing retainer, being limited by the backlash in the region that engagement engages, this moment of torsion halves.In this case, guide (einleiten) to be directly delivered in device housing to the fluid force being supported in the driver element at pairing retainer, and be not applied on driven ring gear, thus finally the most such fluid force is effective, that is, this power is applied to not be supported on the driving element at pairing retainer.

Additionally, in some cases, the moment of torsion that can be taken out by driven unit during rotary motion is too small, thus higher moment of torsion is Worth Expecting.This expectation can be met by expanding the face loaded by fluid of two driver elements, but, owing to two driver elements are immediately adjacent to, out-of-proportion expansion of the physical dimension of rotating driving device can be caused.

Specifically, the most known a kind of fluid actuated rotating driving device from file EP 0 022 644 B1, in the apparatus in order to increase moment of torsion employing (zur ü ckgreifen) four the fluid actuated driver elements that can be taken off, it is each other on the side that diametrically (diametral) is contrary being oppositely arranged at driven unit over the ground.Each driver element engages with the driven ring gear of driven unit equipped with linear tooth bar section, tooth bar section.The engagement of all four driver element engages jointly sets up in the working face vertical with rotation axis.Although with according to file DE The version of 198 03 819 B4 compares doubling of the moment of torsion that utilizes this structure can realize can taking out at driven unit.But, this causes the burden (Lasten) of physical dimension that the rotation axis with driven unit of rotating driving device vertically records.Furthermore, it is necessary to the manufacture of the design of complexity and the therefore high cost of tooth bar section, so that engaging joint without ensure necessity with driven ring gear in the case of interfering with each other.

Summary of the invention

The purpose of the present invention is, the rotating driving device mentioned from the outset sets out and realizes such measure, i.e. it realizes the basis for the method for operation optimized in the case of keeping compact dimensioning.

It is arranged to solve this purpose, rotating driving device have at least one can at main shaft axially with respect to device housing another working cell the most reciprocating in the case of implementation campaign, it has linear tooth bar section, this another working cell by means of this tooth bar section in the second working face misplaced abreast in the way of becoming spacing with the first working face as be in the driven ring gear of driven unit and to engage in joint, wherein, at least one in existing working cell is configured to be carried out the fluid actuated driver element of its working motion by fluid load driver.

The rotating driving device being constructed so as to is equipped with at least three working cell, and it is in the driven ring gear of driven unit in two working faces missed one another on the longitudinal direction of the rotation axis of driven unit and engages in joint.Here, corresponding to the requirement feature (Anforderungsprofil) relevant to each application purpose, obtain the different use washability for working cell.At least one working cell is configured for fluid and loads and form the fluid actuated driver element that can be carried out its working motion by fluid load driver, when implementing its working motion, driving torque is directed into and can rotate about in the driven unit that axis rotates by driver element.If need not the highest output moment of torsion, unique working cell can be configured to fluid actuated driver element, then wherein, other working cell can be used for other purpose, and the anglec of rotation for driven unit limits in particular.If relatively high output moment of torsion should be can be taken off at driven unit, in existing working cell two or more than two can be configured to fluid actuated driver element without problems, and when fluid at the same time loads, these driver elements can be to driven unit generation effect and thus can produce high moment of torsion in the way of function parallel connection.Such version is considered current optimum solution, i.e., wherein two working cells be configured to simultaneously in the way of driving with the coefficient fluid actuated driver element of driven unit, and the 3rd and the 4th possible working cell be designed to stop block (Anschlageinheit), its fixing with in the way of being fixed at case or fixable pairing retainer cooperation (kooperieren), for limiting the stroke of working motion and the most also limiting the anglec of rotation of driven unit.

Owing to all tooth bar sections and working motion are parallel to stretch each other, therefore size closely rotating driving device can be realized.Most two working cells and driven unit cooperation on each working face, so that the optimum arrangement not interfered with each other is possible, and in particular compared with in traditional device, not producing bigger outside dimension on the direction transverse to the rotation axis of driven unit, this conventional apparatus has only unique working face and arrange most two working cells in the apparatus in this working face.

Obtain the present invention from dependent claims is advantageously improved scheme.

Aptly, device housing has the working chamber preferably with elongated design to be individually used for each working cell, and working chamber accommodates relevant working cell for making working motion in the way of sliding transfer to be possibly realized linearly.

Preferably, each working chamber has longitudinal axis, axially coincident (zusammenfallen) of the main shaft of its bearing of trend and device housing.

The quantity of working chamber can be responsive entirely to the quantity of working cell, thus such as also only exists three working chambers in the case of existing only three working cells.But, the motility of the optimization in the outfit scheme (Ausstattung) of rotating driving device is, each working face exists two working chambers, so that realizing total of four working chamber in the inside of device housing in the case of two working faces, wherein, each working chamber of temporarily not using is empty and does not accommodate working cell.

Aptly, working chamber constructs in the case matrix of single-piece, ground, both sides, ground, working chamber side pass-out (ausm ü nden) at case matrix, wherein, being provided with case lid at two sides of case matrix, this case lid closes working chamber as required.

A kind of rotating driving device advantageously designed comprises at least two working cell, its fluid actuated driver element being configured to be carried out its working motion by fluid load driver.Here, in principle, it is unessential which in existing working cell and other working cell is designed to driver element.But, under the viewpoint of modularized design particularly advantageously, not only the first working cell of being at least in drive connection with driven unit in the first working face and also the second working cell is configured to fluid actuated driver element.According to demand, it can be at least another working cell, i.e. or the 3rd working cell or the third and fourth working cell set (belegen) other function, such as, again as driver element or in particular as the stop block limited for the anglec of rotation.

Aptly, rotating driving device has at least one working cell being not designed to fluid actuated driver element, the stop block that this working cell limits as the anglec of rotation for driven unit works, and can be fixing relative to device housing position with at least one or can jointly act on by the pairing retainer that is fixedly supported of position.Engage joint by arrive with driven unit, by the driven unit can being rotatably driven by means of driver element, drive each stop block with implementation campaign, and once stop block bump against pairing retainer on, stop stop block continue motion.

At least one stop block may be configured to terminal stop block, one of two anglec of rotation final positions of its predetermined driven unit.Driven unit can rotate between two anglec of rotation final positions, and wherein, the anglec of rotation between two anglec of rotation final positions can be completely more than 360 ° and relevant to the maximum functional stroke of working cell in particular.

It is possible that be associated with terminal stop block in two directions of motion by effective pairing retainer, limit two anglec of rotation final positions by means of only unique terminal stop block.Aptly, this pairing retainer is positioned at the reciprocal side of device housing, and adjustable aptly, so that each anglec of rotation final position can be made a reservation in a varying manner.

In addition, there is such favourable probability, i.e. be respectively provided with special terminal stop block for each in predetermined two anglec of rotation final positions, thus rotating driving device is equipped with two terminal stop blocks, its respectively with one pairing retainer cooperation.

It is also advantageous that, at least one stop block is designed to centre position stop block, utilizes this centre position stop block can at least one centre position between two reciprocal anglec of rotation final positions of predetermined driven unit.For this purpose, at least one pairing retainer of centre position stop block can be the ingredient of the adjustment drive division (Stellantrieb) belonging to rotating driving device, aptly, this adjustment drive division is arranged at device housing, and can be positioned in the axial direction of working motion in different axial locations by the pairing retainer being associated by handling adjustment drive division.

Aptly, each stop block is can be arranged in the way of shifting linearly in structure working chamber in device housing, wherein, stretch in working chamber at least one pairing retainer side with stop block cooperation, and stretch out on the contrary (entgegenragen) with stop block in particular.

Such design is especially advantageous, i.e., wherein, at least one stop block and at least one pairing retainer being associated with this stop block is arranged in the way of the most coordinated with each other, i.e., before fluid actuated driver element shock (anschlagen) in working cell is relative to the face that device housing position is fixing, pairing retainer and stop block cooperation.Ensure by this way, in the final position of driven unit, on whole periphery, loaded driven unit by all with the coefficient fluid actuated driver element of driven unit, and in the case of walking around (Umgehung) driven unit, the power of fluid is not directed in device housing.Can ensure by this way, even if output moments of torsion whole in anglec of rotation final position is available at driven unit, specifically, unrelated with the backlash in the region that engagement engages.

Accompanying drawing explanation

The present invention is explained further below according to accompanying drawing.Wherein:

Fig. 1 shows the preferred form of implementation of the fluid actuated rotating driving device according to the present invention with the view of perspective,

Fig. 2 shows the cross section of the rotating driving device passing Fig. 1 according to line of cut II-II,

Fig. 3 shows according to line of cut III-III through the longitudinal section of rotating driving device of Fig. 1 and 2, wherein, cutting planes corresponding to the first working face,

Fig. 4 shows according to line of cut IV-IV through the longitudinal section of rotating driving device of Fig. 1 and 2, wherein, cutting planes corresponding to the second working face parallel with the first working face in the way of becoming spacing,

Fig. 5 shows the longitudinal section corresponding to Fig. 4 of the embodiment of the improvement through rotating driving device, and

Fig. 6 shows another form of implementation of the rotating driving device according to the present invention with the longitudinal section corresponding to Fig. 4.

Detailed description of the invention

Be designed to handle by means of fluid force at its rotating driving device represented with reference number 1 on the whole, and can by means of fluid and the pressure medium-driven of preferably gas.In particular, use compressed air (Druckluft) as the pressure medium for driving.

As long as not the most being additionally instructed, description below is for all embodiments drawn in drawing.

Rotating driving device 1 has device housing 2 that is the most elongated and that be made of metal in particular, and device housing 2 extends along the main shaft 3 pointed out in dash-dot line, and in particular, main shaft 3 is the longitudinal axis of device housing 2.

Being configured with four working chambers 4 in the inside of device housing 2, it is respectively provided with longitudinal extension and is parallel to be orientated each other.Each working chamber 4 has longitudinal axis 5, and wherein, all longitudinal axis 5 are parallel to stretch each other.Additionally, all longitudinal axis 5 have the orientation identical with main shaft 3.

In particular, working chamber 4 is arranged in the inside of device housing 2 in the way of so distribution, i.e. watch in cross-section, and the longitudinal axis of working chamber 4 arrives on rectangle and the most foursquare angle point.Aptly, each working chamber 4 has the cross section of circle, wherein it is preferred to, working chamber 4 is designed to cylinder.

In particular, device housing 2 is built into multi-piece type.Here, as draw, device housing 2 can have case matrix 6, in case matrix 6, working chamber 4 constructs over the entire length, and case matrix 6 has two end face 7a, 7b the most oppositely oriented, working chamber 4 ground, side respectively is towards end face 7a, 7b pass-out.In other words, each working chamber 4 case matrix 6 is axially run through.

In order to side close working chamber 4, case lid 8a, 8b are assembled to each end face 7a, at 7b, in particular, case lid 8a, 8b are fixed at case matrix 6 to be the most detachably bolted.

In order to better discriminate between, below upwardly-directed for the axle at main shaft 3 of device housing 2 side should be referred to as the first side 9a, and contrary side is referred to as the second side 9b.Additionally, be referred to as the first case lid 8a by being arranged in the case lid at the first side 9a, and it is referred to as the second case lid 8b by being arranged in the case lid at the second side 9b.

Each working chamber 4 is suitable for, can accommodate working cell 12 in the way of shifting linearly.Each working cell 12 being arranged in working chamber 4 can be made at the longitudinal axis 5 being associated to shift axially with respect to device housing 2, wherein, the most also this linear movement is referred to as working motion 13.In drawing, single working motion 13 is made to can recognize that by double-head arrow.

According to the application purpose of rotating driving device 1, or all working chamber 4 or the most several working chamber 4 can be equipped with working cell 12.In the embodiment of Fig. 1 to 4 and 6, each working chamber 4 exists a working cell 12, thus is altogether equipped with four working cells 12 at this rotating driving device 1.In the 5 embodiment of figure 5, the unequipped working cell of one of working chamber 4 12, specifically this working chamber 4 is empty, thus this rotating driving device 1 is equipped with only three working cells 12.

The first working chamber 4a and the second working chamber 4b of working chamber 4 extends in the first common working face 16.Its longitudinal axis 5 overlaps with this first working face 16.Additionally, this first and second working chamber 4a, 4b are arranged to each other in spacing in the way of vertical with its longitudinal axis 5, and longitudinal side (l ngsseits) separated from one another by the midfeather 18 of device housing 2.

In the first working chamber 4a, it is disposed with the first working cell 12a of working cell 12, and in the second working chamber 4b, is disposed with the second working cell 12b of working cell 12.

It is arranged so as to two other working chamber 4 (the hereinafter also referred to the 3rd working chamber 4c and the 4th working chamber 4d), i.e., its longitudinal axis 5 jointly stretches in the second working face 17, second working face 17 is parallel to the first working face 16 and is orientated, and is arranged to become spacing with the first working face 16.Third and fourth working chamber 4c, 4d are separated from one another again by the midfeather 18 mentioned.

The working cell 12 being arranged in the 3rd working chamber 4c is referred to as the 3rd working cell 12c, and the working cell 12 being arranged in the 4th working chamber 4d is referred to as the 4th working cell 12d.

It is being perpendicular on the direction that two working faces 16,17 stretch, the breakthrough part (Durchbrechung) in the most driven chamber 14 is running through device housing 2.The longitudinal axis in this driven chamber 14 is provided with reference number 15.

Preferably, driven chamber 14 the most axially constructs at the center of device housing 2 and constructs in particular in the case matrix 6 of device housing 2, and runs through midfeather 18 at this.Cross section due to driven chamber 14 is more than the thickness of midfeather 18, therefore approximated just cede territory (sekanten nhlich) by driven chamber 14 and cut whole working chamber 4, so that each working chamber 4 is in driven chamber 14 by (fensterartig) hole 22 of window type in being connected.

Aptly, working chamber 4 has identical cross section each other, not only in terms of moulding but also at area (Fl che) aspect.

The working chamber 4a, 4b stretched in each working face 16,17;4c, 4d intersect with driven chamber 14 on the most reciprocal side.

Driven unit 23 extends in driven chamber 14, driven unit 23 can around with two working faces 16,17 vertical rotation axiss 24 rotate relative to device housing 2.Aptly, rotation axis 24 overlaps with the longitudinal axis 15 in driven chamber 14.

Realizing this by rotary shaft bearing member 25 to rotationally support, preferably rotary shaft bearing member 25 is configured to axis of rolling bearing member, and is suitably disposed in the inside in driven chamber 14, and wherein, rotary shaft bearing member 25 is co-axially around driven unit 23.

Driven unit 23 has that extend in driven chamber 14 and cross two working faces 16,17 at this follower lever (Abtribsschaft) 26.Be preferably designed so that dish type and be positioned at the taking-up section 27 outside device housing 2 and be connected at least one end regions at follower lever 26, this taking-up section 27 is provided with immobilising device 29, and the component of outside to be moved can the most detachably be fixed at immobilising device 29.In this embodiment, taking out section 27 is the main body separated relative to follower lever 26, but also can be configured to single-piece together with follower lever 26.

Follower lever 26 is provided with the driven ring gear 28 of cincture in the circumferential at outer rim.In known manner, multiple teeth separated from one another by intermediate space this driven ring gear 28 is formed.

Driven ring gear 28 has such axial length, i.e. it extends upwardly beyond the hole 22 of whole window type at the axle of rotation axis 24.Correspondingly, the circumferential section of driven ring gear 28 is positioned in the region of each in the hole 22 of window type in the way of unrelated with the instantaneous rotational position of driven unit 23.

In this embodiment, driven ring gear 28 for unified at two working faces 16, the ring gear extended continuously between 17.But, the most driven ring gear 28 also can be made up of multiple ring gear sections, in these ring gear sections, a part (der eine) is arranged in the region of the first working face 16, and other (der andere) is arranged in the region of the second working face 17.

Each working cell 12 is at least provided with linear tooth bar section 32 at such side of its longitudinal side (that is, it is in the face of being positioned at the working cell in identical working face) place.Each of this tooth bar section 32 upwardly extends at the axle of the longitudinal axis 5 of the working chamber 4 being associated, and there is multiple tooth that continuous print separates each other by intermediate space in the axial direction of this longitudinal axis 5, its flank (Zahnflanke) transverse to and in particular direction with working motion 13 vertically extend.

Tooth bar section 32 is the most respectively in the face of midfeather 18.

By driven ring gear 28 through window type longitudinal side, hole 22 sink in (eintauchen) each working chamber 4, driven ring gear 28 is in the tooth bar section 32 of each working cell 12 during engaging of making that power transmission is possibly realized engage.The region that engagement between working cell 12a, 12b and driven ring gear 28 in being arranged in the first working face 16 engages shows with 16a, 16b, and the hereinafter also referred to first and second engagement junction surface 16a, 16b.The region that engagement between working cell 12c, 12d and driven ring gear 28 in being arranged in the second working face 17 engages shows with 17c, 17d, and the hereinafter also referred to third and fourth engagement junction surface 17c, 17d.

All embodiments are common, and the first and second engagement junction surface 16a, 16b are co-located in the first working face 16.In relation in the axial direction of rotation axis 24, the third and fourth engagement junction surface 17c, 17d is arranged to into spacing, and the third and fourth engagement junction surface 17c, 17d is both positioned in the second working face 17.

All embodiments are common, and at least two working cell 12 is configured to fluid actuated driver element 33.Thus, aptly, just two working cells 12 are designed to fluid actuated driver element 33, and this meets (treffen) two first and second working cell 12a being co-located in the first working face 16,12b in an embodiment.

Each fluid actuated driver element 33 is the most outstanding, i.e. driver element 33 can be forced to carry out its working motion 13 by the axial pressure medium by means of fluid that loads.

In order to make this be possibly realized, in an embodiment, two driver elements 33 are configured to the piston that can load according to so-called double-acting mode, and so it is arranged in the working chamber 4 being associated in the case of sealing, that is, this working chamber 4 is axially divided into the first driving chamber 34a and second to drive chamber 34b by it.Each driver element 33 is axially provided with the sealing member 35 of annular in the both sides in the hole 22 of affiliated window type, and it abuts at the wall of working chamber 4a or 4b being associated in the way of shifting slidably in the case of sealing.Thus, whenever driven chamber 14 drives chamber 34a, 34b fluid-tight ground to separate with two.

Each driving chamber 34a, 34b communicate (kommunizieren) by the fluid channel system 36 of the inside the most only pointed out with dotted line of device housing 2 with one of multiple manipulation holes 37 being arranged in outside device housing 2.The switching (Verschaltung) of following fluid can be realized by fluid channel system 36, that is, each of two manipulation holes 37 simultaneously with in the fluidly connecting with the first driving chamber 34a that the first side 9a is associated and being in the be associated with the second contrary side 9b second driving chamber 34b of another driver element 33 an of driver element 33.By this way, fluid is being respectively supplied to manipulation hole 37 for the moment, on mutually opposite axial direction, load two driver elements 33 simultaneously, thus, two driver elements 33 engage junction surface 16a first and second, are directed in driven unit 23 by driving torque the most respectively in the region of 16b simultaneously.

By this way, or deasil or widdershins driven unit 23 can be driven to carry out the driven rotary motion 38 pointed out by double-head arrow.

In an embodiment, fluid actuated driver element 33 is designed for the fluid of axially both sides and loads.However it is also contemplated that load the embodiment of probability with only unilateral fluid.It is also envisaged that the elastic mechanism by means of machinery causes adjustment power in one direction.

Driven rotary motion 38 can be easily removed being arranged at the taking-up section 27 outside device housing 2 of driven unit 23.

As required, driven unit 23 can be run through the most over the entire length by by passage 42, be can be used for by passage 42, transmit (hindurchleiten) fluid and/or the energy of electricity or guide (hindurchf ü hren) electricity cable or fluid hose.

If the highest moment of torsion should be can be taken off at driven unit 23, by the 3rd working cell 12c and the most additionally the 4th working cell 12d can be configured to fluid actuated driver element.In this case, this mode can also construct the 3rd and the 4th possible working cell 12c, 12d, i.e., the the third and fourth working chamber 4c, 4d that third and fourth working cell 12c, 12d will be associated in the case of sealing is divided into two to drive chamber, the pressure medium of available fluid loads this driving chamber, for producing the adjustment power causing working motion 13.

It will be appreciated that aptly, fluidly loading all driving chambeies, its fluid loads the driving torque producing mutually the same sensing simultaneously.To this end, fluid channel system 36 already mentioned above can correspondingly be expanded, thus can fluidly manipulate all driving chambeies in the way of coordinated with each other in the case of this external use only two manipulation holes 37.It is apparent that alternatively there is a likelihood that, i.e. manipulate existing driving chamber the most independently.

If rotating driving device 1 can undertake the function of driver element 33 equipped with only two fluid actuated driver elements 33, the most existing or possible any two in four working cells 4.But, the such flexible program realized in an embodiment is especially advantageous, i.e. wherein, and the first and second working cell 12a being co-located in the first working face 16,12b are used as fluid actuated driver element 33.

Aptly, at least one in working cell 12 is configured to stop block 43, and the anglec of rotation of the driven unit 23 carrying out driven rotary motion 38 can be realized driving to limit by means of this stop block 43.Here, work as at least one stop block 43 in the most such working cell 12, i.e. this working cell 12 is not configured to or is not used as fluid actuated driver element 33.By this way, the location in the driving independent of each other of driven unit 23 and angle is possible.

In the embodiment of Fig. 1 to 4 and 6, not only the 3rd working cell 12c and also the 4th working cell 12d is configured to stop block 43.In the embodiment (this embodiment only has three working cells) of Fig. 5, the 3rd working cell 12c extended in the second working face 17 works as stop block 43.

In order to locking function can be met, the axial travel paths of each stop block 43 is disposed with at least one fixing relative to device housing 2 position or can the pairing retainer 44 that is fixedly supported of position.When stop block 43 is encountered on this pairing retainer 44 and when this pairing retainer 44 supports in the way of being fixed at case, stop block 43 is stoped to continue motion.Also stop driven rotary motion 38 by this way simultaneously, engage in joint because driven unit 23 not only with driver element 33 but also is in at least one stop block 43.

Driven unit 23 can rotate between the final position in two anglecs of rotation.At least one stop block 43 is configured to terminal stop block 43a, utilizes this terminal stop block 43a can make a reservation at least one this final position.

In the 5 embodiment of figure 5, unique stop block 43 is designed to terminal stop block 43a, and is preferably constructed so as to terminal stop block 43a at this, i.e. in two directions of motion of its working motion 13, it is cooperated with one of two pairing retainers 44 respectively.Thus, can be limited by the anglec of rotation of this terminal stop block 43a realization driven unit 23 in two rotational directions.Can be seen that in the 5 embodiment of figure 5, at two case lid 8a, being disposed with pairing retainer 44 at each of 8b, it axially stretches in the 3rd working chamber 4c, and stretches out on the contrary with terminal stop block 43a at this.Terminal stop block 43a back and forth advances (wandern) between two pairing retainers 44, and one of rotation final position of the most predetermined driven unit 23 at this.

In addition, as each in the stop block 43 described in this embodiment, drive terminal stop block 43a by each at least one driver element 33 (stop block 43 is in drive connection with driver element 33 under linking in the middle of driven ring gear 28) existing.

In the embodiment of Fig. 1 to 4, not only the 3rd working cell 12c and also the 4th working cell 12d is configured to terminal stop block 43a, but wherein, different from the embodiment of Fig. 5, each terminal stop block 43a only cooperates with pairing retainer 44 on its working motion 13 direction.Two terminal stop block 43a of the embodiment of Fig. 1 to 4 due to its by driven ring gear 28 with engagement system link thus implementing direction is contrary all the time linear movement (in addition, this is also suitable for two driver elements 33 being co-located in the first working face 16), wherein, two pairing retainer 44 side 9as identical with device housing 2 are associated, so that terminal stop block 43a can match each of retainers 44 on the identical direction of its working motion 13 independently of one another and cooperate with two.

Exemplarily, two pairing retainers 44 are arranged at the first case lid 8a, and extend into the third and fourth working chamber 4c from identical side from this place (ausgehen), in 4d.

By this way, each of two terminal stop block 43a is responsible for the anglec of rotation restriction of driven unit 23 respectively on one of two possible direction of rotation of driven unit 23.Thus, in particular, it is possible in two direction of rotation of driven unit 23, realize the anglec of rotation independent of each other limit.

The embodiment of Fig. 6 is likewise equipped with two stop blocks 43, but only one of which is designed to terminal stop block 43a.Exemplarily, this meets the 4th working cell 12d.Another stop block 43 is configured to centre position stop block 43b, and for being predefined in the centre position at least one angle of the driven unit 23 between the final position in two anglecs of rotation of driven unit 23.

Therefore, when the terminal stop block 43a of the embodiment of Fig. 6 constructs and for two final positions of the most predetermined driven unit 23 in the way of identical with the terminal stop block 43a described according to Fig. 5, then utilize additional centre position stop block 43b can carry out the location in driven unit 23 at least one angle between two final positions.

In addition, it is possible to combining two terminal stop block 43a and be achieved with the interfix that centre position stop block 43b causes, according to the example of Fig. 4, terminal stop block 43a is respectively used to the only one final position of predetermined driven unit 23.

Centre position stop block 43b has the adjustment drive division 45 at the side being arranged in device housing 2 in particular, it has axially movable actuator (Stellglied) 46, and pairing retainer 44 is arranged at this actuator 46 or actuator 46 itself directly forms pairing retainer 44.In this embodiment, adjusting drive division 45 be fluid actuated drive division, such as according to the form of the working cylinder of pneumatic or hydraulic pressure, but it is alternatively the most electric drive division.

Drive division 45 is adjusted by activating, actuator 46 axially displaceable, so that thus the pairing retainer 44 being associated being optionally positioned in the axial location that can axially recall (zur ü ckziehen) as seen from Figure 6, or based on this roll (ausfahren) away from and axially extend further in the axial location that can be described as precalculated position, centre position in the 3rd working chamber 4c.

If making pairing retainer 44 be displaced in precalculated position, centre position by handling adjustment drive division 45, before terminal stop block 43a arrives at pairing retainer, the centre position stop block 43b being associated bumps against on pairing retainer 44.By this way can centre position in the angle of predetermined driven unit 23.

Rotating driving device 1 is also provided with there being multiple stop block 43 being designed to centre position stop block 43b.

Advantageously, not by fluid actuated driver element 33 but by the rotary angle position of at least one predetermined driven unit of stop block 43 23 additionally existed, this stop block 43 is not used in the output moment of torsion producing driven unit 23.Thus, obtaining existing advantage in all embodiments is, by abut in stop at device housing 2 driver element 33 axially continue motion before, stop block 43 work in the way of stop and with pairing retainer 44 cooperate.Thereby guarantee that, though the fluid force directed in driver element 33 all the time and arrive driven unit 23 angle on final position time be also guided in driven unit 23.Thus, even if getting out the most possible torque in the final position of driven unit 23 at driven unit 23 the most all the time for taking-up.

Aptly, the anglec of rotation of driven unit 23 limits alterable.There is such favourable probability, i.e. make a reservation at least one and two final positions aptly in transformable mode.To this end, the pairing retainer 44 at device housing 2 can adjust upward at the axle of the working motion 13 being associated, and it is arranged in each position adjusted in the way of the most axially moveably fixing.

It is further favourable that the ingredient of the amortisseur 47 that at least one pairing retainer 44 is fluid, thus the terminal of buffering stop moving cell 43 collides (Endaufprall) and prevents stop block 43 and/or the damage of pairing retainer 44.

In all embodiments, device housing 2 in the way of unrelated with the quantity of existing working cell 12 equipped with four working chambers 4.Correspondingly, it may not be necessary to working chamber 4 be left empty, as draw in Figure 5.But unlike this it is also possible that device housing 2 is respectively equipped with the working chamber 4 of such quantity according to application, i.e. this quantity is corresponding to the quantity of existing working cell 12.

In the rotating driving device 1 according to the present invention, all up to the present described working cells 12 can arbitrarily be mutually combined, thus there is such modular system, i.e. can distinguishingly manufacture this system according to each application purpose according to different situations.Additionally, as required, existing working chamber 4 also can be additionally used in and the different purpose explained.

Claims (20)

1. a fluid actuated rotating driving device, with: the device housing (2) extended along main shaft (3)；With the driven unit (23) with driven ring gear (28) that can rotate around the rotation axis (24) vertical with described main shaft (3) relative to described device housing (2)；nullIn addition and the first and second working cells (12,12a,12b)，It can moving back and forth axially with respect to described device housing (2) at described main shaft (3) the most linearly in the case of implementing linear working motion (13) respectively，And it is respectively provided with linear tooth bar section (32)，Described first and second working cells (12,12a,12b) it is in described driven ring gear (28) by means of described tooth bar section (32) and engages in joint，Wherein，In common first working face (16) vertical with described rotation axis (24), generation is described engages joint，It is characterized in that，Described rotating driving device (1) have at least one can at described main shaft (3) axially with respect to described device housing (2) the most reciprocating other working cell (12 in the case of implementation campaign (13),12c,12d)，This at least one other working cell (12,12c,12d) there is linear tooth bar section (32)，At least one other working cell (12 described,12c,12d) by means of described tooth bar section (32) to become same be in the driven ring gear (28) of described driven unit in the second working face (17) misplaced abreast in the way of spacing to engage and engage with described first working face (16)，Wherein，Existing working cell (12,12a,At least one in 12b) is configured to be carried out the fluid actuated driver element (33) of its working motion (13) by fluid load driver.

Rotating driving device the most according to claim 1, it is characterized in that, described rotating driving device only has another the 3rd working cell (12,12c), its tooth bar section (32) is in described driven ring gear (28) in described second working face (17) and engages in joint.

Rotating driving device the most according to claim 1, it is characterized in that, described rotating driving device has two other the third and fourth working cell (12,12c, 12d), its tooth bar section is in described driven ring gear (28) in described second working face (17) and engages in joint.

Rotating driving device the most according to any one of claim 1 to 3, it is characterized in that, described device housing (2) is that each working cell (12) individually limits to accommodate the working chamber (4) of relevant working cell (12) linearly in the way of sliding transfer.

Rotating driving device the most according to claim 4, it is characterized in that, two accommodate described first and second working cells (12, 12a, working chamber (4 12b), 4a, 4b) there is the axially coincident longitudinal extension with described main shaft (3), and it is arranged so as to described working chamber (4, 4a, 4b), i.e., its longitudinal axis (5) overlaps with described first working face (16), wherein, other working cell (12 of the most each receiving, 12c, working chamber (4 12d), 4c, 4d) there is axially coincident longitudinal extension with described main shaft (3) equally and be arranged so as to described working chamber (4, 4c, 4d), i.e., its longitudinal axis (5) overlaps with described second working face (17).

Rotating driving device the most according to claim 4, it is characterized in that, described device housing (2) has four working chambers (4) in the way of unrelated with the quantity of other working cell (12), described working chamber (4) extends the most in couples in of two working faces (16,17).

Rotating driving device the most according to claim 4, it is characterized in that, described device housing (2) has ground, longitudinal side in the case of the hole (22) forming window type respectively and cuts all working chamber (4) and upwardly extending at the axle of the rotation axis (24) of described driven unit (23), the driven chamber (14) opened wide at least one side, described driven unit (23) extends in described driven chamber (14), wherein, described driven unit (23) is in the tooth bar section (32) of each working cell (12) in the region in the hole (22) of described window type and engages in joint.

Rotating driving device the most according to any one of claim 1 to 3, it is characterized in that, at least two working cell (12,12a, 12b) be configured for fluid load and construct and fluid actuated driver element (33) that its working motion (13) can be carried out by fluid load driver.

Rotating driving device the most according to claim 8, it is characterized in that, at least one working cell (12,12c, 12d) it is configured for the stop block (43) that the anglec of rotation limits and pairing retainer (44) that is fixing relative to described device housing (2) position or that can be supported in the way of position is fixing is cooperated with at least one of described driven unit (23).

Rotating driving device the most according to claim 9, it is characterized in that, working cell (12,12c, 12d) it is constructed so as in two directions of motion of its working motion (13) the terminal stop block (43a) cooperated respectively with pairing retainer (44), that is, by described terminal stop block (43a), it is possible that described driven unit (23) anglec of rotation in two rotational directions limits.

11. according to the rotating driving device described in claim 9 or 10, it is characterized in that, two working cells (12,12c, 12d) it is constructed so as on the identical direction of its working motion (13) the terminal stop block (43a) cooperated the most respectively with pairing retainer (44), that is, of described terminal stop block (43a) limits one of two direction of rotation of described driven unit (23) the upper anglec of rotation being responsible for described driven unit (23) respectively.

12. according to the rotating driving device described in claim 9 or 10, it is characterized in that, at least one working cell (12, 12c) it is configured to centre position stop block (43b) at least one centre position for predetermined described driven unit (23), wherein, the ingredient of at least one adjustment drive division (45) that pairing retainer (44) is described rotating driving device (1) being associated with described centre position stop block (43b), and at least one pairing retainer (44) being associated from described centre position stop block (43b) described can be made to be positioned in different axial locations in the axial direction of described working motion (13) by handling described adjustment drive division (45).

13. according to the rotating driving device described in claim 9 or 10, it is characterized in that, described first and second working cells (12,12a, 12b) it is respectively configured to fluid actuated driver element (33), and at least another working cell (12,12c, 12d) is configured to the stop block (43) being arranged for cooperating with at least one pairing retainer (44).

14. according to the rotating driving device described in claim 9 or 10, it is characterized in that, each stop block (43) is arranged in the working chamber (4) of described device housing, wherein, stretch in described working chamber and stretch out on the contrary with described stop block (43) at least one pairing retainer (44) side described of cooperation.

15. according to the rotating driving device described in claim 9 or 10, it is characterized in that, it is arranged so as at least one pairing retainer described, i.e., before stoping fluid actuated driver element (33) to continue motion by directly jointly acting on the face fixing relative to described device housing (2) position, described pairing retainer is worked by the common effect of stop block (43).

16. rotating driving devices according to claim 8, it is characterised in that the most described first working cell (12,12a) and also described second working cell (12,12b) is configured to fluid actuated driver element (33).

17. rotating driving devices according to claim 9, it is characterised in that at least one working cell (12,12c, 12d) as stop block (43) is not fluid actuated driver element (33).

18. rotating driving devices according to claim 10, it is characterised in that by a described terminal stop block (43a) of formation at least one other working cell (12,12c, 12d).

19. rotating driving devices according to claim 11, it is characterised in that it is possible that the anglec of rotation independent of each other in two direction of rotation of described driven unit (23) limits.

20. rotating driving devices according to claim 14, it is characterised in that at least one pairing retainer (44) is the ingredient of the amortisseur (47) of fluid.