EP2843232B1 - Hydraulic rotating motor with pivotable control vanes - Google Patents

Hydraulic rotating motor with pivotable control vanes Download PDF

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Publication number
EP2843232B1
EP2843232B1 EP13401095.8A EP13401095A EP2843232B1 EP 2843232 B1 EP2843232 B1 EP 2843232B1 EP 13401095 A EP13401095 A EP 13401095A EP 2843232 B1 EP2843232 B1 EP 2843232B1
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EP
European Patent Office
Prior art keywords
rotor
hydraulic
hydraulic rotary
output shaft
rotation
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.)
Not-in-force
Application number
EP13401095.8A
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German (de)
French (fr)
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EP2843232A1 (en
Inventor
Reinhard Diem
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.)
LT Ultra-Precision-Technology GmbH
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LT Ultra-Precision-Technology GmbH
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Priority to EP13401095.8A priority Critical patent/EP2843232B1/en
Publication of EP2843232A1 publication Critical patent/EP2843232A1/en
Application granted granted Critical
Publication of EP2843232B1 publication Critical patent/EP2843232B1/en
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Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
    • F04C—ROTARY-PISTON, OR OSCILLATING-PISTON, POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; ROTARY-PISTON, OR OSCILLATING-PISTON, POSITIVE-DISPLACEMENT PUMPS
    • F04C2/00—Rotary-piston machines or pumps
    • F04C2/30—Rotary-piston machines or pumps having the characteristics covered by two or more groups F04C2/02, F04C2/08, F04C2/22, F04C2/24 or having the characteristics covered by one of these groups together with some other type of movement between co-operating members
    • F04C2/40—Rotary-piston machines or pumps having the characteristics covered by two or more groups F04C2/02, F04C2/08, F04C2/22, F04C2/24 or having the characteristics covered by one of these groups together with some other type of movement between co-operating members having the movement defined in group F04C2/08 or F04C2/22 and having a hinged member
    • F04C2/46—Rotary-piston machines or pumps having the characteristics covered by two or more groups F04C2/02, F04C2/08, F04C2/22, F04C2/24 or having the characteristics covered by one of these groups together with some other type of movement between co-operating members having the movement defined in group F04C2/08 or F04C2/22 and having a hinged member with vanes hinged to the outer member
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
    • F04C—ROTARY-PISTON, OR OSCILLATING-PISTON, POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; ROTARY-PISTON, OR OSCILLATING-PISTON, POSITIVE-DISPLACEMENT PUMPS
    • F04C11/00—Combinations of two or more machines or pumps, each being of rotary-piston or oscillating-piston type; Pumping installations
    • F04C11/001—Combinations of two or more machines or pumps, each being of rotary-piston or oscillating-piston type; Pumping installations of similar working principle
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
    • F04C—ROTARY-PISTON, OR OSCILLATING-PISTON, POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; ROTARY-PISTON, OR OSCILLATING-PISTON, POSITIVE-DISPLACEMENT PUMPS
    • F04C15/00—Component parts, details or accessories of machines, pumps or pumping installations, not provided for in groups F04C2/00 - F04C14/00
    • F04C15/06—Arrangements for admission or discharge of the working fluid, e.g. constructional features of the inlet or outlet
    • F04C15/064—Arrangements for admission or discharge of the working fluid, e.g. constructional features of the inlet or outlet with inlet and outlet valves specially adapted for rotary or oscillating piston machines or pumps
    • F04C15/066—Arrangements for admission or discharge of the working fluid, e.g. constructional features of the inlet or outlet with inlet and outlet valves specially adapted for rotary or oscillating piston machines or pumps of the non-return type
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
    • F04C—ROTARY-PISTON, OR OSCILLATING-PISTON, POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; ROTARY-PISTON, OR OSCILLATING-PISTON, POSITIVE-DISPLACEMENT PUMPS
    • F04C14/00—Control of, monitoring of, or safety arrangements for, machines, pumps or pumping installations
    • F04C14/04—Control of, monitoring of, or safety arrangements for, machines, pumps or pumping installations specially adapted for reversible machines or pumps
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
    • F04C—ROTARY-PISTON, OR OSCILLATING-PISTON, POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; ROTARY-PISTON, OR OSCILLATING-PISTON, POSITIVE-DISPLACEMENT PUMPS
    • F04C14/00—Control of, monitoring of, or safety arrangements for, machines, pumps or pumping installations
    • F04C14/24—Control of, monitoring of, or safety arrangements for, machines, pumps or pumping installations characterised by using valves controlling pressure or flow rate, e.g. discharge valves or unloading valves
    • F04C14/26—Control of, monitoring of, or safety arrangements for, machines, pumps or pumping installations characterised by using valves controlling pressure or flow rate, e.g. discharge valves or unloading valves using bypass channels

Definitions

  • the invention relates to a hydraulic rotary motor, with a stator and a rotor movable relative to the stator.
  • the invention also relates to one and two-axis turntable, with one or two opposite directions of movement.
  • hydraulic rotary motors In hydraulic rotary motors, the drive of the movable rotor, ie the power transmission by a flowing liquid, for example an oil takes place.
  • rotary motors are often referred to as a hydraulic motor. They form via corresponding lines and a flow control element connected to a driven hydraulic pump a so-called hydrostatic drive.
  • the basic principle of such drives is based on the fact that the hydraulic motor receives a hydraulic volume flow generated by the hydraulic pump with a high pressure level, converts its energy into a corresponding rotational energy of the rotor and then delivers the hydraulic volume flow at a lower pressure level. The exiting hydraulic volume flow is returned to the hydraulic pump.
  • Such rotary motors are known in various embodiments and specially adapted to the particular application.
  • rotary engines are used, for example, as a drive in positioning devices of processing machines and / or automatic handling machines. These positioning means are used to bring and / or continuously move working heads, grippers or the like to be positioned with respect to a workpiece with precise and fast alignment in a predetermined position.
  • Known hydraulic rotary engines usually have complicated and complex valve controls for the inlet channels and / or outlet channels of the pressure chambers through which the liquid is passed to drive the rotor at high pressure. Accordingly, such rotary motors usually have an enormous mass and a large volume, which is hindering or unfavorable for many applications, especially when very short reaction times in conjunction with a high positioning accuracy are necessary.
  • the present invention seeks to propose a universally applicable hydraulic rotary motor with a simple mechanical structure in a compact design, on the one hand allows a simple, fast, safe and accurate rotation of the output shaft and on the other is inexpensive to produce. Furthermore, the invention has for its object to provide uniaxial or biaxial turntable with one or two opposite directions of movement, which are driven by at least one hydraulic rotary motor. This object is achieved by a hydraulic rotary motor with the features of claim 1 and by hydraulic turntable according to the claims subordinate to claim 1. Preferred embodiments of these claimed subject matters can be found in the respective dependent claims.
  • the hydraulic rotary motor has a motor housing, from which extends in the motor housing rotatably mounted output shaft, at least one annular rotor space arranged in the motor housing, which is delimited by the motor housing and the output shaft and arranged concentrically to the output shaft, and a rotor arranged in the at least one rotor space, which is non-rotatably connected to the output shaft and rotatable about an axis of rotation of the output shaft, wherein the rotor has on its outer periphery a rotationally symmetric stepped or curved contour with an equal number of elevations and free spaces located therebetween.
  • the motor housing forms the stator for the movable rotor of the hydraulic rotary motor.
  • This rotary motor has an equal number of opening into the rotor chamber inlet channels and outlet channels, each in the direction of rotation of the rotor have a same distance from each other and evenly distributed in the rotor space in a circular area of the free spaces of the rotor are arranged.
  • the number of inlet channels and the number of outlet channels is less than the number of elevations or clearances of the rotor.
  • the hydraulic rotary motor according to the invention has an integrated in the motor housing inlet control, which has pivotable control flaps, which are arranged at the inlet ducts in the rotor chamber and acted upon by a hydraulic pressure of the driving fluid, follow the stepped or curved contour of the rotor in Appendix, so that each of the control flaps close the associated inlet channel in the region of elevations of the contour and open in the region of free spaces of the contour.
  • the rotor of the rotary motor according to the invention is thereby set in rotation by the driving liquid on the circumference similar to a mill wheel by the liquid is guided into the spaces which are bounded on both sides of the elevations. This happens because the number of inlet channels and outlet channels is less than the number of free spaces.
  • a hydraulic flow at high pressure level is generated by a hydraulic pump and fed to the inlet channels simultaneously.
  • the control of the rotor controlled by the control flap each of the highest one or two of the inlet channels close, the pressure chambers forming free spaces in the direction of the outlet channels from.
  • pressure may build up in the closed region of the clearances, which torque applies to and drives the rotor in the predetermined direction of rotation.
  • the torque is available for each of the free spaces until the respective free space reaches the exhaust passage following in the direction of rotation in each case to an inlet channel.
  • the corresponding inlet channel is briefly closed by the survey of the rotor until the survey has run past the control flap.
  • the inlet channels are connected in a star-shaped manner to an annular feed channel which is arranged concentrically with the outer peripheral surface of the rotor chamber at a radial distance from the rotor chamber.
  • the feed channel is connected to at least one supply line with an arbitrarily driven, a continuous hydraulic flow generating hydraulic pump, preferably a centrifugal pump.
  • the hydraulic volume flow to the hydraulic rotary motor is switchable and preferably adjustable.
  • the outlet channels are connected to an annular discharge channel, which runs concentrically to one of the flat sides of the rotor space outside of the rotor space.
  • the discharge channel is connected via at least one corresponding discharge line with the hydraulic pump, so that the hydraulic volume flow is returned to the hydraulic pump.
  • At least one controlled bypass channel extends from the supply channel to the discharge channel and / or from the inlet channels to the outlet channels.
  • the flow of the bypass channel is controlled by an outlet control. This allows, for. B. when opening an accelerated, especially sudden drop in hydraulic pressure in the free spaces of the rotor for rapid speed reduction of the engine.
  • An expedient development of the invention provides to form the surveys with a tip or as a tip and give the open spaces a curved contour. This promotes the flow of hydraulic volume flow in the free spaces and causes a smooth running of the rotor.
  • the outlet channels are arranged in the direction of rotation of the rotor in front of and near the control flaps for the inlet channels.
  • the operative direction of rotation of the rotor in which the rotary motor operates optimally, by design is not reversible, wherein the rotor and the output shaft are endlessly rotatable.
  • this rotary motor can be used both as an actuator as well as a Treasurejanr.
  • the rotor moves in the operative direction of rotation when the hydraulic volume flow driving the rotor flows through the inlet passages past the control flaps in the direction of the outlet passages.
  • the rotary motor according to the invention can also be moved passively against the operative direction of rotation. This requires that a hydraulic volume flow with a low pressure level from the outlet channels to the inlet channels, ie against the normal direction through the rotor housing can flow in the region of the free spaces.
  • the stepped or curved contour of the rotor is rotationally symmetrical on the outer circumference thereof.
  • the control flaps can slide freely in both directions of rotation along the contour of the rotor.
  • the motor housing of the hydraulic rotary motor according to the invention can have any shape outside, but the rotor space arranged therein is always annular. It therefore has an outer peripheral surface, an inner peripheral surface and two flat sides.
  • the rotor accommodated in the rotor chamber extends concentrically to the output shaft of the rotary motor, which can be designed as a solid shaft or hollow shaft.
  • the output shaft of the rotary motor can be integrally formed on the rotor or positively and / or materially connected thereto.
  • the height of the rotor corresponds to the distance between the two flat sides of the rotor space.
  • the free spaces of the rotor form with the outer peripheral surface of the rotor chamber pressure chambers of the rotary motor, through which a liquid, preferably oil, is passed at a high pressure level in order to set the rotor in rotation.
  • the proposed rotary motor can be operated with hydraulic flow in the medium pressure range and in the high pressure range, ie between 10 and 50 bar or higher.
  • All elevations of the rotor extend directly to the outer peripheral surface of the rotor space zoom, but no sealing elements are provided for sealing the rotor to the outer peripheral surface and to the flat sides of the rotor space.
  • the rotor is infinitely rotatable in both directions of rotation. In addition to the operative direction of rotation so a reverse little or no performance performing direction of rotation is in principle possible.
  • the outlet channels are placed directly on the rear side of the control flaps, which control the inflow to the pressure chambers from the inlet channels, depending on the position of the rotor in the rotor space .
  • the control flaps which are preferably inserted with one end pivotally in the outer peripheral surface of the rotor space, with the free end along the stepped or curved contour of the rotor. The elevations of the rotor press the free end of the control flap as soon as the elevations are in the region of an inlet channel or outlet channel, against the opening in the outer peripheral surface inlet channels and close this for a short time.
  • control valves are automatically pivoted away from the inlet channels by the hydraulic pressure of the introduced hydraulic volume flow, since the control flaps can now move into the free spaces of the rotor. There are thus no separate mechanical controls for the movement of the control flaps necessary.
  • inlet channels, outlet channels and control flaps which are arranged along the outer circumferential surface of the rotor chamber, each have an equal distance from each other and the elevations and clearances of the rotor form a uniform stepped or curved contour, and the number of inlet channels and outlet channels is less than the number the elevations and clearances, there are no dead center positions, in which all elevations are exactly opposite inlet channels and / or the control flaps. With an equal number of elevations and control valves there is the opposite a simultaneous dead center position for all inlet channels with control flaps, so that the start-up of the rotary motor is difficult or impossible, which is unfavorable. If the number of bumps around the number 1, 3. 5 etc.
  • Pressure chambers which are associated with free spaces, which are in communication with the inlet channels, all generate a torque at the same time because they are connected to the hydraulic pump, so that a hydraulic volume flow flows through these pressure chambers. If the number of elevations by the number 1, 3. 5, etc., greater than the number of inlet channels, so regardless of the position of the rotor relative to the rotor space at most at one of the pressure chambers no direct connection between the inlet channel and the outlet channel pass this causes no or only a very low torque. Is the number of surveys around the number 2, 4. 6, etc. greater than the number of Inlet channels, on the other hand cause two of the working chambers no such torque.
  • the respective torque is dependent on the position of the corresponding free space with respect to the control flap, so that the torques generated by the various pressure chambers are each different.
  • the control flaps do not completely seal the pressure chambers in the rotor space from each other. A certain leakage at the control flaps is wanted, so that a heat dissipation and oil filtration is possible.
  • the rotor is therefore always symmetrical and applied at all points with the same force. This is particularly advantageous when the rotor has taken a position at standstill, present at the dead positions of the control flaps. In this case, two of the control flaps are in dead position, the ones that are exactly on the surveys. These are in the circular arrangement exactly opposite each other.
  • the starting of the rotor in the intended direction of rotation is facilitated by the always symmetrically introduced torques.
  • the torque which can be transmitted to the rotor is dependent on the pressure of the hydraulic volume flow, the number of elevations of the rotor and the shape and the area of the free spaces of the rotor. It can be determined by the appropriate choice or training.
  • the uniaxial hydraulic rotary actuator with only one direction of movement has a rotary motor according to the invention.
  • a turntable is understood in this context and hereinafter a positioning device with which, for example, a machining head of a processing machine relative to a workpiece in a direction positionally accurate positionable and / or can be exactly guided along this. Such a turntable can also be used in all facilities where a precise rotational adjustment is required.
  • the uniaxial hydraulic rotary actuator with two opposing directions of movement differs from the rotary actuator with only one direction of movement in that two hydraulic rotary motors are integrated with one or more of the features described above, having a different direction of rotation of the rotor.
  • the two rotary motors are arranged directly behind one another on a common output shaft.
  • the rotary motors have a common feed channel and / or discharge channel.
  • the common discharge channel is preferably arranged between the two rotor chambers. In this case, either rotary motors with identical or different structure can be used. It is important that one of the rotary motors is clockwise and the other clockwise.
  • Particularly preferred two identical rotary motors are used, which are arranged on an output shaft opposite to each other, wherein expediently, the outlet channels having flat sides of the rotor chamber facing each other, as this simplifies the arrangement and guidance of the hydraulic lines.
  • the counter-rotating motors have a mirrored arrangement of the inlet channels, the control valves of the inlet channels and the outlet channels.
  • a motor housing can be used in which two rotor spaces are arranged one above the other spaced from each other.
  • the arrangement of the inlet channels, the control flaps of the inlet channels and the outlet channels into and out of the respective rotor chambers is mirror images of each other. Since the rotor expediently has a rotationally symmetrical shape, the same rotor can be used for both rotor chambers. Depending on the shape of the contour of the rotor, it may be necessary to move one of the two rotors upside down, d. h to arrange in mirror image. In such a uniaxial hydraulic rotary actuator with two opposite directions of movement, a hydraulic rotary motor is responsible for each direction of rotation.
  • the position of the control flaps, the inlet channels and the outlet channels determines the direction of movement of the respective rotor. Only one of the two rotary motors is always actively operated in the operational direction of rotation. The direction of rotation of the common output shaft is dependent on which of the two rotors is currently being actively operated. If one of the two provided hydraulic rotary motors is activated, then the other must inevitably run backwards. In order to achieve that the reverse co-moving rotary engine does not suck in air, the actual discharge channel, which at this moment becomes the supply channel, is acted upon by a hydraulic volume flow of slight overpressure. Air inclusions would interfere with the start-up due to their compressibility in a new reversal of direction of this rotary motor or make precise control of the rotation impossible.
  • Another advantage of the simultaneous two-sided pressurization of the two hydraulic rotary motors is that the rotors of the two rotary motors are fixed in such a way that an undesired adjustment, ie. H. a rotation of the common output shaft is safely excluded.
  • the regulation of the rotational movement can be additionally improved by controlling the outflow of the hydraulic volume flow from the rotor space. This can be done easily by means of the provided controlled bypass channel. If the bypass duct of a rotary motor is opened, the applied pressure in the pressure chambers drops quickly there and the counter-rotating motor immediately moves in its predefined direction.
  • the hydraulic lines in particular the supply lines are minimized in their length.
  • the hydraulic pump is positioned far from the output shaft and is not moved by the rotary motors. The mass to be moved by the rotary motors is thus significantly reduced, which has a positive effect on the speed and accuracy of the hydraulic rotary adjuster.
  • the two-axis hydraulic rotary actuator with two opposite directions of movement per axis, has axes which are arranged at a 90 ° angle to each other and each have a uniaxial hydraulic rotary actuator with two opposite directions of movement as described above.
  • the hydraulic connection lines to the supply channels and / or discharge channels preferably extend at least to one of the uniaxial hydraulic rotary actuators in one of the output shafts of one of the two provided axes.
  • FIG. 1 shows an embodiment of the rotary motor 5 according to the invention, with a motor housing 6, from which extends a rotatably mounted in the motor housing 6 designed as a hollow shaft output shaft 9.
  • the motor housing 6 has an inner annular rotor space 7, which is bounded by the motor housing 6 and the output shaft 9 and arranged concentrically to the output shaft 9.
  • a rotor 8 is arranged, which is rotatably connected to the output shaft 9 and is rotatable about an axis of rotation 10 of the output shaft 9, wherein the rotor 8 at its outer periphery 16 a rotationally symmetric stepped curved contour with an equal number of elevations 17 and therebetween Free spaces 18 has.
  • inlet channels 19 and outlet channels 20 open which in the direction of rotation of the rotor 8 each have an equal distance from each other and evenly distributed in a circulation region of the free spaces 18 in the rotor chamber 7 are arranged.
  • the rotor 8 has ten elevations 17 and free spaces 18.
  • the number of inlet channels 19 and outlet channels 20 is less than the number of elevations 17 or free spaces 18.
  • the rotary motor 5 has an integrated in the motor housing 6 inlet control, the pivotable control flaps 21 which acts on a hydraulic pressure of a flow, not shown, always on the contour of the rotor 8 are in attachment.
  • the control flaps 21 are controlled by the rotor 8.
  • the inlet channels 19 are connected in a star-shaped manner with an annular feed channel 14, which is arranged concentrically to the outer circumferential surface 22 of the rotor chamber 7 outside the rotor chamber 7.
  • the outlet channels 20 are provided with an annular only in the FIG. 2 shown discharge channel 15 which extends concentrically outside the rotor chamber 7 on a flat side of the rotor chamber 7.
  • the outlet channels 20 of the rotor chamber 7 are arranged in the direction of rotation of the rotor 8 in front of and close to the control flaps 21 close to the outer peripheral surface 22 of the rotor chamber 7 so that they are in communication with the free spaces 18.
  • a controlled bypass channel 23 extends in each case parallel to the rotor chamber 7.
  • the bypass channels 23 are controlled and form an outlet control for rapid stopping of the rotary motor 5.
  • FIG. 1 shows a left-hand rotor in plan view. In a right-handed runner, the outlet channels 20 and the control flaps 21 are arranged in mirror image with respect to the inlet channels 19.
  • FIG. 2 shows a two-axis hydraulic rotary actuator 1 with two opposite directions of movement, in which the two axes 2, 3 extend at a 90 ° angle to each other.
  • Each of the two axes 2, 3 has a uniaxial hydraulic turntable 4 with two opposite directions of movement.
  • the two directions of movement of the turntable 4 are realized via two hydraulic rotary motors 5, 5 'according to the invention, which are in opposite directions.
  • the rotary motors 5, 5 ' are designed to be identical, wherein the rotary motor 5' relative to the rotary motor 5 upside down, that is arranged in mirror image on the respective axis 2, 3 is mounted.
  • the rotary motors 5, 5 'of the two axles 2, 3 each have a common motor housing 6 with two rotor chambers 7 arranged one above the other, in FIG each of which a rotor 8 is arranged, the rotatably connected to a common output shaft 9 and connected to a in the FIG. 1 defined axis of rotation 10 of the output shaft 9 is rotatable.
  • the common output shaft 9 of each of the axles 2, 3 is formed as a hollow shaft.
  • the rotary motors 5, 5 ' also each have an annular feed channel 14, via which an unillustrated hydraulic volume flow is passed with a suitable pressure level in the rotor chamber 7 in order to drive the respective rotor 8.
  • a laser beam 11 is guided for machining a workpiece, not shown in the figure in the hollow output shaft 9 and is deflected by an angle mirror 12 between the axis 2 and the axis 3 and after the axis 3 in each case by 90 °.

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  • General Engineering & Computer Science (AREA)
  • Hydraulic Motors (AREA)

Description

Die Erfindung betrifft einen hydraulischen Drehmotor, mit einem Stator und einem gegenüber dem Stator beweglichen Rotor. Die Erfindung betrifft außerdem ein- und zweiachsige Drehsteller, mit einer bzw. zwei gegenläufigen Bewegungsrichtungen.The invention relates to a hydraulic rotary motor, with a stator and a rotor movable relative to the stator. The invention also relates to one and two-axis turntable, with one or two opposite directions of movement.

Bei hydraulischen Drehmotoren erfolgt der Antrieb des beweglichen Rotors, d. h. die Kraftübertragung durch eine strömende Flüssigkeit, beispielsweise ein Öl. Solche Drehmotoren werden häufig auch als Hydromotor bezeichnet. Sie bilden über entsprechende Leitungen und ein Durchflussregelglied mit einer angetriebenen Hydropumpe verbunden einen sogenannten hydrostatischen Antrieb. Das Grundprinzip derartiger Antriebe beruht darauf, dass der Hydromotor, einen von der Hydropumpe mit hohem Druckniveau erzeugten Hydrovolumenstrom aufnimmt, dessen Energie in eine entsprechende Rotationsenergie des Rotors umsetzt und dann den Hydrovolumenstrom mit einem niedrigeren Druckniveau abgibt. Der austretende Hydrovolumenstrom wird zur Hydropumpe zurückgeführt. Derartige Drehmotoren sind in vielfältigen Ausführungsformen bekannt und auf den jeweiligen Verwendungszweck speziell abgestimmt. Sie kommen beispielsweise als Antrieb bei Positionierungsvorrichtungen von Bearbeitungsmaschinen und/oder Handhabungsautomaten zum Einsatz. Diese Positioniereinrichtungen werden verwendet, um zu positionierende Arbeitsköpfe, Greifer oder dergleichen gegenüber einem Werkstück mit exakter und schneller Ausrichtung in eine vorbestimmte Position zu bringen und/oder kontinuierlich entlang diesem zu bewegen. Bekannte hydraulische Drehmotoren weisen in der Regel komplizierte und aufwändige Ventilsteuerungen für die Einlasskanäle und/oder Auslasskanäle der Druckkammern auf, durch die die Flüssigkeit zum Antrieb des Rotors mit hohem Druck geleitet wird. Demzufolge besitzen solche Drehmotoren üblicherweise eine enorme Masse und ein großes Volumen, was für viele Einsatzfälle hinderlich bzw. unvorteilhaft ist, insbesondere dann, wenn sehr kurze Reaktionszeiten in Verbindung mit einer hohen Positioniergenauigkeit notwendig sind.In hydraulic rotary motors, the drive of the movable rotor, ie the power transmission by a flowing liquid, for example an oil takes place. Such rotary motors are often referred to as a hydraulic motor. They form via corresponding lines and a flow control element connected to a driven hydraulic pump a so-called hydrostatic drive. The basic principle of such drives is based on the fact that the hydraulic motor receives a hydraulic volume flow generated by the hydraulic pump with a high pressure level, converts its energy into a corresponding rotational energy of the rotor and then delivers the hydraulic volume flow at a lower pressure level. The exiting hydraulic volume flow is returned to the hydraulic pump. Such rotary motors are known in various embodiments and specially adapted to the particular application. They are used, for example, as a drive in positioning devices of processing machines and / or automatic handling machines. These positioning means are used to bring and / or continuously move working heads, grippers or the like to be positioned with respect to a workpiece with precise and fast alignment in a predetermined position. Known hydraulic rotary engines usually have complicated and complex valve controls for the inlet channels and / or outlet channels of the pressure chambers through which the liquid is passed to drive the rotor at high pressure. Accordingly, such rotary motors usually have an enormous mass and a large volume, which is hindering or unfavorable for many applications, especially when very short reaction times in conjunction with a high positioning accuracy are necessary.

Die Dokumente US3247802 , DE1426754 , DE2523298 , US3194122 , GB275302 , DE2358932 , CN102678289 , US2799371 offenbaren verschiedene Drehmotoren oder als solche verwendbare Drehkolbenmaschinen. Das Dokument US3247802 offenbart dabei einen Drehmotor mit den Merkmalen des Oberbegriffs von Anspruch 1.The documents US3247802 . DE1426754 . DE2523298 . US3194122 . GB275302 . DE2358932 . CN102678289 . US2799371 disclose various rotary motors or rotary machines which can be used as such. The document US3247802 discloses a rotary motor having the features of the preamble of claim 1.

Davon ausgehend liegt der Erfindung die Aufgabe zugrunde, einen universell einsetzbaren hydraulischen Drehmotor mit einem einfachen mechanischen Aufbau in einer kompakten Bauweise vorzuschlagen, der zum einen eine einfache, schnelle, sichere und exakte Verdrehung der Abtriebswelle ermöglicht und zum anderen kostengünstig herstellbar ist. Des weiteren liegt der Erfindung die Aufgabe zugrunde, einachsige bzw. zweiachsige Drehsteller mit einer bzw. zwei gegenläufigen Bewegungsrichtungen vorzuschlagen, die von mindestens einem hydraulischen Drehmotor angetrieben sind.
Diese Aufgabe wird erfindungsgemäß durch einen hydraulischen Drehmotor mit den Merkmalen des Anspruchs 1 sowie durch hydraulische Drehsteller gemäß den dem Patentanspruch 1 untergeordneten Patentansprüchen gelöst. Bevorzugte Ausgestaltungen dieser beanspruchten Gegenstände sind den jeweils rückbezogenen abhängigen Ansprüche zu entnehmen.
Der erfindungsgemäße hydraulische Drehmotor besitzt ein Motorgehäuse, aus dem sich eine in dem Motorgehäuse drehbar gelagerte Abtriebswelle erstreckt, mindestens einen in dem Motorgehäuse angeordneten kreisringförmigen Rotorraum, der von dem Motorgehäuse und der Abtriebswelle begrenzt und konzentrisch zu der Abtriebswelle angeordnet ist, und einen in dem mindestens einen Rotorraum angeordneten Rotor, der drehfest mit der Abtriebswelle verbunden und um eine Drehachse der Abtriebswelle drehbar ist, wobei der Rotor an seinem Außenumfang eine drehsymmetrische stufige oder geschwungene Kontur mit einer gleichen Anzahl von Erhebungen und dazwischen befindlichen Freiräumen aufweist. Das Motorgehäuse bildet den Stator für den beweglichen Rotor des hydraulischen Drehmotors. Dieser Drehmotor weist eine gleiche Anzahl von in den Rotorraum mündenden Einlasskanälen und Auslasskanälen auf, die in Drehrichtung des Rotors jeweils einen gleichen Abstand zueinander inne haben und gleichmäßig kreisförmig verteilt in dem Rotorraum in einem Umlaufsbereich der Freiräume des Rotors angeordnet sind. Dabei ist die Anzahl der Einlasskanäle und die Anzahl der Auslasskanäle geringer als die Anzahl der Erhebungen bzw. Freiräume des Rotors. Weiterhin verfügt der erfindungsgemäße hydraulische Drehmotor über eine in das Motorgehäuse integrierte Einlasssteuerung, die schwenkbare Steuerklappen aufweist, die an den Einlasskanälen in den Rotorraum angeordnet sind und die von einem Hydraulikdruck der antreibenden Flüssigkeit beaufschlagt, der stufigen oder geschwungenen Kontur des Rotors in Anlage folgen, so dass jede der Steuerklappen den zugeordneten Einlasskanal im Bereich von Erhebungen der Kontur schließen und im Bereich von Freiräumen der Kontur öffnen.
Der Rotor des erfindungsgemäßen Drehmotors wird dadurch von der antreibenden Flüssigkeit am Umfang ähnlich einem Mühlrad in Rotation versetzt, indem die Flüssigkeit in die Freiräume geführt wird, die beidseitig der Erhebungen begrenzt sind. Dies geschieht, weil die Anzahl der Einlasskanäle und Auslasskanäle geringer ist, als die Anzahl der Freiräume. Dazu wird ein Hydrovolumenstrom mit hohem Druckniveau von einer Hydropumpe erzeugt und den Einlasskanälen gleichzeitig zugeleitet. Die von dem Rotor gesteuerten Steuerklappen, die jeweils höchsten eine oder zwei der Einlasskanäle verschließen, dichten die Druckkammern bildenden Freiräume in Richtung der Auslasskanäle ab. Auf diese Weise kann sich ein Druck in dem abgeschlossenen Bereich der Freiräume aufbauen, der den Rotor in der vorbestimmten Drehrichtung mit einem Drehmoment beaufschlagt und damit antreibt. Das Drehmoment ist für jeden der Freiräume solange vorhanden, bis der jeweilige Freiraum den in Drehrichtung jeweils auf einen Einlasskanal nächstfolgenden Auslasskanal erreicht. Gleichzeitig wird der entsprechende Einlasskanal durch die Erhebung des Rotors kurzzeitig geschlossen, bis die Erhebung an der Steuerklappe vorbei gelaufen ist. Dann wird diese durch den Hydraulikdruck des Hydrovolumenstroms sofort wieder geöffnet, so dass der nächstfolgende Freiraum augenblicklich wieder mit Flüssigkeit gefüllt werden kann. Das von den verschiedenen variablen Druckkammern erzeugte Drehmoment ist abhängig von der Drehstellung des Rotors in dem Rotorgehäuse, Insbesondere gegenüber den Einlasskanälen bzw. Steuerklappen. Es ist somit von Freiraum zu Freiraum unterschiedlich und verändert sich kontinuierlich zeitlich periodisch. Es befinden sich jedoch zu jedem Zeitpunkt zumindest einige der Freiräume in einer Stellung gegenüber den Einlasskanälen bzw. Auslasskanälen, in der ein zum Antrieb des Rotors ausreichendes anteiliges Drehmoment wirkt. Erfindungsgemäß sind die Einlasskanäle mit einem ringförmigen Zuführkanal sternförmig verbunden, der konzentrisch zu der Außenumfangsfläche des Rotorraumes mit radialem Abstand zu dem Rotorraum angeordnet ist. Der Zuführkanal ist mit mindestens einer Zuführleitung mit einer beliebig angetriebenen, einen kontinuierlichen Hydrovolumenstrom erzeugenden Hydropumpe, vorzugsweise einer Kreiselpumpe verbunden. Der Hydrovolumenstrom zu dem hydraulischen Drehmotor ist schalt- und vorzugsweise regelbar.Based on this, the present invention seeks to propose a universally applicable hydraulic rotary motor with a simple mechanical structure in a compact design, on the one hand allows a simple, fast, safe and accurate rotation of the output shaft and on the other is inexpensive to produce. Furthermore, the invention has for its object to provide uniaxial or biaxial turntable with one or two opposite directions of movement, which are driven by at least one hydraulic rotary motor.
This object is achieved by a hydraulic rotary motor with the features of claim 1 and by hydraulic turntable according to the claims subordinate to claim 1. Preferred embodiments of these claimed subject matters can be found in the respective dependent claims.
The hydraulic rotary motor according to the invention has a motor housing, from which extends in the motor housing rotatably mounted output shaft, at least one annular rotor space arranged in the motor housing, which is delimited by the motor housing and the output shaft and arranged concentrically to the output shaft, and a rotor arranged in the at least one rotor space, which is non-rotatably connected to the output shaft and rotatable about an axis of rotation of the output shaft, wherein the rotor has on its outer periphery a rotationally symmetric stepped or curved contour with an equal number of elevations and free spaces located therebetween. The motor housing forms the stator for the movable rotor of the hydraulic rotary motor. This rotary motor has an equal number of opening into the rotor chamber inlet channels and outlet channels, each in the direction of rotation of the rotor have a same distance from each other and evenly distributed in the rotor space in a circular area of the free spaces of the rotor are arranged. In this case, the number of inlet channels and the number of outlet channels is less than the number of elevations or clearances of the rotor. Furthermore, the hydraulic rotary motor according to the invention has an integrated in the motor housing inlet control, which has pivotable control flaps, which are arranged at the inlet ducts in the rotor chamber and acted upon by a hydraulic pressure of the driving fluid, follow the stepped or curved contour of the rotor in Appendix, so that each of the control flaps close the associated inlet channel in the region of elevations of the contour and open in the region of free spaces of the contour.
The rotor of the rotary motor according to the invention is thereby set in rotation by the driving liquid on the circumference similar to a mill wheel by the liquid is guided into the spaces which are bounded on both sides of the elevations. This happens because the number of inlet channels and outlet channels is less than the number of free spaces. For this purpose, a hydraulic flow at high pressure level is generated by a hydraulic pump and fed to the inlet channels simultaneously. The control of the rotor controlled by the control flap, each of the highest one or two of the inlet channels close, the pressure chambers forming free spaces in the direction of the outlet channels from. To this As a result, pressure may build up in the closed region of the clearances, which torque applies to and drives the rotor in the predetermined direction of rotation. The torque is available for each of the free spaces until the respective free space reaches the exhaust passage following in the direction of rotation in each case to an inlet channel. At the same time the corresponding inlet channel is briefly closed by the survey of the rotor until the survey has run past the control flap. Then this is opened immediately by the hydraulic pressure of the hydraulic flow, so that the next free space can be immediately filled with liquid again. The torque generated by the various variable pressure chambers is dependent on the rotational position of the rotor in the rotor housing, in particular with respect to the inlet channels or control flaps. It thus differs from free space to open space and continuously changes periodically. However, at least some of the free spaces are located at any time in a position relative to the inlet channels or outlet channels, in which a proportionate torque sufficient to drive the rotor acts. According to the invention, the inlet channels are connected in a star-shaped manner to an annular feed channel which is arranged concentrically with the outer peripheral surface of the rotor chamber at a radial distance from the rotor chamber. The feed channel is connected to at least one supply line with an arbitrarily driven, a continuous hydraulic flow generating hydraulic pump, preferably a centrifugal pump. The hydraulic volume flow to the hydraulic rotary motor is switchable and preferably adjustable.

Bei der Erfindung sind die Auslasskanäle mit einem ringförmigen Abführkanal verbunden, der konzentrisch zu einer der Flachseiten des Rotorraums außerhalb des Rotorraums verläuft. Der Abführkanal ist über mindestens eine entsprechende Abführleitung mit der Hydropumpe verbunden, so dass der Hydrovolumenstrom zu der Hydropumpe zurückgeführt wird.In the invention, the outlet channels are connected to an annular discharge channel, which runs concentrically to one of the flat sides of the rotor space outside of the rotor space. The discharge channel is connected via at least one corresponding discharge line with the hydraulic pump, so that the hydraulic volume flow is returned to the hydraulic pump.

Bei dem erfindungsgemäßen hydraulischen Drehmotor erstreckt sich mindestens ein gesteuerter Beipasskanal von dem Zuführkanal zu dem Abführkanal und/oder von den Einlasskanälen zu den Auslasskanälen. Der Durchfluss des Beipasskanals ist über eine Auslasssteuerung gesteuert. Dies ermöglicht, z. B. beim Öffnen einen beschleunigten, insbesondere schlagartigen Abfall des Hydraulikdruckes in den Freiräumen des Rotors zur schnellen Geschwindigkeitsreduzierung des Motors.
Eine zweckmäßige Weiterbildung der Erfindung sieht vor, die Erhebungen mit einer Spitze oder als Spitze auszubilden und den Freiräumen eine geschwungene Kontur zu geben. Dies begünstigt den Fluss des Hydrovolumenstroms in den Freiräumen und bewirkt einen ruhigen Lauf des Rotors. Vorzugsweise sind bei allen Ausführungsformen des erfindungsgemäßen hydraulischen Drehmotors die Auslasskanäle in Drehrichtung des Rotors vor und nahe den Steuerklappen für die Einlasskanäle angeordnet. Bei dem vorgeschlagenen hydraulischen Drehmotor ist die operative Drehrichtung des Rotors, bei der der Drehmotor optimal arbeitet, konstruktionsbedingt nicht umkehrbar, wobei der Rotor und die Abtriebswelle endlos drehfähig sind. Damit kann dieser Drehmotor sowohl als Stellglied wie auch als Dauerläufer verwendet werden. Der Rotor bewegt sich in der operativen Drehrichtung, wenn der den Rotor antreibende Hydrovolumenstrom durch die Einlasskanäle an den Steuerklappen vorbei in Richtung der Auslasskanäle strömt. Der erfindungsgemäße Drehmotor kann auch entgegen der operativen Drehrichtung passiv bewegt werden. Das bedingt, dass ein Hydrovolumenstrom mit geringem Druckniveau von den Auslasskanälen zu den Einlasskanälen, also entgegen der normalen Richtung durch das Rotorgehäuse im Bereich der Freiräume fließen kann. Um dies zu ermöglichen ist die stufige oder geschwungene Kontur des Rotors an dessen Außenumfang drehsymmetrisch ausgebildet, Somit können die Steuerklappen unabhängig von der Drehrichtung des Rotors ungehindert in beiden Drehrichtungen entlang der Kontur des Rotors gleiten.In the hydraulic rotary motor according to the invention, at least one controlled bypass channel extends from the supply channel to the discharge channel and / or from the inlet channels to the outlet channels. The flow of the bypass channel is controlled by an outlet control. This allows, for. B. when opening an accelerated, especially sudden drop in hydraulic pressure in the free spaces of the rotor for rapid speed reduction of the engine.
An expedient development of the invention provides to form the surveys with a tip or as a tip and give the open spaces a curved contour. This promotes the flow of hydraulic volume flow in the free spaces and causes a smooth running of the rotor. Preferably, in all embodiments of the hydraulic rotary motor according to the invention, the outlet channels are arranged in the direction of rotation of the rotor in front of and near the control flaps for the inlet channels. In the proposed hydraulic rotary motor, the operative direction of rotation of the rotor, in which the rotary motor operates optimally, by design is not reversible, wherein the rotor and the output shaft are endlessly rotatable. Thus, this rotary motor can be used both as an actuator as well as a Dauerläufer. The rotor moves in the operative direction of rotation when the hydraulic volume flow driving the rotor flows through the inlet passages past the control flaps in the direction of the outlet passages. The rotary motor according to the invention can also be moved passively against the operative direction of rotation. This requires that a hydraulic volume flow with a low pressure level from the outlet channels to the inlet channels, ie against the normal direction through the rotor housing can flow in the region of the free spaces. In order to make this possible, the stepped or curved contour of the rotor is rotationally symmetrical on the outer circumference thereof. Thus, regardless of the direction of rotation of the rotor, the control flaps can slide freely in both directions of rotation along the contour of the rotor.

Generell kann das Motorgehäuse des erfindungsgemäßen hydraulischen Drehmotors außen eine beliebige Form aufweisen, wobei jedoch der darin angeordnete Rotorraum immer kreisringförmig ausgebildet ist. Er weist demzufolge eine Außenumfangsfläche, eine Innenumfangsfläche und zwei Flachseiten auf. Der in dem Rotorraum aufgenommene Rotor erstreckt sich dabei konzentrisch zu der Abtriebswelle des Drehmotors, die als Vollwelle oder Hohlwelle ausgeführt sein kann. Dabei kann die Abtriebswelle des Drehmotors an den Rotor angeformt bzw. mit diesem form- und/oder stoffschlüssig verbunden sein. Die Höhe des Rotors entspricht dem Abstand der beiden Flachseiten des Rotorraums. Die Freiräume des Rotors bilden mit der Außenumfangsfläche des Rotorraums Druckkammern des Drehmotors, durch die eine Flüssigkeit, bevorzugt Öl, mit einem hohem Druckniveau hindurchgeleitet wird, um den Rotor in Rotation zu versetzen. Der vorgeschlagene Drehmotor kann mit Hydrovolumenstrom im Mitteldruckbereich und im Hochdruckbereich betrieben werden, also zwischen 10 und 50 bar oder höher.In general, the motor housing of the hydraulic rotary motor according to the invention can have any shape outside, but the rotor space arranged therein is always annular. It therefore has an outer peripheral surface, an inner peripheral surface and two flat sides. The rotor accommodated in the rotor chamber extends concentrically to the output shaft of the rotary motor, which can be designed as a solid shaft or hollow shaft. In this case, the output shaft of the rotary motor can be integrally formed on the rotor or positively and / or materially connected thereto. The height of the rotor corresponds to the distance between the two flat sides of the rotor space. The free spaces of the rotor form with the outer peripheral surface of the rotor chamber pressure chambers of the rotary motor, through which a liquid, preferably oil, is passed at a high pressure level in order to set the rotor in rotation. The proposed rotary motor can be operated with hydraulic flow in the medium pressure range and in the high pressure range, ie between 10 and 50 bar or higher.

Alle Erhebungen des Rotors reichen unmittelbar an die Außenumfangsfläche des Rotorraumes heran, wobei jedoch keine Dichtelemente zur Abdichtung des Rotors zu der Außenumfangsfläche und zu den Flachseiten des Rotorraumes vorgesehen sind. Der Rotor ist dabei in beide Drehrichtungen unendlich drehbar. Neben der operativen Drehrichtung ist also auch eine umgekehrte wenig oder keine Leistung erbringende Drehrichtung prinzipiell möglich. Um die die Druckkammern bildenden Freiräume des Rotors möglichst vollständig bei der Drehung des Rotors entleeren zu können, sind die Auslasskanäle direkt an der Rückseite der Steuerklappen platziert, die den Zufluss zu den Druckkammern aus den Einlasskanälen, abhängig von der Stellung des Rotors in den Rotorraum steuern. Dazu gleiten die Steuerklappen, die vorzugsweise mit einem Ende schwenkbar in der Außenumfangsfläche des Rotorraumes eingelassen sind, mit dem freien Ende entlang der stufigen oder geschwungenen Kontur des Rotors. Die Erhebungen des Rotors drücken das freie Ende der Steuerklappen, sobald sich die Erhebungen im Bereich eines Einlasskanals bzw. Auslasskanals befinden, gegen die in der Außenumfangsfläche mündenden Einlasskanäle und verschließen diese kurzzeitig. Sobald die Erhebungen diesen Bereich verlassen, werden die Steuerklappen durch den Hydraulikdruck des eingeleiteten Hydrovolumenstroms von den Einlasskanälen automatisch weggeschwenkt, da sich die Steuerklappen nunmehr in die Freiräume des Rotors bewegen können. Es sind somit keine gesonderten mechanischen Steuerelemente für die Bewegung der Steuerklappen notwendig.All elevations of the rotor extend directly to the outer peripheral surface of the rotor space zoom, but no sealing elements are provided for sealing the rotor to the outer peripheral surface and to the flat sides of the rotor space. The rotor is infinitely rotatable in both directions of rotation. In addition to the operative direction of rotation so a reverse little or no performance performing direction of rotation is in principle possible. In order to be able to empty the free spaces of the rotor forming the pressure chambers as completely as possible during the rotation of the rotor, the outlet channels are placed directly on the rear side of the control flaps, which control the inflow to the pressure chambers from the inlet channels, depending on the position of the rotor in the rotor space , For this purpose, the control flaps, which are preferably inserted with one end pivotally in the outer peripheral surface of the rotor space, with the free end along the stepped or curved contour of the rotor. The elevations of the rotor press the free end of the control flap as soon as the elevations are in the region of an inlet channel or outlet channel, against the opening in the outer peripheral surface inlet channels and close this for a short time. As soon as the elevations leave this area, the control valves are automatically pivoted away from the inlet channels by the hydraulic pressure of the introduced hydraulic volume flow, since the control flaps can now move into the free spaces of the rotor. There are thus no separate mechanical controls for the movement of the control flaps necessary.

Indem die Einlasskanäle, Auslasskanäle und Steuerklappen, die entlang der Außenumfangsfläche des Rotorraumes angeordnet sind, jeweils einen gleichen Abstand zueinander aufweisen und die Erhebungen und Freiräume des Rotors eine gleichmäßige stufige oder geschwungene Kontur bilden, und die Anzahl der Einlasskanäle und Auslasskanäle geringer ist als die Anzahl der Erhebungen und Freiräume, ergeben sich keine Totpunktstellungen, bei denen sich alle Erhebungen genau gegenüber Einlasskanälen und/oder den Steuerklappen befinden. Bei einer gleichen Anzahl von Erhebungen und Steuerklappen gibt es dem gegenüber eine gleichzeitige Totpunktstellung für alle Einlasskanäle mit Steuerklappen, sodass das Anlaufen des Drehmotors erschwert oder unmöglich ist, was unvorteilhaft ist. Ist die Anzahl der Erhebungen um die Zahl 1, 3. 5 usw. größer als die Anzahl der Einlasskanäle mit Steuerklappen, so gibt es generell nur eine solche Totpunktstellung. Für den Fall, dass die Anzahl der Erhebungen um die Zahl 2, 4. 6 usw. größer als die Anzahl der Einlasskanäle mit Steuerklappen, so gibt es zwei derartige Totpunktstellungen.In that the inlet channels, outlet channels and control flaps, which are arranged along the outer circumferential surface of the rotor chamber, each have an equal distance from each other and the elevations and clearances of the rotor form a uniform stepped or curved contour, and the number of inlet channels and outlet channels is less than the number the elevations and clearances, there are no dead center positions, in which all elevations are exactly opposite inlet channels and / or the control flaps. With an equal number of elevations and control valves there is the opposite a simultaneous dead center position for all inlet channels with control flaps, so that the start-up of the rotary motor is difficult or impossible, which is unfavorable. If the number of bumps around the number 1, 3. 5 etc. is greater than the number of inlet channels with control flaps, then there is generally only such a dead center position. In the event that the number of bumps around the number 2, 4. 6, etc., greater than the number of inlet channels with control flaps, so there are two such Totpunktstellungen.

Druckkammern, denen Freiräume zugeordnet sind, die in Verbindung mit den Einlasskanälen stehen, generieren alle gleichzeitig ein Drehmoment, da sie mit der Hydropumpe verbunden sind, so dass ein Hydrovolumenstrom durch diese Druckkammern fließt. Ist die Anzahl der Erhebungen um die Zahl 1, 3. 5 usw. größer als die Anzahl der Einlasskanäle, so kann unabhängig von der Stellung des Rotors gegenüber dem Rotorraum höchstens bei einer der Druckkammern keine direkte Verbindung zwischen dem Einlasskanal und dem Auslasskanal bestehen, sodass diese kein oder nur ein äußerst geringes Drehmoment bewirkt. Ist die Anzahl der Erhebungen um die Zahl 2, 4. 6 usw. größer als die Anzahl der Einlasskanäle, so bewirken demgegenüber zwei der Arbeitskammern kein solches Drehmoment. Das jeweilige Drehmoment ist abhängig von der Position des entsprechenden Freiraumes im Hinblick auf die Steuerklappe, so dass die von den verschiedenen Druckkammern erzeugten Drehmomente jeweils unterschiedlich sind. Die Steuerklappen dichten die Druckkammern günstigerweise nicht vollständig in dem Rotorraum gegeneinander ab. Eine gewisse Undichtigkeit an den Steuerklappen ist gewollt, so dass eine Wärmeabfuhr und Ölfiltrierung möglich ist.Pressure chambers, which are associated with free spaces, which are in communication with the inlet channels, all generate a torque at the same time because they are connected to the hydraulic pump, so that a hydraulic volume flow flows through these pressure chambers. If the number of elevations by the number 1, 3. 5, etc., greater than the number of inlet channels, so regardless of the position of the rotor relative to the rotor space at most at one of the pressure chambers no direct connection between the inlet channel and the outlet channel pass this causes no or only a very low torque. Is the number of surveys around the number 2, 4. 6, etc. greater than the number of Inlet channels, on the other hand cause two of the working chambers no such torque. The respective torque is dependent on the position of the corresponding free space with respect to the control flap, so that the torques generated by the various pressure chambers are each different. Conveniently, the control flaps do not completely seal the pressure chambers in the rotor space from each other. A certain leakage at the control flaps is wanted, so that a heat dissipation and oil filtration is possible.

Infolge der größeren Anzahl von Erhebungen gegenüber der der Steuerklappen kann es bei dem erfindungsgemäßen Drehmotor nie vorkommen, dass in den Druckkammern ein direkter Weg von dem Einlasskanal zu dem Auslasskanal besteht. Die Steuerklappen, die in jedem Freiraum zwischen dem Einlasskanal und dem Auslasskanal an dem Rotor anliegen, bewirken, dass die antreibende Flüssigkeit nur zum in Richtung liegenden Auslasskanal fließen kann. Es hat sich diesbezüglich als besonders günstig erwiesen, wenn die Anzahl der Erhebungen um die Zahl 2 größer ist, als die Anzahl der Steuerklappen und damit der Einlasskanäle und Auslasskanäle. Damit ergeben sich vorteilhafterweise für die verschiedenen Druckkammern Drehmomente an dem Rotor, die an spiegelbildlich gegenüber der Drehachse des Rotors angeordneten Freiräumen jeweils eine identische Größe aufweisen. Der Rotor wird demzufolge immer symmetrisch und an allen Stellen mit gleicher Kraft beaufschlagt. Dies ist insbesondere auch dann von Vorteil, wenn der Rotor beim Stillstand eine Position eingenommen hat, bei der Totstellungen der Steuerklappen vorliegen. In diesem Fall sind zwei der Steuerklappen in Totstellung, und zwar diejenigen, die sich genau auf den Erhebungen befinden. Diese befinden sich in der kreisförmigen Anordnung einander genau gegenüber. Das Anlaufen des Rotors in der vorgesehenen Drehrichtung wird durch die stets symmetrisch eingeleiteten Drehmomente erleichtert. Dabei ist das Drehmoment, das auf den Rotor übertragbar ist, von dem Druck des Hydrovolumenstroms, der Anzahl der Erhebungen des Rotors sowie der Form und der Fläche der Freiräume des Rotors abhängig. Er kann durch die entsprechende Wahl bzw. Ausbildung festgelegt werden.Due to the larger number of elevations relative to the control flaps, it can never happen in the rotary engine according to the invention that there is a direct path from the inlet channel to the outlet channel in the pressure chambers. The control flaps, which abut the rotor in any clearance between the inlet channel and the outlet channel, cause the driving fluid to flow only to the outlet passageway in the direction. It has proved to be particularly favorable in this regard, if the number of surveys by the number 2 is greater than the number of control valves and thus the inlet channels and outlet channels. This results in advantageously for the various pressure chambers torques on the rotor, which have mirror images of the axis of rotation of the rotor arranged free spaces each have an identical size. The rotor is therefore always symmetrical and applied at all points with the same force. This is particularly advantageous when the rotor has taken a position at standstill, present at the dead positions of the control flaps. In this case, two of the control flaps are in dead position, the ones that are exactly on the surveys. These are in the circular arrangement exactly opposite each other. The starting of the rotor in the intended direction of rotation is facilitated by the always symmetrically introduced torques. The torque which can be transmitted to the rotor is dependent on the pressure of the hydraulic volume flow, the number of elevations of the rotor and the shape and the area of the free spaces of the rotor. It can be determined by the appropriate choice or training.

Der einachsige hydraulische Drehsteller mit nur einer Bewegungsrichtung weist einen erfindungsgemäßen Drehmotor auf. Als Drehsteller wird in diesem Zusammenhang und im Folgenden eine Positioniervorrichtung verstanden, mit der beispielsweise ein Bearbeitungskopf einer Bearbeitungsmaschine gegenüber einem Werkstück in einer Richtung lagegenau positionierbar und/oder entlang diesem exakt führbar ist. Ein derartiger Drehsteller kann auch bei allen Einrichtungen, bei denen eine genaue Drehverstellung erforderlich ist, eingesetzt werden.The uniaxial hydraulic rotary actuator with only one direction of movement has a rotary motor according to the invention. As a turntable is understood in this context and hereinafter a positioning device with which, for example, a machining head of a processing machine relative to a workpiece in a direction positionally accurate positionable and / or can be exactly guided along this. Such a turntable can also be used in all facilities where a precise rotational adjustment is required.

Der einachsige hydraulische Drehsteller mit zwei gegenläufigen Bewegungsrichtungen unterscheidet sich von dem Drehsteller mit nur einer Bewegungsrichtung dadurch, dass zwei hydraulische Drehmotoren mit einzelnen oder mehreren der vorstehend beschriebenen Merkmale integriert sind, die eine unterschiedliche Drehrichtung des Rotors aufweisen. Vorzugsweise sind die beiden Drehmotoren dabei auf einer gemeinsamen Abtriebswelle direkt hintereinander angeordnet.
Bei einer bevorzugten Ausführungsform eines solchen einachsigen hydraulischen Drehstellers mit zwei gegenläufigen Bewegungsrichtungen weisen die Drehmotoren einen gemeinsamen Zuführkanal und/oder Abführkanal auf. Der gemeinsame Abführkanal ist vorzugsweise zwischen den beiden Rotorräumen angeordnet. Dabei können entweder Drehmotoren mit identischen oder mit unterschiedlichem Aufbau verwendet werden. Wichtig ist dabei, dass einer der Drehmotoren rechtsdrehend und der andere linksdrehend ist. Besonders bevorzugt werden zwei identische Drehmotoren verwendet, die auf einer Abtriebswelle entgegengesetzt zu einander angeordnet sind, wobei zweckmäßigerweise die die Auslasskanäle aufweisenden Flachseiten des Rotorraumes einander zugewandt sind, da dies die Anordnung und Führung der Hydraulikleitungen vereinfacht. Demzufolge weisen die gegenläufig angetriebenen Drehmotoren eine gespiegelte Anordnung der Einlasskanäle, der Steuerklappen der Einlasskanäle und der Auslasskanäle auf.The uniaxial hydraulic rotary actuator with two opposing directions of movement differs from the rotary actuator with only one direction of movement in that two hydraulic rotary motors are integrated with one or more of the features described above, having a different direction of rotation of the rotor. Preferably, the two rotary motors are arranged directly behind one another on a common output shaft.
In a preferred embodiment of such a uniaxial hydraulic rotary actuator with two opposite directions of movement, the rotary motors have a common feed channel and / or discharge channel. The common discharge channel is preferably arranged between the two rotor chambers. In this case, either rotary motors with identical or different structure can be used. It is important that one of the rotary motors is clockwise and the other clockwise. Particularly preferred two identical rotary motors are used, which are arranged on an output shaft opposite to each other, wherein expediently, the outlet channels having flat sides of the rotor chamber facing each other, as this simplifies the arrangement and guidance of the hydraulic lines. As a result, the counter-rotating motors have a mirrored arrangement of the inlet channels, the control valves of the inlet channels and the outlet channels.

Alternativ kann auch ein Motorgehäuse verwendet werden, in dem zwei Rotorräume übereinander voneinander beabstandet angeordnet sind. Die Anordnung der Einlasskanäle, der Steuerklappen der Einlasskanäle und der Auslasskanäle in den bzw. aus dem jeweiligen Rotorräumen ist spiegelbildlich zueinander. Da der Rotor zweckmäßigerweise eine drehsymmetrische Form aufweist, kann für beide Rotorräume der gleiche Rotor verwendet werden. Abhängig von der Form der Kontur des Rotors kann es erforderlich sein, einen der beiden Rotoren kopfüber, d. h spiegelbildlich anzuordnen.
Bei einem solchen einachsigen hydraulischen Drehsteller mit zwei gegenläufigen Bewegungsrichtungen ist für jede Drehrichtung ein hydraulischer Drehmotor zuständig. Dabei bestimmt die Lage der Steuerklappen, der Einlasskanäle und der Auslasskanäle die Bewegungsrichtung des jeweiligen Rotors. Es wird immer nur einer der beiden Drehmotoren aktiv in operativer Drehrichtung betrieben. Die Drehrichtung der gemeinsamen Abtriebswelle ist davon abhängig, welcher der beiden Drehmotoren gerade aktiv betrieben wird. Wird einer der beiden vorgesehenen hydraulischen Drehmotoren aktiviert, so muss der andere zwangsläufig rückwärts laufen. Um zu erreichen, dass der rückwärts mitbewegte Drehmotor keine Luft ansaugt, wird der eigentliche Abführkanal, der in diesem Moment zum Zuführkanal wird, mit einem Hydrovolumenstrom geringen Überdruckes beaufschlagt. Lufteinschlüsse würden bei einer neuen Richtungsumkehr dieses Drehmotors den Anlauf durch ihre Kompressibilität stören bzw. eine genaue Steuerung der Drehung unmöglich machen. An beiden gegenläufigen Drehmotoren liegt vorteilhafterweise bei Stillstand am jeweiligen Rotor ein permanenter Druck an. Durch die Wegnahme des Druckes an einem der beiden Rotor wirkt sofort Druck in vollem Umfang auf den anderen Rotor ein. Dabei handelt es sich um eine indirekte Ansteuerung der hydraulischen Drehmotoren. Ein Druckanstieg, wie er bei einer direkten Ansteuerung über eine gewisse Zeit erfolgt, wird dadurch umgangen. Die indirekte Ansteuerung ist somit für eine schnelle und exakte Permantregelung sehr vorteilhaft.Alternatively, a motor housing can be used in which two rotor spaces are arranged one above the other spaced from each other. The arrangement of the inlet channels, the control flaps of the inlet channels and the outlet channels into and out of the respective rotor chambers is mirror images of each other. Since the rotor expediently has a rotationally symmetrical shape, the same rotor can be used for both rotor chambers. Depending on the shape of the contour of the rotor, it may be necessary to move one of the two rotors upside down, d. h to arrange in mirror image.
In such a uniaxial hydraulic rotary actuator with two opposite directions of movement, a hydraulic rotary motor is responsible for each direction of rotation. The position of the control flaps, the inlet channels and the outlet channels determines the direction of movement of the respective rotor. Only one of the two rotary motors is always actively operated in the operational direction of rotation. The direction of rotation of the common output shaft is dependent on which of the two rotors is currently being actively operated. If one of the two provided hydraulic rotary motors is activated, then the other must inevitably run backwards. In order to achieve that the reverse co-moving rotary engine does not suck in air, the actual discharge channel, which at this moment becomes the supply channel, is acted upon by a hydraulic volume flow of slight overpressure. Air inclusions would interfere with the start-up due to their compressibility in a new reversal of direction of this rotary motor or make precise control of the rotation impossible. At both counter-rotating motors is advantageously at standstill on each rotor to a permanent pressure. By removing the pressure on one of the two rotors, full pressure is immediately applied to the other rotor. This is an indirect control of the hydraulic rotary motors. An increase in pressure, as occurs in a direct control over a certain time, is bypassed thereby. The indirect control is thus very advantageous for fast and accurate permant control.

Ein weiterer Vorteil der gleichzeitigen beidseitigen Druckbeaufschlagung der beiden hydraulischen Drehmotoren ist, dass die Rotoren der beiden Drehmotoren derart fixiert sind, dass eine unerwünschte Verstellung, d. h. eine Verdrehung der gemeinsamen Abtriebsachse sicher ausgeschlossen ist. Durch das Anliegen des vollen Hydraulikdruckes des Hydrovolumenstroms kann die Verstellung der Abtriebsachse unmittelbar eingeleitet werden. Die Regelung der Drehbewegung kann zusätzlich durch Steuerung des Abflusses des Hydrovolumenstromes aus dem Rotorraum verbessert werden. Dies kann mittels des vorgesehenen gesteuerten Bypasskanals einfach erfolgen. Wird der Bypasskanal eines Drehmotors geöffnet, fällt dort der anliegende Druck in den Druckkammern schnell ab und der gegenläufige Drehmotor bewegt sich sofort in seine vorgegebene Richtung. Um Verzögerung durch die Kompressibilität des Hydrovolumenstroms zu verringern, sind die Hydraulikleitungen, insbesondere die Zuleitungen in ihrer Länge minimiert. Die Hydropumpe ist fern der Abtriebsachse positioniert und wird von den Drehmotoren nicht mitbewegt. Die durch die Drehmotoren zu bewegende Masse ist damit deutlich reduziert, was sich vorteilhaft auf die Geschwindigkeit und die Genauigkeit des hydraulischen Drehverstellers positiv auswirkt.Another advantage of the simultaneous two-sided pressurization of the two hydraulic rotary motors is that the rotors of the two rotary motors are fixed in such a way that an undesired adjustment, ie. H. a rotation of the common output shaft is safely excluded. By the concern of the full hydraulic pressure of the hydraulic flow, the adjustment of the output shaft can be initiated immediately. The regulation of the rotational movement can be additionally improved by controlling the outflow of the hydraulic volume flow from the rotor space. This can be done easily by means of the provided controlled bypass channel. If the bypass duct of a rotary motor is opened, the applied pressure in the pressure chambers drops quickly there and the counter-rotating motor immediately moves in its predefined direction. In order to reduce the delay due to the compressibility of the hydraulic volume flow, the hydraulic lines, in particular the supply lines are minimized in their length. The hydraulic pump is positioned far from the output shaft and is not moved by the rotary motors. The mass to be moved by the rotary motors is thus significantly reduced, which has a positive effect on the speed and accuracy of the hydraulic rotary adjuster.

Der zweiachsige hydraulische Drehsteller, mit zwei gegenläufigen Bewegungsrichtungen pro Achse, weist Achsen auf, die in einem 90°-Winkel zueinander angeordnet sind und jeweils einen einachsigen hydraulischen Drehsteller mit zwei gegenläufigen Bewegungsrichtungen wie vorstehend beschrieben auf. Vorzugsweise verlaufen dabei die hydraulischen Verbindungsleitungen zu den Zuführkanälen und/oder Abführkanälen zumindest zu einem der einachsigen hydraulischen Drehsteller in einer der Abtriebswellen einer der beiden vorgesehenen Achsen.
Nachfolgend wird die Erfindung anhand von in der Zeichnung dargestellten Ausführungsbeispielen näher erläutert. Weitere Merkmale der Erfindung ergeben sich aus der vorliegenden Beschreibung der Ausführungsbeispiele der Erfindung in Verbindung mit den Ansprüchen und den beigefügten Figuren.The two-axis hydraulic rotary actuator, with two opposite directions of movement per axis, has axes which are arranged at a 90 ° angle to each other and each have a uniaxial hydraulic rotary actuator with two opposite directions of movement as described above. In this case, the hydraulic connection lines to the supply channels and / or discharge channels preferably extend at least to one of the uniaxial hydraulic rotary actuators in one of the output shafts of one of the two provided axes.
The invention will be explained in more detail with reference to embodiments shown in the drawing. Further features of the invention will become apparent from the following description of the embodiments of the invention in conjunction with the claims and the accompanying drawings.

Es zeigen:

Figur 1
einen erfindungsgemäßen hydraulischen Drehmotor in einer Querschnittsdarstellung; und
Figur 2
einen erfindungsgemäßen zweiachsigen hydraulischen Drehsteller, mit zwei gegenläufigen Bewegungsrichtungen pro Achse, bei dem jede der Achsen für jede Bewegungsrichtung einen erfindungsgemäßen hydraulischen Drehmotor aufweist, in einer schematischen Darstellung.
Show it:
FIG. 1
a hydraulic rotary motor according to the invention in a cross-sectional view; and
FIG. 2
a two-axis hydraulic rotary actuator according to the invention, with two opposite directions of movement per axis, in which each of the axes for each direction of movement comprises a hydraulic rotary motor according to the invention, in a schematic representation.

Die Figur 1 zeigt ein Ausführungsbeispiel des erfindungsgemäßen Drehmotors 5, mit einem Motorgehäuse 6, aus dem sich eine in dem Motorgehäuse 6 drehbar gelagerte als Hohlwelle ausgebildete Abtriebswelle 9 erstreckt. Das Motorgehäuse 6 weist einen innen angeordneten kreisringförmigen Rotorraum 7 auf, der von dem Motorgehäuse 6 und der Abtriebswelle 9 begrenzt und konzentrisch zu der Abtriebswelle 9 angeordnet ist. In dem Rotorraum 7 ist ein Rotor 8 angeordnet, der drehfest mit Abtriebswelle 9 verbunden und um eine Drehachse 10 der Abtriebswelle 9 drehbar ist, wobei der Rotor 8 an seinen Außenumfang 16 eine drehsymmetrische stufige geschwungene Kontur mit einer gleichen Anzahl von Erhebungen 17 und dazwischen befindlichen Freiräumen 18 aufweist. In den Rotorraum 7 münden acht Einlasskanäle 19 und Auslasskanäle 20, die in Drehrichtung des Rotors 8 jeweils einen gleichen Abstand zueinander aufweisen und gleichmäßig verteilt in einem Umlaufbereich der Freiräume 18 in dem Rotorraum 7 angeordnet sind. In dem dargestellten Ausführungsbeispiel weist der Rotor 8 zehn Erhebungen 17 bzw. Freiräume 18 auf. Somit ist die Anzahl der Einlasskanäle 19 und Auslasskanäle 20 geringer ist als die Anzahl der Erhebungen 17 bzw. Freiräume 18.
Der Drehmotor 5 besitzt eine in das Motorgehäuse 6 integrierte Einlasssteuerung, die schwenkbare Steuerklappen 21 aufweist, die von einem Hydraulikdruck eines nicht dargestellten Volumenstroms beaufschlagt, immer an der Kontur des Rotors 8 in Anlage sind. Die Steuerklappen 21 werden von dem Rotor 8 gesteuert. Dreht sich der Rotor 8, so folgen die Steuerklappen 21 der geschwungenen Kontur in Anlage, so dass die Steuerklappen 21, den jeweils zugeordneten Einlasskanal 19 im Bereich von Erhebungen 17 des Rotors 8 schließen und im Bereich von Freiräumen 18 des Rotors 8 öffnen. Die Einlasskanäle 19 sind mit einem ringförmigen Zuführkanal 14 sternförmig verbunden sind, der konzentrisch zu der Außenumfangsfläche 22 des Rotorraumes 7 außerhalb des Rotorraumes 7 angeordnet ist. Die Auslasskanäle 20 sind mit einem ringförmigen nur in der Figur 2 dargestellten Abführkanal 15 verbunden, der konzentrisch außerhalb des Rotorraums 7 an einer Flachseite des Rotorraumes 7 verläuft. Die Auslasskanäle 20 des Rotorraums 7 sind in Drehrichtung des Rotors 8 vor und nahe den Steuerklappen 21 nahe an der Außenumfangsfläche 22 des Rotorraumes 7 angeordnet, damit sie mit den Freiräumen 18 in Verbindung sind. Von den Einlasskanälen 19 zu dem Abführkanal 15 erstreckt sich je ein gesteuerter Bypasskanal 23 parallel zum Rotorraum 7. Die Bypasskanäle 23 sind gesteuert und bilden eine Auslasssteuerung zum schnellen Stoppen des Drehmotors 5. Die Figur 1 zeigt einen Linksläufer in Draufsicht. Bei einem Rechtsläufer sind die Auslasskanäle 20 und die Steuerklappen 21 spiegelbildlich im Bezug auf die Einlasskanäle 19 angeordnet.The FIG. 1 shows an embodiment of the rotary motor 5 according to the invention, with a motor housing 6, from which extends a rotatably mounted in the motor housing 6 designed as a hollow shaft output shaft 9. The motor housing 6 has an inner annular rotor space 7, which is bounded by the motor housing 6 and the output shaft 9 and arranged concentrically to the output shaft 9. In the rotor chamber 7, a rotor 8 is arranged, which is rotatably connected to the output shaft 9 and is rotatable about an axis of rotation 10 of the output shaft 9, wherein the rotor 8 at its outer periphery 16 a rotationally symmetric stepped curved contour with an equal number of elevations 17 and therebetween Free spaces 18 has. In the rotor chamber 7, eight inlet channels 19 and outlet channels 20 open, which in the direction of rotation of the rotor 8 each have an equal distance from each other and evenly distributed in a circulation region of the free spaces 18 in the rotor chamber 7 are arranged. In the illustrated embodiment, the rotor 8 has ten elevations 17 and free spaces 18. Thus, the number of inlet channels 19 and outlet channels 20 is less than the number of elevations 17 or free spaces 18.
The rotary motor 5 has an integrated in the motor housing 6 inlet control, the pivotable control flaps 21 which acts on a hydraulic pressure of a flow, not shown, always on the contour of the rotor 8 are in attachment. The control flaps 21 are controlled by the rotor 8. If the rotor 8 rotates, the control flaps 21 follow the curved contour, so that the control flaps 21 close the respectively assigned inlet channel 19 in the region of elevations 17 of the rotor 8 and open in the region of free spaces 18 of the rotor 8. The inlet channels 19 are connected in a star-shaped manner with an annular feed channel 14, which is arranged concentrically to the outer circumferential surface 22 of the rotor chamber 7 outside the rotor chamber 7. The outlet channels 20 are provided with an annular only in the FIG. 2 shown discharge channel 15 which extends concentrically outside the rotor chamber 7 on a flat side of the rotor chamber 7. The outlet channels 20 of the rotor chamber 7 are arranged in the direction of rotation of the rotor 8 in front of and close to the control flaps 21 close to the outer peripheral surface 22 of the rotor chamber 7 so that they are in communication with the free spaces 18. From the inlet channels 19 to the discharge channel 15, a controlled bypass channel 23 extends in each case parallel to the rotor chamber 7. The bypass channels 23 are controlled and form an outlet control for rapid stopping of the rotary motor 5. Die FIG. 1 shows a left-hand rotor in plan view. In a right-handed runner, the outlet channels 20 and the control flaps 21 are arranged in mirror image with respect to the inlet channels 19.

Figur 2 zeigt einen zweiachsigen hydraulischen Drehsteller 1 mit zwei gegenläufigen Bewegungsrichtungen, bei dem sich die beiden Achsen 2, 3 in einem 90°-Winkel zueinander erstrecken. Jede der beiden Achsen 2, 3 weist einen einachsigen hydraulischen Drehsteller 4 mit zwei gegenläufigen Bewegungsrichtungen auf. Die beiden Bewegungsrichtungen der Drehsteller 4 werden über zwei erfindungsgemäße hydraulische Drehmotoren 5, 5' realisiert, die gegenläufig sind. Die Drehmotoren 5, 5' sind an sich identisch ausgebildet, wobei der Drehmotor 5' gegenüber dem Drehmotor 5 kopfüber, d. h. spiegelbildlich angeordnet an der jeweiligen Achse 2, 3 montiert ist.
Die Drehmotoren 5, 5' der beiden Achsen 2, 3 weisen jeweils ein gemeinsames Motorgehäuse 6 mit zwei übereinander angeordneten Rotorräumen 7 auf, in denen je ein Rotor 8 angeordnet ist, der drehfest mit einer gemeinsamen Abtriebswelle 9 verbunden und um eine in der Figur 1 definierte Drehachse 10 der Abtriebswelle 9 drehbar ist. Die gemeinsame Abtriebswelle 9 jeder der Achsen 2, 3 ist als Hohlwelle ausgebildet. Die Drehmotoren 5, 5' weisen zudem jeweils einen ringförmigen Zuführkanal 14 auf, über den ein nicht dargestellter Hydrovolumenstrom mit geeignetem Druckniveau in den Rotorraum 7 geleitet wird, um den jeweiligen Rotor 8 anzutreiben. Nach dem Durchtritt durch den jeweiligen Rotorraum 7 strömt der Hydrovolumenstrom mit reduziertem Druckniveau in einen ringförmigen Abführkanal 15, der konzentrisch zu den Rotorräumen 7 zwischen den Rotorräumen 7 verläuft. Die vom Rotorraum 7 zu dem Zuführkanal 14 bzw. Abführkanal 15 führenden Leitungen sind in dieser Figur nicht alle dargestellt bzw. sichtbar. In der Abtriebswelle 9 der Achse 2 erstrecken sich hydraulische Verbindungsleitungen 13, die zu den Drehmotoren 5, 5' der Achse 3 führen. FIG. 2 shows a two-axis hydraulic rotary actuator 1 with two opposite directions of movement, in which the two axes 2, 3 extend at a 90 ° angle to each other. Each of the two axes 2, 3 has a uniaxial hydraulic turntable 4 with two opposite directions of movement. The two directions of movement of the turntable 4 are realized via two hydraulic rotary motors 5, 5 'according to the invention, which are in opposite directions. The rotary motors 5, 5 'are designed to be identical, wherein the rotary motor 5' relative to the rotary motor 5 upside down, that is arranged in mirror image on the respective axis 2, 3 is mounted.
The rotary motors 5, 5 'of the two axles 2, 3 each have a common motor housing 6 with two rotor chambers 7 arranged one above the other, in FIG each of which a rotor 8 is arranged, the rotatably connected to a common output shaft 9 and connected to a in the FIG. 1 defined axis of rotation 10 of the output shaft 9 is rotatable. The common output shaft 9 of each of the axles 2, 3 is formed as a hollow shaft. The rotary motors 5, 5 'also each have an annular feed channel 14, via which an unillustrated hydraulic volume flow is passed with a suitable pressure level in the rotor chamber 7 in order to drive the respective rotor 8. After passing through the respective rotor chamber 7, the hydraulic volume flow at a reduced pressure level flows into an annular discharge channel 15, which runs concentrically with the rotor chambers 7 between the rotor chambers 7. The leading from the rotor chamber 7 to the feed channel 14 and discharge channel 15 lines are not all shown or visible in this figure. Extending in the output shaft 9 of the axle 2 are hydraulic connecting lines 13 which lead to the rotary motors 5, 5 'of the axle 3.

In dem dargestellten Ausführungsbeispiel ist ein Laserstrahl 11 zur Bearbeitung eines in der Figur nicht gezeigten Werkstückes in der hohlen Abtriebswelle 9 geführt und wird durch je einen Winkelspiegel 12 zwischen der Achse 2 und der Achse 3 und nach der Achse 3 jeweils um 90° umgelenkt.In the illustrated embodiment, a laser beam 11 is guided for machining a workpiece, not shown in the figure in the hollow output shaft 9 and is deflected by an angle mirror 12 between the axis 2 and the axis 3 and after the axis 3 in each case by 90 °.

Claims (12)

  1. A hydraulic rotary motor (5, 5') with a stator (6) and a rotor (8) movable with respect to the stator (8) including
    - a motor housing (6), out of which an output shaft (9), which is rotatably mounted in the motor housing (6), extends,
    - at least one rotor space (7) in form of a circular ring, which is arranged in the motor housing (6) and is bounded by the motor housing (6) and the output shaft (9) and is arranged concentrically with the output shaft (9),
    - a rotor (8), which is arranged in the at least one rotor space (7) and is rotationally fixedly connected to the output shaft (9) and is rotatable about an axis of rotation (10) of the output shaft (9), wherein the rotor (8) has a rotationally symmetrical, stepped or curved contour on its outer periphery (16) with an even number of protrusions (17) and spaces (18) situated between them,
    - an even number of inlet passages (19) and outlet passages (20), which are connected to the rotor space (7) and each have the same spacing from one another in the direction of rotation of the rotor (8) and communicate, uniformly distributed, with a circulation region of the spaces (18) in the rotor space (7), wherein the number of the inlet passages (19) and outlet passages (20) is smaller than the number of the protrusions (17) or spaces (18) on the rotor (8), and
    - an inlet control, which is integrated into the motor housing (6) and includes control elements (21), which, acted on by a hydraulic pressure, follow the contour of the rotor (8) in engagement with it,
    characterised in that
    - the control elements (21) are constructed in the form of pivotal control flaps (21), which close the associated inlet passage (19) in the vicinity of protrusions (17) and open it in the vicinity of spaces (18),
    - the inlet passages (19) communicate radially with the outer peripheral surface (22) of the rotor space (7) and are connected in a straight line with an annular supply passage (14), which is arranged outside the rotor space (7) concentrically with the outer peripheral surface (22) of the rotor space (7),
    - the outlet passages (20) communicate axially with a flat side of the rotor space (7) and with an annular discharge passage (15), which extends outside the rotor space (7) concentrically with the outer peripheral surface (22) of the rotor space (7) on the flat side of the rotor space (7), and
    - at least one controlled bypass passage (23) extends outside the rotor space (7) from the inlet passages (19) to the outlet passages (20) and/or from the supply passage (14) to the discharge passage (15).
  2. A hydraulic rotary motor as claimed in Claim 1, characterised in that the number of the inlet passages (19) and the number of the outlet passages (20) is 2 less than the number of the protrusions (17) and of the spaces (18).
  3. A hydraulic rotary motor as claimed in Claim 1 or 2, characterised in that the protrusions (17) have an apex and the spaces (18) have a curved contour.
  4. A hydraulic rotary motor as claimed in one of the preceding claims, characterised in that the outlet passages (20) are arranged before the control flaps (21) in the direction of rotation of the rotor (8) and adjacent the control flaps (21) in the circulation region of the spaces (18) of the rotor (8).
  5. A hydraulic rotary motor as claimed in one of the preceding claims, characterised in that the operative direction of rotation of the rotor (8) is not reversible and that the rotor is continuously capable of rotation with the output shaft (9) in this direction of rotation.
  6. A single axis hydraulic rotary positioner (4) with one direction of movement, characterised by a hydraulic rotary motor (5, 5') as claimed in one of the preceding Claims 1 to 6.
  7. A single axis hydraulic rotary positioner (4) with two opposite directions of movement, characterised by two hydraulic rotary motors (5, 5') as claimed in one of the preceding Claims 1 to 6, which have a different direction of rotation of the rotor (8).
  8. A single axis hydraulic rotary positioner as claimed in Claim 7, characterised in that the rotary motors (5, 5') are arranged directly following one another and have a common output shaft (9).
  9. A single axis hydraulic rotary positioner as claimed in Claim 7 or 8, characterised in that the rotary motors (5, 5') have a common supply passage (14) and/or discharge passage (15).
  10. A single axis hydraulic rotary positioner as claimed in one of the preceding Claims 7 to 9, characterised in that the one rotary motor (5') is arranged face-to-face and upside down regarding the other rotary motor (5), both mounted on the respective shaft (2, 3), so that the oppositely operating rotary motors (5, 5') have a mirror image arrangement in the axial direction of the inlet passages (19), the control flaps (21) and the outlet passages (20) and are preferably arranged in a common motor housing (7).
  11. A two axis hydraulic rotary positioner (1) with two opposite directions of movement per shaft (2, 3), characterised in that the two shafts (2, 3) are arranged at a 90° angle to one another and each has a single axis hydraulic rotary positioner (4) with two opposite directions of movement as claimed in one of the preceding Claims 7 to 10.
  12. A two axis hydraulic rotary positioner as claimed in Claim 11, characterised in that the hydraulic connecting conduits (13) to the supply passages (14) and/or discharge passages (15) extend to at least one of the single axis hydraulic positioners (4) in one of the shafts (2, 3) in the output shaft (9).
EP13401095.8A 2013-08-28 2013-08-28 Hydraulic rotating motor with pivotable control vanes Not-in-force EP2843232B1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
EP13401095.8A EP2843232B1 (en) 2013-08-28 2013-08-28 Hydraulic rotating motor with pivotable control vanes

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Application Number Priority Date Filing Date Title
EP13401095.8A EP2843232B1 (en) 2013-08-28 2013-08-28 Hydraulic rotating motor with pivotable control vanes

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EP2843232B1 true EP2843232B1 (en) 2017-09-27

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Family Cites Families (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB275302A (en) * 1926-04-29 1927-07-29 Horace Arthur Costerton Improvements in rotary engines with moving abutments
US2799371A (en) * 1956-03-28 1957-07-16 William M Osborn Hydraulically-operated device having axial fluid injection means
US3194122A (en) * 1962-12-14 1965-07-13 William R Kee Hydraulic cam motor vane switching system
GB1093486A (en) * 1963-10-11 1967-12-06 F N R D Ltd Improvements in and relating to rotary pumps and motors
GB1097442A (en) * 1963-10-11 1968-01-03 F N R D Ltd Improvements in and relating to rotary pumps and motors
DE2358932A1 (en) * 1973-11-27 1975-05-28 Guenter Zillner Rotary piston machine - has flap valve preventing pressure medium through flow to outlet
JPS5849714B2 (en) * 1974-06-06 1983-11-05 クノギ マヒト cam pump or motor
CN102678289B (en) * 2011-03-17 2014-02-12 北京星旋世纪科技有限公司 Spiraster-type rotation device, engine, pneumatic motor, and compressor

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
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