EP2420682A1 - Fluid-actuated rotary drive - Google Patents

Abstract

The device (1) has a device housing (2) extending along a main axis (3). Drive units (12, 12a, 12b) are linearly or movably arranged relative to the device housing in a direction of the main axis under execution of drive movement. The units include a linear tooth bar section (32) to engage the drive units with a drive gear rim (28) in a working plane (17) that is arranged at a distance parallel to the other working plane (16). One of the drive units is formed as a fluid-operated drive unit (33) drivable by fluid application for the drive movement.

Description

The invention relates to a fluid-operated rotary drive device comprising a device housing extending along a main axis and an output unit having an output sprocket rotatable relative to the device housing about an axis of rotation perpendicular to the main axis, and further comprising first and second work units each carrying a linear one Working movement in the axial direction of the main axis relative to the device housing in opposite directions are linearly reciprocally movable and each having a linear rack section, by means of which they are in meshing engagement with the output gear, these teeth interventions take place in a common, perpendicular to the axis of rotation first working plane.

One from the DE 198 03 819 B4 known rotary drive device of this type contains two working units in the form of a respective linearly adjustable by fluid actuation drive unit. Both drive units, which are formed substantially piston-like, have a linear rack section, via which they are in meshing engagement with the output ring gear of a rotatably mounted output unit. By controlled fluid loading, the drive units can be driven to opposite working movements, which due to the gear engagement on a down and forth going rotational movement of the output unit has the consequence. The rotation angle of the output unit is defined by counter-stops formed by the device housing, on which the drive units impact at the end of their stroke movement.

By both drive units can be acted upon simultaneously with pressure medium in the known rotary drive device, a relatively high torque can be tapped at the output unit. Due to the backlash in the area of the meshing interventions, however, this torque is halved if one of the drive units has reached the end position defined by a counterstop. In this case, the fluid force introduced into the drive unit supporting the counter-abutment is transmitted directly into the device housing without acting on the driven sprocket, so that ultimately only that fluid force is effective which acts on the drive unit not supported on a counter-abutment.

In addition, the torque that can be picked up by the output unit during the rotational movement may in some cases be too weak, so that a higher torque would be desirable. This requirement could be met by enlarging the fluid-loaded areas of the two drive units, but would result in a disproportionate increase in the structural dimensions of the rotary drive device due to the immediate vicinity of the two drive units.

Although is out of the EP 0 022 644 B1 Already a fluid-operated rotary drive device is known in which is used to increase the tappable torque to four fluid-actuated drive units, the pairs opposite one another on diametrically opposite sides of the output unit are arranged. Each drive unit is equipped with a linear rack section which meshes with an output sprocket of the output unit. The meshing interventions of all four drive units take place together in a plane perpendicular to the axis of rotation work plane. With such a structure can indeed be compared to the design according to DE 198 03 819 B4 achieve a doubling of the tappable torque on the output unit. However, this is at the expense of measured perpendicular to the axis of rotation of the output unit size of the rotary drive device. In addition, a complicated design and consequently costly production of the rack sections is required to ensure the necessary interlocking engagement with the driven sprocket without mutual interference.

It is the object of the present invention, starting from the rotary drive device mentioned above to take measures that create the basis for optimized operation while maintaining compact dimensions.

To achieve this object, it is provided that the rotary drive device has at least one in the axial direction of the main axis relative to the device housing to perform a working linear reciprocating further work unit, which has a linear rack section, by means of which they are in a to the first working plane with distance parallel offset second working plane is also in meshing engagement with the output gear ring of the output unit, wherein at least one of the existing work units is designed as a fluid-actuated by their Fluidbeaufschlagung fluid-operated drive unit.

Such a trained rotary drive device is equipped with at least three working units, which are in two mutually offset in the longitudinal direction of the axis of rotation of the output unit working planes with the output sprocket of the output unit in meshing engagement. Depending on the requirement profile depending on the respective application, different usage options result for the work units. At least one working unit is designed for the application of fluid and forms a fluid-actuated drive unit which can be driven by fluid action to its working movement and, when carrying out its working movement, introduces a drive torque into the output unit rotatable about its axis of rotation. If no particularly high output torque is required, a single work unit can be designed as a fluid-operated drive unit, in which case the other work units can be used for other purposes, in particular for limiting the rotational angle of the output unit. If a relatively high output torque can be tapped off at the output unit, two or even more than two of the existing work units can easily be designed as fluid-actuated drive units which act on the output unit with simultaneous fluid loading in functional parallel connection and thus can generate a high torque. As currently optimal solution, a design is considered in which two working units are designed as simultaneously drivingly cooperating with the output unit fluid-operated drive units, while a third and possibly also a fourth working unit is designed as a stop unit, which cooperates with a fixed or fixable fixed counterpart stop fixed to the housing to limit the stroke of the working movement and thus also the rotation angle of the output unit.

Since all rack sections and working movements are parallel to one another, the rotary drive device can be realized with very compact dimensions. For each working level, a maximum of two working units cooperate with the output unit, so that an optimal arrangement without mutual interference is possible and especially in the direction transverse to the axis of rotation of the output unit no larger external dimensions than in a conventional device, which has only a single working level and in the a maximum of two work units are arranged in this working level.

Advantageous developments of the invention will become apparent from the dependent claims.

The device housing expediently has for each working unit individually via a preferably longitudinal shape having working chamber which receives the respective working unit to enable the working movement linearly slidably.

Preferably, each working chamber has a longitudinal axis whose direction of extension coincides with the axial direction of the main axis of the device housing.

The number of working chambers can correspond exactly to the number of working units, so that, for example, in the case of the presence of only three working units, only three working chambers would be present. Optimum flexibility in the equipment of the rotary drive device, however, exists if there are two working chambers per working plane, so that in the case of two working levels inside the device housing realized a total of four working chambers are, with each currently unused working chamber is empty and does not receive a work unit.

The working chambers are expediently formed in a one-piece housing base body, on which they open on both sides at the end, wherein a housing cover is attached to both end faces of the housing base body, which closes the working chambers, if necessary.

An advantageously configured rotary drive device contains at least two working units which are designed as fluid-actuated drive units which can be driven by applying fluid to their working movements. Which of the existing work units and other work units is designed as a drive unit, is in principle irrelevant. Above all, from the viewpoint of a modular design, however, it is advantageous if at least both the first working unit and the second working unit, which are in driving connection with the output unit in the first working plane, are designed as fluid-operated drive units. Depending on requirements, the at least one further working unit, that is to say either a third working unit or a third and fourth working unit, can then be assigned a further function, be it, for example, again as a drive unit or in particular as an abutment unit serving to limit the angle of rotation.

The rotary drive device expediently has at least one working unit which is not designed as a fluid-actuated drive unit and acts as an abutment unit for limiting the rotational angle of the output unit and which can cooperate with at least one counterstop fixed or stationarily supportable with respect to the device housing. Each stop unit is replaced by the one with the output unit Engaged gear engagement is driven by the rotationally driven by a drive unit driven unit to perform a working movement and is prevented from moving as soon as it encounters a counter-attack.

At least one stop unit may be formed as an end stop unit which predetermines one of two rotational angle end positions of the output unit. The output unit can be rotated between two rotational angle end positions, wherein the rotational angle lying between the two rotational end positions can well be greater than 360 ° and in particular depends on the maximum working stroke of the working units.

It is possible to define both rotational end positions by means of only a single end position stop unit by these effective end stop unit are assigned effective counter-stops in both directions of movement. These counterstops are expediently located on mutually opposite end sides of the device housing and are expediently adjustable in order to be able to specify the respective rotation angle end position variably.

There is also the advantageous possibility to provide for each of the two rotation angle end positions each have their own end position stop unit, so that the rotary drive device is equipped with two end position stop units, each cooperating with a counter stop.

It is furthermore advantageous if at least one stop unit is designed as an intermediate position stop unit with which at least one intermediate position of the output unit lying between the two mutually opposite rotational angle end positions can be predetermined. At least one counter-attack the intermediate position stop unit may for this purpose be part of an actuator belonging to the rotary drive device, which is expediently arranged on the device housing and by the actuation of the associated counter-stop in the axial direction of the drive movement in different axial positions can be positioned.

Each stop unit is expediently arranged to be linearly displaceable in a working chamber formed in the device housing, the at least one counterstop cooperating with it projecting into the working chamber at the end face and in particular projecting beyond the stop unit.

Of particular advantage is an embodiment in which at least one stop unit and at least one of these stop unit associated counter-stop are arranged coordinated with each other, that the counter-stop cooperates with the stop unit before a fluid-operated drive unit of the working units abuts a fixed relative to the device housing surface. In this way it is ensured that the output unit is acted upon in its end positions of all cooperating with their fluid-operated drive units in full and the fluidic forces are not introduced bypassing the output unit in the device housing. In this way it can be ensured that the full output torque is available at the output unit even in the rotational angle end positions, regardless of the backlash in the area of the meshing interventions.

Figur 1

eine bevorzugte Ausführungsform der erfindungsgemäßen fluidbetätigten Drehantriebsvorrichtung in einer perspektivischen Ansicht,

Figur 2

einen Querschnitt durch die Drehantriebsvorrichtung aus Figur 1 gemäß Schnittlinie II-II,

Figur 3

einen Längsschnitt durch die Drehantriebsvorrichtung der Figuren 1 und 2 gemäß Schnittlinie III-III, wobei die Schnittebene einer ersten Arbeitsebene entspricht,

Figur 4

einen Längsschnitt durch die Drehantriebsvorrichtung der Figuren 1 und 2 gemäß Schnittlinie IV-IV, wobei die Schnittebene einer zu der ersten Arbeitsebene mit Abstand parallelen zweiten Arbeitsebene entspricht,

Figur 5

einen der Figur 4 entsprechenden Längsschnitt durch ein modifiziertes Ausführungsbeispiel der Drehantriebsvorrichtung, und

Figur 6

in einem der Figur 4 entsprechenden Längsschnitt eine weitere Ausführungsform der erfindungsgemäßen Drehantriebsvorrichtung.

The invention will be explained in more detail with reference to the accompanying drawings. In this show:

FIG. 1

A preferred embodiment of the fluid-operated rotary drive device according to the invention in a perspective view,

FIG. 2

a cross section through the rotary drive device FIG. 1 according to section line II-II,

FIG. 3

a longitudinal section through the rotary drive device of FIGS. 1 and 2 according to section line III-III, wherein the sectional plane corresponds to a first working plane,

FIG. 4

a longitudinal section through the rotary drive device of FIGS. 1 and 2 according to section line IV-IV, wherein the sectional plane corresponds to a second working plane parallel to the first working plane,

FIG. 5

one of the FIG. 4 corresponding longitudinal section through a modified embodiment of the rotary drive device, and

FIG. 6

in one of the FIG. 4 corresponding longitudinal section a further embodiment of the rotary drive device according to the invention.

The rotary drive device designated in its entirety by reference numeral 1 is designed for actuation by means of fluid force and can be driven by means of a fluidic and preferably gaseous pressure medium. As a pressure medium for the drive in particular compressed air is used.

Unless otherwise stated, the following description refers to all embodiments shown in the drawings.

The rotary drive device 1 has a device housing 2 which is preferably elongated and in particular made of metal and which extends along a main axis 3 indicated by dash-dotted lines, which is in particular the longitudinal axis of the device housing 2.

In the interior of the device housing 2 four working chambers 4 are formed, each having a longitudinal extent and which are aligned parallel to each other. Each working chamber 4 has a longitudinal axis 5, wherein all longitudinal axes 5 parallel to each other. All longitudinal axes 5 also have the same orientation as the main axis. 3

The working chambers 4 are arranged distributed in the interior of the device housing 2 in particular such that their longitudinal axes, seen in cross section, come to lie on the vertices of a rectangle and in particular a square. Each working chamber 4 has expediently a round cross-section, wherein it is preferably designed circular-cylindrical.

The device housing 2 is in particular constructed in several parts. In this case, as shown, it can have a housing base body 6 in which the working chambers 4 are formed in full length and which has two axially oppositely oriented end faces 7a, 7b, to which the working chambers 4 each open at the end. In other words, the housing base body 6 of each of the working chambers 4 is penetrated axially.

For frontal completion of the working chambers 4, a housing cover 8a, 8b attached to each end face 7a, 7b, which is fixed in particular by a screw in a preferably releasable manner on the housing base body 6.

For better distinction, an end face of the device housing 2 oriented in the axial direction of the main axis 3 will be referred to below as the first end face 9a and the opposite end face as the second end face 9b. In addition, the housing cover arranged on the first end face 9a is referred to as the first housing ceiling 18a and the housing cover arranged on the second end face 9b is referred to as the second housing cover 8b.

Each working chamber 4 is adapted to receive a working unit 12 in a linearly displaceable manner. Each working unit 12 arranged in a working chamber 4 can be displaced in the axial direction of the associated longitudinal axis 5 relative to the device housing 2, this linear movement also being referred to below as working movement 13. In the drawing, the individual working movements 13 are indicated by double arrows.

Depending on the intended use of the rotary drive device 1, either all working chambers 4 or only some of the working chambers 4 can be equipped with a working unit 12. In the embodiments of the FIGS. 1 to 4 and 6 is located in each working chamber 4, a work unit 12, so that here the rotary drive device 1 is equipped with a total of four working units 12. In the embodiment of FIG. 5 one of the working chambers 4 is empty or empty, so that this rotary drive device 1 is equipped with only three working units 12.

A first (4a) and a second (4b) of the working chambers 4 extend in a common first working plane 16. Their longitudinal axes 5 coincide with this first working plane 16. In addition, these first and second working chamber 4a, 4b are arranged at right angles to their longitudinal axes 5 at a distance from each other and separated by an intermediate wall 18 of the device housing 2 alongside each other.

In the first working chamber 4a is a first (12a) of the working units 12 and in the second working chamber 4b, a second (12b) of the working units 12 is arranged.

The two other working chambers 4 - hereinafter also referred to as the third (4c) and fourth (4d) working chamber - are arranged so that their longitudinal axes 5 run together in a second working plane 17, which is aligned parallel to the first working plane 16 and at a distance the first working level 16 is arranged. Also, the third and fourth working chamber 4 c, 4 d are separated from each other by the mentioned partition 18.

A working unit 12 arranged in the third working chamber 4c is referred to as a third working unit 12c, a working unit 12 arranged in the fourth working chamber 4d as a fourth working unit 12d.

In a direction perpendicular to the two working planes 16, 17 direction, the device housing 12 is penetrated by an hereinafter referred to as the output chamber 14 opening. The longitudinal axis of this output chamber 14 is provided with reference numeral 15.

The output chamber 14 is preferably at least substantially axially centered in the device housing 2 and in particular in FIG Since the cross-section of the output chamber 14 is greater than the thickness of the intermediate wall 18, all working chambers 4a are cut by the output chamber 14 sekanten similar, so that each working chamber 4 via a window-like opening 22 with the output chamber 14 in connection.

The working chambers 4 have expediently the same cross-section, both in terms of shape and in terms of area.

The working chambers 4a, 4b extending in a respective working plane 16, 17; 4c, 4d cross the output chamber 14 on diametrically opposite sides.

In the output chamber 14 extends an output unit 23 which is rotatable about a to the two working planes 16, 17 rectangular axis of rotation 24 relative to the device housing 2. The axis of rotation 24 advantageously coincides with the longitudinal axis 15 of the output chamber 14.

The pivot bearing is realized by pivot bearing means 25 which are preferably designed as rolling bearing means and which are expediently arranged in the interior of the output chamber 14, wherein they surround the output unit 23 coaxially.

The output unit 23 has an output shaft 26 extending in the output chamber 14 and thereby passing through both working planes 16, 17. At least one end region is followed by a preferably plate-shaped tapping section 27 located outside the device housing 2 and provided with fastening means 29 is where an external to be moved Fix component in a preferably releasable manner. The tapping portion 27 is in the embodiment with respect to the output shaft 26 separate body, but could also be integrally formed with the output shaft 26.

The output shaft 26 is provided on the outer circumference with a circumferentially extending output sprocket 28. It consists in a conventional manner of a plurality of separate from each other by gaps between teeth.

The driven ring gear 28 has an axial length such that it extends in the axial direction of the rotation axis 24 over all window-like openings 22 away. Accordingly, regardless of the current rotational position of the output unit 23, a peripheral portion of the output sprocket 28 is located in the region of each of the window-like openings 22.

The driven ring gear 28 is in the embodiment a uniform, continuously between two working levels 16, 17 extending sprocket. In principle, however, it could also consist of several sprocket sections, one of which is arranged in the region of the first working plane 16 and the other in the region of the second working plane 17.

Each working unit 12 is provided with a linear rack portion 32 at least on that of its longitudinal sides, which faces the working unit lying in the same working plane. Each of these rack sections 32 extends in the axial direction of the longitudinal axis 5 of the associated working chamber 4 and has a plurality of in the axial direction of this longitudinal axis 5 consecutive, separated by gaps teething, the tooth flanks extending transversely and in particular at right angles to the direction of the working movement 13.

By way of example, the rack sections 32 each face the intermediate wall 18.

By the driven sprocket 18 dipping through the window-like openings 22 along each side in each working chamber 4, the driven sprocket 28 is connected to the rack portion 32 of each working unit 12 in a power transmission enabling toothing engagement. The regions of the toothing interventions between the working units 12a, 12b arranged in the first working plane 16 and the driven toothed rim 28 are shown at 16a, 16b and are also referred to below as first and second toothing engagement 16a, 16b. The regions of the toothing interventions between the working units 12c, 12d arranged in the second working plane 17 and the driven toothed rim 28 are indicated at 17c, 17d and are also referred to below as third and fourth toothing engagement 17c, 17d.

All embodiments have in common that the first and second toothing interventions 16a, 16b lie together in the first working plane 16. In this regard, spaced apart in the axial direction of the rotation axis 24, the third and fourth toothing interventions 17 c, 17 d are arranged, which are both in the second working plane 17.

All embodiments have in common that at least two working units 12 are designed as a fluid-operated drive unit 33. In this context, exactly two working units 12 are expediently designed as fluid-operated drive units 33, which applies in the exemplary embodiments to the two first and second working units 12a, 12b lying together in the first working plane 16.

Each fluid-operated drive unit 33 is characterized in that it can be caused by its axial application by means of a fluidic pressure medium to its working movement 13.

To make this possible, in the embodiments, the two drive units 33 are formed in the manner of so-called double acting acted pistons and housed under sealing in the associated working chamber 14 that they divide this working chamber 14 axially into a first drive chamber 34a and a second drive chamber 34b. Each drive unit 33 is axially provided on both sides of the associated window-like opening 22 with an annular seal 35 which is slidably applied to the wall of the associated working chamber 4a and 4b with sealing. The output chamber 13 is thus separated from the two drive chambers 34a, 34b at any time fluid-tight.

About a in FIG. 1 only dashed lines indicated internal fluid channel system 36 of the device housing 2 communicates each drive chamber 34a, 34b with one of a plurality of externally arranged on the device housing 2 Ansteueröffnungen 37 through the fluid channel system 36 can be realized a pertinent fluidic interconnection, each one of two Ansteueröffnungen 37 at the same time with the The first end face 9a associated first drive chamber 34a of the one drive unit 4 and with the opposite second end face 9b associated second drive chamber 34b of the other drive unit 4 is in fluid communication. In this way, when fluid is supplied to one of the control openings 37, the two drive units 33 are acted upon simultaneously in opposite axial directions, so that they are in the region of the first and second toothing interventions 16a, 16b simultaneously introduce a drive torque into the output unit 23 at the same time with the same sense of direction.

In this way, the output unit 23 can be driven to a direction indicated by a double arrow output rotary movement 38 either clockwise or counterclockwise.

In the exemplary embodiment, the fluid-operated drive units 33 are designed for axially bilateral fluid admission. Conceivable, however, would be an embodiment with only one-sided Fluidbeaufschlagungsmöglichkeit. It would also be conceivable to cause the actuating force in one direction by means of a mechanical spring device.

The output rotary motion 38 can be easily tapped on the outside of the device housing 12 arranged tapping portion 27 of the output unit 23.

If desired, the output unit 23 can be penetrated axially in full length by a passage 42 which can be used to pass fluidic and / or electrical energy or to pass through electrical cables or fluid hoses.

If a particularly high torque can be picked off at the output unit 23, the third working unit 12c and, if necessary, additionally also the fourth working unit 12d can additionally be designed as a fluid-operated drive unit. In this case, the third and possibly fourth working unit 12c, 12d would also be designed in such a way that it subdivides the associated third and fourth working chamber 4c, 4d, respectively, into two drive chambers, which are connected to a fluidic pressure medium can be acted upon to generate a drive movement 13 causing actuating force.

It is understood that expediently all the drive chambers, the fluid loading of which generate a mutually rectified drive torque, are simultaneously subjected to fluidic action. For this purpose, the already mentioned fluid channel system 36 may be expanded accordingly, so that further using only two control ports 37 all drive chambers are fluidly controlled in a coordinated manner. Of course, it is alternatively possible to also control the existing drive chambers individually.

If the rotary drive device 1 is equipped with only two fluid-operated drive units 33, in principle any two of the existing or possible four working units 4 can assume the function of the drive units 33. However, the variant realized in the exemplary embodiments is particularly advantageous, in which the first and second working units 12a, 12b lying together in the first working plane 16 are used as fluid-operated drive units 33.

At least one of the working units 12 is expediently designed as an abutment unit 43, with the aid of which an angle of rotation limitation of the driven unit 23 drivable for the output rotary movement 38 can be realized. In particular, a working unit 12, which is not designed or used as a fluid-operated drive unit 33, functions as at least one stop unit 43. In this way, an independent driving and angular positioning of the output unit 23 is possible.

In the embodiments of the FIGS. 1 to 4 and 6 Both the third working unit 12 c and the fourth working unit 12 d are designed as an abutment unit 43. In the embodiment of FIG. 5 which has only three working units, the third working unit 12c extending in the second working level 17 acts as an abutment unit 43.

In order to be able to fulfill an abutment function, at least one counter-abutment 44 which is stationary or can be stationarily supported with respect to the device housing 2 is arranged in the axial stroke of each stop unit 43. If the stop unit 43 runs on such a counter-stop 44 and this counter-stop 44 is supported fixed to the housing, the stop unit 43 is prevented from further movement. In this way, the output rotary motion 38 is stopped at the same time because the output unit 43 is in meshing engagement both with the drive units 33 and with the at least one stop unit 43.

The output unit 23 can be rotated between two rotational angle end positions. At least one stop unit 43 is designed as an end stop stop unit 43a, with which at least one such end position can be predetermined.

In the embodiment of FIG. 5 the single stop unit 43 is designed as an end stop stop unit 43a and is preferably designed such that it cooperates in both directions of movement of its working movement 13 with one of two counter stops 44. Thus, by this end position stop unit 43a, a rotation angle limit of the output unit 23 can be realized in both directions of rotation. It can be seen in the embodiment of FIG. 5 on each of the two housing cover 8a, 8b a counter-stop 44 is arranged, which projects axially into the third working chamber 4c, while the end position stop unit 43a protrudes. The end position stop unit 43a moves back and forth between the two counterstops 44 and in each case predefines one of the rotational end positions of the output unit 23.

The end position stop unit 43a is driven, as is otherwise the case with each of the stop units 43 described in the exemplary embodiment, by the respectively present at least one drive unit 33 with which it is drivingly connected with the interposition of the drive toothed ring 28.

In the embodiment of FIGS. 1 to 4 Both the third working unit 12 c and the fourth working unit 12 d is designed as an end position stop unit 43 a, wherein, however, deviating from the exemplary embodiment of FIG FIG. 5 each end position stop unit 43a only cooperates with a counter stop 44 in one direction of its working movement 13. Due to their Verzahnungsmäßigen connection via the output sprocket 28, the two end position stop units 43a of the embodiment of the lead FIGS. 1 to 4 always opposing linear movements - which incidentally also applies to the two together in the first working plane 16 drive units 33 -, wherein the two counterstops 44 of the same end face 9a of the device housing 2 are assigned, so that the end position stop units 43a in the same direction of their Working movements 13 can independently cooperate with each one of the two counter-stops 44.

By way of example, the two counterstops 44 are arranged on the first housing cover 8a and protrude starting from there the same end face into the third and fourth working chamber 4c, 4d inside.

In this way, in each case one of the two end position stop units 43a is responsible for a rotation angle limitation of the output unit 23 in one of its two possible directions of rotation. Thus, in particular, an independent rotation angle limitation in both directions of rotation of the output unit 23 can be realized.

The embodiment of FIG. 6 is also equipped with two stop units 43, of which, however, only one is designed as an end position stop unit 43a. By way of example, this applies to the fourth working unit 12d. The other stop unit 43 is formed as an intermediate position stop unit 43b and is used to specify at least one angular intermediate position of the output unit 23 between its two rotational angle end positions.

Thus, while the end position stop unit 43a of the embodiment of FIG. 6 in the same way as the one FIG. 5 described end position stop unit 43a is formed and the simultaneous specification of both end positions of the output unit 23 is used, can be made with the additional intermediate position stop unit 43b at least one angular positioning of the output unit 23 between the two end positions.

Incidentally, this intermediate positioning by means of an intermediate position stop unit 43b can also be realized in conjunction with two end position stop units 43a, which are modeled after the FIG. 4 serve to specify only one end position of the output unit 23.

The intermediate position stop unit 43b has an actuator 45, which is arranged in particular on one end face of the device housing 3 and has an axially movable actuator 46 on which the counter stop 44 is arranged or which directly forms the counter stop 44 itself. In the embodiment, the actuator 45 is a fluid-operated drive, for example in the manner of a pneumatic or hydraulic cylinder, but it could also be an electric drive.

By activating the actuator 45, the actuator 46 can be axially displaced, thereby selectively the associated counter-stop 44 in one of FIG. 6 apparent axially retracted axial position or in a respect in this extended and axially further into the fourth working chamber 4c projecting, markable as an intermediate position default position axial position.

If the counter-stop 44 is displaced by actuation of the actuator 45 to an intermediate position default position, the associated intermediate position stop unit 43b encounters it before the end position stop unit 43a reaches a counter stop. In this way, an angular intermediate position of the output unit 23 can be predetermined.

The rotary drive device 1 can also be equipped with a plurality of stop units 43 configured as an intermediate position stop unit 43b.

It is advantageous if the rotational angle positions of the output unit 23 are not predetermined by fluid-actuated drive units 33, but by at least one additionally present stop unit 43, which is not used for generating the output torque of the output unit 23 becomes. This results in the advantage present in all embodiments that the stop unit (s) 43 are effective in terms of impact and cooperate with a counter-stop 44 before one of the drive units 33 is prevented from abutting axially on the apparatus housing 2. This ensures that the fluid forces introduced into a drive unit 33 are always introduced into this output unit 23 and also when the angular end position of the output unit 23 is reached. Thus, the full possible torque for tapping is always available at the output unit 23 even in their end positions.

The rotation angle limit of the output unit 23 is expediently variable. There is the advantageous possibility to specify at least one and expediently both end positions variable. For this purpose, the counter-stops 44 on the device housing 2 in the axial direction of the associated working movement 13 are adjustable and axially immovably fixed in the set position.

It is also advantageous if at least one counter stop 44 is part of a fluidic shock absorber 47, so that the final impact of the stop unit 43 is damped and damage to the stop unit 43 and / or the counter stops 44 is prevented.

In all embodiments, the device housing 2 is provided with four working chambers 4 regardless of the number of working units 12 present. A possibly not required working chamber 4 remains accordingly empty, as is the FIG. 5 illustrated. Deviating from this, however, it would also be possible to equip the device housing 2 in an application-specific manner with a number of working chambers 4 in each case, which corresponds to the number of existing work units 12.

In the rotary drive device 1 according to the invention, all working units 12 described hitherto can be combined with one another as desired, so that a modular system exists that can be tailored to the particular application on a case-by-case basis. Incidentally, if necessary, the existing working chambers 4 can also be used for purposes other than those explained.

Claims (15)

Fluid-operated rotary drive device, comprising a device housing (2) extending along a main axis (3) and an output drive unit (23) having an output sprocket (28) with respect to the device housing (2) about a rotation axis (24) perpendicular to the main axis (3) , and further comprising first and second working units (12, 12a, 12b) reciprocally reciprocally displaceable relative to the apparatus housing (2) by executing each linear working movement (13) in the axial direction of the main axis (3) and; each having a linear rack portion (32) by means of which they are to the output ring gear (28) in meshing engagement, said toothing interventions (16a, 16b) take place right-angled in a common to the axis of rotation (24) of the first working plane (16), characterized in that the rotary drive device (1) has at least one axial direction of the main axis (3) relative to the device housing (2) having a working movement (13) linearly reciprocating further working unit (12, 12c, 12d) having a linear rack portion (32) by means of which they are in a to the first working plane (16) at a distance parallel offset second working plane (17) also with the driven sprocket (28) of the output unit in meshing engagement (17c, 17d), wherein at least one of the existing working units (12, 12a, 12b) as by fluid loading to their working movement (13) drivable fluid-actuated drive unit (33) is formed. Rotary drive device according to claim 1, characterized in that it has only a further, third working unit (12, 12c), the rack portion (32) in the second working plane (17) with the driven sprocket (28) in meshing engagement (17c). Rotary drive device according to claim 1, characterized in that it comprises two further, third and fourth working units (12, 12c, 12d), the rack sections in the second working plane (17) with the driven sprocket (28) in meshing engagement (17c, 17d) are. Rotary drive device according to one of claims 1 to 3, characterized in that the device housing (2) for each working unit (12) individually defines a respective working unit (12) linearly slidably receiving working chamber (4). Rotary drive device according to claim 4, characterized in that the two working chambers (4, 4a, 4b) receiving the first and second working units (12, 12a, 12b) have a longitudinal extent coinciding with the axial direction of the main axis (3) and are arranged such that their longitudinal axes (5) coincide with the first working plane (16), wherein each further working unit (12, 12c, 12d) receiving working chamber (4, 4c, 4d) also has a coincident with the axial direction of the main axis (3) longitudinal extent and is arranged so that its longitudinal axis (5) coincides with the second working plane (17). Rotary drive device according to claim 4 or 5, characterized in that the device housing (2) regardless of the number of further working units (12) via four working chambers (4), which extend in pairs in one of the two working levels (16, 17). Rotary drive device according to one of claims 4 to 6, characterized in that the device housing (2) an all working chambers (4) with respective formation of a window-like opening (22) alongside cutting and extending in the axial direction of the axis of rotation (24) of the output unit (23) , on at least one end face open output chamber (28), in which the output unit (23) extends, wherein the output unit (23) in the region of the window-like openings with the rack portion (32) of each working unit (12) is in meshing engagement. Rotary drive device according to one of Claims 1 to 7, characterized in that at least two working units (12, 12a, 12b) are designed as fluid-actuated drive units (33) which can be driven by fluid admission to their working movements (13), wherein expediently both the first Working unit (12, 12a) and the second working unit (12, 12b) is designed as a fluid-operated drive unit (33). Rotary drive device according to claim 8, characterized in that at least one working unit (12, 12c, 12d), which expediently is not a fluid-operated drive unit (33) serving as the rotational angle limiting the output unit (23) and at least one stationary relative to the device housing (2) or stationary supportable counter stop (44) cooperating stop unit (43) is formed. Rotary drive device according to claim 9, characterized in that a working unit (12, 12c, 12c) as end position stop unit (43a) is formed, which in both directions of movement of their working movement (13) cooperates with a counter-stop (44), such that by this end position stop unit (43a) a rotation angle limit of the output unit (23) in both directions of rotation is possible, this End position stop unit (43a) is expediently formed by one of the at least one further working units (12, 12c, 12d). Rotary drive device according to claim 9 or 10, characterized in that two working units (12, 12c, 12d) as end position stop units (43a) are formed, which cooperate with the same direction of their working movements (13) independently with each one counter-stop (44), in such a way that in each case one of these end position stop units (43a) is responsible for limiting the rotation of the output unit (23) in one of its two directions of rotation, thereby advantageously allowing independent rotation angle limitation in both directions of rotation of the output unit (23). Rotary drive device according to one of claims 9 to 11, characterized in that at least one working unit (12, 12c) as intermediate position stop unit (43b) for specifying at least one intermediate position of the output unit (23) is formed, wherein at least one of these intermediate position stop unit (43b ) associated counter-stop (44) is part of an actuator (45) of the rotary drive device (1) and can be positioned by actuating this actuator (45) in the axial direction of the drive movements (13) in different axial positions. Rotary drive device according to one of claims 9 to 12, characterized in that the first and second working unit (12, 12a, 12b) are in each case designed as a fluid-operated drive unit (33) and that at least one further working unit (12, 12c, 12d) is designed as an abutment unit (43) provided for cooperation with at least one counterstop (44). Rotary drive device according to one of claims 9 to 13, characterized in that each stop unit (43) is arranged in a working chamber (4) of the device housing, wherein the at least one associated counter-stop (44) protrudes into the working chamber and projects against the stop unit (43) , wherein expediently at least one counter stop (44) is part of a fluidic shock absorber (47). Rotary drive device according to one of claims 9 to 14, characterized in that the at least one counter-stop is arranged or can be arranged to be effective by cooperation of an abutment unit (43), before a fluid-operated drive unit (33) by direct interaction with a respect the device housing (2) stationary surface is prevented from further movement.

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