EP0479399A2 - Pneumatic rotary actuator for accurate positioning of a power output member - Google Patents

Pneumatic rotary actuator for accurate positioning of a power output member Download PDF

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Publication number
EP0479399A2
EP0479399A2 EP91250249A EP91250249A EP0479399A2 EP 0479399 A2 EP0479399 A2 EP 0479399A2 EP 91250249 A EP91250249 A EP 91250249A EP 91250249 A EP91250249 A EP 91250249A EP 0479399 A2 EP0479399 A2 EP 0479399A2
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EP
European Patent Office
Prior art keywords
shaft
rotary
encoder
compressed air
housing
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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.)
Withdrawn
Application number
EP91250249A
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German (de)
French (fr)
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EP0479399A3 (en
Inventor
Ralf Huber
Wolf-Dieter Goedecke
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Vodafone GmbH
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Mannesmann AG
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Filing date
Publication date
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Publication of EP0479399A2 publication Critical patent/EP0479399A2/en
Publication of EP0479399A3 publication Critical patent/EP0479399A3/en
Withdrawn legal-status Critical Current

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    • 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
    • F15B9/00—Servomotors with follow-up action, e.g. obtained by feed-back control, i.e. in which the position of the actuated member conforms with that of the controlling member
    • F15B9/02—Servomotors with follow-up action, e.g. obtained by feed-back control, i.e. in which the position of the actuated member conforms with that of the controlling member with servomotors of the reciprocatable or oscillatable type
    • F15B9/08—Servomotors with follow-up action, e.g. obtained by feed-back control, i.e. in which the position of the actuated member conforms with that of the controlling member with servomotors of the reciprocatable or oscillatable type controlled by valves affecting the fluid feed or the fluid outlet of the servomotor
    • F15B9/09—Servomotors with follow-up action, e.g. obtained by feed-back control, i.e. in which the position of the actuated member conforms with that of the controlling member with servomotors of the reciprocatable or oscillatable type controlled by valves affecting the fluid feed or the fluid outlet of the servomotor with electrical control means
    • 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
    • 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
    • F15B15/20—Other details, e.g. assembly with regulating devices
    • F15B15/26—Locking mechanisms
    • F15B15/262—Locking mechanisms using friction, e.g. brake pads
    • 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
    • F15B15/20—Other details, e.g. assembly with regulating devices
    • F15B15/28—Means for indicating the position, e.g. end of stroke
    • F15B15/2815—Position sensing, i.e. means for continuous measurement of position, e.g. LVDT
    • F15B15/2853—Position sensing, i.e. means for continuous measurement of position, e.g. LVDT using potentiometers

Definitions

  • the invention relates to a pneumatic rotary drive for the precise positioning of a power take-off at a predetermined angle in conjunction with a definable torque, consisting of a housing which can be connected to a compressed air source and in which a shaft is mounted which carries at least one rotary vane and which applies the torque to the Transmitter transmits, the rotary wing can be pressurized with compressed air via a servo-pneumatically controllable continuous valve and the precise positioning can be set on the two surfaces of the rotary wing facing away from one another by a cyclical generation of force balance of the compressed air.
  • the invention relates here alternatively to a pneumatic rotary drive with a housing in which a shaft is mounted which carries a pinion which engages in a toothed rack which is fastened to a double piston which can be acted upon and reciprocated by compressed air in a cylinder housing .
  • pneumatic rotary actuators are used which only rotate in the end position. To a certain extent, the rotary blades used for this swing back and forth by moving them from one end position to the other end position.
  • Such two-position rotary actuators with rotary blades are considered to be direct-acting actuators.
  • the positions are defined by mechanical limits. It is also possible to arrange damping means in the end positions.
  • the rotation angle of such two-position rotary actuators is limited to approximately 280 degrees. The remaining circumferential parts are used for slings, dampers and. Like. needed.
  • the invention is based on the task of rotating angles of any size, high clock frequencies, precise positioning of the force transducer and a definable To enable torque for a design that can be advantageously used in practice, in particular a compact design.
  • the shaft is directly assigned a rotary encoder with an angle measuring system interface and an NC control connected to it, that the rotary encoder is arranged on the shaft at a distance from the power consumer, and that the rotary encoder, the servopneumatically controllable continuous valve and the shaft with the rotating wing form a structurally lockable unit.
  • Such a rotary drive requires neither damping means nor stops and is capable of enabling angles of rotation of any size, high clock frequencies, very precise positioning of the power consumer and a definable torque.
  • Two 3/2-way valves, two pressure valves (with barometric feedback or with pressure sensor), a 3/2-way valve and a 3/2-pressure valve or a 5/2-way valve are used as continuous valves.
  • This solution allows a high drive torque and therefore very short cycle times with a low weight, so that rotary movements can be carried out quickly, precisely and freely programmable.
  • the accuracy depends on a favorable distance between the encoder and the power consumer. In general, the accuracy increases with the said distance.
  • a parking brake is arranged on the shaft within the housing. This version is advantageous for special applications in which the drive must be at rest.
  • the braking system comes into action when the positioning has been carried out via a position controller.
  • the parking brake can advantageously be located above (behind) or below (in front of) the rotary encoder or in front of a transmission.
  • Another embodiment provides that the shaft and the power take-off are connected to one another by a low-play gear. This allows larger angles to be achieved.
  • the encoder consists of an incremental encoder with a resolution of more than 2000 increments per 360 degree circumference. Resolutions up to 10000 can be used. The accuracy to be achieved meets the requirements of robotics.
  • the pneumatic rotary drive can also be realized by means of a shaft which carries a pinion which engages in a toothed rack which is fastened to a piston which can be acted upon and reciprocated by compressed air in a cylinder housing.
  • This alternative of the invention is designed to achieve the object in such a way that the shaft is directly assigned a rotary encoder with an angle measuring system interface and an NC control connected to it and two servopneumatically controllable continuous valves provided on the respective piston front spaces, the exact positioning being generated by a momentarily generated one
  • the equilibrium of forces of the compressed air in the two piston end spaces can be adjusted and wherein a rod connecting the two individual pistons is provided with a toothed rack and a toothed pinion arranged on the shaft engages in the toothed rack largely without play.
  • a pneumatic rotary drive for the positioning of a power take-off 1 has a housing 2 which is connected to a compressed air source 3.
  • a shaft 4 is mounted in the housing 2 and carries a rotating wing 5 arranged radially symmetrically on the shaft 4.
  • a shaft encoder 7 which in the exemplary embodiment consists of an incremental sensor 7a, is arranged on the shaft 4 directly on the drive side 6, an optics 7c being axially opposite a slotted disk 7b.
  • the rotary encoder 7 could also have another functional principle, such as a conductive plastic potentiometer or a magnetically incremental encoder.
  • An angle measuring system interface 8 is connected to the rotary encoder 7 and an NC controller 9 in the form of a corresponding controller with a CPU is connected to it.
  • At least one continuous valve 10 is assigned to the rotary wing 5, wherein two 3/2-way valves 10a and 10b or two pressure valves or a 3/2-way valve and a 3/2-pressure valve or a 5/2-way valve can be used.
  • the exact positioning of the force transducer 1 takes place through a force equilibrium of the compressed air that can be generated for a short time on the two surfaces 5a and 5b facing away from each other.
  • the position thus set is secured by a parking brake 11 arranged on the shaft 4 within the housing 2.
  • the rotary encoder 7 is arranged on the drive side 6 opposite the output side 14, so that an exact actual-target-value control can take place.
  • the rotary encoder 7 consists of the incremental encoder 7a with a minimum resolution of 2000 steps per 360 degrees.
  • the housing 2 shows an alternative rotary drive for the precise positioning of the power take-off 1, which likewise moves to a predetermined angle in connection with a definable torque.
  • the housing 2 is connected to a compressed air source 3 via the aforementioned 3/2-way valves 10a and 10b.
  • the shaft 4 here carries a pinion 15 which engages in a toothed rack 16 which in turn is fastened to a double piston 17.
  • the double piston 17 can be acted upon by compressed air in a cylinder housing 18 and can be moved back and forth in the arrow directions 19.
  • the shaft 4 is directly assigned a rotary encoder 7 with an angle measuring system interface 8 and an NC control 9 connected to it.
  • the two individual pistons 17a and 17b are connected by a rod 25, on which the rack 16 is fastened, in which the pinion 15 engages.
  • the rack 16 and the pinion 15 are largely free of play.
  • the parking brake 11 is provided between the rack 16 / pinion 15 on the one hand and the power take-off 1 on the other hand.

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Actuator (AREA)
  • Servomotors (AREA)
  • Control Of Position Or Direction (AREA)

Abstract

In a pneumatic rotary actuator, a housing (2) can be connected to a compressed-air source (3). Mounted in the housing (2) is a shaft (4) which carries at least one rotary vane (5), in which arrangement the shaft transmits the rotary force to the power output member (1), and a servo-pneumatically controllable continuous valve (10) is allocated to the rotary vane (5), and the accurate positioning can be adjusted by force equilibrium of the compressed air, which force equilibrium can be briefly produced, on the two surfaces (5a, 5b) of the rotary vane (5) remote from one another. In order to permit an angle of rotation of any size, a high cycle frequency, accurate positioning of the power output member and a definable torque in a small type of construction and at a high efficiency, it is proposed that a shaft encoder (7) with an angle-measuring-system interface (8) and an NC-system (9) attached to the latter be allocated directly to the shaft (4), that the shaft encoder (7) be arranged at a distance from the power output member (1) on the shaft (4), and that the shaft encoder (7), the servo-pneumatically controllable continuous valve (10) and the shaft (4) with the rotary vane (5) form a unit which can be structurally self-contained. <IMAGE>

Description

Die Erfindung betrifft einen pneumatischen Drehantrieb für die genaue Positionierung eines Kraftabnehmers in einem vorgegebenen Winkel in Verbindung mit einem definierbaren Drehmoment, bestehend aus einem an eine Druckluftquelle anschließbaren Gehäuse, in dem eine Welle gelagert ist, die zumindest einen Drehflügel trägt und die die Drehkraft auf den Kraftabnehmer überträgt, wobei der Drehflügel mit Druckluft über ein servopneumatisch steuerbares Stetigventil beaufschlagbar ist und wobei die genaue Positionierung durch ein taktweise erzeugbares Kräftegleichgewicht der Druckluft auf den beiden einander abgewandten Oberflächen des Drehflügels einstellbar ist.The invention relates to a pneumatic rotary drive for the precise positioning of a power take-off at a predetermined angle in conjunction with a definable torque, consisting of a housing which can be connected to a compressed air source and in which a shaft is mounted which carries at least one rotary vane and which applies the torque to the Transmitter transmits, the rotary wing can be pressurized with compressed air via a servo-pneumatically controllable continuous valve and the precise positioning can be set on the two surfaces of the rotary wing facing away from one another by a cyclical generation of force balance of the compressed air.

Die Erfindung betrifft hierbei alternativ einen pneumatischen Drehantrieb mit einem Gehäuse, in dem eine Welle gelagert ist, die ein Zahnritzel trägt, das in eine Zahnstange eingreift, die an einem Doppelkolben befestigt ist, der in einem Zylindergehäuse durch Druckluft beaufschlagbar und hin- und herbewegbar ist.The invention relates here alternatively to a pneumatic rotary drive with a housing in which a shaft is mounted which carries a pinion which engages in a toothed rack which is fastened to a double piston which can be acted upon and reciprocated by compressed air in a cylinder housing .

Bekannterweise werden pneumatische Drehantriebe eingesetzt, die nur in Endlagenstellungen drehen. Die dafür verwendeten Drehflügel schlagen gewissermaßen hin und her, indem sie von einer Endstellung in die andere Endstellung bewegt werden. Derartige Zweistellungsdrehantriebe mit Drehflügel gelten als direkt wirkende Antriebe. Die Stellungen werden durch mechanische Begrenzungen definiert. Es ist auch möglich, in den Endlagen Dämpfungsmittel anzuordnen. Der Drehwinkel solcher Zweistellungsdrehantriebe ist auf etwa 280 Grad begrenzt. Die restlichen Umfangsteile werden für Anschlagmittel, Dämpfungsmittel u. dgl. benötigt.As is known, pneumatic rotary actuators are used which only rotate in the end position. To a certain extent, the rotary blades used for this swing back and forth by moving them from one end position to the other end position. Such two-position rotary actuators with rotary blades are considered to be direct-acting actuators. The positions are defined by mechanical limits. It is also possible to arrange damping means in the end positions. The rotation angle of such two-position rotary actuators is limited to approximately 280 degrees. The remaining circumferential parts are used for slings, dampers and. Like. needed.

In der Robotik sind diese Eigenschaften oft unzureichend. Pneumatische Robotersysteme verlangen häufig eine freie Positionierbarkeit des Drehflügels um die Z-Achse. Außerdem werden hohe Taktfrequenzen verlangt. Diesen Erfordernissen genügen weder die bekannten Druckluftlamellenmotore, noch die bekannten Druckluftzahnradmotore, noch die vorstehend beschriebenen pneumatischen Drehflügelantriebe.These properties are often inadequate in robotics. Pneumatic robot systems often require that the rotary sash can be freely positioned around the Z axis. In addition, high clock frequencies are required. Neither the known compressed air vane motors, nor the known compressed air gear motors, nor the pneumatic rotary vane drives described above meet these requirements.

Ausgehend von dem Prinzip des Drehflügels, der den Vorteil einer kleinen Bauweise und eines hohen Wirkungsgrades aufweist (er besitzt nicht den Nachteil von Leckagen), liegt der Erfindung die Aufgabe zugrunde, Drehwinkel beliebiger Größe, hohe Taktfrequenzen, eine genaue Positionierung des Kraftabnehmers und ein definierbares Drehmoment für eine in der Praxis vorteilhaft verwendbare Gestaltungsweise, insbesondere eine kompakte Bauweise, zu ermöglichen.Based on the principle of the rotary wing, which has the advantage of a small design and high efficiency (it does not have the disadvantage of leakage), the invention is based on the task of rotating angles of any size, high clock frequencies, precise positioning of the force transducer and a definable To enable torque for a design that can be advantageously used in practice, in particular a compact design.

Die gestellte Aufgabe wird erfindungsgemäß dadurch gelöst, daß der Welle direkt ein Drehgeber mit einer Winkelmeßsystemschnittstelle und einer an diese angeschlossene NC-Steuerung zugeordnet sind, daß der Drehgeber mit Abstand zum Kraftabnehmer auf der Welle angeordnet ist und daß der Drehgeber, das servopneumatisch steuerbare Stetigventil und die Welle mit dem Drehflügel eine baulich verschließbare Einheit bilden.The object is achieved according to the invention in that the shaft is directly assigned a rotary encoder with an angle measuring system interface and an NC control connected to it, that the rotary encoder is arranged on the shaft at a distance from the power consumer, and that the rotary encoder, the servopneumatically controllable continuous valve and the shaft with the rotating wing form a structurally lockable unit.

Ein solcher Drehantrieb benötigt weder Dämpfungsmittel noch Anschläge und ist in der Lage, Drehwinkel beliebiger Größe, hohe Taktfrequenzen, eine sehr genaue Positionierung des Kraftabnehmers und ein definierbares Drehmoment zu ermöglichen. Als Stetigventile kommen hier zwei 3/2-Wegeventile, zwei Drurkventile (mit barometrischer Rückführung oder mit Drucksensor), ein 3/2-Wegeventil und ein 3/2-Druckventil oder ein 5/2-Wegeventil zur Anwendung. Diese Lösung gestattet bei geringem Eigengewicht ein hohes Antriebsmoment und damit sehr kurze Taktzeiten, so daß Drehbewegungen schnell, präzise und frei programmierbar ausgeführt werden können. Die Genauigkeit hängt von einem günstigen Abstand des Drehgebers vom Kraftabnehmer ab. Im allgemeinen wächst die Genauigkeit mit dem gesagten Abstand.Such a rotary drive requires neither damping means nor stops and is capable of enabling angles of rotation of any size, high clock frequencies, very precise positioning of the power consumer and a definable torque. Two 3/2-way valves, two pressure valves (with barometric feedback or with pressure sensor), a 3/2-way valve and a 3/2-pressure valve or a 5/2-way valve are used as continuous valves. This solution allows a high drive torque and therefore very short cycle times with a low weight, so that rotary movements can be carried out quickly, precisely and freely programmable. The accuracy depends on a favorable distance between the encoder and the power consumer. In general, the accuracy increases with the said distance.

Nach weiteren Merkmalen ist vorgesehen, daß auf der Welle innerhalb des Gehäuses eine Feststellbremse angeordnet ist. Diese Ausführung ist vorteilhaft für spezielle Anwendungsfälle, bei denen sich der Antrieb in absoluter Ruhe befinden muß. Das Bremssystem tritt dann in Aktion, wenn die Positionierung über einen Positionsregler erfolgt ist. Die Feststellbremse kann sich vorteilhafterweise oberhalb (hinter) oder unterhalb (vor) dem Drehgeber oder auch vor einem Getriebe befinden.According to further features, it is provided that a parking brake is arranged on the shaft within the housing. This version is advantageous for special applications in which the drive must be at rest. The braking system comes into action when the positioning has been carried out via a position controller. The parking brake can advantageously be located above (behind) or below (in front of) the rotary encoder or in front of a transmission.

Eine andere Ausgestaltung sieht vor, daß die Welle und der Kraftabnehmer durch ein spielarmes Getriebe miteinander verbunden sind. Damit können größere Winkel realisiert werden.Another embodiment provides that the shaft and the power take-off are connected to one another by a low-play gear. This allows larger angles to be achieved.

Außerdem ist es vorteilhaft, daß der Drehgeber aus einem Inkrementalgeber mit einer Auflösung von größer 2000 Inkrementen pro 360 Grad Umfang besteht. Es können Auflösungen bis zu 10000 angewendet werden. Die zu erzielende Genauigkeit kommt hierbei den Erfordernissen der Robotik entgegen.It is also advantageous that the encoder consists of an incremental encoder with a resolution of more than 2000 increments per 360 degree circumference. Resolutions up to 10000 can be used. The accuracy to be achieved meets the requirements of robotics.

Der pneumatische Drehantrieb kann auch mittels einer Welle verwirklicht werden, die ein Zahnritzel trägt, das in eine Zahnstange eingreift, die an einem Kolben befestigt ist, der in einem Zylindergehäuse durch Druckluft beaufschlagbar und hin- und herbewegbar ist.The pneumatic rotary drive can also be realized by means of a shaft which carries a pinion which engages in a toothed rack which is fastened to a piston which can be acted upon and reciprocated by compressed air in a cylinder housing.

Diese Alternative der Erfindung ist zur Lösung der Aufgabe dahingehend gestaltet, daß der Welle direkt ein Drehgeber mit einer Winkelmeßsystemschnittstelle und einer an diese angeschlossene NC-Steuerung und zwei an den jeweiligen Kolbenstirnräumen vorgesehene servopneumatisch steuerbare Stetigventile zugeordnet sind, wobei die genaue Positionierung durch ein kurzzeitig erzeugbares Kräftegleichgewicht der Druckluft in den beiden Kolbenstirnräumen einstellbar ist und wobei eine die beiden Einzelkolben verbindende stange mit einer Zahnstange versehen ist und ein auf der Welle angeordnetes Zahnritzel in die Zahnstange weitestgehend spielfrei eingreift. Bei dieser Lösung können Drehwinkel größer als 270 Grad noch in Verbindung mit einem annehmbaren Gewicht und einem entsprechenden Drehmoment verwirklicht werden.This alternative of the invention is designed to achieve the object in such a way that the shaft is directly assigned a rotary encoder with an angle measuring system interface and an NC control connected to it and two servopneumatically controllable continuous valves provided on the respective piston front spaces, the exact positioning being generated by a momentarily generated one The equilibrium of forces of the compressed air in the two piston end spaces can be adjusted and wherein a rod connecting the two individual pistons is provided with a toothed rack and a toothed pinion arranged on the shaft engages in the toothed rack largely without play. With this solution, rotation angles greater than 270 degrees can still be achieved in connection with an acceptable weight and a corresponding torque.

In der Zeichnung sind Ausführungsbeispiele schematisch dargestellt und werden nachfolgend näher erläutert. Es zeigen:

Fig. 1
einen Querschnitt eines servopneumatischen Drehflügelantriebs in Form eines Direktantriebs und
Fig. 2
einen Querschnitt eines Drehantriebs als Alternative in Form eines indirekten Antriebs.
Exemplary embodiments are shown schematically in the drawing and are explained in more detail below. Show it:
Fig. 1
a cross-section of a servopneumatic rotary leaf drive in the form of a direct drive and
Fig. 2
a cross section of a rotary drive as an alternative in the form of an indirect drive.

Gemäß Fig. 1 weist ein pneumatischer Drehantrieb für die Positionierung eines Kraftabnehmers 1 ein Gehäuse 2 auf, des an eine Druckluftquelle 3 angeschlossen ist. In dem Gehäuse 2 ist eine Welle 4 gelagert, die einen radial symmetrisch auf der Welle 4 angeordneten Drehflügel 5 trägt.1, a pneumatic rotary drive for the positioning of a power take-off 1 has a housing 2 which is connected to a compressed air source 3. A shaft 4 is mounted in the housing 2 and carries a rotating wing 5 arranged radially symmetrically on the shaft 4.

Auf der Welle 4 ist direkt an der Antriebsseite 6 ein Drehgeber 7 angeordnet, der im Ausführungsbeispiel aus einem Inkrementalgeber 7a besteht, wobei einer Schlitzscheibe 7b eine Optik 7c axial gegenüberliegt. Der Drehgeber 7 könnte auch ein anderes Funktionsprinzip aufweisen, wie z.B. ein Leitplastikpotentiometer oder ein magnetisch inkrementaler Drehgeber. An den Drehgeber 7 ist eine Winkelmeßsystemschnittstelle 8 und an diese eine NC-Steuerung 9 in Form entsprechender Regler mit einer CPU angeschlossen.A shaft encoder 7, which in the exemplary embodiment consists of an incremental sensor 7a, is arranged on the shaft 4 directly on the drive side 6, an optics 7c being axially opposite a slotted disk 7b. The rotary encoder 7 could also have another functional principle, such as a conductive plastic potentiometer or a magnetically incremental encoder. An angle measuring system interface 8 is connected to the rotary encoder 7 and an NC controller 9 in the form of a corresponding controller with a CPU is connected to it.

Dem Drehflügel 5 ist zumindest ein Stetigventil 10 zugeordnet, wobei zwei 3/2-Wegeventile 10a und 10b oder zwei Druckventile oder ein 3/2-Wegeventil und ein 3/2-Druckventil oder ein 5/2-Wegeventil eingesetzt werden können. Die genaue Positionierung des Kraftabnehmers 1 erfolgt durch ein kurzzeitig erzeugbares Kräftegleichgewicht der Druckluft auf den beiden einander abgewandten Oberflächen 5a und 5b. Die damit eingestellte Position wird durch eine auf der Welle 4 innerhalb des Gehäuses 2 angeordnete Feststellbremse 11 gesichert. Auf der Welle 4 und auf einem Wellenstumpf 12 des Kraftabnehmers 1 befindet sich ein Getriebe 13, das weitestgehend spielarm ist. An der der Abtriebsseite 14 gegenüberliegenden Antriebsseite 6 ist der Drehgeber 7 angeordnet, so daß eine genaue Ist- Soll-Wert-Regelung stattfinden kann. Der Drehgeber 7 besteht aus dem Inkrementalgeber 7a mit einer minimalen Auflösung von 2000 Schritten pro 360 Grad Umfang.At least one continuous valve 10 is assigned to the rotary wing 5, wherein two 3/2-way valves 10a and 10b or two pressure valves or a 3/2-way valve and a 3/2-pressure valve or a 5/2-way valve can be used. The exact positioning of the force transducer 1 takes place through a force equilibrium of the compressed air that can be generated for a short time on the two surfaces 5a and 5b facing away from each other. The position thus set is secured by a parking brake 11 arranged on the shaft 4 within the housing 2. On the shaft 4 and on a stub shaft 12 of the power take-off 1 there is a gear 13 which is largely free of play. The rotary encoder 7 is arranged on the drive side 6 opposite the output side 14, so that an exact actual-target-value control can take place. The rotary encoder 7 consists of the incremental encoder 7a with a minimum resolution of 2000 steps per 360 degrees.

Gemäß Fig. 2 ist ein alternativer Drehantrieb für die genaue Positionierung des Kraftabnehmers 1 dargestellt, der ebenfalls einen vorgegebenen Winkel in Verbindung mit einem definierbaren Drehmoment anfährt. Das Gehäuse 2 ist an eine Druckluftquelle 3 über die erwähnten 3/2-Wegeventile 10a und 10b angeschlossen. Die Welle 4 trägt hier ein Zahnritzel 15, das in eine Zahnstange 16 eingreift, die ihrerseits an einem Doppelkolben 17 befestigt ist. Der Doppelkolben 17 ist in einem Zylindergehäuse 18 durch Druckluft beaufschlagbar und in den Pfeilrichtungen 19 hin- und herbewegbar.2 shows an alternative rotary drive for the precise positioning of the power take-off 1, which likewise moves to a predetermined angle in connection with a definable torque. The housing 2 is connected to a compressed air source 3 via the aforementioned 3/2-way valves 10a and 10b. The shaft 4 here carries a pinion 15 which engages in a toothed rack 16 which in turn is fastened to a double piston 17. The double piston 17 can be acted upon by compressed air in a cylinder housing 18 and can be moved back and forth in the arrow directions 19.

Wie bei der zuvor beschriebenen ersten Alternative ist der Welle 4 direkt ein Drehgeber 7 mit einer Winkelmeßsystemschnittstelle 8 und einer an diese angeschlossenen NC-Steuerung 9 zugeordnet. Jedem Kolbenstirnraum 20 und 21 ist ein servopneumatisches Stetigventil 10, z.B. ein 3/2-Wegeventil (10a und 10b) zugeordnet, u.z. in der Weise, daß jeweils ein Teilraum 22 und ein Teilraum 23 für die Stetigventile 10a, 10b und ein Mittelraum 24 für den Drehgeber 7 gebildet ist, wodurch eine hervorhebenswerte kompakte Bauweise des Drehantriebs entsteht. Die beiden Einzelkolben 17a und 17b sind durch eine Stange 25 verbunden, auf der die Zahnstange 16 befestigt ist, in die das Zahnritzel 15 eingreift. Die Zahnstange 16 und das Zahnritzel 15 sind weitestgehend spielfrei gestaltet. Zwischen Zahnstange 16/Zahnritzel 15 einerseits und dem Kraftabnehmer 1 andererseits ist die Feststellbremse 11 vorgesehen.As in the previously described first alternative, the shaft 4 is directly assigned a rotary encoder 7 with an angle measuring system interface 8 and an NC control 9 connected to it. A servopneumatic continuous valve 10, e.g. assigned a 3/2-way valve (10a and 10b), etc. in such a way that a partial space 22 and a partial space 23 for the continuous valves 10a, 10b and a central space 24 for the rotary encoder 7 are formed, which results in a remarkable compact design of the rotary drive. The two individual pistons 17a and 17b are connected by a rod 25, on which the rack 16 is fastened, in which the pinion 15 engages. The rack 16 and the pinion 15 are largely free of play. The parking brake 11 is provided between the rack 16 / pinion 15 on the one hand and the power take-off 1 on the other hand.

Claims (5)

Pneumatischer Drehantrieb für die genaue Positionierung eines Kraftabnehmers in einem vorgegebenen Winkel in Verbindung mit einem definierbaren Drehmoment, bestehend aus einem an eine Druckluftquelle anschließbaren Gehäuse, in dem eine Welle gelagert ist, die zumindest einen Drehflügel trägt und die die Drehkraft auf den Kraftabnehmer überträgt, wobei der Drehflügel mit Druckluft über ein servopneumatisch steuerbares Stetigventil beaufschlagbar ist und wobei die genaue Positionierung durch ein taktweise erzeugbares Kräftegleichgewicht der Druckluft auf den beiden einander abgewandten Oberflächen (5a, 5b) des Drehflügels (5) einstellbar ist,
dadurch gekennzeichnet,
daß der Welle (4) direkt ein Drehgeber (7) mit einer Winkelmeßsystemschnittstelle (8) und einer an diese angeschlossene NC-Steuerung (9) zugeordnet sind, daß der Drehgeber (7) mit Abstand zum Kraftabnehmer (1) auf der Welle (4) angeordnet ist und daß der Drehgeber (7), das servopneumatisch steuerbare Stetigventil (10) und die Welle (4) mit dem Drehflügel (5) eine baulich verschließbare Einheit bilden.Pneumatic rotary drive for the exact positioning of a power consumer at a predetermined angle in connection with a definable torque, consisting of a housing that can be connected to a compressed air source, in which a shaft is mounted, which carries at least one rotary vane and which transmits the torque to the power consumer, whereby the rotary vane can be acted upon by a servo-pneumatically controllable continuous valve and the exact positioning can be set on the two surfaces (5a, 5b) of the rotary vane (5) facing away from each other by a cyclic balance of forces of the compressed air,
characterized,
that the shaft (4) is directly assigned a rotary encoder (7) with an angle measuring system interface (8) and an NC control (9) connected to it, that the rotary encoder (7) is at a distance from the power consumer (1) on the shaft (4 ) is arranged and that the rotary encoder (7), the servopneumatically controllable continuous valve (10) and the shaft (4) with the rotary wing (5) form a structurally lockable unit. Pneumatischer Drehantrieb nach Anspruch 1 bzw. 5,
dadurch gekennzeichnet,
daß auf der Welle (4) innerhalb des Gehäuses (2) eine Feststellbremse (11) angeordnet ist.Pneumatic rotary drive according to claim 1 or 5,
characterized,
that a parking brake (11) is arranged on the shaft (4) within the housing (2). Pneumatischer Drehantrieb nach den Ansprüchen 1 und 2 bzw. 5,
dadurch gekennzeichnet,
daß die Welle (4) und der Kraftabnehmer (1) durch ein spielarmes Getriebe (13) miteinander verbunden sind.Pneumatic rotary drive according to claims 1 and 2 or 5,
characterized,
that the shaft (4) and the power take-off (1) are connected to one another by a low-play gear (13). Pneumatischer Drehantrieb nach einem oder mehreren der Ansprüche 1 bis 3 bzw. 5,
dadurch gekennzeichnet,
daß der Drehgeber (7) aus einem Inkrementalgeber (7a), einem digitalen Absolutwertgeber oder einem Potentiometer mit einer Auflösung von 2000 Inkr./360 Grad bis 10000 Inkr. besteht.Pneumatic rotary drive according to one or more of claims 1 to 3 or 5,
characterized,
that the encoder (7) from an incremental encoder (7a), a digital absolute encoder or a potentiometer with a resolution of 2000 incr. / 360 degrees to 10000 incr. consists. Pneumatischer Drehantrieb für die genaue Positionierung eines Kraftabnehmers in einem vorgegebenen Winkel in Verbindung mit einem definierbaren Drehmoment, bestehend aus einem an eine Druckluftquelle anschließbaren Gehäuse, in dem eine Welle gelagert ist, die ein Zahnritzel trägt, das in eine Zahnstange eingreift, die an einem Doppelkolben befestigt ist, der in einem Zylindergehäuse durch Druckluft beaufschlagbar und hin- und herbewegbar ist,
dadurch gekennzeichnet,
daß der Welle (4) direkt ein Drehgeber (7) mit einer Winkelmeßsystemschnittstelle (8) und einer in diese angeschlossene NC-Steuerung (9) und zwei an den jeweiligen Kolbenstirnräumen (20,21) vorgesehenen servopneumatisch steuerbaren Stetigventilen (10) zugeordnet sind, wobei die genaue Positionierung durch ein kurzzeitig erzeugbares Kräftegleichgewicht der Druckluft in den beiden Kolbenstirnräumen (20,21) einstellbar ist und wobei eine die beiden Einzelkolben (17a,17b) verbindende Stange (25) mit einer Zahnstange (26) versehen ist und ein auf der Welle (4) angeordnetes Zahnritzel (15) in die Zahnstange (26) weitestgehend spielfrei eingreift.Pneumatic rotary actuator for the exact positioning of a power take-off at a predetermined angle in connection with a definable torque, consisting of a housing that can be connected to a compressed air source and in which a shaft is mounted that carries a pinion that engages in a rack that is attached to a double piston is attached, which can be acted upon and moved back and forth by compressed air in a cylinder housing,
characterized,
that the shaft (4) is directly assigned a rotary encoder (7) with an angle measuring system interface (8) and an NC control (9) connected to it and two servopneumatically controllable continuous valves (10) provided on the respective piston front spaces (20, 21), the exact positioning being adjustable by means of a force equilibrium of the compressed air that can be generated for a short time in the two piston front spaces (20, 21) and wherein a rod (25) connecting the two individual pistons (17a, 17b) is provided with a toothed rack (26) and one on the Shaft (4) arranged pinion (15) engages in the rack (26) largely without play.
EP19910250249 1990-10-01 1991-09-10 Pneumatic rotary actuator for accurate positioning of a power output member Withdrawn EP0479399A3 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE19904031185 DE4031185C2 (en) 1990-10-01 1990-10-01 Pneumatic rotary actuator for the exact positioning of a power consumer
DE4031185 1990-10-01

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EP0479399A2 true EP0479399A2 (en) 1992-04-08
EP0479399A3 EP0479399A3 (en) 1992-12-23

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Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0654608A1 (en) * 1993-11-19 1995-05-24 Hygrama Ag Method of controlling the movement of a fluid pressure cylinder and fluid pressure cylinder
EP0798472A1 (en) * 1996-03-28 1997-10-01 Festo KG Fluid-powered rotary actuator
GB2359370B (en) * 1998-11-13 2002-09-04 Mts System Corp Loading assembly having a soft actuator
CN102407462A (en) * 2011-12-16 2012-04-11 芜湖恒升重型机床股份有限公司 Speed feedback mechanism for vertical lathe worktable
US20160290371A1 (en) * 2015-03-31 2016-10-06 Knr Systems Inc. Integrated hydraulic rotary actuator

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Publication number Priority date Publication date Assignee Title
ITPD20050322A1 (en) * 2005-10-28 2007-04-29 Lg Technologies Srl DEVICE FOR HIGH-SPEED PLATE DRILLING FOR PRINTERS AND SIMILAR CIRCUITS
DE102018205638B4 (en) * 2018-04-13 2024-06-13 Festo Se & Co. Kg Rotary drive device and robot arm of a robot equipped with it
DE102018205640B4 (en) * 2018-04-13 2020-01-02 Festo Ag & Co. Kg Rotary drive device and robot arm of a robot equipped with it
DE102018205637A1 (en) * 2018-04-13 2019-10-17 Festo Ag & Co. Kg Rotary drive device and robotic arm of a robot equipped therewith

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FR2499171A1 (en) * 1981-02-03 1982-08-06 Piras Georges Pneumatic potentiometer actuator controlling dental appts. - operates by compressed air with foot pressure control of piston head with continuous thread acting against toothed wheel
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Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0654608A1 (en) * 1993-11-19 1995-05-24 Hygrama Ag Method of controlling the movement of a fluid pressure cylinder and fluid pressure cylinder
EP0798472A1 (en) * 1996-03-28 1997-10-01 Festo KG Fluid-powered rotary actuator
US5732613A (en) * 1996-03-28 1998-03-31 Festo Kg Fluid operated rotary drive with position detector
GB2359370B (en) * 1998-11-13 2002-09-04 Mts System Corp Loading assembly having a soft actuator
US6457369B1 (en) 1998-11-13 2002-10-01 Mts Systems Corporation Loading assembly having a soft actuator
CN102407462A (en) * 2011-12-16 2012-04-11 芜湖恒升重型机床股份有限公司 Speed feedback mechanism for vertical lathe worktable
CN102407462B (en) * 2011-12-16 2013-11-27 芜湖恒升重型机床股份有限公司 Speed feedback mechanism for vertical laworktable
US20160290371A1 (en) * 2015-03-31 2016-10-06 Knr Systems Inc. Integrated hydraulic rotary actuator
US9976577B2 (en) * 2015-03-31 2018-05-22 Knr Systems Inc. Integrated hydraulic rotary actuator

Also Published As

Publication number Publication date
EP0479399A3 (en) 1992-12-23
DE4031185A1 (en) 1992-04-09
DE4031185C2 (en) 1995-11-16
JPH04300147A (en) 1992-10-23

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