EP2495449B1 - Fluid-actuated rotary drive - Google Patents

Description

The invention relates to a fluid-operated rotary drive device, with a drive housing, in which at least one linearly displaceable by controlled fluid actuation drive unit is arranged, which has a rack-like drive toothing, which is in meshing engagement with a driven ring gear of a drive housing rotatably mounted output unit, such that a linear movement the at least one drive unit has a rotational movement of the output unit about a rotational axis perpendicular to the linear movement direction, wherein the output unit has a carrier flange arranged at least partially outside the drive housing, which carries at least one positioning cam moving along an arcuate cam path during rotation of the carrier flange, and wherein on the outside of the drive housing at least one positioning unit is arranged, which is for defining at least one Drehp Positioning of the output unit by engaging in the cam track can interact with the at least one positioning cam.

One from the DE 10 2007 008 416 A1 known rotary drive device of this type has a markable as a drive housing housing on which an output unit is rotatably mounted, which by means of a standing with them in meshing drive unit to a rotary movement about a rotation axis is drivable. Outside the drive housing is a positioning unit, which is designed as a stop unit and with the help of which at least one rotational position of the output unit can be specified. To specify the rotational position, the stop unit has a plurality of stop surfaces which project into the trajectory of a positioning cam denominatable as a cam track, which is fastened radially on the outside to a carrier flange of the output unit. By the stop unit has two arranged along the outer periphery of the support flange arranged stop surfaces, both of which can cooperate with one and the same positioning cam, the output unit can be positioned in two rotational positions, which differ by a rotation angle of 180 ° from each other. A disadvantage of this known rotary drive device is that the predetermined rotational position of the output unit can not be varied.

One in the DE 103 57 911 A1 disclosed rotary drive device has a multi-part output unit having a replaceable stop member having a stop cam with two at a certain angle arranged abutment surfaces. An associated shock absorber module is equipped with shock absorbers that protrude into the pivoting of the stop cam and accordingly can specify two rotational positions of the output unit. A variation of the predetermined rotational positions is hereby possible in that the stop element is exchanged and replaced by a stop element equipped with a differently structured stop cam. For this purpose, the rotary drive device must be disassembled, resulting in a relatively large conversion effort.

From the EP 2 093 432 A1 a fluid-operated rotary drive device is known, which has a driven to a rotational movement. Abtriebseinheit has, which is rotatably mounted with the interposition of a rolling bearing on a bearing ring, which in turn is secured to an outer surface of a drive housing of the rotary drive device by means of a plurality of fastening screws. Measures for defining at least one rotational position of the output unit are not provided here.

One in the DE 198 03 819 B4 described rotary drive device has two linearly displaceably arranged in a drive housing drive units, which are in meshing engagement with a rotatable output unit, so that they cause a rotational movement of the output unit when performing a linear movement. This rotary drive device is equipped with means for defining at least one rotational position of the output unit, which cooperate with the two drive units. Each drive unit is associated with a displaceable by Fluidbeaufschlagung stop plunger, which is retracted to specify a rotational movement in the drive housing. These position setting measures require a relatively complex structure of the drive housing and bring about sealing problems, because the abutment measures are carried out in the interior of a pressurized medium with a portion of the drive housing.

The invention has for its object to provide a rotary drive device of the type mentioned, which have cost-effective measures for the variable definition of at least one rotational position of the output unit.

To achieve this object, the invention provides that the support flange at its peripheral outer circumference at least one extending with a circular arc-shaped longitudinal course about the axis of rotation of the output unit around and radially Has open outside anchoring groove, and that the at least one positioning cam is formed as a respect to the support flange separate component, wherein it engages adjustable in the longitudinal direction of the anchoring and fixed at different circumferential positions of the support flange in the anchoring groove.

In this way, at least one rotational position of the output unit can be defined by the fact that at least one positioning cam arranged on the carrier flange cooperates with a positioning unit arranged on the outside of the drive housing. A particular advantage is that at least one rotational position can be variably specified, because the at least one positioning cam is not an integral part of the carrier flange, but in this respect is formed separately and can be fixed to different circumferential positions of the support flange. Changing the position of the positioning cam relative to the carrier flange is very easy to realize due to the anchoring groove guiding the positioning cam. It is merely necessary to position the positioning cam engaging in the anchoring groove by sliding relative to the support flange in the longitudinal direction of the anchoring groove and to fix it there. Thus, a desired rotational position can be defined variably in a simple manner.

An optimal adjustment range results when the anchoring groove extends 360 ° completely around the support flange. However, the arc length of the anchoring groove can also be less than 360 °, as well as the possibility exists to equip the support flange with a plurality of anchoring grooves, each of which can be equipped with at least one positioning cam.

Since the position definition takes place outside of fluid-loaded spaces of the rotary drive device, no structurally significant interventions in the interior of the drive housing are required, which favors a cost-effective production.

If the support flange is equipped with more than one positioning cam, there is a particularly large variability with regard to the specification of rotational positions, wherein in particular the possibility for variable specification of the rotation angle of the output unit can be ensured.

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

The rotary drive device expediently has two drive units which are arranged in the interior of the drive housing and can be driven in opposite directions and which are provided with a drive toothing on the longitudinal sides facing each other, wherein the drive unit dips with its drive gear between the two drive units and simultaneously engages with both drive toothings , By both drive units can be actuated by fluid force, a particularly high torque can be transmitted to the output unit. At the same time there is a symmetrical force on the output unit, which is beneficial to their life. However, it would be quite possible to equip the rotary drive device with only a single drive unit.

The output unit is expediently designed in several parts. It preferably has a base unit containing the output sprocket, which is rotatably mounted on the drive housing and with respect to the support flange a represents a separate, separate component. The base unit is expediently provided at a location accessible from outside the drive housing with a coupling interface to which the support flange can be fastened or fastened in a preferably detachable manner. The attachment is advantageously carried out by means of a screw connection. It makes sense to provide centering, which favor a concentric assembly of carrier flange and base unit. The centering means may, for example, be centering bushes which simultaneously dive axially into both the base unit and the support flange.

If the support flange is releasably attached to the base unit, the rotary drive device can be operated after prior removal of the support flange, if necessary, even without position preselection measures. Also, the advantageous possibility can be created to retrofit a previously not equipped with position defining means rotary drive device accordingly.

Regardless of whether the support flange is now an integral part or an independent component of the drive unit, it expediently has a disc-shaped structure. He then has in particular a concentric to the rotational axis of the output unit circular outer contour.

The support flange is expediently arranged in its entirety outside the drive housing. In this way it is optimally accessible for placement with the at least one positioning cam and also for adjusting the position of the positioning cam.

In particular, on its upper end face remote from the drive housing in the axial direction of the axis of rotation, the support flange expediently has a fastening interface to which a component to be driven can be fixed in a preferably releasable manner. Such a component is for example a component of a handling device, for example a gripping device.

For the anchoring groove, a design with an undercut cross-section is recommended, so that it has a groove neck open to the peripheral outer surface of the support flange and an anchoring section which adjoins the groove neck in the depth direction of the anchoring groove and has a greater width than the groove neck. In this way, the anchoring groove may be formed in particular in the manner of a so-called T-slot. The at least one positioning cam has a foot portion, which engages in the anchoring groove and in particular anchored in the anchoring portion thereof, that it engages behind existing in the transition region between the Nuthals and the anchoring portion gradation.

The foot portion of the positioning cam is suitably curved in a circular arc, wherein the degree of curvature in particular corresponds to that of the likewise arcuate anchoring groove. In this way, optimum guidance of the foot section results when moving in the longitudinal direction of the anchoring groove.

For optimum guidance and support of the foot portion with respect to the support flange, it is advantageous if at the foot portion engaging in the Nuthals and preferably arcuate curved guide rib is formed. The height of the guide rib is expediently less than that of the Nuthalses so that it does not protrude beyond the outer periphery of the support flange.

At least one positioning cam is expediently designed in several parts. It has a foot portion and a cam portion separate therefrom, the cam portion having at least one cam body for cooperating with the positioning unit. The cam portion is expediently from the outside radially to the anchoring groove having peripheral outer periphery of the support flange attachable or attached. For fixed fixing or fixing of the positioning cam on the support flange screw connection means are expediently provided which act between the cam portion and the foot portion and by the actuation of these two portions of the positioning cam are clamped to the support flange, in particular in a detachable manner.

The cam section and the foot section are preferably clamped by the screw connection means with the two sections of the support flange flanking the groove neck of the anchoring groove in the radial direction with respect to the axis of rotation of the output unit.

In order for a cam section to be able to be simply and accurately assembled with the associated foot section, these two sections are expediently provided with mutually cooperating guide means. These guide means may, for example, comprise at least one guide bore formed in the foot section and at least one guide pin formed on the cam section, which dips into the guide bore when the cam section is attached to the foot section from radially outside.

Among other things, the multi-parting of the positioning cam also favors the provision of standardized foot sections and then individually combining them with application-specific cam sections.

It is advantageous if between the positioning cam and the support flange additional positive locking means are effective, which prevent even with a high impact force that the positioning cam is displaced relative to the support flange in the longitudinal direction of the anchoring groove. In this context, it is advantageous if the foot portion on its the groove bottom of the anchoring groove opposite surface has a tooth surface which presses when tightening the screw connection means in an originally smooth-surfaced boundary surface of the anchoring, which is provided on one side or on both sides of Nuthalses on Trägerflansch. This measure has the effect that the positioning cam on the one hand steplessly adjust and on the other hand still can be positively fixed.

In order to facilitate the assembly and, if necessary, disassembly of a positioning cam, it is expedient to provide the groove neck of the anchoring groove with at least one mounting recess, which is wider than the Nuthals and anyway sufficiently wide to be able to pass the foot portion of a Positioniernockens. Expediently, the length of the mounting recess measured in the longitudinal direction of the anchoring groove corresponds at least to the correspondingly measured length of the foot section, so that the latter can be inserted into the anchoring groove in a radial direction with respect to the axis of rotation of the output unit.

The support flange is expediently arranged outside the drive housing such that it has a first outer surface upstream of this drive housing. The at least one associated positioning unit is arranged in this case, in particular in relation to the rotational axis of the output unit perpendicular direction next to the support flange. The positioning unit is, in particular, a unit which is separate with respect to the drive housing and which is fastened or attachable to the drive housing on the outside of the drive housing with the aid of suitable fastening means, especially in a detachable manner. Thus, the separate embodiment also has the advantage that the rotary drive device can be operated without positioning if necessary. The drive housing of the rotary drive device preferably has a longitudinal extension, wherein a certain length is required to provide the necessary linear displacement for the internal at least one drive unit available. In the transverse direction usually a narrow design of the drive housing is sought. In this respect, it is advantageous if the at least one positioning unit is placed in the axial direction of the longitudinal axis of the drive housing next to the support flange. He is then at an existing anyway location of the drive housing.

Different functionalities are conceivable for the at least one positioning unit. One possible functionality is that of a locking unit which serves for the releasable rotationally fixed locking of the output unit in at least one rotational position. In such an embodiment, the rotational position to be locked is usually specified by additional stop means, wherein the locking unit has the purpose only to lock this predetermined rotational position in such a rotationally fixed manner that the output unit is rotated neither in one direction nor in the other direction.

A positioning unit designed as a locking unit expediently has a controllably adjustable locking ram which, in particular, can be designed to be electrically actuated by fluid power, but if necessary. In conjunction with such a locking ram the associated positioning cam is formed as a locking cam, which has a locking recess into which the locking ram can dive with appropriate activation in order to fix the output unit rotationally fixed. The locking recess is expediently defined by the intermediate space between two cam bodies spaced apart from one another in the direction of rotation of the support flange.

The locking recess has expediently a tapering in the depth direction cross section, wherein the locking ram expediently has a complementary thereto locking head.

An alternative functionality of the positioning unit is that of a stop unit which specifies at least one rotational position of the output unit, in particular without locking the output unit.

A positioning unit designed as an abutment unit expediently has one or more abutment surfaces (n) projecting into the cam track, onto which a positioning cam designed as a stop cam runs when the rotational position of the output unit to be preset is reached. In particular, the stop unit can have two stop surfaces which are effective in opposite directions of rotation of the output unit, in order to specify at least one rotational position in both directions of rotation. It is readily possible, the support flange with multiple stop cams equipped to cooperate with only one of several stop surfaces. By changing the rotational angle relative position between the positioning cam and the support flange, the rotation angle of the output unit can be easily specified.

In order to mitigate the final impact of the output unit upon reaching the predetermined rotational position, the stop unit is expediently equipped with at least one fluidic shock absorber, which can cooperate with the relevant stop cam.

Figur 1

eine bevorzugte Ausführungsform der erfindungsgemä-ßen Drehantriebsvorrichtung in einer perspektivi-schen Außenansicht mit Blick auf die Positionsdefi-nitionsmittel,

Figur 2

einen Längsschnitt der Drehantriebsvorrichtung in einer zur Drehachse der Abtriebseinheit rechtwinke-ligen Ebene gemäß Schnittlinie II-II aus Figuren 1 und 3,

Figur 3

einen Längsschnitt durch die Drehantriebsvorrich-tung in einer zur Drehachse der Abtriebseinheit pa-rallelen Ebene und gemäß Schnittlinie III-III aus Figuren 1, 2 und 4,

Figur 4

einen Querschnitt durch die Drehantriebsvorrichtung im Bereich der Drehachse der Abtriebseinheit und gemäß Schnittlinie IV-IV aus Figuren 1, 2 und 3,

Figur 5

eine perspektivische Außenansicht einer weiteren Ausführungsform der erfindungsgemäßen Drehantriebs-vorrichtung, bei der die Positionsdefinitionsmittel zur Vorgabe mindestens einer Drehposition der Ab-triebseinheit ausgelegt sind, während sie beim Aus-führungsbeispiel der Figur 1 zur drehfesten Verrie-gelung einer zuvor eingestellten Drehposition die-nen,

Figur 6

eine perspektivische Explosionsdarstellung der er-findungsgemäßen Drehantriebsvorrichtung, wobei ver-schiedene Ausstattungsvarianten kumulativ ersicht-lich sind, die es ermöglichen, wahlweise die aus Figur 1 ersichtliche Verriegelungsmaßnahme oder die aus Figur 5 ersichtliche Positionsvorgabemaßnahme zu realisieren,

Figur 7

einen Querschnitt durch die Abtriebseinheit gemäß Schnittlinie VII-VII aus Figuren 1 und 5, wobei ei-ne Ausstattung mit unterschiedlich konzipierten Positioniernocken gezeigt ist, und

Figur 8

eine Einzeldarstellung von Mitteln zur Bildung ei-nes Positioniernockens im Zusammenhang mit einem nur andeutungsweise abgebildeten Trägerflansch.

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

FIG. 1

1 shows a preferred embodiment of the rotary drive device according to the invention in an external perspective view with regard to the position definition means,

FIG. 2

a longitudinal section of the rotary drive device in a right-angle to the axis of rotation of the output unit level according to section line II-II FIGS. 1 and 3 .

FIG. 3

a longitudinal section through the Drehantriebsvorrich-device in a pa-parallel to the axis of rotation of the output unit level and according to section line III-III FIGS. 1 . 2 and 4 .

FIG. 4

a cross section through the rotary drive device in the region of the axis of rotation of the output unit and according to section line IV-IV FIGS. 1 . 2 and 3 .

FIG. 5

an external perspective view of another embodiment of the rotary drive device according to the invention, in which the position defining means are designed to specify at least one rotational position of the Ab-drive unit, while in the exemplary embodiment of the FIG. 1 for non-rotatable locking of a previously set rotational position,

FIG. 6

an exploded perspective view of the inventive rotary drive device, with ver-different equipment variants are cumulatively ersicht-Lich, which make it possible, either from FIG. 1 apparent interlocking measure or off FIG. 5 to realize an apparent position specification,

FIG. 7

a cross section through the output unit according to section line VII-VII from FIGS. 1 and 5 wherein eggi ne equipment is shown with differently designed positioning cam, and

FIG. 8

a single representation of means for forming a positioning cam in connection with a only hinted carrier flange.

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. Preferably, compressed air is provided as drive medium.

The rotary drive device 1 has a preferably elongate and in particular made of metal housing, which is referred to as drive housing 2. It extends along a phantom indicated imaginary longitudinal axis. 3

The drive housing 2 has, in addition to the longitudinal axis 3, a perpendicular transverse axis 4 and a vertical axis 5 which is perpendicular to both the longitudinal axis 3 and the transverse axis 4. The longitudinal axis 3 and the transverse axis 4 jointly span a plane designated as the principal plane 6.

On its outside, the drive housing 2 has a plurality of outer surfaces. In particular, it has a first outer surface 7 oriented in the axial direction of the vertical axis 5 and a second outer surface 8 oppositely oriented in relation thereto. The first outer surface 7 is located at the top, the second outer surface 8 at the bottom of the drive housing 2. The rotary drive device 1 can be operated with any and also with alternating orientation, so that, for example, the top surface formed by the first outer surface 7 case by case also down can point.

Right angles to the longitudinal axis 3, the drive housing 2 in particular has an elongate cross section. This is preferably a rectangular-like cross-section whose longer sides are defined by the first and second outer surfaces 7, 8. The narrow sides of the cross section are oriented in the axial direction of the transverse axis 4 and are exemplified by two opposing lateral outer surfaces 12, 13 of the drive housing 2, which may be curved convexly outwardly.

Preferably, in one or in both lateral outer surfaces 12, 13 at least one extending in the axial direction of the longitudinal axis 3 mounting groove 14 is formed at the additional components let fix. At least one fastening groove 14 is expediently suitable for fastening at least one position detection device or a holder suitable for fixing a position detection device. As a rule, such a position detection device has at least one position sensor, which is not further illustrated in the drawing. Among other things, the relative position of at least one first or second drive unit 24a, 24b, which will be explained below, can be detected with the aid of the position detection device, which can be equipped with an actuating element 9 that activates the position-detection device in a non-contact manner.

In the interior of the drive housing 2, two first and second drive spaces 15a, 15b, each having a longitudinal extent, are formed by way of example. They extend parallel to each other and each have a longitudinal axis 16a, 16b aligned parallel to the longitudinal axis 3.

The two drive spaces 15a, 15b are arranged in the axial direction of the transverse axis 4 at a distance next to each other and separated by a between them extending and in particular belonging to the drive housing 2 intermediate wall 17 from each other. The intermediate wall 17 is in particular a one-piece component of the drive housing 2. The longitudinal axes 16a, 16b are expediently located in the main plane 6.

Each drive space 15a, 15b has expediently a round and preferably a circular cross-section. It is therefore in particular cylindrical and preferably circular cylindrical drive spaces 15a, 15b.

The drive housing 2 is expediently composed of a housing main body 18 containing the two drive spaces 15a, 15b in full length and two first and second housing covers 22, 23 attached to the two end faces of the housing main body 13 pointing in the axial direction of the longitudinal axis 3. The latter are preferably screwed to the housing main body 18. The intermediate wall 17 is preferably an integral part of the housing main body 18.

In the first drive space 15, the first (24a) of the two above-mentioned drive units 24a, 24b is arranged linearly displaceable in the axial direction of the associated longitudinal axis 16a. In a comparable manner, the second drive space 15b receives the second drive unit 24b linearly displaceable in the axial direction of the associated longitudinal axis 16b. The linear movement of the two drive units 24a, 24b can be caused by controlled fluid admission by means of the above-mentioned fluidic drive medium.

Each drive unit 24a, 24b expediently has two head sections 25, 26 spaced apart from one another in the axial direction of the associated longitudinal axis 16a, 16b, which are connected to one another via a toothed rack section 27 extending between them. Each rack portion 27 has on its the intermediate wall 17 facing the longitudinal side of a particular rack-like design drive teeth 28, which extends in the axial direction of the longitudinal axis 3 of the drive housing 2.

Preferably, each drive toothing 28 consists of a plurality of arranged in a common plane and in the axial direction of the longitudinal axis 16a, 16b successively arranged teeth, each transverse and in particular extend at right angles to said longitudinal axis 16a, 16b.

Each drive toothing 28 is expediently an integral part of the associated toothed rack section 27. However, it may also be formed as a separate body and fastened to the toothed rack section 27 by means of any fastening means.

Each head portion 25, 26 is in dynamic sealing contact with the peripheral wall of the associated drive space 15a, 15b via an annular seal assembly 32 supported by it. In this way, each drive space 15a, 15b is axially subdivided in a fluid-tight manner into two working chambers 33, 34, which communicate via an internal fluid channel system 35 of the drive housing 2, indicated only by broken lines, with connection openings 36 opening out to the outer surface of the drive housing 2. Expediently, the connection openings 36 are located on one of the two housing covers 22.

The connection openings 36 can be connected for operating the rotary drive device 1 via fluid lines (not shown) with the interposition of a control valve device with a pressure source supplying the drive medium. By appropriate actuation of the control valve device, the working chambers 33, 34 can be fluid-pressurized or relieved of pressure in such a coordinated manner that the two drive units 24a, 24b execute synchronously opposing linear movements.

The linear movements of the two drive units 24a, 24b, which can be caused by the application of fluid, are converted into a rotational movement of an output unit 38 by gear means 37 of the rotary drive device 1. This rotation is indicated at 43 by a double arrow. The direction of rotation of the rotary movement 43 depends on the linear movement direction of the drive units 24a, 24b and takes place optionally in a clockwise or counterclockwise direction. By the drive units 24a, 24b are driven to a reciprocating linear motion, can be tapped on the output unit 38, an oscillating rotational movement 43.

In order to be able to grasp this rotational movement 43 conveniently, the output unit 38 is expediently equipped with at least one fastening interface 42, which is exemplarily represented by a plurality of fastening holes and to which an external component, which in particular can be rotationally moved, can be fastened in a particularly detachable manner. The external component is, for example, a gripping device belonging to a handling device.

The output unit 38 is rotatably supported on the drive housing 2 with the interposition of a separate bearing ring 44 relative to it and with respect to the drive housing 2 in order to enable its rotational movement 43. By the pivot bearing a rotational axis 45 is defined for the rotational movement 43, which is suitably rectified with the vertical axis 5. The axis of rotation 45 thus runs at right angles to the linear movement directions of the two drive units and expediently also at right angles to the main plane 6 defined above.

Expediently, the output unit 38 has a substantially disk-shaped driven plate 46 whose longitudinal axis coincides with the axis of rotation 45 and which is concentrically enclosed by the bearing ring 44. Concentrically between the bearing ring 44 and the driven plate 46 bearing means 62 are arranged, which expediently to Rolling bearing means is and by the output unit 38 is supported while ensuring their rotational degree of freedom in the radial direction with respect to the bearing ring 44 and therefore also with respect to the drive housing 2.

The output unit 38 expediently also includes an output shaft 47 which is coaxial with the driven plate 46 and which is non-rotatably and in particular integrally connected with the driven plate 46 and which protrudes at an underside of the driven plate 46. It carries in concentric arrangement a driven sprocket 48, which is located on the outer circumference of the output shaft 47 and expediently extends around the output shaft 47 around. It is designed in particular in the manner of a toothed wheel or pinion and in particular has a straight toothing, wherein its teeth are aligned parallel to the axis of rotation 45.

Particularly cost-effective is a design of the output unit 38, in which the driven plate 46, the output shaft 47 and the driven ring gear 48 are combined to form a base unit 50, which is expediently a single component.

The bearing ring 44 is suitably fastened by means of a screw 51 to the drive housing 2. By way of example, the screw 51 is realized using a plurality of screws 52 which are inserted from the second outer surface 8 forth through the drive housing 2 and screwed from below into threaded openings 53 of the bearing ring 44. The screw heads are supported in the area of the second outer surface 8 of the drive housing 2, so that the bearing ring 44 is firmly clamped from above with the first outer surface 7.

The drive housing 2 has a housing recess 54 which is open towards the first outer surface 7 and which extends into the interior of the drive housing 2 and also into the region between the two drive chambers 33, 34. The housing recess 54 cuts both working chambers 33, 34 alongside in a range that always comes to lie between the seal assemblies 32 regardless of the linear position of the drive units 24a, 24b. In this way, a fluid outlet from the working chambers 33, 34 is excluded in the housing recess 52 into it.

The base unit 50 of the output unit 38, with its downwardly projecting output shaft 7 ahead, engages in the housing recess 52 from the upper side of the drive housing 2 assigned to the first outer surface 7. The output gear ring 48 comes to rest between the two drive units 24a, 24b and is in simultaneous meshing engagement with the output gear teeth 28 thereof. In this way, the driven sprocket 48 is a part of the transmission means 37, wherein a linear movement of the drive units 24a, 24b has the result that the driven sprocket 48 and thus the entire base unit 50 is driven to the rotational movement 43 about the rotation axis 45.

Notwithstanding the embodiment, the rotary drive device 1 may also contain only a single drive unit, so that the output gear ring 48 meshes with only one drive toothing 28. The dual arrangement of drive units 24a, 24b, however, allows the generation of higher torques.

In order to support the output unit 38 or its base unit 50 particularly well against tilt loads, in addition to the bearing ring 44 in this respect in the axial direction the rotation axis 45 spaced further pivot bearing device 84 may be present, which is designed in particular as a rolling bearing device. It is mounted at a distance from the bearing ring 44 in the interior of the housing recess 54, so that the driven sprocket 48 comes to rest between it and the bearing ring 44. The output shaft 47 dives with an end bearing extension 85 in the further pivot bearing device 84 a.

The rotary drive device 1 is equipped with means for defining at least one rotational position of the output unit 38 assumed relative to the drive housing 2, which in the following will also be referred to as position definition means 55 for the sake of simplicity. With regard to this position definition means 55 different functionalities are possible, wherein the FIGS. 1 to 4 show an embodiment as a locking means 55a, which make it possible to lock at least one rotational position of the output unit 38 with respect to the drive housing 2 releasably rotatably.

A deviating functionality is in the embodiment of FIG. 5 realized in which the position defining means 55 are designed as a stop means 55b, with the help of which at least one assumed with respect to the drive housing 2 rotational position of the output unit 38 can pretend.

The internal structure of the in FIG. 5 shown embodiment of a rotary drive device 11 otherwise corresponds to that according to FIGS. 1 to 4 ,

In FIGS. 6 to 8 In connection with a rotary drive device 1, components of both types of position-defining means 55, 55a, 55b are illustrated to illustrate that optional equipment of the rotary drive device 1 with either locking means 55a or with stop means 55b is possible. Although simultaneous installation of both the locking means 55a and the abutment means 55b in the embodiment is not intended, it would of course be quite possible.

The other statements relate, unless otherwise stated, to both embodiments of position definition means 55.

The position defining means 55 include a support flange 56, which forms part of the output unit 38. It is located at least partially and preferably in its entirety outside of the drive housing 2, wherein it is expediently arranged in front of the first outer surface 7.

The output unit 38 has a coincident with the axis of rotation 45 longitudinal axis 63. The support flange 56, which is preferably disc-shaped, is coaxially integrated into the output unit 38 for this purpose.

The support flange 56 connects in the region of the first outer surface 7 in coaxial extension to the base unit 50 at. It would be possible here to form the carrier flange 56 in one piece with the base unit 50. However, it is considered more advantageous to form the carrier flange 56 as a separate or separate component relative to the base unit 50 and to fix it to the base unit 50 by fastening means 64, preferably detachably. This opens up the advantageous possibility of operating the rotary drive device 1 if required without a carrier flange 56.

In the case of a multi-part embodiment of the output unit 38, it is expedient if the base unit 50 is provided with a coupling interface 66 at its upper end face 65 facing away from the drive housing 2 in the axial direction of the longitudinal axis 63, to which the support flange 56 can be fixed or fixed. By way of example, the coupling interface 66 is located on the upper side of the output actuator 46. When the carrier flange 56 is removed, the coupling interface 66 can assume the function of the fastening interface 42 already mentioned above, which is formed on the upper side 67 of the support flange 56 which is axially opposite the base unit 50.

The coupling interface 66 preferably includes a plurality of introduced from the upper end face 65 ago in the driven plate 46 holes, of which one or more are formed as threaded holes 68. One or more further holes are formed as centering holes 69.

The support flange 56 is axially penetrated by one of the number of threaded holes 68 corresponding number of mounting holes 70 which are aligned with a respective threaded bore 68 of the base unit 50, when the support flange 56 with its top 67 axially opposite bottom 73 ahead of the upper end face 65 of Base unit 50 is attached. By fastening means 64 designed as fastening screws are inserted from above into the fastening bores 70 and screwed into the aligned threaded bores 68 of the base unit 50, the support flange 56 can be firmly clamped to the base unit 50 so that the uniformly rotatable output unit 38 results.

With the help of the centering holes 69 can be realized in an advantageous manner, an exact centering of support flange 56 and base unit 50, while ensuring a slip-free rotational drive connection. More precisely, centering elements 74, for example centering sleeves, can be inserted suitably into the centering bores 69, projecting beyond the upper end face 65 and likewise engaging in aligned further centering bores 75, which are introduced on the underside 73 of the support flange 56.

The support flange 56 has radially outward on a peripheral outer periphery 76 coaxial with the longitudinal axis 63. In the region of this peripheral outer periphery 76, the support flange 56 has an anchoring groove 77 extending around the longitudinal axis 63 and thus also about the axis of rotation 45 radially outward, ie towards the peripheral outer periphery 76 of the support flange 56, is open. Preferably, it is a self-contained annular groove which extends 360 ° around the support flange 56 around.

The also existing possibility of providing an anchoring groove 77 which extends around the support flange 56 by less than 360 ° is not shown in the drawing.

The anchoring groove 77 serves for preferably releasable fixing or fixing of at least one positioning cam 78, which is a separate component relative to the carrier flange 56. A positioning cam 78 fixed on the support flange 56 using the anchoring groove 77 protrudes from the peripheral outer circumference 76 in a radial direction with respect to the longitudinal axis 63. When the output unit 38 carries out a rotational movement 43, the at least one bearing pin 78 carried by the positioning cam 78 carries along this rotational movement and moves along a dash-dotted line in the drawing indicated circular arc trajectory, which is hereinafter referred to as cam track 79 and the center of curvature on the longitudinal axis 63rd or on the axis of rotation 45 is located.

Depending on the application, the anchoring groove 77 may be equipped with only one positioning cam 78 or with a plurality of successively arranged in the curved longitudinal direction of the anchoring groove 77 positioning cam 78. If a plurality of positioning cams 78 are present, the same are fixed to the carrier flange 56, in particular with respect to the longitudinal axis 63 at angularly spaced positions.

In addition to the support flange 56 and one or more positioning cam 78, the position defining means 55 also include at least one positioning unit 82 which is disposed adjacent to the support flange 56 on the outside of the drive housing 2 and which cooperates with a positioning cam 78 to define a rotational position of the output unit 38 by protrudes in the cam track 79 and thereby forms a movement lock for the respective positioning cam 78, such that the same can not move further in at least one of its two possible directions of movement 86a, 86b possible in principle. One of these two directions of movement 86a extends in the clockwise direction, the other direction of movement 86b in the counterclockwise direction, in each case based on the axis of rotation 45 as a center of movement.

The positioning unit 82 is preferably a separate unit with respect to the drive housing 2. It is based on the axial direction of the longitudinal axis 63 in particular the same axial height as the support flange 56 is arranged. Preferably, the drive housing 2 has at its first outer surface 7 via at least one mounting interface 87 to which the used for positioning unit 82 can be attached and releasably fixed by fastening means 88 - in particular screw fasteners. If the drive housing 2 has a longitudinal extension, as is the case in the exemplary embodiment, the at least one mounting interface 87 is expediently located in the axial direction of the longitudinal axis 3 of the drive housing 2 next to the support flange 56.

The drive housing 2 of the embodiment is advantageously equipped with a plurality of mounting interfaces 87, 87a, which are selectively or simultaneously usable to fix one or two positioning units 82 on the drive housing 2. These two mounting interfaces 87, 87a are expediently located on diametrically opposite circumferential sides of the support flange 56.

An advantage of the rotary drive device 1 is that the at least one positioning cam 78 is formed as a separate component with respect to the support flange 56 and engages in the anchoring groove 77 such that it is adjustable in the longitudinal direction and fixable at different circumferential positions of the support flange 56. It is therefore possible to vary the relative circumferential position of the positioning cam 78 with respect to the support flange 56 in order to be able to variably specify the rotational position of the output unit 38 to be defined.

In this way, when formed as a stop means 55b position defining means 55, the possibility of a or predetermine a plurality of rotational end positions of the output unit 38 and, accordingly, also the rotational angle swept by the output unit 38 between two rotational end positions. Position defining means 55 designed as locking means 55a allow a predetermined rotational position of the output unit 38 to be releasably locked in a rotationally fixed manner.

The anchoring groove 77 expediently has an undercut cross section, wherein it has a groove neck 91 which opens out to the peripheral outer circumference 76 of the support flange 56 and an anchoring section 92 adjoining the groove neck 91 in the depth direction of the anchoring groove 77. Transverse to the groove longitudinal direction of the anchoring portion 92 has a greater width than the Nuthals 91, wherein it expediently projects beyond the Nuthals 91 on opposite sides, so that in particular sets a T-shaped cross-sectional contour of the anchoring groove 77. The groove neck 91 passes over a step into the deeper and wider anchoring portion 92, wherein the anchoring portion 92 forms a Nuthals 91 opposite groove bottom 93 of the anchoring groove 77 and also has two wall surfaces 94 which face the groove bottom 93 and in the Connect the area of the mentioned gradation alongside each other on mutually opposite sides to the groove neck 91. The groove neck 91 is thus flanked on both sides by the aforementioned wall surfaces 94.

Each positioning cam 78 includes a foot portion 95, the cross-sectional contour is expediently designed at least substantially complementary to that of the anchoring groove 77 and which is insertable into the anchoring groove 77. In addition, each positioning cam 78 has a radial direction with respect to the longitudinal axis 63 The cam section 96 adjoining the foot section 95 has at least one cam body 97. In the state of a positioning cam 78 mounted on the support flange 66, the at least one cam body 97 is the component of the positioning cam 78 which protrudes radially outward from the support flange 56 and describes the cam track 79 during a rotational movement of the support flange 56. It is also the at least one cam body 97 which cooperates with the positioning unit 82 to define a rotational position of the output unit 38.

Each mounted positioning cam 78 is anchored by means of its foot portion 95 in the anchoring portion 92 of the anchoring groove 77 by the two the groove bottom 93 flanking wall surfaces 94 of the anchoring portion 92 engages behind.

The foot section 95 and the cam section 96 of each positioning cam 78 are expediently designed as separate components. Thus, it is possible to initially place the foot section 95 in the anchoring groove 77 without an associated cam section 96 and to subsequently attach the cam section 96. This facilitates the assembly of the positioning cam 78.

In order to be able to insert the foot section 95 into the anchoring groove 77 in a radial direction with respect to the longitudinal axis 63, the groove neck 91 has a mounting recess 98 at at least one point of the anchoring groove 77 whose length measured in the groove longitudinal direction is at least the corresponding measured length of the foot section 95 equivalent. In addition, the mounting recess 98 of Nuthalses 91 has a measured width in the groove transverse direction, the at least the corresponding measured width of a base portion 99 of the foot section 95 corresponds to the mounted in the positioning cam 78 in the interior of the anchoring portion 92 of the anchoring groove 77.

It is thus possible to insert the foot section 95 through the mounting recess 98 into the anchoring groove 77 and then move it in the groove longitudinal direction to the desired position.

This aforementioned positioning is facilitated by the fact that the foot portion 95 is curved in a circular arc, with its curvature corresponding to that of the anchoring groove 77.

It is likewise advantageous for the foot section 95 to have a guide rib 100 which is supported by the base section 99 and expediently has an arcuate curve and which engages in the groove neck 91 from the inside when the foot section 95 is placed in the anchoring groove 77. The width of the guide rib 100 at least substantially corresponds to that of the Nuthalses 91, so that adjusts a transverse support while ensuring the displaceability in the longitudinal direction of the anchoring groove 77.

Each positioning cam 72 is fixable at the desired circumferential position of the support flange 56 by screw connection means 102. The screw connection means 102 act between the cam portion 96 and the foot portion 95 and are able to clamp these two components in the radial direction with respect to the longitudinal axis 63 with the support flange 56 firmly.

The screw connection means 102 are realized in particular by the fact that in the region of the Nuthalses 91 at the peripheral Outer circumference 76 of the support flange 56 attachable cam portion 96 has two mutually spaced in the groove longitudinal direction and radially continuous through holes 103, while the associated foot portion 95 has two equally spaced threaded holes 104 which are engageable with the through holes 103 in an aligned position. In addition, the Schraubverbindungsmittel 102 include two clamping screws 105, which are each pushed through from the outside through one of the through holes 103 and into the adjoining threaded hole 104 can be screwed. Your screw heads are supported on the outside of the cam portion 96.

If the cam portion 96 is screwed by the clamping screws 105 to the foot portion 95, but the clamping screws 105 are not yet tightened, the multi-part positioning cam 78 can be moved along the anchoring groove 77 to the desired position. Once there, by tightening the clamping screws 105, the cam portion 96 and the foot portion 95 are pulled against each other, the two flanking Nuthals 91 and the wall portions 94 defining rib-shaped boundary walls 106 of the Trägerflansches 56 between the base portion 99 of the foot portion 95 and the outside of the support flange 56 Cam section 96 are clamped.

The screw connection means 102 could also be realized by only one clamping screw or with more than two clamping screws.

The joining of cam portion 96 and foot portion 95 can be simplified by providing at least one radially projecting guide pin 107a at the rear side of the cam portion 96 facing the anchoring groove 77 is in a complementary radial guide hole 107 b of the foot portion 95 dips when the cam portion 96 is attached to the foot portion 95.

In order to ensure an immovable fixing of a positioning cam 78 with respect to the support flange 56 with a particularly high level of safety, the foot portion 95 can have surface toothing 108 on its upper side opposite the groove bottom 93, which can be pressed into the wall of the anchoring groove 77.

By way of example, the surface toothing 108 is located on the upper side of the base section 99 on both sides of the guide rib 100, ie at areas facing the wall surfaces 94 of the anchoring section 92 facing the groove base 93 and flanking the groove neck 91 alongside. When tightening the clamping screws 105, the surface toothing 108 is pressed to produce a positive connection in the opposite wall surface 94, which was until then smooth surface. Thus, there is the advantage that the positioning cam 78 is infinitely positionable in the anchoring groove 77 and always only locally at that point a corresponding with the surface toothing counter teeth in the support flange 56 is generated at which the surface toothing 108 is pressed into the wall surface 94.

When the position defining means 55 functions as a stopper 55b, the associated at least one positioning cam 78 is formed as a stop cam 78b and the associated positioning unit 82 is formed as a stopper 82b. The stop cam 78b expediently has a single cam body 97. The stop unit 82b is provided, in particular, with two stop surfaces 83 which project into the cam track 79, in particular with respect to the cam track 79 Cam track 79 tangential direction are oriented. The two abutment surfaces 83 also have in opposite directions, so that they are effective at different directions of rotation of the output unit 38.

In each case, a positioning cam 78 or stop cam 78b runs with its cam body 97 on one of the two stop surfaces 83 when the predetermined by the stop means 55b rotational position of the output unit 38 is reached.

It is understood that the stop unit 82b can also be equipped with only a single stop surface 83, if with their help only a single rotational position is to be specified.

By way of example, the stop unit 82b has a stop body 109 having the at least one stop surface 83, which can be mounted or mounted on the drive housing 2 with the aid of the fastening means 88. It expediently has a V-like structure with two leg sections 109a, 109b extending at an acute angle to each other, whereby it is positioned such that the V-structure lies in a plane perpendicular to the axis of rotation 45 and the V-opening faces the carrier flange 56 is. The free end face of one or both leg portions 109a, 109b forms a stop surface 83.

The transition region between the two leg sections 109a, 109b is designed as a fastening section 110 and cooperates with the fastening means 88 for fixing to the drive housing 2.

In order to reduce the final impact of the output unit 38 when a predetermined rotational position is reached, it is expedient when the abutment unit 82b is equipped with at least one fluidic shock absorber 111 which has a resilient shock absorption element 111a protruding into the cam track 79, for example a bumper against which the positioning cam 78 strikes before reaching the abutment surface 83. It is in particular a pneumatic or a hydraulic shock absorber.

When the position defining means 55 is designed as the locking means 55a, the positioning cam 78 is formed as the locking cam 78a, and the positioning unit 82 is formed as the locking unit 82a.

The locking unit 82a can be used in combination with a stop cam 78b to releasably lock a previously predetermined by stop means rotational position of the output unit 38. To predetermine the rotational position, it is possible, for example, to use an abutment unit 82b of the type described cooperating with a stop cam 78b. However, when using locking means 55a for specifying the rotational position, internal intervention measures of the rotary drive device 1 are regularly used. A preferred possibility for this is realized in the embodiment by the drive housing 2 in the axial extension of each drive space 15a, 15b, an adjustable stop element 112 is present, which is supported on the drive housing 2 and each one of the drive units 24a, 24b protrudes. To specify a desired rotational position of the output unit 38, a drive unit 24a or 24b runs on the associated stop element 112.

By the locking cam 78 b is variably positionable in the anchoring groove 77, its position can be flexible with the predetermined by the stop means rotational position in line.

A preferred embodiment of the locking cam 78a provides that it is provided with a relative to the rotation axis 45 radially outwardly open locking recess 113, with a controllably adjustable locking ram 114 of the locking unit 82a can be brought into locking engagement.

As in particular from FIG. 3 is apparent, the locking unit 82a expediently has a housing 115 with which it can be fastened to the mounting interface 87 or 87a and in which the already mentioned locking ram 114 is mounted linearly displaceable.

The longitudinal axis 114a of the locking ram 114 is expediently oriented radially with respect to the axis of rotation 45. Outside the housing 115, the locking ram 114 has a locking head 114b at its end.

The latch plunger 114 can be selectively positioned in a retracted inoperative position and in an extended operative position. This is expediently carried out by controlled fluid admission of a drive piston 58, which is actively connected to the locking ram 114, in the interior of the housing 115. For controlled fluid admission, at least one connection opening 59 is present on the outside of the housing 115.

In the retracted, inoperative position, the locking head 114b is located outside the cam track 79. Thus, the locking cam 78a and any stop cam 78b may pass easily.

Each locking cam 78a is positioned on the support flange 56 such that its locking recess 113 is radially aligned with the locking head 114b when the output unit 38 assumes the rotational position to be locked. In this stage, by appropriate control of the locking unit 82a, the extension of the locking plunger 114 can be brought into the operative position, so that the locking head 114b dips into the locking recess 113 and the support flange 56 is non-rotatably blocked.

The locking recess 113 is expediently defined by the fact that the locking cam 78a has two cam bodies 97 which are arranged at a distance from each other in the direction of rotation of the support flange 56 and define the locking recess 113 between them.

The locking head 114b is adapted to the cross-sectional contour of the locking recess 113 in such a way that, in the state engaging in the locking recess 113, it simultaneously abuts against recess flanks 113a facing one another in the direction of rotation 43. In this way, a backlash-free, non-rotatable locking is possible.

It is advantageous in this case if the two recess flanks 113a define a cross-section of the locking recess 113 tapering in the direction of the rotation axis 45, wherein the locking head 114b expediently has a complementary outer contour. In this way, a play-free interlocking of these components is particularly favored.

The locking unit 82a is controlled by fluid force in the embodiment. A spring device 116 tensions the locking plunger 114 constantly in the direction of its operative position, whereby the ineffective position can be held by fluid loading. In this way, one obtains a secure lock without the constant provision of a fluid pressure.

Notwithstanding the embodiment, it is possible to form the locking unit 82a electrically actuated.

In FIG. 8 is also the optional possibility indicated to equip at least one positioning cam 78 with an example designed as a permanent magnet element actuator 90 which can cooperate with a not further shown position detection device of the rotary drive device 1 to detect at least one rotational position of the output unit 38. The assigned position detection device can in particular be fixed to a holding device which can be fastened in at least one of the fastening grooves 14 of the drive housing 2. The actuating element 90 makes the pivoting movement of the positioning cam 78 about the axis of rotation 45 during rotation of the output unit 38.

Claims (16)

1. Fluid-operated rotary drive device, comprising a drive housing (2) in which at least one drive unit (24a, 24b) capable of linear displacement by controlled fluid pressurisation is located, which drive unit (24a, 24b) has a rack-like drive toothing (28) in tooth engagement with a driven sprocket (48) of a driven unit (38) rotatably mounted with respect to the drive housing (2) in such a way that a linear movement of the at least one drive unit (24a, 24b) results in a rotary movement of the driven unit (38) about an axis of rotation (45) perpendicular to the linear direction of movement, wherein the driven unit (38) has a support flange (56) which is at least partially located outside the drive housing (2) and which peripherally supports at least one positioning cam (78) moving along a circular cam track (79) while the support flange (56) is twisted, and wherein at least one positioning unit (82) is mounted on the outside of the drive housing (2), which positioning unit (82) can act together with the at least one positioning cam (78) by projecting into the cam track (79) in order to define at least one rotary position of the driven unit (38), characterised in that the support flange (56) comprises on its peripheral outer circumference (76) at least one anchoring groove (77) which extends in a circular arc-type longitudinal dimension about the axis of rotation (45) of the driven unit (38) and which is open in the radially outward direction, and in that the at least one positioning cam (78) is designed as a component which is separate from the support flange (56), engaging with the anchoring groove (77) while being adjustable in the longitudinal direction of the anchoring groove (77) and locatable at different circumferential positions of the support flange (56).
2. Rotary drive device according to claim 1, characterised in that two drive chambers (15a, 15b) separated by a partition (17) and having parallel longitudinal axes (16a, 16b) are located in the drive housing (2), a drive unit (24a, 24b) capable of linear displacement by controlled fluid pressurisation being provided in each drive chamber (15a, 15b), wherein the drive toothings (28) of the two drive units (24a, 24b) face one another and the driven sprocket (48) projects between the two drive units (24a, 24b) while being in engagement with the two the drive toothings (28).
3. Rotary drive device according to claim 1 or 2, characterised in that the driven unit (38) comprises a preferably one-piece base unit (50) provided with the driven sprocket (49), with respect to which base unit (50) the support flange (56) is designed as an independent component, and which base unit (50) comprises a coupling interface (66) to which the support flange (56) is or can be secured in a releasable manner in particular, preferably by means of a screwed connection.
4. Rotary drive device according to any of claims 1 to 3, characterised in that the support flange (56) is disc-shaped and/or comprises on its upper end face (67), which is remote from the drive housing (2) in the axial direction of the axis of rotation (45), a mounting interface (42) for mounting a component to be driven.
5. Rotary drive device according to any of claims 1 to 4, characterised in that the anchoring groove (77) has an undercut cross-section and comprises a groove neck (91) terminating towards the peripheral outer circumference (76) of the support flange (56) and an anchoring section (92) adjoining the groove neck (91) in the depth direction of the anchoring groove (77) and being wider than the groove neck (91), the at least one positioning cam (78) having a foot section (95) which is or can be anchored in the anchoring section (92).
6. Rotary drive device according to claim 5, characterised in that the foot section (95) has a circular arc-type curvature and/or comprises a guide fin (100) which engages with the groove neck (93) and preferably has a circular arc-type curvature.
7. Rotary drive device according to claim 5 or 6, characterised in that the at least one positioning cam (78) has a cam section (96) which is separate from the foot section (95) and which comprises at least one cam body (97) designed for acting together with the positioning unit (82) and which is or can be attached to the peripheral outer circumference (76) of the support flange (56), wherein the positioning cam (78) is or can be clamped to the support flange (56) by screw connecting means (102) acting between the cam section (96) and the foot section (95).
8. Rotary drive device according to claim 7, characterised in that the foot section (95) has on its top side opposite the groove bottom (93) of the anchoring groove (77) a surface toothing (108) which can be pressed into at least one originally smooth wall surface (94) of the anchoring section (92) which flanks the longitudinal side of the groove neck (91) in order to effect a positive connection acting in the longitudinal direction of the anchoring groove (77).
9. Rotary drive device according to any of claims 5 to 8, characterised in that the groove neck (91) of the anchoring groove (77) has at least one mounting recess (98) which allows a foot section (95) of the positioning cam (78) which is wider than the groove neck (91) to be installed.
10. Rotary drive device according to any of claims 1 to 9, characterised in that the support flange (56) is located in front of a first outer surface (7) of the drive housing (2) and the at least one positioning unit (82) is arranged next to the support flange (56) at right angles to the axis of rotation (45) of the driven unit (38), the positioning unit (82) expediently being designed to be separate from the drive housing (2) and secured or securable to a mounting interface (87) provided on the first outer surface (7) of the drive housing (2).
11. Rotary drive device according to any of claims 1 to 10, characterised in that the drive housing (2) has a longitudinal dimension, the at least one positioning unit (82) being placed next to the support flange (56) in the direction of the longitudinal axis (3) of the drive housing (2).
12. Rotary drive device according to any of claims 1 to 11, characterised in that at least one positioning unit (82) is designed as a locking unit (82a) suitable for the releasable, non-rotatable locking of at least one rotary position of the driven unit (38).
13. Rotary drive device according to claim 12, characterised in that the locking unit (82a) comprises a locking plunger (114) capable of controlled adjustment, and in that at least one positioning cam (78) is designed as a locking cam (78) having a locking recess (113) which is open in the radially outward direction with respect to the axis of rotation (45) of the driven unit (38) and into which the locking plunger (114) can dip to lock a rotary position of the driven unit (38).
14. Rotary drive device according to any of claims 1 to 13, characterised in that at least one positioning unit (82) is designed as a stop unit (82b) suitable for predetermining at least one rotary position of the driven unit (38).
15. Rotary drive device according to claim 14, characterised in that the stop unit (82b) has at least one stop surface (83) which projects into the cam track (79) and against which a positioning cam (78) designed as a stop cam (78b) can run in order to predetermine a rotary position of the driven unit (38), the stop unit (82b) expediently comprising two stop surfaces (83) which act in opposite directions of rotation of the driven unit (38).
16. Rotary drive device according to claim 15, characterised in that the stop unit (82a) is provided with at least one fluidic shock absorber (111) which projects into the cam track (79) and against which the stop cam (78b) runs before reaching the rotary position to be predetermined.

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