DE2226798A1 - Stepping mechanism that works with the pressure of a pressure medium - Google Patents

Description

'η. . . η. . -ι ' ² ' ^JUn ' ¹⁹⁷²

German-Iog. Dipl. €. puM. DIETRICH LEWINSKY

PATENT ADVOCATE
8München2l-Gottharditr. 81

Telephone 56 17 62

Jean GACHOT and Simeon Li ¹ ICARSKI Cas DH _Q1

Stepping mechanism that works with the pressure of a pressure medium.

The subject of the invention is a step-by-step mechanism that operates by the pressure of a pressure medium.

The stepping mechanisms most frequently used are often divided into three uptgruppen H _a, nämlici'i the electric motors, hydraulic motors and pneumatic motors.

The former work very quickly, and it does

only small moments occur with them. The second are generally combined with electric motors, for which they are the Play the role of amplifiers as they cannot work independently. The pneumatic motors contain a mechanism with piston and ratchet wheel, which is not very reliable and only allows a small torque to be achieved.

Furthermore, these give different types of engines

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does not provide any information about the attendants. Any step errors, in particular steps that have not been carried out, can not .be determined.

The ürfindun _; ; aims to remedy these various disadvantages and to produce an extremely reliable step switching mechanism.

The erfindungsgeraaß, with the printing of a

Pressurized stepping mechanism with two mutually movable members is characterized in that the one of the links several rows of rolling elements which cooperate with recesses formed in the other link can, as / ie has means for actuating each row of rolling elements, the bodies of the successive rows against the bottom of the depressions have a shift which changes by a value corresponding to one step.

Pole actuation of the rolling element rows is permitted, to give displacements to the movable member by a value equal to the step. The interaction of rolling elements with complementary recesses is paid for safe working with the greatest possible accuracy.

The depressions are preferably formed by successive identical grooves arranged in parallel educated. The actuating means are activated by the pressure medium pressure actuated piston formed. In a rotatable Kotor, the two moving links lead in opposite directions Rotation off, with the grooves and the rows of rolling elements parallel to the axis of rotation, the step being equal to the ratio between the angle between two consecutive hats and the number of rows.

The actuation of a single row of rolling elements or of two opposite rows allows the generation of a displacement of the rotatable member by one step.

"In the case of a linear motor, the both links carry out a reciprocal transfer movement, where the rolling element rows in the '- ^ ranslationsrichtung and the Grooves are perpendicular to this direction, with the step being equal to the ratio between the distance between two

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successive grooves and the number of rows is..The rows of rolling bodies are preferably divided into two symmetrically arranged series in which the rolling elements have a certain Inclined position with respect to the grooves transversely to the direction of iranation own. . ■ .... ■ -

So that the pole control without omitting

Steps and takes place without step errors, the actuating means are combined with means which generate end-of-stroke signals and are connected to a logic control circuit. _.

According to a preferred embodiment of the invention, means are provided which the two ... members automatically and put exactly in a mutual position, which is determined by information, which according to a certain Are coded in the law. .. '■■' · -.,. ■■

For this purpose, the engine contains a detector system to determine the mutual instantaneous position of the two movable members, which according to a Deaimal law supplies coded position signals, a generator for generating setting commands, which supplies primary setpoint signals, which are coded according to a certain law and the desired mutual position of the two movable ones Divide members, a code conversion system which is available under The output of these primary flush value signals supplies secondary setpoint signals encoded according to a decimal law, and a Comparison system, which on the one hand receives the position signals and on the other hand the secondary setpoint signals and in Puncture of the mutual value of these two series of signals of the logic control circuit of the motor actuation signals supplies.

The invention is explained below by way of example with reference to the drawing.

Pig. Figure 1 shows a rotating indexing mechanism in cross section along line 1-1 of Pig. 2.

Pig. Figure 2 is a section of this rear derailleur or motor along line IL-II of Pig · 1.

i ⁽ⁱ ig · 3 is a partial view on a larger scale, which · inclines the displacement of the rows of balls with respect to the 'iiui.cm doü rotatable member.

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Pig. Figure 4 is a schematic representation of the motor nd-t of its control logic circuit.

Fig. 5 is a taken along line V-V of Fir ;. 6th

Partial longitudinal sectional view of a linear stepper mechanism or motor. '.

Figure 6 is one taken along line VI-VI of Pig. 5 sectional partial view with parts broken away.

FIG. 7 is a section along the line VII-VII of FIG. 6.

Fig. 8 shows a detail of Fig. 5 on a larger scale.

FIG. 9 is a sectional view corresponding to FIG. 7 of a two-stage linear stepper mechanism.

Fig. 10 is a schematic view showing the arrangement of the position detectors.

Figure 11 is a schematic of the code translation systems and for comparison.

1 and 2 show a rotary indexing mechanism

with a stationary member 1 firmly connected to a frame 2 and a movable member 3, which in this frame within of the fixed link is rotatably "mounted.

The fixed member 1 has an approximately cylindrical body 4, the axis of which with the axis of rotation X-X of the movable Link 3 collapses, and in which longitudinal chambers 5 are formed which have a T-shaped cross section and one piston 6 each provided with an actuating rod 7 contain. These chambers 5 and pistons 6, of which there are eight in the example under consideration, are radially related arranged on the X-X axis and evenly distributed. The piston rods are in contact with rows R ^ to Rg of balls 8, which are accommodated in notches 9 formed in a socket 10 attached to the body 4.

The rotatable member 3 consists of two journals 11 mounted in the frame 2 and a sleeve 12 made of hard metal fastened to these journals. Identical grooves with V-for- _e . Migem cross-section 13, which extend over the entire circumference of the sleeve 12 and are parallel to the axis of rotation XX, allow the entry of the rows of balls R ^ to R _ß over a

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variable depth, as explained in more detail below.

Each piston 6 is attached to a membrane 14, which is arranged in the corresponding chamber 5 and is clamped between the body -4 and a cover 15, in which a passage 16 is formed which opens into the volume delimited by the membrane and the cover. The piston 6 can move in the chamber 5 over a short distance, which is caused by the entry of the rolling element into the groove 13 is determined, which defines the largest stroke. The lids 15 are fastened to the body 4 by extending in the longitudinal direction extending intermediate pieces 17 held

The training is done so that the

Axes of the successive rows of balls in relation to the ground of the respective grooves 13 have an angular displacement which changes from one row to the other by a value corresponding to the advance rate of the motor. This advance step is equal to the ratio between the angle θ between the bottom of two consecutive 'grooves (angular step the grooves) and the number N of the rows of balls (Pig 3)

In the example under consideration, there is

the row of balls 3L taken as a reference row in the position in which the balls have entered the corresponding groove furthest are, while the immediately opposite row is offset by Θ / 2, since N = 8. The balls of this latter Row are therefore in the retracted position on a vertex or tooth between two grooves 13. To generate the advance of the movable member 3 by one step is compressed air into the chambers through the passages 16. 5 the Piston 6 happens, which e.g. correspond to the rows of balls Rp and Rg. The balls of the rows shift by an angle Θ / 8, so that then the second row of balls ß «the position the greatest depth of penetration, which was previously that of the reference series R ^ was.

]? ig. 4 shows the sequencing of the actuating pistons 6 by means of a logic circuit provided with memories. . .

The chambers of the pistons are in opposite one another Pair with two-state stores

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21 to 24 conventional design connected, which have two inputs, namely an input for control and storage and an input for deletion, and an output. The pneumatic control signals are supplied by one of the two lines 30a, 30b depending on the direction of rotation selected for the movable member 3. These lines are combined in pairs with four lines 31-34 for the stroke end signals, which correspond to the piston pairs and thus to the rows R * - R ₁ -, Rp - Rg, etc. Each pair formed by a line 30a or 30b and a line 31 »32, 33 or 34 is thus connected to an AND circuit 4la-44a, 41b-44b. The output of each AND circuit is connected, on the one hand, to an OR circuit 51-54 corresponding to the piston pair to be operated and, on the other hand, to an OR circuit 61-64 which corresponds to the previous piston pair that was operated according to the direction of rotation. The AND circuits and the OR circuits 51-54 are assigned in the following order: AND circuit 44a and 42b - OR circuit 51, AND circuit 41a and 43b - OR circuit 52, etc.

The OR circuits 51-54 thus receive one

Signal which comes from one of the line pairs 3 ^ ^: a-34 and 3Ob-32, 30a-51 and 3Ob-33 etc., while the OR circuits 61-64 receive a signal which comes from a line pair 30a-31 or 30b- 31, 30a-32 or 3Ob-32 etc. comes.

Each corresponding to a pair of rows (e.g. R- and R ^) OR circuit 51-54 (e.g. 51) is connected to the input for controlling and storing the memory 21-42. (E.g. 21) tied together. Those of the previous pair of rows (e.g. Rg and R. or Rp and Rg) corresponding OR circuit 61-64 (e.g. 64 or 62) is connected to the clear input of memory 21-24 (e.g. 24 or 22).

The stroke end signals in the lines 31-34 are generated under the action of the piston 6 by conventional means supplied by stroke end signals, which are described below, and with which the pistons are combined.

When an end of stroke signal and a direction of rotation signal arrive at an AND circuit, this supplies the corresponding one OR circuit 51-54 and 61-64 a signal. Of the

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OR circuit 51-54 applies the signal to the. relevant memory 21-24 and then transferred to the chambers of the row pairs R ₁ - Rr, Rp - Rg etc. corresponding pistons. The signal coming from the OR circuit 61-64 causes the deletion of the information which is contained in the memory corresponding to the previously operated pair of rows. .

The motor is controlled without the risk of errors and with a remarkable regularity, since each end of the stroke forms information that is necessary for the approval of the I ¹ oil actuation.

Figs. 5 to 8 show a linear indexing mechanism with a fixed link 71 and 71 formed by a plate a movable member 72 which can translate and which is substantially supported by a table 73, e.g. a machine tool, which'mit two lateral Parts 74 is provided, which are guided by slide rails 75 formed by the plate 71.

The plate 71 has on its upper side a series of identical grooves 76 with a V-shaped cross-section, which are arranged perpendicular to the direction of translation.

Zv / ischen the plate 71 and the table '73 is

a support block 77 which is fixedly connected to the table 73 and the side parts 74 and in which individual cylindrical chambers 78 are designed for pistons 79 arranged perpendicular to the plate 71. Each piston 79 is in contact with a ball 80, which lies in a bore which is formed in a thin plate 81 which is fixed to the support block 77 is connected and lies over the grooved "plate 71. The balls 80 can thus enter the grooves 76 more or less deeply.

The table 73 has a recess 82 in its central section, into which an insert 83 is inserted ■ is, as well as a transverse rib 84 which divides the table in half. The chambers 78, the pistons 79 and the corresponding Balls 80 are arranged in columns on both sides of this rib symmetrically so that they one in the transverse direction Have a certain inclination with respect to the grooves 76. In this example two series of seven rows of pistons are obtained '

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and balls, which are labeled L ^ to L ~ and I ¹ V to L'γ. The pistons 79 are attached to a diaphragm 85 clamped between the table 73 and the support block 77, and each row L .. - L ₇ or L ¹ - - L'γ is fed through a channel 86 or 86 'which in the T is formed according to 73 and is interrupted by the transverse rib 84. In the insert 83 are passages 87 for establishing the connection between the channel 86 of the series L ^ and the channel 86 * of the series L ¹ γ, between the channel 86 of the series L ₂ and the channel 86 * of the series L'g and so on continued up to the channels 86 and 86 'of the rows L ^ and L ¹ - formed.

The design is such that in each series the balls 80 of the successive rows L ^ -L "or L ¹ ..-! * ¹ - have a shift in relation to the bottom of the corresponding hats 76, which is by a value corresponding to the step changes. This value is equal to the ratio between the distance _e between two successive grooves 76 and the number of rows (seven in the case under consideration). This determines the inclination of the spherical columns 80 with respect to the grooves 76 in the transverse direction.

Everyone who feeds the rows of balls L> to L ^ Channel & 6 is extended by a stepped bore 88 which provides a passage for feeding the channel under consideration

forms and the corresponding channel 86 'with pressure medium / and thus serves to actuate the two corresponding rows of balls ..

There are also passages in the support block 77

91 formed, the number of which is equal to that of the loan, and which open into bores 72 which are perpendicular to the grooved Plate 71 and normally closed by a valve 93 which is attached to a support block 77 Fcderblatt 94 is attached.

The free end of the i'eder sheet stands with. the underside of the first piston 79 in the row in contact, see above that the displacement of this piston under the action of the pressure medium pressure, the opening of the valve 93 and the switching the bore 92 of the passage 91 causes the outlet. The passages 88 and 91 have a logical one (not shown) Control circuit for a pressure medium connected to which on

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the lack of pressure in a passage 91 due to the switching it responds to discharge and delivers a HuTd end signal, which allows the actuation of a following pair of rows. The control can be designed like that shown in FIG be.

The pneumatic control signals are applied to the row pairs according to the sequence L - L '^, Lp- L'g .... L.-L'- .... Ij ^ -L ^1. , And then to the row L ^ -L ¹ ^ transferred back, Λ / elche then assumes a position which by the distance _e. is shifted against the previous one.

Fig. 9 shows a two-stage linear indexing mechanism in which the grooved plate 101 of the upper assembly plays the role of the table for the lower arrangement. Incidentally, the two arrangements are designed in the same way .

The lower level should increase the feed rate by one

cause a relatively long step of e.g. 1mm, while the upper step should allow a feed of a very small step of e.g. 0.05 mm.

The grooves of the plate 101 have a distance which is equal to that between two columns of spheres in the lower one Level is. In the example under consideration, it is therefore possible to displace the table 73 by a certain number of millimeters thanks to the lower step and by a multiple of 0.05mm thanks to the upper step.

The two stages are fed separately with pressure medium by a logic control circuit. Possibly the two stages can work at the same time, especially with a numerical setting,

The number of stages can apparently accordingly

the one desired for the displacement of the movable member Accuracy can be increased, which depends essentially on the intended industrial application.

The use of the rotary indexing mechanism is particularly advantageous for operating valves and others Devices that may require limited rotations of rotatable parts "

According to a variant embodiment,

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the depressions are formed by conical recesses, instead of creating floods.

With reference to Pig. and 11 a system for precise mutual adjustment of the both links of the rear derailleur or motor with the aid of according to information encoded by a specific law.

In this system the number K d-.r ^ olben

and the rows of balls are chosen to be equal to ten. Under these conditions the feed step is equal to one tenth of the distance between the legs or the linear distance (depending on whether it is a rotating or a linear motor) between zv / ei successive grooves 13, this distance being the Corresponds to the division of the wells.

In Fig. 10 is a device schematically

to determine the current position of the movable member 11 shown. The hats. 13 are settled with the first Piston Pq and the last piston Pq as well as the corresponding Rows of balls 8a and 8b are shown.

To the position :; of the movable member

define, a reference position of the grooves is selected, which in this special case is the axis HO of the piston P _Q and the row of balls 8a. Furthermore, a special groove 13 is chosen as the origin. Under these conditions, the position of the movable member is defined by the distance, expressed in feed steps, between the axis of the original groove 13 and the position 140 of the grooves.

In the position shown in FIG

the axis 140 of the row of balls 8a by one advance step, ie by d / 10, where d_ denotes the pitch of the grooves, ttri ^ ^-1 with respect to the axis of the corresponding groove 13a, while the axis of the row of balls _{8_b corresponding to the piston P Cj is offset by} the axis of the groove 13b coincides. Assuming, for example, that the rage 13a is the eighth in the direction of the arrow f_ from the origin _c 'snut 13, the position shown is evidently defined by seventy-nine feed steps.

The detector system contains a first series

of ten detectors Aq, A * Aq for a pressure medium pressure,

v / which is actuated by the piston P when ri .. · is in

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are in a reference position. This reference position preferably falls with the position of the stroke end of the piston.

Thus, in the example shown in FIG. 10, the detector Aq is actuated and sends a position signal from · For convenience of expression, these first detectors are hereinafter referred to as "one-earth detectors", and their signals are called "alignment signals". The gaps between these 1's signals correspond to a feed step of the motor.

The position detection system also includes

a second series of ten detectors Bq, B. ... Bq, hereinafter referred to as "tens detectors". These second detectors are grounded either directly through the teeth between the grooves 13 or through a cam or the like. operated in such a way that a signal called "tens position signal" is never transmitted when the hat 13 corresponding to them is in the position selected as the reference position. It is evidently expedient to choose a position corresponding to the axis 140 of a piston Pq as the reference position of the grooves. The detector Bq corresponds to the groove 13 _r selected as the origin.

If the number of pits or grooves is greater than ten, the detector system includes a third one

Series of ten detectors Gq, C. Cq, "Hundred Earth Detectors"

called. Each detector 0 is by a cam or the like. with actuated a projection, the position of which corresponds to that of a group of ten successive grooves 13. The detectors C send a signal when the group of ten grooves corresponding to them reaches the reference position of the grooves. The intermediate space between these "hundred signals" thus corresponds to one hundred feed steps of the motor or ten divisions of the Indentations.

The detector system can still use decimal series

included by higher order detectors when the number of Liuten 13 this requires, whereby the space between the signals of a series corresponds to an advance which the Ten times the space between the signals of the un-

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indirectly lower series corresponding feed amounts.

The outputs of the unity detectors A are connected to lines U _Q to Uq, which lead to a first comparator 111 (Pig. 11) of a known type.

Likewise, the outputs of the -ary * tens detectors B with lines Dq to D ₀ . connected, which lead to a second, like the first comparator designed comparator 112.

To simplify the language are

the comparators 111 and 112 hereinafter called "ones comparator" and "tens comparator", respectively.

Although the number of comparators is limited to two for the sake of clarity of the drawing and the explanations the number of these is of course equal to the number of decimal series of the position detectors

A not shown and known per se

Command generator sends out primary setpoint signals, which the represent the desired position for the movable <ilied, which, as stated above, is expressed in feed steps.

This defining the desired position

The number of feed steps is represented according to a specific code by the primary setpoint signals that are sent to lines 113 to 120 appear, the number of which depends on the selected code, and which to a code converter one per se known design, which is due to the clarity of the drawing in Pig. 11 shown in two separate sections 121 and 122 became. The code converter decodes those represented by the primary setpoint signals in a manner known per se Information and encodes them again according to a decimal law in order to send secondary setpoint signals. These secondary Signals contain a one's signal which appears on one of the lines Eq to Eg connected to the one's comparator 111, and a tens signal which is applied to one of the tens comparator. 112 connected lines Pq to P "appears.

In the general case, of course, the code converter contains as many sections as there are comparators are.

Each comparator 111 and 112 has two

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Outputs and is designed in a manner known per se, that it forms an actuation signal -which appears either on a line 123 or 124, if that is on one of the lines D or U appearing position signal is smaller than the setpoint signal supplied by one of the lines E or F, or on a line 125 and 126, respectively, in the reverse pail. If that Position signal is the same as the setpoint signal, the comparators do not send an actuation signal.

Lines 123 and 124 are each with one

Input of an OR circuit 127 connected while the lines 125 and 126 are connected to the inputs of a second OR circuit 128. The outputs of these OR-CIRCUITS are with lines 30a and 30b of those described in detail above logic control circuit of the motor connected.

This logic circuit is in Pig. 4 for

eight pistons 6 shown. As in the present embodiment If the number of pistons is ten, the circuit must of course have this number of pistons in a manner which is obvious to a person skilled in the art be adjusted.

It should also be noted that the one's detectors A are not only connected to the lines TJ of the one's comparator 111 are connected, but also to lines 31 to 34 of FIG. 4, around the logic control circuit of the motor the above to deliver mentioned stroke end signals.

The tens comparator 112 of fig. 11 becomes immediate fed by two lines 129 and 130. The feeding of one's comparator 111 is controlled by the actuation signals, which are sent out by the tens comparator 112 via a blocking circuit. This circuit contains an OR circuit 131 and a changeover switch or a NEIF-SOFTWARE 132, which together form a NEVER-NOR circuit. the OR circuit 131 has two inputs connected to output lines 123 and 125 of the tens comparator, and the output the N3IN circuit 132 is connected to the feed inputs of the one's comparator 111 connected. Under these conditions can apparently the one's comparator only send out a signal if none Signal neither on line 123 nooh ah of line 125 present is.

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of course, in the general pail everyone will Comparator controlled by the comparator immediately higher order through a blocking circuit, which is like the one described above is trained.

The above device works as follows:

In the following, for the sake of simplicity, it is assumed that the position detector system has only ones detectors A and tens detectors b B, so that the comparison system also contains only one ones comparator 111 and one tens comparator 112, as in I ¹ Ig. 11 shown. The extension to the general case is readily apparent to the person skilled in the art.

Assuming that the desired position of the moving member of the engine is a distance of twenty-eight Feed steps between the groove 13 selected as the origin and that selected as the reference position of the grooves Corresponds to axis 140, the command generator (not shown) sends a setpoint signal on lines 130 to 120, which represents this number in a chosen code. After the signal has been decoded and recoded by the code converter 121, 122 appears on the line Eg a signal which the Number represents eight, and on line F2 one of the second group of ten, i.e. the number twenty, corresponding signal. These two signals are symbolic on the corresponding lines represented by dots.

When the motor is in the position shown in FIG. 10, the tens detector B ₇ corresponding to the groove preceding the groove 13a is actuated and sends a signal to the line D ₇ . Furthermore, the ones detector Aq sends a signal on the line U ^, since it is the piston Pq which is at the end of the stroke. These two signals represent the number seventy-nine, which in advance steps represents the current position of the movable member, as stated above. These signals are symbolically represented by X on the corresponding lines.

The tens comparator 112 determines that the position _{signal which it receives on its line D 7} is greater than

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ser than the setpoint signal appearing on the line Fp. As a result, it forms an actuation signal on its output line 125. This signal is sent to the OR circuit transmitted, and from there to the line 30b_ of the logic control circuit, which causes the advance of the motor in the 'correct sense.

At the same time this actuation signal

the blocking circuit 131 »132 supplied, which feeds the One comparator 111 blocked. This can therefore not send out a signal

According to the advance of the motor

its position by successively on lines Dg, D, - etc. appearing tens signals detected. When the tens signal appears on line Dp, tens comparator 112 stops, to send out an actuation signal. The position of the engine at this moment is defined by the number twenty-nine.

Since the blocking circuit no longer receives a signal, it enables the ones comparator 111 to be fed. This determines that the position signal which it receives on the line Ug is greater than the setpoint _{signal set on the line E g.} As a result, it forms an actuation signal on its output line 126 which, via the OR circuit 12S, causes the motor to be advanced in the same sense as before, up to the desired position defined by the number twenty-eight. When this desired position is reached, the ones comparator .111 stops sending its actuation signal and the motor stops.

The above device apparently enables precise control of the motor by very simple means. In particular the number of pistons and the distribution of the position detectors enables instant position signals to be obtained, which are coded directly according to a decimal base, so that no special code converter has to be used.

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Claims (21)

- 16 claims 1 «) Working with one pressure medium pressure Stepper motor or stepper mechanism with two mutually movable members, characterized in that one (1) the links several rows (R. · to Rg) of rolling elements (8), which with recesses (13) formed in the other link (3) can cooperate, and actuating means (6) for actuation each row (R .. to Rg) of rolling elements (8), wherein the rolling elements (8) of the successive rows (R ^ to Rq) a shift relative to the bottom of the depressions (13) have which changes by a fourth corresponding to the step. 2.) Motor according to claim 1, characterized in that the depressions by successive identical grooves (13) arranged in parallel are formed. 3.) Motor according to claim 1, characterized in that the actuating means is controlled by the pressure medium pressure Pistons (6) are. 4.) Motor according to claim 2, characterized in that when the two members (1, 3) are mutual Can perform rotary movement, the grooves (13) and the rolling element rows (8) are arranged parallel to the axis of rotation, wherein the step equals the ratio between the angle (δ) between. see two consecutive grooves and the number N of rows is. 5 ·) Motor according to claim 2, characterized in that when the two members (71, 72) can perform a mutual translational movement, the rows (L .. to L ₇ ) of rolling elements (80) in the direction of translational movement and the Grooves (76) are perpendicular to this direction, the step being equal to the ratio between the distance (, e) between two successive grooves and the number of rows. . 6.) Motor according to claim 5, characterized in that the rolling elements (80) transversely to the translation direction form arranged columns. 7.) Motor according to claim 5, characterized 20985 1/0867 shows that the rows of rolling elements (80) are divided into two symmetrically arranged series (Iu to L ₇ and L'- to I "' ₇ ), the rolling elements (80) viewed in multiples transversely to the direction of translation «Have a certain inclination in relation to the grooves (76). 8.) Motor according to claim 7, characterized in that the rows of the two series (1- to L ₇ and L · ^ to I>'<y) through feed channels (86, 86') are fed with pressure medium, which are symmetrical in pairs can be connected to each other. 9.) Motor according to claim 3> characterized in that that the pistons (.6) are attached to a membrane (14) exposed to the pressure medium pressure, and that the rolling elements (8) with the piston (6) inside an intermediate piece (10) in Standing touch. 10.) Motor according to claim 3, characterized in that the actuation {.; Smittel (6) with means (Aq to Aq) are combined to generate end-of-stroke signals, which are connected to a logic control circuit. 11.) Motor according to claim 10, characterized in that the Kittal for generating Hubendesignalen for each row of rolling elements (80) a passage (88 to 91), v / which is connected to the logic circuit and on Outlet can be switched, and have a valve (93) which closes this passage, and its' opening through the adjustment of the pistons (79) in the row is controlled. 12.) Motor according to claim 11, characterized in that the valve (93) of one with the bottom a piston (79) of the spring leaf (94) in contact with the row is carried. 13.) Motor according to claim 5, characterized by at least one second member, which has rolling elements, which cooperate with grooves formed in the first link, in such a way that a hotor with at least two stages is created. 14.) Motor according to claim 1, characterized in - that the depressions are formed by conical recesses weraen. 209851/0867 15.) Motor according to claim 10, characterized by a detector system (Aq to Aq and Bq to Bq) for plotting the current mutual position of the two movable members, which supplies position signals (Uq to Uq and Dq to Dq) coded according to a decimal law, a command generator for generating setting commands, which supplies primary setpoint signals (113 to 120), which are coded according to a certain law and represent the desired mutual position of the two movable members, a system for code conversion (121, 122), which at the output of these primary setpoint signals (113 to 120) according to a decimal law coded secondary setpoint signals (Eq to Eq and IPq to Pq), and a comparison system (111, 112), which on the one hand the position signals (Uq to U ₀ and Dq to D _ü ) and on the other hand receives the secondary setpoint signals (Eq to Eq and Pq to Fq) and in puncturing the relative value of the two signal series of the l Ogischen control circuit of the motor provides actuation signals (30a, 30Jb). 16.) Motor according to claim 15 »characterized in that that the position detector system comprises series of ten detectors, the first series (Aq to Aq) supplying position signals (Uq to Uq) which are separated by a gap corresponding to the advance step of the motor, while each of the higher order series (Bq to Bq) signals (Dq to Dq), which correspond to a feed, which is ten times the feed rate corresponding to the signals of the immediately lower series. 17.) Motor according to claim 16, characterized by ten pistons (Pq to Pq), the advancing step of the motor being equal to the tenth of the distance (d.) between two successive indentations (13), the position detectors (Aq to Aq) of the first series being driven by the pistons ( Pq to Pq) are actuated and a signal (Uq to U _c ) deliver when the corresponding piston (P) is in a certain reference position with respect to the depressions (13). 18.) Mo οor according to claim 17, characterized in that -. '. As the reference position of the pistons (Pq to F ₀ ) uer; i Hubende corresponds to the same,' and that uie detectors (A-, bin 209851/0867 9) of the first series are simultaneously connected to the comparison system (111), to which they _{supply position signals (U Q} to Ug), and to the logic control circuit of the motor, to which they supply end-of-stroke signals (31, 32nd). 19.) Motor according to claim 16, characterized in that the comparison system includes comparators (121, 122) contains, the number of which is equal to the number of series (A, B) of position detectors, each of these comparators on the one hand the signals (Uq to Ug, Dq to Dg) from a series of position detectors and, on the other hand, the secondary setpoint signals (Eq to Eg, Pq to Fg) of the corresponding order receives and a Sends actuation signal when the position signals and the setpoint signals have different fourths, the system also being one Has blocking means (131, 132) which prohibit the transmission of an actuation signal by a comparator (111), as long as the comparator (112) of a directly higher order in turn sends out an actuation signal. 20.) Motor according to claim 19, characterized in that that each comparator (111, 112) has two outputs (123, 125 and 124, 126) and an actuation signal on its sends out its first or its second output, depending on whether the position signal has a lower or higher value than that Has setpoint signal. 21.) Motor according to claim 20, characterized in that the locking means for each comparator a WEDER-NOOH attitude (131, 132), which two with the first and the second output (123, or 125) of the comparator (112) _ Have entrances directly connected to a higher order / while its exit controls the supply of the comparator (111) to be blocked. 209851/0867