Rotary drive device

Abstract

Rotary drive device, comprising a base unit (5) extending along a main axis (2), a driven unit (43) rotatably mounted on the base unit (5) about an axis of rotation (45) perpendicular to the main axis (2), and a drive device (42) for generating an intermittent unidirectional rotary output movement (44) of the driven unit (43) about the axis of rotation (45), - wherein the drive unit (42) has a drive slide (8) which is slidably mounted on the base unit (5) in the axial direction of the main axis (2), - wherein the drive device (42) further comprises a drive unit (23) fixed on one side to the base unit (5) and on the other side to the drive carriage (8), by which the drive carriage (8) can be driven in an oscillating manner to opposite first and second linear drive movements (33a, 33b) relative to the base unit (5) in the axial direction of the main axis (2), - wherein the drive slide (8) has a drive gear arrangement (35) with two rack-like first and second drive gears (36, 37) opposing each other in the axial direction of a transverse axis (3) perpendicular to the main axis (2) and to the axis of rotation (45), which extend parallel to the main axis (2) at the same distance from the axis of rotation (45) of the output unit (43), - wherein the output unit (43) has a circular arc-shaped output toothing (58) arranged between the two drive teeth (36, 37) of the drive slide (8), the center of curvature of which lies on the axis of rotation (45) and the radius of curvature of which corresponds to the distance between the axis of rotation (45) and each of the two drive teeth (36, 37), such that the output toothing (58) is in meshing with either the first drive toothing (36) or the second drive toothing (37) during two gear-drive phases when the output unit (43) is in a corresponding rotational position, wherein the respective linear drive movement (33a, 33b) of the drive slide (8) results in a rotary output movement (44) of the output unit (43), - wherein the arc length of the circular arc-shaped output toothing (58) is less than 180 degrees, characterized in that, - that the output gear (58) is always in meshing with only one of the two drive gears (36, 37) regardless of the rotational position of the output unit (43), in order to receive a gear driving force from the drive slide (8) that causes the rotary output movement (44), - wherein the output unit (43) can also assume rotational positions in which the output gear (58) is not in engagement with either of the two drive gears (36, 37), - wherein a switching device (66) is provided by which the output unit (43) can be rotated further at the end of a gear-drive phase during a thrust-drive phase that is not in engagement with either of the two drive gears (36, 37) until its output gear (58) has switched into a gear engagement with the other drive gear (37, 36) that enables a new gear-drive phase, - wherein the switching device (66) has a pair of drivers arranged on the drive slide (8) and participating in its drive movement (33a, 33b), consisting of a first driver (67) and a second driver (68), wherein the first driver (67) is assigned to a first axial end region of the drive gear arrangement (35) and the second driver (68) to an opposite second axial end region of the drive gear arrangement (35), wherein the first driver (67) acts on the output unit (43) during the first linear drive movement (33a) and the second driver (68) during the second linear drive movement (33b) to execute the thrust drive phase, - wherein the switching device (66) has an output stop (73) arranged radially spaced from the axis of rotation (45) on the output unit (43), which can be positioned in a thrust-receiving position in the travel path of one of the two drivers (67, 68) by the rotary output movement (44) of the output unit (43) taking place during the two gear-drive phases, in which at the same time the output gear (58) of the output unit (43) is disengaged from the drive gear (36, 37) which until then exerts a gear-drive force on the output unit (43), wherein the output stop (73) in the thrust-receiving position can be acted upon by this driver (67, 68) when the drive movement (33a, 33b) of the drive slide (8) is subsequently continued, in order to move the output unit (43) to continue rotating during the thrust-drive phase,until its output gear (58) has switched into a gear engagement with the respective other drive gear (37, 36), , - and wherein the output stop (73) is arranged in a spring-elastic manner on an output body (52) of the output unit (43) such that, in the state of a driver (67, 68) bearing against the output stop (73), a relative movement between the drive slide (8) and the non-rotatably blocked output unit (43) is possible by deflecting the output stop (73).

Description

[0001] The invention relates to a rotary drive device comprising a base unit extending along a main axis, an output unit rotatably mounted on the base unit about an axis of rotation perpendicular to the main axis, and a drive device for generating an intermittent unidirectional rotary output movement of the output unit about the axis of rotation.

[0002] A rotary drive device of this type, known from DE 198 42 306 A1, has a rotatably mounted output unit designed as a switching disc, which is connected via a planetary gear to a drive unit formed by an electric drive motor. The switching disc can be driven intermittently by actuating the drive motor. In this way, for example, a rotary indexing table can be implemented.

[0003] US Patent 1,123,172 A discloses a mechanical clockwork mechanism consisting of a combination of a rotatable segment gear equipped with end-piston teeth and a pair of reciprocating racks having at opposite ends the teeth closest to the end teeth arranged to push back the piston teeth, with a chamfered surface between the piston and the rack teeth closest to the end teeth, causing the reciprocating motion of the racks to be accompanied by a continuous rotation of the gear in the same direction.

[0004] A combination of a modified gear and two racks is known from US 823 341 A, wherein the racks are connected to each other in such a way that they move back and forth together and are located on opposite sides of the gear, wherein the racks have movable teeth and means for automatically moving the teeth.

[0005] From AT 401 678 B, a power transmission device is known by which a reciprocating motion is converted into a continuously rotating motion or a continuously rotating motion into a reciprocating motion, wherein two rods arranged parallel to each other with teeth on the sides facing each other directly interact with teeth located on less than half of the circumference or outer surface of a solid wheel, in particular a one-piece wheel, arranged between the rods.

[0006] The invention is based on the objective of creating a rotary drive device that enables a flat design while offering cost-effective construction and reliable function.

[0007] To solve this problem, a rotary drive device of the type mentioned above is provided with the following: - that the drive unit has a drive slide mounted on the base unit so as to be displaceable in the axial direction of the main axis, - that the drive device further comprises a drive unit fixed on the one hand to the base unit and on the other hand to the drive carriage, by which the drive carriage can be driven in an oscillating manner to mutually opposing first and second linear drive movements relative to the base unit in the axial direction of the main axis, - that the drive slide has a drive gear arrangement with two rack-like first and second drive gears opposing each other in the axial direction of a transverse axis perpendicular to the main axis and to the axis of rotation, which extend parallel to the main axis at the same distance from the axis of rotation of the output unit, - that the output unit has a circular arc-shaped output tooth arranged between the two drive teeth of the drive slide, the center of curvature of which lies on the axis of rotation and the radius of curvature of which corresponds to the distance between the axis of rotation and each of the two drive teeth, so that the output tooth, at the corresponding rotational position of the output unit, is in meshing with either the first drive tooth or the second drive tooth during two gear-drive phases, whereby a rotary output movement of the output unit results from the respective linear drive movement of the drive slide, - that the arc length of the circular arc-shaped output gear is less than 180 degrees, so that the output gear can always only engage with one of the two drive gears, regardless of the rotational position of the output unit, in order to receive a gear driving force from the drive slide that causes a rotary output movement, - and that a switching device is provided by which the output unit, in the state at the end of a gear-drive phase being out of engagement with the previously driving first or second drive gear, can be rotated further during a thrust-drive phase until its output gear has switched into a gear engagement with the respective other drive gear that enables a new gear-drive phase.

[0008] The rotary drive device according to the invention enables the generation of an intermittent, always uniform rotary output motion of an output unit based on oscillating linear drive movements of a slidably mounted drive slide. The drive movements of the drive slide can be generated by a drive unit that is connected between a base unit and the drive slide and that can be actuated, for example, by fluid force or electrically. A special gear design makes it possible to derive a clocked, unidirectional rotary output motion from the reciprocating drive movements of the drive slide. This rotary output motion can be used, for example, within a machine for the rotary positioning of a machine part. The rotary drive device can also be used as a rotary indexing table.The output unit has an output section that allows the rotary output motion to be tapped. This rotary output motion can be used directly or indirectly by interposing a planetary gear or other transmission means. The drive carriage has two parallel, linearly extending drive teeth, each designed like a rack and pinion, which always move synchronously and thus, depending on the drive carriage's actuation, either perform its first drive motion or its opposite second drive motion. The drive carriage is slidably mounted on a base unit, which is also conveniently used for the rotary mounting of the output unit. The output unit has a drive tooth extending in a circular arc around the axis of rotation with an arc length of less than 180 degrees.This allows the output gear, despite its radius corresponding to the distance between the axis of rotation and each of the two drive gears, to be in mesh with only one of the two drive gears at a time. The output unit can also assume rotational positions in which the output gear is not in mesh with either of the drive gears. During the first linear drive movement of the drive slide, the output unit meshes with the first linear drive gear of the drive slide, thus rotating it during a rotary output movement. This phase can be referred to as the gear-drive phase. The gear-drive phase ends the moment the output gear disengages from the first drive gear of the moving drive slide.Without additional measures, the output unit would be stationary because it is no longer engaged with either of the two drive gears. However, the switching mechanism of the rotary drive ensures that, after the gear-engaging phase is complete, the output unit is acted upon by the drive carriage, which continues to move a short distance, and rotates further until the output gear engages with the second drive gear. This operating phase can be described as a push-drive phase due to the purely sliding action of the drive carriage. This push-drive phase is followed by another gear-engaging phase as soon as the drive carriage reverses its motion and returns to its starting point during the second drive movement.The switching mechanism then activates again, causing the gear mesh of the output gear to switch once more between the two drive gears. These operating cycles repeat as long as the drive carriage is driven back and forth in an oscillating motion by the drive unit.

[0009] The rotary drive device can be manufactured cost-effectively using easily produced components. It operates with high precision and can be implemented with a relatively low profile along the axis of rotation. During each of the two drive movements, the drive unit is rotated 180 degrees, while the direction of rotation remains the same. The complete drive phase for each of these 180-degree rotations consists of a gear-drive phase followed by a thrust-drive phase.

[0010] The output unit is advantageously equipped with at least one mounting interface from which the rotary output motion can be tapped. The output unit can, for example, be provided with a rotary table that directly follows the rotary output motion and has at least one mounting interface to which an object to be rotated can be fixed.

[0011] However, such a rotary table can also be attached to the output unit via an interposed planetary gear, resulting in a gear reduction or transmission of the rotary output motion, depending on the planetary gear's design. For example, a planetary gear can be designed to halve the rotation angle of the output unit. Each 180-degree rotation of the output unit then results in a usable rotation of only 90 degrees for rotating an object. This configuration is particularly suitable for using the rotary drive device as a rotary indexing table.

[0012] Advantageous further developments of the invention are set out in the dependent claims.

[0013] Advantageously, the output unit can be acted upon during the thrust-drive phase by the drive slide, which continues its first or second linear drive movement. The drive slide is thus a component of the switching device, through which a thrust force is exerted on the output unit to cause it to rotate further.

[0014] The switching device expediently comprises a pair of drive lugs arranged on the drive slide and participating in its drive movement. This pair consists of a first drive lug and a second drive lug, with the first drive lug located in a first axial end region of the drive gear assembly and the second drive lug located in a second axial end region of the drive gear assembly opposite this axis. During the first linear drive movement, the first drive lug acts on the output unit to rotate it in a thrust-drive phase. During the second linear drive movement, the second drive lug acts on the output unit to also generate a thrust-drive phase.The action of the drivers on the output unit advantageously begins each time the output gear loses drive contact with the first or second drive gear which until then caused the rotary drive movement.

[0015] Preferably, in addition to the drive lugs, the switching device has a stop formed as part of the output unit, which, for clarity, is referred to as the output stop and is arranged radially spaced from the axis of rotation on the output unit. During the two gear-drive phases, the output stop is ineffective. However, during both gear-drive phases, the rotary output movement of the output unit moves the output stop into a position that lies within the travel path of one of the two drive lugs, so that this drive lug can act as a push against the output stop during the corresponding drive movement of the drive slide. The relevant position of the output stop is therefore referred to as the push-receive position.This push-receive position is also characterized by the fact that the output gear of the output unit is disengaged from both drive gears and, in particular, from the drive gear that previously exerted the gear-driven force. During the subsequent continuation of the drive movement of the drive slide, the adjacent driver presses against the output stop and pushes it forward. Due to the fact that the output stop is located at a distance from the axis of rotation of the output unit, this generates a torque that rotates the output unit further, completing another step of the output rotation. The push-drive phase ends when the output gear engages with the other drive gear.Now, a new gearing-drive phase can follow, which can be triggered by moving the drive slide in the opposite direction through the drive unit.

[0016] The output unit advantageously has an output body, which is preferably formed in one piece and which carries the preferably separately formed output stop. However, the output stop can also be formed integrally with the output body.

[0017] It is considered advantageous if the output unit has a cylindrical bearing sleeve coaxial with the axis of rotation, which engages in a bearing recess of the base unit and is rotatably mounted therein to enable the rotary output movement. The drive carriage has a longitudinal slot extending in the axial direction of the main axis, through which the bearing sleeve passes without obstructing the linear drive movement of the drive carriage. The longitudinal slot is located between the base unit and the output gear of the output unit.

[0018] Advantageously, the output gear is formed on an outer circumference pointing away from the axis of rotation of a disk-shaped or plate-shaped force application section of the output body. The force application section, for example, has the shape of a circular segment. The force application section is located in a space formed between the two rack-like drive gears of the drive slide, which allows for a particularly low overall height of the rotary drive device.

[0019] The output stop is advantageously arranged on the force application section. It preferably has a thrust receiving section, projecting from the force application section in the axial direction of the axis of rotation, which serves to interact with the two drivers.

[0020] The output stop can, in principle, be fixed to the output body of the output unit. However, a particularly advantageous embodiment provides for a spring-loaded, flexible fixing of the output stop to the output body. This allows the output stop to be displaced relative to the output body in the direction of rotation of the rotary output movement against a restoring drive force if the output unit is prevented from rotating further during the thrust-drive phase by an unfavorably positioned drive gear. The spring-loaded flexibility of the output stop then allows the drive slide to move linearly despite the blocked output unit until a relative position between the drive slide and the output unit is achieved that permits gear engagement.

[0021] Preferably, the output stop is slidably mounted in a guide slot of the output body, with a compression spring responsible for the spring-like compliance being inserted between the output body and the output stop. The guide slot preferably has a linear extent.

[0022] A single output stop is sufficient to generate the intermittent unidirectional rotary output motion of the output unit from the oscillating linear motion of the drive carriage. However, it is advantageous if the output unit has a second output stop that is angularly offset by 180 degrees relative to the first output stop with respect to the axis of rotation. By rotating the output unit 180 degrees around the axis of rotation, it is then possible to ensure that only this second output stop interacts with the drivers, thereby reversing the direction of rotation of the output motion. In this context, the position of the drivers must also be reversed, which is particularly easy if the drivers are detachably fixed to a slide body of the drive carriage.

[0023] For adjusting the motion system, it is advantageous if the drive lugs are independently adjustable along the axis of the main axis and can be detachably fixed to the slide body in their respective positions. This makes it very easy to adjust the rotary drive device during initial setup so that each gear drive phase is followed seamlessly by a thrust drive phase.

[0024] The two drive gears are advantageously integrated into the slide body as a single piece. The slide body is preferably made of steel, which also applies to the base unit.

[0025] Preferably, the first driver is mounted on the drive slide in the area of ​​the first drive gear and the second driver in the area of ​​the second drive gear of the drive gear assembly. Advantageously, the design is such that during the drive thrust phase it generates, each driver projects beyond its associated drive gear in the axial direction of the transverse axis with a driver arm acting on the drive stop. The driver arm is then able to move across the force application section of the output unit upon reaching it and strike the output stop.

[0026] The drive unit is preferably designed as a linear drive. This can be an electric or a fluid-driven linear drive. Preferably, the linear drive is designed as a double-acting pneumatic cylinder. Such a pneumatic cylinder is, for example, attached to the base unit with its cylinder housing and to the drive slide with its piston rod. The linear drive is preferably oriented so that its longitudinal axis runs parallel to the main axis. The drive unit is particularly well arranged longitudinally alongside the drive slide on the base unit, which in turn facilitates a low overall height of the rotary drive device.

[0027] The base unit is preferably formed by a base plate which has an upper plate surface oriented in the axial direction of the axis of rotation, on which the drive carriage is arranged to be linearly displaceable.

[0028] Advantageously, the base plate has a plurality of longitudinal grooves extending in the axial direction of the main axis on its upper plate surface, which open to the two end faces of the base plate, with two of these longitudinal grooves acting as guide grooves into which the drive slide engages with guide projections arranged on its underside, so that it is guided to be displaceable for the execution of the linear drive movements.

[0029] The invention will now be explained in more detail with reference to the accompanying drawing. This drawing shows: Fig. 1 a preferred first embodiment of the rotary drive device according to the invention in an isometric representation, wherein the drive carriage is shown in a first stroke end position representing the starting point for the first drive movement, Fig. 2 the rotary drive device from Fig. 1 in another isometric representation from a different perspective, Fig. 3 the rotary drive device Fig. 1 and Fig. 2 from a different perspective, again in isometric representation, Fig. 4 an isometric exploded view of the rotary drive device, Fig. 5 a top view of the rotary drive device Fig. 1, Fig. 2 to Fig. 3 with a view in the direction of arrow V from Fig. 1, where the drive carriage is shown in the first lifting end position, Fig. 6 a top view of the rotary drive device accordingly Fig. 5, wherein the drive carriage is shown assuming a second stroke end position, to which the second drive movement follows, and Fig. 7 a cross-section of the rotary drive device according to section line VII-VII from Fig. 5.

[0030] The rotary drive device, designated in its entirety by reference numeral 1, has an imaginary principal axis 2, an imaginary transverse axis 3 perpendicular to it, and an imaginary vertical axis 4 perpendicular to both the principal axis 2 and the transverse axis 3. The principal axis 2 expediently also represents a longitudinal axis of the rotary drive device 1.

[0031] The rotary drive device 1 has a base unit 5 by which it can be fixed to any support structure. By way of example, and preferably, the base unit 5 is formed by a base plate 6, the plane of which is perpendicular to the vertical axis 4. The base plate 6 has an upper surface 7 oriented in the axial direction of the vertical axis 4, which is also referred to below as the vertical direction 4. The base plate 6 is preferably made of metal, for example, steel or aluminum.

[0032] The rotary drive device 1 has a drive carriage 8 as a further component. The drive carriage 8 is mounted on the base unit 5 so that it can be linearly displaceable, such that it can perform a linear lifting movement 12 relative to the base unit 5, indicated by a double arrow, in the axial direction of the main axis 2, which is also referred to below as the main axis direction 2, in both directions of movement. Within the scope of the linear lifting movement 12, the drive carriage 8 can move between one of the Fig. 1 to 3 and 5 visible first stroke end position and one from Fig. The second lifting end position is shown in section 6.

[0033] Preferably, the drive carriage 8 is mounted on the upper surface 7 of the base plate 6. The sliding bearing is achieved, by way of example, via a carriage body 13 of the drive carriage 8, which has several downwardly projecting guide projections 15 on its underside 14 facing the base unit 5. These projections engage in a sliding manner in one of several guide grooves 16 formed in the upper surface 7 of the base plate 6 and extending along the entire length of the base plate 6 in the main axis direction 2. By way of example, there are two guide grooves 16 spaced apart from each other in the axial direction 3, which is also referred to below as the transverse direction 3.

[0034] The guide grooves 16 are formed by longitudinal grooves 17, which, by way of example, are formed in multiples with transverse spacing from one another in the upper plate surface 7. At least one longitudinal groove 17 not used as a guide groove 16 expediently serves as a mounting groove 18 for one or more further components. By way of example, a mounting groove 18, which is assigned to a first longitudinal edge 22a of the two longitudinal edges 22a, 22b of the base plate 6, is used to fix a drive unit 23 of the rotary drive device 1, by which the linear stroke movement 12 of the drive carriage 8 can be generated.

[0035] The slide body 13 is expediently designed to be essentially plate-shaped, with its plate plane being aligned parallel to that of the base plate 6.

[0036] The length of the drive carriage 8 measured in the main axis direction 2 is expediently chosen such that the drive carriage 8 does not project beyond the two opposing front and rear end faces 24a, 24b of the base unit 5 in any of its possible stroke positions.

[0037] The aforementioned drive unit 23 is fixed to the base unit 5 on one side and to the drive carriage 8 on the other. The drive unit 23 preferably has a longitudinal extension with a longitudinal axis 15, and is arranged, by way of example, with a longitudinal axis 25 parallel to the main axis 2, along the side of the drive carriage 8 on the base unit 5. In the illustrated embodiment, the drive unit 23 is located in the region of the first longitudinal edge 22a of the base unit 5. It is attached there, by way of example, using the mounting groove 18 on the base plate 6.

[0038] The drive unit 23 of the exemplary embodiment is formed by a linear drive 23a. The linear drive 23a has a first linear drive component 26a attached to the base unit 5 and a second linear drive component 26b which can be driven in a reciprocating linear working movement 27, indicated by a double arrow, and which is attached to the drive carriage 8 at a mounting point 28.

[0039] Preferably, the linear drive 23a is a double-acting linear drive actuated by fluid force, wherein it is exemplified by a pneumatic cylinder operated by compressed air. The first linear drive component 26a is a cylinder housing in which a Fig. 5. The second linear drive component 26b is arranged as indicated by a dash, and is connected to a piston rod that protrudes from the end face of the cylinder housing and is attached to the drive slide 8 at the mounting point 28.

[0040] Inside the first linear drive component 26a, which is designed as a cylinder housing, the piston separates two drive chambers from each other. One of two fluid channels 32 opens into each of these chambers. These channels can be connected to a pressure source or to the atmosphere via external fluid lines (not illustrated) and an electrically actuated control valve (also not illustrated). In this way, the piston of the second linear drive component 26b can be subjected to a resulting fluid force, which drives the second linear drive component 26b to perform the working movement 27. This directly results in the linear stroke movement 12 of the drive carriage 8.

[0041] In an embodiment not illustrated, the linear drive 23a is an electric linear drive. It then has, for example, an electric motor that rotates a threaded spindle on which a spindle nut is mounted, which is connected to the drive carriage 8 via a connecting element.

[0042] For example, the drive unit 23 can be operated such that it performs an oscillating working movement 27, resulting in a similarly oscillating linear lifting movement 12 of the drive carriage 8. For better differentiation, the drive carriage 8 is shown below moving from the first end-of-stroke position according to... Fig. 1 to 3 and 5 into the second stroke end position according to Fig. The first linear drive movement 33a involves a 6-moving stroke movement, and the second linear drive movement 33b involves a stroke movement 12 that moves the drive carriage 8 in the opposite direction from the second stroke end position to the first stroke end position. The two linear drive movements 33a and 33b are illustrated by arrows in the drawing.

[0043] The slide body 13 is provided on its upper surface 34, which points away from the base unit 5 in the vertical direction 4, with a drive gear arrangement 35. This arrangement consists of two rack-like first and second drive gears 36, 37, positioned opposite each other in the transverse direction 3. Both drive gears 36, 37 extend linearly in the main axis direction 2, with their teeth and tooth spaces facing each other. Advantageously, the axial length of the two drive gears 36, 37 is identical, and both drive gears 36, 37 extend along the same longitudinal segment of the slide body 13.

[0044] Between the two drive gears 36, 37 there is an exemplary channel-shaped gap 38 open upwards in the vertical direction 4.

[0045] The two drive teeth 36, 37 are expediently straight-cut. The tooth tips each extend in the vertical direction 4.

[0046] Preferably, the drive gears 36, 37 are integrally integrated into the slide body 13. However, they can also be attached as separate rack elements to a separately manufactured slide body 13.

[0047] The drive unit 23 and the drive carriage 8 together form a drive device 42, by which an output unit 43 of the rotary drive device 1 can be driven to an intermittent unidirectional rotary output movement 44 relative to the base unit 5. The rotary output movement 44 is indicated in the drawing by arrows. The axis of rotation 45 of the output movement 44 runs in the vertical direction 4 and coincides with a longitudinal axis 46 of the output unit 43.

[0048] Preferably, the output unit 43 is rotatably mounted on the base unit 5. By way of example, it has a cylindrical bearing sleeve 47 coaxial with the axis of rotation 45, which rotatably engages from above in a cylindrical bearing recess 48 of the base plate 6, the latter being open towards the upper plate surface 7. The bearing sleeve 47 is part of a preferably one-piece output body 52 of the output unit 43, which, however, can also be designed in multiple parts.

[0049] The slide body 13 is penetrated in the vertical direction 4 by a longitudinal slot 53 extending in the main axis direction 2. The output body 52, with its bearing sleeve 47, engages through this longitudinal slot 53 from above and enters the bearing recess 48. The longitudinal slot 53 has a sufficient width to allow unimpeded rotary output movement 44 of the output unit 43. The length of the longitudinal slot 53 is selected such that the output slide 8 can assume both stroke end positions without the end faces of the longitudinal slot 53 colliding with the output unit 43.

[0050] The output unit 43 has an upwardly projecting output section 54, which, by way of example, extends in the vertical direction 4 beyond the drive carriage 8. The rotary output motion 44 can be tapped from this section to drive any object. By way of example, the output section 54 is provided with a mounting interface 55 to which an object to be moved can be detachably fixed.

[0051] In a manner not shown, a rotary table suitable for mounting the driven object can, for example, be attached directly or indirectly to the output section 54. Indirect mounting is achieved, for example, by interposing a planetary gear.

[0052] The axis of rotation 45 of the output unit 43 extends centrally between the two drive gears 36, 37. These are therefore equidistant in the transverse direction 3 from the axis of rotation 45.

[0053] In the vertical direction 4 above the drive carriage 8, there is a special section of the output unit 43, which is referred to as the force introduction section 56. The force introduction section 56 is preferably a component of the output body 52 and, in particular, is integrally integrated into this output body 52.

[0054] The force introduction section 56 is located in the space 38 between the two drive gears 36, 37. It is designed in an exemplary disc-shaped or plate-shaped manner and rests with its underside 57 in a sliding-sliding manner on the slide body 13, so that the output unit 53 is supported in a tilt-proof manner.

[0055] On its outer circumference, which points radially outwards from the axis of rotation 45, the force application section 56 has an output toothing 58 that extends in a circular arc around the axis of rotation 45 or the longitudinal axis 46 of the output unit 43. The center of curvature of the output toothing 58 lies on the axis of rotation 45.

[0056] The radius of curvature of the arc-shaped output gear 58 corresponds to the distance between the axis of rotation 45 and each of the two drive gears 36, 37 arranged on the drive slide 8. This means that the radius of curvature of the output gear 58 is such that the distances between the axis of rotation 45 and each linear drive gear 36, 37 are equal, such that the output gear 58, when the output unit 43 is in the appropriate rotational position, can in principle engage with each of the two drive gears 36, 37, enabling power transmission between the output gear 58 and the drive gear 36, 37 that is currently engaged with it.

[0057] A special feature of the output gear 58 is that its arc length, measured relative to the center of curvature, is so much less than 180 degrees that it can never mesh with both drive gears 36 and 37 simultaneously. Within the 360-degree rotation angle, the output unit 53 can only assume rotational positions in which the output gear 58 is either not engaged with either of the two drive gears 36 and 37, or is engaged only with the first drive gear 36, or only with the second drive gear 37.

[0058] Preferably, the arc length of the output gearing is 110 to 130 degrees. The arc length of 120 degrees implemented in the illustrated embodiment has proven to be particularly advantageous.

[0059] Apart from the fact that the output gear 58 is arcuate and the input gears 36, 37 have a linear extension, their basic design is preferably at least substantially identical. An involute gear is recommended for the output gear 58. For the input gears 36, 37, teeth with planar tooth flanks are expediently used.

[0060] In the illustrated embodiment, the force application section 56 can be visualized as an originally circular disk from which a circular segment-shaped section has been removed in the area not occupied by the output teeth 58. In principle, the force application section 56 can have a completely circular cylindrical shape, but outside the output teeth 58, its radius is at most equal to the distance between the axis of rotation 45 and the base of the tooth gaps of the output teeth 58, and preferably slightly less.

[0061] When the output gear 58 engages with one of the two drive gears 36, 37 and the drive slide 8 performs one of the two linear drive movements 33a, 33b, a gear-drive phase is present in which a rotary output movement 44 of the output unit 43 is directly caused by the respective linear drive movement 33a, 33b due to the gear engagement.

[0062] The output unit 43 is positioned such that in the Fig. In the first stroke end position of the drive slide 8, as shown in Figure 5, in which the drive slide 8 is approaching the front face 24a of the base unit 5, the second end section 62b of the first drive tooth 36, which faces away from this front face 24a, engages with a first end section 64 of the output tooth 58. The second end section 63b of the second drive tooth 37, which lies at the same axial height as the second end section 62b of the first drive tooth 36, is also located in the area of ​​the force application section 56, but does not engage with it. With respect to the direction of rotation of the rotary output movement 44, the first end section 64 of the output tooth 58 lies in front of the second end section 65.

[0063] In the Fig. In the second stroke end position shown in Figure 6, the tooth engagement conditions are reversed. Here, the first end section 63a of the second drive tooth 37, opposite the second end section 63b, is in mesh with the first end section 64 of the output tooth 58. The first end section 62a of the first drive tooth 36, which lies at the same axial height as the first end section 63a of the second drive tooth, does not mesh with the output tooth 58. The second end section 65 of the output tooth 58 does not engage with the first drive tooth 36 here.

[0064] If the drive carriage 8, positioned in the first stroke end position, is driven to the first linear drive movement 33a by appropriate actuation of the drive unit 23, the first drive toothing 36 engages the output toothing 58 and rotates the output unit 43 while performing the rotary output movement 44.

[0065] The first drive tooth 36 exerts a gear driving force on the output unit 43, causing the rotary output movement 44. The output unit 43 rolls with its output tooth 58 on the first drive tooth 36 in the direction of its first end section 62a.

[0066] Similarly, the second drive gear 37 also introduces a gear driving force into the output unit 43, causing the rotary output movement 44, when the drive slide 8 is driven by the drive unit 23 to the second linear drive movement 33b from the second stroke end position.

[0067] The direction of rotation of the rotary output motion 44 is the same in both cases.

[0068] The rotation angle of the output unit 43, induced by the two gear drive phases, is slightly less than 180 degrees in each case. Before the drive slide 8 reaches the other stroke end position from one end position, the output gear 58 disengages from the first or second drive gear 36, 37 responsible for the current gear drive phase. This is easily understood if one considers the Fig. 5 a lifting position of the drive carriage 8 shortly before the first lifting end position and in the Fig. 6 represents a lifting position of the drive carriage 8 shortly before the second lifting end position.

[0069] In the rotary drive device 1, the output unit 43 is rotated by the drive slide 8 by a rotational stroke of 180 degrees during each of the first and second linear drive movements 33a, 33b. However, the final phase of the rotational stroke is not caused by the gear-drive phase, since, due to the limited arc length of the output gear 58, there is no longer any gear engagement between the output gear 58 and the drive gear 35. Instead, the final phase of the 180-degree rotation of the output unit 43 is generated by the drive slide 8, which continues its first or second linear drive movement 33a, 33b, applying a thrust force to the output unit 43 outside the output gear 58.

[0070] The drive carriage 8 is thus part of a switching device 66, by which, during the final phase of the 180-degree rotation of the rotary output movement 44, a pure thrust force is exerted on the output unit 43, independent of any gear engagement. This force causes the output unit 43 to continue rotating until it has completed the 180-degree rotation. This state coincides with the output gear 58 now being rotated into gear engagement with the opposite of the two drive gears 36, 37. Depending on the direction of the stroke movement 12, this state coincides with either the first stroke end position or the second stroke end position.

[0071] The drive phase of the output unit 43 caused by the switching device 66 is also referred to as the thrust drive phase for better differentiation.

[0072] According to the illustrated preferred embodiment of the rotary drive device 1, the switching device 66 has a pair of drivers arranged on the drive slide 8, consisting of a first driver 67 and a second driver 68. Both drivers 67, 68 participate in every linear drive movement 33a, 33b.

[0073] The first driver 67 is associated with the first drive tooth 36 and is mounted on the slide body 13 at the first axial end section 62a. It has a driver arm 72 that projects in the vertical direction 4 above the first drive tooth 36 in the direction of the opposite second drive tooth 37 and extends a short distance across the gap 38.

[0074] The second driver 68 is mounted at the second axial end section 63b of the second drive tooth 37 and also has a driver arm 72 that extends over the gap 38 in the direction of the opposite first drive tooth 36.

[0075] The two drivers 67, 68 are components of the switching device 66, as is an output stop 73, which is arranged on the rotatable output unit 43 at a radial distance from the axis of rotation 45. According to the preferred embodiment, the output stop 73 is located on the force application section 56. It is arranged there such that a longitudinal section, designated as the thrust receiving section 74, projects upwards in the vertical direction 4 from the force application section 56, in a region that is radially spaced from the axis of rotation 45.

[0076] The output stop 73 is therefore preferably designed separately with respect to the output body 52 of the output unit 43 which has the force introduction section 56.

[0077] The output stop 73 is preferably arranged in the region of one of the two end sections 64, 65 of the output gear 58. In the illustrated embodiment, it is located in the vicinity of the second end section 65. The thrust receiving section 74 projects upwards at least far enough to intersect a drive plane perpendicular to the vertical axis 4, in which the two drive arms 72 extend. Thus, it is generally ensured that each drive arm 67, 68 can engage the thrust receiving section 74 during the linear stroke movement 12 of the drive slide 8.

[0078] During the gear-drive phases, there is no mechanical contact between the drivers 67, 68 and the output stop 73. The output stop 73 is therefore inactive. Towards the end of a gear-drive phase, however, the output stop 73, which follows the rotary drive movement 44, reaches a position within the linear travel path of the driver arm 72 of the first or second driver 67, 68, which is currently approaching the output unit 43. This position is referred to as the thrust receiving position for clarity. This thrust receiving position is angularly located a short distance before the end position that the output stop 73 assumes when the output slide 8 has reached the desired first or second stroke end position.

[0079] Regarding the Fig. 6, in which the output stop 73 has reached the aforementioned end position, the thrust receiving position is located a short distance forward in a clockwise direction.

[0080] The output stop 73 is positioned relative to the output gear 58 on the output body 52 such that it reaches the thrust-receiving position approximately simultaneously with the disengagement of the existing gear mesh. At the same time, the driver 67 or 68, approaching the output unit 43, then contacts the thrust-receiving section 74 of the output stop 73. This is the moment at which the driving force responsible for the drive torque of the output unit 43 transitions from the gear drive force to a thrust drive force exerted by the driver 67 or 68.In this final phase of the 180-degree rotation cycle, the first or second linear drive movement 33a, 33b, which has already been taking place, is continued, but now the output unit 43 is only rotated further by the driver 67 or 68 acting against the output stop 73, until the 180-degree rotation cycle is completed and the output gear 58 has switched into engagement with the other drive gear 37, 36.

[0081] In the in the Fig. 5 and Fig. In the 6 illustrated operating phases, the first driver 67 approaches the output unit 43, which rotates due to the gear engagement between the first drive gear 36 and the output gear 58, during the first drive movement 33a of the drive slide 8, which starts in the first stroke end position. The output stop 73, initially still near the second drive gear 37, moves along a circular arc towards the first drive gear 36 until, before the completion of the rotation cycle, it reaches the thrust receiving position, from which it is moved by the first driver 67 to complete the rotation cycle. Fig. The drive carriage 8 is pushed further into the end position shown in section 6. In this process, the output tooth 58, emerging from the meshing with the first drive tooth 36, is rotated into a meshing with the second drive tooth 37. The drive carriage 8 is now in the second stroke end position.

[0082] Starting from here, the drive slide 8 is driven by the drive unit 23 to the second drive movement 33b, whereby the same process as described above now takes place, except that the output stop 73 is now rotated further towards the second drive tooth 37 and is ultimately actuated by the second driver 68 as soon as the output tooth 58 leaves the gear engagement with the second drive tooth 37.

[0083] These processes can be performed any number of times, with the result that the output unit 43 is rotated unidirectionally incrementally by rotation angles of 180 degrees.

[0084] The two drivers 67, 68 are advantageously detachably attached to the slide body 13 such that they are independently adjustable in the main axis direction 2 relative to the slide body 13 and, in particular, can be continuously fixed in any set position on the slide body 13. A clamping screw connection is advantageously provided for detachable fixing. Advantageously, the slide body 13 is provided on its upper side, longitudinally adjacent to each drive tooth 36, 37, with a mounting groove 57 extending in the main axis direction 2, in which the associated driver 67, 68 can be detachably clamped in different axial positions by means of a T-nut.

[0085] In this way, the drivers 67, 68 can be optimally adjusted so that a seamless transition takes place between the gear drive phase and the thrust drive phase.

[0086] The output stop 73 can be fixed immovably to the output body 52 of the output unit 43. However, the drive system is significantly less sensitive to tolerances if the drive stop 73 is spring-loaded and flexibly attached to the output body 52, as is the case in the illustrated embodiment. This spring-loaded flexibility allows the output stop 73 to shift relative to the output body 52 in the direction of rotation of the rotary output movement 44 when the output body 52 is momentarily locked in place.Such a blockage can occur because either the output gear 58 has not yet fully disengaged from the driving first or second drive gear 36, 37 at the beginning of the thrust-drive phase, or because the output gear 58, which has already rotated further during the thrust-drive phase, cannot engage with the first or second drive gear 36, 37 used for the next gear-drive phase due to an unfavorable stroke position of the drive slide 8. For example, a collision occurs between one tooth of the output gear 58 and one of the drive gears 36, 37.

[0087] The spring-elastic support of the output stop 73 allows the output stop 73 to retract under the thrust force of the driver 67, 68 against it, so that despite the output unit 43 being impervious to rotation, a relative movement between the drive slide 8 and the output unit 43 is possible, which allows the drive slide 8 to move further into the desired first or second stroke end position.

[0088] The spring suspension of the output stop 73 is achieved, in particular, by means of a compression spring 76. By way of example, the output stop 73 is linearly displaceable within a guide slot of the force application section 76, with the compression spring being integrated between an end wall of the guide slot 77 and the movable output stop 73. The compression spring 76 is, for example, a helical compression spring.

[0089] The elasticity of the compression spring 76 is chosen so that it is not compressed or only slightly compressed during a normal thrust-drive phase, so that the linear movement of the driver 67, 68 is converted into the rotary output movement 44 of the output unit 43 with as little loss as possible.

[0090] The compression spring 76 is arranged such that the output stop 73 acted upon by it is biased in the direction towards the driver 67, 68 which is approaching during the current gearing-drive phase.

[0091] In the illustrated embodiment, the output unit 43 is equipped with a second output stop 78 in addition to the output stop 73 described above. This second output stop 78 is arranged such that there is an angular offset of 180 degrees between the two output stops 73 and 78 with respect to the axis of rotation 45. The second output stop 78 is also advantageously arranged to be spring-loaded and compliant with the output body 52. ​​However, the direction of compliance is opposite to that of the standard output stop 73 described above.

[0092] The benefit of the additional output stop 78 is that the direction of rotation of the rotary output movement 44 can be changed. For this purpose, it is sufficient to insert the output unit 43 between the two drive gears 36, 37 in an orientation rotated 180 degrees about the axis of rotation 45 and also to change the position of the two drivers 67, 68 accordingly.

[0093] In this way, the direction of rotation of the rotary output motion 44 can be changed as required from a clockwise direction to a counterclockwise direction.

[0094] The second output stop 78 is purely optional and can easily be omitted.

Claims

[1] Rotary drive device, comprising a base unit (5) extending along a main axis (2), a driven unit (43) rotatably mounted on the base unit (5) about an axis of rotation (45) perpendicular to the main axis (2), and a drive device (42) for generating an intermittent unidirectional rotary output movement (44) of the driven unit (43) about the axis of rotation (45), - wherein the drive unit (42) has a drive slide (8) which is slidably mounted on the base unit (5) in the axial direction of the main axis (2), - wherein the drive device (42) further comprises a drive unit (23) fixed on one side to the base unit (5) and on the other side to the drive carriage (8), by which the drive carriage (8) can be driven in an oscillating manner to opposite first and second linear drive movements (33a, 33b) relative to the base unit (5) in the axial direction of the main axis (2), - wherein the drive slide (8) has a drive gear arrangement (35) with two rack-like first and second drive gears (36, 37) opposing each other in the axial direction of a transverse axis (3) perpendicular to the main axis (2) and to the axis of rotation (45), which extend parallel to the main axis (2) at the same distance from the axis of rotation (45) of the output unit (43), - wherein the output unit (43) has a circular arc-shaped output toothing (58) arranged between the two drive teeth (36, 37) of the drive slide (8), the center of curvature of which lies on the axis of rotation (45) and the radius of curvature of which corresponds to the distance between the axis of rotation (45) and each of the two drive teeth (36, 37), such that the output toothing (58) is in meshing with either the first drive toothing (36) or the second drive toothing (37) during two gear-drive phases when the output unit (43) is in a corresponding rotational position, wherein the respective linear drive movement (33a, 33b) of the drive slide (8) results in a rotary output movement (44) of the output unit (43), - wherein the arc length of the circular arc output toothing (58) is less than 180 degrees, characterized by , - that the output gear (58) is always in meshing with only one of the two drive gears (36, 37) regardless of the rotational position of the output unit (43), in order to receive a gear driving force from the drive slide (8) that causes the rotary output movement (44), - wherein the output unit (43) can also assume rotational positions in which the output gear (58) is not in engagement with either of the two drive gears (36, 37), - wherein a switching device (66) is provided by which the output unit (43) can be rotated further at the end of a gear-drive phase during a thrust-drive phase that is not in engagement with either of the two drive gears (36, 37) until its output gear (58) has switched into a gear engagement with the other drive gear (37, 36) that enables a new gear-drive phase, - wherein the switching device (66) has a pair of drivers arranged on the drive slide (8) and participating in its drive movement (33a, 33b), consisting of a first driver (67) and a second driver (68), wherein the first driver (67) is assigned to a first axial end region of the drive gear arrangement (35) and the second driver (68) to an opposite second axial end region of the drive gear arrangement (35), wherein the first driver (67) acts on the output unit (43) during the first linear drive movement (33a) and the second driver (68) during the second linear drive movement (33b) to execute the thrust drive phase, - wherein the switching device (66) has an output stop (73) arranged radially spaced from the axis of rotation (45) on the output unit (43), which can be positioned in a thrust-receiving position in the travel path of one of the two drivers (67, 68) by the rotary output movement (44) of the output unit (43) taking place during the two gear-drive phases, in which at the same time the output gear (58) of the output unit (43) is disengaged from the drive gear (36, 37) which until then exerts a gear-drive force on the output unit (43), wherein the output stop (73) in the thrust-receiving position can be acted upon by this driver (67, 68) when the drive movement (33a, 33b) of the drive slide (8) is subsequently continued, in order to move the output unit (43) to continue rotating during the thrust-drive phase,until their output teeth (58) have switched into a gear engagement with the respective other drive teeth (37, 36), - and wherein the output stop (73) is arranged in a spring-elastic manner on an output body (52) of the output unit (43) such that, in the state of a driver (67, 68) bearing against the output stop (73), a relative movement between the drive slide (8) and the non-rotatably blocked output unit (43) is possible by deflecting the output stop (73). [2] Rotary drive device according to claim 1, characterized by , that the output unit (43) can be acted upon to rotate further during the thrust-drive phase by the drive slide (8) which continues its first or second linear drive movement (33a, 33b) performed up to that point. [3] Rotary drive device according to claim 1 or 2, characterized by, that the output unit (43) has an output body (52) supporting the separately formed output stop (73). [4] Rotary drive device according to claim 3, characterized by , that the output unit (43) has a cylindrical bearing boss (47) coaxial to the axis of rotation (45), which is rotatably mounted in a bearing recess (48) of the base unit (5) and which extends through a longitudinal slot (53) of the drive slide (8) extending in the axial direction of the main axis (2). [5] Rotary drive device according to claim 3 or 4, characterized by, that the output body (52) has a disk-shaped or plate-shaped force introduction section (56) arranged in a space (38) formed between the two rack-like drive teeth (36, 37) of the drive slide (8), on the outer circumference of which pointing away from the axis of rotation (45) the output teeth (58) are formed and on which the output stop (73) is arranged. [6] Rotary drive device according to claim 5, characterized by , that the output stop (73) has a thrust receiving section (74) projecting in the axial direction of the axis of rotation (45) from the force introduction section (58) and intended to cooperate with the drivers (67, 68). [7] Rotary drive device according to any one of claims 1 to 6, characterized by, that the output stop (73) is slidably mounted in a guide slot (77) of the output body (52), wherein a compression spring (76) responsible for the spring-like compliance is integrated between the output body (52) and the output stop (73). [8] Rotary drive device according to any one of claims 1 to 7, characterized by , that the output unit (43) has a further output stop (78), wherein the two output stops (73, 78) are arranged angularly offset from each other by 180 degrees around the axis of rotation (45), such that a change in the direction of rotation of the rotary output movement (44) can be caused by mounting the output unit (43) rotated by 180 degrees around the axis of rotation (45). [9] Rotary drive device according to any one of claims 1 to 8, characterized by, that the first driver (67) is located in the area of ​​the first drive toothing (36) and the second driver (68) is located in the area of ​​the second drive toothing (37) of the drive toothing arrangement (35) on the drive slide (8). [10] Rotary drive device according to claim 9, characterized by , that each driver (67, 68) during the drive thrust phase it generates projects beyond the associated drive teeth (36, 37) in the axial direction of the transverse axis (3) with a driver arm (72) acting on the output stop (73). [11] Rotary drive device according to any one of claims 1 to 10, characterized by , that the drive gear arrangement (35) is arranged on a slide body (13) of the drive slide (8) which carries the drivers (67, 68). [12] Rotary drive device according to claim 11, characterized by , that the drive gear arrangement (35) is integrally integrated into the slide body (13). [13] Rotary drive device according to claim 11 or 12, characterized by , that the drivers (67, 68) are independently adjustable in the axial direction of the main axis (2) and can be detachably fixed in the respective set position on the slide body (13) of the drive slide (8). [14] Rotary drive device according to any one of claims 1 to 13, characterized by , that the drive unit (23) is a linear drive (23a). [15] Rotary drive device according to claim 14, characterized by , that the drive unit (23) is a double-acting pneumatic cylinder. [16] Rotary drive device according to any one of claims 1 to 15, characterized by , that the drive unit (23) is arranged longitudinally next to the drive carriage (8) on the base unit (5). [17] Rotary drive device according to any one of claims 1 to 16, characterized by, that the base unit (5) is formed by a base plate (6) which has an upper plate surface (7) oriented in the axial direction of the axis of rotation (45), on which the drive carriage (8) is arranged to be linearly displaceable. [18] Rotary drive device according to claim 17, characterized by , that the base plate (6) has on its upper plate surface (7) a plurality of longitudinal grooves (17) extending in the axial direction of the main axis (2), wherein two of these longitudinal grooves (17) form guide grooves (16) into which the drive slide (8) engages in a linearly displaceable manner with guide projections (15) arranged on its underside.

Images