# Patent

## Title
Hydraulic blocking rotary actuator

## Abstract

In one embodiment, a hydraulic blocking rotary actuator including a stator housing having a through bore to position a rotor assembly. A rotor assembly includes an output shaft and at least one rotary piston disposed radially about the output shaft. The rotary piston includes an integral first vane element and an integral second vane element each with peripheral longitudinal faces substantially concentric to the other. A continuous seal groove is disposed in peripheral longitudinal faces and lateral end faces of the rotary pistons. A continuous seal is disposed in the continuous seal groove. The bore through the stator housing includes an interior cavity with surfaces adapted to receive the rotor assembly. With rotation fluid ports blocked the housing cavity is sealed with the continuous piston seal for hydraulic blocking, preventing actuator displacement by external forces. Other embodiments are disclosed.

## Background
TECHNICAL FIELD
This invention relates to an actuator device and more particularly to a pressurized hydraulic blocking rotary actuator device wherein piston assemblies disposed about the rotor are moved by fluid under pressure.
BACKGROUND
Rotary actuators are used as part of some mechanical devices, to deliver rotary motion in an efficient manner and with the capability to maintain rotary position by blocking the hydraulic power fluid source. The ability to maintain a rotary position is desirable to control aircraft flight control surfaces and for other applications such as rotary valve assemblies. Rotary actuators are desirable because they maintain constant torque and conserve space. Such prior art rotary actuators typically include multiple subcomponents such as a rotor and two or more stator housing components. These subcomponents generally include a number of seals intended to prevent leakage of fluid out of the housing and/or between hydraulic chambers of such rotary valve actuators. Because of this leakage, prior art rotary actuators cannot maintain position by merely blocking the hydraulic power source, but maintain position by supplying additional make up fluid and constant control.
SUMMARY
In general, this document describes hydraulic blocking rotary actuators with continuous seals disposed on peripheral surfaces of the pistons.
In a first aspect, a hydraulic blocking rotary actuator includes a stator housing having a bore disposed axially therethrough. A rotor assembly includes an output shaft and at least a first rotary piston assembly disposed radially about the output shaft. The first rotary piston assembly includes integral first vane element and a second vane element protruding radially along the axis at opposite ends, said piston having a circumferential surface portion adapted to connect to the output shaft when each of the pistons are disposed about the output shaft, a first peripheral longitudinal face and a second peripheral longitudinal face, a first peripheral lateral face and a second peripheral lateral face. A continuous seal groove is disposed in the first and second peripheral longitudinal face and the first and second peripheral lateral face of each of the first and second vane elements of a piston. A continuous seal is disposed in each of the continuous seal grooves. The bore of the stator housing includes a seamless interior surface adapted to receive the rotor assembly and said interior surface adapted to contact the continuous seals when the rotor assembly is rotated inside of the longitudinal bore.
Implementations can include some, all, or none of the following features. The first vane element and the second vane element can be disposed circumferentially adjacent to each other and parallel to a longitudinal axis of the output shaft. The bore can include a first end bore portion and a second end bore portion. Each of the first and second vane elements can be adapted so that they may pass through the first end bore portion before being assembled to the output shaft. The actuator can also include a second rotary piston assembly disposed radially about the output shaft, the second rotary piston assembly including a third vane element and a fourth vane element, each of the third and fourth vane elements having: a portion adapted to connect to the output shaft when each of the vane elements is disposed radially about the output shaft, a first peripheral longitudinal face and a second peripheral longitudinal face, a first peripheral lateral face and a second peripheral lateral face, a continuous seal groove disposed in the first and second peripheral longitudinal faces and the first and second peripheral lateral faces of the second rotary piston, and a continuous seal disposed in the continuous seal groove. The first rotary piston assembly and the second rotary piston assembly can be disposed opposite each other about the output shaft. Each of said third and fourth vane elements integral to the second rotary piston can be adapted to pass through the first end bore position before being assembled to the output shaft. Each rotary piston assembly installed in the stator housing can define separate pressure chambers inside of the middle bore portion. The continuous seal can be an O-ring, an X-ring, a Q-ring, a D-ring, an energized seal, or combinations of these and/or any other appropriate form of seal. The first end bore portion and the second end bore portions having a first diameter and the bore further has at least a middle bore portion disposed between the first end bore portion and the second end bore portion, the middle bore portion having a second diameter larger than the first diameter, the middle bore portion can also include a cylindrical recess disposed coaxial with the middle bore portion, the cylindrical recessed sector having a diameter larger than the diameter of the middle bore portion, said cylindrical recess adapted to receive the vane elements of the rotor assembly. A first external pressure source can provide a rotational fluid at a first pressure for contacting the first vane element of the rotary piston assembly and a second external pressure source provides a rotational fluid for contacting the second vane element of the rotary piston assembly. Opposite pressure chambers defined by the housing and rotor can have equal surface areas as the rotor rotates within the housing. The output shaft can be configured to connect to a hinge of a flight control surface. The stator housing can be adapted for mounting on a stationary wing. The middle bore portion can include a first opposing arcuate ledge disposed radially inward along the perimeter of the bore, the first ledge having a first terminal end adapted to contact the first vane element of the first rotary piston assembly. The middle bore portion can include a second opposing arcuate ledge disposed radially inward along the perimeter of the middle bore portion and opposite the first arcuate ledge, the second ledge having a first terminal end adapted to contact the first vane element of the second rotary piston assembly and a second terminal end of the second arcuate ledge adapted to contact the second vane element of the first rotary piston assembly. The rotary pistons of the rotor assembly and the arcuate ledges can be configured to define multiple pressure chambers. Opposite pressure chambers defined by the housing and rotary pistons can have equal surface areas as the rotor assembly rotates within the housing. A first opposing pair of the pressure chambers can be adapted to be connected to an external pressure source and a second opposing pair of the pressure chambers can be adapted to be connected to a second external pressure source. The first external pressure source can provide a rotational fluid at a first pressure for contacting the first vane element of the first rotary piston assembly and the second external pressure source can provide a rotational fluid for contacting the second vane element of the first rotary piston assembly. The first terminal end can also include a first fluid port formed therethrough and the second terminal end can include a second fluid port formed therethrough and the first fluid port can be connected to a rotational fluid provided at a first pressure and the second fluid port can be connected to a rotational fluid provided at a second pressure. The bore can be formed in a single seamless housing member.
In a second aspect, a method of rotary actuation includes providing a rotor assembly that includes an output shaft and at least a first rotary piston assembly disposed radially about the output shaft, said rotary piston assembly including a first vane element and a second vane element. The first vane element and second vane element each having: a portion adapted to connect to the output shaft when each of the vane elements is disposed radially about the output shaft, a first peripheral longitudinal face and a second peripheral longitudinal face, a first peripheral lateral face and a second peripheral lateral face, a continuous seal groove disposed in the first and second peripheral longitudinal faces and the first and second peripheral lateral faces of the respective vane element, and a continuous seal disposed in the continuous seal groove. A stator housing is provided having a bore including an opposing pair of arcuate ledges disposed radially inward along the perimeter of the bore, each of said ledges having a first terminal end and a second terminal end. A first rotational fluid is provided at a first pressure and contacting the first vane element of the first rotary piston assembly with the first rotational fluid. A second rotational fluid is provided at a second pressure less than the first pressure and contacting the second vane element of the first rotary piston assembly with the second rotational fluid. The rotor assembly is rotated in a first direction of rotation.
Various implementations can include some, all, or none of the following features. The second pressure can be increased and the first pressure can be decreased until the second pressure is greater than the first pressure, rotating the rotor assembly in an opposite direction to the first direction of rotation. The rotation of the rotor assembly in the opposite direction can be stopped by contacting the first terminal end of the first ledge with the first vane element of the first rotary piston assembly. The first rotary piston assembly and a second rotary piston assembly can isolate the first and second rotational fluids into a first opposing pair of chambers and a second opposing pair of chambers, and the method can also include providing the first rotational fluid at the first pressure to the first opposing pair of chambers, and providing the second rotational fluid at the second pressure to the second opposing pair of chambers. The first terminal end can further include a first fluid port formed therethrough and the second terminal end can include a second fluid port formed therethrough, and wherein providing the first rotational fluid at a first pressure can be provided through the first fluid port and providing the second rotational fluid at a second pressure can be provided through the second fluid port. The method can also include stopping the rotation of the rotor assembly by one of contacting the first terminal end of the first ledge with the first vane element of the first rotary assembly, or by contacting the second terminal end of the second ledge with the second vane element of the first rotary assembly.
In a third aspect, a hydraulic blocking actuator includes a stator housing having a bore disposed axially therethrough, a first static piston assembly and a second static piston assembly, each static piston assembly having an outer longitudinal half cylindrical peripheral surface adapted to contact an inner cylindrical wall of a portion of the stator housing. Each static piston assembly includes: two interior partial cylindrical surfaces, a single radial inwardly disposed vane positioned between the two interior partial cylindrical surfaces, and two radial inwardly disposed half vanes positioned at the distal ends of the two interior partial cylindrical surfaces, wherein the first static piston assembly and the second static piston assembly are disposed with one of the half vanes of the first static piston assembly adjacent longitudinally to one of the half vanes of the second static piston assembly and the other half vane of the first static piston assembly adjacent longitudinally to the other half vane of the second static piston assembly, and wherein each of the single vane and the half vanes has a inwardly disposed peripheral longitudinal face and a first peripheral lateral face and a second peripheral lateral face, At least two continuous seal grooves, each of said seal grooves disposed in a pathway along the peripheral longitudinal face and the first and second peripheral lateral faces of the single vane and the peripheral longitudinal face and the first and second peripheral lateral faces of one of the half vanes, and a continuous seal disposed in each of the at least two continuous seal grooves. The hydraulic blocking actuator also includes a rotor adapted to be received in the bore of the housing.
Various implementations can include some, all, or none of the following features. The rotor can include a first end section and a second end section and a middle section disposed between the first end section and the second end section; said first and second end sections being formed about the axis of the rotor and having a diameter adapted to be received in the bore of the housing, said middle section having a first diameter formed about the axis of the rotor with a radial diameter smaller than the diameter of the end sections, said middle sections further including a second diameter formed in the first diameter about the axis of the rotor as an opposing pair of recesses. The recesses can be substantially quarter-sectional. The single radial vane can extend an inward perpendicular distance from the two interior partial cylindrical surfaces such that portions of the continuous seals disposed in the continuous seal grooves in the longitudinal face of the single vane can contact the first diameter of the rotor and the half vanes can extend an inward perpendicular distance from the two partial cylindrical surfaces such that portions of the continuous seals disposed in the continuous seal grooves in the longitudinal face of the half vanes can contact with the second diameter of the rotor. The actuator can further include first and second end bearing assemblies, each assembly having a shaft bore adapted to receive an output shaft portion of the rotor and each of said first and second end bearing assemblies adapted to seal each respective end bore portion of the housing. A portion of the continuous seals disposed in the continuous seal grooves on the lateral faces of the first static piston assembly and the lateral faces of the second static piston assembly can be in sealing contact with interior surfaces of the first and second send of the rotor. The single vane assembly of the first static piston assembly and the single vane assembly of the second static piston assembly can be disposed opposite each other inside the middle bore portion of the stator housing. Two adjacent half vane assemblies can be disposed opposite two other adjacent half vane assemblies inside the middle bore portion of the stator housing. The first static piston assembly and the second static piston assembly, and the rotor can define four pressure chambers. Opposite pressure chambers can have equal surface areas as the rotor rotates within the housing. The output shaft can be configured to connect to a rotary valve stem or flight surface. The stator housing can be adapted for connection to a valve housing. The continuous seal can be an O-ring, an X-ring, a Q-ring, a D-ring, an energized seal, or combinations of these and/or any other appropriate form of seal. A first opposing pair of the pressure chambers can be adapted to be connected to an external pressure source and a second opposing pair of the pressure chambers can be adapted to be connected to a second external pressure source.
In a fourth aspect, a method of rotary actuation includes providing a rotary actuator including a stator housing having a longitudinal bore disposed axially therethrough, the bore having a first end bore portion and a second end bore portion and at least a middle bore portion disposed between the first end bore portion and the second end bore portion, a first static piston assembly and a second static piston assembly, each static piston assembly having an outer longitudinal half cylindrical peripheral surface adapted to contact an inner cylindrical wall of the middle bore portion of the static piston housing. Each static piston assembly includes: two interior partial cylindrical surfaces, a single radial inwardly disposed vane positioned between the two interior partial cylindrical surfaces, and two radial inwardly disposed half vanes positioned at the distal ends of the two interior partial cylindrical surfaces, wherein the first static piston assembly and the second static piston assembly are disposed in the middle bore portion with one of the half vanes of the first static piston assembly adjacent longitudinally to one of the half vanes of the second static piston assembly and the other half vane of the first static piston assembly adjacent longitudinally to the other half vane of the second static piston assembly, and wherein each of the single vane and the half vanes has a inwardly disposed peripheral longitudinal face and a first peripheral lateral face and a second peripheral lateral face, at least two continuous seal grooves, each of said seal grooves disposed in a pathway along the peripheral longitudinal face and the first and second peripheral lateral faces of the single cane and the peripheral longitudinal face and the first and second peripheral lateral faces of one of the half vanes, and a continuous seal disposed in each of the at least two continuous seal grooves. A rotor includes a first end section and a second end section and a middle section disposed between the first end section and second end section, said first and second end section being formed about the axis of the rotor and having a diameter adapted to be received in the longitudinal bore portion of the housing, said middle section of the rotor having a first diameter formed about the axis of the rotor with a radial diameter smaller than the diameter of the end sections, said middle section further including a second diameter formed in the first diameter about the axis of the rotor as an opposing pair of, the junctions of the first diameter and the second diameter defining first, second, third and fourth longitudinal faces on the middle section of the rotor. The actuator includes a first and second end assembly, each end assembly having a shaft bore adapted to receive an output shaft portion of the rotor and each of said first and second end assembly adapted to seal one of the end bore portions of the housing. A first rotational fluid is provided at a first pressure and contacts the first and second longitudinal faces on the middle section of the rotor. A second rotational fluid is provided at a second pressure less than the first pressure and contacts the third and fourth longitudinal face on the middle section of the rotor. The first and second longitudinal faces are opposed and the third and fourth longitudinal faces are opposed. The rotor is rotated in a first direction of rotation.
Various implementations can include some, all, or none of the following features. The single radial vane can extend an inward perpendicular distance from the two interior partial cylindrical surfaces such that portions of the continuous seals disposed in the continuous seal grooves in the longitudinal face of the single vane can contact the first diameter of the rotor and the half vanes can extend an inward perpendicular distance from the two partial cylindrical surfaces such that portions of the continuous seals disposed in the continuous seal grooves in the longitudinal face of the half vanes can contact with the second diameter of the rotor. The method can include stopping the rotation of the rotor by contacting a first one of the longitudinal faces of the middle section of the rotor with one of the single vanes of the static piston assemblies. The method can include increasing the second pressure and reducing the first pressure until the second pressure is greater than the first pressure, rotating the rotor in an opposite direction to the first direction of rotation. The method can include stopping the rotation of the rotor in the opposite direction by contacting a second longitudinal faces of the middle section of the rotor with one of the single vanes of the static piston assemblies. The inwardly disposed vanes of the first and second static piston assemblies can isolate the first and second rotational fluids into a first opposing pair of chambers and a second opposing pair of chambers, and the method can also include providing the first rotational fluid at the first pressure to the first opposing pair of chambers, and providing the second rotational fluid at the second pressure to the second opposing pair of chambers. The first lateral peripheral face can include a first fluid port formed therethrough and the second lateral peripheral face includes a second fluid port formed therethrough, and wherein providing the rotational fluid at the first pressure can comprise providing the first rotational fluid through the first fluid port and providing the second rotational fluid at the second pressure can comprise providing the second rotational fluid through the second fluid port.
The systems and techniques described herein may provide one or more of the following advantages. In prior art designs of rotary actuators, corner seals can be a common source of fluid leakage between pressure chambers. Additionally, prior art rotary actuator housings are frequently assembled from one or more split casing segments that have seams that must be sealed. Leakage is possible from these housing seals. Cross-vane leakage can also occur in prior art rotary actuators. Leakage of hydraulic fluid in any of these manners may negatively impact performance, thermal management, pump sizing, and reliability of the hydraulic blocking rotary actuator. The details of one or more implementations are set forth in the accompanying drawings and the description below. Other features and advantages will be apparent from the description and drawings, and from the claims.



DESCRIPTION OF DRAWINGS
FIGS. 1 and 2 are cross-sectional views of an example of a prior art hydraulic blocking rotary actuator.
FIGS. 3A-3U are perspective and end views of a first implementation of an example rotary actuator during various stages of assembly.
FIGS. 4A-4D are exploded and assembled perspective and end views of rotary pistons and a rotor of the first example rotary actuator.
FIGS. 5A-5D are cross-sectional views of the first example rotary actuator in various operational positions.
FIG. 6 is a perspective view of a second example rotary actuator.
FIG. 7 is an exploded view of a rotary actuator insert assembly of the second example rotary actuator.
FIG. 8 is a side cross-sectional view of the second example rotary actuator.
FIG. 9 is an end cross-sectional view of the second example rotary actuator without a rotor.
FIG. 10 is an end cross-sectional view of the second example rotary actuator with a rotor.
FIGS. 11A-11C are cross-sectional views of the second example rotary actuator in various operational positions.
FIG. 12 is a flow diagram of an example process for rotating a hydraulic blocking rotary actuator with continuous rotary piston seals.



DETAILED DESCRIPTION
This document describes examples of hydraulic blocking rotary actuators with continuous rotary piston seals. In general, by using continuous rotary piston seals between rotor assemblies and stator housings, the use of corner seals may be eliminated. Corner seals can be associated with undesirable effects, such as reduced mechanical performance, thermal management issues, increased pump size requirements, and reduced reliability.
FIGS. 1 and 2 are cross-sectional views of an example of a prior art hydraulic blocking rotary actuator 10. The rotary actuator device 10 includes a stator housing assembly 12 and a sealing assembly generally indicated by the numeral 14. The details of each assembly 12 and 14 are set forth below.
The housing assembly 12 includes a cylindrical bore 18. As FIG. 1 shows, the cylindrical bore 18 is a chamber that encloses a cylindrical rotor 20. As FIG. 1 also shows, the rotor 20 is a machined cylindrical component consisting of a first rotor vane 57a, a second rotor vane 57b and a centered cylindrical hub 59. In some implementations, the diameter and linear dimensions of the first and second rotor vanes 57a, 57b are equivalent to the diameter and depth of the cylindrical bore 18.
The rotor 20 is able to rotate about 50-60 degrees in both a clockwise and counterclockwise direction relative to the stator housing assembly 12. Within the through bore 18, the stator housing 12 includes a first member 32 and a second member 34. The members 32 and 34 act as stops for the rotor 20 and prevent further rotational movement of the rotor 20. A collection of outside lateral surfaces 40 of the members 32 and 34 provide the stops for the rotor 20.
The first and second vanes 57a and 57b include a groove 56. As shown in FIG. 2, each of the grooves 56 includes one or more seals 58 configured to contact the wall of the cylindrical bore 18. The first and second members 32 and 34 include a groove 60. Each of the grooves 60 includes one or more seals 62 configured to contact the cylindrical rotor 20. The stator housing assembly 12 also includes a groove 74 that is formed to accommodate a corner seal 75.
As seen in FIG. 1, the seals 58 and 62, and the corner seal 75, define a pair of pressure chambers 66 positioned radially opposite of each other across the rotor 20, and a pair of opposing pressure chambers 68 positioned radially opposite each other across the rotor 20. In use, fluid is introduced or removed from the pressure chambers 66 through a fluid port 70, and fluid is oppositely flowed from the pressure chambers 68 through a fluid port 72.
By creating a fluid pressure differential between the pressure chambers 66 and the pressure chambers 68, the rotor 20 can be urged to rotate clockwise or counterclockwise relative to the stator housing assembly 12. In such designs, however, the corner seals 75 can be a common source of fluid leakage between the pressure chambers 66 and 68. Cross-vane leakage can also negatively impact performance, thermal management, pump sizing, and reliability of the hydraulic blocking rotary actuator 10.
FIGS. 3A-3U are perspective and end cross-sectional views of a first implementation of an example rotary actuator 1000 during various stages of assembly. In general, rotary actuators are desirable because they can apply hydraulic power directly to a control surface through a hinge line arrangement that can maintain substantially constant torque and can conserve space; however, many rotary actuators have pressure chambers created by assembling two or more sections to form an exterior casing (housing) with an interior pressure chamber. Linear actuators are desirable because they may have an exterior casing (housing) formed from a single member thereby having a seamless pressure chamber which can minimize leakage. This seamless pressure chamber can increase hydraulic power efficiency and can provide a capability to maintain position by blocking the hydraulic fluid source. Linear actuators, however, require a crank lever attached to the hinge line of a control surface to convert linear motion to rotary motion. Hydraulic power efficiency is compromised in this arrangement because output torque changes as a function of the sine of the angle of rotation. The centerlines of linear actuators are generally packaged perpendicular to such hinge lines. Linear actuators also generally require some means to attach to crank levers, which generally means that their application uses more space than a comparable rotary actuator.
In general, the actuator 1000 with a seamless casing provides the sealing capability generally associated with linear actuators with the general mechanical configuration of rotary actuators. The geometries of the components of the rotary actuator 1000 can be used to create various rotary actuators with the sealing capabilities generally associated with linear actuators. The design of the actuator 1000 implements a continuous seal that rides between two continuous and seamless surfaces. In general, this seamless casing allows for the construction of a rotary actuator in which hydraulic ports can be blocked to substantially lock and hold a selected position. Constant output torque can be generated by the application of hydraulic pressure to the axially perpendicular face of the rotary piston.
Referring to FIG. 3A, the actuator 1000 is shown in an exploded, unassembled view. The actuator 1000 includes a housing 1002, a collection of rotary pistons 1004a-1004d, a collection of continuous seals 1006a-1006d, and a rotor 1008. In some embodiments, the length and diameter of the rotary actuator 1000 can be sized by the output load desired from the actuator 1000. While the actuator 1000 is illustrated in this example with four rotary pistons 1004a-1004d, in some embodiments load output can also be adjusted through the use of any other appropriate number of rotary pistons about the axis of the rotor 1008. The actuator 1000 also includes a pair of rotary bushings 1010a-1010b, pairs of rotary seals 1012a-1012b, 1014a-1014b, and 1016a-1016b, a pair of end assemblies 1018a-1018b, and a collection of fasteners 1020.
In general, the actuator 1000 includes the collection of rotary pistons 1004a-1004d which translates rotary motion to the rotor 1008 by reacting to fluid pressure provided between the rotary pistons 1004a-1004d and housing 1002. The rotary pistons 1004a-1004d are separate pieces to allow for assembly into the housing 1002. Each of the rotary pistons 1004a-1004d uses a corresponding one of the continuous seals 1006a-1006d that rides uninterrupted on the inside of a pocket in the housing 1002. In some implementations, the seals 1006a-1006d can be O-rings, X-rings, Q-rings, D-rings, energized seals, or combinations of these and/or any other appropriate form of seals. The rotary pistons 1004a-1004d are keyed to the rotor 1008 to allow for proper spacing and to transmit the load from the rotary pistons 1004a-1004d to the rotor 1008. Radial forces resulting from operating pressure acting on the rotary pistons 1004a-1004d work to seat the rotary pistons 1004a-1004d against the rotor 1008 to maintain relative position. When installed, all rotary pistons 1004a-1004d rotate about the same axis, making them all substantially concentric to each other.
Referring now to FIG. 3B, the actuator 1000 is shown with the rotary seals 1012a-1012b, 1014a-1014b, 1016a-1016b, and the bushings 1010a-1010b assembled with their respective end assemblies 1018a-1018b. FIG. 3B also shows the actuator 1000 with the continuous seals 1006a-1006d assembled with their corresponding rotary pistons 1004a-1004d. Each of the rotary pistons 1004a-1004d includes a continuous seal groove about its periphery. As will be discussed in the description of subsequent assembly stages, the geometry of the continuous seal grooves and the assembled positions of the rotary pistons 1004a-1004d bring the continuous seals into contact with the inner surfaces of the housing 1002.
FIG. 3C shows the actuator 1000 with the rotary piston 1004a partially inserted into the housing 1002 though an opening 1022a formed in a first end of the housing 1002. FIG. 3D shows the actuator 1000 with the rotary piston 1004a fully inserted into the housing 1002.
Referring now to FIG. 3E, the actuator 1000 is shown with the rotary piston 1004b oriented in preparation for insertion into the housing 1002 through the opening 1022a, and FIG. 3F shows the actuator 1000 with the rotary piston 1004b fully inserted into the housing 1002, still in the orientation shown in FIG. 3E.
FIG. 3G is a cross-sectional view of the housing 1002 and the rotary pistons 1004a and 1004b. The illustrated view reveals that housing includes first semi-cylindrical surface 1024 and a second semi-cylindrical surface 1026. The surfaces 1024 and 1026 are oriented along the axis of the housing 1002. The second surface 1026 is formed with a diameter larger than that of the first surface 1024, both of which have diameters larger than that of the opening 1022a and an opening 1022b formed in a second end of the housing 1002. The differences in the diameters of the first and second surfaces 1024 and 1026 provides two pressure cavities 1028a and 1028b within the housing 1002.
In general, the assembly of the rotary pistons 1004a-1004d with the housing 1002 involves orienting one of the rotary pistons, such as the rotary piston 1004b such that it will pass from outside of the housing 1002, through one of the openings 1022a-1022b, to the interior of the housing 1002. Once the rotary piston 1004b is fully inserted into the housing 1002, the rotary piston 1004 can be rotated within the interior space formed by the first surface 1024 and the pressure cavities 1028a-1028b. By positioning the rotary piston 1004b in the position illustrated in FIG. 3G, the continuous seal 1006b is brought into seamless, sealing contact with the first surface 1024, the second surface 1026, an interior end surface 1030B, and an opposing interior end surface 1030a (not shown in the cross-section of FIG. 3G). In some embodiments, the use of the continuous seals 1006a-1006d in seamless contact with a surface such as the interior surfaces 1024, 1026, 1030a and 1030b, can substantially eliminate the leakage generally associated with casings (housings) for some rotary actuators while also providing the mechanical integrity and blocking capabilities generally associated with linear actuators.
Referring now to FIG. 3H, the actuator 1000 is shown with the rotary piston 1004c oriented in preparation for insertion into the housing 1002 through the opening 1022a, and FIG. 31 shows the actuator 1000 with the rotary piston 1004c fully inserted into the housing 1002, still in the orientation shown in FIG. 3H.
FIG. 3J is a cross-sectional view of the housing 1002 and the rotary pistons 1004a-1004c. In the illustrated example, the rotary piston 1004c is shown substantially in its assembled position, having been inserted through the opening 1022a and re-oriented once inside the housing 1002 to bring the continuous seal 1006c into seamless, sealing contact with the first surface 1024, the second surface 1026, the interior end surface 1030b, and an opposing interior end surface 1030a (not shown).
Referring now to FIG. 3K, the actuator 1000 is shown with the rotary piston 1004d oriented in preparation for insertion into the housing 1002 through the opening 1022a. 
FIGS. 3L-3O are cross-sectional views of the housing 1002 and the rotary pistons 1004a-1004d that illustrate four example stages in the assembly of the rotary piston 1004d into the housing 1002. Although FIGS. 3L-3O illustrate the assembly of the rotary piston 1004d, the assembly of the other rotary pistons 1004a-1004c can be performed in a similar manner. In FIG. 3L, the rotary piston 1004d is shown in the position and orientation shown in FIG. 3K, having been inserted through the opening 1022a. Referring now to FIG. 3M, once the rotary piston 1004d is fully within the interior of the housing 1002, the rotary piston 1004d is shifted linearly perpendicular to the axis of the rotary piston 1004d and the housing 1002 to partly occupy the pressure chamber 1028b and contact the second surface 1026 of the pressure chamber 1028b. 
Referring now to FIG. 3N, the rotary piston 1004d is shown partly rotated counterclockwise from the position shown in FIG. 3M. The rotary piston 1004d is rotated substantially about the point where the rotary piston 1004d contacts the second surface 1026 of the pressure chamber 1028b. Such positioning and rotation provide sufficient space to allow the rotary piston 1004d to pivot past the rotary piston 1004a without interference, and result in the configuration shown in FIG. 3O.
FIG. 3O shows the actuator 1000 with the rotary pistons 1004a-1004d in their assembled configuration. In the illustrated configuration, the rotary piston 1004d has been further rotated counterclockwise inside the housing 1002 to bring the continuous seal 1006d into seamless, sealing contact with the first surface 1024, the second surface 1026, the interior end surface 1030b, and an opposing interior end surface 1030a (not shown). The configuration and dimensions of the housing 1002, the openings 1022a-1022b, the rotary pistons 1004a-1004d, the first surface 1024, the second surface 1026, and the pressure chambers 1028a-1028b, permit assembly of the rotary pistons 1004a-1004d into the housing 1002 through the openings 1022a and/or 1022b. Such assembly provides a seamless surface against which the continuous seals 1006a-1006d can rest as depicted by FIG. 3O.
FIG. 3P shows actuator 1000 with the housing 1002 and the rotary pistons 1004a-1004d assembled as depicted in FIG. 3O (partly shown in FIG. 3P), and the rotor 1008 positioned for assembly into the housing 1002. FIG. 3Q shows the rotor 1008 partly assembled with the housing 1002 and the rotary pistons 1004a-1004d (not shown). The rotor 1008 is passed through the opening 1022a to assemble the rotor 1008 with the rotary pistons 1004a-1004d, as will be described in further detail in the descriptions of FIGS. 4A-4D.
FIG. 3R shows the actuator 1000 with the rotor 1008 assembled into the housing 1002, and with the end assemblies 1018a-1018b in position for assembly with the housing 1002. FIG. 3S shows the actuator 1000 with the end assembly 1018a assembled with the housing 1002. Assembly 1018b is similarly assembled to the opposite end of the housing 1002. FIG. 3T shows the actuator 1000 with the end assembly 1018a fastened to the housing by the fasteners 1020. FIG. 3U is another perspective view of the actuator 1000, in which the end assembly 1018b is shown assembled and fastened to the housing 1002 by the fasteners 1020.
FIGS. 4A-4D are exploded and assembled perspective and end views of a rotor assembly 1100. The rotor assembly includes the rotary pistons 1004a-1004d and the rotor 1008. Referring now to FIGS. 4A and 4C wherein the rotary pistons 1004a-1004d are illustrated in exploded views. The rotor 1008 includes a collection of gear teeth 1102, arranged radially about the axis of the rotor 1008 and extending along the length of the rotor 1008. The rotary pistons 1004a-1004d include collections of slots 1104 formed to accept the teeth 1102 when the rotor 1008 is assembled with the rotary pistons 1004a-1004d as illustrated in FIGS. 4B and 4D.
FIGS. 4B and 4D show the rotary pistons 1004a-1004d and the rotor 1008 of the rotor assembly 1100 in assembled views. The assembled configuration of the rotor assembly 1100, the rotary pistons 1004a-1004d (e.g., the configuration as shown in FIG. 3O) form a substantially orbital arrangement of the grooves 1104. The slots 1104 are configured to slidably accept the teeth 1102 of the rotor 1008 during assembly (e.g., FIG. 3Q). Such a configuration thereby allows assembly of the rotor 1008 with the rotary pistons 1004a-1004d through the opening 1022a or 1022b. 
The rotary pistons 1004a-1004d each include an elongated vane 1106. The elongated vanes 1106 are configured to extend from the rotary pistons 1004a-1004d, substantially at the diameter of the first surface 1024, to the second surface 1026. As such, the elongated vanes 1106 extend into the pressure chambers 1028a-1028b, bringing the continuous seals 1006a-1006d into sealing contact with the second surfaces 1026.
The elongated vanes 1106 are assembled in a back-to-back configuration, in which adjacent pairs of the elongated vanes form a pair of opposing rotary piston assemblies 1108. In the assembled configuration, the teeth 1102 of the rotor 1008 engage the slots 1104 of the rotary pistons 1004a-1004d, such that fluidic (e.g., hydraulic) forces applied to the rotary pistons 1004a-1004d can be transferred to the rotor 1008 and cause the rotor to rotate.
FIGS. 5A-5D are cross-sectional views of the example rotary actuator 1000 with the rotor assembly 1100 in various operational positions. Referring to FIG. 5A, the actuator 1000 is shown with the rotor assembly 1100 in a fully clockwise position relative to the housing 1002. The pair of opposing rotary piston assemblies 1108 is disposed radially about the rotor 1008.
The continuous seals 1006a-1006d contact the second surfaces 1026 within the pressure chambers 1028a and 1028b and the first surfaces 1024 to form a pair of sealed, seamless opposing pressure chambers 1202a, and a pair of sealed, seamless opposing pressure chambers 1202b. In some implementations, opposing pressure chambers can be fluid communication to balance the fluid pressures in opposite pairs of pressure chambers. In some implementations, the opposite pressure chambers can have equal surface areas as the rotor 1008 rotates within the housing 1002.
The opposite pressure chambers 1202a and 1202b defined by the stator housing assembly 1002 and the rotor assembly 1100 have substantially equal surface areas as the rotor assembly 1100 rotates within the housing 1002. In some implementations, such a configuration of equal opposite chambers supplies balanced torque to the rotor assembly 1100.
In the configuration illustrated in FIG. 5A, the rotor assembly 1100 is in a fully clockwise position, in which the rotary piston assemblies 1108 are in contact with hard stops 1204 formed at the junctions of the first and second surfaces 1024 and 1026. A pressurized fluid (e.g., hydraulic fluid) can be applied to a fluid port 1210 that is in fluid communication with the pressure chambers 1202a. Similarly, the pressurized fluid can be applied to a fluid port 1212 that is in fluid communication with the pressure chambers 1202b. In some implementations the opposing pressure chambers 1202a can be adapted to be connected to an external pressure source through the fluid port 1210, and the opposing pressure chambers 1202b can be adapted to be connected to a second external pressure source through the fluid port 1212. In some implementations, the first external pressure source can provide a rotational fluid (e.g., hydraulic fluid) at a first pressure for contacting a first pair of sides of the rotary piston assemblies 1108 and the second external pressure source can provide a rotational fluid for contacting a second pair of sides of the rotary piston assemblies 1108.
Referring now to FIG. 5B, as the fluid is applied through the fluid port 1210 the rotor assembly 1100 is urged counterclockwise relative to the housing 1002. As the rotor assembly 1100 rotates, the rotary piston assemblies 1108 sweep the continuous seals 1006a-1006d along the second surfaces 1026 while the rotary pistons 1004a-1004d sweep the continuous seals 1006a-1006d along the first surfaces 1024. Fluid in the pressure chambers 1202b, displaced by the rotation of the rotor assembly 1100, flows out through fluid ports (not shown) in fluid communication with a fluid port 1212.
Referring now to FIG. 5C, as the fluid further fills the pressure chambers 1202a, the rotor assembly 1100 continues to rotate counterclockwise. Eventually, as depicted in FIG. 5D, the rotor assembly 1100 can reach a terminal counterclockwise position relative to the housing 1002. Counterclockwise rotation of the rotor assembly 1100 stops when the rotary piston assemblies 1108 contact hard stops 1206 formed at the junctions of the first and second surfaces 1024 and 1026.
FIG. 6 is a perspective view of a second example rotary actuator 1300. The rotary actuator 1300 includes a stator housing 1302, a rotor 1304, and static rotary piston assemblies (not visible in this view). The configurations of the rotor 1304 and the static rotary piston assemblies are discussed further in the descriptions of FIGS. 7-10.
The stator housing 1302 is generally formed as a cylinder with a central bore 1306. The rotor 1304 and the static rotary piston assemblies are assembled as an insert assembly 1400 which is then assembled with the stator housing 1302 by inserting the insert assembly 1400 into the through bore 1306 from a stator housing end 1308a or a stator housing end 1308b. The insert assembly 1400 is secured within the stator housing 1302 by assembling bushing assemblies 1310a and 1310b to the stator housing 1302. In the illustrated example, the bushing assemblies 1310a, 1310b include screw threads (not shown) that mate with screw threads (not shown) formed in the through bore 1306 to threadably receive the bushing assemblies 1310a, 1310b. 
The stator housing 1302 also includes a collection of fluid ports 1312. The fluid ports 1312 are in fluid connection with fluid passages (not shown) formed through the body of the stator housing 1302. The fluid passages are discussed in the descriptions of FIGS. 11A-11C.
FIG. 7 is an exploded view of an example rotary actuator insert assembly 1400. In general, the insert assembly 1400 includes the rotor 1304 and static rotary piston 1404a, 1404b discussed in the description of FIG. 6 as being inserted into the through bore 1306 of the stator housing 1302 and secured by the bushing assemblies 1310a, 1310b. 
The insert assembly 1400 includes the rotor 1304, a static piston 1404a, and a static piston 1404b. The rotor 1304 includes end sections 1350, a first diameter 1422, and a second diameter 1424. The end sections 1350 are formed about the axis of the rotor 1304 with a diameter substantially similar to, but smaller than, that of the through bore 1306. The second diameter 1424 is formed about the axis of the rotor 1304 with a radial diameter smaller than that of the end sections 1350. The first diameter 1422 is formed about the axis of the rotor 1304 as a pair of substantially quarter sector recesses, in which the radial diameter of the first diameter 1422 is smaller than that of the second diameter 1424.
The static pistons 1404a, 1404b each include two continuous seal grooves 1406 which receive continuous seals 1408. The static pistons 1404a, 1404b are formed as substantially half-sector in the illustrated example, with an outside diameter approximately that of the bore 1306 such that the static pistons 1404a, 1404b will substantially occupy the space within the bore 1306 when assembled. The axial lengths of the static pistons 1404a, 1404b are selected such that the static pistons1404a, 1404b will substantially fill the axial length of the rotor 1304 between the end sections 1350 and cause sections of the continuous seals 1408, resting in the continuous seal grooves 1406, to be in sealing contact with the interior surfaces of the end sections 1350.
The static pistons 1404a, 1404b each include five primary interior surfaces; two interior walls 1420, an inner vane 1352, and two outer vanes 1354. The interior walls 1420 form an inner cylindrical surface which is concentric to the outer cylindrical surfaces of the static pistons 1404a, 1404b. Each interior wall 1420 is interrupted by the inner vane 1352 which extends radially inward perpendicular to the interior wall 1420. The interior walls 1420 are terminated at their semi-cylindrical ends by the outer vanes 1354, which extend radially inward perpendicular to the interior wall 1420.
The inner vane 1352 extends an inward distance from the interior wall 1420 such that sections of the continuous seals 1408, resting in the continuous seal grooves 1406, will be brought into sealing contact with the first diameter 1422 of the rotor 1304. The outer vanes 1354 extend an inward distance from the interior wall 1420 such that sections of the continuous seals 1408, resting in the continuous seal grooves 1406, will be brought into sealing contact with the second diameter 1424 of the rotor 1304. A portion of the continuous seals 1408 disposed in the continuous seal grooves 1406 on the lateral face of static pistons 1404a, 1404b are in sealing contact with interior lateral surfaces of the end sections 1350. When assembled, the rotor 1304, the static pistons 1404a, 1404b, and the continuous seals 1408 form four fluid pressure chambers. In some implementations, opposite pairs of fluid chambers can have equal surface areas as the rotor 1304 rotates within the housing 1302. In some implementations, an opposite pair of the fluid chambers can be adapted to be connected to an external pressure source and a second opposite pair of the fluid chambers can be adapted to be connected to a second external pressure source. These chambers are described further in the description of FIG. 10.
FIG. 8 is a side cross-sectional view of the example rotary actuator 1300. In this view, the rotor 1304 and the static pistons 1404a, 1404b are shown assembled with the housing 1302. In general, the continuous seals 1408 are placed in the continuous seal grooves 1406, and the static pistons 1404a, 1404b are assembled into the rotor 1304 between the end sections 1350. The assemblage of the static pistons 1404a, 1404b and the rotor 1304 is then inserted into the housing 1302 through one of the housing ends 1308a, 1308b, and is retained axially by the bushing assemblies 1310a and 1310b. 
FIG. 9 is an end cross-sectional view of the example rotary actuator 1300 without the rotor 1304 shown. In this view, the cross-section is taken across an area near the mid-section of the rotary actuator 1300. In this view, the static pistons 1404a, 1404b are visible in their assembled positions within the bore 1306 of the housing 1302. The continuous seals 1408 are visible within the continuous seal grooves 1406. In this view, the cross-sections of the continuous seals 1408 are located at the inner vanes 1352 and the outer vanes 1354. In some implementations, the inner vanes 1352 can extend an inward perpendicular distance from the two interior partial cylindrical surfaces of the static pistons 1404a, 1404b such that portions of the continuous seals 1408 disposed in the continuous seal grooves 1406 in the through faces of the inner vanes 1352 will contact the first diameter 1422 of the rotor 1304.
FIG. 10 is an end cross-sectional view of the example rotary actuator 1300 with the rotor 1304. In this view, the cross-section is taken across an area just inside a proximal end section 1350 of the rotary actuator 1300. In this view, the static pistons 1404a, 1404b are visible in their assembled positions within the bore 1306 of the housing 1302. The continuous seals 1408 are visible within the continuous seal grooves 1406. In this view, the sections of the continuous seals 1408 are shown extending from the inner vanes 1352, along a proximal end of the static pistons 1404a, 1404b, to the outer vanes 1354 contacting surface of rotor 1304 first diameter 1422 and second diameter 1424 at respective ends.
In this configuration, axial portions of the continuous seals 1408 are brought into contact with the rotor 1304, and end portions of the continuous seals 1408 are brought into contact with the interior surfaces of the end sections 1350. The assemblage of the rotor 1304, the static pistons 1404a, 1404b, and the continuous seals 1408 form four pressure chambers 1702a, 1702b, 1704a, and 1704b. Opposing pair of pressure chambers 1702a and 1702b are in fluid communication with a fluid port 1712a, and opposing pair of pressure chambers 1704a and 1704b are in fluid communication with a first fluid port 1712b. In some implementations, the fluid ports 1712a and 1712b can be the fluid ports 1312 of FIG. 6.
FIGS. 11A-11C are cross-sectional views of the rotary actuator 1300 in various operational positions. Referring to FIG. 11A, the rotary actuator 1300 is shown with the static pistons1404a and 1404b assembled with the housing 1302. The rotor 1304 is assembled with the static pistons1404a and 1404b at a substantially counterclockwise rotational limit, a counterclockwise hard stop 1802.
Fluid is applied to the fluid port 1712b, which fluidly connects to the pressure chambers 1704a, 1704b through a fluid passage 1812b. The pressure chambers 1702a, 1702b are fluidly connected to the fluid passage 1712a through a fluid port 1812a. 
As fluid is applied to the fluid port 1712b, the pressure increases in pressure chambers 1704a, 1704b and fluid exhaust from fluid chambers 1702a, 1702b through fluid port 1712a to urge the rotor 1304 to turn in a clockwise direction. FIG. 11B shows the rotary actuator 1300 in which the rotor 1304 is in a partly rotated position. As fluid fills to expand the pressure chambers 1704a, 1704b and urge the rotor 1304 to turn, the pressure chambers 1702a, 1702b are proportionally reduced. The fluid occupying the pressure chambers 1702a, 1702b is urged though the fluid port 1812a and out the fluid port 1712a. In some implementations, the rotor 1304 can be held in substantially any rotational position by blocking the fluid ports 1712a, 1712b. In some implementations, fluid ports can be simultaneously blocked by a flow control valve in the hydraulic circuit. The continuous seals block the cross fluid chamber leakage.
As fluid continues to be applied to the fluid port 1712b, the rotor 1304 continues to rotate relative to the static pistons1404a, 1404b, until the rotor 1304 encounters a substantially clockwise rotational limit, a clockwise hard stop 1804. Referring now to FIG. 11C, the rotary actuator 1300 is shown where the rotor 1304 is at a substantially clockwise rotational limit, at the clockwise hard stop 1804. This rotational process can be reversed by applying fluid at the fluid port 1712a to fill the pressure chambers 1702a, 1702b and exhausting fluid from pressure chambers 1704a, 1704b through fluid port 1712b to urge the rotor 1304 to rotate counterclockwise.
Although in FIGS. 6-11C the static pistons 1404a, 1404b are illustrated as being in two parts, in some embodiments, three, four, five, or more static pistons may be used in combination with a correspondingly formed rotor.
FIG. 12 is a flow diagram of an example process 1200 for rotating a hydraulic blocking rotary actuator (e.g., the first embodiment hydraulic blocking rotary actuator 1000 of FIGS. 3A-5D, and the second embodiment hydraulic blocking rotary actuator 1300 of FIGS. 6A-11C). More particularly with regard to the first embodiment, at step 1210, a rotor assembly 1100, the rotor 1008 and the rotary pistons 1004a-1004d are provided. The rotor assembly includes a rotor hub (e.g., rotor hub 1008, 1304) adapted to connect to an output shaft, and has at least two opposing rotary piston assemblies (e.g., rotary piston assemblies 1108) disposed radially on the rotor hub. Each of the rotary piston assemblies includes a first vane disposed substantially perpendicular to a longitudinal axis of the rotor (e.g., the elongated vanes 1106), and a corresponding one of the continuous seals (e.g., seals 1006a-1006d) that rides uninterrupted on the inside of a seal groove. In some implementations, the output shaft can be configured to connect to a rotary valve stem.
At step 1220, a stator housing (e.g., the stator housing 1002) is provided. The stator housing has a middle chamber portion including an opposing pair of arcuate ledges (e.g., hard stops 1204) disposed radially inward along the perimeter of the chamber, each of said ledges having a first terminal end and a second terminal end. In some implementations, the stator housing can be adapted for connection to a valve housing.
At step 1230, a rotational fluid is provided at a first pressure and contacting the first vane with the first rotational fluid. For example, hydraulic fluid can be applied through the fluid port 1210 to the chambers 1202a.
At step 1240, a rotational fluid is provided at a second pressure less than the first pressure and contacting the second vane with the second rotational fluid. For example, as the rotor assembly rotates clockwise, fluid in the fluid chambers 1202a is displaced and flows out through the fluid port 1212.
At step 1250, the rotor assembly is rotated in a first direction of rotation. For example, FIGS. 5A-5D illustrate the rotor assembly 1100 being rotated in a counterclockwise direction.
At step 1260, the rotation of the rotor assembly is stopped by contacting the first terminal end of the first ledge with the first vane and contacting the second terminal end of the first ledge with the second vane. For example, FIG. 5D illustrates the rotor assembly 1100 with the elongated vanes 1106 in contact with hard stops 1204.
In some implementations, the rotor assembly can be rotated in the opposite direction to the first direction of rotation by increasing the second pressure and reducing the first pressure until the second pressure is greater than the first pressure. In some implementations, the rotation of the rotor assembly in the opposite direction can be stopped by contacting the first terminal end of the first ledge with the second vane and contacting the second terminal end of the first ledge with the first vane.
In some implementations, the first terminal end can include a first fluid port formed therethrough and the second terminal end can include a second fluid port formed therethrough. Rotational fluid at a first pressure can be provided through the first fluid port and rotational fluid at a second pressure can be provided through the second fluid port. For example, fluid can be applied at the fluid port 1210 and flowed to the chambers 1202a through fluid ports (not shown) formed in the hard stops 1204. Similarly, fluid can be applied at the fluid port 1212 and flowed through fluid ports (not shown) formed in the hard stops 1204.
With regard to the second embodiment, at step 1210, the rotor 1304 is provided. The rotor 1304 includes the end sections 1350 formed about the axis of the rotor 1304 with a diameter substantially similar to, but smaller than, that of the through bore 1306. The second diameter 1424 is formed about the axis of the rotor 1304 with a radial diameter smaller than that of the end sections 1350. The first diameter 1422 is formed about the axis as a pair of substantially diametrically opposed quarter sector recesses, in which the radial diameter of the first diameter 1422 is smaller than that of the second diameter 1424. In some implementations, the rotor 1304 can be configured to connect to the hinge line of a flight control surface.
At step 1220, a stator housing (e.g., the stator housing 1302) is provided. The housing 1302 is generally formed as a cylinder with a central bore 1306. The rotor 1304 and the static piston assemblies 1404a-1404b are assembled with the housing 1302 by inserting the rotor 1304 and the static pistons assemblies 1404a-1404b into the through bore 1306 from a housing end 1308a or a housing end 1308b. 
At step 1230, a rotational fluid is provided at a first pressure and contacting the first inner vane side of a static piston while acting against the differential area created by the height difference between the first diameter 1422 and second diameter 1424 of the rotor 1304 with the first rotational fluid. For example, hydraulic fluid can be applied through the fluid port 1712b to the chambers 1704a. 
At step 1240, a rotational fluid is provided at a second pressure less than the first pressure and contacting the second inner vane side of a second static piston while acting against the differential area created by the height difference between the first diameter 1422 and second diameter 1424 of the rotor 1304 with the second rotational fluid. For example, as the rotor 1304 rotates clockwise, fluid in the fluid chambers 1702a is displaced and flows out through the fluid port 1712a. 
At step 1250, the rotor 1304 is rotated in a first direction of rotation. For example, FIGS. 11A-11C illustrate the rotor 1304 being rotated in a clockwise direction.
At step 1260, the rotation of the rotor 1304 is stopped by contacting an edge of the second diameter 1424 with the inner vane of the static piston. For example, FIG. 11C illustrates the rotor 1304 with an edge of the second diameter 1424 in contact with hard stops 1804.
In some implementations, the rotor can be rotated in the opposite direction to the first direction of rotation by increasing the second pressure and reducing the first pressure until the second pressure is greater than the first pressure. In some implementations, the rotation of the rotor in the opposite direction can be stopped by contacting an edge of the second diameter 1424 and contacting the hard stop 1802.
In some implementations, the first terminal end can include a first fluid port formed therethrough and the second terminal end can include a second fluid port formed therethrough. Rotational fluid at a first pressure can be provided through the first fluid port and rotational fluid at a second pressure can be provided through the second fluid port. For example, fluid can be applied at the fluid port 1712a and flowed to the chambers 1702a through fluid ports formed in the hard stops 1804. Similarly, fluid can be applied at the fluid port 1712b and flowed through fluid ports formed in the hard stops 1802.
Although a few implementations have been described in detail above, other modifications are possible. Accordingly, other implementations are within the scope of the following claims.

## Claims

1. A hydraulic blocking actuator comprising:
a stator housing having a bore disposed axially therethrough;
a first static piston assembly and a second static piston assembly, each static piston assembly having an outer longitudinal peripheral surface adapted to contact an inner wall of a portion of the stator housing, each static piston assembly including:
two interior partial cylindrical surfaces, a single radial inwardly disposed vane positioned between the two interior partial cylindrical surfaces, and two radial inwardly disposed half vanes positioned at respective distal ends of the two interior partial cylindrical surfaces, wherein the first static piston assembly and the second static piston assembly are disposed with one of the half vanes of the first static piston assembly adjacent longitudinally to one of the half vanes of the second static piston assembly and the other half vane of the first static piston assembly adjacent longitudinally to the other half vane of the second static piston assembly, and wherein each of the single vane and the half vanes has an inwardly disposed peripheral longitudinal face and a first lateral peripheral face and a second lateral peripheral face;
each static piston assembly further includes two continuous seal grooves, each of said seal grooves disposed in a pathway along the peripheral longitudinal face and the first and second peripheral lateral faces of the single vane and the peripheral longitudinal faces and the first and second peripheral lateral faces of one of the half vanes;
a continuous seal disposed in each of the two continuous seal grooves; and

a rotor adapted to be received in the bore of the housing.

2. The actuator of claim 1 wherein the rotor includes a first end section and a second end section and a middle section disposed between the first end section and the second end section; said first and second end sections being formed about the axis of the rotor and having a diameter adapted to be received in the bore of the housing, said middle section having a first diameter formed about the axis of the rotor with a radial diameter smaller than the diameter of the end sections, said middle section further including a pair of opposing pair of recesses about the axis of the rotor, each opposing recess having a second diameter smaller than the first diameter.

3. The actuator of claim 2 wherein the single radial vane extends an inward perpendicular distance from the two interior partial cylindrical surfaces such that portions of the continuous seals disposed in the continuous seal grooves in the longitudinal face of the single vane will contact the second diameter of the rotor and the half vanes extend an inward perpendicular distance from the two partial cylindrical surfaces such that portions of the continuous seals disposed in the continuous seal grooves in the longitudinal face of the half vanes, will contact with the first diameter of the rotor.

4. The actuator of claim 1 further including first and second end bearing assemblies, each assembly having a shaft bore adapted to receive a respective output shaft portion of the rotor and each of said first and second end bearing assemblies adapted to seal each respective end bore portions of the housing.

5. The actuator of claim 4 wherein a portion of the continuous seals disposed in the continuous seal grooves on the lateral faces of the first static piston assembly and the lateral faces of the second static piston assembly are in sealing contact with interior surfaces of the first and second ends of the rotor.

6. The actuator of claim 3 wherein the single vane of the first static piston assembly and the single vane of the second static piston assembly are disposed opposite each other inside the middle section of the rotor.

7. The actuator of claim 6 wherein two adjacent half vanes are disposed opposite two other adjacent half vanes inside the middle section of the rotor.

8. The actuator of claim 3 wherein the first static piston assembly and the second static piston assembly, with the rotor define four pressure chambers.

9. The actuator of claim 8 wherein opposite pressure chambers have equal surface areas as the rotor rotates within the housing.

10. The actuator of claim 1 wherein the rotor is configured to connect in a hinge line to a flight control surface.

11. The actuator of claim 1 wherein the stator housing is adapted for connection to a fixed flight surface in a wing.

12. The actuator of claim 1 wherein the continuous seals are selected from the group consisting of an O-ring, an X-ring, a Q-ring, a D-ring, and an energized seal.

13. The actuator of claim 8 wherein a first opposite pair of the pressure chambers is adapted to be connected to a first external pressure source and a second opposite pair of the pressure chambers is adapted to be connected to a second external pressure source.

14. A method of rotary actuation comprising:
providing a rotary actuator including:
a stator housing having a bore disposed axially therethrough;
a first static piston assembly and a second static piston assembly, each static piston assembly having an outer longitudinal peripheral surface adapted to contact an inner cylindrical wall of a portion of the stator housing, each static piston assembly including:
two interior partial cylindrical surfaces, a single radial inwardly disposed vane positioned between the two interior partial cylindrical surfaces, and two radial inwardly disposed half vanes positioned at respective distal ends of the two interior partial cylindrical surfaces, wherein the first static piston assembly and the second static piston assembly are disposed with one of the half vanes of the first static piston assembly adjacent longitudinally to one of the half vanes of the second static piston assembly and the other half vane of the first static piston assembly adjacent longitudinally to the other half vane of the second static piston assembly, and wherein each of the single vanes and the half vanes has a inwardly disposed peripheral longitudinal face and a first peripheral lateral faces and a second peripheral lateral face;
each static piston assembly further includes two continuous seal grooves, each of said seal grooves disposed in a pathway along the peripheral longitudinal face and the first and second peripheral lateral faces of the single vane and the peripheral longitudinal face and the first and second peripheral lateral faces of one of the half vanes;
a continuous seal disposed in each of the two continuous seal grooves; and
a rotor adapted to be received in the bore of the housing, said rotor including a first end section and a second end section and a middle section disposed between the first end section and the second end section; said first and second end sections being formed about the axis of the rotor and having a diameter adapted to be received in the bore of the housing, said middle section having a first diameter formed about the axis of the rotor with a radial diameter smaller than the diameter of the end sections, said middle section further including a pair of opposing recesses about the axis of the rotor, each opposing recess having a second diameter smaller than the first diameter, wherein the middle section of the rotor includes first, second, third and fourth longitudinal faces, each between respective portions of the first diameter and the second diameter;

providing a first fluid at the first pressure to the first and second longitudinal faces on the middle section of the rotor;
providing a second at a second pressure to the third and fourth longitudinal face on the middle section of the rotor; and
rotating the rotor in a first direction of rotation, when the second pressure is less than the first pressure.

15. The method of claim 14, wherein the single vane extends an inward perpendicular distance from the two interior partial cylindrical surfaces such that portions of the continuous seals disposed in the continuous seal grooves in the longitudinal face of the single vane will contact the second diameter of the rotor and the half vanes extend an inward perpendicular distance from the two partial cylindrical surfaces such that portions of the continuous seals disposed in the continuous seal grooves in the longitudinal face of the half vanes, will contact with the first diameter of the rotor.

16. The method of claim 14, further comprising stopping the rotation of the rotor by contacting the first longitudinal face of the middle section of the rotor with one of the single vanes of the static piston assemblies.

17. The method of claim 14, further
rotating the rotor in a second direction opposite to the first direction of rotation by increasing the second pressure and reducing the first pressure until the second pressure is greater than the first pressure.

18. The method of claim 17, further including:
stopping the rotation of the rotor in the opposite direction by contacting the second longitudinal face of the middle section of the rotor with one of the single vanes of the static piston assemblies.

19. The method of claim 14, wherein the first and second longitudinal faces cooperate with the single inwardly disposed vanes and the half vanes of the first and second static piston assemblies to define a first pair of opposite chambers, and the third and fourth longitudinal faces cooperate with the single inwardly disposed vanes and the half vanes of the first and second static piston assemblies to define a second pair of opposite chambers, such that the first fluid at the first pressure is provided to the first pair of opposite chambers, and the second at the second pressure is provided to the second pair of opposite chambers.

20. The method of claim 14, wherein the first lateral peripheral face further includes a first fluid port formed therethrough and the second lateral peripheral face includes a second fluid port formed therethrough, and wherein providing the first fluid at the first pressure comprises providing the first fluid through the first fluid port and providing the second fluid at the second pressure comprises providing the second fluid through the second fluid port.