EP2103814B1 - Fluid-actuated rotating drive - Google Patents

Fluid-actuated rotating drive Download PDF

Info

Publication number
EP2103814B1
EP2103814B1 EP09003165.9A EP09003165A EP2103814B1 EP 2103814 B1 EP2103814 B1 EP 2103814B1 EP 09003165 A EP09003165 A EP 09003165A EP 2103814 B1 EP2103814 B1 EP 2103814B1
Authority
EP
European Patent Office
Prior art keywords
housing
rotary actuator
actuator according
bodies
fluid
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.)
Active
Application number
EP09003165.9A
Other languages
German (de)
French (fr)
Other versions
EP2103814A3 (en
EP2103814A2 (en
Inventor
Gerhard Thorwart
Frank Menikheim
Tobias HÜBSCH
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.)
Festo SE and Co KG
Original Assignee
Festo SE and Co KG
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 Festo SE and Co KG filed Critical Festo SE and Co KG
Publication of EP2103814A2 publication Critical patent/EP2103814A2/en
Publication of EP2103814A3 publication Critical patent/EP2103814A3/en
Application granted granted Critical
Publication of EP2103814B1 publication Critical patent/EP2103814B1/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

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

Definitions

  • the invention relates to a fluid-actuated rotary drive, comprising a housing which is composed of at least three housing bodies arranged in the axial direction of a main axis in the form of two end bodies and at least one intermediate body arranged therebetween, wherein immediately adjacent housing bodies each jointly define a housing chamber, in which one about the main axis rotatably mounted rotary piston, so that staggered in the axial direction of the main axis at least two each housed in a separate housing chamber rotary piston are present, all rotary pistons with one and the same outside of the housing the tapping of a torque enabling output shaft are in rotary drive connection and wherein each swivel piston receiving it Housing chamber divided into two working spaces, which controlled to generate the torque via running in the housing wall internal fluid channels controlled by an Antr iebsfluid are acted upon.
  • One from the DE 93 20 601 U1 known rotary drive of this type includes a plurality of axially staggered housed in a housing pivot piston, which are driven by fluid respectively to a reciprocating rotary motion and which are drivingly coupled via an overrunning clutch to an output shaft, at the outside of the housing a torque can be tapped.
  • the oscillating pistons can be driven in the same direction both in opposite directions and in order to produce a higher torque.
  • the drive fluid is supplied and discharged via formed in the two end bodies of the housing fluid channels, which communicate with externally formed on the two end bodies connecting ports in combination, which are available in duplicate for each a swivel piston receiving housing chamber.
  • connection openings realized channel systems can be connected in particular by means of pressure medium lines, in order to supply and remove the drive fluid controlled.
  • a rotary drive in principle comparable structure discloses the DE 44 06 376 A1 in which, however, only one of two pivot pistons is used for driving purposes, while the other pivot piston is part of a fluidic braking device.
  • a hydraulic swing motor which has three annular spaces, in each of which a pivot piston is arranged.
  • the fluid feed into the middle annular space takes place bypassing an outer annular space axially through a plurality of housing parts.
  • the two outer annular spaces are supplied with fluid from the middle annulus through channels formed in the central pivot piston.
  • the work spaces of all the housing chambers which are responsible for generating rectified torque portions when fluid is applied are connected via the internal fluid channels together with one of two connection openings formed on the outer surface of the one, first end body, wherein the connection openings each have their own first fluid channel portion are connected to one of the working spaces of the first end body limited by the first housing chamber and wherein the working spaces of each immediately adjacent housing chambers by means of interposed intermediate body passing through the second fluid channel sections are interconnected.
  • two or more rotary pistons are housed in separate housing chambers and can be applied simultaneously in the same direction with drive fluid, so that a high torque and therefore with very compact dimensions, a high line density can be achieved.
  • the user only has to connect two connection openings to the external fluid supply, since the allocation of the right fluid distribution to the individual working chambers in the housing interior is accomplished via the corresponding internal course of fluid channels.
  • the two connection openings are formed together on the one, first end body and connected via the internal first fluid channel sections to only the housing chamber bounded by the first end body.
  • the subsequent housing chamber does not communicate directly connected to the connection openings, but is connected to the first housing chamber assignment correct, via second fluid channel sections which extend in which the adjacent housing chambers from each other dividing intermediate body.
  • each further housing chamber is connected via corresponding second fluid channel sections of its associated intermediate body to the respective upstream housing chamber.
  • connection openings for the various drive chambers are expediently arranged on a side surface of the first connection body oriented at right angles to the main axis.
  • This side surface is designed in particular circular cylindrical.
  • connection openings of the Abgriffsabites are relatively widely spaced and are easily accessible even when installed on-site rotary drive to perform the desired connection measures.
  • All rotary pistons expediently contain a provided for storage on the output shaft bearing bush, from radially projecting a wing portion, which can be acted upon by the drive fluid and thereby driven to pivot about the main axis.
  • the preferably rotationally fixed in both directions of rotation connection between the bearing bush and the output shaft is advantageously realized via splined profiles, one of which is present on the inner circumference of the bearing bushes and on the outer circumference of the output shaft. There is the advantageous possibility sansstecken the bushings of all rotary pistons on one and the same splined profile of the output shaft, which greatly simplifies the assembly.
  • second fluid channel sections are expediently formed directly in that wall portion of the intermediate body, which acts as an axial boundary between the adjacent housing chambers.
  • This is in particular a plate-shaped intermediate wall with a right angle to the main axis, around which is arranged coaxially an annular outer wall of the intermediate body, which protrudes axially on both sides over the intermediate wall to form the desired housing chamber in cooperation with the respective subsequent housing body.
  • the housing chambers may be circular in shape, with the major axis as the center.
  • For interlocking fixation on the intermediate body of the intermediate body is advantageously penetrated by an axial opening into which the partition wall elements of both adjacent Housing chambers can engage from opposite sides.
  • the first closing body is expediently equipped with a first mechanical interface and the second closing body with a second mechanical interface, wherein each intermediate body at one end face a third mechanical interface complementary to the first mechanical interface and at the other end face Complementary fourth mechanical interface to the second mechanical interface.
  • the output shaft can then be driven to oscillate about its longitudinal axis coinciding with the main axis.
  • the generally designated by reference numeral 1 rotary drive includes a compact, substantially block-shaped housing 2, in which a plurality of rotationally driven by Fluidbeetzleyung rotatable rotary piston 3a, 3b are arranged with a rotatably mounted in the housing 2 about its axially extending main axis 4 output shaft 5 in Rotary drive connection stand on the outside of the housing 2, a torque can be tapped. Operates the rotary drive 1 in particular with compressed air, although an operation with a hydraulic medium is possible.
  • the housing 2 is composed of several in the axial direction of the main axis 4 juxtaposed housing bodies 6, which are summarized by zugankerartig acting fastening screws 7 to form an assembly.
  • the housing 2 contains three housing bodies 6, namely a first end body 6a arranged on the one end side, a second end body 6b arranged on the opposite end side and an intermediate body 6c arranged between these two end bodies 6a, 6b.
  • a plurality of intermediate bodies 6c could be incorporated axially in succession.
  • the end face of the first end body 6a facing the intermediate body 6c is designed as a first mechanical interface 12, which is connected to the third mechanical end formed by the facing end face of the intermediate body 6c Interface 14 matches.
  • a second mechanical interface 13 is formed on the end face of the second end body 6b facing the intermediate body 6c, which mates with a fourth mechanical interface 15 located on the end face of the intermediate body 6c opposite the third mechanical interface 14.
  • the mutually facing mechanical interfaces 12, 14; 13, 15 are complementary to each other and engage axially into each other, causing a mutual centering in the radial direction with respect to the main axis 4. As a result, an exact Koaxiallage is guaranteed.
  • the first mechanical interface 12 preferably has first centering means 12a in the form of an annular axial depression concentric with the main axis 4, in which complementarily formed third centering means 14a engage the third mechanical interface 14, here in the form of an annular axial projection concentric with the main axis 4 are formed.
  • the second mechanical interface 13 is provided with second centering means 13a of the same type as the third centering means 14a and engaged with fourth centering means 15a of the fourth mechanical interface 15, which are of the same type as the first centering means 12a.
  • the cooperating interfaces 12, 14; 13, 15 formed complementary to each other. It is also advantageous if the first mechanical interface 12 is identical to the fourth mechanical interface 15 and if, furthermore, the second mechanical interface 13 is identical to the third mechanical interface 14. In this way, it is possible between the two end bodies 6a, 6b a integrate any number of intermediate bodies 6c in axial succession, wherein all the housing body 6 via complementary mechanical interfaces with their adjacent housing bodies 6 are engaged. If there are a plurality of intermediate bodies 6c, it is expedient to fall back on intermediate bodies 6 of identical construction.
  • mutually adjacent housing bodies 6 in the axial direction of the main axis 4 each jointly delimit a housing chamber, of which the housing chamber bounded by the first end body 6a is designated as the first housing chamber 16a and the housing chamber bounded by the second end body 6b is referred to as the second housing chamber 16b.
  • the attached to each other housing body 6 each contain a recess, said recesses come to lie in pairs so that each a housing chamber 16a, 16b is formed.
  • the two housing chambers 16a, 16b are expediently identical. You have how to look FIG. 3 can be seen, expediently a circular outline.
  • the already mentioned output shaft 5 passes through the housing 2 in the longitudinal direction and is rotatably mounted on the two end bodies 6a, 6b via a respective bearing device 17 with respect to the housing 2.
  • Each housing body has a central opening 18 through which the output shaft 5 engages.
  • Each housing chamber 16a, 16b is divided in the circumferential direction into a first working space 22 and a second working space 23. The subdivision is carried out by a radial distance from the main axis 4 in the housing chamber 16a, 16b stationary inserted partition element 24 and the already mentioned pivoting piston 3a, 3b.
  • the pivoting piston 3a, 3b includes a bearing bush 25 which is penetrated by the output shaft 5 and protrudes from the radially a wing portion 26.
  • the entire, the housing 2 traversing the longitudinal section of the output shaft 5 is provided on the outer circumference with an outer splined profile 27, which passes through the bearing bushes 25 all of the pivoting pistons 3 a, 3 b and in this case with one on the inner circumference of the relevant bearing bush 25 formed complementary inner splined profile 28 positively engages stands. In this way results in a rotationally fixed in both directions of rotation connection between each pivot piston 3a, 3b and the output shaft. 5
  • the rotary piston 3a, 3b is provided on its outer surface with at least one seal 32 which slidably bears against the inner surface of the associated housing chamber 16a, 16b.
  • the seated on the cylindrical periphery of the bearing bush 25 portion of the seal 32 is in sealing contact with the partition wall member 24, the outside also carries at least one seal 33, via which it sealingly also on the inner surface associated housing chamber 16a, 16b abuts.
  • pivoting piston 3a, 3b and the associated partition wall element 24 form a total of a drawn into the housing chamber 16a, 16b partition, through which the two aforementioned working spaces 22, 23 are fluid-tight separated from each other.
  • each housing chamber 16a, 16b are controlled acted upon by a drive fluid, which consequently also the wing portion 26 of the contained Pivoting piston 3a, 3b acted upon and causes due to the pressure difference prevailing in the two working chambers 22, 23, that the pivot piston 3a, 3b performs a rotational movement 34 indicated by a double arrow with the main axis 4 as a rotation axis.
  • the wing portion 26 pivots about the main axis 4 in or counterclockwise, with the result that the volumes of the two working chambers 22, 23 change.
  • the achievable by alternating fluid loading of the two working chambers 22, 23 oscillating rotational movement can be tapped outside of the housing 2 acting as Abgriffsabrough 35 longitudinal portion of the output shaft 5 for driving a not further shown component.
  • the tapping portion 35 projects out of the housing 2 on the side of the second end body 6b.
  • the two end positions of the rotary movement 34 are predetermined either by the partition wall element 24 or by an optional rotation angle adjusting device 36, which is arranged in particular outside of the housing 2.
  • a rotational angle adjusting device 36 is present and includes a pivot stop 37 which is non-rotatably attached to a rear end portion 38 of the output shaft 5, which protrudes axially from the housing 2 in the region of the first connection body 6a, opposite to the Abgriffsabites 35.
  • a retaining ring 42 is attached to the housing 2, under the participation of at least one not shown stop body is fixed to the housing, which projects into the pivoting of a radially projecting stop wing 43 of the pivot stop 37 to specify the desired tilt angle.
  • a first connection opening 45 and a second connection opening 46 are formed on the outer surface 44 of the first end body 6a. They can each be connected to a control valve means leading to a not further shown, and in particular designed as a fluid hose fluid line to feed or remove as desired a drive fluid.
  • the fluid admission of all the housing chambers 16, 17 is controlled jointly via these two connection openings 45, 46, so that no further connection openings are required.
  • connection openings 45, 46 are located on the first connection body 6a, since it is relatively far away from the tapping section 35 and thus the connection openings 45, 46 are optimally accessible for connection measures, even if the rotary drive 1 is at the place of use is installed.
  • a fluid admission of the respectively first working chamber 22 of the two housing chambers 16a, 16b causes the associated pivoting piston 3a, 3b is fluidly applied in a manner that it experiences a torque in a clockwise direction.
  • a fluid admission of the second working space 23 causes a torque counterclockwise.
  • the respective other work spaces are relieved of pressure by appropriate operation of said control valve means.
  • first connection opening 45 communicates with all the first working spaces 22 at the same time.
  • a fluidic connection is interposed via an internal second fluid channel 48 the second port 46 and all second working spaces 23 before.
  • the channel profile of the internal fluid channels 47, 48 has an advantageous effect on a flexible stringing together of any number of housing bodies 6, without having to take special measures with regard to the fluidic connection during assembly of the housing body 6.
  • Both internal fluid channels 47, 48 each contain a first fluid channel section 47a, 48a which, starting from the associated connection opening 45, 46, passes through the wall of the first end body 6a and opens into the first housing chamber 16a.
  • the first fluid channel section 47a communicates with the first working chamber 22, the other first fluid channel section 48a with the second working chamber 23.
  • the pressure supply and pressure relief of the second housing chamber 16b does not take place directly via the two connection openings 45, 46, but indirectly through the first housing chamber 16a.
  • the intermediate body 6c is penetrated by two second fluid channel sections 47b, 48b, one of which establishes a connection between the two adjoining first working spaces 22 and the other of which establishes a connection between the two adjoining second working spaces 23.
  • Any additional housing chamber would be connected in a comparable manner to the respective upstream housing chamber, namely via second fluid channel sections, which then enforce the then additionally incorporated intermediate body.
  • connection openings 45, 46 In the second end body 16b no fluid channels are required. However, it would certainly be possible to attach the connection openings 45, 46 alternatively to the second end body 6b. Furthermore, it would be possible to form on the second end body 6b also two connection openings 45, 46, which communicate with the associated housing chamber via a first fluid channel section, so that the user has the option of either the one on the first end body 6a or on the second End body 6 b existing connection openings 45, 46 to use and to close the unused connection openings 45, 46.
  • connection openings 45, 46 are arranged on a lateral outer surface 44 of the first end body 6a oriented at right angles to the main axis 4.
  • the first end body 6a is preferably contoured circular-cylindrical, which is especially true for the outer contour of the at least one intermediate body 6c.
  • the second closing body 6b has an outer contour projecting at least partially over the adjoining intermediate body 6c, in particular square or rectangular, so that a plurality of corner regions outside the outer contour of the intermediate body 6c can be used, for example by means of fastening the rotary drive 1 to a supporting structure Mounting holes 52.
  • the two end bodies 6a, 6b are expediently designed in the shape of a decal and contain one of the openings 18 interspersed on the side of the end wall 53, which adjoins the outer circumference of an intermediate body 6c outwardly projecting annular wall portion 54.
  • the intermediate body 6c expediently has a central plate 55, which is penetrated centrally by the associated opening 18 and is preferably plate-shaped, to which a coaxial, annular outer wall 56 of the intermediate body 6c adjoins radially outward, projecting axially over the intermediate wall 55 on both sides.
  • the second fluid channel sections 47b, 48b expediently pass through the intermediate body 6c exclusively in the region of the intermediate wall 55, in particular in the immediate vicinity on both sides of the dividing wall element 24. In this way, very short channel connections can be realized and no channels are required in the annular outer wall 56.
  • the intermediate wall 55 is expediently traversed by an axial opening 57 in addition to the two second fluid channel sections 47b, 48b, in particular in the region lying between the two second fluid channel sections 47b, 48b.
  • the two partition wall elements 24 are anchored in a form-fitting manner from opposite axial sides by engaging with at least one anchoring projection 58 a little way into this axial opening 57.
  • each partition element 24 expediently has at least one further anchoring projection 62 which engages in a complementary anchoring recess 63 on the inner surface of the end wall 53.
  • the partition wall element 24 arranged in this housing chamber engages in the axial openings 57 of both adjacent intermediate bodies 6c.
  • each partition member 58 engages sealingly into the associated axial opening 57 or sealingly abuts the axial opening 57 around the wall of the intermediate body 6c, a fluid transfer between axially adjacent housing chambers 16a, 16b is reliably prevented.
  • the opening 18 of the intermediate body 6c is sealed by the fact that the at least one seal 32 of the rotary piston 3a, 3b abuts axially around the aperture 18 with sealing contact on the intermediate wall 55.
  • a comparable seal takes place around the opening 18 with respect to the end wall 53 of the end bodies 6a, 6b.
  • the rotary drive 1 of the embodiment includes two drive stages.
  • the number can be arbitrarily increased by an additional body 6c and a pivot piston is incorporated per further drive stage, in conjunction with the use of another output shaft 5 with a correspondingly extended splined section section.
  • Each intermediate body 6c is preferably formed in one piece. The same applies expediently also for each of the two end bodies 6a, 6b.

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Hydraulic Motors (AREA)

Description

Die Erfindung betrifft einen fluidbetätigten Drehantrieb, mit einem Gehäuse, das sich aus wenigstens drei in Achsrichtung einer Hauptachse aneinandergereihten Gehäusekörpern in Gestalt zweier Abschlusskörper und mindestens eines dazwischen angeordneten Zwischenkörpers zusammensetzt, wobei unmittelbar benachbarte Gehäusekörper jeweils gemeinsam eine Gehäusekammer begrenzen, in der ein um die Hauptachse verdrehbarer Schwenkkolben aufgenommen ist, sodass in Achsrichtung der Hauptachse gestaffelt mindestens zwei jeweils in einer eigenen Gehäusekammer untergebrachte Schwenkkolben vorhanden sind, wobei sämtliche Schwenkkolben mit ein und derselben, außerhalb des Gehäuses den Abgriff eines Drehmomentes ermöglichenden Abtriebswelle in Drehantriebsverbindung stehen und wobei jeder Schwenkkolben die ihn aufnehmende Gehäusekammer in zwei Arbeitsräume unterteilt, die zur Erzeugung des Drehmoments über in der Gehäusewandung verlaufende interne Fluidkanäle gesteuert mit einem Antriebsfluid beaufschlagbar sind.The invention relates to a fluid-actuated rotary drive, comprising a housing which is composed of at least three housing bodies arranged in the axial direction of a main axis in the form of two end bodies and at least one intermediate body arranged therebetween, wherein immediately adjacent housing bodies each jointly define a housing chamber, in which one about the main axis rotatably mounted rotary piston, so that staggered in the axial direction of the main axis at least two each housed in a separate housing chamber rotary piston are present, all rotary pistons with one and the same outside of the housing the tapping of a torque enabling output shaft are in rotary drive connection and wherein each swivel piston receiving it Housing chamber divided into two working spaces, which controlled to generate the torque via running in the housing wall internal fluid channels controlled by an Antr iebsfluid are acted upon.

Ein aus der DE 93 20 601 U1 bekannter Drehantrieb dieser Art enthält mehrere axial gestaffelt in einem Gehäuse untergebrachte Schwenkkolben, die durch Fluidbeaufschlagung jeweils zu einer hin- und hergehenden Drehbewegung antreibbar sind und die über je eine Freilaufkupplung mit einer Abtriebswelle antriebsmäßig gekoppelt sind, an der außerhalb des Gehäuses ein Drehmoment abgegriffen werden kann. Die Schwenkkolben können sowohl gegensinnig als auch, um ein höheres Drehmoment zu erzeugen, gleichsinnig angetrieben werden. Das Antriebsfluid wird über in den beiden Abschlusskörpern des Gehäuses ausgebildete Fluidkanäle zu- und abgeführt, die mit außen an den beiden Abschlusskörpern ausgebildeten Anschlussöffnungen in Verbindung stehen, die für jede einen Schwenkkolben aufnehmende Gehäusekammer zweifach vorhanden sind. An die Anschlussöffnungen können insbesondere mittels Druckmittelleitungen verwirklichte Kanalsysteme angeschlossen werden, um das Antriebsfluid gesteuert zu- und abzuführen.One from the DE 93 20 601 U1 known rotary drive of this type includes a plurality of axially staggered housed in a housing pivot piston, which are driven by fluid respectively to a reciprocating rotary motion and which are drivingly coupled via an overrunning clutch to an output shaft, at the outside of the housing a torque can be tapped. The oscillating pistons can be driven in the same direction both in opposite directions and in order to produce a higher torque. The drive fluid is supplied and discharged via formed in the two end bodies of the housing fluid channels, which communicate with externally formed on the two end bodies connecting ports in combination, which are available in duplicate for each a swivel piston receiving housing chamber. At the connection openings realized channel systems can be connected in particular by means of pressure medium lines, in order to supply and remove the drive fluid controlled.

Bei diesem bekannten Drehantrieb sind die notwendigen fluidischen Anschlussmaßnahmen relativ aufwendig und können bei Unachtsamkeit Verwechslungen hervorrufen, die zu Funktionsbeeinträchtigungen führen oder möglicherweise sogar Schäden nach sich ziehen können.In this known rotary drive, the necessary fluidic connection measures are relatively complex and can cause carelessness confusion, which can lead to functional impairment or possibly even cause damage.

Einen Drehantrieb prinzipiell vergleichbaren Aufbaus offenbart die DE 44 06 376 A1 , bei dem allerdings nur einer von zwei Schwenkkolben zu Antriebszwecken genutzt wird, während der andere Schwenkkolben Bestandteil einer fluidischen Bremsvorrichtung ist.A rotary drive in principle comparable structure discloses the DE 44 06 376 A1 in which, however, only one of two pivot pistons is used for driving purposes, while the other pivot piston is part of a fluidic braking device.

Aus der DE 39 42 775 A1 ist ein hydraulischer Schwenkmotor bekannt, der drei Ringräume aufweist, in denen jeweils ein Schwenkkolben angeordnet ist. Die Fluideinspeisung in den mittleren Ringraum erfolgt unter Umgehung eines äußeren Ringraumes axial durch mehrere Gehäuseteile hindurch. Die beiden äußeren Ringräume werden aus dem mittleren Ringraum durch im mittleren Schwenkkolben ausgebildete Kanäle hindurch mit Fluid versorgt.From the DE 39 42 775 A1 a hydraulic swing motor is known which has three annular spaces, in each of which a pivot piston is arranged. The fluid feed into the middle annular space takes place bypassing an outer annular space axially through a plurality of housing parts. The two outer annular spaces are supplied with fluid from the middle annulus through channels formed in the central pivot piston.

Es ist die Aufgabe der vorliegenden Erfindung, einen mit mehreren Schwenkkolben ausgestatteten Drehantrieb zu schaffen, der ein hohes Drehmoment liefert und zugleich in fluidischer Hinsicht einfach und funktionssicher anschließbar ist.It is the object of the present invention to provide a rotary drive equipped with a plurality of rotary pistons, which delivers a high torque and at the same time is easy and reliable to connect in fluidic terms.

Zur Lösung dieser Aufgabe ist vorgesehen, dass die bei Fluidbeaufschlagung für die Erzeugung gleichgerichteter Drehmomentanteile zuständigen Arbeitsräume sämtlicher Gehäusekammern über die internen Fluidkanäle gemeinsam mit jeweils einer von zwei an der Außenfläche des einen, ersten Abschlusskörpers ausgebildeten Anschlussöffnungen verbunden sind, wobei die Anschlussöffnungen jeweils über einen eigenen ersten Fluidkanalabschnitt mit einem der Arbeitsräume der von dem ersten Abschlusskörper begrenzten ersten Gehäusekammer verbunden sind und wobei die Arbeitsräume einander jeweils unmittelbar benachbarter Gehäusekammern mittels den dazwischen angeordneten Zwischenkörper durchsetzender zweiter Fluidkanalabschnitte miteinander verbunden sind.To achieve this object, it is provided that the work spaces of all the housing chambers which are responsible for generating rectified torque portions when fluid is applied are connected via the internal fluid channels together with one of two connection openings formed on the outer surface of the one, first end body, wherein the connection openings each have their own first fluid channel portion are connected to one of the working spaces of the first end body limited by the first housing chamber and wherein the working spaces of each immediately adjacent housing chambers by means of interposed intermediate body passing through the second fluid channel sections are interconnected.

Bei diesem Drehantrieb sind zwei oder mehr Schwenkkolben in eigenständigen Gehäusekammern untergebracht und können gleichzeitig gleichsinnig mit Antriebsfluid beaufschlagt werden, sodass ein hohes Drehmoment und mithin bei sehr kompakten Abmessungen eine hohe Leitungsdichte erzielbar ist. Trotz der Mehrfachanordnung von Schwenkkolben muss der Anwender nur zwei Anschlussöffnungen an die externe Fluidversorgung anschließen, da die zuordnungsrichtige Fluidverteilung zu den einzelnen Arbeitskammern im Gehäuseinnern über die einen entsprechenden Verlauf aufweisenden internen Fluidkanäle bewerkstelligt wird. Die beiden Anschlussöffnungen sind gemeinsam an dem einen, ersten Abschlusskörper ausgebildet und über die internen ersten Fluidkanalabschnitte an lediglich die von dem ersten Abschlusskörper begrenzte Gehäusekammer angeschlossen. Die darauffolgende Gehäusekammer kommuniziert hingegen nicht direkt mit den Anschlussöffnungen, sondern ist zuordnungsrichtig an die erste Gehäusekammer angeschlossen, und zwar über zweite Fluidkanalabschnitte, die in dem die benachbarten Gehäusekammern voneinander abteilenden Zwischenkörper verlaufen. In entsprechender Weise ist, sofern vorhanden, jede weitere Gehäusekammer über entsprechende zweite Fluidkanalabschnitte des ihr zugeordneten Zwischenkörpers an die jeweils vorgelagerte Gehäusekammer angeschlossen. Auf diese Weise ist es für die vom Anwender durchzuführenden Anschlussmaßnahmen unerheblich, wie viele Antriebsstufen der Drehantrieb aufweist. Auch für die Montage beim Hersteller ergeben sich Vorteile, weil sich sowohl zweistufige als auch mehr als zweistufige Drehantriebe ohne Installation externer Fluidleitungen sehr einfach realisieren lassen.In this rotary drive, two or more rotary pistons are housed in separate housing chambers and can be applied simultaneously in the same direction with drive fluid, so that a high torque and therefore with very compact dimensions, a high line density can be achieved. Despite the multiple arrangement of the rotary piston, the user only has to connect two connection openings to the external fluid supply, since the allocation of the right fluid distribution to the individual working chambers in the housing interior is accomplished via the corresponding internal course of fluid channels. The two connection openings are formed together on the one, first end body and connected via the internal first fluid channel sections to only the housing chamber bounded by the first end body. The subsequent housing chamber, however, does not communicate directly connected to the connection openings, but is connected to the first housing chamber assignment correct, via second fluid channel sections which extend in which the adjacent housing chambers from each other dividing intermediate body. In a corresponding manner, if present, each further housing chamber is connected via corresponding second fluid channel sections of its associated intermediate body to the respective upstream housing chamber. In this way it is irrelevant for the subsequent measures to be carried out by the user how many drive stages the rotary drive has. Also for assembly at the manufacturer, there are advantages because both two-stage and more than two-stage rotary actuators can be implemented very easily without the installation of external fluid lines.

Vorteilhafte Weiterbildungen der Erfindung gehen aus den Unteransprüchen hervor.Advantageous developments of the invention will become apparent from the dependent claims.

Die beiden Anschlussöffnungen für die diversen Antriebskammern sind zweckmäßigerweise an einer rechtwinkelig zu der Hauptachse orientierten Seitenfläche des ersten Anschlusskörpers angeordnet. Diese Seitenfläche ist insbesondere kreiszylindrisch gestaltet.The two connection openings for the various drive chambers are expediently arranged on a side surface of the first connection body oriented at right angles to the main axis. This side surface is designed in particular circular cylindrical.

Zweckmäßigerweise ragt ein für den Drehmomentabgriff vorgesehener Abgriffsabschnitt der Abtriebswelle an der dem ersten Abschlusskörper entgegengesetzten Stirnseite aus dem Gehäuse heraus. Auf diese Weise sind die Anschlussöffnungen von dem Abgriffsabschnitt relativ weit beabstandet und sind auch bei vor Ort installiertem Drehantrieb zur Durchführung der gewünschten Anschlussmaßnahmen leicht zugänglich.Expediently, a tapping section of the output shaft provided for the torque tapping projects out of the housing at the end face opposite the first end body. In this way, the connection openings of the Abgriffsabschnitt are relatively widely spaced and are easily accessible even when installed on-site rotary drive to perform the desired connection measures.

Sämtliche Schwenkkolben enthalten zweckmäßigerweise eine zur Lagerung an der Abtriebswelle vorgesehene Lagerbuchse, von der radial ein Flügelabschnitt absteht, der durch das Antriebsfluid beaufschlagbar ist und dadurch zu einer Schwenkbewegung um die Hauptachse angetrieben werden kann. Die vorzugsweise in beiden Drehrichtungen drehfeste Verbindung zwischen der Lagerbuchse und der Abtriebswelle wird zweckmäßigerweise über Vielkeilprofile realisiert, von denen je eines am Innenumfang der Lagerbuchsen und am Außenumfang der Abtriebswelle vorhanden ist. Es besteht die vorteilhafte Möglichkeit, die Lagerbuchsen sämtlicher Schwenkkolben auf ein und dasselbe Vielkeilprofil der Abtriebswelle aufzustecken, was die Montage sehr vereinfacht.All rotary pistons expediently contain a provided for storage on the output shaft bearing bush, from radially projecting a wing portion, which can be acted upon by the drive fluid and thereby driven to pivot about the main axis. The preferably rotationally fixed in both directions of rotation connection between the bearing bush and the output shaft is advantageously realized via splined profiles, one of which is present on the inner circumference of the bearing bushes and on the outer circumference of the output shaft. There is the advantageous possibility aufzustecken the bushings of all rotary pistons on one and the same splined profile of the output shaft, which greatly simplifies the assembly.

Die für die gegenseitige Verbindung benachbarter Gehäusekammern vorhandenen zweiten Fluidkanalabschnitte sind zweckmäßigerweise unmittelbar in demjenigen Wandabschnitt des Zwischenkörpers ausgebildet, der als axiale Begrenzung zwischen den benachbarten Gehäusekammern fungiert. Es handelt sich hierbei insbesondere um eine plattenförmige Zwischenwand mit zur Hauptachse rechtwinkeliger Ausdehnung, um die herum koaxial eine ringförmige Außenwand des Zwischenkörpers angeordnet ist, die axial beidseits über die Zwischenwand hinausragt, um im Zusammenwirken mit dem sich jeweils anschließenden Gehäusekörper die gewünschte Gehäusekammer zu bilden.The existing for the mutual connection of adjacent housing chambers second fluid channel sections are expediently formed directly in that wall portion of the intermediate body, which acts as an axial boundary between the adjacent housing chambers. This is in particular a plate-shaped intermediate wall with a right angle to the main axis, around which is arranged coaxially an annular outer wall of the intermediate body, which protrudes axially on both sides over the intermediate wall to form the desired housing chamber in cooperation with the respective subsequent housing body.

Zu Gunsten einer einfachen Herstellung und Montage können die Gehäusekammern kreisrund gestaltet sein, mit der Hauptachse als Zentrum. In diesem Fall trägt zweckmäßigerweise je ein zusätzlich zum Schwenkkolben in die Gehäusekammer ortsfest eingesetztes Trennwandelement mit zur Unterteilung der Arbeitsräume bei, das formschlüssig im Gehäuse fixiert ist. Zur formschlüssigen Fixierung am Zwischenkörper ist der Zwischenkörper zweckmäßigerweise von einer axialen Durchbrechung durchsetzt, in die die Trennwandelemente beider benachbarten Gehäusekammern von entgegengesetzten Seiten her eingreifen können.For ease of manufacture and assembly, the housing chambers may be circular in shape, with the major axis as the center. In this case, suitably carries each one in addition to the rotary piston in the housing chamber fixedly inserted partition element to the subdivision of the work spaces, which is fixed in a form-fitting manner in the housing. For interlocking fixation on the intermediate body of the intermediate body is advantageously penetrated by an axial opening into which the partition wall elements of both adjacent Housing chambers can engage from opposite sides.

An den axial einander zugewandten Seiten ist zweckmäßigerweise der erste Abschlusskörper mit einer ersten mechanischen Schnittstelle und der zweite Abschlusskörper mit einer zweiten mechanischen Schnittstelle ausgestattet, wobei jeder Zwischenkörper an der einen Stirnseite eine zu der ersten mechanischen Schnittstelle komplementäre dritte mechanische Schnittstelle und an der anderen Stirnseite eine zu der zweiten mechanischen Schnittstelle komplementäre vierte mechanische Schnittstelle aufweist. Dadurch kann zwischen den beiden Abschlusskörpern sehr einfach eine beliebige Anzahl von Zwischenkörpern eingegliedert werden, wobei die Herstellungskosten besonders günstig sind, wenn sämtliche Zwischenkörper untereinander identisch gestaltet sind.At the axially mutually facing sides, the first closing body is expediently equipped with a first mechanical interface and the second closing body with a second mechanical interface, wherein each intermediate body at one end face a third mechanical interface complementary to the first mechanical interface and at the other end face Complementary fourth mechanical interface to the second mechanical interface. As a result, it is very easy to incorporate any number of intermediate bodies between the two end bodies, the production costs being particularly favorable if all intermediate bodies are designed to be identical to one another.

Wenngleich es prinzipiell möglich wäre, die Schwenkkolben über Freilaufeinrichtungen mit der Abtriebswelle zu koppeln, um beliebig große Drehwinkel zu realisieren, ist herstellungstechnisch eine Bauform vorzuziehen, bei der auf Freilaufmittel verzichtet wird und eine in beiden Drehrichtungen starre Verbindung vorliegt. Hierbei kann dann die Abtriebswelle zu einer oszillierenden Drehbewegung um ihre mit der Hauptachse zusammenfallende Längsachse angetrieben werden.Although it would be possible in principle to couple the oscillating piston via freewheel devices with the output shaft to realize arbitrarily large rotation angle, manufacturing technology is preferable to a design in which is dispensed with freewheel means and is a rigid connection in both directions. In this case, the output shaft can then be driven to oscillate about its longitudinal axis coinciding with the main axis.

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

Figur 1
eine bevorzugte Bauform des erfindungsgemäßen Drehantriebs in einer perspektivischen Darstellung,
Figur 2
den Drehantrieb aus Figur 1 in einer perspektivischen Explosionsdarstellung,
Figur 3
einen Querschnitt durch den Drehantrieb im Bereich der ersten Gehäusekammer und gemäß Schnittlinie III-III aus Figuren 1 und 4, und
Figur 4
einen Längsschnitt durch den Drehantrieb gemäß Schnittlinie IV-IV aus Figur 3.
In the following we will explain the invention with reference to the accompanying drawings. In this show:
FIG. 1
a preferred design of the rotary drive according to the invention in a perspective view,
FIG. 2
the rotary drive FIG. 1 in a perspective exploded view,
FIG. 3
a cross section through the rotary drive in the region of the first housing chamber and according to section line III-III FIGS. 1 and 4 , and
FIG. 4
a longitudinal section through the rotary drive according to section line IV-IV FIG. 3 ,

Der insgesamt mit Bezugsziffer 1 bezeichnete Drehantrieb enthält ein kompaktes, im Wesentlichen blockförmiges Gehäuse 2, in dem mehrere durch Fluidbeaufschlagung zu oszillierenden Drehbewegungen antreibbare Schwenkkolben 3a, 3b angeordnet sind, die mit einer im Gehäuse 2 um dessen axial verlaufende Hauptachse 4 drehbar gelagerten Abtriebswelle 5 in Drehantriebsverbindung stehen, an der außerhalb des Gehäuses 2 ein Drehmoment abgegriffen werden kann. Betrieben wird der Drehantrieb 1 insbesondere mit Druckluft, wenngleich auch ein Betrieb mit einem hydraulischen Medium möglich ist.The generally designated by reference numeral 1 rotary drive includes a compact, substantially block-shaped housing 2, in which a plurality of rotationally driven by Fluidbeaufschlagung rotatable rotary piston 3a, 3b are arranged with a rotatably mounted in the housing 2 about its axially extending main axis 4 output shaft 5 in Rotary drive connection stand on the outside of the housing 2, a torque can be tapped. Operates the rotary drive 1 in particular with compressed air, although an operation with a hydraulic medium is possible.

Das Gehäuse 2 setzt sich aus mehreren in Achsrichtung der Hauptachse 4 aneinandergereihten Gehäusekörpern 6 zusammen, die durch zugankerartig wirkende Befestigungsschrauben 7 zu einer Baugruppe zusammengefasst sind. Exemplarisch enthält das Gehäuse 2 drei Gehäusekörper 6, und zwar einen an der einen Stirnseite angeordneten ersten Abschlusskörper 6a, einen an der entgegengesetzten Stirnseite angeordneten zweiten Abschlusskörper 6b und einen zwischen diesen beiden Abschlusskörpern 6a, 6b angeordneten Zwischenkörper 6c. Prinzipiell könnten an Stelle des einen Zwischenkörpers 6c mehrere Zwischenkörper 6c axial aufeinanderfolgend eingegliedert sein.The housing 2 is composed of several in the axial direction of the main axis 4 juxtaposed housing bodies 6, which are summarized by zugankerartig acting fastening screws 7 to form an assembly. By way of example, the housing 2 contains three housing bodies 6, namely a first end body 6a arranged on the one end side, a second end body 6b arranged on the opposite end side and an intermediate body 6c arranged between these two end bodies 6a, 6b. In principle, instead of one intermediate body 6c, a plurality of intermediate bodies 6c could be incorporated axially in succession.

Die dem Zwischenkörper 6c zugewandte Stirnfläche des ersten Abschlusskörpers 6a ist als erste mechanische Schnittstelle 12 ausgebildet, die mit der von der zugewandten Stirnfläche des Zwischenkörpers 6c gebildeten dritten mechanischen Schnittstelle 14 zusammenpaßt. In vergleichbarer Weise ist an der dem Zwischenkörper 6c zugewandten Stirnfläche des zweiten Abschlusskörpers 6b eine zweite mechanische Schnittstelle 13 ausgebildet, die mit einer vierten mechanischen Schnittstelle 15 zusammenpaßt, die sich an der der dritten mechanischen Schnittstelle 14 entgegengesetzten Stirnseite des Zwischenkörpers 6c befindet. Die einander zugewandten mechanischen Schnittstellen 12, 14; 13, 15 sind komplementär zueinander ausgebildet und greifen axial ineinander ein, wobei sie eine gegenseitige Zentrierung in radialer Richtung bezüglich der Hauptachse 4 bewirken. Dadurch ist eine exakte Koaxiallage gewährleistet.The end face of the first end body 6a facing the intermediate body 6c is designed as a first mechanical interface 12, which is connected to the third mechanical end formed by the facing end face of the intermediate body 6c Interface 14 matches. In a comparable manner, a second mechanical interface 13 is formed on the end face of the second end body 6b facing the intermediate body 6c, which mates with a fourth mechanical interface 15 located on the end face of the intermediate body 6c opposite the third mechanical interface 14. The mutually facing mechanical interfaces 12, 14; 13, 15 are complementary to each other and engage axially into each other, causing a mutual centering in the radial direction with respect to the main axis 4. As a result, an exact Koaxiallage is guaranteed.

Vorzugsweise verfügt die erste mechanische Schnittstelle 12 über erste Zentriermittel 12a in Form einer zur Hauptachse 4 konzentrischen ringförmigen axialen Vertiefung, in die komplementär ausgebildete dritte Zentriermittel 14a der dritten mechanischen Schnittstelle 14 eingreifen, die hier in Form eines zu der Hauptachse 4 konzentrischen, ringförmigen axialen Vorsprunges ausgebildet sind. Die zweite mechanische Schnittstelle 13 ist mit zweiten Zentriermitteln 13a versehen, die vom gleichen Typ sind wie die dritten Zentriermittel 14a und die mit vierten Zentriermitteln 15a der vierten mechanischen Schnittstelle 15 in Eingriff stehen, die vom gleichen Typ sind wie die ersten Zentriermittel 12a.The first mechanical interface 12 preferably has first centering means 12a in the form of an annular axial depression concentric with the main axis 4, in which complementarily formed third centering means 14a engage the third mechanical interface 14, here in the form of an annular axial projection concentric with the main axis 4 are formed. The second mechanical interface 13 is provided with second centering means 13a of the same type as the third centering means 14a and engaged with fourth centering means 15a of the fourth mechanical interface 15, which are of the same type as the first centering means 12a.

Zweckmäßigerweise sind die miteinander kooperierenden Schnittstellen 12, 14; 13, 15 komplementär zueinander ausgebildet. Es ist ferner von Vorteil, wenn die erste mechanische Schnittstelle 12 identisch wie die vierte mechanische Schnittstelle 15 ausgebildet ist und wenn ferner die zweite mechanische Schnittstelle 13 identisch wie die dritte mechanische Schnittstelle 14 ausgebildet ist. Auf diese Weise ist es möglich, zwischen die beiden Abschlusskörper 6a, 6b eine beliebige Anzahl von Zwischenkörpern 6c in axialer Aufeinanderfolge einzugliedern, wobei sämtliche Gehäusekörper 6 über komplementäre mechanische Schnittstellen mit ihren benachbarten Gehäusekörpern 6 in Eingriff stehen. Sind mehrere Zwischenkörper 6c vorhanden, greift man zweckmäßigerweise auf untereinander identisch ausgebildete Zwischenkörper 6 zurück.Conveniently, the cooperating interfaces 12, 14; 13, 15 formed complementary to each other. It is also advantageous if the first mechanical interface 12 is identical to the fourth mechanical interface 15 and if, furthermore, the second mechanical interface 13 is identical to the third mechanical interface 14. In this way, it is possible between the two end bodies 6a, 6b a integrate any number of intermediate bodies 6c in axial succession, wherein all the housing body 6 via complementary mechanical interfaces with their adjacent housing bodies 6 are engaged. If there are a plurality of intermediate bodies 6c, it is expedient to fall back on intermediate bodies 6 of identical construction.

Einander in Achsrichtung der Hauptachse 4 unmittelbar benachbarte Gehäusekörper 6 begrenzen gemeinsam jeweils eine Gehäusekammer, von denen die von dem ersten Abschlusskörper 6a begrenzte Gehäusekammer als erste Gehäusekammer 16a und die vom zweiten Abschlusskörper 6b begrenzte Gehäusekammer als zweite Gehäusekammer 16b bezeichnet sei. Die aneinander angesetzten Gehäusekörper 6 enthalten jeweils eine Vertiefung, wobei diese Vertiefungen paarweise so zu liegen kommen, dass je eine Gehäusekammer 16a, 16b gebildet wird.Mutually adjacent housing bodies 6 in the axial direction of the main axis 4 each jointly delimit a housing chamber, of which the housing chamber bounded by the first end body 6a is designated as the first housing chamber 16a and the housing chamber bounded by the second end body 6b is referred to as the second housing chamber 16b. The attached to each other housing body 6 each contain a recess, said recesses come to lie in pairs so that each a housing chamber 16a, 16b is formed.

Die beiden Gehäusekammern 16a, 16b sind zweckmäßigerweise identisch ausgebildet. Sie haben, wie man aus Figur 3 ersehen kann, zweckmäßigerweise einen kreisförmigen Umriß.The two housing chambers 16a, 16b are expediently identical. You have how to look FIG. 3 can be seen, expediently a circular outline.

Die schon erwähnte Abtriebswelle 5 durchzieht das Gehäuse 2 in Längsrichtung und ist an den beiden Abschlusskörpern 6a, 6b über je eine Lagereinrichtung 17 bezüglich dem Gehäuse 2 drehbar gelagert. Jeder Gehäusekörper verfügt über eine zentrale Durchbrechung 18, durch die die Abtriebswelle 5 hindurchgreift. Durch die Lagereinrichtungen 17 und/oder durch andere Mittel ist die Abtriebswelle 15 axial unbeweglich am Gehäuse 2 fixiert.The already mentioned output shaft 5 passes through the housing 2 in the longitudinal direction and is rotatably mounted on the two end bodies 6a, 6b via a respective bearing device 17 with respect to the housing 2. Each housing body has a central opening 18 through which the output shaft 5 engages. By the storage facilities 17 and / or by other means, the output shaft 15 is fixed axially immovably on the housing 2.

Jede Gehäusekammer 16a, 16b ist in Umfangsrichtung in einen ersten Arbeitsraum 22 und einen zweiten Arbeitsraum 23 unterteilt. Die Unterteilung erfolgt durch ein mit radialem Abstand zu der Hauptachse 4 in die Gehäusekammer 16a, 16b ortsfest eingesetztes Trennwandelement 24 und den schon erwähnten Schwenkkolben 3a, 3b.Each housing chamber 16a, 16b is divided in the circumferential direction into a first working space 22 and a second working space 23. The subdivision is carried out by a radial distance from the main axis 4 in the housing chamber 16a, 16b stationary inserted partition element 24 and the already mentioned pivoting piston 3a, 3b.

Der Schwenkkolben 3a, 3b enthält eine Lagerbuchse 25, die von der Abtriebswelle 5 durchsetzt ist und von der radial ein Flügelabschnitt 26 wegragt. Der gesamte, das Gehäuse 2 durchziehende Längenabschnitt der Abtriebswelle 5 ist am Außenumfang mit einem äußeren Vielkeilprofil 27 ausgestattet, das die Lagerbuchsen 25 sämtlicher Schwenkkolben 3a, 3b durchsetzt und hierbei mit je einem am Innenumfang der betreffenden Lagerbuchse 25 ausgebildeten komplementären inneren Vielkeilprofil 28 formschlüssig in Eingriff steht. Auf diese Weise ergibt sich eine in beiden Drehrichtungen drehfeste Verbindung zwischen jedem Schwenkkolben 3a, 3b und der Abtriebswelle 5.The pivoting piston 3a, 3b includes a bearing bush 25 which is penetrated by the output shaft 5 and protrudes from the radially a wing portion 26. The entire, the housing 2 traversing the longitudinal section of the output shaft 5 is provided on the outer circumference with an outer splined profile 27, which passes through the bearing bushes 25 all of the pivoting pistons 3 a, 3 b and in this case with one on the inner circumference of the relevant bearing bush 25 formed complementary inner splined profile 28 positively engages stands. In this way results in a rotationally fixed in both directions of rotation connection between each pivot piston 3a, 3b and the output shaft. 5

Der Schwenkkolben 3a, 3b ist an seiner Außenfläche mit mindestens einer Dichtung 32 versehen, die gleitverschieblich an der Innenfläche der zugeordneten Gehäusekammer 16a, 16b anliegt. Der an der zylindrischen Peripherie der Lagerbuchse 25 sitzende Abschnitt der Dichtung 32 steht in Dichtkontakt mit dem Trennwandelement 24, das außen ebenfalls mindestens eine Dichtung 33 trägt, über die es dichtend ebenfalls an der Innenfläche zugeordneten Gehäusekammer 16a, 16b anliegt.The rotary piston 3a, 3b is provided on its outer surface with at least one seal 32 which slidably bears against the inner surface of the associated housing chamber 16a, 16b. The seated on the cylindrical periphery of the bearing bush 25 portion of the seal 32 is in sealing contact with the partition wall member 24, the outside also carries at least one seal 33, via which it sealingly also on the inner surface associated housing chamber 16a, 16b abuts.

Somit bilden der Schwenkkolben 3a, 3b und das zugeordnete Trennwandelement 24 gesamthaft eine in die Gehäusekammer 16a, 16b eingezogene Trennwand, durch die die beiden schon erwähnten Arbeitsräume 22, 23 fluiddicht voneinander abgetrennt werden.Thus, the pivoting piston 3a, 3b and the associated partition wall element 24 form a total of a drawn into the housing chamber 16a, 16b partition, through which the two aforementioned working spaces 22, 23 are fluid-tight separated from each other.

Die beiden Arbeitsräume 22, 23 einer jeden Gehäusekammer 16a, 16b sind gesteuert mit einem Antriebsfluid beaufschlagbar, das folglich auch den Flügelabschnitt 26 des enthaltenen Schwenkkolbens 3a, 3b beaufschlagt und auf Grund der in den beiden Arbeitsräumen 22, 23 herrschenden Druckdifferenz bewirkt, dass der Schwenkkolben 3a, 3b eine durch einen Doppelpfeil angedeutete Drehbewegung 34 mit der Hauptachse 4 als Drehachse ausführt. Hierbei verschwenkt der Flügelabschnitt 26 um die Hauptachse 4 herum in oder entgegen dem Uhrzeigersinn, was zur Folge hat, dass sich die Volumina der beiden Arbeitsräume 22, 23 ändern.The two working chambers 22, 23 of each housing chamber 16a, 16b are controlled acted upon by a drive fluid, which consequently also the wing portion 26 of the contained Pivoting piston 3a, 3b acted upon and causes due to the pressure difference prevailing in the two working chambers 22, 23, that the pivot piston 3a, 3b performs a rotational movement 34 indicated by a double arrow with the main axis 4 as a rotation axis. Here, the wing portion 26 pivots about the main axis 4 in or counterclockwise, with the result that the volumes of the two working chambers 22, 23 change.

Die durch abwechselnde Fluidbeaufschlagung der beiden Arbeitsräume 22, 23 erzielbare oszillierende Drehbewegung lässt sich außerhalb des Gehäuses 2 an einem als Abgriffsabschnitt 35 fungierenden Längenabschnitt der Abtriebswelle 5 für den Antrieb eines nicht weiter abgebildeten Bauteils abgreifen. Vorzugsweise ragt der Abgriffsabschnitt 35 an der Seite des zweiten Abschlusskörpers 6b aus dem Gehäuse 2 heraus.The achievable by alternating fluid loading of the two working chambers 22, 23 oscillating rotational movement can be tapped outside of the housing 2 acting as Abgriffsabschnitt 35 longitudinal portion of the output shaft 5 for driving a not further shown component. Preferably, the tapping portion 35 projects out of the housing 2 on the side of the second end body 6b.

Die beiden Endlagen der Drehbewegung 34 werden entweder durch das Trennwandelement 24 vorgegeben oder durch eine optionale Drehwinkel-Einstelleinrichtung 36, die insbesondere außerhalb des Gehäuses 2 angeordnet ist. Beim Ausführungsbeispiel ist eine solche Drehwinkel-Einstelleinrichtung 36 vorhanden und enthält einen Schwenkanschlag 37, der drehfest an einem rückseitigen Endabschnitt 38 der Abtriebswelle 5 befestigt ist, der im Bereich des ersten Anschlusskörpers 6a, entgegengesetzt zu dem Abgriffsabschnitt 35, axial aus dem Gehäuse 2 herausragt. In diesem Bereich ist an das Gehäuse 2 ein Haltering 42 angebaut, unter dessen Mitwirkung mindestens ein nicht weiter dargestellter Anschlagkörper gehäusefest fixierbar ist, der in den Schwenkweg eines radial abstehenden Anschlagflügels 43 des Schwenkanschlages 37 ragt, um den gewünschten Schwenkwinkel vorzugeben.The two end positions of the rotary movement 34 are predetermined either by the partition wall element 24 or by an optional rotation angle adjusting device 36, which is arranged in particular outside of the housing 2. In the embodiment, such a rotational angle adjusting device 36 is present and includes a pivot stop 37 which is non-rotatably attached to a rear end portion 38 of the output shaft 5, which protrudes axially from the housing 2 in the region of the first connection body 6a, opposite to the Abgriffsabschnitt 35. In this area, a retaining ring 42 is attached to the housing 2, under the participation of at least one not shown stop body is fixed to the housing, which projects into the pivoting of a radially projecting stop wing 43 of the pivot stop 37 to specify the desired tilt angle.

Für die gesteuerte Fluidbeaufschlagung der Arbeitsräume 22, 23 der Gehäusekammern 16a, 16b sind an der Außenfläche 44 des ersten Abschlusskörpers 6a eine erste Anschlussöffnung 45 und eine zweite Anschlussöffnung 46 ausgebildet. An sie kann jeweils eine zu einer nicht weiter gezeigten Steuerventileinrichtung führende und insbesondere als Fluidschlauch ausgebildete Fluidleitung angeschlossen werden, um je nach Wahl ein Antriebsfluid einzuspeisen oder abzuführen. Über diese beiden Anschlussöffnungen 45, 46 wird die Fluidbeaufschlagung sämtlicher Gehäusekammern 16, 17 gemeinsam gesteuert, sodass keine weiteren Anschlussöffnungen erforderlich sind. Von Vorteil ist allerdings, wenn sich die beiden Anschlussöffnungen 45, 46 an dem ersten Anschlusskörper 6a befinden, da er relativ weit von dem Abgriffsabschnitt 35 entfernt ist und somit die Anschlussöffnungen 45, 46 für Anschlussmaßnahmen optimal zugänglich sind, auch wenn der Drehantrieb 1 am Einsatzort installiert ist.For the controlled fluid admission of the working spaces 22, 23 of the housing chambers 16a, 16b, a first connection opening 45 and a second connection opening 46 are formed on the outer surface 44 of the first end body 6a. They can each be connected to a control valve means leading to a not further shown, and in particular designed as a fluid hose fluid line to feed or remove as desired a drive fluid. The fluid admission of all the housing chambers 16, 17 is controlled jointly via these two connection openings 45, 46, so that no further connection openings are required. It is advantageous, however, if the two connection openings 45, 46 are located on the first connection body 6a, since it is relatively far away from the tapping section 35 and thus the connection openings 45, 46 are optimally accessible for connection measures, even if the rotary drive 1 is at the place of use is installed.

Beim Ausführungsbeispiel führt eine Fluidbeaufschlagung des jeweils ersten Arbeitsraumes 22 der beiden Gehäusekammern 16a, 16b dazu, dass der zugeordnete Schwenkkolben 3a, 3b in einer Weise fluidisch beaufschlagt wird, dass er ein Drehmoment im Uhrzeigersinn erfährt. Hingegen bewirkt eine Fluidbeaufschlagung des zweiten Arbeitsraumes 23 ein Drehmoment entgegen dem Uhrzeigersinn. Damit eine Drehbewegung der Abtriebswelle 5 erzeugt wird, werden die jeweils anderen Arbeitsräume hierbei durch entsprechende Betätigung der genannten Steuerventileinrichtung druckmäßig entlastet.In the exemplary embodiment, a fluid admission of the respectively first working chamber 22 of the two housing chambers 16a, 16b causes the associated pivoting piston 3a, 3b is fluidly applied in a manner that it experiences a torque in a clockwise direction. By contrast, a fluid admission of the second working space 23 causes a torque counterclockwise. In order for a rotational movement of the output shaft 5 is generated, the respective other work spaces are relieved of pressure by appropriate operation of said control valve means.

Über einen in der Wandung des Gehäuses 2 verlaufenden ersten internen Fluidkanal 47 steht die erste Anschlussöffnung 45 mit sämtlichen ersten Arbeitsräumen 22 gleichzeitig in Verbindung. In vergleichbarer Weise liegt eine fluidische Verbindung über einen internen zweiten Fluidkanal 48 zwischen der zweiten Anschlussöffnung 46 und sämtlichen zweiten Arbeitsräumen 23 vor. Dies hat zur Folge, dass eine Fluideinspeisung über die erste Anschlussöffnung 45 oder über die zweite Anschlussöffnung 46 jeweils bewirkt, dass sämtliche vorhandenen Schwenkkolben 3a, 3b gleichzeitig im gleichen Drehsinne mit Druckmedium beaufschlagt werden. Da sämtliche Schwenkkolben 3a, 3b drehfest mit der Abtriebswelle 5 verbunden sind, kann an deren Abgriffsabschnitt 35 folglich ein sehr hohes Drehmoment abgegriffen werden. Je größer die Anzahl der vorhandenen Schwenkkolben 3a, 3b ist, desto höher ist auch das erzielbare Drehmoment.By way of a first internal fluid channel 47 extending in the wall of the housing 2, the first connection opening 45 communicates with all the first working spaces 22 at the same time. Similarly, a fluidic connection is interposed via an internal second fluid channel 48 the second port 46 and all second working spaces 23 before. As a result, a fluid feed via the first connection opening 45 or via the second connection opening 46 in each case causes all existing pivoting pistons 3a, 3b to be acted upon simultaneously by pressure medium in the same direction of rotation. Since all the pivoting pistons 3 a, 3 b are non-rotatably connected to the output shaft 5, therefore, a very high torque can be tapped at the Abgriffsabschnitt 35. The greater the number of existing rotary pistons 3a, 3b, the higher the achievable torque.

Der Kanalverlauf der internen Fluidkanäle 47, 48 wirkt sich vorteilhaft auf eine flexible Aneinanderreihung einer beliebigen Anzahl von Gehäusekörpern 6 aus, ohne dass man beim Zusammenbau der Gehäusekörper 6 besondere Maßnahmen hinsichtlich der fluidischen Verbindung zu ergreifen hätte. Beide internen Fluidkanäle 47, 48 enthalten jeweils einen ersten Fluidkanalabschnitt 47a, 48a, der ausgehend von der zugeordneten Anschlussöffnung 45, 46 die Wandung des ersten Abschlusskörpers 6a durchsetzt und in die erste Gehäusekammer 16a einmündet. Der erste Fluidkanalabschnitt 47a kommuniziert hierbei mit dem ersten Arbeitsraum 22, der andere erste Fluidkanalabschnitt 48a mit dem zweiten Arbeitsraum 23.The channel profile of the internal fluid channels 47, 48 has an advantageous effect on a flexible stringing together of any number of housing bodies 6, without having to take special measures with regard to the fluidic connection during assembly of the housing body 6. Both internal fluid channels 47, 48 each contain a first fluid channel section 47a, 48a which, starting from the associated connection opening 45, 46, passes through the wall of the first end body 6a and opens into the first housing chamber 16a. In this case, the first fluid channel section 47a communicates with the first working chamber 22, the other first fluid channel section 48a with the second working chamber 23.

Die Druckversorgung und Druckentlastung der zweiten Gehäusekammer 16b erfolgt nicht direkt über die beiden Anschlussöffnungen 45, 46, sondern indirekt durch die erste Gehäusekammer 16a hindurch. Hierzu ist der Zwischenkörper 6c von zwei zweiten Fluidkanalabschnitten 47b, 48b durchsetzt, deren einer eine Verbindung zwischen den beiden aneinander angrenzenden ersten Arbeitsräumen 22 und deren anderer eine Verbindung zwischen den beiden aneinander angrenzenden zweiten Arbeitsräumen 23 herstellt.The pressure supply and pressure relief of the second housing chamber 16b does not take place directly via the two connection openings 45, 46, but indirectly through the first housing chamber 16a. For this purpose, the intermediate body 6c is penetrated by two second fluid channel sections 47b, 48b, one of which establishes a connection between the two adjoining first working spaces 22 and the other of which establishes a connection between the two adjoining second working spaces 23.

Jede eventuell vorhandene weitere Gehäusekammer wäre in vergleichbarer Weise an die jeweils vorgeordnete Gehäusekammer angeschlossen, nämlich über zweite Fluidkanalabschnitte, die den dann jeweils zusätzlich eingegliederten Zwischenkörper durchsetzen.Any additional housing chamber would be connected in a comparable manner to the respective upstream housing chamber, namely via second fluid channel sections, which then enforce the then additionally incorporated intermediate body.

In dem zweiten Abschlusskörper 16b sind keine Fluidkanäle erforderlich. Allerdings wäre es durchaus möglich, die Anschlussöffnungen 45, 46 alternativ an dem zweiten Abschlusskörper 6b anzubringen. Ferner wäre es möglich, an dem zweiten Abschlusskörper 6b ebenfalls zwei Anschlussöffnungen 45, 46 auszubilden, die über einen ersten Fluidkanalabschnitt mit der zugeordneten Gehäusekammer in Verbindung stehen, sodass der Anwender die Möglichkeit hat, wahlweise die an dem ersten Abschlusskörper 6a oder die an dem zweiten Abschlusskörper 6b vorhandenen Anschlussöffnungen 45, 46 zu verwenden und die nicht verwendeten Anschlussöffnungen 45, 46 zu verschließen.In the second end body 16b no fluid channels are required. However, it would certainly be possible to attach the connection openings 45, 46 alternatively to the second end body 6b. Furthermore, it would be possible to form on the second end body 6b also two connection openings 45, 46, which communicate with the associated housing chamber via a first fluid channel section, so that the user has the option of either the one on the first end body 6a or on the second End body 6 b existing connection openings 45, 46 to use and to close the unused connection openings 45, 46.

Zweckmäßig ist es, wenn die Anschlussöffnungen 45, 46 an einer rechtwinkelig zu der Hauptachse 4 orientierten seitlichen Außenfläche 44 des ersten Abschlusskörpers 6a angeordnet sind. Hier ist der erste Abschlusskörper 6a vorzugsweise kreiszylindrisch konturiert, was insbesondere auch für die Außenkontur des mindestens einen Zwischenkörpers 6c zutrifft.It is expedient if the connection openings 45, 46 are arranged on a lateral outer surface 44 of the first end body 6a oriented at right angles to the main axis 4. Here, the first end body 6a is preferably contoured circular-cylindrical, which is especially true for the outer contour of the at least one intermediate body 6c.

Der zweite Abschlusskörper 6b verfügt exemplarisch über eine zumindest partiell über den sich anschließenden Zwischenkörper 6c vorspringende Außenkontur, insbesondere quadratisch oder rechteckig, sodass sich mehrere Eckbereiche außerhalb der Außenkontur des Zwischenkörpers 6c ergeben, die zur Befestigung des Drehantriebes 1 an einer Tragstruktur nutzbar sind, beispielsweise mittels Befestigungslöchern 52.By way of example, the second closing body 6b has an outer contour projecting at least partially over the adjoining intermediate body 6c, in particular square or rectangular, so that a plurality of corner regions outside the outer contour of the intermediate body 6c can be used, for example by means of fastening the rotary drive 1 to a supporting structure Mounting holes 52.

Die beiden Abschlusskörper 6a, 6b sind zweckmäßigerweise dekkelförmig ausgebildet und enthalten eine von je einer der Durchbrechungen 18 durchsetzte strinseitige Abschlusswand 53, an die sich am Außenumfang ein zum Zwischenkörper 6c hin wegragender ringförmiger Wandabschnitt 54 anschließt.The two end bodies 6a, 6b are expediently designed in the shape of a decal and contain one of the openings 18 interspersed on the side of the end wall 53, which adjoins the outer circumference of an intermediate body 6c outwardly projecting annular wall portion 54.

Der Zwischenkörper 6c verfügt zweckmäßigerweise über eine zentral von der zugeordneten Durchbrechung 18 durchsetzte, vorzugsweise plattenförmig ausgebildete Zwischenwand 55, an die sich radial außen eine koaxiale ringförmige Außenwand 56 des Zwischenkörpers 6c anschließt, die axial beidseits über die Zwischenwand 55 vorsteht. Die zweiten Fluidkanalabschnitte 47b, 48b durchsetzen den Zwischenkörper 6c zweckmäßigerweise ausschließlich im Bereich der Zwischenwand 55, insbesondere in unmittelbarer Nachbarschaft diesseits und jenseits des Trennwandelementes 24. Auf diese Weise können sehr kurze Kanalverbindungen realisiert werden und in der ringförmigen Außenwand 56 werden keine Kanäle benötigt.The intermediate body 6c expediently has a central plate 55, which is penetrated centrally by the associated opening 18 and is preferably plate-shaped, to which a coaxial, annular outer wall 56 of the intermediate body 6c adjoins radially outward, projecting axially over the intermediate wall 55 on both sides. The second fluid channel sections 47b, 48b expediently pass through the intermediate body 6c exclusively in the region of the intermediate wall 55, in particular in the immediate vicinity on both sides of the dividing wall element 24. In this way, very short channel connections can be realized and no channels are required in the annular outer wall 56.

Die Zwischenwand 55 ist zweckmäßigerweise zusätzlich zu den beiden zweiten Fluidkanalabschnitten 47b, 48b von einer axialen Durchbrechung 57 durchsetzt, insbesondere in den zwischen dem beiden zweiten Fluidkanalabschnitten 47b, 48b liegenden Bereich. In dieser axialen Durchbrechung 57 sind von entgegengesetzten axialen Seiten her die beiden Trennwandelemente 24 formschlüssig verankert, indem sie mit je mindestens einem Verankerungsvorsprung 58 ein Stück weit in diese axiale Durchbrechung 57 eingreifen. Axial entgegengesetzt zu dem Verankerungsvorsprung 58 weist jedes Trennwandelement 24 zweckmäßigerweise noch mindestens einen weiteren Verankerungsvorsprung 62 auf, der in eine komplementäre Verankerungsausnehmung 63 an der Innenfläche der Abschlusswand 53 eingreift.The intermediate wall 55 is expediently traversed by an axial opening 57 in addition to the two second fluid channel sections 47b, 48b, in particular in the region lying between the two second fluid channel sections 47b, 48b. In this axial opening 57, the two partition wall elements 24 are anchored in a form-fitting manner from opposite axial sides by engaging with at least one anchoring projection 58 a little way into this axial opening 57. Axially opposite to the anchoring projection 58, each partition element 24 expediently has at least one further anchoring projection 62 which engages in a complementary anchoring recess 63 on the inner surface of the end wall 53.

Liegt eine Gehäusekammer zwischen zwei Zwischenkörpern 6c, greift das in dieser Gehäusekammer angeordnete Trennwandelement 24 in die axialen Durchbrechungen 57 beider benachbarter Zwischenkörper 6c ein.If a housing chamber lies between two intermediate bodies 6c, the partition wall element 24 arranged in this housing chamber engages in the axial openings 57 of both adjacent intermediate bodies 6c.

Indem jedes Trennwandelement 58 unter Abdichtung in die zugeordnete axiale Durchbrechung 57 eingreift oder um die axiale Durchbrechung 57 herum dichtend an der Wandung des Zwischenkörpers 6c anliegt, wird ein Fluidübertritt zwischen axial benachbarten Gehäusekammern 16a, 16b sicher verhindert.By each partition member 58 engages sealingly into the associated axial opening 57 or sealingly abuts the axial opening 57 around the wall of the intermediate body 6c, a fluid transfer between axially adjacent housing chambers 16a, 16b is reliably prevented.

Die Durchbrechung 18 des Zwischenkörpers 6c ist dadurch abgedichtet, dass die mindestens eine Dichtung 32 des Schwenkkolbens 3a, 3b um die Durchbrechung 18 herum axial mit Dichtkontakt an der Zwischenwand 55 anliegt. Eine vergleichbare Abdichtung findet um die Durchbrechung 18 herum bezüglich der Abschlusswand 53 der Abschlusskörper 6a, 6b statt.The opening 18 of the intermediate body 6c is sealed by the fact that the at least one seal 32 of the rotary piston 3a, 3b abuts axially around the aperture 18 with sealing contact on the intermediate wall 55. A comparable seal takes place around the opening 18 with respect to the end wall 53 of the end bodies 6a, 6b.

Der Drehantrieb 1 des Ausführungsbeispiels enthält zwei Antriebsstufen. Die Anzahl kann beliebig erhöht werden, indem pro weiterer Antriebsstufe ein Zwischenkörper 6c und ein Schwenkkolben eingegliedert wird, in Verbindung mit der Verwendung einer anderen Abtriebswelle 5 mit entsprechend verlängertem Vielkeilprofilabschnitt.The rotary drive 1 of the embodiment includes two drive stages. The number can be arbitrarily increased by an additional body 6c and a pivot piston is incorporated per further drive stage, in conjunction with the use of another output shaft 5 with a correspondingly extended splined section section.

Jeder Zwischenkörper 6c ist vorzugsweise einstückig ausgebildet. Entsprechendes gilt zweckmäßigerweise auch für jeden der beiden Abschlusskörper 6a, 6b.Each intermediate body 6c is preferably formed in one piece. The same applies expediently also for each of the two end bodies 6a, 6b.

Claims (15)

  1. Fluid-operated rotary actuator, comprising a housing (2) composed of at least three housing bodies (6) lined up in the axial direction of a main axis (4) in the form of two connecting bodies (6a, 6b) and at least one intermediate body (6c) located in between, wherein immediately adjacent housing bodies (6) together bound a housing chamber (16a, 16b) in which a swivel piston (3a, 3b) rotatable about the main axis (4) is accommodated, so that at least two swivel pistons (3a, 3b) are provided in a separate housing chamber (16a, 16b) staggered in the direction of the main axis (4), wherein all of the swivel pistons (3a, 3b) are connected for rotary actuation to one and the same drive shaft (5) facilitating the takeoff of a torque outside the housing (2) and wherein each of the swivel pistons (3a, 3b) divides the housing chamber (16a, 16b) in which it is accommodated into two working chambers (22, 23) to which a drive fluid can be applied in a controlled way via internal fluid passages (47, 48) extending in the housing wall in order to generate the torque, characterised in that the working chambers (22, 23) of all housing chambers (16a, 16b) which are responsible for the generation of equidirectional torque components if subjected to fluid pressure are jointly connected to one each of two connecting ports (45, 46) formed on the outer surface (44) of the one, first, connecting body (6a), wherein each of the connecting ports (45, 46) is connected via its own first fluid passage section (47a, 47b) to one of the working chambers (22, 23) of the first housing chamber (16a) bounded by the first connecting body (6a), and wherein the working chambers (22, 23) of housing chambers (16a, 16b) which are immediately adjacent to one another are connected to one another by means of second fluid passage sections (47b, 48b) passing through the intermediate body (6c) located in between.
  2. Rotary actuator according to claim 1, characterised in that the connecting ports (45, 46) are located on a lateral outer surface (44) of the first connecting body (6a), which outer surface (44) is oriented perpendicular to the main axis (4).
  3. Rotary actuator according to claim 1 or 2, characterised in that the drive shaft (5) comprises a takeoff section (35) which is designed for the torque takeoff and which projects from the housing (2) at the other, second, connecting body (6b) opposite the first connecting body (6a).
  4. Rotary actuator according to any of claims 1 to 3, characterised in that the two connecting bodies (6a, 6b) are lid-shaped.
  5. Rotary actuator according to any of claims 1 to 4, characterised in that all swivel pistons (3a, 3b) comprise a bearing bush (25) with an internal multiple-spline profile (28) formed on its inner circumference, and in that the drive shaft (5) has on its outer circumference a complementary external multiple-spline profile (27), by way of which it is inserted into all existing bearing bushes (25).
  6. Rotary actuator according to any of claims 1 to 5, characterised in that the second fluid passage sections (47b, 48b) directly pass through that wall section (55) of the at least one intermediate body (6c) which is located axially between the immediately adjacent housing chambers (16a, 16b).
  7. Rotary actuator according to any of claims 1 to 6, characterised in that the swivel piston (3a, 3b) comprises a bearing bush (25) from which a wing section (26) projects and which, while forming a seal, peripherally bears against a partition element (24) which contributes to the division of the housing chamber (16a, 16b) into the two working chambers (22, 23) and which is positively located in the housing (2), the intermediate body (6c) having an axial aperture (57) with which the partition elements (24) of both adjacent housing chambers (16a, 16b) engage from opposite sides.
  8. Rotary actuator according to any of claims 1 to 7, characterised in that the at least one intermediate body (6c) comprises a plate-shaped intermediate wall (55) through which the drive shaft (5) passes, and in that it is provided with an annular outer wall (56) which is arranged coaxially around the intermediate wall (55) and axially projects beyond the intermediate wall (55) on both sides.
  9. Rotary actuator according to claim 8, characterised in that the second fluid passage sections (47b, 48b) are exclusively formed in the intermediate wall (55) of the intermediate body (6c).
  10. Rotary actuator according to any of claims 1 to 9, characterised in that the swivel piston (3a, 3b) comprises a bearing bush (25) non-rotatably mounted on the drive shaft (5) and a wing section (26) projecting radially from the bearing bush (25).
  11. Rotary actuator according to any of claims 1 to 10, characterised in that the housing (2) is configured to form more than two housing chambers (16a, 16b) with more than three housing bodies (6) fitted to one another, with two immediately adjacent housing bodies in each case jointly bounding a housing chamber.
  12. Rotary actuator according to any of claims 1 to 11, characterised in that the first connecting body (6a) comprises on the side facing the adjacent intermediate body (6c) a first mechanical interface (12) provided with first centring means (12a) and the second connecting body (6b) comprises on the side facing the adjacent intermediate body (6c) a second mechanical interface (13) provided with second centring means (13a), each intermediate body (6c) having on the one end face a third mechanical interface (14) complementary to the first mechanical interface (12) and on the other end face a fourth mechanical interface (15) complementary to the second mechanical interface (13).
  13. Rotary actuator according to claim 12, characterised in that the first and the third mechanical interfaces (12, 14) as well as the second and the fourth mechanical interfaces (13, 15) are identical to each other.
  14. Rotary actuator according to any of claims 1 to 13, characterised in that all intermediate bodies (6c) are designed to be identical if several intermediate bodies (6c) are provided.
  15. Rotary actuator according to any of claims 1 to 13, characterised in that all swivel pistons (3a, 3b) are in both directions of rotation non-rotatably connected to the drive shaft (5).
EP09003165.9A 2008-03-20 2009-03-05 Fluid-actuated rotating drive Active EP2103814B1 (en)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE200820003944 DE202008003944U1 (en) 2008-03-20 2008-03-20 Fluid operated rotary actuator

Publications (3)

Publication Number Publication Date
EP2103814A2 EP2103814A2 (en) 2009-09-23
EP2103814A3 EP2103814A3 (en) 2013-01-02
EP2103814B1 true EP2103814B1 (en) 2015-07-08

Family

ID=39478106

Family Applications (1)

Application Number Title Priority Date Filing Date
EP09003165.9A Active EP2103814B1 (en) 2008-03-20 2009-03-05 Fluid-actuated rotating drive

Country Status (2)

Country Link
EP (1) EP2103814B1 (en)
DE (1) DE202008003944U1 (en)

Families Citing this family (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
IT1398128B1 (en) * 2009-03-27 2013-02-14 Rovel S R L ACTUATOR OPERATED BY A FLUID IN PRESSURE
EP2420682B1 (en) * 2010-08-21 2012-06-06 FESTO AG & Co. KG Fluid-actuated rotary drive
CN108005845B (en) * 2017-11-08 2020-03-31 中国航空工业集团公司金城南京机电液压工程研究中心 Hydraulic rotary actuating device coaxially and radially installed
DE102018205637A1 (en) 2018-04-13 2019-10-17 Festo Ag & Co. Kg Rotary drive device and robotic arm of a robot equipped therewith
DE102018205638B4 (en) 2018-04-13 2024-06-13 Festo Se & Co. Kg Rotary drive device and robot arm of a robot equipped with it
DE102018205640B4 (en) 2018-04-13 2020-01-02 Festo Ag & Co. Kg Rotary drive device and robot arm of a robot equipped with it
GB201818074D0 (en) * 2018-11-06 2018-12-19 Rolls Royce Plc Actuator

Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE1503343A1 (en) * 1966-12-06 1970-07-02 Hausherr & Soehne Rudolf Oil engine
FR1533413A (en) * 1967-06-08 1968-07-19 Pressurized fluid motor with limited rotary motion
DE1750352A1 (en) * 1968-04-24 1971-01-21 Hermann Steinbach Single or multi-chamber rotary piston cylinder
DE3942775C2 (en) 1989-12-23 2001-07-05 Hense Systemtechnik Gmbh & Co Hydraulic swivel motor
DE9320601U1 (en) 1993-06-05 1994-10-13 Festo Kg, 73734 Esslingen Fluidically operated rotary drive
DE4406376A1 (en) 1994-02-26 1995-08-31 Festo Kg Fluidically operated rotary drive

Also Published As

Publication number Publication date
EP2103814A3 (en) 2013-01-02
EP2103814A2 (en) 2009-09-23
DE202008003944U1 (en) 2008-06-05

Similar Documents

Publication Publication Date Title
EP2103814B1 (en) Fluid-actuated rotating drive
DE102009041119B4 (en) Oscillating device with double rack and pinion
EP3455467A1 (en) Hydraulic valve for a swivel motor adjuster of a camshaft
DE3050041T1 (en) VANE PUMP
DE102016104560A1 (en) Hydraulic valve for a Schwenkmotorversteller a camshaft
EP2220373A1 (en) Pump assembly for synchronous pressurization of two fluid circuits
DE1576088B2 (en) QUICK RELEASE VALVE FOR HYDRAULIC POWER CYLINDERS
EP2614260A1 (en) Fluid-actuated rotary drive device
DE102017216632A1 (en) DRIVE UNIT WITH PRESSURE POWER AGGREGATING PISTON ARRANGEMENT FOR A HYDRAULIC ENGINE SPEED / TORQUE SELECTOR
EP3230618B1 (en) Adjustable damping valve device
EP0669469B1 (en) Fluid driven rotary actuator
EP2226537B1 (en) Non-return valve and valve unit equipped with same
DE2906183C2 (en) Hydrostatic steering device for automobiles
DE19942544C2 (en) Hydraulic steering device with change of gear ratio
EP3234374B1 (en) Compressed air device with sealings providing variable flow connections
CH509535A (en) Safety valve for pressure medium operated devices
DE7932853U1 (en) REVOLVING CLAMPING CYLINDER WITH CLAMPING PISTON FOR CLAMPING DEVICES ON MACHINE TOOLS
DE29711131U1 (en) Multi-way valve
DE905702C (en) Control device for hydraulic servomotors
DE3741261A1 (en) Pivoting drive having a return unit
DE2102019B2 (en) Hydraulic control device for a hydraulic servo motor
DE3526319C2 (en)
DE19757157C2 (en) Hydraulic linear drive
DE19909918A1 (en) Pilot-operated directional valve
DE3606102A1 (en) SWIVEL DRIVE

Legal Events

Date Code Title Description
PUAI Public reference made under article 153(3) epc to a published international application that has entered the european phase

Free format text: ORIGINAL CODE: 0009012

AK Designated contracting states

Kind code of ref document: A2

Designated state(s): AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO SE SI SK TR

AX Request for extension of the european patent

Extension state: AL BA RS

PUAL Search report despatched

Free format text: ORIGINAL CODE: 0009013

AK Designated contracting states

Kind code of ref document: A3

Designated state(s): AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO SE SI SK TR

AX Request for extension of the european patent

Extension state: AL BA RS

RIC1 Information provided on ipc code assigned before grant

Ipc: F15B 15/12 20060101AFI20121126BHEP

17P Request for examination filed

Effective date: 20130131

AKX Designation fees paid

Designated state(s): AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO SE SI SK TR

GRAP Despatch of communication of intention to grant a patent

Free format text: ORIGINAL CODE: EPIDOSNIGR1

INTG Intention to grant announced

Effective date: 20150220

GRAS Grant fee paid

Free format text: ORIGINAL CODE: EPIDOSNIGR3

GRAA (expected) grant

Free format text: ORIGINAL CODE: 0009210

AK Designated contracting states

Kind code of ref document: B1

Designated state(s): AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO SE SI SK TR

REG Reference to a national code

Ref country code: GB

Ref legal event code: FG4D

Free format text: NOT ENGLISH

REG Reference to a national code

Ref country code: AT

Ref legal event code: REF

Ref document number: 735645

Country of ref document: AT

Kind code of ref document: T

Effective date: 20150715

Ref country code: CH

Ref legal event code: EP

REG Reference to a national code

Ref country code: IE

Ref legal event code: FG4D

Free format text: LANGUAGE OF EP DOCUMENT: GERMAN

REG Reference to a national code

Ref country code: DE

Ref legal event code: R096

Ref document number: 502009011202

Country of ref document: DE

REG Reference to a national code

Ref country code: NL

Ref legal event code: MP

Effective date: 20150708

REG Reference to a national code

Ref country code: LT

Ref legal event code: MG4D

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: LT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20150708

Ref country code: NO

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20151008

Ref country code: LV

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20150708

Ref country code: FI

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20150708

Ref country code: GR

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20151009

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: ES

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20150708

Ref country code: IS

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20151108

Ref country code: HR

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20150708

Ref country code: PT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20151109

Ref country code: SE

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20150708

Ref country code: PL

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20150708

REG Reference to a national code

Ref country code: FR

Ref legal event code: PLFP

Year of fee payment: 8

REG Reference to a national code

Ref country code: DE

Ref legal event code: R097

Ref document number: 502009011202

Country of ref document: DE

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: DK

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20150708

Ref country code: SK

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20150708

Ref country code: EE

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20150708

Ref country code: CZ

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20150708

PLBE No opposition filed within time limit

Free format text: ORIGINAL CODE: 0009261

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: NO OPPOSITION FILED WITHIN TIME LIMIT

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: RO

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20150708

26N No opposition filed

Effective date: 20160411

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: SI

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20150708

Ref country code: BE

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20160331

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: LU

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20160305

Ref country code: MC

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20150708

REG Reference to a national code

Ref country code: CH

Ref legal event code: PL

REG Reference to a national code

Ref country code: IE

Ref legal event code: MM4A

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: LI

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20160331

Ref country code: CH

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20160331

Ref country code: IE

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20160305

REG Reference to a national code

Ref country code: FR

Ref legal event code: PLFP

Year of fee payment: 9

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: FR

Payment date: 20170323

Year of fee payment: 9

REG Reference to a national code

Ref country code: AT

Ref legal event code: MM01

Ref document number: 735645

Country of ref document: AT

Kind code of ref document: T

Effective date: 20160305

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: GB

Payment date: 20170216

Year of fee payment: 9

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: NL

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20150708

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: AT

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20160305

Ref country code: MT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20150708

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: IT

Payment date: 20170323

Year of fee payment: 9

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: HU

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT; INVALID AB INITIO

Effective date: 20090305

Ref country code: CY

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20150708

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: MK

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20150708

Ref country code: TR

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20150708

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: BG

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20150708

GBPC Gb: european patent ceased through non-payment of renewal fee

Effective date: 20180305

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: GB

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20180305

Ref country code: IT

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20180305

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: FR

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20180331

REG Reference to a national code

Ref country code: DE

Ref legal event code: R082

Ref document number: 502009011202

Country of ref document: DE

Representative=s name: PATENTANWAELTE MAGENBAUER & KOLLEGEN PARTNERSC, DE

Ref country code: DE

Ref legal event code: R081

Ref document number: 502009011202

Country of ref document: DE

Owner name: FESTO SE & CO. KG, DE

Free format text: FORMER OWNER: FESTO AG & CO. KG, 73734 ESSLINGEN, DE

Ref country code: DE

Ref legal event code: R081

Ref document number: 502009011202

Country of ref document: DE

Owner name: FESTO AG & CO. KG, DE

Free format text: FORMER OWNER: FESTO AG & CO. KG, 73734 ESSLINGEN, DE

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: DE

Payment date: 20240220

Year of fee payment: 16