CN102678661A

CN102678661A - Fluid-actuated rotary drive device

Info

Publication number: CN102678661A
Application number: CN 201210073531
Authority: CN
Inventors: R·卡明斯基; E·M·克努本
Original assignee: Festo SE and Co KG
Current assignee: Festo SE and Co KG
Priority date: 2011-03-09
Filing date: 2012-03-09
Publication date: 2012-09-19
Also published as: EP2497959A1; EP2497959B1

Abstract

The invention refers to a fluid-actuated rotary drive device that has two corrugated membrane boxes (25,26) bending in a curve and static end cutting sections (32) and movable end cutting sections (33) relative to the static end cutting sections (32). The two movable end cutting sections (33) are connected through intermediate connection of hinge units (51, 52) through a connecting sheet (48); i.e. the two movable end cutting sections (33) are hinged at a movable arm (15) and torsionally connected to a rotatable driven body (51). The two corrugated membrane boxes (25,26) can be selectively activated to cause the movable arm (15) to do swing motion (17) and further to cause the rotatable driven body (51) to do rotary motion.

Description

Fluid actuated rotating driving device

Technical field

The present invention relates to fluid actuated a kind of rotating driving device; Have rotor and the driven member (Abtriebskoerper) that can center on the spin axis rotation with respect to rotor; Have the driving arm that is connected with driven member and can center on the spin axis swing in addition antitorquely; And have two ripple sylphons (Faltenbalg) that correspondingly have the longitudinal extension part of arc; The longitudinal side of the concavity that its utilization faces with each other is arranged side by side; Wherein it correspondingly has the static end intercept that is fixed on the rotor place and a movably end intercept relative about this, that connect with the driving arm motion at intervals with spin axis, and wherein two ripple sylphons load variable-length at least partly through the fluid of in check inside, so that utilize its movably end intercept to apply oscillatory forces to driving arm.

Background technique

Comprise the crooked ripple sylphon of two circular arcs from the rotating driving device of the known the type of file DE 10149395 Al, its correspondingly an end be fixed on the rotor place still and the other end is fixed on the driving arm place that can swing.Therefore driving arm is connected with axis of oscillation antitorquely, and it is formed for measuring the strength that rotatablely moves and gets portion (Kraftabgriff) and work as driven member.The fluid of being controlled of the inner chamber through two ripple sylphons loads, and driving arm can be driven to oscillating motion, rotatablely moves so that produce the desirable of driven member.The reverse prolongation and the shortening of two ripple sylphons take place during such process, and wherein the end intercept that is arranged in the driving arm place of ripple sylphon (it can be called as movably end intercept) is participated in the oscillating motion of driving arm directly.

Certain deficiency of the rotating driving device that this is known is that ripple sylphon must have high elasticity, so that can be out of shape corresponding to the oscillating motion of being pursued of driving arm.When the big hydrodynamic pressure of rotating driving device utilization promoted, the problem of radial expansion and the high elasticity of ripple sylphon interrelated.This can cause the nonlinear oscillating motion of driving arm and correspondingly hinder rotatablely moving of slave end.In order to resist this problem, the folded wall of ripple sylphon (Faltenwand) is though can come radial support through supporting element (St ü tzmittel).But this causes relative complex and the expensive structure of rotating driving device.

From file DE 43 12 503 Al, learn a kind of ripple sylphon, it is processed by plastics or rubber integratedly.The wall of the pleat formula structure of ripple sylphon respectively is connected with fixed component distolateral integratedly.

In file DE 43 28 522 A1, described a kind of swing wing driver (Schwenkfluegelantrieb), it has the rotor that is arranged in the stator case, and rotor is provided with the upwards wing at interval of footpath.Between stator case and rotor, be furnished with the ripple sylphon of two arcs, the one of which side is supported on stator case place still and opposite side is supported on wing place.The fluid that replaces through two ripple sylphons loads, and rotor can be driven to and rotatablely move.At this, in the wing of driving force by the corresponding direct introducing rotor of ripple sylphon.

A kind of drive unit that makes up similarly is known from file US 3 977 648.Here exist in addition to make a stator be equipped with the upwards possibility of the wing at interval of a plurality of footpaths, make it to load by more substantial ripple sylphon simultaneously.Each ripple sylphon can be constructed integratedly.

The known integratedly cramping body that comes the holding device of manufacturing machine ground work through production (generativ) production method from file DE 10 2,006 022 855 A1.

Summary of the invention

The object of the present invention is to provide a kind of fluid actuated rotating driving device that starts mentioned type, it helps producing consistent rotatablely moving in the favourable manufacturing of cost and long working life.

In order to realize this purpose one-tenth arranged according to the present invention; Two connection sheets (Koppelsteg) that movably are extended with rigidity between the intercept of end at ripple sylphon; Its via first articulated mounting and end intercept movably and via about this second articulated mounting separately with another movably the end intercept hingedly be connected; And driving arm with the radial distance of spin axis via hingedly being connected with connection sheet with first and second articulated mountings the 3rd articulated mounting separately, wherein each articulated mounting limits the hinge axes that is parallel to spin axis.

With this mode, two ripple sylphons utilize its movably the end intercept directly but indirectly do not meeting drivingly (antriebsm

β ig) and driving arm acting in conjunction under (Zwischenschaltung) connecting in the middle of the connection sheet that connects it.At this, connection sheet can with respect to the movably end intercept of each ripple sylphon and simultaneously also with respect to the driving arm swing, this guarantees through articulated mounting.The advantage that interrelates therewith is that the length change of ripple sylphon is thrown off (entkoppeln) in some way about the oscillating motion of driving arm, makes it possible to the tensioning that does not occur being correlated with.Therefore, still can obtain the big relatively pendulum angle of driving arm through hinging structure even the structure of ripple sylphon does not have extra high elasticity and the deformability of ripple sylphon is restricted.Can realize favourable motion transmission ratio when needed by means of hinging structure.When ripple sylphon structurally and rigidly designed, this brought this advantage, and promptly it also is not inclined to radial expansion in higher internal pressure loads, and made under the situation that does not have expensive strutting means, can produce consistent rotatablely moving.

Because its favourable structure, rotating driving device also allow the accurate rotation positioning of driven member and accurate when needed corrective action in the oscillatory forces and the torque that therefore can measure at the driven member place of driving arm.In addition, utilize rotating driving device according to the present invention under the situation of small construction size and less weight, can produce high relatively output torque.

Favourable improvement project of the present invention draws from dependent claims.

Two ripple sylphons utilize its static end intercept to be rigidly fixed to the rotor place aptly.For example be molded into the rotor place integratedly through ripple sylphon, so fixing can realization especially simply.

Rotor utilizes aptly and keeps intercept to join between two static end intercepts of ripple sylphon.Exist with this mode and to be arranged on the side respect to one another that keeps intercept two static end intercepts and directly contiguous each other favourable possibility.Can use the maintenance intercept in an advantageous manner, so that be configured with the fluid passage system therein, by means of this system, ripple sylphon can load with pressure medium in inside controllably, so that activate it according to demand.

Advantageously, each ripple sylphon has pleat formula structure and perimeter wall that therefore can be described as folded wall.Be fixed on the maintenance intercept place of rotor under the situation that it seals aptly at the same time integratedly.

When the folded wall of each ripple sylphon around having, suit, its folded depth in the zone of the longitudinal side of the convex relative with the ripple sylphon of corresponding vicinity greater than in the zone of the longitudinal side of concavity.Folded depth in the zone of the longitudinal side of concavity even can equal zero.Especially, the folded wall around each ripple sylphon can have is though its such structure makes it in the zone of the longitudinal side of its concavity, not fold and flexible thus while length is constant.In such structure; Can the loading the length change that causes by the fluid controlled and in prolonging or shortening, especially in the zone of the longitudinal side of concavity, show of each ripple sylphon; And the wall zone is the closer to the longitudinal side of concavity, folded wall fewer and feweri ground or do not change fully on its length.

When the initial state without the fluid loading with ripple sylphon was the basis, the spin axis of driven member extended in two ripple sylphons aptly, promptly especially so that the identical distance of two ripple sylphons.Two ripple sylphons especially can be arranged like this, make their arc ground correspondingly extend one section around the spin axis of driven member.

Driven member and driving arm are preferably constructed each other integratedly.But driven member is dish type ground, plate shape ground or dish-shaped the structure for example.

Driven member is suitable as the support to each assembly of locating by means of reciprocal rotatablely moving.Such assembly for example can be to be used for the holding device of holding articles releasably.There is the possibility that driven member is directly constructed as the constituent element of the assembly of treating to move rotatably in addition, for example, is furnished with at least one at Qi Chu and can swings mobile clamping element as the matrix of holding device.

In the simple especially form of implementation of rotating driving device, the hinge axes of whole three articulated mountings is axially arranged through the hinged each other assembly respective stationary ground of corresponding articulated mounting about two transverse to it.Through the hinged each other assembly of articulated mounting therefore about related hinge axes directly upwards support each other everywhere, make that between hinged each other assembly only oscillating motion is possible.

When only possible relative swing mobility only relates to via first articulated mounting and during via the hinged each other assembly of second articulated mounting, especially turns out to be favourable for the big relatively output angle of swing that produces driven member.And be arranged to about the 3rd articulated mounting so, its hinge axes can move transverse to the connection straight line of imagination in the plane of the spin axis that is orthogonal to driven member, connects straight line and between the hinge axes of first and second articulated mountings, extends.Especially be arranged at this, the hinge axes of the 3rd articulated mounting can upwards move in the footpath about the spin axis of driven member with respect to driving arm.

With this mode, connection sheet is bearing in the driving arm place like this, makes its can swing with respect to driving arm on the one hand, and on the other hand also can with respect to driving arm by translation move.Resist the clip tendency (Verklemmungstendenzen) between connection sheet and driving arm with this mode.

Such supporting can realize in an advantageous manner thus, promptly is configured with the bearing bolt that limits spin axis at the connection sheet place, and its rotatable motion ground and while can join in the slotted hole that is configured in the driving arm place with moving axially.

The particularly advantageous structure of ripple sylphon correspondingly is provided with folded wall; Its structural rigidity is selected like this, and feasible being in operation also stops radial expansion and only length change can take place at least partly under the situation that does not have additional external support structure when the internal pressure loading occurring.

At least one oneself control fluid passage feeds in the inner chamber of each ripple sylphon, and it is possible making the fluid of inside independent of each other of two ripple sylphons load.Therefore two for example oppositely air inlet and exhausts alternately of ripple sylphon are so that produce reciprocal the rotatablely moving of driven member.Ripple sylphon arranges especially like this, makes wherein each can cause 45 ° of driven member rotatablely moving on one's own initiative and also allows the identical angular range that on opposite direction, rotatablely moves simultaneously.Especially there is the possibility that ripple sylphon can be worked relative to one another with this mode, so that can regulating system rigidity and/or the torque that can measure.

Because the intrinsic elasticity (Federelastizitaet) of the folded wall of each ripple sylphon, mode of operation is possible as follows on the principle, and promptly the same time is only handled a ripple sylphon all the time.In order to make driven member from initial position mobile position on sense of rotation, the only quilt in this ripple sylphon loads with pressure medium on one's own initiative.Resetting to initial position realizes owing to its intrinsic flexible pressure release through this ripple sylphon.Yet different therewith ground, the intake process in the time of the exhaust process through making a corresponding ripple sylphon and another ripple sylphon is synchronous, reset to initial position also the support of corresponding another ripple sylphon capable of using realize.

Whether notion exhaust and air inlet are used as the driven medium that is used for ripple sylphon with gaseous state or liquid pressure medium is herein irrespectively used.Rotating driving device confirms for compressed-air actuated operation advantageous particularly.

Aptly, only guarantee the internal pressure controlled loads the arc that causes ripple sylphon and the length change of circular arc especially through the structure of each ripple sylphon.With this mode, it is unnecessary that the mandatory guidance (Zwangsfuehrung) of the additional outside of ripple sylphon becomes.

Rotating driving device can be equipped with the position obtaining device when needed, so that can obtain one or more rotational position of driven member.The position obtaining device also can be embodied as stroke measuring device.Especially recommend design proposal at this as membrane potential meter (Folienpotentiometer).

Abnormal cost advantageously can be produced rotating driving device under the situation of using the production production method.The production manufacturing can relate to the whole of rotating driving device or also can relate to only some assemblies.Preferably, at least one comprises the element of construction of rotor and two ripple sylphons through using the manufacturing of production production method integratedly.

In the different known method that production is made, so-called selective laser sintering is particularly suitable for making rotating driving device.Be a kind of method in the selective laser sintering, pass through the structure of sintering making space from pulverous raw material therein.Relate to a kind of production layer construction method at this.Element of construction in layer makes up.Effect through the laser emission also undercutting of complicacy capable of using produces three-dimensional arbitrarily geometrical construction.The basis of manufacture process be hope the geometric data that exists with three dimensional form of structure, it is processed as layer data, for example is cad data.

On the principle, notion " production production method " can be regarded as and is used for the method that often is also referred to as rapid shaping or makes fast quick and that cost advantageously manufactures a product.Produce directly at this and on the basis of the inner data model of calculator, to realize, especially from deformed powder by means of process chemistry and/or physics.Although relate to the method for shaping, for realizing that concrete finished product does not need special instrument (with the geometrical construction of its realization product to be made).

Aptly, use the material of plastic materials, wherein especially recommend polyamide (Polyamid) as the element of construction that is used for being produced through the production manufacturing.

Under the situation of using the production production method, also exist a plurality of assemblies that generate the ground manufacturing through the interconnective favourable possibility of traditional measure for rotating driving device.Therefore for example the hinge axes of articulated mounting can realize through the axle bolt of extra introducing.

In addition, articulated mounting also can be always makes up integratedly, for example according to the type of so-called film hinge.At this, the assembly that connects is structure integratedly each other with being hinged, wherein reduces in order to limit the material thickness of hinge axes in the zone of articulated mounting, makes to have the possibility that the assembly that is hinged is relative to each other swung through mutual bending.

Description of drawings

Next set forth the present invention in detail according to accompanying drawing.Wherein:

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

Fig. 2 with in according to the side view of the direction of observation of arrow II and part cut the rotating driving device in the ground displayed map 1 open,

Fig. 3 to be showing the plan view of rotating driving device according to the direction of observation of the arrow III among Fig. 2,

Fig. 4 to be showing the bottom view of rotating driving device according to the direction of observation of the arrow IV among Fig. 2,

Fig. 5 shows the cross section through rotating driving device, is orthogonal to the spin axis of driven member and according to the friendship transversal V-V among Fig. 2,

Fig. 6 shows the other form of implementation of rotating driving device with perspective view,

Fig. 7 is with the side view according to the rotating driving device in the direction of observation displayed map 6 of arrow VIII,

Fig. 8 is with the plan view according to the rotating driving device of the direction of observation displayed map of the arrow VIII among Fig. 76 and Fig. 7,

Fig. 9 shows the cross section through the rotating driving device of Fig. 6 to Fig. 8 according to the friendship transversal IX-IX in Fig. 7 and 10, and

Figure 10 shows the nonlinear longitudinal section through the rotating driving device among Fig. 6 to Fig. 9 according to the friendship transversal X-X among Fig. 8.

Embodiment

Ensuing embodiment relates to (as long as in individual cases, not doing other explanation) all embodiments that described in the accompanying drawings.

The drive unit that marks with reference character 1 generally be designed for by means of hydrokinetic manipulation and can by means of fluid and preferably the pressure medium of gaseous state drive.Preferably, pressurized air is set to driven medium.

Rotating driving device 1 has rotor 2, and it is equipped with at least one fixed interface 3 aptly, and rotor 2 can be fixed on the place of further not describing of bearing structure arbitrarily by means of it.Such bearing structure for example can be manipulation robot's a movably arm.

In addition, rotating driving device 1 has the driven member 5 that can center on 4 rotations of rotation spin axis with respect to rotor 2.Being called output through rotatablely moving of representing of double-head arrow in the accompanying drawings and rotatablely moving 6 of driven member 5.

On the principle, driven member 5 can have each moulding arbitrarily.It is designed to dish-like in the embodiment of Fig. 1 to Fig. 5.Preferably, it has at least one exemplarily by fixed interface 7 of two fixed holes representative, to be driven to the assembly that rotatablely moves can be fixing at its place with preferred releasable mode.Such assembly for example is embodied as the holding device that is configured to holding articles.

Easily can driven member 5 be embodied as the integrated constituent element to the assembly that rotatablely moves to be driven.Such solution realizes in the embodiment of Fig. 6 to 10.Driven member 5 forms the matrix of fluid actuated holding device 8 there, and holding device 8 can rotate through the rotation of driven member 5 equally simultaneously.But holding device 8 has the clamping elements 12 of for example a plurality of oscillating motion ground supportings at driven member 5 places, its through holding device 8 integrated, can swing by the actuator 13 that fluid force is handled, so that implement clamping process.Actuator 13 exemplarily is configured to bellows actuator (Balgaktor) and can loads the pressure medium with fluid controllably via the manipulation passage 14 that is communicated with it and especially pass driven member 5.

Rotatablely move 6 in order to produce output, can introduce torque in driven member 5.This takes place under the cooperation of the driving arm 15 that is connected with driven member 5 antitorquely, driving arm 15 transverse to and especially be orthogonal to from driven member 5, to stretch on the direction that spin axis 4 extends and leave.Driving arm 15 has the power of arranging with certain radial spacing with spin axis 4 and introduces intercept 16; Can load can be described as the transverse force of oscillatory forces at its place's driving arm 15; It extends in the principal plane that is orthogonal to spin axis 4 16 and is directed transverse to the connecting line of imagination simultaneously, and this connecting line is introduced intercept 16 with spin axis 4 and power and is connected.Introduce intercept 16 according to the oscillatory forces power that on which direction, is introduced into, driving arm 15 can be urged to the oscillating motion 17 around spin axis 4, and it points to clockwise or counterclockwise.Especially also there is the possibility that driving arm 15 is urged to the oscillating motion 17 of vibration.

Be connected with driven member 5 through driving arm 15, the output movement 6 of the rotation of driven member 5 is directly produced by the oscillating motion 15 of driving arm 15 antitorquely.

Driving arm 15 is constructed with driven member 5 aptly each other integratedly, and wherein they especially form element of construction, and it is produced through using the production production method.

In the embodiment of Fig. 1 to Fig. 5; Rotor 2 is equipped with two shaft bearing plates (Lagerlasche) 18a, 18b; Driving arm 15 utilizes and power introducing intercept 16 relative bearing intercepts 22 join between them, and the bearing bolt of wherein further not describing, limit spin axis 4 was stretched

shaft bearing plate

18a, 18b and bearing intercept 22.Driven member 5 is positioned at from driving arm 15 and stretches that leave and especially crooked support arm 21.

Driving arm 15 has with the power that is in the outside and introduces the relative bearing intercept 22 of intercept 16 in the embodiment of Fig. 6 to Figure 10; It is connected with driven member 5 in connection intercept 23 spin axis 4, sleeve shape via coaxial, wherein connects intercept 23 and is surrounded by the bearing eye 24 that rotor 2 carries by at least one in order to limit spin axis 4.

Driving arm 15 has vertical trend of straight line between bearing intercept 22 and power introducing intercept 16 aptly.It can be similar dish ground structure, wherein its main extension plane is parallel to spin axis 4 and is orthogonal to spin axis 4 among the embodiment at Fig. 6 to Figure 10 and extends in the embodiment of Fig. 1 to Fig. 5.

In order to produce the oscillatory forces that acts on driving arm 15 and therefore in order to produce output movement 6, rotating driving device 1 is equipped with two

ripple sylphons

25,26, next it also be called as first ripple sylphon 25 and second ripple sylphon 26 in order better to distinguish.Each

ripple sylphon

25,26 has longitudinal extension part and so crooked longitudinal axis 27 in arc ground of arc.

Two ripple sylphons 25,26 so each other and lean on and arrange, make its longitudinal axis 27 in being orthogonal to the same plane of spin axis 4, especially extension in principal plane 19.

Each

ripple sylphon

25,26 have towards the longitudinal side 18 of the concavity of its flexural center and with respect to this, the longitudinal side 29 of the convex of flexural center dorsad.Two ripple sylphons 25,26 are orientated like this, make the longitudinal side 28 of its concavity face with each other.

Each

ripple sylphon

25,26 have two its longitudinal axis 27 axially on directed against each other end intercept, one of them is called static end intercept 32 and another is called movably end intercept 33.

Each

ripple sylphon

25,26 has the perimeter wall that has folding structure, and next it be called as folded wall 34.Static and end

intercept

32,33 are movably exemplarily formed by the end intercept of the folded wall 34 of relevant ripple sylphon 25,26.Each folded wall is surrounded bellows inner chamber 35 in the periphery and under sealing.

Each

ripple sylphon

25,26 utilizes its static end intercept 32 preferably to be rigidly fixed to rotor 2 places.

Rotor 2 has 36, two static end intercepts 32 of the intercept of maintenance aptly and is fixed on its place.Maintenance intercept 36 especially joins between two static end intercepts 32 and has two directed against each other end faces 37, and one in the static end intercept 32 correspondingly is connected to its place.Keep intercept 36 to be arranged in the plane identical with the longitudinal axis of two

ripple sylphons

25,26 27.

Preferably two

ripple sylphons

25,26 or its folded wall 34 are connected to each other via the maintenance intercept 36 that is arranged between it integratedly.In an advantageous manner, the element of construction that rotor 12 can be integrally formed with two

ripple sylphons

25,26 jointly, it is produced through using the production production method.

Folded wall 34 fluid-tight ground (fluiddicht) are installed in rotor 2 places.Therefore ripple

sylphon

25,26 is closed hermetically through rotor 2 in the zone of static end intercept 32.

Also fluid-tight ground is closed for

ripple sylphon

25,26 in the zone of end intercept 33 movably.Each

ripple sylphon

25,26 has closure wall (Verschlusswand) 38 there, related folded wall 34 under sealing and preferably integratedly, especially in the scope of production production method, be installed in its place.

With this mode, bellows inner chamber 35 correspondingly seals towards environment gas tight seal ground through folded wall 34, closure wall 38 and rotor 2 on every side.

Yet each bellows inner chamber 35 can be loaded with driven medium controllably.Especially can carry out independent, the fluid loading independent of each other of two

ripple sylphons

25,26 at this.This realizes that thus promptly feeding in each bellows inner chamber 35 has in two

control fluid passages

43,44, and it passes rotor 2 and the corresponding outer surface 45 that utilizes attachment openings pass-out to rotor 2.Connect in the middle of the fluid passage externally down, the control valve device of pilot pressure source and pressure drop (Drucksenke) can be connected to the attachment openings place, and the fluid that the control valve device especially can be controlled two bellows inner chambers 35 independently of one another loads.

The fluid of bellows inner chamber 35 load cause related

ripple sylphon

25 or 26 experience at least in part its longitudinal axis 27 axially on prolongation.Folded wall 34 axially stretches in such fluid loads at least partly.When bellows inner chamber 35 during again by pressure release, bellows length reduces accordingly.

The length change of

ripple sylphon

25,26 the movably end intercept 33 of

relevant ripple sylphon

25,26 according to double-head arrow 46 related longitudinal axis 27 axially on move in show.Movably end intercept 33 is along the orbiting of bending at this, and it is attributable to the special structure of folded wall 34.

The folded wall 34 of each

ripple sylphon

25,26 has such structural rigidity on the one hand, makes it in the working pressure (Betriebsdruck) that the portion within it of driven medium occurs, not experience expansion radially, but only allows length change.Length change by folded wall 34 longitudinal axis 27 axially in succession the expansion and the contraction of pleat portion 47 cause.

Utilization is for the important factor of length change along the tracks of bending, in an embodiment, the folded depth that the footpath of pleat portion 47 upwards records in the zone of the longitudinal side 29 of convex obviously greater than in the zone of the longitudinal side 28 of concavity.Fig. 9 explains according to second embodiment, is merely the part of the folded depth in the zone of longitudinal side 29 of the convex that is being in the outside in the folded depth at 28 places, longitudinal side of concavity.

In the embodiment of Fig. 1 to Fig. 5, the folded depth in the zone of the longitudinal side 28 of concavity even be reduced to zero.In the zone of the longitudinal side 28 of concavity, do not exist fully here folding and folded wall 28 have there expansion, the wall intercept of bar shaped especially, it does not allow any length extending.

This means; In the fluid of bellows inner chamber 35 loads; The transverse cross-sectional area that transverse cross-sectional area radius vector inside the length change of

ripple sylphon

25,26 upwards is in from the footpath upwards is in the outside increases, and wherein notion " footpath upwards " relates to the flexural center of the arcuate structure of

relevant ripple sylphon

25,26.

Especially in the embodiment of Fig. 1 to Fig. 5; The fluid of bellows inner chamber 35 loads and causes that folded wall 34 does not experience length change fully at the place, longitudinal side that it is arranged in the concavity of the inside; But there only with this degree by bending, folded wall 34 expansion or length extending through folded wall 34 in its zone that more is in the outside diametrically is extended therein.

For the power transmission between

ripple sylphon

25,26 and driving arm 15, rotating driving device 1 is equipped with

connect ripple sylphon

25,26 two the movably connection sheets 48 of the rigidity of end intercept 33.Connection sheet 48 (it has the extension part of straight line aptly) is hinged on intercept 33 places, movably end of first ripple sylphon 25 via first articulated mounting 51.In addition, connection sheet 48 is being hinged on intercept 33 places, movably end of second ripple sylphon 26 with first articulated mounting 51 position separately via second articulated mounting 52.

In two articulated

mountings

51,52 each limits hinge axes 54, and its spin axis 4 that is parallel to driven member 5 extends, and it limits the axis of oscillation of driving arm 15 simultaneously.

Because two articulated

mountings

51,52, connection sheet 48 on the one hand can be with respect to the movably end intercepts 33 of first ripple sylphon 25 and can be swung with respect to the movably end intercept 33 of second ripple sylphon 26 on the other hand.The hinge axes 54 of respective associated works as axis of oscillation.

Driving arm 15 is introduced intercept 16 places and therefore separately position hingedly is being connected with connection sheet 48 by means of the 3rd articulated mounting 53 diametrically with spin axis 4 in its power.The 3rd articulated mounting 53 same hinge axes 54 that limit, hinge axes 54 extensions that it is parallel to spin axis 4 and therefore is parallel to first and second articulated

mountings

51,52.

The 3rd articulated mounting 53 and first and second articulated

mountings

51,52 are with certain pitch arrangement, and are wherein especially the same big with distance to second articulated mounting 52 to the distance of first articulated mounting 51.

Preferably, the 3rd articulated mounting 53 is at first and second articulated mounting 51, between 52.

Because the 3rd articulated mounting 53, connection sheet 58 supports with respect to driving wall 15 swingably.

First and second articulated

mountings

51,52 are structure so correspondingly, make hinged each other assembly 33, between 34 can about related hinge axes 34 radially upload recursion power and pulling force.First and second articulated

mountings

51,52 be corresponding only for fix on connection sheet 48 with the swing degrees of freedom between the related movably end intercept 33.

The 3rd articulated mounting 53 is constructed in two embodiments like this; Make connection sheet 48 the binding (Vermittlung) of related hinge axes 54 can transverse force be introduced in the driving arm 15 down; It is orthogonal to the connection line oriented of imagination, connects straight line and between the hinge axes 53 of spin axis 4 and the 3rd articulated mounting 53, extends.These masterpieces are that oscillatory forces works, and it produces the torque that can measure at driven member 5 places under the situation of the lever wall of considering to be limited driving arm 15.

Fluid through bellows inner chamber 35 loads; It is big that ripple sylphon 25 or 26 length become; Related movably end intercept 33 move; Wherein its motion via related first or second articulated mounting 51,52 and the 3rd articulated mounting 53 be introduced in the driving arm 15, make its experience oscillatory forces.

Because two

ripple sylphons

25,26 are forced to connect via connection sheet 48, they implement opposite yaw motion 46 all the time on it is vertical.Shortening when in other words the prolongation of a therefore corresponding ripple sylphon causes corresponding another ripple sylphon.Produce favourable effect thus, promptly driving arm 15 can load with oscillatory forces on each of its two possible swaying directions in each angular orientation.Therefore driving arm 15 can be loaded on both direction all the time on one's own initiative.Also possibly on both direction, load simultaneously at this, so that the enhancing (Aussteifung) of the system of acquisition.

For all embodiments common be, spin axis 4 (observing on axially) at it at two ripple sylphons 25, extend between 26 and especially have these two

ripple sylphons

25,26 spacing at least about equally at this.

Especially suitable is the layout of spin axis 4 in the zone of two static end intercepts 32.

Aspect the 3rd articulated mounting 53, have this possibility for design, therein as in first and second articulated

mountings

51,52, between connection sheet 48 and driving arm 15 existence about related hinge axes 54 comprehensive supports radially.Such form of implementation realizes in the embodiment of Fig. 1 to Fig. 5.Therefore the oscillating motion that between connection sheet 48 and driving arm 15, only centers on the hinge axes 54 of the 3rd articulated mounting 53 is possible.

Therefore in the embodiment of Fig. 1 to Fig. 5, a solution is arranged, the hinge axes 54 of all articulated

mountings

51,52,53 is axially correspondingly arranged through corresponding articulated mounting 51,52,53 hinged each other assemblies about two transverse to it still therein.

Therefore the hinge axes 54 of the 3rd articulated mounting 53 supports especially like this, makes its spacing to spin axis 4 be independent of the running state of two

ripple sylphons

25,26 and especially also is independent of the instantaneous swing position of driving arm 15 and constant.

This structural type (it is exemplarily explained according to Fig. 6 to Figure 10) that substitutes is allowed the 3rd articulated mounting 53 the translation of hinge axes 54 in the plane that is orthogonal to spin axis 4 freedom of movement and at this connection straight line transverse to imagination, it interconnects the hinge axes 54 of first and second articulated mountings 51,52.The freedom of movement that the freedom of movement of translation is especially linear, wherein corresponding linear motion is explained by means of double-head arrow with 55 in Fig. 9.

Particularly advantageous is a kind of design proposal, and the hinge axes 54 of the 3rd articulated mounting 53 upwards can linearly move in the footpath about spin axis 4 with respect to driving arm 15 therein.

In order to ensure the characteristic of being described; The 3rd articulated mounting 53 for example can design like this; Make driving arm 15 have the slotted hole 56 of the freedom of movement of guaranteeing translation, be fixedly placed on the bearing bolt 57 at connection sheet 48 places can linearity movably and (under the situation that limits hinge axes 54) also rotatably be contained in wherein simultaneously.

The variant of in the embodiment of Fig. 6 to Figure 10, realizing of the 3rd articulated mounting 53 guarantees the bigger pendulum angle of driving arm 15 under the situation of the less in proportion deflection of ripple sylphon 25,26.Be modified in two ripple sylphons 25, relative mobility between 26, because driving arm 15 is at the locking that does not upwards cause connection sheet 48 about the footpath of spin axis 4.

In

order

51,52, two

ripple sylphons

25,26 of first and second articulated mountings to be installed at its corresponding aptly support flange 58 that is provided with in end intercept 33 places movably, its with related closed-wall 38 construct especially integratedly.Visible well from Fig. 1 and Fig. 6, but supporting dome 58 fork-shaped ground structure makes connection sheet 48 can join in two legs of support flange 58.

In order to realize first and second articulated

mountings

51,52; Connection sheet 48 is respectively passed by the bearing hole that is parallel to spin axis 4 at its intercept place, two ends respect to one another aptly; This bearing hole aligns with bearing hole in being configured in support flange 58, and the bearing bolt 61 that wherein limits hinge axes 54 inserts in the bearing hole that is in alignment with each other.Such bearing bolt 61 also can be used for being implemented in the embodiment's shown in Fig. 1 to Fig. 5 the 3rd articulated mounting 53 with comparable mode.

Driving arm 15 for example can be arranged with connection sheet 48 like this, makes driving arm 15 be in the outside in the longitudinal side of connection sheet 48 in side effect (vorbeigreifen).This is the situation in the embodiment of Fig. 6 to Figure 10.

Connection sheet 48 has window 62 in the embodiment shown in Fig. 1 to Fig. 5, and driving arm 15 is introduced intercept 16 with its power and sunk in the window 62 and in its scope, be furnished with as hinge axes 54 acting bearing bolts 57.

Be different from these embodiments, all articulated

mountings

51,52,53 also can be realized under the situation of using the production production method integratedly and especially.

As long as there is the production manufacturing, the laser sintered method of application choice property especially then.

As the material that is used for rotating driving device 1, generate the assembly that ground is made as long as especially relate to, especially can consider plastic materials, preferably polyamide.

For rotational position or the angle of swing of obtaining driven member 5, rotating driving device 1 can be equipped with the position obtaining device, especially is equipped with the stroke measurment system.The position obtains especially and can realize through at least one swing position of obtaining driving arm 15.The receiving bore 63 that in Fig. 5, is configured in the driving arm 15 is visible with 63, and the actuating element of position obtaining device can be fixed therein.

The rotating driving device 1 of two forms of implementation is corresponding to be equipped with two and to generate the

ripple sylphons

25,26 that ground is made, its when stretching, realize driven member 5 until 90 ° rotatablely

move.Ripple sylphon

25,26 arranges like this, makes each

ripple sylphon

25 or 26 can cause 45 ° rotatablely moving on one's own initiative and allows last 45 ° rotatablely moving in the other direction simultaneously.Therefore ripple

sylphon

25,26 also can be worked relative to one another, makes adjustable torque or rigidity.

For these two

ripple sylphons

25,26, mandatory guidance becomes unnecessary.The length change of arc is single to be produced with regard to the special moulding through folded wall 34 only.

When folded wall 34 has the cross section of essentially rectangular (like this for example showing in the cut-away view of Figure 10), particularly favourable thus.Corresponding aptly has a trend that is parallel to longitudinal axis 4 at 28 places, longitudinal side of concavity with at the wall intercept at 29 places, longitudinal side of protrusion at this.

Claims

1. fluid actuated a kind of rotating driving device; The driven member (5) that it has rotor (2) and can center on spin axis (4) rotation with respect to said rotor (2); Have the driving arm (15) that is connected with said driven member (5) and can center on said spin axis (4) swing in addition antitorquely; And have two ripple sylphons (25 that correspondingly have the longitudinal extension part of arc; 26), its longitudinal side (28) with the concavity that faces with each other is arranged side by side, wherein its corresponding have be fixed on static end intercept (32) that said rotor (2) locates and movably end intercept (33) relative about this, that connect with said driving arm (15) motion at intervals with said spin axis (4); Wherein said two ripple sylphons (25; 26) load variable-length at least partly through in check internal flow,, it is characterized in that so that utilize its movably end intercept (33) to apply oscillatory forces to said driving arm (15); At said ripple sylphon (25; 26) two connection sheets (48) that movably are extended with rigidity between the end intercept (33), its via first articulated mounting (51) and said movably end intercept (33) and via about this second articulated mounting (52) separately with said another movably end intercept (33) hingedly be connected, and said driving arm (15) with the radial distance of said spin axis (4) via with said first and second articulated mountings (51; 52) separately the 3rd articulated mounting (53) hingedly is connected with said connection sheet (48); Wherein each articulated mounting (51,52,53) limits the hinge axes that is parallel to said spin axis (4).

2. rotating driving device according to claim 1 is characterized in that, said two ripple sylphons (25,26) utilize its static end intercept (32) to be rigidly fixed to said rotor (2) and locate.

3. rotating driving device according to claim 1 and 2; It is characterized in that; Said rotor (2) utilization keeps intercept (36) to join said ripple sylphon (25 to; 26) between two static end intercepts (32), make said two static end intercepts (32) be arranged on the side respect to one another of said maintenance intercept (36) especially like this, wherein said maintenance intercept (36) aptly by with said ripple sylphon (25; 26) control fluid passage (43,44) that bellows inner chamber (35) is communicated with passes.

4. rotating driving device according to claim 3 is characterized in that, the folded wall (34) around each ripple sylphon (25,26) has, and the one of which end is fixed on said maintenance intercept place (36) integratedly under sealing.

5. according to each described rotating driving device in the claim 1 to 4; It is characterized in that; The folded wall (34) of each ripple sylphon (25,26) around having, its like this structure make fold height in the zone of the longitudinal side (29) of convex greater than in the zone of the longitudinal side (28) of said concavity.

6. according to the described rotating driving device of claim 1 to 5, it is characterized in that, the folded wall (34) of each ripple sylphon (25,26) around having, though its like this structure make that it can be crooked in the zone of the longitudinal side (28) of its concavity, length is constant.

7. according to each described rotating driving device in the claim 1 to 6; It is characterized in that; Said spin axis (4); Observe axially going up of said spin axis (4), especially near said two static end intercepts (32), extending between said two ripple sylphons (25,26) and at this.

8. according to each described rotating driving device in the claim 1 to 7, it is characterized in that said driven member (5) and said driving arm (15) are constructed each other integratedly.

9. according to each described rotating driving device in the claim 1 to 8, it is characterized in that all articulated mountings (51; 52,53) hinge axes (54) transverse to its axially corresponding about two through articulated mounting (51,52; 53) hinged each other assembly (33,48,15) is arranged still.

10. according to each described rotating driving device in the claim 1 to 9; It is characterized in that; The hinge axes (54) of said the 3rd articulated mounting (53) supports like this, and the working state that makes the distance of itself and said spin axis (4) be independent of said two ripple sylphons is constant all the time.

11. according to each described rotating driving device in the claim 1 to 8; It is characterized in that; The hinge axes (54) of said the 3rd articulated mounting (53) can move transverse to the connection straight line of imagination in the plane that is orthogonal to said spin axis (4); Said connection straight line interconnects the hinge axes (54) of said first and second articulated mountings (51,52).

12., it is characterized in that the hinge axes (54) of said the 3rd articulated mounting (53) can upwards move in the footpath about said spin axis (4) with respect to said driving arm (15) according to each described rotating driving device in claim 1 to 8 or 11.

13., it is characterized in that said ripple sylphon (25,26) correspondingly has folded wall (34) according to each described rotating driving device in the claim 1 to 12, its structural rigidity stops radial expansion and only allows length change at least partly.

14., it is characterized in that at least one oneself control fluid passage (43 according to each described rotating driving device in the claim 1 to 13; 44) lead to each ripple sylphon (25; 26) in the bellows inner chamber (35), said control fluid passage (43,44) passes said rotor (2) aptly; Especially like this it is possible making the fluid of inside independent of each other of said two ripple sylphons (25,26) load.

15. according to each described rotating driving device in the claim 1 to 14; It is characterized in that; At least one comprises said rotor (2) and said two ripple sylphons (25; 26) element of construction is made through using the production production method integratedly, and especially through optionally laser sintered, wherein said element of construction is processed by polyamide aptly.