EP2497959A1 - Dispositif d'entraînement rotatif hydraulique - Google Patents

Dispositif d'entraînement rotatif hydraulique Download PDF

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Publication number
EP2497959A1
EP2497959A1 EP11001939A EP11001939A EP2497959A1 EP 2497959 A1 EP2497959 A1 EP 2497959A1 EP 11001939 A EP11001939 A EP 11001939A EP 11001939 A EP11001939 A EP 11001939A EP 2497959 A1 EP2497959 A1 EP 2497959A1
Authority
EP
European Patent Office
Prior art keywords
bellows
axis
rotary drive
drive device
hinge
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP11001939A
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German (de)
English (en)
Other versions
EP2497959B1 (fr
Inventor
Ruwen Kaminski
Elias Maria Knubben
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Festo SE and Co KG
Original Assignee
Festo SE and Co KG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Festo SE and Co KG filed Critical Festo SE and Co KG
Priority to EP20110001939 priority Critical patent/EP2497959B1/fr
Priority to CN 201210073531 priority patent/CN102678661A/zh
Publication of EP2497959A1 publication Critical patent/EP2497959A1/fr
Application granted granted Critical
Publication of EP2497959B1 publication Critical patent/EP2497959B1/fr
Not-in-force legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B15/00—Fluid-actuated devices for displacing a member from one position to another; Gearing associated therewith
    • F15B15/02—Mechanical layout characterised by the means for converting the movement of the fluid-actuated element into movement of the finally-operated member
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B15/00—Fluid-actuated devices for displacing a member from one position to another; Gearing associated therewith
    • F15B15/08—Characterised by the construction of the motor unit
    • F15B15/10—Characterised by the construction of the motor unit the motor being of diaphragm type
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B15/00—Fluid-actuated devices for displacing a member from one position to another; Gearing associated therewith
    • F15B15/08—Characterised by the construction of the motor unit
    • F15B15/12—Characterised by the construction of the motor unit of the oscillating-vane or curved-cylinder type
    • F15B15/125—Characterised by the construction of the motor unit of the oscillating-vane or curved-cylinder type of the curved-cylinder type

Definitions

  • the invention relates to a fluid-operated rotary drive device comprising a stator body and a driven body rotatable relative to the stator about a rotational axis, further comprising a rotatably connected to the driven body and pivotable about the axis of rotation drive arm, and with two each having an arcuate longitudinal extension bellows, with each other facing concave longitudinal sides are arranged side by side, wherein they each have a stator fixed to the stationary end portion and a related, spaced from the axis of rotation to the drive arm motion-coupled movable end portion, wherein the two bellows are at least partially variable in length by controlled internal Fluidbeetzschung to their with movable end portions exert a pivoting force on the drive arm.
  • One from the DE 10149395 A1 known rotary drive device of this type comprises two circular arc-shaped bellows, which are fixed at one end fixed to a stator and the other end to a pivotable drive arm.
  • the drive arm is rotatably connected to a pivot axis which forms a force tap for tapping a rotary movement and thus acts as a driven body.
  • By controlled fluid loading of the interiors of the two bellows of the drive arm can be driven to pivotal movement be to produce a desired rotational movement of the output body.
  • a certain inadequacy of this known rotary drive device is that the bellows must have a high elasticity in order to deform in accordance with the desired pivotal movement of the drive arm can.
  • the problem of a radial expansion is connected when the rotary drive device is operated with high fluid pressures. This can lead to non-linear pivoting movements of the drive arm and, accordingly, impair the output side rotational movement.
  • the pleat wall of the bellows can be supported radially by support means.
  • this has a relatively complex and expensive construction of the rotary drive device result.
  • a bellows which is made in one piece from plastic or rubber.
  • a fold-like structured wall of the bellows is integrally connected end to end with a fastening component.
  • a swing-wing drive which has a rotor disposed in a stator housing, which is provided with a radially projecting wing. Between the stator housing and the rotor two arcuate bellows are arranged, which are supported on the one hand stationary on the stator housing and on the other hand on the wing. By alternating fluid loading of the two bellows, the rotor can be driven to a rotary motion. The driving force is in each case introduced by the bellows directly into the wing of the rotor.
  • a similarly constructed drive device is from the US 3,977,648 known.
  • the individual bellows can be structured in one piece.
  • the invention has for its object to provide a fluid-operated rotary drive device of the type mentioned, which favors the production of uniform rotational movements at low cost and long life.
  • the invention provides that extends between the two movable end portions of the bellows, a rigid coupling web, which is articulated via a first hinge means with a movable end portion and a spaced therefrom second hinge means with the other movable end portion, and that the drive arm is pivotally connected to the coupling web at a radial distance from the axis of rotation via a third hinge means spaced from the first and second hinge means, each hinge means defines a hinge axis parallel to the axis of rotation.
  • the two bellows act with their movable end portions not directly, but indirectly with the interposition of a connecting coupling web drivingly together with the drive arm.
  • the coupling web is pivotable relative to the movable end portion of each bellows and at the same time relative to the drive arm, which is ensured by the hinge devices.
  • the rotary drive device also allows a precise rotational positioning of the output body and, if necessary, an exact regulation of the swivel force acting on the drive arm and thus of the torque which can be picked up on the output body. Incidentally, can be generated with the rotary drive device according to the invention with a small size and low weight, a comparatively high output torque.
  • the two bellows are expediently rigidly fastened to the stator body with their stationary end sections. Such an attachment can be particularly easily realized by the bellows, for example, integrally formed on the stator body.
  • the stator body expediently engages with a holding section between the two stationary end sections of the bellows.
  • the holding portion can be used advantageously to form therein a fluid channel system, by means of which the bellows are controlled in the interior can be acted upon with pressure medium to activate them as needed.
  • each bellows has a fold-like structured and therefore denoted as a fold wall peripheral wall. This is expediently attached to the holding portion of the stator body with simultaneous sealing in one piece.
  • each bellows has a peripheral fold wall whose fold depth is greater in the region of the convex longitudinal side opposite the respective adjacent bellows than in the area of the concave longitudinal side.
  • the fold depth in the area of the concave longitudinal side can even be zero.
  • each bellows may have a peripheral fold wall which is structured such that it is unfolded in the region of its concave longitudinal side and thereby bendable, but at the same time length-invariant.
  • each bellows evoked by controlled fluid loading manifests itself in an elongation or shortening, especially in the area of the convex longitudinal side, while the pleat wall is progressively less or not changed in length as the wall areas are closer to the concave longitudinal side ,
  • the axis of rotation of the driven body expediently extends between the two bellows, in particular at the same distance from both bellows, if one bases on the non-fluid-loaded initial state of the bellows.
  • the two bellows can in particular be arranged such that they each extend in a piece-wide arcuate manner about the axis of rotation of the output body.
  • Output body and drive arm are preferably formed integrally with each other.
  • the output body may be formed, for example, disk, plate or plate-shaped.
  • the output body is suitable as a carrier for any component to be positioned by means of a reciprocating rotary movement.
  • a component may be, for example, a gripping device for releasably gripping objects.
  • the driven body directly as part of a component to be moved rotationally, for example as a base body of a gripping device, on which at least one pivotable gripping element is arranged.
  • the articulation axes of all three articulation devices are each stationary transversely to their axial direction with respect to the two arranged by a respective hinge means hinged components.
  • the articulated by a joint device components are therefore supported radially with respect to each other with respect to the associated hinge axis against each other, so that between the hinged components only a pivoting movement is possible.
  • the exclusively possible relative pivoting mobility relates only to the articulated via the first joint means and the second joint means to each other components.
  • its articulation axis is movable transversely to an imaginary connecting straight line in a plane perpendicular to the axis of rotation of the output body, which plane extends between the joint axes of the first and second articulation device.
  • the hinge axis of the third hinge device is movable relative to the drive arm in respect of the axis of rotation of the driven body radial direction.
  • the coupling web is mounted on the drive arm such that it is pivotable relative to the drive arm on the one hand, but on the other hand can also be moved translationally relative to the drive arm. In this way, Verklemmungstendenzen is counteracted between the coupling web and the drive arm.
  • Such a bearing can be realized in an advantageous manner by virtue of the fact that a bearing pin defining the axis of rotation is formed on the coupling web and is rotatable and at the same time engages axially displaceable in a formed on the drive arm slot.
  • a particularly advantageous construction of the bellows each provides a pleat wall whose structural rigidity is selected such that radial expansion is prevented during the internal pressure action occurring during operation, even without additional external support structures, and only length changes can take place at least partially.
  • At least one separate fluid control channel opens into the interior space of each bellows, so that an independent internal fluid admission of the two bellows is possible.
  • the two bellows can thus, for example, alternately ventilated in opposite directions and vented to generate a reciprocating rotary motion of the output body.
  • the bellows are in particular arranged so that each of them can actively bring about a rotational movement of 45 ° of the output body and at the same time allows a rotational movement in the opposite direction by the same angular range. In particular, in this way it is possible to let the bellows work against each other to control the system stiffness and / or the tappable torque can.
  • vent and aeration are used at this point regardless of whether a gaseous or a liquid pressure medium is used as the drive medium for the bellows.
  • a gaseous or a liquid pressure medium is used as the drive medium for the bellows.
  • Particularly advantageous is the rotary drive device for operation with compressed air.
  • the rotary drive device can be equipped with a position detection device in order to be able to detect one or more rotational positions of the output drive body.
  • the position detection device can also be designed as a displacement measuring system. In this case, in particular a refinement is recommended as a film potentiometer.
  • the rotary drive device can be produced in a particularly cost-effective manner using a generative production method.
  • the additive manufacturing can refer to all or even only a few components of the rotary drive device.
  • at least one structural unit containing the stator body and the two bellows is produced in one piece by using a generative manufacturing method.
  • Selective laser sintering is a process in which spatial structures are produced by sintering from a powdery starting material. This is a generative layer construction process. The structural unit is built up layer by layer. Due to the effect of the laser beams any three-dimensional geometries can be generated even with complex undercuts.
  • the basis for the manufacturing process are three-dimensional geometric data of the desired structure, which are processed as layer data, for example as CAD data.
  • the term "generative manufacturing processes” is often understood as rapid prototyping or rapid manufacturing processes for the rapid and cost-effective production of products.
  • the production takes place directly on the basis of computer-internal data models, in particular of informal powders by means of chemical and / or physical processes. Although these are original methods, no special tools are required for the realization of a specific product, in which the geometry of the product to be produced is implemented.
  • a plastic material is used as the material for the structural unit generated by generative production, wherein in particular polyamide is recommended.
  • the rotary drive device also has the advantageous possibility of connecting a plurality of generatively manufactured components to one another by conventional measures. So can For example, joint axes of the joint devices can be realized by subsequently introduced axle bolts.
  • the joint means can also be constructed in one piece as a whole, for example in the manner of so-called film hinges.
  • the articulated interconnected components are integrally formed with each other, wherein the material thickness is reduced in the region of the hinge means for defining a hinge axis, so that there is the possibility to pivot the mutually articulated components by mutual bending relative to each other.
  • the generally designated by reference numeral 1 rotary drive device is designed for actuation by means of fluid force and can be driven by means of a fluidic and preferably gaseous pressure medium.
  • a fluidic and preferably gaseous pressure medium Preferably, compressed air is provided as drive medium.
  • the rotary drive device 1 has a stator body 2, which is expediently equipped with at least one attachment interface 3, with the aid of which it can be fastened to an arbitrary support structure (not shown any further).
  • a support structure may for example be the movable arm of a handling robot.
  • the rotary drive device 1 furthermore has a driven body 5 which can be rotated relative to the stator body 2 about an axis of rotation 4.
  • the rotational movement of the driven body 5 illustrated in the drawing by a double arrow is referred to as output rotary motion 6.
  • the output body 5 can in principle have any desired design.
  • it is shaped like a dish.
  • it has at least one attachment interface 7, represented by way of example by two attachment holes, on which a component to be driven for rotational movement can be fixed in a preferably detachable manner.
  • a component is embodied, for example, as a gripping device designed to grip objects.
  • the output body 5 forms the base body of a fluid-operated gripping device 8, which is also rotated by turning the output body 5 simultaneously.
  • the gripping device 8 has, for example, a plurality of gripping elements 12 pivotably mounted on the output body 5, which can be pivoted by an integrated actuator 13 of the gripping device 8, which can be actuated by fluid force, in order to carry out a gripping operation.
  • the actuator 13 is designed as an example as a bellows actuator and can be acted upon via a communicating with him and in particular the output body 5 passing through actuation channel 14 controlled by a fluidic pressure medium.
  • a torque can be introduced into the output body 5. This is done with the help of a rotatably connected to the output body 5 drive arm 15 which projects in a transverse to the axis of rotation 4 and in particular perpendicular direction extending from the output body 5.
  • the drive arm 15 has a force introduction section 16 arranged at a radial distance from the rotation axis 4, to which it can be acted upon by a transverse force denominatable as a pivoting force, which runs in a main plane 17 perpendicular to the rotation axis 4 and at the same time is oriented transversely to an imaginary connecting line. which connects the axis of rotation 4 with the force introduction portion 16.
  • the drive arm 15 can be driven to a pivoting movement 17 about the axis of rotation 4, which is directed either clockwise or counterclockwise. In particular, it is also possible to drive the drive arm 15 to an oscillating pivoting movement 17.
  • the drive arm 15 and the driven body 5 are expediently formed integrally with each other, wherein they form in particular a structural unit, which is produced by applying a generative manufacturing process.
  • stator body 2 is provided with two bearing brackets 18a, 18b, between which the drive arm 15 with a force introduction section 16 opposite bearing portion 22 engages, wherein through the bearing plates 18 a, 18 b and the bearing portion 22 a not further illustrated bearing pin is inserted, which defines the axis of rotation 4.
  • the output body 5 is seated on a protruding from the drive arm 15 and in particular angled support arm 21st
  • the drive arm 15 has a bearing section 22 opposite the outer force introduction section 16, which is connected to the output body 5 via a sleeve-shaped connection section 23 coaxial with the rotation axis 4, wherein the connection section 23 for defining the rotation axis 4 of at least one of the stator body 2 worn bearing eye 24 is included.
  • the drive arm 15 expediently has a straight line between the bearing section 22 and the force introduction section 16. It may be formed plate-like, with its main plane of expansion in the embodiment of FIGS. 1 to 5 parallel to the axis of rotation 4 and in the embodiment of FIGS. 6 to 10 perpendicular to the axis of rotation 4 runs.
  • each bellows 25, 26 has an arcuate longitudinal extension and thus an arcuate longitudinal axis 27th
  • the two bellows 25, 26 are arranged alongside one another in such a way that their longitudinal axes 27 extend in one and the same plane perpendicular to the axis of rotation 4, in particular in the main plane 19.
  • Each bellows 25, 26 has a concave longitudinal side 28 facing its center of curvature and a convex longitudinal side 29 facing away from the center of curvature.
  • the two bellows 25, 26 are aligned so that their concave longitudinal sides 28 face one another.
  • Each bellows 25, 26 has two in the axial direction of its longitudinal axis 27 mutually oppositely oriented end portions, one of which is designated as a fixed end portion 32 and the other as a movable end portion 33.
  • Each bellows 25, 26 has a peripheral wall having a fold structure, which will be referred to below as a fold wall 34.
  • the stationary and movable end sections 32, 33 are formed by end sections of the pleated wall 34 of the relevant bellows 25, 26.
  • Each fold wall 34 peripherally surrounds and encloses a bellows interior 35.
  • Each bellows 25, 26 is preferably fixed rigidly to the stator body 2 with its stationary end section 32.
  • the stator body 2 expediently has a holding section 36 on which both stationary end sections 32 are fixed.
  • the holding portion 36 engages in particular between the two stationary end portions 32 and has two mutually oppositely oriented end faces 37, to each of which one of the stationary end portions 32 connects.
  • the holding portion 36 is in the same plane as the longitudinal axes 27 of the two bellows 25, 26th
  • the two bellows 25, 26 and their folding walls 34 are integrally connected to each other via the holding portion 36 arranged therebetween.
  • the stator body 12, together with the two bellows 25, 26, can form an integral structural unit, which is produced by using a generative manufacturing method.
  • the fold walls 34 are attached to the stator body 2 in a fluid-tight manner.
  • the bellows 25, 26 in the region of the fixed end portions 32 are sealed by the stator 2.
  • each bellows 25, 26 are closed in a fluid-tight manner.
  • Each bellows 25, 26 has there a closure wall 38, to which the associated fold wall 34 under sealing and preferably in one piece, in particular in the context of a generative manufacturing process, is attached.
  • each bellows interior 35 can be acted upon controlled by a drive medium.
  • an individual, independent fluid admission of the two bellows 25, 26 can be performed.
  • one of two fluid control channels 43, 44 opens, which the stator body 2 prevail and open, each with a connection opening to an outer surface 45 of the stator 2.
  • a control valve device which controls the connection to a pressure source and a pressure sink can be connected to the connection openings and is in particular capable of controlling the fluid admission of the two bellows internal spaces independently of one another.
  • the fluid loading of a bellows interior 35 has the consequence that the associated bellows 25 or 26 at least partially undergoes an extension in the axial direction of its longitudinal axis 27.
  • the pleat wall 34 is axially stretched at least partially in such fluid application. Accordingly, the bellows length is reduced when the bellows interior 35 is depressurized again.
  • the change in length of the bellows 25, 26 manifests itself in a displacement of the movable end portion 33 of the respective bellows 25, 26 according to double arrow 46 in the axial direction of the associated longitudinal axis 27.
  • the movable end portion 33 moves along a curved path, which is due to the particular structure the fold wall 34 is due.
  • the pleated wall 34 of each bellows 25, 26 has such a structural rigidity that it experiences no radial expansion at the operating pressures of the drive medium occurring in its interior, but only permits changes in length.
  • the changes in length result from a widening and contraction of the folds 47 of the pleated wall 34 that follow one another in the axial direction of the longitudinal axis 27.
  • the radially measured fold depth of the folds 47 in the region of the convex longitudinal side 29 is substantially greater than in the region of the concave longitudinal side 28 FIG. 9 illustrated by the second embodiment that the fold depth at the concave longitudinal side 28 is only a fraction of that in the region of the outer convex longitudinal side 29.
  • the depth of fold in the area of the concave longitudinal side 28 is even reduced to zero.
  • the fold wall 28 has there an unfolded, in particular strip-shaped, wall section, which does not permit any elongation at length.
  • FIGS. 1 to 5 has a Fluidbeetzschung the bellows interior 35 with the result that the pleated wall 34 undergoes no change in length at its inner concave longitudinal side 28, but there is only bent to the extent in which the pleated wall 34 in its radially outer region by unfolding or Lengthwise extension of the pleat wall 34 is extended.
  • the rotary drive device 1 For power transmission between the bellows 25, 26 and the drive arm 15 is the rotary drive device 1 with a the two movable end portions 33 of the bellows 25, 26 connecting rigid coupling web 48 equipped.
  • the coupling web 48 which expediently has a rectilinear extent, is articulated via a first joint 51 on the movable end portion 33 of the first bellows 25.
  • the coupling web 48 is articulated at a location spaced from the first joint device 51 via a second joint device 52 at the movable end portion 33 of the second bellows 26.
  • Each of the two hinge devices 51, 52 defines a hinge axis 54, which runs parallel to the axis of rotation 4 of the output body 5, which simultaneously defines a pivot axis of the drive arm 15.
  • the coupling web 48 is pivotable on the one hand relative to the movable end section 33 of the first bellows 25 and on the other hand relative to the movable end section 33 of the second bellows 26.
  • the respectively associated hinge axis 54 functions.
  • the drive arm 15 is pivotally connected to the coupling web 48 at its force introduction section 16 and, therefore, at a location radially spaced from the axis of rotation 4, by means of a third articulation device 53.
  • the third articulation device 53 likewise defines a joint axis 54, which runs parallel to the axis of rotation 4 and thus to the articulation axes 54 of the first and second articulation devices 51, 52.
  • the third articulation device 53 is arranged at a distance from the first and second articulation devices 51, 52, wherein the distance to the first articulation device 51 is, in particular, the same as the distance to the second articulation device 52.
  • the third hinge device 53 is located between the first and second hinge devices 51, 52. Due to the third hinge device 53, the coupling web 58 is mounted pivotably relative to the drive arm 15.
  • the first and second hinge devices 51, 52 are each designed so that between the hinged together components 33, 48 each thrust and tensile forces in relation to the associated hinge axis 34 radial direction are transferable.
  • the first and second articulation device 51, 52 thus defines in each case exclusively a pivoting degree of freedom between the coupling web 48 and the associated movable end section 33.
  • the third articulation device 53 is designed in such a way that the coupling web 48, by means of the associated joint axis 54, can introduce transverse forces into the drive arm 15, which are aligned at right angles to an imaginary connecting straight line which extends between the axis of rotation 4 and the articulation axis 54 of the third Joint device 53 extends. These forces act as pivoting forces, which, taking into account the lever arm defined by the drive arm 15, generate the torque that can be picked up on the output body 5.
  • the two bellows 25, 26 are forcibly coupled via the coupling web 48, they always carry out opposing deflection movements 46 in their longitudinal direction. In other words, therefore, the extension of each bellows a simultaneous shortening of the other bellows result.
  • the drive arm 15 can always be acted upon actively in both directions. In this case, a simultaneous application in both directions is possible to achieve a stiffening of the system.
  • the third articulation device 53 there is the possibility of an embodiment in which, as in the case of the first and second articulation devices 51, 52, an all-round radial support between the coupling web 48 and the drive arm 15 with respect to the associated articulation axis 54 is present. Such an embodiment is in the embodiment of FIGS. 1 to 5 realized. Thus, between the coupling web 48 and the drive arm 15 only pivotal movements about the hinge axis 54 of the third hinge device 53 possible.
  • FIGS. 1 to 5 One has thus in the embodiment of FIGS. 1 to 5 a solution in which the hinge axes 54 of all hinge devices 51, 52, 53 are arranged transversely to their axial direction stationary with respect to each both by a respective hinge means 51, 52, 53 hinged to each other components.
  • the joint axis 54 of the third joint device 53 is thus supported in particular such that its distance from the axis of rotation 4 is independent of the operating state of the two bellows 25, 26 and in particular independent of the instantaneous pivot position of the drive arm 15 constant.
  • FIGS. 6 to 10 An alternative design, which exemplifies based FIGS. 6 to 10 is illustrated, allows the hinge axis 54 of the third hinge means 53 a translational movement degree of freedom in a plane perpendicular to the axis of rotation 4 and thereby transversely to an imaginary straight line connecting the hinge axes 54 of the first and second hinge means 51, 52 with each other .
  • Der.translatorischehes damagessgrad in particular a linear degree of freedom of movement, wherein the corresponding linear movement in FIG. 9 at 55 is illustrated by a double arrow.
  • hinge axis 54 of the third hinge device 53 relative to the drive arm 15 in respect of the axis of rotation 4 radial direction is linearly movable.
  • the third articulation device 53 can, for example, be designed in such a way that the drive arm 15 has an elongated hole 56 which ensures the translational degree of freedom of movement, in which a bearing pin 57 fixedly arranged on the coupling web 48 is linear displaceable and - under definition of the hinge axis 54 - at the same time also rotatably received.
  • FIGS. 6 to 10 realized variant of a third joint device 53 promises large swivel angle for the drive arm 15 at already relatively low deflection of the bellows 25, 26.
  • the relative mobility between the two bellows 25, 26 is improved because the drive arm 15 in the radial direction with respect to the axis of rotation 4 no Blocking of the coupling web 48 causes.
  • the two bellows 25, 26 are expediently provided at their movable end sections 33, each with a bearing flange 58, which is in particular formed integrally with the associated closure wall 38.
  • the bearing flange 58 may be fork-shaped, so that the coupling web 48 can engage between two bearing legs of the bearing flange 58.
  • first and second hinge means 51, 52 of the coupling web 48 is expediently interspersed at its two opposite end portions of a respective axis of rotation 4 parallel bearing bore, which is aligned with formed in the bearing flange 58 bearing bores, wherein in the mutually aligned bearing bores a joint axis 54 defining bearing pin 61 is inserted.
  • Such a bearing pin 61 can in a comparable manner also for the realization of the third articulation device 53 of the in FIGS. 1 to 5 shown embodiment can be used.
  • Drive arm 15 and coupling web 48 may for example be arranged so that the drive arm 15 engages on a longitudinal side of the coupling web 48 outside. This is the embodiment of the FIGS. 6 to 10 the case.
  • the coupling web 48 has a window 62 into which the drive arm 15 is inserted with its force introduction section 16 and in the region of which the bearing pin 57 acting as hinge axis 54 is arranged.
  • hinge devices 51, 52, 53 may also be realized in one piece and in particular using a generative manufacturing process.
  • a material for the rotary drive device in particular as far as it is generatively manufactured components, in particular a plastic material in question, preferably polyamide.
  • the rotary drive device 1 can be equipped with a position detection device, in particular with a displacement measuring system.
  • the position detection can be realized in particular by detecting at least one pivot position of the drive arm 15.
  • a receiving hole 63 formed in the drive arm 15 can be seen, in which an actuator of a position detecting device can be fixed.
  • the rotary drive devices 1 of both embodiments are each equipped with two generatively manufactured bellows 25, 26, which allow expansion of a rotational movement of the output body 5 by up to 90 °.
  • the bellows 25, 26 are arranged so that each bellows 25 or 26 can actively bring about a rotational movement of 45 ° and at the same time allows a rotational movement by 45 ° in the opposite direction.
  • the bellows 25, 26 also work against each other, so that the torque or the stiffness is adjustable.
  • the fold wall 34 has a substantially rectangular cross-section, as for example in the sectional view of FIG. 10 is expressed.
  • the wall sections on the concave longitudinal side 28 and on the convex longitudinal side 29 expediently each have a course parallel to the longitudinal axis 4.

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Actuator (AREA)
EP20110001939 2011-03-09 2011-03-09 Dispositif d'entraînement rotatif hydraulique Not-in-force EP2497959B1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
EP20110001939 EP2497959B1 (fr) 2011-03-09 2011-03-09 Dispositif d'entraînement rotatif hydraulique
CN 201210073531 CN102678661A (zh) 2011-03-09 2012-03-09 流体操纵的旋转驱动装置

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
EP20110001939 EP2497959B1 (fr) 2011-03-09 2011-03-09 Dispositif d'entraînement rotatif hydraulique

Publications (2)

Publication Number Publication Date
EP2497959A1 true EP2497959A1 (fr) 2012-09-12
EP2497959B1 EP2497959B1 (fr) 2013-08-21

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EP20110001939 Not-in-force EP2497959B1 (fr) 2011-03-09 2011-03-09 Dispositif d'entraînement rotatif hydraulique

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CN (1) CN102678661A (fr)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102013006166A1 (de) 2013-04-03 2014-10-09 Tembra Gmbh & Co. Kg Formvariable, fluidisch aktuierte Hinterkante an Rotorblättern
DE102015214890A1 (de) 2015-08-05 2017-02-09 Festo Ag & Co. Kg Lineareinheit und Verfahren zu ihrer Herstellung
CN110545777A (zh) * 2017-04-13 2019-12-06 漫游机械人技术公司 腿部外骨骼系统和方法

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RU2722916C1 (ru) * 2019-10-15 2020-06-04 Федеральное государственное бюджетное образовательное учреждение высшего образования "Владимирский Государственный Университет имени Александра Григорьевича и Николая Григорьевича Столетовых" (ВлГУ) Привод криволинейного перемещения

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DE4328522A1 (de) 1993-08-25 1995-03-02 Goetze Ag Schwenkflügelantrieb
DE10149395A1 (de) 2001-09-27 2003-04-24 Festo Ag & Co Dreh- und/oder Schwenk-Antrieb mit einem Faltenbelag
DE102006022855A1 (de) 2006-05-16 2007-11-29 Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. Greifervorrichtung

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US2936636A (en) * 1958-05-02 1960-05-17 Andrew J Wacht Press
US3977648A (en) 1973-05-07 1976-08-31 Sigmon Corporation Rotary motion valve and actuator
DE4312503A1 (de) 1993-04-16 1994-10-20 Bayerische Motoren Werke Ag Faltenbalg
DE4328522A1 (de) 1993-08-25 1995-03-02 Goetze Ag Schwenkflügelantrieb
DE10149395A1 (de) 2001-09-27 2003-04-24 Festo Ag & Co Dreh- und/oder Schwenk-Antrieb mit einem Faltenbelag
DE102006022855A1 (de) 2006-05-16 2007-11-29 Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. Greifervorrichtung

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Publication number Priority date Publication date Assignee Title
DE102013006166A1 (de) 2013-04-03 2014-10-09 Tembra Gmbh & Co. Kg Formvariable, fluidisch aktuierte Hinterkante an Rotorblättern
DE102015214890A1 (de) 2015-08-05 2017-02-09 Festo Ag & Co. Kg Lineareinheit und Verfahren zu ihrer Herstellung
DE102015214890B4 (de) * 2015-08-05 2017-07-06 Festo Ag & Co. Kg Lineareinheit und Verfahren zu ihrer Herstellung
CN110545777A (zh) * 2017-04-13 2019-12-06 漫游机械人技术公司 腿部外骨骼系统和方法
CN110545777B (zh) * 2017-04-13 2023-09-01 漫游机械人技术公司 腿部外骨骼系统和方法

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