US3437101A - Servovalve construction - Google Patents

Servovalve construction Download PDF

Info

Publication number
US3437101A
US3437101A US530916A US3437101DA US3437101A US 3437101 A US3437101 A US 3437101A US 530916 A US530916 A US 530916A US 3437101D A US3437101D A US 3437101DA US 3437101 A US3437101 A US 3437101A
Authority
US
United States
Prior art keywords
armature
tube
jet
torque
spool
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Lifetime
Application number
US530916A
Other languages
English (en)
Inventor
James L Coakley
Charles A Kubilos
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
PepsiAmericas Inc
Original Assignee
Abex Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Abex Corp filed Critical Abex Corp
Application granted granted Critical
Publication of US3437101A publication Critical patent/US3437101A/en
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

Links

Images

Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B13/00—Details of servomotor systems ; Valves for servomotor systems
    • F15B13/16—Special measures for feedback, e.g. by a follow-up device
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B13/00—Details of servomotor systems ; Valves for servomotor systems
    • F15B13/02—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors
    • F15B13/04—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with a single servomotor
    • F15B13/042—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with a single servomotor operated by fluid pressure
    • F15B13/043—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with a single servomotor operated by fluid pressure with electrically-controlled pilot valves
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B13/00—Details of servomotor systems ; Valves for servomotor systems
    • F15B13/02—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors
    • F15B13/04—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with a single servomotor
    • F15B13/042—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with a single servomotor operated by fluid pressure
    • F15B13/043—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with a single servomotor operated by fluid pressure with electrically-controlled pilot valves
    • F15B13/0436—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with a single servomotor operated by fluid pressure with electrically-controlled pilot valves the pilot valves being of the steerable jet type
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T137/00—Fluid handling
    • Y10T137/2278—Pressure modulating relays or followers
    • Y10T137/2322—Jet control type
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T137/00—Fluid handling
    • Y10T137/2278—Pressure modulating relays or followers
    • Y10T137/2409—With counter-balancing pressure feedback to the modulating device
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T137/00—Fluid handling
    • Y10T137/8593—Systems
    • Y10T137/86493—Multi-way valve unit
    • Y10T137/86574—Supply and exhaust
    • Y10T137/86582—Pilot-actuated
    • Y10T137/86606—Common to plural valve motor chambers
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T137/00—Fluid handling
    • Y10T137/8593—Systems
    • Y10T137/86493—Multi-way valve unit
    • Y10T137/86574—Supply and exhaust
    • Y10T137/86582—Pilot-actuated
    • Y10T137/86614—Electric

Definitions

  • Servovalves of the general type to which this invention relates are operated by a torque motor and include two force amplification stages.
  • Application of an electrical input control signal to an electromagnet coil in the torque motor causes an unbalanced flux distribution in the air gaps around the motor armature, causing a torque to act on the armature.
  • the armature rotates in response to this torque, against spring means which bias the armature to its centered or null position. Movement of the armature shifts a jet of fluid issuing from a jet tube from a null position in which it is centered between two receiver ports, to a new position in which the jet impinges unequally on the two ports.
  • the fluid employed in conjunction with the jet tube may, of course, be either hydraulic or pneumatic iiuid. In the description to follow, it is assumed that hydraulic fluid is utilized.
  • the pressure in the receiver ports are fed to the second stage of the servovalve, which is a spool valve hydraulic force amplifier.
  • the differential pressure input from the first stage is reflected on opposed surfaces of a main spool or piston in the second stage, shifting the spool and establishing communication between various ports. Flow through these ports in the second stage varies with spool position. Spool movement in response to the differential pressure continues until a feedback spring member, through which the spool and jet tube are coupled, becomes suciently stressed that it returns the jet to the null position, thereby removing the pressure differential on the spool. When this has occurred the spool thereafter remains in that position, controlling flow through the second stage ⁇ at a rate and direction corresponding to the magnitude and polarity of the electrical input signal to the torque motor.
  • the ICC spring means used to bias the torque motor armature and jet tube to their balanced, central or null positions has included a tubular element which surrounds the jet tube and which functions in bending as a spring when the armature and jet tube are moved from their null positions.
  • the spring means bends as the armature rotates in response to a signal.
  • the extent to which the spring means bends is proportional to the total spring constant, which in turn is a function of spring shape and thickness. Since predictable and reliable operation requires close control of the spring constant, it has been found necessary in practice to machine these items with precision in order to accurately regulate their characteristic, and, hence, their spring rates. This need for precision machining has obviously added to the cost of such servovalves.
  • valves of the general type described have not readily lent themselves to room temperature assembly procedures such as swaging, crimping, etc. Soldering or brazing has usually been required to make the critical connections, which invariably requires more skill, is costlier, and tends to produce warpage which may adversely affect valve operation unless compensated.
  • the prior art Servovalves have often been diflicult to assemble and align or adjust for maximum operating efficiency ⁇ and performance. One assembled, they have been difficult to disassemble for cleaning, repair, and inspection purposes.
  • the torque motor armature has a pair of arms or wings on either side of a transversely extending hollow central body.
  • An elongated armature restoring element in the form of a thin walled tube extends through the interior lof the hollow central body of the armature. This tube is connected to and supports the armature only at a point forward of the wings, and is connected to a supporting base only at a point on the rear side of the wings.
  • a shaft or driver also extends through the armature, internally of the armature restoring tube, and is connected to the armature and tube only at the front end thereof.
  • Electromagnet coils are disposed on opposite sides of the armature and when energized are operative to turn the armature about the common axis of the shaft and tube, thereby rotating the shaft.
  • the shaft or driver moves an elongated liexible jet tube which passes perpendicularly through an enlarged aperture in the rear portion of the driver.
  • the jet tube is secured at its fluid inlet end to the body above the -driver and is connected to the driver through an elongated tube which vsurrounds the jet tube and which is clamped to the jet tube adjacent the fluid outlet end or nozzle thereof.
  • a single length of precision tubing serves jointly as the support means for the armature, as a torsion spring biasing the armature to null position, and as an isolation element for preventing operating fluid within the hydraulic portion of the valve from reaching the inside of the electrical portion of the torque motor.
  • the configuration of the hollow tube herein provided permits it to be connected toI the armature and supporting base by swaging techniques, thus avoiding the usual disadvantages of machining and warping due to soldering or brazing during assembly.
  • a pair of opposed, nonmagnetic members mechanically engage reference surfaces on the pole pieces of the electromagnetic coils and provide spacing means for establishing the proper air gap dimensions during assembly.
  • FIGURE 1 is a vertical section of a preferred embodiment of the servovalve of this invention, and is taken along the axis of the torque motor.
  • FIGURE 2 is a longitudinal section taken along line 2-2 of FIGURE 1, and also illustrates a typical hydraulic system including the servovalve.
  • FIGURE 3 is an enlarged vertical axial ⁇ section of the iirst stage of the valve, showing the details of the torque tube, armature, hyldraulic jet tube and receiver, and the force feedback spring assembly.
  • FIGURE 4 is a section taken along line 4-4 of FIG- URE 3.
  • FIGURE 5 is a partially exploded perspective View of the torque motor assembly.
  • FIGURE 6 is an enlarged View in perspective of the armature.
  • FIGURE 7 is a side elevation of the assembled torque motor.
  • FIGURE S is an enlarged view in section of a portion of the jet tube and receiver.
  • the servovalve of this invention includes three principal sections, namely, a torque motor 1, a first force amplifying stage 2, and a second force amplifying stage 3.
  • the torque motor 1 and first amplifying stage 2 are supported by la common base or frame member 4.
  • Base 4 is nonmagnetic, and is mounted on a boldy 5, the body 5 also serving as a casing for the second section 3 of the servovalve.
  • a housing 6 mounted on a horizontally extending fiange 7 of the body 5 encloses motor 1 and ampliier 2.
  • Magnet S may be an alnico permanent magnet.
  • Sandwiched between magnet 8 and' base 4 are opposed ferromagnetic upper and lower C-shaped pole pieces 11 and 12, respectively.
  • the opposed planar end surfaces 13, 14 and 15, 116 of pole pieces 11 and 12, respectively, are spaced, forming air gaps 17 and 18, respectively (see FIGURE 2).
  • the permanent magnet 8 functions to establish a urn'- directional magnetic flux in each of the air gaps 17, 18.
  • Member 19 is C-shaped, as viewed from above, and includes opposed internal pole piece engaging surfaces 21, 22 separated by pole piece end-engaging surface 23.
  • Surface 22 is generally planar for engaging the back surfaces (adjacent base 4) of the .pole pieces 11 and 12 to align them in its plane.
  • Po-le piece-end-engaging surface 23 is provided with a horizontal slot 25, and from this slot horizontal grooves 24 extend across the inner 4 side faces of the spacer to permit the assembly to be placed over the armature. The surface 23 abuts the ends of pole pieces 11 and 12, establishing alignment in its plane.
  • the angulated internal surfaces 21, 21 engage the opposed beveled corner surfaces 26, 26 of the pole pieces 11, 12 and jointly function to locate and accurately space pole piece end ⁇ surfaces 13, 14, thereby dimensioning air gap 17.
  • pole piece surfaces 13 and 14 are horizontally and vertically aligned by surfaces 22 and 23, as well vas spaced apart to form an air gap 17 by angulated surfaces 21, 21.
  • a ⁇ forwardly extending, vertical ange 27 is formed on the rounded external surface 28 of each spacing member.
  • Flange 27 is provided with a at shoulder surface 29, best shown on the spacing member 20 in FIGURE 5, and engages and seats in the internal end surface 30 of the magnet 8, thereby preventing movement of the spacing member relative to pole pieces 11, 12 when the motor 1 is assembled.
  • the motor 1 also includes a pair of coils 31, 32 through the open centers of which extend the flat Wings 33, 34, respectively, of an armature 35 desecribed in detail hereinafter.
  • the coils 31, 32 are mounted by and between the opposed concave magnet surface 30 and concave base surface 30a, pole pieces 11, 12, and spacing members 19, 20.
  • the coil leads 36 pass through slots 37 in the spacing ⁇ members 19, 20 for connection to a suitable electrical signal input means (not shown) which may be conventional.
  • the various parts of the torque motor assembly are held in operative relation by two screws 38 and a plate 39.
  • the screws 38 pass successively through plate apertures 40, magnet aperture 41, grooves 42 in pole pieces 11, 12, and thence into tapped holes 43 in base 4.
  • magnet 8 and base 4 are drawn together, gripping the pole pieces 11, 12 and holding the spacing members 19, 20 between them.
  • the spaces between members 19, 20 and faces 30, 30a are lled with an epoxy which provides a positive interlock in the torque motor.
  • the armature 35 of motor 1 is generally T-shaped as viewed in plan, and includes a central tubular portion 5t) provided with oppoistely extending flat wings 33, 34 of equal length (see FIGURE 6).
  • the dimensioning of wings 33, 34 is such that they extend into air gaps 17, 18 respectively. Clearance is provided between the wings 33, 34 and the pole piece end surfaces 13, 14 and 15, 16 respectively, permitting the armature 35 to rotate about its axis 44 in response to the application of an electrical signal to the windings 31, 32.
  • the extent of armature rotation is selectively limited by adjusting screws 51, 51 threaded into tapped holes in upper pole piece 11 (see FIGURE 2).
  • central tubular portion 5t of armature 35 has a reduced internal diameter resulting in a stepped-diameter bore having a small diameter bore section 52 and a large diameter bore section 53 separated by an internal shoulder.
  • a non-magnetic stepped-diameter armature-'supporting torque and isolation tube 54 Positioned within the bore sections 52, 53 is a non-magnetic stepped-diameter armature-'supporting torque and isolation tube 54.
  • the torque tube 54 is secured at its reduced diameter front end portion 55 to the end 57 of the armature tubular portion 50, and at its other end 56 to the base 4.
  • the portion of tube 54 intermediate ends 55 and 56 is coextensive lengthwise with bore section 53 of central armature portion 50, but is of reduced diameter and does not contact the armature.
  • torque tube 54 fits snugly within bore section 52 of the central armature portion 50 and is secured in place by an internally tapered swaging ferrule ⁇ 60 which is pressed ove-r the externally tapered armature end 57.
  • the complementary tapers of armature end 57 and ferrule 60 securely lock the armature 35 and torque tube 54 to the end of a coaxial driver 65, providing a solderless connection therebetween.
  • the tube 54 at its inner end 56 is flared and fits snugly into a tapered bore 61 in base 4.
  • An externally tapered swaging ferrule 62 pressed within flared end 56 of torque tube 54 secures the torque tube to base 4.
  • the complementary tapers of swaging ferrule 62 and base bore 61 lock the flared end 56 of torque tube 54, thereby providing a solderless connection between the base 4 and the torque tube 54.
  • armature is supported within motor 1, with its wings 33, 34 centrally poistioned within air gaps 17, 18 and biased against rotation about its axis 44 by torque tube 54, the latter being connected at its outer end to the front end of the armature and at its inner end, beyond the opposite end of the armature, to base 4 via ferrules and 62, respectively.
  • the coupling means includes a non-magnetic driver 65 which passes axially through torque tube 54.
  • driver 65 is secured to the armature 35 and torque tube 54 by swaging ferrule 60.
  • driver 65 is secured through an element 66 having an opening extending therethrough at right angles to the driver, to an arm or yoke 67 for movement therewith.
  • Arm 67 has a right angle bend intermediate its ends, thereby forming an L-shape, and its lower portion thus projects forwardly beneath element 66 and parallel to driver 65.
  • connection between the vertical leg 73 of arm 67 and element 66 is by a screw 68 which passes through an oversized hole 69 in leg 73 and which is threaded into a tapped hole 70 in element 66.
  • Radial teeth 71 formed on the element face engage the forward surface 72 of vertical leg 73 to prevent relaitve angular movement between collar 66 and arm 67 when screw 68 is tightened.
  • the lower or forwardly extending leg 74 of arm 67 is provided with two holes 75 and 76.
  • a tube 77 is secured in hole 76 by suitable means. Soldering or brazing may be employed here since warpage is not critical at this point.
  • the lower end of tube 77, including the reduceddiameter lower end portion thereof, has circumferentiallyspaced longitudinal slots 78 therein.
  • the slots 78 enable the reduced-diameter portion of tube 77 to secu-rely embrace the periphery of a vertically disposed flexible jet tube 85.
  • This tube extends through and is gripped by the lower end portion of tube 77 under the action of a press fitted ring 80 which clamps the slotted, reduced-diameter end portion of tube 77 to jet tube 85.
  • jet tube extends through tube 77, hole 76, and element 66 and is secured at its upper end only to base 4 by a conical-ended retainer plug ⁇ 86 and screw 84.
  • Plug 86 and screw 84 cooperate with the sloping walls 87 of a threaded hole 88 to securely lock the flared end 89 of jet tube 85 relative to base 4 when screw 84 is tightened.
  • jet tube 85 is fitted internally with a projector jet 90 having an outlet nozzle and which is secured in place by a crimp 91.
  • the first amplifying stage 2 also includes a receiver 92.
  • Receiver 92 is a plug having a pair of fluid passages 93, 94 (see FIGURE 8) which meet over a central knife edge 95.
  • Passages 93, 94 communicate ywith passages 96, 97, respectively, formed in a receiver supporting member 98.
  • the passages 96, 97 in turn communicate with passages 99, 100 (see FIGURE 2) which constitute the inputs to the second amplifying stage 3.
  • the receiver supporting mem-ber 98 is connected to base 4 by means not shown and, when the servovalve is assembled, is positioned within a cavity 101 in body 5, seating and sealing on surface 102 thereof.
  • a passage 103 is formed in member 98 which connects the upper end of jet tube 85 to a source of pressure fluid via passage 104 in plug l86, passage 105 in base 4, passage 106 in body 5, filter 107, and inlet port 108 in body 5.
  • armature 35 In operation, when an electrical signal is applied to the torque motor 1, armature 35 initially rotates from a centered position to a point where the restoring force on the armature 35 equals the magnetic torque produced by the electrical input. These restoring forces arise from deflection of the torque tube 54, jet tube 85 and a feedback spring to be described.
  • the armature rotation is transmitted to the jet tube ⁇ 85 via driver 65, element 66, arm 67, and tube 77, bending or deflecting jet tube 85 from a centered position directly over knife edge 95 of the receiver.
  • the jet tube 85 As the jet tube 85 is deflected from the centered, null position shown in FIGURE 8, it directs a greater proportion of the fluid issuing from its nozzle 90 to one or the other of the receiver passages 93, 94.
  • the second amplifying stage -3 includes a main spool valve having a spool or piston 110 slidable in a bore 111 of a sleeve 112 (see FIGURE 2).
  • Spool 110 has a series of axially spaced peripheral grooves G1, G2, and G3.
  • Sleeve 112 is fitted into a bore 113 in the body 5 and it is provided with a plurality of port means P1, P2, P3, P4 and P5 which communicate with bore 111 at axially spaced positions, and which cooperate with spool grooves G1-G3 to direct the flow of fluid through the main valve.
  • Ports P1-P5 can be interconnected in various ways by the selective positioning of spool 110 relative to sleeve 112.
  • motor ports M1 and M2 may be connected to ports P2 and P4, respectively.
  • the pump outlet port is connected to both ports P1 and P5, and port P3 is connected to a tank T.
  • pump P l which takes the following path: port P1, lgroove G1, port P2, motor port M1, motor M, motor port M2, port P4, groove G2, port P3, to tank T.
  • motor M is driven in the opposite direction by iluid from pump P taking the path through port P5, groove G3, port P4, motor port Mz, motor M, motor port M1, port P2, groove G2, port P3, to tank T.
  • the speed at which motor M is driven depends, of course, on the ow rate through motor M, which in turn depends on the extent to which spool 110 is displaced from the centered position wherein no flow occurs.
  • the port P3 in sleeve 112 also communicates with the region surrounding projector jet 90, thereby providing a path to tank T for excess jet stream fluid not entering either of the two receiver ports 93, 94.
  • the means for selectively moving spool 110 includes pressure chambers 115 and 116 in bore 111, pressure in which acts upon the opposite end surfaces of spool 110. Chambers 115 and 116 communicate with passages 99, 96, 93 and 100, 97, 94 respectively, and reect the differential established by the lirst stage. Adjustable stops 117 and 118 are sealed to bore 111 and can be positioned axially therein to limit the movement of spool 110 by plugs 119 and 120 ⁇ respectively which are threaded into body 5.
  • the input to the second amplifier stage 3 that is, the pressure differential between passages 93, 94, produces a differential or net axial force on spool 110.
  • the direction which this diiferential force moves spool 110 depends upon the polarity ofthe electrical signal input to the motor 1. Thus, fluid ows to motor M, in the selected direction.
  • This force feedback means includes a feedback spring 125 which is connected at its upper end 126 to horizontal leg 74 of arm 67. The connection is effected by securing end 126 in hole 75. The other end 127 of spring 125 has a ball 12S attached thereto. Ball 128 fits accurately and without play in a cross bore 129 in spool 110 forming a cam connection between the spool and the feedback spring.
  • Spool 110 will move in sleeve 112 as long as there is a pressure differential between chambers 115 and 116. Since this pressure differential is caused by the unequal impingement of iluid on receivers 93, 94 due to the deection of jet tube 85, the force on spool 110 will remain as long as the jet pipe 85 is deflected. However, spring 125 is responsive to the position of spool 110, and supplies a feedback force to driver 65 which returns jet tube 85 to null position and thereby removes any net force on the spool 110 when the spool has been shifted an amount corresponding to the magnitude of the input signal.
  • a counterclockwise jet tube rotation will produce an unbalanced force in chamber 116 which shifts spool 110 to the left.
  • spool 110 moves to the left, it rotates the feedback spring 125 clockwise.
  • This clockwise motion is transmitted to arm 67, which in turn transmits it to the armature and tends to turn the jet tube clockwise to the null position.
  • the spool position at which feedback spring 125 returns jet tube 85 to the null position corresponds to a unique and discrete input current level.
  • the servovalve will regulate the speed of motor M in accordance with the input signal.
  • the spool 110 will remain in this position until the electrical signal is again varied.
  • the interrelation of the armature, torque tube, driver, arm, jet tube, and force feedback spring provides an assembly which is exceedingly compact in relation to the high gain which can be attained.
  • the torsion spring length is relatively large in proportion tothe small size of the assembly, as shown in FIGURE 3.
  • the arrangement of the rst stage elements wherein the jet pipe projects through the driver and is engaged by the outer tube 77 only adjacent its lower end provides a relatively long lever arm in compact form. Assembly of the valve is facilitated since the entire rst stage subassembly forms an integral unit with torque motor 1 which can be tted as a unit to the second stage 3.
  • Apparatus comprising:
  • said motor including an armature having an axis of rotation and an axially disposed central tubular portion;
  • torsion spring means mounting said armature to said base for torsionally constrained rotational motion about said axis of rotation, said torsion spring means comprising a torque tube which is connected at one end to said armature, said torque tube extending through said tubular portion of said armature and being connected at its other end to said base;
  • a flexible jet tube having a fluid inlet end and a uid outlet end, said fluid inlet end being secured to said base, said jet tube extending angularly with respect to said axis;
  • motion transmitting means connecting said armature and said jet tube for deflecting said jet tube in accordance with the rotation of said armature, said motion transmitting means extending angularly from said axis and comprising,
  • a driver extending axially through said torque tube and connected to said armature for rotational movement therewith, and coupling means extending at an angle to said axis of rotation and connecting said driver and said jet tube for angularly deliecting the uid outlet end of said jet tube in accordance with the rotation of said armature,
  • said jet tube being secured to said base above said driver and extending freely through an aperture provided in said driver
  • Apparatus comprising:
  • said motor including an armature having an axis of rotation and an axially disposed central tubular portion;
  • torsion spring means mounting said armature to said base for torsionally constrained rotational motion about said axis of rotation, said torsion spring means comprising a torque tube which is connected at one end to said armature, said torque tube extending through said tubular portion of said armature and being connected at its other end to said base;
  • a flexible jet tube having a iluid inlet end and a fluid outlet end, said fluid inlet end being secured to said base, said jet tube extending angularly with respect to said axis;
  • motion transmitting means connecting said armature and said jet tube for deiiecting said jet tube in accordance with the rotation of said armature, said motion transmitting means extending angularly from said axis and comprising,
  • a driver extending axially through said torque tube and connected to said armature for rotational movement therewith, and coupling means extending at an angle to said axis of rotation and connecting said driver and said jet tube for angularly detiecting the fluid outlet end of said jet tube in accordance with the rotation of said armature,
  • said coupling means including a tubular clamp member through which at least a portion of said jet tube extends, said tubular clamp member at one end being connected to said driver, the internal wall of said clamp member being spaced over most of its length from said jet tube, said tubular clamp member at the other end thereof being connected to said jet tube adjacent said iiuid outlet end thereof.
  • said driver is connected to said armature through said torque tube at said one end thereof, and further wherein said coupling means also includes a generally L-shaped arm connected at one en-d to said driver and having a leg extending parallel to said driver, said jet tube passing freely through an aperture in said leg, said clamp member being secured to said leg.
  • Apparatus comprising:
  • a flexible jet tube angularly disposed relative to said shaft and which intersects the axis of said shaft, said jet tube having a liuid inlet end xed relative to said base, said jet tube also having a iluid outlet end;
  • motion transmitting means angularly disposed relative to said shaft, said motion transmitting means being connected between said jet tube at a point intermediate said ends and said shaft for arcuately moving said lluid outlet end in a plane intersecting the axis of said shaft at an angle thereto.
  • Apparatus comprising:
  • a torque motor for angularly positioning rotatable means in response to an electrical input
  • a exible jet tube having a fluid inlet end mounted to said base, said jet tube also having a iiuid outlet end, said tube between said inlet and outlet ends extending through an enlarged opening provided in said rotatable means, said jet tube being spaced from said rotatable means in said opening;
  • tubular clamp member through which at least a portion of said jet tube ⁇ freely extends, said tubular clamp member at one end being connected to said rotatable means for rotation therewith, said tubular clamp member at the other end thereof being connected to said jet tube adjacent said iiuid outlet end thereof.
  • said rotatable means comprises a generally cylindrical driver and an L- shaped portion projecting generally perpendicularly to said driver, said L-shaped portion having a leg extending substantially parallel to said driver, said driver and leg both having apertures therein through which said jet tube freely extends, said clamp member being secured at said one end thereof within said aperture of said leg and projecting away from said driver.
  • Apparatus for amplifying an input signal applied as a torque acting on a shaft comprising:
  • a flexible jet tube having a fluid inlet end cantilevered to said frame member and having a jet outlet at the other end thereof;
  • a receiver having two adjacent receiver ports, said receiver being mounted to said frame member, said jet outlet being positioned to direct uid issuing therefrom to impinge on said receiver ports;
  • a substantially tubular clamp member within which at least a portion of said jet tube is positioned, said tubular clamp member at one end loosely encircling an intermediate portion of said jet tube between the ends of said jet tube, said clamp member at said one end being connected to said shaft, said tubular clamp member at the other end thereof being connected to said jet tube between said jet outlet and said intermediate portion, dellection of said jet tube by said clamp member in response to rotation of said shaft in operation developing a pressure differential between said receiver ports;
  • a spool valve including a bore in said body and a spool slidable within said bore for varying the iiow of fluid through said valve;
  • force feedback means operatively connected between said spool and said jet tube for centering said jet outlet between said receiver ports when said spool advances to a position correlated with the input signal.
  • said force feedback means includes a spring element having lirst and second ends, said tirst end being connected to said jet tube through said clamp member, and said second end including a cam follower in sliding contact with a cam surface formed by said spool for imparting pivotal motion to said spring element in response to sliding movement of said spool.
  • a torque motor mounted on said frame member; said motor including an armature having an axis of rotation and having an axially disposed tubular portion; torsion spring means mounting said armature to said Iframe member for torsionally constrained rotational motion about said axis, said torsion spring means comprising a torque tube positioned within said tubular portion of said armature and connected at axially spaced points to said torque tube and said frame member, and further wherein said shaft comprises a member concentric with said torque tube and connected to said armature for rotational movement therewith.
  • the apparatus of claim 9 further comprising:
  • a torque motor including magnetic circuit means mounted on said frame member, said magnetic circuit means having spaced poles defining an air gap, said spaced poles having reference surfaces thereon; a spacing member enclosing at least a portion of said pole pieces, said spacing member having geometrically spaced means for engaging said reference surfaces for establishing and maintaining a predesigned air gap; an armature having an axially disposed tubular portion; a torque tube positioned within said tubular portion and connecting said armature and said frame member for torsionally constraining rotational motion of said armature; and wherein said shaft comprises a driver concentric with said torque tube and connected to said armature for rotational movement therewith.
  • Apparatus comprising:
  • said motor including an armature having an axis of rotation and an axially disposed central tubular portion;
  • torsion spring means mounting said armature to said base for torsionally constrained rotational motion about said axis of rotation, said torsion spring means comprising a torque tube which is connected at one end to said armature, said torque tube extending through said tubular portion of said armature and being connected at its other end to said base;
  • a tiexible jet tube having a uid inlet end and a fluid outlet end, said uid inlet end being secured t-o said base, said jet tube extending angularly with respect to said axis;
  • motion transmitting means connecting said armature and said jet tube for deecting said jet tube in accordance with the rotation of said armature, said motion transmitting means extending angularly from said axis and comprising,
  • a driver extending axially through said torque tube and connected to said armature for rotational movement therewith, and coupling means extending at an angle to said axis of rotation and connecting said driver and said jet tube for angularly deecting the uid outlet end of said jet tube in accordance with the rotation of said armature,
  • said armature, torque tube, and driver being secured together by a swaging ferrule around a tapered surface provided on said armature.
  • Jet tube servovalve apparatus comprising:
  • conduit means for supplying pressure fluid into said jet pipe
  • t-ube means surrounding and connected at one end to the jet pipe, said tube means having a free end sur- 30 rounding said jet pipe; means responsive to rotational movement of said armature about said axis and connected to the free end of said tube means, to deflect the outlet end of said jet pipe relative to the position at which the jet pipe is xedly secured to the frame,
  • receiver port means for said jet pipe, said receiver port means being xedly positioned with respect to said frame.
  • coupling means are connected between said shaft and said ⁇ jet pipe, said coupling means extending at an angle to said axis and angularly defiecting the fluid outlet end of said jet pipe in accordance with the rotation of said armature.
  • jet pipe is a normally straight tube having a uid inlet at one end thereof remote from said outlet end, said inlet being xedly connected to said frame

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Servomotors (AREA)
  • Reciprocating, Oscillating Or Vibrating Motors (AREA)
  • Connection Of Motors, Electrical Generators, Mechanical Devices, And The Like (AREA)
  • Magnetically Actuated Valves (AREA)
  • Supply Devices, Intensifiers, Converters, And Telemotors (AREA)
US530916A 1966-03-01 1966-03-01 Servovalve construction Expired - Lifetime US3437101A (en)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
US53091666A 1966-03-01 1966-03-01

Publications (1)

Publication Number Publication Date
US3437101A true US3437101A (en) 1969-04-08

Family

ID=24115508

Family Applications (1)

Application Number Title Priority Date Filing Date
US530916A Expired - Lifetime US3437101A (en) 1966-03-01 1966-03-01 Servovalve construction

Country Status (6)

Country Link
US (1) US3437101A (de)
CH (1) CH462573A (de)
DE (1) DE1589430B2 (de)
FR (1) FR1511251A (de)
GB (2) GB1180946A (de)
SE (2) SE354507B (de)

Cited By (16)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3584649A (en) * 1969-06-13 1971-06-15 Bell Aerospace Corp Resiliently deformable interconnection between driven and driving members in servo valve
US3612103A (en) * 1969-07-01 1971-10-12 Moog Inc Deflectable free jetstream-type two-stage servo valve
US3621880A (en) * 1969-06-13 1971-11-23 Bell Aerospace Corp Jet pipe servo valve
US3712339A (en) * 1970-11-10 1973-01-23 Rexroth G Lohrer Eisenwerk Gmb Regulating apparatus with throttle gaps
DE2635472A1 (de) * 1975-08-06 1977-02-17 Applied Power Inc Servoeinrichtung und dadurch betaetigbares durchflussregulierventil
EP0112267A1 (de) * 1982-12-16 1984-06-27 Abex Corporation Servoregelung für eine Pumpe mit veränderlicher Verdrängung und Druckausgleich
US4922963A (en) * 1989-02-27 1990-05-08 Hsc Controls Inc. Hydraulic servovalve
US5031653A (en) * 1990-07-12 1991-07-16 Hr Textron Inc. Differential cylinder pressure gain compensation for single stage servovalve
US6344702B1 (en) 2000-06-13 2002-02-05 Hr Textron, Inc. Simplified torque motor
RU2273773C2 (ru) * 2000-12-19 2006-04-10 Снекма Моторс Сервоклапан с памятью положения
US20070023093A1 (en) * 2005-07-28 2007-02-01 Honeywell International Latchable electrohydraulic servovalve
US20150176720A1 (en) * 2013-12-24 2015-06-25 Goodrich Actuation Systems Sas Servo valves
US20190080832A1 (en) * 2017-09-08 2019-03-14 Hamilton Sundstrand Corporation Pole piece for a torque motor
EP3660334A1 (de) * 2018-11-27 2020-06-03 Hamilton Sundstrand Corporation Drehmomentmotoranordnung
CN113984277A (zh) * 2021-11-29 2022-01-28 黄山市万邦电子科技有限公司 一种电动扭矩扳手自动检测系统
US20240209875A1 (en) * 2022-12-23 2024-06-27 Goodrich Actuation Systems Limited Two-stage servo valve

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
RU2329412C1 (ru) * 2006-10-05 2008-07-20 Государственное унитарное предприятие "Конструкторское бюро приборостроения" Способ снижения потребляемой электрической мощности быстродействующего распределителя и устройство для его реализации
FR3108153B1 (fr) * 2020-03-13 2022-04-08 Safran Aerosystems Hydraulics Servovalve à actionneur linéaire et rétroaction mécanique

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US2981273A (en) * 1958-06-24 1961-04-25 Gpe Controls Inc Electro-hydraulic control device
US3019805A (en) * 1960-09-06 1962-02-06 William F Stoesser Electro-hydraulic servo valve
US3205782A (en) * 1962-05-28 1965-09-14 Sperry Rand Corp Power transmission

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US2981273A (en) * 1958-06-24 1961-04-25 Gpe Controls Inc Electro-hydraulic control device
US3019805A (en) * 1960-09-06 1962-02-06 William F Stoesser Electro-hydraulic servo valve
US3205782A (en) * 1962-05-28 1965-09-14 Sperry Rand Corp Power transmission

Cited By (21)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3584649A (en) * 1969-06-13 1971-06-15 Bell Aerospace Corp Resiliently deformable interconnection between driven and driving members in servo valve
US3621880A (en) * 1969-06-13 1971-11-23 Bell Aerospace Corp Jet pipe servo valve
US3612103A (en) * 1969-07-01 1971-10-12 Moog Inc Deflectable free jetstream-type two-stage servo valve
US3712339A (en) * 1970-11-10 1973-01-23 Rexroth G Lohrer Eisenwerk Gmb Regulating apparatus with throttle gaps
DE2635472A1 (de) * 1975-08-06 1977-02-17 Applied Power Inc Servoeinrichtung und dadurch betaetigbares durchflussregulierventil
EP0112267A1 (de) * 1982-12-16 1984-06-27 Abex Corporation Servoregelung für eine Pumpe mit veränderlicher Verdrängung und Druckausgleich
US4922963A (en) * 1989-02-27 1990-05-08 Hsc Controls Inc. Hydraulic servovalve
US5031653A (en) * 1990-07-12 1991-07-16 Hr Textron Inc. Differential cylinder pressure gain compensation for single stage servovalve
US6344702B1 (en) 2000-06-13 2002-02-05 Hr Textron, Inc. Simplified torque motor
RU2273773C2 (ru) * 2000-12-19 2006-04-10 Снекма Моторс Сервоклапан с памятью положения
US20070023093A1 (en) * 2005-07-28 2007-02-01 Honeywell International Latchable electrohydraulic servovalve
US7455074B2 (en) * 2005-07-28 2008-11-25 Honeywell International Inc. Latchable electrohydraulic servovalve
US20150176720A1 (en) * 2013-12-24 2015-06-25 Goodrich Actuation Systems Sas Servo valves
US20190080832A1 (en) * 2017-09-08 2019-03-14 Hamilton Sundstrand Corporation Pole piece for a torque motor
US11049637B2 (en) * 2017-09-08 2021-06-29 Hamilton Sunstrand Corporation Pole piece for a torque motor
EP3660334A1 (de) * 2018-11-27 2020-06-03 Hamilton Sundstrand Corporation Drehmomentmotoranordnung
US11050333B2 (en) 2018-11-27 2021-06-29 Hamilton Sunstrand Corporation Torque motor assembly
CN113984277A (zh) * 2021-11-29 2022-01-28 黄山市万邦电子科技有限公司 一种电动扭矩扳手自动检测系统
CN113984277B (zh) * 2021-11-29 2024-04-09 黄山市万邦电子科技有限公司 一种电动扭矩扳手自动检测系统
US20240209875A1 (en) * 2022-12-23 2024-06-27 Goodrich Actuation Systems Limited Two-stage servo valve
US12448990B2 (en) * 2022-12-23 2025-10-21 Goodrich Actuation Systems Limited Two-stage servo valve

Also Published As

Publication number Publication date
SE354507B (de) 1973-03-12
GB1180945A (en) 1970-02-11
FR1511251A (fr) 1968-01-26
CH462573A (de) 1968-09-15
SE334098B (de) 1971-04-05
DE1589430A1 (de) 1970-09-17
DE1589430B2 (de) 1971-09-02
GB1180946A (en) 1970-02-11

Similar Documents

Publication Publication Date Title
US3260273A (en) Motor valve having differential pressure feedback
US3858135A (en) Push-pull linear motor
US3612103A (en) Deflectable free jetstream-type two-stage servo valve
US4131130A (en) Pneumatic pressure control valve
US2884907A (en) Servo-mechanism
US10563675B2 (en) Servovalve
US3447111A (en) Servovalve construction
US3835888A (en) Electro hydraulic servo control valve
US3401711A (en) Single receiver port jet displacement servovalve
US4327772A (en) Valve device for controlling flow of fluid
US20030178073A1 (en) Electrohydraulic servo valve
US5024247A (en) Control motor for a servo valve
US7290565B2 (en) Methods and apparatus for splitting and directing a pressurized fluid jet within a servovalve
US3584649A (en) Resiliently deformable interconnection between driven and driving members in servo valve
US3286719A (en) Piezoelectric fluid jet transfer valve
US3424183A (en) Solenoid controlled servovalve with lineal output
EP0448028B1 (de) Torque-Motor mit symmetrischem Luftspalt
US3584638A (en) Adjustable receiver port construction for jet pipe servovalve
US3339572A (en) Electro-hydraulic servo valve
US3678951A (en) Method and apparatus for improved jet pipe valve
US4828220A (en) Control valve device
US2996072A (en) Actuator
US5303727A (en) Fluidic deflector jet servovalve
US3592234A (en) Staged-flow valve
US3386339A (en) Hydraulic amplifier