DE1809215A1 - Servo motor - Google Patents

Description

ing. B. HOLZEB

89 AUGSBURG

Mt *

N. 128

Augsburg, November 14, 1968

National Research Development Corporation, Kingsgate House, 66-74 Victoria Street, London S.W.l, England

Servo motor

The invention relates to servomotors having a drive element and an output element, furthermore with one with respect to these elements stationary part, further with an inlet and an outlet for fluid, furthermore with a the output element in relation to the stationary part in each case moving motor, which has a plurality of pistons which is guided in an equal number of cylinders

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Bind and which cooperate with a cam surface in such a way that the output element each then with respect to the stationary part is moved when the individual cylinders behind the pistons are put under pressure or relieved of pressure in a certain order «

The invention is intended to solve the problem at To achieve such servo motors a simpler, more versatile and a large gain with respect to the forces to be transmitted enables construction.

In terms of solving this problem, a servo motor is used of the aforementioned kind according to the invention thereby characterized in that the engine is provided with openings for Control of the fluid between said inlet and arrangement serving said outlet and working spaces of said cylinders, a portion of which with respect to said stationary part is fixed, of which also a further part in fixed with respect to the drive element and from which again another part relating to the output element are arranged stationary, and welolfo formed in such a way Is that through them connections between the fluid inlet, the fluid outlet and the work rooms

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are interrupted when the position of the output element corresponds to the respective position of the drive element, that furthermore in relation to a displacement of the drive element and the second-mentioned arrangement part on the stationary part between the working spaces and the fluid inlet and outlet connections through which the output element and with it also the third arrangement part by the engine in one of the In each case the new position of the drive element is moved in accordance with the position in which the latter the connections between the working spaces and the flow medium inlet or outlet are interrupted again, so that further with one Displacement of the output element and thereby also of the third-mentioned arrangement part with respect to the stationary one Part and thus also in relation to the drive element between the working spaces and the fluid inlet or outlet Connections are made, on the basis of which the output element by the motor in the relevant position of the Drive element corresponding position is returned, each following such a return the Connections between the work spaces and the fluid inlet or outlet can be interrupted again by the above-mentioned arrangement.

Two embodiments of the invention are shown in the drawings and will be discussed in more detail below

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wrote. They represent:

Fig. 1 is a schematic axial section of a

Servo motor according to the invention,

Fig. 2 is a schematic section along the

Level II-II in Fig. 1,

Fig. J5 is a schematic section along the

Level III-III in Fig. 1,

Fig. 4 is a schematic section along the

Level IV-IV in Fig. 1,

Fig. 5 is a schematic section along the

Plane V-V in Fig. 1,

6 shows a part of a schematic section

along the plane VI-VI in Fig. 1,

7 shows a schematic development of the in

Fig. 1 shown servo motor *

FIG. 8 shows that between A and B in FIG. 7

Partial area with a different working position of the servomotor,

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Fig. 9 one of the pig. 8 similar view

with another working position of the servomotor,

Flg. 10 a schematic axial section of a

Another embodiment of a servo motor according to the invention,

Fig. 11 is a schematic section along the

Plane XI-XI in Fig. 10 and

12 shows a schematic development of ring-shaped, apertured Individual parts of the servo motor shown in FIG. 10.

The servomotor according to the invention shown in FIG. 1 has five housing parts 1, 2, 5, 4 and 5. In the facing, radially extending end faces 10 and 11 of the two end-face, ring-shaped housing parts 1 and 5, two ring channels 6, 7 and 8, 9 are formed, as can be seen in part from FIG. The two housing parts 2 and 4 are on the one hand with their radially extending end faces 12 and Ij on the end faces 10 and 11 and on the other hand via an axially extending, cylindrical extension 14 or 15 on the annular housing part 2, whose :. - 5 -

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inner peripheral surface 16 as a cam track for one below is designed to be described spherical motor.

The five housing parts 1 to 5 are for example by means of Screws 17 are rigidly connected to one another and thereby form an inherently rigid housing unit.

In each of the two housing parts 1 and 5 there are two

"Channels 18 formed, of which only one can be seen in FIG. 1 is and one of which one of four pressure medium supply lines or discharge lines 19 (of which in Fig. 1 only two are shown) from the outside of the engine, each with one of the two ring channels 6 and 7 or 8 and 9 connects.

The housing part 5 is provided with a flange 20, with which the motor can be connected to a device to be controlled by it. In the facing end faces 10 and 11 of the two end housing parts 1 and 5 are Three annular grooves 21 are formed in each case in the "O" ring seals 21 'are inserted, polygamy leakage of the fluid from the ring channels.6, 7 or »8, 9 prevent.

The housing parts 2, 3 and 4 located on the inside in the axial direction delimit an engine compartment 22 in which the rotating

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Elements of the engine are arranged and one of which is not illustrated process.

At an axially in a central opening 24 of the end-side Housing part 1 protruding, hub-like extension 23 of the Housing part 2 is a tubular Plansch 25 attached, which, for example, to connect an 'electric stepper motor 26, the shaft 27 of which is connected at 28 to the drive shaft 29 of the servo motor according to the invention. the Drive shaft 29 protrudes so far through a center in the housing part 2 formed hole 30 through that you have one The end 31 is located approximately halfway along the axial length of the servomotor within the motor compartment 22. One in a counterbore of the Housing part 2 inserted seal 32 is close to the Drive shaft 29 and thereby prevents an escape from Fluid along the central bore 30.

An output shaft 33 protruding from the housing projects, starting from the engine compartment 22, through a central bore JK formed in the housing part 4. The output shaft 33 is rotatably mounted in the housing part 4 by means of a roller bearing 35, while the escape of fluid along this output shaft 33 is prevented by a seal 36.

One with the output shaft 32, preferably a common one Part forming flange 37 goes on its radially outer circumference

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peripheral edge in an annular cylinder block 38 over, in which, for example, sixteen cylinders 39 are formed, the axes of which are relative to the common axis of the Drive shaft 29 and output shaft 33 each run radially and which in relation to the common axis of the drive and the output shaft are each arranged at the same angular distance from one another, as can be seen from FIG. 6 is. The cylinders 39 each open into the radially outer circumferential surface of the cylinder block 38 and are each arranged in such a way that they face the cam track 16 of the housing part 3. The cylinders 39 are each over a bore 40 running coaxially to them with the radially inner cylinder surface of the cylinder block 38 in connection. In each cylinder 39 there is a ball 41 serving as a piston, each of which is connected to the cylinder walls form a sliding fit.

On the end face facing away from the flange part 37, an annular body 42 is attached to the cylinder block 38, in its Bore a the drive shaft 29 receiving bearing 43 is used is. To prevent leakage of fluid between the abutting surfaces of the cylinder block 38 and the To avoid ring body 42 through, a seal 44 is inserted between these two parts.

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Roller bearings 45 prevent helative movements between the the output shaft 33, the flange part 37, the cylinder block 38 and the annular body 42 having the rotor and the housing formed from the housing parts 1 to 5.

One with the end 31 'of the drive shaft 29 preferably a disc-shaped control element 46 forming a common part has a radially outer, cylindrical circumferential surface. on that with the darial inner peripheral surface of the Cylinder block 38 forms such a fit that the Control element 46 and the cylinder block 38 are freely rotatable with respect to one another. The radially extending end faces of the disk-shaped control element 46 are in such a way on radially extending end faces of the ring body 42 and the flange part 37 indicates that these parts can still be rotated relative to one another. The control element 46 has coaxially extending Recesses 47 which are connected to one another via bores 48.

The control of the fluid between the lines 19 and the working spaces located inside the cylinder 39 behind the balls 41 are carried out by means of a passageway Arrangement to which the two housing parts 2 and 4 also belong. Reference is made below to FIG. 3, in which a schematic cross section of the housing part 4

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is shown. In the housing part 4 there are eight radially extending Channels 4-8 "formed," their radially outer ends are closed by means of plugs 4-9. Two axially extending channels open into each of these radially extending channels 48 ' 50, 51 or 50, 52. The axially extending channels 50 open each in the radially inner end of the relevant radially 'extending Canal 4-8 '. The eight channels 50 are located on a common axis of the drive shaft 29 and the output

^ drive shaft 33 coaxially extending circle and open into arcuate overflow openings 50 '(Fig. 4 ·), which the latter are formed in the radially extending end face of the housing part 4- adjacent to the disk-shaped control element. The axially extending channels 51 '52 lead through the housing part 4 passes to the housing part 5 · These channels 51 and 52 are alternately disposed with different radial center distance on concentric circles, with four of the axial channels 51 are arranged ^a uf a circle to that of the radius of the input channel 8 corresponds,

Ψ while the other four axial channels 52 are arranged on a circle whose radius corresponds to that of the annular channel 9. As a result, every second axial channel 50 is constantly connected to the ring channel 8 or 9, which is readily apparent when the circular arrangement of these channels 50 is considered. ,

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The ring channel 8 is connected to one of the channels 18 via an axial channel 53, while the ring channel 9 is connected via a further axial channel is connected to another of the channels 18. Channels 6 and 7 are in the same way via an axial channel 55 or 54 · each with one in Channel 18, not shown in the drawings, and consequently also one of the lines 19, as shown in FIG. 2 emerges.

The housing part 2 has in the same way axially and radially extending channels and arcuate overflow openings on, as has already been done with reference to the housing part 4 has been described. It should be noted here, however, that the channels and openings formed in the housing part 2 in relation to the respective corresponding channels and openings formed in the housing part 4 by one below Descriptive angle are offset from one another.

Pig. 5 referred to. In the with the output shaft 33 a common part forming flange part 37 and the annular body 42 are each sixteen axially extending channels 56 formed, each with the same Angular distance around the common axis of the drive shaft and the output shaft are arranged around, the in the Annular body 42 formed channels 56 with respect to the channels 56 formed in the flange part 37 by one below

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/ It.

Angular size yet to be described arranged offset to one another are. The radii of the circles formed by the channels 56 correspond to the radii of those circles on which the channels 50 and the overflow openings 50 'are located. The channels 56 are on both radially extending end faces of the flange part 37 and the annular body 42 are each open.

Like from the Pig. 1 and 6, sixteen axially extending, equally angularly spaced channels 57 are formed in the disk-shaped control element 46, which lie on a circle, the axis of which coincides with the common axis of the drive shaft 29 and the output shaft 33 and the diameter of which corresponds to the diameters of those Corresponds to circles on which the channels 56, 50 and the overflow openings 50 ¹ lie. The channels 57 are each open on both radially extending end faces of the disk-shaped control element 46. Sixteen radially extending channels 58 are also formed in the control element 46, each of which connects one of the axial channels 57 to an overflow opening 58 ′ formed in the radially outer circumferential surface of this control element 46. The axes of the radial channels 58 lie in the same plane as the axes of the channels 40 leading from the cylinder bases of the cylinders 39 to the radially inner circumferential surface of the cylinder block 38.

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ii "." «» ΊΙΙΙιιΐΓβίΙΡΒί ¹ " ¹¹¹ Ii" ¹ " ¹¹¹ ! JNjf

In IFig. 7 is a schematic development of the aforementioned, provided with passages, the housing _3, the flange part 37 »the ring body. 42 and the disk-shaped control element 46 having arrangement.

Like from Pig. 7, the channels 56 formed in the flange portion 37 are angularly related on the channels 56 formed in the singing body 42 offset at an angle arranged, which is the same angle that, starting from the motor axis, each one of the in the Control element 46 includes channels 57 formed, i.e., an edge-to-edge slide assembly is formed.

The channels formed in the housing part 2 and the centers of the channels formed in this housing part 2 are arcuate elongated tubar flow openings 50 'are in relation to the in channels and overflow openings formed in the same way in the housing part 4, which are used to control the balls within of the sector determined in each case by a cam half of the cam track, each angularly offset by an angle arranged, which corresponds to the sum of those angles which, starting from the motor axis, each one of channels 56 and one of channels 57 include.

The sum of the respective starting from the motor axis, one channel 56 and one overflow opening 50 'each

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The closing angle corresponds in each case to an angle starting from the motor axis and enclosing one cam half of the cams located in the course of the cam track 16. However, if the one of the Überströaöffnungen _s is reduced 50 'enclosing angle so that the angular sum above is slightly smaller than the one halb® Nooke enclosing angle, then a cam track with concentric cam surfaces are used which have a greater tolerance · "in the dimensioning the separating arrangement, ie the overflow openings 50 'with respect to the channels 56. Merely as an example, it should be mentioned here that in one embodiment of a servo motor according to the invention

a) one of the channels 56 in relation to the rotor axis enclosing angles for example 7 1/2 ° and

b) the angle enclosing the © inen Kanal 57 © as well 7 1/2 °.

When the angle enclosing a channel 57 in. With regard to the aforementioned dimensions, "at which an edge on edge® slide arrangement is formed., enlarged or reduced, so is obtained one in the appropriate f © isa either "sine overdeckuag or a shortage of the valve slide arrangement A shortfall arrangement is for a

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gradual activity of the engine due to its braking power advantageous.

When choosing the factors influencing the cross-sections of the channels 56 and ", the following applies, among other things note:

1. The desire to have adequate flow of fluid without a significant pressure drop achieve in order to achieve high speeds and

2. The fraction which the one channel 57 encloses Represents angle with respect to the angle enclosing half a cam width. In the embodiment described here is in connection with the above-mentioned sizes this fraction 1/6. This ratio determines the acceptable deceleration to soften the downforce shaft may lag behind the drive shaft * In the embodiment according to the invention described above, this corresponds to an acceptable one Delay at an angle of 7 1/2 °.

Fig. 7 shows the state in which the output shaft 33 is one of the relevant positions of the drive shaft

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assumes the appropriate position «In this position, the cylinder block 58 is hydraulically balanced, since all channels 57 In each case at both ends through the radially extending end faces of the flange part 37 and of the hanging body 42 are locked "

In the position shown in Fig . 7, four balls 41 B ₅ F, J, Έ each assume the lower dead center position of their working stroke, while four balls 41 D ₉ H ₉ L ₅ Q each assume the upper dead center position of their working stroke »

When the electric © stepper motor 26 excited by © in signal mr-ä and liierdureh its well © 27 and consequently also the il2iti'iebsif @ ll @ 29 and aas disk-shaped control element 46 vm © iaezi small Ifin3s © l in a © άθιιφ St @ llo .ag rotated WSiPdGS ₀ this results in the following s

In the following, it is taken from Figo 8 B © sug ₉ which Jon state ₉ is which the drive shaft 29 the

55 anfüjarto la reference to FIG. 8 w & rol © öas _e control element 46 relatively sta. ol © n aad @ r © n Slerneut from its original position slightly shifted to lialES Here s © i assumed ₉ that a movement of the in fig ₀ 7? 3 and 9 shown elements to the left each corresponds to a corresponding clockwise rotation of these elements, if one of these elements

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in Pig. 1 in the axial direction from the left-hand side of the drawing viewed from here.

It can be seen that the adjustment of the control element 46 opened the openings 57 to the channels 56 formed in the flange part 37, but not to the channels 55 formed in the annular body 42. In this position, only every second one has the one in the flange part 37 to one of the arched overflow openings 50 'connection, namely to successive overflow openings 50S which, as already mentioned above, are alternately connected to the ring channel 8 or the ring channel 9. While pressure medium is fed to the ring channel 8, the ring channel 9 is connected to a discharge line in which, for example, the pressure prevailing in a storage tank prevails. As a result, in the engine position shown in FIG. 1, the pressure medium flows from the annular channel 8 via a channel 51, a channel 5CJ and via an overflow opening 50 *, for example, to the channel 57 E and from there via one of the channels 58 and 40 to the in one Cylinder 39 behind the ball 41 E formed working space. Due to the pressure medium present in the working space, the ball 41 E is pressed radially outward and, as a result of the interaction of this ball 41 E with the cam track 16, the cylinder block 33 and with

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For him the ring body 42, the flange part 37 and the output shaft 33 are rotated further clockwise * which corresponds to a shift of these parts to the left in relation to Pig »8. During this movement of the cylinder block 38 as a result of the interaction with the cam track 36, the ball 41 G, for example, is forced radially inward by the curl track 16 so that the fluid in the working space of the cylinder belonging to it is displaced via the channels 40 ₅

P 58, 57 G, 56, furthermore one of the overflow openings 50 'and each one of the channels 50 and 52 into the annular channel 9 and from this pushes back into the associated discharge line 19. If the Ring body 42 and the paddling part 37 are moved together to the left, -as this from the arrangement shown in FIG is apparent, then the connections between the channels 57 and the ring channels 8 and 9 are progressing so long closed until these channels 57 * when the output shaft 33 one of the new position of the drive shaft 29 corresponding

t assumes a new position ^ to be completely closed again « While only the two balls 4l E and 41 G were considered in the operation described above, is in particular from Fig. 7 readily apparent that the operation of the further balls 41 A, I and M each of those corresponds to the ball 41 E and that the mode of operation of the further balls 4l C, K and P is the same as the mode of operation of the ball 4l G is. As can be seen from FIG. 7, the balls 41 B, F, J, N take their bottom dead center position

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one and the pressure medium can flow into the working spaces of these balls when the splash part moves to the left (Fig. 8) and thereby the channels 57 B, F, J, N via one of the channels 56 each with one of the overflow openings 50 ^{f are} connected, which latter are each connected to the pressurized ring channel 8. The balls 41 D, H, L, Q each assume their top dead center position in the position shown in FIG. 7 and the pressure medium flows out of the working spaces associated with these balls when the flange part yj is moved to the left (FIG. 8 ) and thereby the λειιϊΙΙϊ ^r : ^y ~ '· Hj L, Q over the respective associated channel 5 ^ ^? 2i'S are each connected to one of the overflow openings 50 ', the latter with the, with relatively nisdr-: l; / - ir ·; Drnek acted upon, serving for fluid discharge Hiiagkanal 9 are connected. The flows to and from the channels 57 B, F, J, N or D, H, L, Q are then interrupted again by closing the channels 56 when the output shaft j5? again assumes a position corresponding to the relevant position of the drive shaft 29.

When the drive shaft 29 rotates counterclockwise rotates, seen with reference to Fig. 1 from left to right along the common axis of the input and output shafts

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Io

said rotational direction F with respect to Figs. and 8 a corresponding displacement of the disc-shaped control member 46 corresponds to the right, while the channels 57 A to Q are still closed by the Planschteil 37 held ^ they are jedoeh to the space formed in the annular body 42 channels 56 · open. This is PaIl ₁ because, in this direction of movement, the channels 57 A to Q, due to their arrangement with respect to the channels 56, are first connected to the ring channels 6 and 7 and only when there is a further shift are they connected to the ring channels 8 and 9 would come about. The ring channel 6 is constantly supplied with pressurized fluid , while the ring channel 7 serves to discharge this fluid and therefore there is no significant pressure in it. A consideration of the located in Pig ", 7 between the lines A and B section plays the violin * that the drive output shaft 33 respectively in a counterclockwise direction in one of the drive shaft-'29 certain position pushed-is."

In DER rotation of the drive shaft in the counterclockwise direction * 7 which corresponds with respect to the Pig * a shift to the right ,, the channel which latter jedoeh is held closed by the housing part 2 is 57 D to überdeekung with a channel 56. The ball 41 D assumes its top dead center position at this point in time. The channel 57 E is connected via a further channel 56 formed in the ring body 42 with one of the

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Flow openings 50 'connected, which are constantly connected to the Fluid discharge serving hanging channel 7 are connected, so that the ball 41E can move radially inward. The channel 57? is opened to a channel 56, the is in turn kept closed by the housing part 2. The ball 41F takes its bottom dead center position at this time a «The channel 57G in turn comes with a channel connected, which is open to one of the overflow openings 50 'formed in the housing part 2, the latter with the Fluid supplying channel 6 are connected, so that the ball 41G by the fluid acting on it is pushed radially outward and thereby as a result of Cooperation of this ball with the cam track 16 of the Cylinder block 38, the flange part 37 and the output shaft in relation to the in fig. 7 shown development to the right are moved, which corresponds to the aforementioned counterclockwise rotation of these parts. As soon as the Output shaft 33 slightly counterclockwise from the position shown in fig. Turns out certain position shown, comes the Channel 57D with the fluid-discharging bing channel 7 in connection so that the ball 41D can move radially inward. Channel 57 # uit comes in the same way the fluid supplying Bingkanal 6 in connection, so that the ball 41 ϊ is urged radially outward when

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8AD

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the drive shaft 33 © in® of the respective position the drive shaft 29 reaches the corresponding position, siad all channels 57A Ms Q each at their two mouth ends a closed again, so that the cylinder block 38 and the output shaft 33 are each in such a position " are fluidically blocked.

if the output shaft 33 once out of its the respective position of the drive shaft 29 respectively corresponding Position migrates, for example as a result of the loss of pressure medium over a certain period of time away what a disruption of the fluidic Equilibrium, or by one on the Load torque acting on output shaft 33 becomes a state adjust, through which the output shaft 33 again in their position corresponding to the position of the drive shaft is turned back. One such in fig. 9th shown State is obtained, for example, when the output shaft 33 with respect to the drive shaft 29 in the counterclockwise direction rotated, i.e. with respect to fig. 7 and 9 is moved to the right.

Rotating the output shaft 33 counterclockwise causes in relation to the representation in Kg. 9 a

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¹¹¹ BIFS'f 1 !!! SIP ¹ I. !! ¹¹¹

Displacement of the balls 41, the ring body 42 and the Flange part 37 to the right. Based on the representation in Fig. 7 it can be seen that with such a shift to the right also the originally closed channels 56 formed in the singing body 42 to those in the housing part 2 formed upper flow openings 50 are opened, d.lu all channels 56 now have the channels in the housing part 2 formed overflow openings 50 'connection, while all of the channels 56 formed in the hanging body 42 to the channels 57 remain closed. Be against it with such a movement of the flange part 37 to the right (FIG. 9), all channels 57 each to one of the channels in the flange part 37 formed channels 56 open. With the angle ratio of the cylinder block corresponding to the illustration in FIG 38 with respect to the cam track 16 are all channels 56 formed in the flange part 37 to the relevant Overflow openings 50 'are open. Channel 57E is standing here with the fluid supplying annular channel 8 in connection, so that the fluid in the rear of the ball 41E located working space can flow in and push this ball radially outward, whereby the ball 41E in cooperation with the squat track 16 rotates the cylinder block clockwise, which with respect to the illustration

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. ,; · I ^ .- < 8AD ORIGINAL

in Pig x 8 in turn a corresponding movement of the annular body 42 and the ELanschteiles 37 Aaen left corresponds to "Der! anal 57Ϊ" has it the fluid discharge end Bingkanal 9 connection, so that the ball 41 radially mach 1. inside "can be moved" The same applies to the ball 41G ₉ since the channel 576 is also connected to the Mngkaaal 9 · As can only be partially seen from the illustration in FIG a fluid feeding annular channel 8 in conjunction ,, SO_ that the ball 41D radially, is urged outwardly · the drive shaft 33 thereby is -so far Uferaeigersinm _s rotated back "until they regain their position of the drive shaft 29 eatsprechende position takes up and in this position, as a result of the now again by the Hing body 42 and the BLanschteil 37 closed channels is blocked 57 Btröiiungsmitteliiaßig "A oppositely with respect to the above-described Torgang directed, rückflilirendes torque occurs in each case on then-if the output shaft 33 is rotated clockwise, ie in with respect to the representation in Fig. 9 is shifted to the left. In this case, however, the supply and discharge of fluid will normally take place via channels 6 and 7 and not via channels 8 and 9.

Only the operation of four balls has been described above. In this embodiment of the invention, which

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ar

has sixteen balls and four raised crouches, leaves however, the operation of four successive balls is easily understood from the four above derive described balls.

While the above only relatively small relative Adjustments of the various parts and elements described can of course also be larger Offset steps occur and as a result the workspaces in question are first pressurized and then again are relieved or are initially depressurized and then pressurized. In the following it is assumed that the drive shaft 29 rotates clockwise, i.e. that the disc-shaped control element 46 with respect to the Representation in Pig. 7 is moved to the left. Immediately before the control element 46 enters the Pig. 7 shown Position reached, the movement of the ball corresponds to 41P an extension stroke, since the channel 57P communicates with the fluid via a channel 56 formed in the splash part 37 outgoing Mngkanal 9 has connection, it being pointed out again in this context that the Splashing part 37 when the control element 46 moves to the left lags the latter offset by a certain distance to the right. When the control element 46

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moves steadily to the "left" and the Fl anseht part 57 follows this control element, the channel 56 connected to the channel 57Ϊ is closed by the housing part 4-, if the ball 411 is through

- is "their bottom dead center hindurehwasdert what damn the Kaiaal question 56» it the fluid feeding Hingkanal- 8 is connected, and thereby, the Mater of the ball 41F preferred working space is pressurized _ö The same circles © rgibt ä®w®il® located also, in connection with balls 41B, J ₁ I »While the protruding» «!

looked at ball 413? ilaxe bottom dead center st RECOVERY passes through the balls simultaneously migrate _s 41D ₉ H ₈ L ₉ through its Q © © Olber dead center st RECOVERY do so. that the previously pressurized working spaces of these balls are relieved of pressure after the Durclilaufem the dead point et elluÄgea aramehr.

It is essential that the drive shaft 29 of the Output shaft 33 only by a certain maximum amount may lead, namely in the embodiment described above 7 1/2 °, and that corresponding mechanical, Means not shown must be provided, by, which the maximum permissible offset of the drive shaft 29 with respect to the output shaft 33 is limited, with

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a?

the offset of these "two waves on that position where the position of the output shaft corresponds to the corresponding position of the drive shaft 29. Accordingly, the means controlling the drive shaft 29, in the present case the electric stepping motor 26, either be programmed or have a memory that the drive shaft 29 never exceeds a maximum permissible Vert out of the output shaft 33 leads

While above with reference to FIGS. 1 to 9, a rotary servo motor 7, 8 and 9 and on the basis of these figures themselves. that also a linear relative movements executing servomotor can be designed according to the invention. at In such a linear servomotor, the drive and output shafts would then have the form of linear movements Elements. Furthermore, the cam track could then take the form of a direction of linear movement of the drive and Output elements have a corrugated surface. The housing parts would then be flat, parallel to the direction of movement of the To provide drive and output elements extending surfaces, via which then the ring body 4-2 and the Flange part 37 corresponding parts were sliding. That

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1819215

disk-shaped control element 46 would then also have the shape of a linear sliding slide.

While in the example described above, it was assumed that the drive shaft 29 of a electric stepper motor is operated, this drive shaft 29 could be continuous or at time intervals also by other suitable, for example mechanical, hydraulic, pneumatic or electrical means or but operated by hand.

Ia the "ig. 10 and 11 show a further embodiment of a servomotor is shown according to the invention" While in the above described embodiment, the axial bsw to connected to the output shaft 33 _e with said drive shaft a common constituent parts ψ forces exerted by the under pressure © fluid itself, this is not the Pail in the modified Ausfiter.ungsform now to be described, so that separate means are provided for this purpose, which compensate for the forces acting on the parts of the output shaft from the pressurized fluid. This embodiment shown in Figures 10 and 11 has one of six parts 71 to 76

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existing housing. An inner surface of the housing part 71 has a frustoconical Section 77, at the end of which the cross section is smaller a cylindrical surface section 73 adjoins it, A hing 79 of a spherical motor, which is provided with a squat track on its inner circumferential surface, is shown on the in cross section larger end of the frustoconical surface section inserted into the housing part 71. The cam ring 79 is with provided six cam-like elevations, as shown in J "ig. can be seen

The housing part 72 partially encloses the housing part limits together with this one hanging space 80 ·

The housing part 73 is ring-shaped and closes on the side facing away from the housing part 72 with a radially extending end face 81 to a likewise radial running end face 82 of the housing part «71

The likewise annular housing part 74 is on the the end face facing away from the housing part 71 is attached to the housing part 73.

The two housing parts * 75 and 76 are concentric

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SO

inserted into the housing part 73.

A Antriebswell® 83 extends through eiae bore 84 formed centrally in the housing part 76 therethrough into an engine compartment 85 located in the housing. A Cylinder block 86 de® arranged in this engine compartment 85 ^ Spherical motor forms with a shaft part 87 a common ■ XeIl. The Vellenteil 87 is with Laufsitζ in the by di® Cylinder surface 78 in the housing part 71! stored. An output shaft 88 forms with the shaft part 37 a common part and the axes of this output shaft 88, the shaft part 87 and the drive shaft 83 are included the common axis of the individual annular housing part © together.

Nine cylinders 89 are formed in the cylinder block 86. The axes of the cylinders 89 each run radially to the common axis of the drive shaft 83 and the output shaft and are arranged around this common axis © at the same angular distance from one another. The cylinders 89 each open so openly in the radially outer ümfsagsfläche of the cylinder block 86 _f that their mouths each of the

fly

Hockenbahn des Hinges 79 are opposite. In the cylinders

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there is a ball 90, which together with the Cylinder walls each form a sliding fit.

From the radially inner end of the cylinder 89 leads one aaial channel 91 to one radially extending end face 92 of the cylinder block 86, which at a distance from the housing part 73 is opposite.

Sin with the end of the Drive shaft 83 forming a common part, cup-shaped control element 93 has a disk-shaped Part 94, on the peripheral edge of which is a cylinder part adjoins, which the latter is partially formed between the cylinder block 86 and the housing part 75 Hingspalt protrudes. On the one remote from the disc part 94- At the end of the cylinder part 95 has a collar 96, which protrudes into the space formed between the cylinder block 86 and the housing part 73. You axial The strength of the ring collar associated with the control element 93 is dimensioned such that the collar with its radially extending end faces on the opposing radially extending faces of the cylinder block

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and the housing part 73 rests, but nevertheless between the annular collar 96 »the cylinder block 86 and the housing part are each possible relative movements.

In the collar 96 of the control element 93 are eighteen axially extending channels 101 to 118 formed, which on are arranged in a circle whose center is in the

Axis of the drive shaft 83 lies and the radius of which is equal to the radius of that circle on which the channels are arranged. The channels 101 to 118 are each arranged in pairs. The distance between two channels 101 to 118 each of a channel pair corresponds to the diameter of a channel 91 «. One channel 101a to 118a leads from each of the axial channels 101 to 118 to the radially inner circumferential surface of the annular collar 96, the latter being guided with a sliding fit on a cylindrical circumferential surface of the housing part 75. The channels 101a to 118a each open into a recess 101b to 118b which opens out at right angles in cross section. The two are each connected to a pair of channels 101 to 118

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Depressions are parallel to the axis of the drive shaft 83 each arranged one after the other and aligned with one another.

In the radially outer, cylindrical circumferential surface of the housing part 76, which is paired with a radially inner, cylindrical surface of the housing part 75, four circumferential channels 120, 121, 122, 123 are formed. »O ^M hanging seals 124 prevent a connection between the individual channels 120 to 123 along the adjacent surfaces of the two housing parts 75 and 76 a fluid discharge line are each provided with a thread. The two circumferential channels 120 and 122 located on the outside in the axial direction each have. with the bore 125 connection, while the two circumferential channels 121 and 123 located on the inside in the axial direction each have a connection with the bore 126.

In the housing part 75 there are twenty-four channels 130 to 154, each of which is the radially outer peripheral surface with the radially inner circumferential surface of this housing

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part 75 connect. The radially outer ends of these Twenty-four channels each open openly into © ine of twenty-four each opening at right angles Wells 1JOa to 154-a, which latter in turn are arranged in pairs. The two depressions 130a to 154-a of each pair of depressions are parallel to the axis of the drive shaft 83 - each arranged one after the other and. aligned. One of the two © a Depressions 130a to 154-a. Has a pair of wells each via one of the channels 130 to 154 · and one of the Circumferential channels 120 to 123 with one of the two bores 125 or 126 connection, while the other recess such a pair of wells over one each. of the channels 130 to 154 and one of the circumferential channels 120 to with the other bore 126 or 125 connection has »twelve of the depressions 130a to 154-a, in which here we are) In the embodiment, the even-numbered ones lie on a common circle, while the odd-numbered twelve Wells are arranged on a different circle. The arrangement is made such that each in one of the two circles successive depressions 130a to 154-a, each alternating with a different one of the two Bores 125 or 126 have connection.

9098 2 9/1024 sad ORtGiNAi.

Through the disk part 94 of the control element 93 lead through openings 160 through.

As already mentioned above, the two embodiments shown in FIGS. 10 and 11 stand out of the invention · the forces acting on the cylinder block 86 by the pressurized fluid on each other, so that with respect to the representation in FIG. 10, a resultant force directed to the right results. In order to compensate for this resulting force, corresponding means are provided according to the invention. These Means have a hydrostatic pressure bearing, which by a in the frustoconical surface 77 of the housing part Recess 161 embedded in the circumferential direction is formed will. Oil is supplied under pressure to the annular channel 161 formed in this way via channels 162 from the inlet chamber 80. Further Channels 1ö3 connect the inlet space 80 with one formed in the inner cylindrical surface 78 of the housing part 71, recess 164 extending in the catching direction the-'e formed annular channel 164 is about a certain Constriction under pressure oil fed, so that an oleohydrostatic Journal bearing is formed. Optionally along the interfaces between the shaft part 87 and the Housing part 73 to the right migrating oil seeps into

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an overflow channel 165 and passes from this into the engine compartment 85t from which this oil is then along with any other leakage losses via the passage openings 160 and one formed in the housing part 76, Channel not shown in the drawings can flow out of the servomotor, as shown in FIG. can be seen. Sightings 166 prevent any fluid from flowing along the shaft portion 8? the end the engine kicks off.

A one after left directional movement of the cylinder "86 BLOCKEE counteracting β dihydro et atiech.ee thrust bearing ,, welch.ee of Figure" 11 visible is a ₉ has the Fora supplied with pressurized oil Hxngawi 16 ?, which in an area of Gehäueeteilee 75 is formed, which rests against a radially extending Hache of the cylinder block 86. The oil is fed via a line not shown in the drawing to a storage space 169 and from there via channels 168 to the ring channel 167.

With reference to the axis of the drive shaft 83, the following applies the following:

a) Der, one of the wells 150a to 15Ja together

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with one, the distance between each successive Angle enclosing depressions 130a to 153a equal to the half cam of the cam track 79 including Angle, i.e. 30 ° in the embodiment described here.

b) The two each enclosing a depression 101b to 118b and a depression 130a to 153 Together, angles must not be greater than the angle enclosing half a cam of the cam track 79 (in the present palle therefore not greater than 30 °) However, these two angles together can then be less than half the cam angle if the vertices of the cam track 79 each have concentric surfaces.

c) In the exemplary embodiment of the invention described here, the respective indentations 130a to 130a 153a enclosing angle 19 °.

d) The space between two consecutive Including depressions 130a to 153a · angle is 11 °.

e) The one including a recess 101b to 118b

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is the same size as the Attic space in each case two successive depressions 130a to enclosing angles, i.e. » it is 11 °

The angles mentioned above are only indicative an example of execution »

In the following, the mode of operation dee in fig «, 10 and 11 described servo motor shown?

It is assumed here that the position of the output shaft 88 initially corresponds to the position of the drive shaft 83. Then, when with respect to Hg. 11, the drive shaft is rotated from this position by a small angle in the clockwise direction, or if the Mnghund 96 of the control member 93 with respect to the embodiment illustrated in fig® 12 t handling a certain path length moved rightward is, with these movements taking place in each case relative to the housing part 75, the following results!

By rotating the control element 93 and thereby also the collar · β 96 clockwise with respect to the Cylinder block 86 are the channels 9Ί at least partially

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open to the odd-numbered channels 101 to 118, the latter in turn via the odd-numbered channels 101a to 118a with the odd-numbered recesses 101b to 118b, i.e. with those depressions which, in relation to Fig. 10, on the circle on the right are arranged.

By rotating the control element 93 clockwise, the depressions 101b to 118b are also related changed in position on the depressions 130a to 153a *

Those additionally marked with the letter "P" in Pig · 12 Depressions are always connected to the pressurized fluid bore 126 Link. Furthermore, the depressions additionally identified by the letter "E" in FIG. 12 always have with them the bore 125 connection through which the fluid at relatively low pressure returns to the feed pumps is returned.

In the following, reference is made to the balls designated 9OA, 9OB and 9OC in FIG. 11, which are used for the here described, a total of nine balls and six cams.

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Pointing embodiment -characteristic are: ο The working space located in the relevant cylinder Mater of the ball 90A © becomes the channels 10J and 10Ja as well as the recesses 10Jb and 135a via the channel 919 assigned to it. and the channel 135 of the 126 BoJirung forth with pressurized fluid Tersorgt ,, Aue dta mater. Kugel.90S, the fluid is transferred to the associated © !! - Channel 91 «the sieto, aaaeklausendsa channels 105 and 1O5a ₉ furthermore the V © rti © fuag @ n 10 ^ b msd 137 ^ and the channel 137 au der Bohziing 1H5 'Ma amsgüitoßDa« The working ram behind the ball 90Ö » h @ 't ' via the Eaaal 91 «it des llEanälss belonging to it. 107 and 107 ©, ₉ also the depressions 107b and 141®, as well as © dea lamaL with the Bohruag 125 connection ₉ iso eqJ on © iäa the fluid is also expelled · B © r -Zylinderbl-ook 86 thereby becomes the preceding a Dreliuag -d @s control element 93 correspondingly also i® U] irz © ig © rsiim, rotated »When the cylinder block 86 rotated, it being assumed that the drive shaft 83 and with it the control element 93 beforehand by a small angle into a new stationary one Position have been rotated, the opening cross-section between the channels 91 and the odd-numbered channels 101 to 118 will be continuous for as long

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downsized until finally between these channels there is no longer any connection, at which position then the position of the output shaft 88 in turn is now corresponds to the new position of the drive shaft 83 and the Cylinder block 86 is hydraulically held in its new position, for example because of the high engine gain or from moments of inertia the output shaft via the corresponding position of the drive shaft 83 runs out, the operating state is the same as that which also occurs when the drive shaft turns counterclockwise is rotated, as will be briefly described below. The length of time during which such stopping oscillating pendulum motions is a function the motor damping. Of great importance here is the "edge-on-edge" arrangement of the channels 91 with respect to the channels 101 to 118 interacting with them.

Upon rotation of the drive shaft 83 and consequently also of the control element 93 can be counterclockwise the channels 91 to the even-numbered ones of the channels 102 to 118 open and thereby the engine working spaces connected to the bore 125 and 126, namely via the even-numbered of channels 102a to 118a, and also the even-numbered ones

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of the wells' · 102b to 118b, and further ,, as iat seen from Fig, 12, via a respective d © ^ even ones of the channels 130-152 and the recesses 130a to 152a _s, which channels and recesses with respect to the illustration in lig. 10 on a left-hand circle, however, it can be seen that a working space ,, 4 © r is pressurized when the drive shaft SJ rotates clockwise from a certain position; in the same position in a counter-clockwise direction, then the pressure is relieved and that a © a work space from which »when the Aatriebswell® rotates. the fluid is ejected from the maneuvered position; when the drive shaft 83 rotates counterclockwise from this position, the flow direction is then! is supplied »

From the foregoing it can be seen that if the balls in question in the course of a rotational movement of the drive shaft 85 each pass through an upper or lower dead center position, the change from fluid supply to fluid ejection or from fluid discharge to fluid supply as a result of the movement of the control element and thereby also the depressions 101b to 118b formed in it in

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with respect to the depressions 130a to 153 »in each case automatically he follows. Due to the selection of the relative arc lengths of the recesses 101b to 118b and 130a to 153a the engine has a memory, through which the drive shaft S3 with respect to the output shaft 83 by one certain but limited size can lead. Mechanical means not shown in the drawings prevent the drive shaft 83 from the output shaft 88 by a larger than that predetermined by storage Maximum amount.

If, for example, the hydraulic balance is partially lost as a result of hydraulic leakage losses and as a result the output shaft 88 migrates from its position corresponding to the position of the drive shaft 33, thus the channels 91 become either the odd or the even ones of the channels 101-118 opened and thereby the cylinder block 86 in its position corresponding to the position of the drive shaft 83 returned, in which the channels 91 are then closed again and the cylinder block 86 in terms of flow is balanced.

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In particular, from the representation in Pig. Related description it can be seen that a servo motor after that in Figs. 10 and 11 as a rotary servo motor shown type can also be designed as a linearly acting servomotor within the scope of the invention.

In the first of the two above-described embodiments of servomotors according to the invention an electric stepper motor is used to drive the drive shaft. One such electric stepper motor is relatively cheap and has practically no power, as the servo motor provides a very large Torque gain results. Among the multitude of possible areas of application of servomotors according to the Invention is only the rotary setting of tools holding turrets or lathes and the Control of the oars of ships mentioned.

The cam track of the motor can also have a shape other than the generally cylindrical shape of the above described embodiments or as a linear form, regardless of whether the individual Working piston rest against the relevant cam track from the outside or from the inside. The cam track can, for example

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also the shape of one formed on a radial plane Have a circular orbit, so dad the Solben acting parallel to the axis of this path, i.e. perpendicular to the radial plane «

The spherical motors that can be used in connection with a servo motor according to the invention include, for example also spherical motors similar to the official file numbers 33 412/64, 47 458/64 in the British patent applications, 1565/65, 32 862/65, 27 877/66, 33 231/66 and 56 764/66 as well as in the British patents Hr. 924 and 961 339 described Art.

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Claims (8)

N. 128. Patent to eprü marriage 1. Servomotor with a drive and an output element, furthermore with a with respect to these elements still- ^ standing part, further with an inlet and an outlet for fluid, furthermore with a motor which moves the output element in relation to the stationary part, which motor has a plurality of pistons which are guided in an equal number of cylinders and which cooperate with a cam surface in such a way that the output element is then in each case in With respect to the stationary part is moved when the working spaces located in the individual cylinders behind the pistons are pressurized or "relieved of pressure" in a certain sequence, characterized in that "the motor has an" opening to control the fluid between the inlet mentioned (18) 125) and de * mentioned Auslad (18; 125) and the work «. räuaen dtr called · η cylinder (39} 89) serving arrangement »of which a part (2, 4 $ 75, 76) is arranged fixedly in relation to the mentioned stationary part (5j 76), of which a further part ( 46; 93) fixed in relation to the drive element (29j 33) and - 46 -909829/1024 Another part (42, 37; 86) of which is fixedly arranged in relation to the output element (33; 88) and which is designed in such a way that it interrupts connections between the fluid inlet, the fluid outlet and the working spaces when the position of the output element corresponding to the respective position of the drive element, that, furthermore, during a displacement of the drive element and the second-mentioned arrangement part (46; 93) are made ^with respect to the stationary part between the working spaces and the Stromungsmitteleinlaß or outlet connections, by which the output element and with it the third-mentioned arrangement part (42, 37; 86) are moved by the motor into a position corresponding to the respective new position of the drive element, in which the latter interrupts the connections between the working chambers and the fluid inlet or outlet are that further at a displacement of the output element and thereby also the third-mentioned arrangement part with respect to the stationary part and thus also with respect to the drive element between de: n working spaces and the fluid inlet or outlet connections are made, on the basis of which the output element through the motor in the position corresponding to the relevant position of the drive element is returned, with the connections between the working spaces and the flow - 47 - 909829 / 102A central inlet or outlet through the aforementioned arrangement be interrupted again * 2. Servomotor according to claim 1, characterized in that the third-mentioned arrangement part (4-2, 57) on two opposite sides of the second-mentioned arrangement part (46) each has a set of channels (56) which are formed with channels ™ formed in this second-mentioned arrangement part (57) can be brought to cover, further that the ducts in one side of the third-mentioned arrangement portion formed channels formed on the opposite side of this third said array portion are arranged offset by a certain angle, preferably equal to that angle which, starting from the motor axis, each includes one of the channels formed in the second-mentioned arrangement part (Fig. 1, 6 to 9) 3 servomotor according to claim 2, characterized in that that said, certain angle either larger or smaller than that, one of the in the second-mentioned arrangement part (46) formed channels (57) is enclosing angles, so that between adjacent channels (56, 57) of the second and third mentioned arrangement part (46 and 42, 37) given either an overlap or a shortfall is. - 48 909829 / 102A ■ ■■■■ "^» ■ ^ i '- ^ iiiBiiiiicii-siHiipiiiiiHHB ^ Fjiiiiiijiiiiiijisi.iäisraiii-JV ■ 4. Servomotor according to one of claims 1 to 3, characterized in that the motor is a spherical motor, i.e. his Pistons have the shape of spheres. 5. Servomotor according to claim 4, characterized in that that the spherical motor is a linear motor, i.e. that there is one between the fixed and the movable motor part linear ^ relative movement takes place. 6. Servo motor according to claim 4, characterized in that the spherical motor is a rotary motor. 7. Servomotor according to claim 1 or 6, characterized in that the motor has a cylinder block (86) and preferably hydraulic means (71, 77, 161, 164), which compensate the latter resulting forces that result from the fluid pressure acting on the cylinder block (Fig. 10). 8. Servomotor according to one of claims 1 to 7 »thereby characterized in that the motor is driven by an electric stepper motor (26) and the servomotor for rotary torque amplification of this electric stepper motor is used » 909829/1024