DE7007483U - DRIVE MACHINE, IN PARTICULAR HYDRAULIC MOTOR - Google Patents

Description

PATENT LAWYERS

Dipl.-Ing. BUSCHHOFF
Dipl..Ing. HENNICKE
Dipl.- Ing.VOLLBACH

5 KOLN / RH.

KAISER-WILHEIM-R! NG 24

AWeni., G 70 07 4-83.8

R »g.-No.

Bw 101

COLOGNE, April 20, 7C

please specify

Patent application

of the Lord

Spencer Bowman, 1635 Riverside Drive, Lakewood , Ohio (USA)

Drive machine, in particular hydraulic motor

The invention relates to a drive machine, in particular a hydraulic motor, with a rotatably mounted in a housing, Output shaft driven by a toothed gear. In particular, the invention relates to a hydraulic low-speed motor directed, which at low running speeds a high torque with high volumetric vision at the same time Efficiency delivers.

The engine according to the invention can accordingly be particularly advantageous Can be used wherever, e.g. with winch drives, high starting torques have to be applied. It understands however, that the invention is based on these applications

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range is not restricted, --κ α'3rn more general application Can be found.

Hydraulic motors are known in various designs. However, they all have the disadvantage that they are in the lower speed ranges have an extremely poor volumetric efficiency. For example a hydraulic motor of conventional design has a volumetric speed at a speed of one revolution per minute Efficiency that can be below 10%. Only at speeds in the order of 300 revolutions per minute the volumetric efficiency of the known machines reaches a reasonably acceptable value, while in speed ranges from 2000 to 3000 revolutions per minute the efficiency is good.

In the case of slow-running prime movers, this can also result Difficulties arise when the drive must be started with high torque. This is e.g. with a winch drive the case where a high starting torque at low speed must be applied and in which it is therefore not possible, the drive before its operational load on a bring certain speed. In order to enable starting under load, the known ones with high speeds are used and torque operating drives are used together with reduction gears. It is mostly about large-scale and relatively expensive Mctor gear units, which also have to be equipped with a special braking or holding device.

The main object of the invention is to eliminate the disadvantages of the aforementioned drives. In particular The invention aims at a hydraulic motor which, at low rotational speeds, has a high starting torque on the output side with high volumetric efficiency at the same time supplies.

The drive machine according to the invention is characterized by: that the gear transmission has a driven ring gear which is drivingly connected to the shaft The gear wheel engages and meshes with it and its inner diameter to achieve an eccentric Position between the ring gear and the gear is considerably larger than the outer diameter of the gear, and that one of the ring gear in its orbital motion relative to the internal gear supporting device as well as for driving the ring gear and rotation of the output shaft a him about its orbit driving drive device are provided.

The support device or the storage of the ring gear preferably consists of one between the machine housing and Ring gear switched on articulated lever system, which is expediently designed in the manner of a Parali elogramra lever system is. According to a further essential feature of the invention the lever system has a bearing ring which is connected to the machine housing via articulated levers and with which the ring gear is also movably coupled via articulated levers. The between the machine housing and the bearing

I, ¹ ring "or between the bearing ring and the ring gear

t (:. steering levers preferably each consist of a pair of levers,

! Ϊ. the levers in the manner of a parallelogram lever system

* '] are arranged so that the ring gear is on an elliptical

.; or circular arc-shaped orbit around the one with the output

: · 'Shaft connected gear is movable.

According to a further essential feature of the invention, there is the drive device acting on the ring gear of a number arranged at a distance around the ring gear and hydraulic piston-cylinder devices drivingly connected to the ring gear, the cylinders of which are either inside of the gear or can be arranged radially in or on the machine housing. The hydraulic piston-cylinder devices are controlled so that the ring gear executes the desired orbital movement, in which it is alternating Meshing with the gear drives this and thus the drive shaft. The control can be done, for example, by that each piston-cylinder device is assigned a separate control valve. Preferably find here Slide valves use whose slide in a structurally advantageous manner via a control disk carried by the toothed ring can be controlled. On the other hand, a valve plate can also be provided to control the valves, which is rotatable with respect to the piston cylinder devices and has pressure medium channels which, when they are rotated, follow one another get in connection with the channels leading to the piston-cylinder devices.

As mentioned, is in the drive machine according to the invention the ring gear "floating", i.e. mounted so that it has a Orbital movement executes in which its central axis is on moved in an orbit. The orbital motion is more preferable Execution caused by the hydraulic cylinders, which are arranged distributed over the circumference of the ring gear. There the number of teeth on the ring gear provided with an internal toothing is greater than the number of teeth on the the shaft seated gear, there is a gear reduction. As the ones used to drive the ring gear hydraulic lifting cylinders do not cause problems can be used in the drive machine according to the invention achieve a high volumetric efficiency. The hydraulic drive has a hydraulic "lock" and is self-retaining in connection with the gear wheels in engagement. After all, that is also comparative simple construction of the drive motor according to the invention advantageous.

Further features of the invention are listed in the individual claims and are explained below with reference to the in the Drawing illustrated embodiments of the invention explained in more detail. In the drawing show:

Fig. 1 is a hydraulic drive motor wherein the drive is assigned a winch according to the invention schematically by aar end face;

Fig. 2 is a section along line 2-2 of Fig. Λ \

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3 shows the machine according to FIGS. 1 and 2 in cross section to show the meshing gears;

Figure 4- is a section along line 4-4 of Figure 1;

Fig. 4A of a control valve used is in section through the valve housing;

FIG.> In a sectional view corresponding to FIG. 2 a modified embodiment of the invention;

6 shows a section along line 6-6 of FIG.

In the drawing, in which preferred exemplary embodiments of the invention are shown, the hydraulic motor according to the invention is shown shown in connection with a winch, although it is of course also used for other drive purposes Can be found.

In Fig. 2, the winch Tiit 10 is designated; she has one cylindrical drum 12 with radial flanges 14 laterally spaced from one another. The drum 12 is rotatable on bearings 16 relative to a stationary housing 20 stored. The housing can be designed in two parts; it consists of the actual Vinden housing 21 and a housing 22, which takes up the winch drive. The two housing parts 21 and 22 are assembled or formed into a one-piece Housing combined and supported on a common foot part 23.

The winch housing has the end walls 24 and 25, wherein the latter end wall at the same time the end wall of the

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Forms housing part 22 receiving the drive. A shaft 26 is in bearings '.'? and 28 of the end walls 24 and 25 are rotatably mounted. As shown in Fig. 2, the shaft 26 extends through the cylindrical winch drum 12; Here it has bearing flanges or bearing rings di on which the drum is mounted via the roller bearings 15.

A hydraulically operated friction clutch 30 is used to drive the winch drum 12 to the shaft 26 intended. This coupling has an annular piston 32 which slides on the shaft 26 and has a cylindrical piston at the rear Piston skirt 33 wears, which engages over a collar of the bearing ring 29 and with this forms a cylinder chamber 34-. A larger number of friction disks 36 and 38 are arranged between the cylindrical drum 12 and the shaft 16. The friction disks 36 have teeth on the outer circumference for a rotationally locking connection with the drum 12, while the Friction disks 38 with teeth arranged on the inner circumference of the shaft 26 are in communication, so that the torque is transmitted from the shaft 26 to the drum 12 via the friction disks can be.

To the friction disks 36 and 38 between the end face 39 of the Piston 32 and an abutment plate 4-0 frictionally to clamp, the cylinder chamber 34- via channels 41 and 4-2 of the shaft 26 can be connected to a pressure medium source.

The drive of the shaft 26 will now be explained in more detail below:

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The drive, generally designated> 0, is in the housing part 22 of the housing 20 housed. The drive has a gear wheel 52 with external teeth, which by means of springs, Wedge pieces 53 or other connecting elements rotatably is connected to the shaft 26. The gear 52 is enclosed by a ring gear 54 provided with internal teeth. The inner diameter of the ring gear 54 is considerable larger than the outer diameter of the gear 52. In addition, the ring gear 54 has a greater number of teeth than the gear 52.

The mounting of the ring gear 54 is shown in particular in FIG. 3 refer to. This mounting has a pair of articulated levers 56 which are articulated to the housing 20 at 57. With their other end, the levers 56 are at 58 on one Bearing ring 59 hinged. The bearing ring 59 is accordingly pivotable in both directions transversely to the longitudinal axis of the shaft 26.

A pair of levers 60 is articulated at 61 on the bearing ring 59. The other end of this lever 60 is by means of a hinge pin 62 hingedly connected to the ring gear 54, so that this can be pivoted back and forth transversely to the direction of movement of the bearing ring 59 via the two parallel levers 60.

From Fig. 3 it can be seen that the hinge pins 62 at an angular distance of 180 ° on the circumference of the ring gear 54 are arranged.

Correspondingly, the hinge pins 58 of the two levers 56 are in the on 180 ° on the circumference of the bearing ring 59 angeorc

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Angular spacing of 180 ° on the circumference of the bearing ring 59 is arranged

The angular spacing of the levers 56 and 60 is accordingly 90 °. The levers 56 and 60 together with the bearing ring therefore form a parallelogram lever system via which the ring gear 54 is connected to the housing. Because of the overlapping articulation movements of levers 56 and 60, each moves Point of the ring gear 54 on a circular or elliptical Orbit. In the case of this orbital movement, a Part of the teeth of the ring gear 5 ^ · in mesh with the Teeth of the gear 52 while on the remaining areas of these gears there is no meshing (Fig. 3) · The section where the two gears are in mesh stand, wanders around the entire circumference of the inner gear 52 when the ring gear is above the aforementioned Moving orbit. Here, the drive force is transmitted from the ring gear to the inner gear via the meshing of the teeth.

The ring gear 54- is hydraulically operated by a number of them Piston 64 moves through its orbit. In the illustrated embodiment, a total of eight pistons are provided, from which in Fig. 2 only a single one is shown. It goes without saying that the number of pistons can be different and depends in particular on the respective use of the drive machine.

On the ring gear 54 is a coupling rod 65 with its inner Hinged end. The outer end of this coupling rod is articulated to the piston 64 via a hinge pin 66. The piston 64 slides in a cylinder 68 which extends from

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the cylindrical side wall '- ·, ·; S housing 20 is supported. It can be seen that during the nub movement of the piston 64 in the cylinder 68 the linear movement of the piston via the articulated lever system 56, 60 in the desired orbital movement of the Ring gear 54 is implemented.

The actuation of the pistons 64 in the cylinders 68, which in turn form hydraulic motors, takes place by introduction a hydraulic pressure medium into the individual cylinder chambers via a valve and pipe system. This includes a distributor ring 70 attached to the side wall 69 of the housing 20. The distributor ring has a pair of annular grooves on, one of which has a high pressure channel 72 and the others form an outlet or low-pressure channel 74-. the High pressure channel 72 is connected to a high pressure source, while the channel 74- with a sump or a reservoir connected is.

A valve mechanism 76 is assigned to each individual piston-cylinder device 64, 68. This has a valve housing 78, in the valve chamber 80 of which a valve element 82 is arranged displaceably. The valve member consists of a slide with cylindrical piston lugs 83 at the ends and 84 connected by a tapered shaft 85 (particularly Figures 4- and 4A). The cylindrical Ventilkanuner 80 has three grooves or spaced apart next to one another Recesses 86, 87 and 88, the groove 86 in the region of the slide piston 83, the groove 87 concentric to the shaft

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85 and the groove 88 in the area of the other slide piston 84 is arranged. The groove 86 is connected to the annular high pressure channel 72 via a channel 89, while the Groove 88 via a channel 90 with the annular channel 74- on the low-pressure side connected is. The groove 87 is connected to the interior 92 of the cylinder chamber 68 via a channel 91.

When the slide 82 as shown in FIG. 4-A after linkj is shifted, the high pressure channel 72 passes over the channel 89, the grooves 86 and 87 and the channel 91 in connection with the cylinder 68, which is thereby acted upon by the hydraulic pressure medium. With this valve setting is the low pressure passage 93 from the piston end 84 of the spool 82 locked. If the slide 82 is shown in Pig. A-A is pushed to the right, so the pressure medium supply line closed to the cylinder and the cylinder 68 instead via the channel 91, the groove 88 and the channel 90 connected to the low pressure channel 74-.

The adjusting movement of the slide 82 is controlled by a cam or control disk 95. This control disk is attached to the ring gear 54 ·; it therefore executes a movement corresponding to the orbital movement of the ring gear. As FIG. 1 in particular shows, the control disk 95 has a number of rectangular recesses 96 on the circumference, which are laterally bounded by arms 97. The arms ) 7 are arranged at a distance from one another which corresponds to the length of the slide 82 , so that the surfaces 98 facing the slide

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Arms slide against the outer ends of slide 82. Ss can be seen from Fig. 1 · That the control disk 95 due to their orbital movement in succession the valve housings 78 approaches in the radial direction and then removed again from the valve housings, this radial movement being due to the movement play in the recesses 96 is possible. In addition, the control disk performs a circumferential movement to a limited extent, which leads to a displacement of the Slide 82 of the control valves through the arms 97 leads.

The drive mechanism described above in connection with a winch 12 operates as follows:

In the operating state shown in FIGS. 1 and 2, the upper piston (located in the 12 o'clock position) is in the lower stroke end position, while the lower piston (located in the 6 o'clock position) is in the upper stroke end position is located. The slide valves Q'-1 assigned to the two pistons are in their middle position, in which the inlet and outlet openings of these valves are blocked. The other valves and pistons are in the various intermediate positions. For example, the slide valve 82 located in the 9 o'clock position is fully shifted to the left, so that the associated cylinder 68 is connected to the high pressure line 7: while the opposite slide valve 82 located in the 3 o'clock position fully afterwards is shifted to the right, so that its cylinder is connected to the low-pressure channel 74. The pistons acted upon by the high pressure medium in this way perform to and fro movements, as a result of which

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the ring gear 54 is moved via the lever system while taking the control disk 95 with it. When the control disk is carried along, the slides 82 of the control valves are displaced via the arms 97. For example, the displacement of the ring gear 54 has the effect that the control ^{disk 95 i 3} - as shown in FIG. Slide valve 82 located at the clock position can be moved to the left. The adjustment of the slide valve 82, which is at the 12 o'clock position, brings the associated cylinder into connection with the low-pressure side, so that the piston 64 moves upwards in its lower stroke end position. Conversely, the adjustment of the slide 82, which is in the 6 o'clock position, has the effect that the associated piston 64 is acted upon by the high-pressure medium, so that it is pushed out of its upper stroke end position. Corresponding effects occur on each individual valve and working piston, so that the various valves are in the different opening and closing positions at any point in time of the working cycle, while the associated working pistons are correspondingly in the different stroke positions.

During these reciprocating movements of the working piston, the ring gear 54 is moved over its orbit, with its teeth continuously come into and out of engagement with the teeth of the internal gear 52 at other locations. When the teeth of the ring gear 54 meshes with the teeth of gear 52

long, causes the wedge effect of the clashing here Tooth flanks a rotary movement on the gear 5 · - · To this Rotational movement is added to the limited angular movement of the ring gear 54- so that these two combined movements the gear 52 and thus the shaft ^ 6 set in rotation will.

By pressurizing the cylinder chamber 3 ^ can Close the friction clutch 36, 38 via the piston 32, so that the drum 12 is carried along by the rotating shaft 26.

As mentioned, the drive according to the invention is different Number of teeth on gears 52 and 5 ^ in provided in such a way that a reduction is achieved. It is understood that the difference in the teeth of these two gears can be different. For example, the ring gear may have sixty teeth and the gear may have fifty-four teeth Teeth so that the difference in value of the teeth is six. The sixty tooth tooth

54
Kranz has to travel its orbit four to nine times in order to bring about one revolution of the gear 52. Since each piston executes a working cycle with each individual revolving movement of the ring gear, there are nine piston cycles per shaft revolution. The hydraulic motor therefore works at relatively high speeds, while the winch is driven at a relatively low rotational speed.

The prime mover described above stands out

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characterized by a high volumetric efficiency. It can be seen that leakage losses only in the piston and Cylinder devices and in the valves can occur. Since the piston and cylinder devices have simple linearly movable reciprocating pistons, there are no special ones Sealing problems. With the help of conventional sealing rings, the pistons and the slide valves can be sealed so that that no or no significant leakage losses occur. Due to the very low leakage losses, this is hydraulic System in the drive machine according to the invention in each The position is hydraulically locked within its working cycle, what in the event of a failure of the energy supply can be of importance.

5 and 6 is a modified embodiment of the invention, the winch shown in Fig. 5 with that of the embodiment according to FIGS. to 4 coincides, so that as far as an explanation is dispensed with can be. The changes mainly concern the bearing of the gears and the gears used to drive the gears required valve and piston devices.

As can be seen from FIGS. 5 and &, the output shaft 100 at one end has a radial annular flange or extension 101, on which the inner, Gear wheel 103 provided with the external toothing is attached "is. The latter is enclosed by a ring gear 105, the with its internal teeth in mesh with the internal

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Gear can get. As in the embodiment according to FIGS 1 to 4, the toothed ring 105 is connected to a bearing ring 108 such that it can be articulated via articulated levers 106. the Bearing ring 108 is in turn mounted on the housing via lever 110, so that the ring gear 105 executes a revolving movement can, as is explained in more detail in connection with FIGS. In one end wall 114 of the housing 116 a stub shaft 112 is rotatably mounted. The gear 103 is pushed over the stub shaft 112 and attached to it.

118

A number of hydraulically operated pistons / are arranged distributed over the circumference of the gear wheel 103. The pistons 118 work in hydraulic cylinders 120 which are arranged or formed in the gear wheel 103. As Fig. 5 shows, is Associated with each piston 118 is a spring 122 which tends to push the piston radially outward. On the outside At the end of the piston, each piston has a roller 124. The rollers 124 can engage in a ßollennut 126 on the Inner circumference of the ring gear 105 is arranged.

To actuate the individual working pistons 118, there is a number of inlet channels or inlet openings in the gear wheel 103 130 formed, which are connected to the interior of the various cylinders 120. A valve plate 132 is rotatably mounted on a bearing 134, which of the outer Ring gear 105 is worn. As FIG. 6 shows, the valve plate 132 is designed to be eccentric; it has a pair of arched Grooves or channels 136, 138. These grooves 136,

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are arranged concentrically to the stub shaft 112. They rotate over the inlet openings 130 so that they temporarily with these inlet openings during the rotary movement keep in touch.

Over the outboard end of the stub shaft 112 is a distributor ring 140, which rotates with this shaft. The distribution ring has a high pressure channel 142 and a low pressure channel 144, which can each be formed by an annular groove. With the high pressure channel 142 is a channel 146 eggs StummelwelIe 112 in connection, while the low pressure channel 144 is connected to a further channel 148 of the stub shaft.

The rotation of the valve plate 132 is via the orbital motion of the ring gear 105 is achieved roughly in the manner of a crankshaft, the valve plate with each revolution cycle of the ring gear makes one revolution. The inner gear 103 and the shaft 112 with the channels located therein rotate in contrast at a reduced speed that of the respective The reduction speed of the drive.

It follows from the foregoing that during the rotary movement of the valve plate 132, the grooves 136 and 138 come into temporary contact with the channels 130 leading to the cylinders 120, so that the pressurization and pressure relief of the working cylinder in the above in connection with the Z ⁷¹ Ig . 1 to 4 described manner can be controlled. The pressurization and pressure relief of the "

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Working cylinder caused reciprocating movement of the working piston 118 accordingly leads; - a revolving movement of the ring gear 105, in which this continuously comes into "and out of mesh" with the internal gear 103 · The over Thus, the ring gear 105 moving its orbit gives the inner gear 103, the shaft 100 and when the clutch is engaged the winch drum rotates.

In this embodiment of the drive described above, the volumetric efficiency is also extraordinary good, because in the hydraulic part of the drive seals are only made on reciprocating and rotating parts need to be and accordingly no higher leakage losses will occur. Incidentally, this is also a drive hydraulically locked in the event of a power supply failure.

With both of the embodiments described above, some considerable ones can be achieved compared to the known hydraulic drives Achieve advantages. For example, it is possible to use winches or other devices with speeds of to drive about one revolution per minute or even less, without significant leakage losses even at very high torques, e.g. in the order of magnitude of 300 to 500 m / kg occur. The drive according to the invention is characterized by a high starting torque and can therefore be used primarily where, e.g. b. i Winches, high starting torques are required. The last

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called advantage of the drive according to the invention is on it

due to the fact that the hydraulic motor from any loading |

i allows the drive position of its working cycle to start and that ^(> in every operating position the full hydraulic pressure of the working cylinder is transmitted via the pistons to the epicyclic gearbox without a crank effect reducing the starting torque.

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Claims (16)

- 20 claims 1. Drive machine, in particular hydraulic motor, with a rotatably mounted in a housing, via a toothed gear driven output shaft, characterized in that the toothed gear has a driven toothed ring (54-, 105) which engages around a gearwheel (52, 103) which is drivingly connected to the shaft (26, 100) and meshes with the teeth with this stands and its inner diameter to achieve an eccentric position between the ring gear and Gear is significantly larger than the outer diameter of the gear, and that one of the ring gear (54-, 105) at his Orbital movement relative to the inner gear (52, 103) supporting device (56 to 62 to 106 to 110) and for driving the ring gear and rotating the output shaft a drive device that drives it over its orbit (64 to 69 or 118 to 124) are provided. 2. Machine according to claim 1, characterized in that the ring gear (54, 105) carrying the device consists of one lever system (56 to 62 or 106 to 110) exists. 3. Machine according to claim 2, characterized in that the lever system (56 to 62 or 106 to 110) consists of a parallelogram lever system consists. 7007483 v9.10.7n 4. Machine after. Claim 2 or 3, characterized in that that the lever system has a bearing ring (59, 108), the bearing ring via the lever elements (56, 60 or 106, 110) on the one hand to the housing and on the other hand is connected to the ring gear (54, 105). 5. Machine according to one of claims 1 to 4, characterized in that the drive device acting on the toothed ring (54, 105) consists of a number of hydraulic piston-cylinder devices (64- to) arranged at a distance around the toothed ring and drivingly connected to the toothed ring 69 or 118 bin 1? ' ¹ ^ exists. 6. Machine according to claim 5 _: gekeoizeichnet by the pressure medium inflow and outflow of the piston-cylinder devices (64 to 59 or 118 to 124) in accordance with the movement of the ring gear (54, 105) controlling valve devices (76, 152). 7. Machine according to claim 5 or 6, characterized in that that the piston-cylinder devices (118 to 124) are arranged radially in the inner gear (103). 8. Machine according to claim 5 ^r ier 6, characterized in that the piston-cylinder devices (64 to 69) on the Housing (22) are arranged. I. 9. Machine according to claim 6, characterized in that the control valve device has a valve plate (132), the opposite of the piston-cylinder devices (118 to 124) - 22 - 700748329.10.70 is rotatable and has pressure medium channels (136, 138), which in their rotational movement in succession in connection with the channels (146, 148) leading to the piston-cylinder devices. 10. Machine according to one of claims 6 to 8, characterized in that that each piston-cylinder device is assigned a control valve (76), and that via the valve members (82) of the control valves, the connections between the cylinders (68) and a high pressure source or a low pressure line are controllable. - ¹ O 11. Machine according to claim 1Ί, characterized in that the Valve members (82) from the valve housing (78) protruding actuating members (83, 84) and via one of the Toothed ring (54) carried control disc (95) are controlled. 12. Machine according to one of claims 6 to 11, characterized in that that the control valves consist of slide valves (76), the slide (82) of which from the valve housing on both sides (78) is led out, and that the control valves are in recesses (96) on the circumference of the control disc (95), the actuators of the control valves being actuated by the walls (98) of the recesses resting against them are. 13 · Hydraulic motor, in particular according to one or more of the preceding claims, characterized in that in the housing (22, 116) a plurality of angularly spaced - 23 - 7OO743?.? 9.io.7P other hydraulic cylinders (68 or 1 .-! O) with piston (Vi, 118) liftable therein are arranged, iie are each drivingly connected to a drive member (p ^, 1 J8, located in the housing, and that a valve control "is provided, which connects the cylinders in sequence with a hydraulic pressure source, the valve control being driven by the drive member (59, MQ) . 14. Storage for a member movable on a Ural runway, in particular for a drive machine according to one or more of claims 1 to 13, characterized in that aas movable member (54, 105) with a bearing member (59, 108 ) via an aelank lever mechanism (60 , 106) is movably connected, and that the bearing member (59, 108) is connected to the housing (^ c ?, 116) via a second articulated lever mechanism (56, 110) so that it extends in a direction transverse to the direction of movement of the first-mentioned articulated lever mechanism Direction is movable. 15 · Storage according to claim 14, characterized in that the two articulated lever mechanisms each consist of a pair of substantially diametrically opposite one another Lever (56, 60 or 106, 110) consist of 16. Epicyclic gear, in particular according to one or more of the Claims 1 to 15, with an output shaft mounted in a stationary housing and a driven gear, with which driven planetary gear is engaged, 7007483 29.10.7n _ 24 - characterized in that the planetary gear (54, 105) the driving device has a floating element (59, 108), preferably in the form of a bearing ring, that a first pair of substantially parallel levers (56, 110), which connect this element to the housing, and a second pair of levers (60, 106) are provided, which are arranged approximately at right angles to the first pair of levers and the element (59, 108) with the planetary gear (54, 105) connect that also to drive the planetary gear between it and the housing acting hydraulic motors (64 to 69 or 118 to 124) are provided, which are supported by an actuating device (95 or 132) carried by the planet wheel are actuated. 70Q748329.10.-0