Europaisches P a t e n t a m t 12) J Q j) H Eur0Pean Patent Office European Office europeen des b brevets revets Publication number: number: 0 A1 1 64 4 6 9

EUROPEAN

PATENT A P P L I C A T I O N lnt.CI.4:F 15 B 1 3 / 0 4 4

Application number: 84306028.6 Date of filing: 03.09.84

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Priority: 07.05.84 US 607812 Date of publication of application: 18.12.85 Bulletin 85/51 Designated Contracting States: BE DE FR GB IT SE

\rt) Applicant: PNEUMO CORPORATION 4800 Prudential Tower Boston Massachusetts 02199(US) Inventor: McPherson, Robert R. 16712 Saybrook Lane Apt. B209 Huntington Harbor California 926491US) Inventor: Vanderlaan, Robert D. 724 Fineview Kalamazoo Michigan 49007((JS) @ Inventor: Meulendyk, John W. 1120Hol-hi Drive Kalamazoo Michigan 49008(US) Representative: Topps, Ronald et al, D. YOUNG &CO 10 Staple Inn London WC1V7RD(GB)

0) CP (0

Direct drive valve and force motor assembly. @ Assembly includes a direct flexible quill drive (32) between the motor output shaft (22) and valve plunger (30). When the output of the motor (3) is rotary, the centerline of the motor output shaft is oriented 90 relative to the centerline of the valve (30) and has an eccentric offset that provides the gearing to transfer the angular rotation of the motor into linear motion of the valve The motor may readily be connected and disconnected from the drive quill by a simple pushing or pulling motion without requiring a lock of any sort therebetween. The drive quill (32) desirably has a generally rectangular cross-section with the thinner dimension being in the operational bend plane of the quill to provide the desired flexibility in the operational bend plane and stiffness in the opposite plane. Intermediate the ends of the quill may be an enlarged center dam portion (51) to provide column stiffening of the quill when the quill is deflected under high load to contact a surrounding wall portion (35).

This invention r e l a t e s valve provide and force motor assembly,

generally and

as indicated

to a direct to a novel plunger or

drive drive other

more particularly of the valve

linkage mechanism for t r a n s f e r r i n g the output of the motor to the valve t o controlled selective movement mechanism driven t h e r e b y . In certain types of high pressure fluid proportional servo c o n t r o l systems such as a control a c t u a t i o n pressure found advantageous to use a direct system for aircraft in which the fluid short stroke. on t h e may for example be on the order of 1000 psi or more, it has b e e n drive valve of relatively

However, the manner in which the output of the force motor that is used t o drive the valve is t r a n s f e r r e d to the valve can have a marked e f f e c t which the valve movements are controlled by the m o t o r . According valve plunger. to the present invention, in one aspect thereof a direct flexible quill drive is provided When the output between the motor output shaft and size and energy r e q u i r e m e n t s of the motor as well as on the preciseness w i t h

of the motor is rotary,

the motor o u t p u t

shaft rotates about a centerline which is 90 to the centerline of the v a l v e and has an eccentric offset that provides the gearing to transfer a r e l a t i v e l y large motor angular rotation into a relatively short valve motion. The flexible quill a c c o m m o d a t e s the rise and fall motion about the e c c e n t r i c null without The inducing unacceptable between effects plunger the (i.e. side loads and associated and valve shaft of motor friction. centerline end play, 90 relationship the adverse motor centerline

eliminates

null shifts)

shock, vibration and thermal dimensional changes within the motor, as w e l l as fluid pressure v a r i a t i o n s . In accordance friction bearing connection with a further aspect of the invention, an a n t i offset may be provided between the e c c e n t r i c

and quill to provide a relatively low friction pivot point resulting in a highly efficient linkage under adverse chip shear loading requirements and the like. In accordance with yet another aspect of the invention, the d r i v e quill side loads acting on the motor shaft will apply a light load to the m o t o r

shaft and bearings to remove any backlash or play in the bearings (including any redundant bearings) and reduce the hysteresis in the critical null region. In a c c o r d a n c e a simple pushing with still another without aspect of the invention, of the motor may readily be c o n n e c t e d and/or disconnected from the drive quill by or pulling motion requiring a lock any s o r t therebetween. In a c c o r d a n c e with a further aspect of the invention, the linkage cosine g e o m e t r y of the drive quill may be matched In a c c o r d a n c e drive quill desirably has with a still a generally further aspect with the motor cosine the the torque output to provide maximum u t i l i z a t i o n of the output work p o t e n t i a l . of the invention, cross-section with rectangular

thinner dimension being in the o p e r a t i o n a l bend plane to provide the d e s i r e d flexibility in such plane and a stiffness in the opposite plane to prevent t h e b e a r i n g from working off the motor s h a f t . In a c c o r d a n c e with yet another aspect of the invention, the drive quill may have an enlarged center dam portion intermediate the ends t h e r e o f to provide column stiffening when the drive quill is d e f l e c t e d under high load to cause the dam portion to c o n t a c t a surrounding wall p o r t i o n . An e m b o d i m e n t of the invention will now be described, by way of an example, with r e f e r e n c e to the accompanying drawings, in w h i c h : Figure 1 is a f r a g m e n t a r y linkage drive mechanism according longitudinal section through a d i r e c t of d i r e c t the to the present invention between drive valve and force motor assembly including a preferred form motor output shaft and valve p l u n g e r ; Figure 2 is a f r a g m e n t a r y longitudinal section through the valve member of Figure 1, taken on the plane of the line 2-2 thereof, showing t h e linkage drive mechanism in elevation; a n d Figure 3 is an enlarged transverse section through the drive linkage of Figure 2, taken on the plane of the line 3 - 3 . R e f e r r i n g now in detail to the drawings and initially to Figure 1, a p r e f e r r e d form of direct drive valve and force motor assembly in a c c o r d ance with this invention is designated generally by reference n u m e r a l 1 and consists of a valve member 2 which may be directly driven by a force m o t o r

3.

Preferably, magnet

such motor.

motor

is a n o n - c o m m u t a t e d mounted housing within

two pole stationary

coil

rotary

As shown, such motor includes a rotor 5 journal a rotor casing

assembly 4 6 adjacent the rotor

having a rotor shaft casing structure. casing.

opposite ends thereof by rotor shaft bearings suitably supported by c o m m o n A stator and assembly 9 surrounds

A holddown member 10 may be used to clamp the rotor casing t o the valve housing 11 as by means of mounting bolts 12, whereas housing 13 may be removably a t t a c h e d threaded sleeve 15 having threaded surface 16 on the holddown member. engagement with an e x t e r n a l the s t a t o r threaded to the rotor casing as by means of a When thus installed, the rotor casing 6 This provides t h e the need for a

extends into a cavity 17 in the valve housing thus exposing the interior of t h e rotor casing to the fluid pressure within the valve housing. advantages of a wet motor design, including eliminating

dynamic shaft seal and providing a lubricating fluid for the rotor b e a r i n g s . A static seal 20 surrounds the rotor casing to keep the stator and housing assembly 9 dry thus allowing r e p l a c e m e n t of the stator and housing a s s e m b l y without disturbing the rotor casing 6 and rotor assembly 4. When Figure 1, the the motor output 3 is a rotary shaft force motor such as shown in into a l o n g i motor 22 extends p e r p e n d i c u l a r l y

tudinal bore 23 in the valve housing 11.

Contained within the bore 23 is a

valve sleeve 24 which may be held against movement within the bore as by means of a closure member 25 suitably retained in the outer end of the bore. Within the valve sleeve is an axially movaole valve plunger 30. output shaft linkage 22 is drivingly connected of to the valve plunger a flexible drive shaft mechanism 31 consisting The m o t o r or quill 32 30 by a d r i v e

connected at its opposite ends to the valve plunger and motor output s h a f t , respectively. The valve plunger 30 being tubular includes an axial bore 35 motor output shaft as by means of a t h r e a d e d through which the drive quill extends for connection to the end of the v a l v e plunger furthest from the connection 36. null position motor. It will be a p p r e c i a t e d that the e f f e c t i v e length of the quill of the neutral o r of the f o r c e to a null position

may be adjusted at its threaded end to permit a d j u s t m e n t of the valve plunger relative

At its other the motor shaft

end, the drive quill extends o u t w a r d l y beyond t h e The outer end o f 40 which extends The drive quill is provided 41 in the with an e c c e n t r i c other end of the

valve plunger for c o n n e c t i o n to the motor output shaft. output through a transverse bore

eccentric r o t a t e s about a 90 c e n t e r l i n e relationship b e t w e e n the motor a n d valve to c o n v e r t rotary motion to linear motion. The flexible quill d r i v e such e c c e n between the m o t o r e c c e n t r i c tric drive m o v e m e n t s associated f r i c t i o n . An antifriction the eccentric bearing connection 42 may be provided b e t w e e n pivot point 40 and drive quill 32 to provide a low f r i c t i o n and valve plunger a c c o m m o d a t e s

without inducing unacceptable plunger side loads a n d

t h e r e b e t w e e n r e s u l t i n g in a highly efficient linkage under a d v e r c e chip s h e a r loading r e q u i r e m e n t s and the l i k e . The well as motor 90 c e n t e r l i n e shaft end play, relationship shock, between the motor and v a l v e dimensional eliminates a d v e r s e e f f e c t s changes within the motor. loads acting on the shaft 22 and r o t o r in the shaft (Le., null shifts) of return pressure variations a s vibration and t h e r m a l Moreover, as the quill is d e f l e c t e d , the quill side bearings as well as to the antifriction bearing

motor shaft apply a relatively light load to the m o t o r any backlash or play in the bearings and r e d u c e null region. Such a 90 c e n t e r l i n e that the relationship motor may

connection 42 to r e m o v e hysteresis between critical the m o t o r

and valve also has the advantage

readily be c o n n e c t e d and/or d i s c o n n e c t e d from the drive quill by a s i m p l e pushing or pulling motion without requiring a lock of any sort t h e r e b e t w e e n . A n o t h e r a d v a n t a g e in using such a drive linkage m e c h a n i s m that the cosine geometry motor. of the linkage can be m a t c h e d maximum utilization The s t a t o r with the cosine torque output to provide of the output motor 31 is motor work can b e

potential of the

windings of a two-pole

graded to o p t i m i z e the torque versus rotation profile in order to achieve a substantially cosine r e l a t i o n s h i p b e t w e e n the applied motor c u r r e n t and t h e rotational angle to c o m p l e m e n t the cosine function that such drive l i n k a g e Such o p t i m i z a t i o n c a n mechanism tends to follow to produce a substantially c o n s t a n t force o u t p u t over a r e l a t i v e l y large excursion of the rotor shaft.

be used to obtain a m a x i m u m motor output shaft r o t a t i o n . optimization occurs when of

useful work angle of up to + 60 or more o f electrical eccentric power equals the the maximum

The torsional spring load and chip shear e n e r g y the peak the motor

spring load at the m a x i m u m rotational t r a v e l . The offset 40 provides necessary short gearing to transfer the straight reduces the rotary effect a large motor angular rotation into a r e l a t i v e l y gearing flow

valve motion without the minimum p r a c t i c a l offset limitations that exist in to r o t a r y of any motion. Also, such linkage greatly forces unbalanced plunger masses and/or

being reflected back to the motor and allows for easy mass balancing w i t h i n the m o t o r . With the valve plunger 30 in the valve null position shown in A Figure 1, fluid flow to and from the cylinder ports Cl and C2 is blocked.

light load spring 43 may be interposed b e t w e e n the inner end of the bore 23 and the adjacent end of the valve plunger to bias the valve plunger in s u c h valve null position. Controlled s e l e c t i v e movement of the valve plunger by the f o r c e motor will cause the valve plunger to move out of the null position respectively to c o n n e c t one of the cylinder ports Ci, C2 to a common c e n t e r system supply pressure groove 45 and the other cylinder port to one or t h e other of the system r e t u r n The force motor pressure grooves 46, 47 on opposite sides of t h e input may be controlled by command signals may b e channel The is system supply pressure groove 45. received from control a u g m e n t a t i o n system electronics and the like to s e r v e as a control input to the valve plunger. Also, system redundancy accomplished by providing multiple parallel coils within the motor, w h e r e b y if one coil or its a s s o c i a t e d will maintain monitoring control electronics should fail, its c o u n t e r p a r t the when failed channel force the failed by equalizing such that effect. channel

ability to sense which channel has failed may be provided for in the f a i l u r e electronics detected, decoupled and made p a s s i v e . The drive quill 32 has a reduced d i a m e t e r flexible link portion 50 extending between the end mounting portions. To provide the required

flexibility of the drive guill and reduce the loads on the drive quill in t h e o p e r a t i o n a l bend plane while at the same time give it the desired stiffness i n the opposite phane to prevent the flexible link portion 50 the bearing from working off the e c c e n t r i c , desirably has a rectangular cross-sectional

c o n f i g u r a t i o n with the narrower dimension X being in the operational b e n d plane p a r a l l e l to the axis of the motor output shaft and the wider d i m e n s i o n Y being in the opposite plane perpendicular to such axis as shown in F i g u r e s 2 and 3 . The amount of c l e a r a n c e between the inner wall of the p l u n g e r bore 35 in which the drive quill 32 is slidably received and the drive quill in the o p e r a t i o n a l bend plane must of course be sufficient to a c c o m m o d a t e t h e eccentric rotation portion portion drive of t h e movements motor of the quill during However, the full range of a n g u l a r center dam output shaft. an enlarged

51 is desirably provided i n t e r m e d i a t e the ends of the flexible l i n k 50 to provide column stiffening of the drive quill when the d r i v e

quill is s u f f i c i e n t l y d e f l e c t e d under high load to cause the da n to c o n t a c t the inner wall of the valve plunger bore as shown in phantom Li es in F i g u r e 2. The drive quill may be made from round bar stock from w h i c h material is except in removed the middle from opposite the sides to form may be left the thinner section X the where bar intact to provide b.

enlarged c e n t e r dam portion 51 as a f o r e s a i d . Although force drive motor. element quill and the valve plunger is shown being driven a rotary force motor, a linear force motor may also be used in place of the r o t a r y For this, the drive quill may be provided at its fore m o t o r axial bore 52 for c o n n e c t i o n motor. any With a linear misalignment force to t th linear the drive o the be a drive of a linear will valve plunger while force motor, connection end with a threaded flexible member

accommodate without

between

applying significant is shown, such

side loads valve coul

valve p l u n g e r . Also, proportionally a slide valve operated valve of the ball or poppet type. Also, the

linkage mechanism 31 could be used to drive other mechanisms as w e L

Although respect reading includes to a certain and

the

invention

has

been

shown

and

described that

with

preferred of

embodiment, the

it is obvious The

equivalent invention

alterations and modifications will occur to others skilled in the art upon t h e understanding equivalent specification. and present all such alterations modifications, and is l i m i t e d

only by the scope of the c l a i m s .

1 .

direct drive valve and force motor drive a d j a c e n t

motor assembly c o m p r i s i n g

a valve m e m b e r containing a linearly movable tubular valve plunger, a f o r c e motor having a force one end of said valve p l u n g e r , motor drive and v a l v e and link m e a n s drivingly i n t e r c o n n e c t i n g said force

plunger, said link means being c o n n e c t e d at one end to the other end of s a i d valve plunger opposite said force motor drive and extending through and o u t of said t a b u l a r valve plunger for c o n n e c t i o n at its other end to said f o r c e motor drive, said link means having a flexible link portion spaced from t h e inside wall of said tubular valve plunger for a c c o m m o d a t i n g any t r a n s l i n e a r movement b e t w e e n opposite ends of said link means during driving of s a i d valve p l u n g e r b y 2. said force The motor drive without I wherein applying significant said force motor side is a to loads to said valve p l u n g e r . assembly of claim rotary force m o t o r , and said force motor drive extends perpendicularly

the axial c e n t e r l i n e of said valve plunger, said force motor drive having a n e c c e n t r i e on the outer end thereof which extends into a transverse bore i n the other end of said link means, said flexible link portion of said link m e a n s accommodating force drive motor, which 3. the rise and fall of said e c c e n t r i c flexing of said flexible and reduces of claim during rotation by s a i d motor null for the link portion hysteresis of said link m e a n s in the critical means

during r o t a t i o n of said eccentric applying a light load on said force removes The backlash assembly region. I further comprising

adjusting the e f f e c t i v e length of said link means to permit a d j u s t m e n t of t h e neutral or null position of said valve plunger r e l a t i v e to a null position o f said force m o t o r . 4. The assembly of claim 1 wherein said force motor i n c l u d e s surrounding said rotor casing, and said force motor a rotor casing and rotor assembly journaled in said rotor casing and a s t a t o r and housing a s s e m b l y drive extends axially outwardly from one end of said rotor easing, and s a i d valve m e m b e r includes a valve housing c o n t a i n i n g a cavity adjacent said o n e end of said valve plunger, the longitudinal axis of said cavity being

perpendicular to the longitudinal axis of said valve plunger, said rotor c a s i n g and said force motor drive extending into said cavity with the axis of s a i d force motor drive being perpendicular to the axis of said valve plunger, s a i d force motor drive having an eccentric on the outer end thereof to which s a i d other end of said link means is connected, and means for clamping said r o t o r casing to said valve housing. 5. In combination, a valve m e m b e r comprising a valve housing axially movable in s a i d between extending to the a valve mill position motor motor and one or more o p e r a t i n g output shaft containing a longitudinal bore, and a valve plunger longitudinal bore between said positions, the centerline shaft, said of force said

positions, and a rotary force motor for driving said valve plunger including a motor output shaft being into a cavity in said valve housing adjacent

one end of said valve p l u n g e r , perpendicular ends c o n n e c t e d

centerline of said valve plunger, an eccentric on the outer end of said m o t o r output and a flexible quill having opposite respectively, said to s a i d rectvalve plunger and e c c e n t r i c , quill being generally

angular in cross-section with the thinnest dimension being in the o p e r a t i o n a l bend plane of said quill parallel to the longitudinal axis of said motor o u t p u t shaft and the thicker dimension being in the opposite plane p e r p e n d i c u l a r t o the axis of the motor output shaft to provide the required flexibility of s a i d quill and reduced loads on said quill in the o p e r a t i o n a l bend plane while a t the same time giving said quill stiffness in the opposite plane to prevent s a i d quill from working off said motor output s h a f t . 6. adjacent A direct drive and force motor assembly comprising a linearly movable tubular plunger, a force motor having a force motor d r i v e one end of said plunger, and link means drivingly i n t e r c o n n e c t i n g end of said plunger opposite said force motor drive a n d said force motor drive and plunger, said link means being c o n n e c t e d at o n e end to the other extending through and out of said plunger for c o n n e c t i o n at its other end t o said force motor drive, said link means having a flexible link portion s p a c e d from the inside wall of said plunger for a c c o m m o d a t i n g any translinear movement between said p l u n g e r . opposite ends of said link means during driving of s a i d

plunger by said force motor drive without applying significant side loads t o

7. the axial

The assembly of said

of claim

6 wherein said force

said motor

force drive

motor having

is a to an

rotary f o r c e motor, and said force centerline eccentric

motor drive e x t e n d s perpendicularly

plunger,

on the outer end t h e r e o f which extends into a transverse bore i n during rotation by s a i d

the other end at said link means, said flexible link portion of said link m e a n s a c c o m m o d a t i n g the rise and fall of said e c c e n t r i c force m o t o r . S. relatively low The assembly of claim 7 further c o m p r i s i n g bearing m e a n s to provide a friction point therebetween resulting in a highly e f f i c i e n t means causing a s i d e mounting said other end of said link means on said e c c e n t r i c linkage under adverse loading r e q u i r e m e n t s , said link bearing m e a n s . 9. parallel to the The assembly of claim 8 motor wherein drive than and the thickness of s a i d flexible link portion of said link means is less in the o p e r a t i o n a l bend p l a n e axis of the force in the opposite p l a n e p e r p e n d i c u l a r to such axis t o provide operational flexibility reduced loads in t h e

load to be applied to said bearing means which r e m o v e s any backlash in s a i d

bend plane and stiffness in the opposite plane to prevent s a i d 10. The assembly of c l a i m 9 the further comprising flexible an e n l a r g e d

bearing means from working off said e c c e n t r i c . c e n t e r dam portion intermediate ends of said link portion t o

provide column stiffening of said flexible link portion when said dam p o r t i o n is d e f l e c t e d into e n g a g e m e n t with the inner wall of said bore in said t u b u l a r valve p l u n g e r .