EP0181971B1 - Vérin rotatif - Google Patents

Vérin rotatif Download PDF

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Publication number
EP0181971B1
EP0181971B1 EP84307815A EP84307815A EP0181971B1 EP 0181971 B1 EP0181971 B1 EP 0181971B1 EP 84307815 A EP84307815 A EP 84307815A EP 84307815 A EP84307815 A EP 84307815A EP 0181971 B1 EP0181971 B1 EP 0181971B1
Authority
EP
European Patent Office
Prior art keywords
piston
piston head
arm
housing
bolt
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired
Application number
EP84307815A
Other languages
German (de)
English (en)
Other versions
EP0181971A1 (fr
Inventor
Giles Arthur Kendall
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Menasco Inc
Original Assignee
Menasco Inc
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Menasco Inc filed Critical Menasco Inc
Priority to DE8484307815T priority Critical patent/DE3469206D1/de
Priority to AT84307815T priority patent/ATE32369T1/de
Priority to EP84307815A priority patent/EP0181971B1/fr
Publication of EP0181971A1 publication Critical patent/EP0181971A1/fr
Application granted granted Critical
Publication of EP0181971B1 publication Critical patent/EP0181971B1/fr
Expired legal-status Critical Current

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Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B15/00—Fluid-actuated devices for displacing a member from one position to another; Gearing associated therewith
    • F15B15/08—Characterised by the construction of the motor unit
    • F15B15/12—Characterised by the construction of the motor unit of the oscillating-vane or curved-cylinder type
    • F15B15/125—Characterised by the construction of the motor unit of the oscillating-vane or curved-cylinder type of the curved-cylinder type
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B15/00—Fluid-actuated devices for displacing a member from one position to another; Gearing associated therewith
    • F15B15/08—Characterised by the construction of the motor unit
    • F15B15/14—Characterised by the construction of the motor unit of the straight-cylinder type
    • F15B15/1423—Component parts; Constructional details
    • F15B15/1447—Pistons; Piston to piston rod assemblies

Definitions

  • the invention hereinafter described and claimed pertains to rotary actuators which are used to convert fluid pressure to mechanical movement. More particularly, this invention pertains to such actuators which produce rotary motion by means of an annular piston or pistons.
  • Rotary actuators are used to open and close doors or windows, raise and lower flaps on an airplane wing, turn switches or operate valves and any other device which must be moved in rotary fashion about a center point.
  • Such actuators are generally fluid driven, meaning that a fluid, typically hydraulic or pneumatic, is used to cause the rotary movement.
  • Actuators may be single acting or double acting.
  • a single acting actuator motion is produced in one direction only.
  • the piston is caused to travel in the piston chamber by the input of fluid pressure medium into the chamber. Once the pressure is released, the piston will be returned to its starting position, usually by the gravitational weight of the device which was originally moved by the piston or by a spring.
  • a double acting actuator rotary motion is produced in both the counterclockwise and clockwise directions. This is shown, for example, in U.S. Patent No. 3,446,120, in which opposing annular segment shaped pistons, working in similarly opposing piston chambers, can be made to move in opposing directions by the oscillation of pressure to the opposing chambers.
  • the double acting feature will be preferred, if not required.
  • the prior art rotary actuators have suffered from a number of drawbacks.
  • the first drawback arises as a result of the difficulty in providing for a sufficiently durable seal between the piston head and the annular chamber. Because of the variances in the dimensions of the annular chamber which can arise during manufacture, difficulty was encountered in designing a piston head which would provide a sufficiently durable seal against the walls of the annular chamber during operation, without creating excessive friction between the piston head and the wall. From a design standpoint it is the ultimate goal to produce the maximum torque from the rotary actuator for a given chamber pressure. It will be easily understood that any excess friction between the piston head and the walls of the annular chamber will greatly reduce the resultant torque from a given chamber pressure.
  • the rotary actuator herein described and claimed overcomes the drawbacks of the prior art in an actuator which utilizes only one annular chamber integrally formed in a housing and a piston operating in that single annular chamber, and which provides friction reduction means between the piston head and piston arm to improve performance.
  • a novel design for the actuator provides a single annular chamber formed integrally within a cylindrical cavity in the housing.
  • a single piston head, attached to a single arm, is caused to travel in the annular chamber, in both directions, by providing for the pressurization of the larger cavity in which the piston arm resides, and allowing that pressure to act on the underside of the piston head to drive the piston into the annular chamber, and providing the conventional pressurizing means to pressurize the annular chamber ahead of the piston head to force the piston arm out of the annular chamber, thereby providing for the oscillating or double-acting rotary motion required for most applications of the actuator in a very simple, inexpensively manufactured embodiment.
  • a single piston, double acting rotary actuator comprising a housing having a closed first end, and an open second end, said housing defining a cylindrical hollow space except for an annular chamber in the shape of an arc segment of a toroid in said housing against said closed end, said annular chamber opening into said hollow space in said housing; a centrally located aperture in said closed first end of said housing; a drive shaft rotatably mounted in said housing and extending exteriorly of said housing through said aperture in said closed end; an annular piston arm attached to said drive shaft, such that the distal end of said piston arm rotates in said housing coaxially with and said annular chamber; piston head means attached to said piston arm for providing sealing contact with said annular chamber during the movement of said piston arm therein; cap means for closing said second end of said housing; port means for introducing fluid under pressure into said annular chamber and into said hollow space in said housing such that said piston head means can be moved thereby in either direction in said annular chamber; and attachment means for attaching said piston head means to said
  • friction reduction means are provided between the piston head and the piston arm to allow for freer movement of the piston head relative to the piston arm, so that the piston head may float within the annular chamber, thereby allowing the piston head to accommodate any flexing of the piston arm under load and any variances in the dimensions of the annular chamber.
  • the actuator of this invention has an outer housing 10.
  • the housing 10 is of a circular configuration for greater compactness.
  • the housing 10 is constructed from steel.
  • the interior of housing 10 is a hollow cylinder containing a first chamber 12 and a second chamber 14.
  • the second chamber 14 is annular in configuration and in the preferred embodiment is in the shape of a toroid arc segment. To obtain greater precision, thereby reducing dimensional tolerances in the second chamber 14, the toroid segment is preferably cut, rather than cast.
  • the housing 10 has a small opening at one end through which is inserted a drive shaft 16.
  • the other end of housing 10 is open.
  • housing 10 is generally a cylinder, closed at one end, and open at the other.
  • Annular chamber 14 is formed at the bottom edge of the closed end of this cylinder.
  • the remaining volume of the cylinder is open, defining a void space.
  • This large void space becomes first chamber 12 after diaphragm 18 is inserted, but provides important advantages relating to the construction of the actuator.
  • this configuration allows a piston arm 40 and the drive shaft 16 to be of unitized construction, rather than the splined attachment means typically utilized between the piston and drive shaft in other actuators.
  • Thrust bearings 20 and 22 fit around the drive shaft 16 and in the apertures in the housing 10 and diaphragm 18, respectively, to hold the drive shaft 16 in place and to allow the drive shaft 16 to rotate.
  • Two sets of packing and retainer rings 24 and 26 seal thrust bearing 20 against housing 10 and drive shaft 16 respectively; and two sets of packing and retainer rings 28 and 30 provide the same function between thrust bearing 22 and diaphragm 18 and drive shaft 16.
  • Another packing and retainer ring set 32 seals the exterior circumference of the diaphragm 18 against housing 10.
  • a metal split ring 34 is inserted into an appropriately sized aperture formed by corresponding grooves in housing 10 and diaphragm 18 to hold diaphragm 18 in place against housing 10.
  • An access slot 36 ( Figure 4) is provided in the exterior of housing 10 to allow the split ring 34 to be fed into position.
  • a set screw 38 keeps the diaphragm 18 from turning in place relative to the housing 10.
  • piston arm 40 is formed integrally with drive shaft 16 as they are of unitized construction. It will be understood that conventional attachment means could be used. It also will be appreciated that the first chamber 12 is of sufficient size to accommodate therein the piston arm 40 and a portion of the drive shaft 16.
  • a rubber stop 42 On the heel of piston arm 40 is attached a rubber stop 42.
  • a shoulder 44 is formed on the interior of housing 10 against which rubber stop 42 abuts to stop movement of the piston arm 40.
  • Piston arm 40 is also formed as an arc segment of a toroid having an arc radius equal to that of second chamber 14.
  • the cross-sectional diameter of piston arm 40 is appreciably less than the interior cross-section diameter of second chamber 14 so that piston arm 40 may move freely into second chamber 14. It will be appreciated that in order for piston arm 40 to be able to move completely into second chamber 14, the center point for the arc radius of piston arm 40 must be the same as the center point for the arc radius for second chamber 14. It will further be appreciated that for improved compactness, when piston arm 40 is in the fully retracted position with rubber stop 42 against shoulder 44, the distal end 46 of piston arm 40 is at or near the entrance to second chamber 14.
  • Charging ports 48 and 50 provide the means whereby fluid under pressure can be introduced into first chamber 12 and second chamber 14, respectively. Threaded holes 52, 53, 54 and 55 are provided in the exterior portion of housing 10 for ease of attachment of the actuator to another surface.
  • a piston head 58 is attached to piston arm 40 by means which allow the piston head 58 to "float" in a lateral, or in the preferred embodiment, a radial manner relative to piston arm 40.
  • These attachment means comprise a corner notch 60 formed in piston arm 40 which presents a shoulder 62 which is parallel to the face 64 of the piston arm 40.
  • a hole is formed between the face 64 and shoulder 62. The hole is situated at the center point of face 64.
  • a bolt 66 having an enlarged head 68 extends through that hole and is secured by nut 70 against shoulder 62. The length of bolt 66 is such that it extends an appreciable distance beyond the face 64 of piston arm 40.
  • the enlarged head 68 of bolt 66 presents a shoulder 72 which is parallel to face 64.
  • the piston head 58 which is preferably constructed of an aluminum-nickel-bronze alloy, is cup-shaped such that it has an interior cavity 74 of sufficient size to fit over the enlarged head 68 of bolt 66. A portion of the interior surface of cavity 74 is threaded so as to receive a threaded insert 76 which retains the piston head 58 upon enlarged head 68 of bolt 66.
  • the hole in piston arm 40 between shoulder 62 and face 64 has an interior diameter equal to the exterior diameter of bolt 66 such that there is no lateral or radial movement by bolt 66 in that hole.
  • the interior diameter of hole 78 in threaded insert 76 is appreciably larger than the exterior diameter of bolt 66.
  • piston head 58 is capable of lateral or radial movement relative to bolt 66 and hence, relative to piston arm 40. It will further be appreciated that to provide for this lateral or radial movement, there must be some free space provided between piston head 58 and piston arm 40. This free space is obtained by making the interior cavity 74 and piston head 58 appreciably deeper than the distance bolt 66 extends away from face 64 of piston arm 40.
  • a lock pin 65 is inserted into corresponding holes in piston head 58 and insert 76 to prevent insert 76 from turning after it has been inserted. Wrenching hole 67 is added to insert 76 to aid in its insertion and removal.
  • piston head 58 is axially movable relative to piston arm 40 between a first position (see Figure 1), operable when first chamber 12 is pressurised with fluid, in which washer 80 provides friction reduction for the lateral movement and a second position, operable when second chamber 14 is pressurised with fluid, in which washer 82 provided friction reduction for the lateral movement.
  • Suitable thrust washers having a coating of a polytetrafluoroethylene-lead mixture which provides for exceptionally low friction. Therefore, even under substantial loads, the piston head 58 will be able to float relative to the piston arm 40. Therefore, during the travel of the piston arm 40 through its arc in second chamber 14, as the piston arm 40 may flex during surges in pressure, orasthe piston head 58 encounters variances in the configurations of the walls of second chamber 14, the piston head 58 will more readily and with less friction float relative to piston arm 40 so that the piston head 58 will adjust its position to seek the path of least resistance, thereby minimizing friction between it and the walls of second chamber 14, producing maximized performance for the actuator. r.
  • FIG 1 one of several embodiments for the configuration of the piston head 58 is shown.
  • the exterior configuration of piston head 58 is such that it contacts the walls of second chamber 14 at one circumferential point only.
  • a sealing ring 84 is fitted into an appropriately sized groove formed in piston head 58. The best performance is obtained by using a sealing ring 84 which is resistant to extrusion under high pressure.
  • FIG. 5 Another method of attachment of the piston head 58 to the piston arm 40 is shown in Figures 5 and 6.
  • the piston head 58' and 58" does not have an interior cavity. Rather, the piston head has a centrally located aperture through which bolt 66 is inserted.
  • Another modification is made to face 64 of piston arm 40.
  • the end of piston arm 40 is reduced in size to create a shoulder 100 and a neck portion 102.
  • the piston head 58' and 58" has a small cavity which fits over the neck portion 102.
  • the aperture 104 between face 64 and shoulder 62 is made appreciably larger than the size of bolt 66.
  • a spacer 106 extends between nut 70 and the underside of the piston head 58' and 58" to allow for pretensioning of the bolt 66. This pretensioning of the bolt 66 increases its fatigue life, and also permits precise looseness between the piston head 58' and 58" and the piston arm 40.
  • the thrust washers 80 and 82 are placed between the piston 58' and 58" head and face 64 and between shoulder 62 and nut 70. It will also be understood that because the aperture in the piston head is now exposed to fluid under pressure, packing and retainer ring 108 must be utilized.
  • Figures 5 and 6 also display alternative embodiments for the configuration of the piston head.
  • piston head 58' is in the shape of a toroid segment so that the sealing contact between the piston head 58' and the walls of second chamber 14 is increased.
  • This configuration finds its greatest utility in those applications where extremely high pressures are experienced.
  • this configuration of piston head 58' presents a potential for greater friction between the piston head and the wall of second chamber 14, the precision with which the toroidal bore of second chamber 14 is machined, and the provision for low friction float of the piston head 58' during movement of the piston arm 40, minimizes the increased frictional problems.
  • FIG 6 another embodiment of piston head 58" is shown.
  • the exterior piston surface is generated by a radius equal to that of the interior surface 110 of the exterior wall portion of second chamber 14.

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Actuator (AREA)
  • Braking Arrangements (AREA)

Claims (11)

1. Vérin rotatif à double effet et à un seul piston, comprenant un boîtier (10) ayant une première extrémité fermée et une seconde extrémité ouverte, le boîtier (10) délimitant un espace cylindrique creux (12), à l'exception d'une chambre annulaire (14) ayant la forme d'un segment courbe de tore, placé dans le boîtier (10) contre l'extrémité fermée, la chambre annulaire (14) débouchant dans l'espace creux (12) placé dans le boîtier, une ouverture centrale formée dans la première extrémité fermée du boîtier (10), un arbre (16) d'entraînement monté dans le boîtier (10) afin qu'il tourne et dépassant à l'extérieur du boîtier (10) par l'ouverture formée dans l'extrémité fermée, un bras annulaire (10) de piston fixé à l'arbre d'entraînement (16) de manière que l'extrémité externe du bras (40) de piston tourne dans le boîtier (10) coaxialement à celui-ci et dans la chambre annulaire (14), une tête (58) de piston fixée au bras (40) du piston et destinée à être en contact étanche avec la chambre annulaire (14) pendant le mouvement du bras (40) de piston dans cette chambre, un capuchon (18) destiné à fermer la seconde extrémité du boîtier, des orifices (48, 50) destinés à l'introduction d'un fluide sous pression dans la chambre annulaire (14) et dans l'espace (12) formé dans le boîtier (10) afin que la tête (58) du piston puisse se déplacer dans un sens ou dans l'autre dans la chambre annulaire (14), et un dispositif (66,68,70) de fixation de la tête (58) du piston sur le bras (40) afin que la tête (58) du piston puisse se déplacer latéralement par rapport au bras (40) du piston, caractérisé en ce que la tête du piston peut aussi se déplacer axialement par rapport au bras (40) du piston, le mouvement axial est réalisé entre une première et une seconde position à la suite des changements de pression du fluide d'un côté et de l'autre de la tête (58) du piston, et un dispositif (80, 82) de réduction de frottement est destiné à être en contact à la fois dans la première et dans la seconde position afin qu'il réduise le frottement lorsque la tête (58) du piston se déplace latéralement par rapport au bras (40).
2. Vérin rotatif selon la revendication 1, dans lequel le dispositif de réduction de frottement comporte au moins deux rondelles de butée (80, 82).
3. Vérin rotatif selon la revendication 2, dans lequel des rondelles de butée (80, 82) portent un revêtement d'un matériau réduisant le frottement.
4. Vérin rotatif selon la revendication 3, dans lequel le revêtement réduisant le frottement contient du polytétrafluoréthylène.
5. Vérin rotatif selon l'une quelconque des revendications 1 à 4, dans lequel le dispositif de fixation comporte:
(a) un boulon (66) fixé au bras (40) et disposé suivant la longueur de celui-ci, le boulon (66) ayant une partie élargie (68) à son extrémité distante du bras (40) du piston,
(b) une cavité interne (74) délimitant un espace en largeur dans la tête (58) du piston, la cavité (74) ayant une dimension nettement supérieure à celle de la partie élargie (68) du boulon (66), et
(c) un élément rapporté (76) fixé à la tête (58) du piston et destiné à fixer cette tête (58) au boulon (66), l'élément rapporté (76) ayant une ouverture (78) pour le passage du boulon (66), l'ouverture (78) étant notablement plus grande que le diamètre du boulon (66).
6. Vérin rotatif selon la revendication 5, dans lequel le dispositif (80, 82) de réduction de frottement est placé entre l'élément rapporté (76) et la partie élargie (68) du boulon (66), et entre l'élément rapporté (76) et le bras (40) du piston.
7. Vérin rotatif selon l'une quelconque des revendications 1 à 4, dans lequel le dispositif de fixation comporte:
(a) une ouverture (104) formée dans le bras (40) du piston,
(b) un boulon (66) passant dans l'ouverture (104), le boulon (66) ayant un diamètre nettement inférieur à celui de l'ouverture (104),
(c) une ouverture formée dans la tête (58', 58") du piston et dans laquelle est disposé le boulon (66), l'ouverture de la tête et du piston ayant une dimension égale à celle du boulon (66),
(d) un écrou (7) destiné à fixer le boulon (66) sur le bras (40) du piston, et
(e) une entretoise (106) placée entre la tête du piston (58', 58") et l'écrou (70).
8. Vérin rotatif selon la revendication 7, dans lequel le dispositif (80, 82) de réduction de frottement est placé entre la tête (58', 58") du piston et le bras (40) du piston, et entre le bras (40) du piston et l'écrou (70).
9. Vérin rotatif selon l'une quelconque des revendications précédentes, dans lequel la tête (58) du piston a une configuration radiale externe convexe et une gorge circonférentielle externe formée à l'emplacement du diamètre externe maximal de la tête du piston, et un dispositif (84) d'étanchéité placé dans la gorge et destiné à empêcher le passage du fluide en dérivation dans la chambre annulaire (14).
10. Vérin rotatif selon l'une quelconque des revendications précédentes, dans lequel la tête (58) du piston a une surface externe dont la configuration est celle d'un segment de tore.
EP84307815A 1984-11-12 1984-11-12 Vérin rotatif Expired EP0181971B1 (fr)

Priority Applications (3)

Application Number Priority Date Filing Date Title
DE8484307815T DE3469206D1 (en) 1984-11-12 1984-11-12 Rotary actuator
AT84307815T ATE32369T1 (de) 1984-11-12 1984-11-12 Drehkolbenzylinder.
EP84307815A EP0181971B1 (fr) 1984-11-12 1984-11-12 Vérin rotatif

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
EP84307815A EP0181971B1 (fr) 1984-11-12 1984-11-12 Vérin rotatif

Publications (2)

Publication Number Publication Date
EP0181971A1 EP0181971A1 (fr) 1986-05-28
EP0181971B1 true EP0181971B1 (fr) 1988-02-03

Family

ID=8192805

Family Applications (1)

Application Number Title Priority Date Filing Date
EP84307815A Expired EP0181971B1 (fr) 1984-11-12 1984-11-12 Vérin rotatif

Country Status (3)

Country Link
EP (1) EP0181971B1 (fr)
AT (1) ATE32369T1 (fr)
DE (1) DE3469206D1 (fr)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0493167A1 (fr) * 1990-12-28 1992-07-01 Societe Europeenne De Propulsion Dispositif d'actionnement rotatif à tige de piston annulaire
WO1999046514A2 (fr) 1998-03-11 1999-09-16 Eugen Rost Systeme d'entrainement a commande pneumatique
WO2007003000A1 (fr) * 2005-06-30 2007-01-11 James Antony Kells Actionneur de piston hydraulique toroïdal

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US163186A (en) * 1875-05-11 Improvement in oscillating engines
US2649077A (en) * 1951-07-30 1953-08-18 North American Aviation Inc Piston assembly for oscillatory hydraulic actuators
US3444788A (en) * 1965-12-13 1969-05-20 Franz Sneen Hydraulic annular piston motors
US3446120A (en) * 1965-12-13 1969-05-27 Franz Sneen Oscillating fluid-driven actuator

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR522037A (fr) * 1920-05-20 1921-07-24 Alphonse Haas Piston
GB1140283A (en) * 1966-01-17 1969-01-15 Associated Cargo Gear Aktiebol Improvements in or relating to pneumatic or hydraulic servo-motors
FR2076326A5 (fr) * 1970-01-09 1971-10-15 Usinage Rationnel
FR2253159A1 (en) * 1974-11-07 1975-06-27 Tenfjord Mek Verksted Johan Hydraulic actuator for ship's rudder - ring shaped piston has spherical seating surfaces and houses locking rings

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US163186A (en) * 1875-05-11 Improvement in oscillating engines
US2649077A (en) * 1951-07-30 1953-08-18 North American Aviation Inc Piston assembly for oscillatory hydraulic actuators
US3444788A (en) * 1965-12-13 1969-05-20 Franz Sneen Hydraulic annular piston motors
US3446120A (en) * 1965-12-13 1969-05-27 Franz Sneen Oscillating fluid-driven actuator

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0493167A1 (fr) * 1990-12-28 1992-07-01 Societe Europeenne De Propulsion Dispositif d'actionnement rotatif à tige de piston annulaire
FR2671145A1 (fr) * 1990-12-28 1992-07-03 Europ Propulsion Dispositif d'actionnement rotatif a tige de piston annulaire.
US5235900A (en) * 1990-12-28 1993-08-17 Societe Europeenne De Propulsion Rotary actuator device having an annular piston rod
WO1999046514A2 (fr) 1998-03-11 1999-09-16 Eugen Rost Systeme d'entrainement a commande pneumatique
WO2007003000A1 (fr) * 2005-06-30 2007-01-11 James Antony Kells Actionneur de piston hydraulique toroïdal
US7895935B2 (en) 2005-06-30 2011-03-01 James Antony Kells Toroidal ram actuator

Also Published As

Publication number Publication date
DE3469206D1 (en) 1988-03-10
ATE32369T1 (de) 1988-02-15
EP0181971A1 (fr) 1986-05-28

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