EP0283380A2 - Druckmittelbetriebener Schwenkflügelmotor ohne innere Dichtungen - Google Patents
Druckmittelbetriebener Schwenkflügelmotor ohne innere Dichtungen Download PDFInfo
- Publication number
- EP0283380A2 EP0283380A2 EP88400535A EP88400535A EP0283380A2 EP 0283380 A2 EP0283380 A2 EP 0283380A2 EP 88400535 A EP88400535 A EP 88400535A EP 88400535 A EP88400535 A EP 88400535A EP 0283380 A2 EP0283380 A2 EP 0283380A2
- Authority
- EP
- European Patent Office
- Prior art keywords
- shaft
- annular
- partition
- pallet
- casing
- 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
Links
Images
Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B15/00—Fluid-actuated devices for displacing a member from one position to another; Gearing associated therewith
- F15B15/08—Characterised by the construction of the motor unit
- F15B15/12—Characterised by the construction of the motor unit of the oscillating-vane or curved-cylinder type
Definitions
- the present invention relates to a fluidic device with a rotary vane, intended to be used either as a motor (rotary actuator) or as a receiver (reciprocating pump), comprising a fixed casing traversed by a rotating shaft around its axis and carrying said pallet, while the interior space to the casing, forming an annular volume of revolution around the shaft, the section of which by a radial plane is rectangular and which is limited by two flat annular base surfaces and two coaxial cylindrical surfaces, respectively interior and exterior, is divided into two chambers of complementarily variable volume by a radial partition, fixed relative to the casing, and by said pallet, movable in rotation with the shaft.
- Devices of this type are known, which can be used in particular as rotary actuators, in which the aforementioned pallet and partition are provided with a respective seal in order to avoid any leakage of fluid (hydraulic fluid or gas) between the rooms.
- the present invention aims to improve a fluidic device of the kind considered so as to allow the omission of any internal seal, the leakage rate between chambers being however kept at a very low level.
- the rotary vane is constituted by the end of a bar of substantially parallelepiped shape attached to the shaft and mounted in a housing hollowed out radially therein, the lateral surface of the shaft being machined cylindrically before assembly of the pallet, while the latter is machined so as to have a thickness - in the direction of the axis of the shaft - equal, with very little play, to the distance separating the two flat annular surfaces limiting the annular space in the same direction, as well as a length and a cylindrical conformation of its end such that, after mounting of the pallet on the shaft, the surface of its end is located on a cylinder of revolution coaxial with the shaft and of radius equal, except for a very small clearance, to that of the cylindrical surface externally limiting the annular space.
- the partition it is machined so as to have a thickness - in the direction of the axis - equal, with very little play, to the distance separating the two annular surfaces mentioned above, as well as a cylindrical conformation of its edges radially contiguous to the shaft and to the casing such that, after assembly of the constituent elements of the device, the surfaces of these edges are located on cylinders of revolution coaxial with the shaft and of respectively equal radii, with very little play apart , to those of cylindrical surfaces externally and internally limiting the annular space. Consequently, in the assembled device, the pallet and the partition ensure, without seals, negligible fluid leaks from one chamber to the other of the annular space.
- the casing is composed of a bell-shaped body and a flange attached to the body, while the fixed partition is formed in one piece with the flange.
- the position of the partition is firmly defined.
- no leakage can obviously appear between the partition and the flange.
- the body may include a first bore defining the cylindrical surface externally limiting the annular space, and a second bore of the same axis as the previous one, but of smaller radius, allowing the shaft to pass out of the annular space.
- these two bores being connected by an annular shoulder of plane perpendicular to said axis, which forms one of the base surfaces of the annular space
- the flange comprises, coaxially surrounding a central bore for passage of the shaft, a first planar annular surface which forms the other base surface of the annular space and from which the partition projects, radially limited by surfaces of radii respectively equal to the limit radii of said first annular surface, the latter being surrounded by a second planar annular surface on which the body rests after assembly, the body and the assembled flange admitting the same axis, coinciding with ec the axis of the shaft, thanks to precise mutual positioning means.
- the first annular surface of the flange is in relief relative to its second annular surface, these two surfaces being connected by a circular cylindrical shoulder on which exactly fits the body through its first bore.
- This arrangement ensures extremely precise mutual positioning of the body and the flange.
- it implies a distance, relative to the chambers, from the re-entrant angle situated at the foot of the partition, it considerably reduces the influence of possible leaks located at this location.
- the body of the device can, in a very simple manner, be constituted by a single piece. It can also be formed by the union of a flange and an annular cylindrical spacer, this flange having a first planar annular surface forming one of the base surfaces of the annular space and, around the latter, a second planar annular surface connecting with the first by a cylindrical annular shoulder, while said annular spacer is interposed between the second planar annular surfaces of the two flanges by fitting exactly around the annular shoulders thereof.
- This arrangement which is more complex, ensures a reduction in the influence of leaks at the top of the partition, in the same way as can be obtained, as indicated above, a reduction in the influence of leaks at the foot of the partition.
- the structure of the device according to the invention makes it possible to give the shaft, at least in its part extending inside the casing and in the bores which the latter offers for its passage, a cylindrical lateral surface everywhere of same diameter.
- the simplicity of form which results from this arrangement contributes to the elimination of leaks or their influence between the chambers.
- the lateral surface of the shaft as well as the surfaces of the pallet located opposite, with very little clearance, the base surfaces and the external cylindrical surface of the annular space, comprise a thin layer d '' a non-stick coating with a low coefficient of friction.
- the shaft must be guided in the device housing by a pair of bearings capable of ensuring perfect positioning of a rotating part, such as plain bearings, bearings without radial play, hydrostatic bearings or passive or active magnetic bearings, the latter type of bearings being capable of providing guidance of the shaft both radially and axially.
- a pair of bearings capable of ensuring perfect positioning of a rotating part, such as plain bearings, bearings without radial play, hydrostatic bearings or passive or active magnetic bearings, the latter type of bearings being capable of providing guidance of the shaft both radially and axially.
- the device comprises, according to a known advantageous arrangement due to its symmetry, a second pallet and a second partition identical to the aforementioned pallet and partition and arranged in diametrically opposite position, each chamber thus being divided into two diametrically opposite compartments , between which is provided a respective communication channel passing through the shaft
- the two pallets are, according to the invention, constituted by the ends of the aforementioned bar, which crosses the shaft right through, while the second partition is shaped and arranged in the same way as the first partition.
- This bar can be either secured to the shaft by means of a centering member, or left sliding through the shaft.
- the pallet or each of the two pallets that the device comprises can be made of composite material. It is also possible to make the component parts of the device from a single material, which allows it to operate over a wide temperature range.
- the device according to the invention can be devoid of any internal seal, the leaks between chambers being nevertheless extremely low. This results in frictionless and wear-free operation of the component parts of the device, which offers excellent linearity and remarkable precision, and benefits from a very long service life with exceptionally stable performance. This is why it is particularly well suited for use as a drive unit in high-quality position controls.
- FIG. 1 shows a fluidic device with a rotary paddle of the type considered. It comprises a shaft 1 which can rotate about its axis 2 inside a coaxial cylindrical casing 3.
- an internal space 4 in the form of a circular ring with rectangular section, delimited by the lateral surface 1a of the shaft 1, by the surface of the internal bore 3a of the casing 3 and by two flat annular surfaces, centered on axis 2 and belonging to a pair of circular flanges not visible in the drawing.
- the annular space 4 is divided into two chambers 4a, 4b by a fixed partition 5 and by a movable pallet 6, the latter rotating with the shaft 1.
- the chambers 4a, a 4b are connected to an external circuit of fluid under pressure (hydraulic or pneumatic) via orifices 7a, 7b drilled in the side wall of the casing 3. It is clear that when the fluid under pressure is applied to the chamber 4a via the orifice 7a, the orifice 7b of the chamber 4b being connected to the cover of the external circuit, the shaft 1 is rotated in the direction indicated by the arrow, the angle of rotation being limited to approximately 280 °. the device thus constitutes a rotary actuator.
- the tree 1 comprises a second pallet 6 ⁇ , the two pallets 6, 6 ⁇ projecting from the shaft at the ends of the same diameter.
- a second partition 5 ⁇ is provided, diametrically opposite the partition 5.
- each chamber 4a, 4b is broken down into two compartments, respectively 4a1, 4a2 and 4b1, 4b2, diametrically opposite, the two compartments of each chamber being connected by a respective channel 8, 9 drilled through the shaft 1. Thanks to this symmetrical arrangement, the action of the pressurized fluid on the shaft is balanced, at the cost of reducing the maximum angle of rotation of that -this about 100 °.
- FIG. 3 shows a double-acting pumping circuit using the device of FIG. 2, provided in addition with two complementary orifices 7 ⁇ a, 7 ⁇ b opening into the compartments 4a2, 4b1 of the chambers.
- Each of the orifices 7a, 7b, 7 ⁇ a, 7 ⁇ b is associated with a non-return valve 10, mounted in the fluid circuit shown with a direction such that, by imparting an alternating rotational movement to the shaft 1, continuous effects are obtained suction at point A and discharge at point B of the circuit fluid.
- the device according to the invention which will be described with reference to Figures 4 and following, has the configuration illustrated in Figure 2, as immediately apparent from a comparison of this figure with Figure 4. It is composed of a stator comprising a casing 3 and two partitions 5, 5 ⁇ and a rotor comprising a shaft 1 of axis 2 and a double pallet 6, 6 ⁇ , which defines, with the two fixed partitions 5, 5 ⁇ , two chambers each divided into two compartments communicating through the shaft by channels 8, 9.
- the double pallet 6, 6 ⁇ is formed by a bar 13, of rectangular section and of length equal to the diameter of the bore 3a, its ends being rounded to the radius of curvature of said bore.
- This bar is mounted in a housing 14 produced through the shaft 1, in a diametrical direction ( Figure 6), with dimensions such that it receives exactly the bar 13 ( Figure 7).
- the housing is made in two parts, which, after assembly, admit the axis 2 of the shaft 1 as axis of symmetry: a body 15 in the shape of a bell and a flange 16 which closes the space inside the body 15.
- the body 15 and the flange 16 each have a central bore, respectively 17 and 18, allowing the passage of the shaft 1.
- the body 15 has another bore, of larger diameter, which n is other than the bore 3a externally limiting the annular space inside the casing which extends around the shaft 1.
- n is other than the bore 3a externally limiting the annular space inside the casing which extends around the shaft 1.
- Between these two bores 3a, 17 appears a plane annular shoulder 11 which forms one of the base surfaces limiting said space in the axial direction, the other annular base surface 12 appearing on the flange 16, around the bore 18.
- This annular surface 12 is surrounded by another planar annular surface 19, forming an assembly flange, on which applies the casing 15 by a surface a planar nnular 20 that it comprises.
- the flange 19 is pierced with holes 21 arranged in a ring around the axis 2 and oriented parallel to it, these holes being intended to receive bolts 22 which are screwed into tapped holes 23 conjugated drilled in the annular surface 20 of the body 15, these bolts thus making it possible to assemble the latter and the flange 16 to form the casing 3.
- a pin 24 for angular positioning is provided projecting from the surface 20 of the body 25; it is housed in a corresponding hole 25 drilled in the surface 19 of the flange 16.
- the partitions 5, 5 ⁇ are integral with the flange 16, being formed by protuberances which rise in direction parallel to the axis 2, from the annular surface 12, their radially inner surface 27 directly extending the surface of the bore 18 flaccid.
- the surface 12 is raised relative to the surface 19, so that the cylindrical skirt of the body 15 surrounding the bore 3a fits around the said surface 12 in relief, its bore 3a fitting closely onto a circular cylindrical shoulder 26 which appears between the surfaces 12 and 19 due to their offset in the axial direction.
- the radially outer surface 28 of the partitions 5, 5 ⁇ extends in direct extension of the cylindrical surface of the shoulder 26.
- a bar 13 is machined in order to give it the rectangular section axb desired for the double pallet 6, 6 ⁇ (a being the width, and b the thickness in the direction of the axis 2 which will be the axis of the double pallet after mounting).
- a blind hole 29 is drilled in the center of one of the faces of width a and the length of the bar is adjusted to a value slightly greater than the desired value, by machining its end faces along a cylindrical surface of the same axis 2 as the hole 29.
- a light milling 30 is carried out at the ends of the faces of width b so that, in the completed device, the compartments 4a1, 2, 4b1, 2 of the chambers offer a minimum volume that is not zero when the double pallet 6, 6 ⁇ is at the end of race (figure 4).
- the shaft 1 is produced in the form of a cylinder of revolution and there is hollowed out, by electro-erosion, the housing 14 at the dimensions a x b of the bar 13 constituting the double pallet 6, 6 ⁇ .
- the bar 13 is put into place in the housing 14 of the shaft 1, the bar being centered by a screw 31 engaged in a threaded hole 32 drilled axially at one of the ends of the shaft 1, this hole opening into the housing 14 so that the non-threaded end 31a of the screw, of diameter conjugate with that of the hole 29 of the bar 13, penetrates therein (FIG. 5).
- the flange 16 is then produced from a thick disc in which the central bore 18 is machined with a diameter very slightly greater than the diameter of the shaft 1, then the annular surface 19, and the central ring appears. remaining, by milling, then radial grinding using a grinding wheel of thickness equal to the width a of the bar 13, the two partitions 5, 5 ⁇ , leaving this crown a residual height c ( Figure 6) corresponding to the projecting offset that the annular surface 12 must have, from which the partitions 5, 5 ⁇ rise, over a height h1 very slightly greater than the thickness b of the bar 13.
- the machining of the body 15 includes the production, coaxially around the same axis which will be the axis 2 of the completed device, of the bore 17, identical to the bore 18 of the flange 16, these two bores serving as bearings to the cylindrical shaft 1, and the bore 3a, of diameter very slightly greater than the outside diameter of the crown of the flange which gave rise to the partitions 5, 5 ⁇ and to the raised annular surface 12, so that this bore can s 'fit exactly around the shoulder 29 which externally limits the surface 12 and whose diameter is very slightly greater than the diameter of the cylindrical ends of the bar 13.
- the two bores 17, 3a are connected by the annular shoulder 11 whose radial width is equal to that of the annular surface 12 of the flange.
- the height h2 of the bore 3a, between the planes of the annular surfaces 12 and 20, is very slightly greater than the thickness b of the pallet increased by the nesting depth c of said bore (Figure 5).
- the surfaces of the component parts of the device which define the internal chambers are machined with very high precision so as to present dimensions with very low tolerance and an excellent surface condition.
- the clearances between the various parts can be extremely reduced, namely by about 5 ⁇ m.
- the clearances between the pallet faces 6, 6 ⁇ perpendicular to the axis 2 and the annular surfaces 11, 12 are slightly larger, of the order of 10 ⁇ m, in order to avoid any contact between the pallet and the casing itself.
- An O-ring 33 seals between the body 15 and the flange 16; it is placed in an annular groove 34 hollowed out in the surface 20 of junction of the body with the flange.
- two O-rings 35, 36 are inserted between the shaft 1 and the casing 3, in annular grooves hollowed out respectively in the bores 17 and 18 (not shown in FIG. 6).
- a device as described above and represented by FIGS. 4 to 7 can offer the following characteristics: - rotation angle from stop to stop: 100 ° - unit displacement: 1 to 500 cm3 / rad - available torque: 0.1 Nm rad / cm3.bar - maximum supply pressure: 500 bar - hysteresis under load: ⁇ 0.1% - static precision: 10 ⁇ 6 rad / Nm
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Hydraulic Motors (AREA)
- Actuator (AREA)
- Toys (AREA)
- Control And Other Processes For Unpacking Of Materials (AREA)
- Rotary Pumps (AREA)
- Centrifugal Separators (AREA)
- Structures Of Non-Positive Displacement Pumps (AREA)
- Sealing With Elastic Sealing Lips (AREA)
- Encapsulation Of And Coatings For Semiconductor Or Solid State Devices (AREA)
- Extrusion Moulding Of Plastics Or The Like (AREA)
- Details And Applications Of Rotary Liquid Pumps (AREA)
- Reciprocating Pumps (AREA)
- Drying Of Solid Materials (AREA)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| AT88400535T ATE68567T1 (de) | 1987-03-18 | 1988-03-08 | Druckmittelbetriebener schwenkfluegelmotor ohne innere dichtungen. |
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| FR8703745 | 1987-03-18 | ||
| FR8703745A FR2612572B1 (fr) | 1987-03-18 | 1987-03-18 | Dispositif fluidique a palette rotative sans joint d'etancheite interne |
Publications (3)
| Publication Number | Publication Date |
|---|---|
| EP0283380A2 true EP0283380A2 (de) | 1988-09-21 |
| EP0283380A3 EP0283380A3 (en) | 1989-09-27 |
| EP0283380B1 EP0283380B1 (de) | 1991-10-16 |
Family
ID=9349151
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| EP19880400535 Expired - Lifetime EP0283380B1 (de) | 1987-03-18 | 1988-03-08 | Druckmittelbetriebener Schwenkflügelmotor ohne innere Dichtungen |
Country Status (9)
| Country | Link |
|---|---|
| EP (1) | EP0283380B1 (de) |
| AT (1) | ATE68567T1 (de) |
| DE (1) | DE3865470D1 (de) |
| DK (1) | DK165706C (de) |
| ES (1) | ES2026665T3 (de) |
| FR (1) | FR2612572B1 (de) |
| IE (1) | IE60733B1 (de) |
| NO (1) | NO171872C (de) |
| PT (1) | PT86953B (de) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0580319A1 (de) * | 1992-07-21 | 1994-01-26 | The Walt Disney Company | Hydraulischer Drehantrieb für Roboteranwendungen |
| FR2754021A1 (fr) * | 1996-09-30 | 1998-04-03 | Bernard Amalric | Verin telescopique rotatif a palettes |
| EP0957270A3 (de) * | 1998-05-13 | 2001-03-14 | bar-pneumatische Steuerungssysteme GmbH | Schwenkantrieb zur Betätigung einer Armatur |
| ITBO20090194A1 (it) * | 2009-03-27 | 2010-09-28 | Rovel S R L | Attuatore azionato da un fluido in pressione |
| WO2020003853A1 (ja) * | 2018-06-26 | 2020-01-02 | 川崎重工業株式会社 | ロータリアクチュエータおよびロボット鉗子 |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104564512B (zh) * | 2014-12-19 | 2016-08-24 | 合肥创源车辆控制技术有限公司 | 一种液力马达 |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE1171749B (de) * | 1960-02-06 | 1964-06-04 | F E Weatherill Ltd | Hydraulischer Drehstellmotor |
| GB1468167A (en) * | 1973-06-13 | 1977-03-23 | Simms Group Res Dev Ltd | Rotary fluid pressure actuators |
| DE3176067D1 (en) * | 1981-05-26 | 1987-05-07 | Torquer Co | Hydraulic actuator of the oscillating-vane type |
-
1987
- 1987-03-18 FR FR8703745A patent/FR2612572B1/fr not_active Expired - Fee Related
-
1988
- 1988-03-04 IE IE63988A patent/IE60733B1/en not_active IP Right Cessation
- 1988-03-08 AT AT88400535T patent/ATE68567T1/de not_active IP Right Cessation
- 1988-03-08 EP EP19880400535 patent/EP0283380B1/de not_active Expired - Lifetime
- 1988-03-08 DE DE8888400535T patent/DE3865470D1/de not_active Expired - Fee Related
- 1988-03-08 ES ES198888400535T patent/ES2026665T3/es not_active Expired - Lifetime
- 1988-03-11 PT PT86953A patent/PT86953B/pt not_active IP Right Cessation
- 1988-03-17 NO NO881181A patent/NO171872C/no unknown
- 1988-03-18 DK DK150188A patent/DK165706C/da not_active IP Right Cessation
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0580319A1 (de) * | 1992-07-21 | 1994-01-26 | The Walt Disney Company | Hydraulischer Drehantrieb für Roboteranwendungen |
| FR2754021A1 (fr) * | 1996-09-30 | 1998-04-03 | Bernard Amalric | Verin telescopique rotatif a palettes |
| EP0957270A3 (de) * | 1998-05-13 | 2001-03-14 | bar-pneumatische Steuerungssysteme GmbH | Schwenkantrieb zur Betätigung einer Armatur |
| ITBO20090194A1 (it) * | 2009-03-27 | 2010-09-28 | Rovel S R L | Attuatore azionato da un fluido in pressione |
| WO2020003853A1 (ja) * | 2018-06-26 | 2020-01-02 | 川崎重工業株式会社 | ロータリアクチュエータおよびロボット鉗子 |
| EP3816456A4 (de) * | 2018-06-26 | 2022-03-09 | Kawasaki Jukogyo Kabushiki Kaisha | Drehstellantrieb und roboterzange |
Also Published As
| Publication number | Publication date |
|---|---|
| FR2612572A1 (fr) | 1988-09-23 |
| PT86953A (pt) | 1989-03-30 |
| FR2612572B1 (fr) | 1991-04-12 |
| ES2026665T3 (es) | 1992-05-01 |
| NO171872C (no) | 1993-05-12 |
| DK150188D0 (da) | 1988-03-18 |
| IE60733B1 (en) | 1994-08-10 |
| EP0283380B1 (de) | 1991-10-16 |
| EP0283380A3 (en) | 1989-09-27 |
| PT86953B (pt) | 1995-03-01 |
| DE3865470D1 (de) | 1991-11-21 |
| NO881181D0 (no) | 1988-03-17 |
| NO171872B (no) | 1993-02-01 |
| NO881181L (no) | 1988-09-19 |
| IE880639L (en) | 1988-09-18 |
| ATE68567T1 (de) | 1991-11-15 |
| DK150188A (da) | 1988-09-19 |
| DK165706B (da) | 1993-01-04 |
| DK165706C (da) | 1993-05-24 |
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