Fluidic repeater

A fluid repeater system may be balanced so that displacement of the load has a desired correspondence to displacement of the transmitter. This may be done by making the fluid resistance offerd to fluid flowing along a path from the source to the reservoir and through the feedback controlled directly by the load, exclusive of the resistance offered by such load feedback, approximately equal to that offered to fluid flowing along a path from the source to the reservoir and through the transmitter, exclusive of the resistance offered by such transmitter.

 

I claim:

1. A fluidic repeater system comprising:

transmitter means,

receiver means,

connector conduit means including first and second conduit means,

said first conduit means connecting said transmitter means to said receiver means, said first conduit means including two high pressure conduits,

source means for supplying fluid under pressure to said first conduit means, said source means including for each said high pressure conduit a fluid supply passage having an inlet and an outlet with a restriction therebetween whereby when said inlet is connected to a source of pressure fluid said outlet will provide a fluid supply having a drooping pressure versus rate of flow characteristic, said outlets being connected to the high pressure conduits;

said receiver means including load means and load feedback means,

said load means including responder means for producing mechanical movement and including a piston in cylinder connected to each said high pressure conduit for relative axial movement of the piston and cylinder in response to variation in the pressure in one of said high pressure conduits;

reservoir means including a reservoir of fluid at a lower pressure than said source,

said second conduit means interconnecting said reservoir means with said transmitter means and said receiver means, said second conduit means constituting low pressure conduit means,

said transmitter means serving for venting at least one of said high pressure conduits to said low pressure conduit means in accordance with the position of the transmitter means, thereby to vary the pressure in said high pressure conduit,

said transmitter being positionable over a range of positions including a first position of maximum venting and various positions in between said first and second positions to produce different amounts of movement of the responder means for each of the several positions of the transmitter means within said range of positions,

said load feedback means being responsive to movement of said load means for venting at least one of said high pressure conduits to said low pressure conduit means, and

fluid resistance means in said connector conduit means for balancing

(i) the fluid resistance between said source means and said reservoir means along a transmitter path extending through said transmitter means, excluding the resistance of said transmitter means, with

(ii) the fluid resistance between said source means and said reservoir means along a feedback path extending through said load feedback means, excluding the resistance of said load feedback means,

such that such fluid resistance along said transmitter path is approximately equal to such fluid resistance along said feedback path.

2. The fluidic repeater system of claim 1 wherein: said fluid resistance means includes a plurality of balancing conduits formed by portions of said first and second conduit means that constitute said transmitter path and said feedback path respectively, said balancing conduits connecting said transmitter means and said receiver means to said first and second fluid conduit means such that the total length of the path from said source means to said reservoir means through said load feedback means exclusive of the portion of such path through said feedback means is substantially equal to the total length of the path from said source means to said reservoir means through said transmitter means exclusive of the portion of the last-mentioned path through the transmitter means,

said balancing conduits having substantially identical and constant cross-sectional areas.

3. The fluidic repeater system of claim 2 wherein: each of said high pressure conduits included in said first conduit means extends separately all the way from the transmitter means to the receiver means, and said balancing conduits include a first and a second balancing conduit connecting said high pressure conduits separately to said transmitter means, a third and a fourth balancing conduit connecting said high pressure conduit separately to said feedback means, a fifth balancing conduit connecting said low pressure conduit to said transmitter means, and a sixth balancing conduit connecting said low pressure conduit to said feedback means.

4. The fluidic repeater system of claim 2 wherein: said receiver means includes an amplifier, said transmitter means controlling said load through said amplifier, said amplifier including amplifier feedback means for variably venting fluid from at least a portion of said first fluid conduit means to said second fluid conduit means, said receiver means further including variable restriction means for variably restricting flow from said amplifier feedback means to said second fluid conduit means.

5. The fluidic repeater system of claim 1 wherein: said fluid resistance means includes a plurality of balancing conduits comprising portions of said first and second conduit means that constitute said transmitter path and said feedback path respectively, said balancing conduits connecting said transmitter means and said receiver means to said first and second fluid conduit means such that the total fluid resistance of the load feedback path from said source means to said reservoir means through said load feedback means exclusive of the fluid resistance of the portion of the load feedback path within the feedback means is substantially equal to the total fluid resistance of the transmitter path from said source means to said reservoir menas through said transmitter means exclusive of the fluid resistance of the portion of the transmitter path within said transmitter means.

6. The fluidic repeater system of claim 5 wherein: said plurality of balancing conduits includes a first portion connecting said first and second fluid conduit means to said transmitter means and a second portion connecting said first and second fluid conduits to said load feedback means, the balancing conduits of said first portion having greater length and larger inside cross-sectional area than do the balancing conduits of said second portion.

7. The fluidic repeater system of claim 5 wherein: said plurality of balancing conduits includes a first portion connecting said first fluid conduit means to said transmitter means, a second portion connecting said second fluid conduit means to said transmitter means, a third portion connecting said first fluid conduit means to said load feedback means, and a fourth portion connecting said second fluid conduit means to said load feedback means,

the conduits of said first and fourth portions of said plurality of balancing conduits having substantially identical cross-sectional area and length, and the conduits of said second and third portions of said plurality of balancing conduits having substantially identical cross-sectional area and length.

8. The fluidic repeater system of claim 7 wherein: the cross-sectional areas of all of the balancing conduits are substantially identical and the length of the conduits of said first and fourth portions of said plurality of balancing conduits differs from the length of the conduits of said second and third portions of said plurality of balancing conduits.

9. The fluidic repeater system of claim 1 wherein: said fluid resistance means includes variable restrictor means for variably obstructing flow through at least a portion of said second fluid conduit means.

10. The fluidic repeater system of claim 9 wherein: said variable restrictor means includes at least one variable restrictor disposed between said reservoir connection means and said load feedback means.

11. The fluidic repeater system of claim 10 wherein: said second fluid conduit means includes two low pressure conduits connected to said load feedback means, said

said variable restrictor means includes a first variable restrictor obstructing one of said low pressure conduits at a point downstream of said load feedback means and a second variable restrictor for variably obstructing the other of said low pressure conduits at a point downstream of said load feedback means.

12. The fluidic repeater system of claim 11 wherein: said receiver includes an amplifier, said amplifier including a piston axially movable within a cylinder, and

said load feedback means includes grooves on the ends of said piston communicating with grooves in said cylinder, and

said amplifier includes output conduits and isolation means for isolating flow through said output conduits from flow through said load feedback means.

13. The fluidic repeater system of claim 12 wherein: said isolation means includes lands on said piston positioned between said output conduits and said grooves in said cylinder.

14. The fluidic repeater system of claim 10 wherein: said two high pressure conduits connect said transmitter means to said load feedback means,

said low pressure conduit is connected to said load feedback means, and

said variable restrictor variably obstructs flow through said low pressure conduit.

15. The fluidic repeater system of claim 14 wherein: each said high pressure conduits includes a variable restrictor positioned at a point between said source means and said transmitter means.

16. The fluidic repeater system of claim 9 wherein: said fluid resistance means further includes a fixed restrictor for obstructing flow through at least a portion of said second fluid conduit means.

17. The fluidic repeater system of claim 1 wherein: said fluid resistance means includes a fixed restrictor for obstructing flow through at least a portion of said second fluid conduit means.

18. The fluidic repeater of claim 1 wherein: said fluid resistance means includes restrictor means for obstructing flow through at least a portion of said first fluid conduit means.

19. The fluidic repeater system of claim 18 wherein: said receiver includes an amplifier and said first fluid conduit means includes an amplifier portion connected to said amplifier and a load feedback portion connected to said load feedback means, flow through said amplifier portion being separate from flow through said load feedback portion, and

said restrictor means variably restricts flow through said load feedback portion.

20. The fluidic repeater system of claim 19 wherein: said first fluid conduit means includes a high pressure conduit connected to said transmitter, to said amplifier portion, and to said load feedback portion.

21. The fluidic repeater system of claim 19 wherein: said amplifier includes a piston axially movably disposed in a cylinder and said amplifier portion of said first fluid conduit means includes an extension of said cylinder.

22. The fluidic repeater system of claim 19 wherein: said first and second high pressure conduits include a first high pressure conduit part connecting to said transmitter and a second high pressure conduit part connecting to said amplifier portion and said load feedback portion.

23. The fluidic repeater system of claim 19 wherein: said load feedback portion includes a first and a second load feedback conduit part, said amplifier portion includes a first and a second amplifier fluid passageway, and said variable restrictor means includes a first variable restrictor for variably obstructing flow through said first load feedback conduit part and a second variable restrictor for variably restricting flow through said second load feedback conduit part.

24. A fluidic repeater system comprising:

a source of fluid under pressure;

a first flow restrictor and a second fluid restrictor;

a first fluid passage connected to said source through said first fluid restrictor;

a second fluid passage connected to said source through said second fluid restrictor;

a reservoir of fluid having a pressure less than that of the fluid of said source;

transmitter means for variably venting both said first fluid passage and said second fluid passage to said reservoir in such a manner that one of said fluid passages can be vented by said transmitter means while the other of said fluid passages is not vented by said transmitter means; and

first responder means including a first piston in a cylinder for providing mechanical displacement of said first piston with respect to said cylinder in response to change in the differential of the pressure of the fluid in said first fluid passage and the pressure of the fluid in said second fluid passage,

said responder cylinder having a reduced diameter portion, a first normal diameter portion on one side of said reduced diameter portion, and a second normal diameter portion on the other side of said reduced diameter portion, said first fluid passage communicating with said first normal diameter portion and said second fluid passage communicating with said second normal diameter portion,

said first piston including a responder piston shaft disposed in said reduced diameter portion of said responder cylinder and extending at each end into said normal diameter portions and having responder piston bearing lands at each end of said responder piston shaft, said bearing lands slidingly and sealingly engaging said normal diameter portions of said responder cylinder,

the cylindrical surface of said reduced diameter portion of said responder cylinder having an outlet port at its axial center and a radial passageway connecting said outlet port to said reservoir, and

feedback means including axial variable depth grooves in said responder piston shaft for variably venting the fluid at either side of said reduced diameter portion of said first responder cylinder to said reservoir,

said radial passageway including a variable restrictor means for variably restricting flow through said radial passageway.

25. A fluidic repeater comprising:

a source of fluid under pressure;

a reservoir of fluid having pressure less than the fluid of said source;

first restrictor means for restricting the flow of fluid;

passage means for carrying fluid flow connected to said source through said first restrictor means, said passage means slightly restricting the flow of such fluid;

first venting means for variably venting fluid within said passage means to said reservoir, said first venting means being controlled by an external force;

responder means for producing mechanical displacement according to the pressure of fluid within said passage means;

second venting means for variably venting fluid within said passage means to said reservoir, said second venting means being controlled by the mechanical displacement produced by said responder means, the distance along said passage means between one of said venting means and said first restrictor means being less than that between the other of said venting means and said first restrictor means; and

second restrictor means connected between said one of said venting means and said reservoir for restricting the flow of fluid vented by said one of said venting means.

26. A fluidic repeater as recited in claim 25 wherein the amount of restriction of said second restrictor means is variable.

27. A fluidic repeater as recited in claim 26 wherein said one of said venting means is said second venting means.

28. A fluidic repeater system comprising:

source means for supplying fluid under pressure including fluid supply passage having an inlet and an outlet with a restriction therebetween whereby when said inlet is connected to a source of pressure fluid said outlet will provide a fluid supply having a drooping pressure versus rate of flow characteristic,

responder means for producing mechanical movement and including a piston in cylinder connected to said fluid supply outlet for relative axial movement of the piston and cylinder in response to variation in the pressure at said fluid supply outlet,

transmitter means for venting said fluid supply outlet to reservoir means including a reservoir of fluid at a lower pressure than said source, in accordance with the position of the transmitter means, said transmitter being positionable over a range of positions including a first position of maximum venting and a second position of minimum venting and various positions in between said first and second positions to produce different amounts of movement of the responder means for each of the several positions of the transmitter means within said range of positions,

said transmitter means including a fluid path from said fluid supply outlet to the said reservoir means, and including a first opening forming part of said fluid path and first obstructor means for varying the fluid flow through said opening, and

feedback means responsive to the magnitude of the movement of said responder means, without the necessity for the magnitude to be changing with time and independent of the previous duration of such movement, for venting the same said fluid supply outlet to such reservoir means,

said feedback means including a fluid path from said fluid supply outlet to such reservoir means and including a second opening forming part of said fluid path and second obstructor means for varying the fluid flow through said opening,

said fluid path of said feedback means and said fluid path of said transmitter means being separate paths at least to the extent that fluid flow through said second opening of the feedback means is in parallel with fluid flow through said first opening of the transmitter means with none of the fluid flowing through said first opening flowing through said second opening on its way to such reservoir and none of the fluid flowing through said second opening flowing through said first opening on its way to such reservoir,

venting of said fluid supply outlet by said transmitter means being at a rate dependent upon position of first obstructor means without regard to the position of said second obstructor means and venting of said fluid supply outlet by said feedback means being at a rate dependent upon the position of said second obstructor means without regard to the position of said first obstructor means,

fluid resistance means for balancing the fluid resistance between said source means and said reservoir means along a transmitter path extending through said transmitter means, excluding the resistance of said first opening of said transmitter means, with the fluid resistance between said source means and said reservoir means along a feedback path extending through said feedback means, excluding the resistance of said second opening of said feedback means,

such that such fluid resistance along said transmitter path is approximately equal to such fluid resistance along said feedback path.

29. The fluidic repeater system of claim 28 wherein said fluid paths of said transmitter means and feedback means include a high pressure conduit connected to said transmitter means and to said load feedback means, said fluid resistance means including variable restrictor obstructing flow through said high pressure conduit.

30. A fluidic repeater system comprising:

transmitter means,

receiver means,

connector conduit means including first and second conduit means,

said first conduit means connecting said transmitter means to said receiver means, said first conduit means including at least one high pressure conduit,

source means for supplying fluid under pressure to said first conduit means, said source means including for each said high pressure conduit a fluid supply passage having an inlet and an outlet with a restriction therebetween whereby when said inlet is connected to a source of pressure fluid said outlet will provide a fluid supply having a drooping pressure versus rate of flow characteristic, said outlet being connected to the high pressure conduit;

said receiver means including load means and load feedback means,

said load means including responder means for producing mechanical movement and including a piston in cylinder connected to each said high pressure conduit for relative axial movement of the piston and cylinder in response to variation in the pressure in said high pressure conduit,

reservoir means including a reservoir of fluid at a lower pressure than said source,

said second conduit means interconnecting said reservoir means with said transmitter means and said receiver means, said second conduit means constituting low pressure conduit means,

said transmitter means serving for venting at least one of said high pressure conduits to said low pressure conduit means in accordance with the position of the transmitter means, thereby to vary the pressure in said high pressure conduit,

said transmitter being positionable over a range of positions including a first position of maximum venting and various positions in between said first and second positions to produce different amounts of movement of the responder means for each of the several positions of the transmitter means within said range of positions,

said load feedback means being responsive to movement of said load means for venting at least one of said high pressure conduits to said low pressure conduit means, and

fluid resistance means in said connector conduit means for balancing

(i) the fluid resistance between said source means and said reservoir means along a transmitter path extending through said transmitter means, excluding the resistance of said transmitter means, with

(ii) the fluid resistance between said source means and said reservoir means along a feedback path extending through said load feedback means, excluding the resistance of said load feedback means,

such that such fluid resistance along said transmitter path is approximately equal to such fluid resistance along said feedback path.

BACKGROUND OF THE INVENTION

This invention pertains to fluidic, e.g. hydraulic or pneumatic, repeaters useful as remote indicators and servo proportional controllers for either amplication or remote operation, e.g. in seismic generators, aircraft controls, boat steering, automobile wheel tracking, plow jerkers, and vibration test equipment.

Hydraulic devices employing mechano-hydraulic transmitters including an obstructor moving relative to two liquid ports connected to a liquid supply having a drooping pressure-load characteristic are known. It is also known to employ as a receiver or responder a double acting piston moving in a cylinder whose ends are connected by fluid conduits to the transmitter liquid supply upstream of the transmitter ports and to connect the piston mechanically or hydraulically to an output. Various feedbacks from the output to the transmitter are also known.

SUMMARY OF THE INVENTION

According to the invention, means for feedback control, whether incorporated directly in the double acting piston or mechanically connected thereto, comprises variable cross-section surface passages, e.g. tapered grooves. These grooves may be in the ends of a double acting piston cooperating with ports or side recesses of a cylinder. The piston moves to variably throttle fluid vented from the high pressure ends of the piston ends of the piston to lower pressure portions of the system. The invention further includes improved transmitter, responder and receiver means useful with the feedback means of the invention, e.g. systems in which the transmitter has a single line output for actuating the responder or receiver, systems in which the transmitter operates by variable throttling, and systems employing rotary type transmitters and systems with rotary type feedback means. Other features of the invention and objects and advantages thereof will appear hereinafter.

The feedback venting and the transmitter venting flow passages are in parallel so that the rate of venting effected by the feedback means is dependent solely on the position of the feedback means.

Various applications of the invention, e.g. to crane control, seismic generator drive, swash plate angle control of a swash plate controlled motor-pump unit, four wheel drive, and master and slave systems are disclosed.

Furthermore, the double-acting piston may be a spool with lands at either end and acting about an internal annular flange extending from the surface of the cylinder to the surface of the hub portion of the piston spool. High pressure fluid ports, with pressure varied by the transmitter, are connected to axially-directed ports in the annular flange such that the pressure of the fluid in the conduits is directed against the inside wall of the respective piston land. The hub portion has variable cross section grooves that communicate with lower pressure portions of the system through a passage in the annular flange of the cylinder whereby the piston moves to variably throttle the fluid moving from the high-pressure conduits to the lower pressure portions.

Additionally, the transmitter includes an improved rotary transmitter that varies the pressure of the fluid in two conduits, but varies the pressure of the fluid in only one conduit at a time. Such an improved transmitter has numerous applications and can be used to control a swash plate pump/motor unit in such a way that as the pressure of the fluid in one conduit is varied, the motor rotates at varying speeds in a clockwise direction, and as the pressure of the fluid in the other conduit is varied, the motor rotates at varying speeds in a counterclockwise direction.

Also, the system may be balanced so that displacement of the load has a desired correspondence to displacement of the transmitter. This may be done by making the fluid resistance offered to fluid flowing along a path from the source to the reservoir and through the feedback controlled directly by the load, exclusive of the resistance offered by such load feedback, approximately equal to that offered to fluid flowing along a path from the source to the reservoir and through the transmitter, exclusive of the resistance offered by such transmitter.

BRIEF DESCRIPTION OF THE DRAWINGS

For a more detailed description of several preferred embodiments of the invention reference will now be made to the accompanying drawings wherein:

FIG. 1 is a largely schematic sectional view illustrating a fluidic repeater according to the referred embodiment of the invention;

FIGS. 2 and 3 are fragmentary views similar to FIG. 1 showing modifications;

FIGS. 4 and 5 are views similar to FIGS. 1-3 showing two further modifications;

FIGS. 6, 7, and 8 are elevational, sectional and end views respectively of the end of the amplifier piston of the FIG. 5 embodiment;

FIG. 9 is a view similar to FIG. 8 showing another embodiment;

FIG. 10 is a cross-sectional schematic view of a mechanical to fluidic translator according to the invention;

FIG. 11 is a sectional view of part of the spool valve shown in FIG. 10;

FIGS. 12, 13 and 14 are largely schematic sectional views showing further embodiments of the invention; and

FIGS. 15 and 16 are sectional views of feedback elements of the embodiments shown in FIGS. 12 through 14;

FIG. 17 is a largely schematic cross-sectional view illustrating a fluidic repeater according to an embodiment of the invention;

FIG. 18 is a view similar to FIG. 17 showing another embodiment;

FIG. 19 is a view similar to FIG. 18 showing an embodiment of the invention using only a single pressure line for control;

FIGS. 20 and 21 are views similar to FIG. 19 showing other embodiments of the invention using single control lines;

FIG. 22 is a sectional view of elements of the embodiments shown in FIGS. 20 and 21;

FIG. 23 is a fragmentary schematic sectional view of a portion of an embodiment of the invention;

FIG. 24 is a view similar to FIG. 23 showing a portion of another embodiment;

FIG. 25 is a fragmentary, largely schematic sectional view showing a portion of an embodiment of the invention;

FIG. 26 is a fragmentary sectional view of a commercial embodiment of the invention;

FIG. 27 is an elevational view of a section of FIG. 26 taken along lines 27--27;

FIGS. 28 and 29 are sectional views of valves used in the invention's embodiment depicted in FIG. 26;

FIG. 30 is a partially sectional view of another commercial embodiment of the invention;

FIG. 31 is a sectional view of the transmitter illustrated in FIG. 30 taken along lines 31--31.

FIG. 32 is a largley schematic sectional view illustrating another embodiment of the invention somewhat similar to the embodiment of FIG. 19;

FIG. 33 is a view similar to that of FIG. 32 showing a further modification;

FIG. 34 is a view largely in section showing a commercial embodiment and slight modification of the apparatus shown in FIG. 32;

FIG. 35 is a largely schematic sectional view illustrating a modification of the invention shown in FIG. 20;

FIG. 36 is a largely schematic view partly in section illustrating a modification of a form of the invention shown in FIG. 5;

FIG. 37 is a side elevation, largely in section, of a load cylinder with a feedback means incorporated therein in accordance with one form of the invention;

FIG. 38 is a side elevation, partly schematic, showing the invention incorporated in apparatus for loading a floating vessel by a crane located on a pier;

FIG. 39 is a largely schematic elevation, partly in section, of the hydraulic system and related parts of the apparatus shown in FIG. 38;

FIG. 40 is a sectional view of apparatus according to the invention incorporated into a system for varying the angle of a swash plate controlled motor-pump unit;

FIG. 41 is a view similar to FIG. 4 showing a modification;

FIG. 42 is an elevation, partly in section, showing apparatus incorporating the invention forming part of a seismic generator;

FIG. 43 is a schematic plan view of apparatus according to the invention employed for driving a four wheel drive vehicle;

FIG. 44 is a largely sectional view of apparatus according to the in-ention suitable for dual parallel, control, e.g. as in FIG. 43;

FIG. 45 is a largely sectional view of apparatus according to the invention for dual control of the master and slave type;

FIG. 46 is a partly sectional view illustrating another form of apparatus according to the invention;

FIG. 47 is a sectional view of an amplifier forming part of a system according to the invention;

FIG. 48 is a sectional view showing a modification of the amplifier of FIG. 47;

FIG. 49 is an elevation showing a dual rotary transmitter in accordance with the invention;

FIGS. 50, 51 are sections taken on planes 50--50 and 51--51 of FIG. 49;

FIG. 52 is a largely schematic view illustrating a rotary transmitter for venting a two-line system one line at a time with a single control lever;

FIG. 52A is a sectional view of the transmitter of FIG. 52 taken along lines 52A and connected to a responder;

FIG. 53 is a largely schematic sectional view illustrating a rotary transmitter for venting a two-line system one line at a time with a single control lever and a switching valve and a modified responder piston and cylinder;

FIG. 53A is a sectional view of an alternative embodiment of the responder of FIG. 53;

FIG. 53B is an end view of the cam pin of FIG. 53A;

FIG. 53C is a view similar to FIG. 53 showing how the transmitter of FIG. 52A is to be substituted for that of FIG. 53;

FIG. 54 is a largely schematic sectional view illustrating a rotary transmitter for venting two-line systems, each system vented one line at a time by two control levers, and switching a modified responder piston and cylinder;

FIG. 55 is a schematic plan view of a four-wheel vehicle wherein the wheels may be selectively driven individually or in unison.

FIG. 56 is a largely schematic sectional view showing a venting two-line system incorporating the equal length path embodiment of the balanced path concept;

FIG. 57 is a fragmentary view similar to FIG. 56 showing an alternative form of the equal length path embodiment of the balanced path concept;

FIG. 58 is a fragmentary view similar to FIG. 56 showing the balanced cross section embodiment of the balanced path concept;

FIG. 59 is a partial view of the responder of the system of FIG. 53 showing an alternative form of restriction for the outlet conduit;

FIG. 60 is a partial view of the responder of the system of FIG. 59 showing a further alternative form of restriction for the outlet conduit;

FIG. 61 is a largely schematic sectional view showing a venting two-line system incorporating the line restrictor embodiment of the balanced line concept;

FIG. 62 is a largely schematic sectional view illustrating the connection of a variable restrictor path-balancing unit to the responder of FIG. 56;

FIG. 63 shows the system illustrated in FIG. 21 as modified by FIGS. 22 and 24 and incorporating the line restrictor embodiment of the balanced paths concept;

FIG. 64 is a largely schematic sectional view illustrating a system having two-lines, one vented by the transmitter and one vented by the feedback, and incorporating the line restrictor embodiment of the balanced paths concept;

FIGS. 64A and 64B are partial views of the FIG. 64 system showing alternative forms of line restrictor; and

FIG. 65 is a largely schematic sectional view of two-line system wherein the transmitter vents one line and the amplifier feedback vents both lines and incorporating the line restrictor embodiment of the balanced paths concept.

DESCRIPTION OF PREFERRED EMBODIMENTS

Referring now to FIG. 1, a fluidic repeater comprises a pump or source (not shown) of fluid under pressure connected to conduits marked P and a sump or low pressure fluid reservoir (not shown) connected to conduits marked R. Usually the system will be hydraulic and use a liquid, e.g. mineral oil, as working fluid, but the following description refers to all embodiments of the invention and is also applicable to pneumatic systems wherein a gas, e.g. air, is the system fluid.

Fluid from pressure source conduit 11 flows through passages 13, 15 in transmitter body 17, through restrictions or orifices 19, 21 to passages 23, 25, and thence out through ports 27, 29. The ports empty into the interior of cylinder 31 formed in transmitter body 17. Cylinder 31 is vented to reservoir 51 by three ports 33, 35, and 37. A four landed spool 39 is moved axially back and forth in cylinder 31 by electromagnetic solenoid 41, which may also be a short stroke torque motor. The solenoid is biased to its midposition, as shown, by springs 40 and 42. When spool 39 is biased to mid position, as shown in FIG. L, lands 43 and 45 fully or substantially block ports 27 and 29. This reduces the transmitter's idle power requirements. In a modulating system both ports will be partially open in the mid-position of the spool.

Operationally, electric signals applied to solenoid or electric motor 41 moves spool 39 toward one end of cylinder 31. This opens either port 27 or 29 an amount whose magnitude is dependent upon the spool's movement. In a modulating system, the port not opened will be closed an amount also dependent upon the spool's axial movement. As one port is opened, e.g. port 27, pressure in passage 23 drops due to the increased fluid flow from the source through the flow restrictor or orifice 19, while closure of the other port, e.g. port 29, will cause a pressure rise in passage 25 due to the reduced flow through orifice 21. Flow passage 13 with orifice 19 and the flow passage 15 with orifice 21 thus provide fluid supplies of drooping pressure-load characteristics. Connected to this supply are ports 27, 29, and spool 39 with lands 43, 45. These provide a variable obstructor for opening and closing the ports this variably venting the fluid supplies to provide variable pressure outputs that vary in accordance with the obstructor's position. Since obstructor position is controlled by an electric motor, the system thus far detailed provides an electrofluidic transducer transmitter.

To prevent hydraulic locking of spool 39 because of the inherent slight leakage past lands 43, and 45, the spools are relieved by providing annular spaces 47 and 49 beyond lands 43 and 45 that communicate with ports 33 and 37. These ports lead to conduit 51 that is connected to reservoir 51. Spool 39 is provided with additional guidance by providing it with end lands 53 and 55. The ends of cylinder 31 are connected by fluid passage 57 that leads to chamber 58. Chamber 58 contains motor 51 and is vented to the atmosphere by passage 59.

The transmitter's varying fluid pressure outputs are conducted by fluid passages 61 and 63 to an amplifier comprising cylinder 65 formed in transmitter body 17. A double acting free piston 67 floats in cylinder 65, being free to move axially in response to pressure differentials at its ends 69, 71. Fluid passages 61 63 from the transmitter are connected to the ends of cylinder 65 so their pressures can act on the free piston's ends. The outer periphery of the piston is relieved by annular grooves 73 and 75, leaving lands 77 and 79 at the ends of the piston. Annular spaces 81 and 83 formed by grooves 73 and 75 are vented to the reservoir by fluid passages 85, 87. Lands 77 and 79 are provided with sloping grooves 89 and 91, respectively, whose depth decreases progressing from the ends of the piston toward grooves 73 and 75. Sloping grooves 89 and 91 vent pressure fluid from passages 61 and 63 past lands 77 and 79 to recesses 93 and 95 in the cylinders' sides and hence to the reservoir through passages 85 and 87. Suitable means, not shown, such as a key and slot, are provided to maintain grooves 89 and 91 in azimuthal alignment with recesses 93 and 95. The size of vent openings 97 and 99 connecting grooves 89 and 91 with recesses 93 and 95 increase and decrease when piston 67 is moved axially. This venting causes negative feedback to fluid passages 61 and 63. Higher pressure at one of passage 61 or 63 than at the other moves free piston 67 in the correct direction to increasingly vent these higher pressure to a reservoir through either groove 89 or 91. Relatively lower pressure in passage 61 or 33 than in the other moves free piston 67 in a direction to reduce venting of such lower pressure to the reservoir. Due to this variable negative feedback, piston 67 moves proportionally in response to the degree of movement of spool 39 and then comes to rest.

Free piston 67 could be connected mechanically to a suitable output such as an indicator, valve or other load. Cylinder 65 and piston 67 would then constitute parts of a receiver connected to the previously described transmitter. Passages 61 and 63 could be replaced by hoses, pipes, or other extended fluid conduits. The system would then constitute a remote indicating or proportional control system.

As shown in FIG. 1, however, piston 67 and cylinder 65 form parts of a fluidic amplifier. Piston 67 is relieved at its mid portion by annular groove 101. Annular space 103 formed by groove 101 is connected by fluid passage 105 leading to a source of fluid pressure. Lands 107 and 108 between groove 101 and grooves 73 and 75, cover outlet ports 109 and 110 in cylinder 65 when piston 69 is in mid position, as shown. When piston 69 moves axially toward one end of cylinder 65 in response to electric signals supplied to conductors 111 of motor 41, then ports 107 and 109 are uncovered in proportion to the piston's movement. One fluid conduit (hoses) 113 or 115 is thus connected to a source of pressure fluid through space 103 and passage 105 while the other of conduits is connected to reservoir through either space 81 and passage 85 or space 83 and passage 87. Hoses 113 and 115 are connected to opposite ends of load cylinder 117, which, together with piston 119 therein, forms a remote receiver.

When hose 113 or 115 is connected to the source of pressure fluid and the other to the reservoir, piston 119 moves in the direction of the flow from high pressure to low pressure. Piston rods 121, 123 extend through opposite ends of the cylinder 117, leaving equal areas of piston 119 exposed to pressures in cylinder 117. Piston rod 123 is extended to connect to a mechanical load, e.g. a valve, not shown.

Piston rod 123 is also connected mechanically by bar 125 to stem 127 of feedback valve 128. For easier viewing, valve 128 is drawn to a larger scale than load cylinder 117, but it is to be understood that the areas exposed to fluid pressure in the feedback valve are negligibly small compared to those of load cylinder 117.

Stem 127 extends through sealed opening 129 into cylinder cavity 131 of valve body 163 and connects to cylindrical valve closure 133. Closure 133 is provided with two sloping grooves 135 and 137 of increasing depth progressing axially from the ends toward the midportion of the closure. The deepest portions of the grooves being continued axially at constant depth for a certain extent as shown at 139 and 141. When the closure 133 is in midposition, as shown in FIG. 1, sloping portions of grooves 135 and 137 are in register axially with annular recesses 143 and 145 in the sides of cylindrical cavity 131. Recesses 143 and 145 communicate with ports 147 and 149, respectively, which, in turn, are connected to fluid conduits (hoses) 151 and 153. Conduits 151 and 153 are connected to ports 155 and 157, respectively, leading to the ends of amplifier cylinder 65.

The ends if cylindrical valve body cavity 131 are enlarged at 159 and 161 providing annular spaces communicating both with grooves 135 and 137 and also with passages 163 and 165 leading to conduit 167 connecting with the reservoir. When closure 133 moves axially, openings 169 and 171 between grooves 135 and 137 and the sides of cylindrical valve body cavity 131 are opened or closed in proportion to the degree of axial movement. This increases the venting to the reservoir of one of the feedback conduits 151 and decreasing the venting of the other.

Operationally, when a pressure differential across the ends of amplifier piston 67 causes the piston to move right or left, then load piston 119 moves in the opposite direction carrying with it attached feedback valve closure 133. This creates a pressure differential between conduits 151 and 153 opposite to that across piston 67. The feedback from cylinder 128 is therefore negative and tends to cancel out the pressure differential caused by movement of spool 39. This cancellation causes piston 67 to return to neutral or midposition. This discontinues the pressure differential across load piston 119, which then comes to rest in a displaced position proportional to the displacement of spool 39 that in turn was proportional to the signal strength applied to motor 41 at input 111.

Although motions of the various parts; e.g. transmitter spool 39, amplifier piston 101, load piston 119, and feedback valve closure 133; have been said to be proportional to the signal applied to the input 111 of motor 41, this is to be understood to mean only that there is a direct function between signal amplitudes and mechanical positions with an increase in signal strength causing an increase in mechanical travel. However, by appropriately shaping grooves 89, 91, 135 and 137, the proportionality may be made to approach closely a linear function. Other groove shapes than the simple sloping grooves 89, 91, 135 and 137 may be employed.

Referring now to FIGS. 2 and 3 there are shown modifications of the FIG. 1 construction. FIGS. 2 and 3 show only a portion of the apparatus shown in FIG. 1; the remainder of FIGS. 2; and 3's apparatus being the same as that of FIGS. 1 and 17. Parts that are the same as those in FIG. 1 are given like reference numbers and their description will not be repeated. An examination of FIGS. 2 and 3 will reveal that in FIG. 2 as in FIG. 1 lands 43 and 45 are disposed so as to substantially block ports 27 and 29 when spool 39 is in midposition; whereas in FIG. 3 lands 43 and 45 are disposed to leave both ports 27 and 29 partly open when spool 39 is in midposition. In other respects FIGS. 2 and 3 are the same.

FIGS. 2 and 3 differ from the FIG. 1 construction in two respects. First, guide lands 53 and 55 are omitted from spool 39, as are leakage return ports 33 and 37 and atmosphere vent passages 57 and 59. These of course can be used wherever it is found necessary or desirable. Secondly, and most important, in FIGS. 2 and 3 separate feedback valve 128 is omitted. Instead feedback valve means comprising grooves 135 and 137 controlling fluid conduits 151 and, respectively, 153 are provided directly on the ends of valve stems 121 and 123.

Referring now to FIG. 4 there is shown another modification of the FIG. 1 system. Again like parts are given like reference numbers and will not again be described.

The primary difference between the embodiments of the invention shown in FIGS. 1 and 4 is that in FIG. 4 the spool controlled ports 27 and 29 of FIG. 1 are replaced by nozzles 27A and 29A whose flow is controlled by obstructor 39A. The latter is a hand operated wheel, as distinguished from the electric motor actuated spool 39 of FIG. 1. Bearing 201 at one side of cylindrical obstructor 39A is internally threaded to receive threaded pin 203 on which the obstructor pivots. As the obstructor is rotated it moves axially approaching one or the other of nozzles 27A or 29A and moving farther away from the nozzle not approached. By this means the fluid pressure in conduits 23 and 25 is varied. Obstructor 39A is provided with unthreaded pivot pin 205 received in bearing 207 in obstructor support body 209. Nozzles 27A and 27B discharge into the interior of body 209. Radial passages 211 and 213 in pins 203 and 205, respectively communicate with the interior of body 209 and connect with axial fluid passage 207 which discharges into return line 35 leading to the fluid reservoir.

Another difference between the construction of FIGS. 1 and 4 lies in the construction of the feedback valve 128A that is mechanically linked to load piston rod 123.

Feedback valve 128A variably vents fluid passages 61 and 63 via grooves 135 and 137, which, in this case, are connected together to form one long groove. Venting through grooves 135 and 137 can also be outwardly into the spaces 220 inside annular sealing boots 221 and thence through groove 222 back to the reservoir. When feedback valve 128A has moved far enough to equalize the pressure in fluid passages 61 and 63, piston 101 moves back to neutral position. Load piston 119 remains in its new position as controlled by the setting of manual obstructor 39A.

Another difference between the embodiments of FIGS. 1 and 4 lies in the fact that in the FIG. 4 construction the amplifier piston 101 is not provided with feedback grooves in its ends like the grooves 89 and 91 of the FIG. 1 embodiment.

Referring now to FIG. 5 there is shown a further embodiment similar to the embodiments of FIGS. 1-4 wherein like reference numbers refer to like parts that will not be redescribed. As in the FIG. 4 construction, the FIG. 5 embodiment includes a manually actuated hand wheel type obstructor 39A cooperating with nozzles 27A and 29A, rather than an electric motor actuated spool 39 cooperating with ports 27 and 29 as in FIGS. 1-3. However, as in FIGS. 1-3, the amplifier piston is provided with feedback means. In the FIG. 5 construction instead of providing the ends of amplifier piston 101 with sloping grooves as at 89, 91 extending all the way to the outer ends of the piston as in FIGS. 1-3, the sloping grooves 89A and 91A of the FIG. 5 construction terminate where they run into and communicate with annular grooves 89B and 91B around the lands 77 and 79 respectively. Grooves 89B and 91B in turn communicate with the piston's ends via radial and axial flow passages 89C, 89D and 91C, 91D. Shape of grooves 89A and 91A is shown more clearly in larger scale detail views of FIGS. 6, 7 and 8. Short grooves 89A and 91A cooperate with annular grooves 89B and 91B to provide non-linear feedback correlative to the non-linear input of nozzle obstructor 39A. This effects a more nearly linear proportionality between hand wheel movement and amplifier piston movement.

FIG. 9 shows feedback groove 91E of rectangular cross section as an alternative to the V-shape cross section of groove 91A of FIG. 8.

No load cylinder and piston are shown in the FIG. 5 construction, but it is to be understood that amplifier output passages 113 and 115 connect via passages 117A and 117B leading to a suitable load cylinder which usually will be provided with further feedback means as in FIGS. 1-4. Without a load feedback the load piston will ultimately move to the limit of its travel regardless of the magnitude of the input at obstructor 39. The rate of this movement of the load piston will vary in proportion to the magnitude of the input at obstructor 39A. In some applications the load feedback means of the FIGS. 1-4 embodiments could also be omitted.

FIG. 5 illustrates the use of a filter screen 225 between conduit 11 leading to the source of pressure fluid and the orifices 19 and 21. This is desirable to prevent blockage of the orifices by foreign matter. This constructional detail, though not shown in FIGS. 1-4, it is to be understood as being applicable to all embodiments of the invention.

FIG. 10 shows an embodiment of the invention that is much the same as that of FIG. 5. Differences include modification of the feedback groove system in the amplifier piston and the use of an electric "flapper" in place of hand wheel obstructor 39A. Like parts are given like reference numbers and their description will not be repeated.

The amplifier piston feedback groove system in FIG. 10 is similar to the system illustrated by FIG. 5 except short sloping grooves 89A and 91A are omitted. An initial axial motion of the piston 101 sufficient to communicate annular groove 89B or 91B with vent passage 85 or 87 is required before any feedback will occur. Thereafter, further movement of the piston 101 in the same direction will cause increasing venting.

If desired, lands 77 and 79 can be inwardly flaring or tapered, e.g. conically or in other manner annularly relieved between annular grooves 73 and 89B along end and between annular grooves 75 and 91B at the other end, as shown in FIG. 11. This will effect a result similar to that attained by the embodiment illustrated in FIG. 5. The outermost parts of the lands will be cylindrical, for guide purposes, as shown at 79B.

Electric flapper 41A shown in FIG. 10 driving flapper type obstructor 39B includes horseshoe magnets 231 and 233 disposed opposite pole to opposite pole with flapper 39B pivoted therebetween at 235. Tension springs 237 and 239 connected to one end of the flapper and to motor housing 241 and adjustment screw 243 normally centers the other end of the flapper between nozzles 27A and 29A. When an electric signal is applied to either input 111A or 111B of solenoid 41A or 41B the flapper is magnetized a proportional amount. This moves it toward or away from nozzle 27A or 29A. This variably vents passages 23 and 25. Fluid leaving nozzles 27A and 29A returns to the fluid reservoir through passages 35A and 35B.

FIGS. 12-14 show rudimentary fluidic repeater apparatus according to an embodiment of the invention in which transmitter obstructor 39C or 39D is of the needle valve type rather than the spool valve type shown in FIGS. 1-3 or the jet interference types shown in FIGS. 4, 5 and 10. In FIG. 12 obstructor 39C is a cylindrical plug axially movable relative to cylindrical ports 27B and 29B. Plug 39C is provided with sloping grooves 251 and 253 similar to grooves 89 and 91 of the amplifier piston of FIG. 1. According to the axial position of plug 39C more or less fluid is vented from fluid source passages 23 and 25 to chamber 255 and then through passage 35 to reservoir return conduit 51. No means for moving plug 39C is shown, but it is to be understood that any suitable means can be used, e.g. any of the manual or motor means used in the previously described embodiments.

The transmitter obstructor shown in FIG. 13 is the same as that in FIG. 12. The transmitter obstructor shown in FIG. 14 is the same as in FIGS. 12 and 13 except that the ends of the obstructor plug 39D are provided with spiral helical grooves 251A, 253A spiraling inward and progressing axially towards the plug ends, rather than the sloping grooves 251, 253 of the embodiments of FIGS. 12 and 13. The two groove constructions are further illustrated in FIGS. 15 and 16.

Referring once more to FIG. 12, receiver piston 101C is provided with sloping feedback grooves 89 and 91 similar to those shown in the embodiments of FIGS. 1-3 whereby axial motion of piston 101C due to difference in pressure between fluid passages 61 and 63 causes such venting through chamber 255 and passage 35 to reservoir return conduit 51 as to eliminate the pressure differential. The receiver piston constructions of FIGS. 13 and 14 are the same as that of FIG. 12 except that instead of sloping grooves 89 and 91 of configuration like transmitter grooves 251 and 253, the receiver pistons of FIGS. 13 and 14 are provided with spiral helical grooves of configuration similar to the grooves 251A and 253A.

No applification is effected between transmitter plugs 39C and 39D and receiver pistons 101C and 101D. No load is shown connected to pistons 101C or 101D, but it is to be understood that they can be connected fluidically to load cylinders and pistons as are the amplifier pistons in the other embodiments, or mechanically, the same as feedback piston 133 in FIG. 1, for example, or pistons 101C and 101D could be connected to indicator or display means of minimum load power requirements.

The various vent groove configurations described herein as applicable to the transmitter plug (FIGS. 15 and 16), the amplifier or receiver piston (FIGS. 1-3, 5-14) and the load feedback piston (FIGS. 1-4) may be interchanged between the various embodiments described hereinabove or hereinafter, as may be desired or required for any reason, for example to correlate the transmitter obstructor position-vent function, the amplifier piston position-vent function, and the load feedback valve position-vent function.

Comparing the several embodiments of the invention thus far described it will be seen that operationally in each case a transmitter obstructor moves relative to a pair of openings. These may be side ports in a spool valve as in FIG. 1, jet nozzles as in FIGS. 4 and 10, or needle valve ports as in FIGS. 12-14. The obstructor and opening provide means to variably vent a pair of pressure fluid passages downstream from flow restrictors. Responder means, e.g. amplifier and/or load cylinders, are connected to the fluid passages. Feedback means from the amplifier and/or load cylinder variably vent the pair of fluid passages opposite to the variation by the obstructor. The feedback means comprises variable cross section surface passages in the amplifier or load or receiver piston or several of these or in the walls of the cylinders surrounding these pistons.

The responder means of the invention can be actuated by other forms of transmitter than those described above in which the transmitter variably vents a pair of fluid passages downstream from flow restrictors therein, the fluid passages upstream from the restrictors leading to a source of constant fluid pressure, and the pressures downstream from the restrictors being conducted by two fluid lines to the responder. Instead of variable venting, variable pressures can be generated by making the restrictors variable and conducting the downstream pressures by two lines to the responder. Furthermore, the transmitter may be modified to affect change in only one pressure. A single line may then be used between transmitter and responder. These various modifications will be described next.

Referring now to FIG. 17 there is shown an embodiment to the invention, the same as that of FIG. 2 insofar as the amplifier and receiver are concerned, but employing a modified form of transmitter. Like parts are given like reference numbers. In this embodiment, motor 41 acts to move spool 39 axially in cylinder 31 to vary the position of lands 43 and 45 relative to ports 27 and 29, as in FIGS. 2 and 3. However, conduit 11A connected to cylinder 31 leads to a pressure source rather than to a reservoir. The pressure in lines 61 and 63 leading to amplifier piston 101 are varied in accordance with the degree of throttling, or obstruction, produced by spool 39. Thus this is an example of control by variable obstruction of a pressure source. There is always a sufficient flow from lines 61 and 63 to the return reservoir conduit, for example 85, 89, and 167, to prevent the pressure in lines 61 and 63 from building up to supply pressure despite the throttling effect of spool 39.

The operation of the embodiment illustrated in FIG. 17 is the same as that of the embodiment illustrated by FIG. 1, in that electric signals inputted through electric motor 41 moves spool 39 to vary the pressure in lines 61 and 63. This differential pressure in turn moves amplifier piston 101, causing ports 109 and 110 to be opened to the reservoir and pump pressure, respectively. The differential pressure thus applied to load piston 105 causes it to move axially, moving connected clevis 124 to actuate a load (not shown). Negative feedback, in accordance with the preferred embodiment of the invention, is effected by grooves 89 and 91 in the amplifier and by grooves 135 and 137 in the load piston. The feedback provided by these grooves limits the travel of both the amplifier and load pistons so the load pistons movement varies in an amount directly related to the amount of electrical input to motor 41. The precise relationship, linear or otherwise, between the signal strength and load movement depends on the size and shape of the feedback grooves.

It should also be noted that, due to the fact that the end areas of piston rods 121 and 123 that are exposed to reservoir pressure are different, piston 119 comes to rest at a balance of forces, not pressures. If, however, the reservoir pressure is atmospheric pressure, then the pressure on clevis 124 will effect a precise compensation and piston 119 will come to rest with a balance of pressures in lines 113 and 115, (assuming the load on clevis 124 exerts no force when the clevis is a rest).

Referring now to FIG. 18, there is shown a construction similar to that of FIG. 17 except no amplifier is employed. Like parts bear like reference numbers. It will be seen that variable pressures downstream of throttling spool 39 at port 27 and 29 are applied directly to load piston 119 through lines 113 and 115. Negative feedback in accordance with the invention is effected by grooves 135 and 137 in the load piston. These grooves are always in position to vent some of the pressure fluid back to the reservoir so there will be no buildup of hydraulic fluid in lines 113 and 115 sufficient to lock the system.

Referring now to FIG. 19 there is shown another embodiment of the invention adapted for a single line connection between the transmitter and receiver. The construction is similar to that of FIG. 18 in that no amplifier is used and similar to that of FIG. 2 in that the transmitter functions by variably venting the working fluid rather than by variably throttling it to effect pressure change. Reference numbers for parts similar to those of FIG. 2 will be employed, increased by 200.

The transmitter of FIG. 19 employs a manual input in the form of lever 241, which moves spool 239 axially. By this means single line 224 is variably vented to return-to-reservoir conduit 251. Venting varies in accordance with the position to land 245 relative to ports 228 and 229.

Load piston 319 is connected to one side by fluid passage 263 and flow restrictor 221 to conduit 211, which leads to the source of pressure fluid. Fluid 224 is connected to passage 263 by branch line or passage 226. The flow of fluid in this branch passage is used to vary the pressure of the fluid in passage 263 applied to one side of load piston 319. Pressure on the opposite side of piston 319 is maintained constant, e.g. by connection through passage 285 leading to a conduit connected to a reservoir. Similarly, the area at the end of piston rod 321 is connected by passage 366 to conduit 368. This conduit leads to a source of fluid pressure that may or may not be the same pressure source as is connected to conduit 211.

By varying the pressure on the variable pressure end of load piston 319 and piston 321, the pressure required on the right of load 319 and piston rod 323 can be adjusted required to make the system responsive to movement of transmitter actuator 241.

Piston rod 323 is connected to clevis 324 for actuating a load (not shown). The aperture through which the clevis extends out of the receiver housing is sealed by O-ring 326. This prevents leakage from chamber 328 at the end of piston rod 323. The chamber is connected by passage 366 to conduit 367. This conduit leads to a reservoir. In accordance with the invention, negative feedback is achieved by the use of groove 337 in piston rod 323 that variably connects chamber 328 to fluid passage 353. Fluid passage 353 is connected to line 224 and passage 226.

When actuator 241 is moved to allow venting to increase in line 224, fluid pressure drops in passage 226 causing piston 319 to move to the right as illustrated in the drawing. Such movement causes groove 337 to also move to the right whereby only its shallow left end portion connects passage 353 to chamber 328. Venting, by passage 353, is thereby reduced, raising the pressure in passage 226 and bringing piston 319 to rest.

When actuator 241 is moved to the left as shown in the drawing, venting is decreased in line 224. This results in a pressure rise in passage 226 causing piston 319 to move to the left. Such movement causes groove 337 to also move to the left whereby its deeper right ended portion connects passage 353 to chamber 328. This increases venting through passage 353, lowering pressure in passage 226 and bringing piston 319 to rest.

While the use of a single line connecting the transmitter and receiver has the advantage of structural simplicity, its operation is dependent upon the maintenance of predetermined pressure in the supply and reservoir conduits 351, 211, 368, 286, and 367. On the other hand, with the two line system previously described, only the pressure differential between the two lines is significant. Both single and dual line systems are described herein in order to illustrate the scope of the invention that is directed primarily to the negative feedback means that allows a load piston's movement to be a function of the movement of the transmitter actuator. This is true whether the actuator variably blocks a pressure source, blocks venting to a reservoir, or differentially changes the pressure in two lines.

Referring now to FIG. 20 there is shown an embodiment to the invention that is the same as that of FIG. 19, except the transmitter functions by variable throttling as in FIG. 18 instead of by variable venting as in FIG. 19. Like parts are given like numbers to the constructions shown in FIGS. 18 and 19. whereby the operation will be obvious and repeated description rendered unnecessary.

Briefly, movement of manual actuator 241 moves variable restrictor means 245 to variably throttle pressure fluid flowing from conduit 11A to line 224 and passage 226 to the right of piston 319. This causes piston 319 to move to the right or left according to whether pressure falls or rises. Negative feedback by groove 337 causes the initial pressure change in passage 226 to be eliminated, bringing the load piston to rest in a new position.

Referring to FIG. 21 there is shown an embodiment of the invention similar to that shown in FIG. 19. In this embodiment a single line is employed between transmitter and receiver and the transmitter functions by variable venting to create the desired pressure change. However, an amplifier is employed in this embodiment of the invention as was illustrated in FIGS. 2 and 17. As in FIG. 4, the amplifier, in this construction, is not provided with feedback means. Like parts are given like reference numbers.

Operationally, movement of manual actuator 241 to the right or left causes pressure to rise or fall respectively in line 224. This causes amplifier spool 101 to move to the left or right, which in turn causes load piston 319 to move to the left or right. Feedback groove 137 increases or decreases the venting of passage 153 when the piston rod 323 moves to the right or left, thereby producing negative feedback to return amplifier spool 101 to its original position and bring the load piston to rest.

It may be pointed out at this time that the feedback groove tapers in different directions according to the requirements of the particular embodiment of the invention so as to always yield negative feedback in the system. If groove 137 in FIG. 31 tapered in a direction opposite to that shown in the illustration, positive feedback would be created that would accelerate the movement of the load piston toward its limiting position in one direction or the other; instead of producing a load piston position that is a direct known function of the movement of the manual actuator.

To insure that feedback passages 153 is never blocked off completely by land 79 on the amplifier spool, a pin 401 is provided at the end of cylinder 63 which moves the amplifier spool and limits its travel.

Referring now to FIG. 22 there is shown a variation of the amplifier piston illustrated by FIG. 21, constructed to incorporate a negative feedback groove 91. Negative feedback on the amplifier may be used in addition to or in place of negative feedback on the load piston. Preferably, negative feedback is employed with the load piston whether or not it is included in the amplifier. This prevents the load piston from tending to move toward the limit of its range of possible movement as soon as the transmitter activator is moved marginally.

Referring to FIG. 23, there is shown a further variation of the amplifier shown in FIG. 21. In the embodiment of the invention illustrated by FIG. 21 amplifier spool 101 is exposed to pressure by conduit 403 from a constant pressure source that is at a lower pressure than the pressure in conduit 211. This pressure opposes the variable pressure received by passage 263, which is responsive to the transmitter and causes the amplifier piston to move.

In the variation of the embodiment of the invention illustrated by FIG. 23, left end of amplifier spool 101 is exposed to reservoir pressure received through passage 404. A helical compression spring 405 is added to provide some of the reaction force on the amplifier spool needed to bring the spool into balance with transmitter pressure. This spring eliminates the need for an additional constant pressure source by providing a bias on piston 101. It also changes the system's response characteristics, since the reactive force provided by the spring varies with its degree of compression according to Hooke's Law. The spring is disposed concentrically around a pin 407, which centers the spring and functions like pin 401 (FIG. 21) to keep land 77 at the end of spool 101 from blocking passage 409 to conduit 407. If desired, the variation of the preferred embodiment of the invention illustrated by FIG. 23 can be used in conjunction with those novel features disclosed in FIG. 22.

Referring now to FIG. 24 there is shown a further variation of the amplifier initially illustrated in FIG. 21. In this construction, end 411 of amplifier spool 101 has a reduced end area so forces on the ends of the spool can be balanced by pressure acting on the left end of the piston from conduit 406. Conduit 406 is at the same pressure as conduits 211 and 11. This modification eliminates the need for spring 405 and provides a system having a different response characteristics because the pressure on spool end 411 remains constant. This construction can be used in combination with the feedback constructions illustrated in the embodiments of the invention shown in FIG. 22.

The embodiment of the invention illustrated in FIG. 21 can be modified for use with a variable restrictor or throttling type of transmitter. Such a variation is illustrated by FIG. 25. The operation of this type of transmitter is the same, operationally, as the embodiment shown in FIG. 20. It may be noted, however, that to prevent the possibility of hydraulic locking due to leaking around control land 245 and guide land 246 the ends of the transitter cylinder are vented to reservoir pressure by conduits 513 and 515. A similar construction is used in the embodiment of the invention illustrated in FIG. 21. This variation of the preferred embodiment of the invention's transmitter illustrated by FIG. 25 can be used with any of the amplifier constructions illustrated by FIGS. 21 through 24.

FIG. 26 illustrates a commercial embodiment of the invention. In this embodiment transmitter 600 has a lever 602 connected to grooved valve rod 604 and adapted to move the valve rod to variably obstruct the flow of fluid from pressure conduit 606 through grooves 608 and 610, thus creating a pressure differential between lines 612 and 614. Differential pressure moves spool valve 618 in amplifier 620. Spool valve 618 is supplied with feedback grooves 622 and 624. Movement of the amplifier's spool valve creates a pressure imbalance between conduits 626 and 628. This imbalance of forces moves piston 630 in load cylinder 632 as has been described earlier. Piston 632 is connected to clevis 634 by rod 636. The clevis is attached to a plate 638, which is provided with a cam 640 used to actuate feedback 642. Feedback 642 has a body 643 in which is mounted a grooved valve 644. The valve is attached to a wheel 646 and constrained by spring 648 to move to a position dependent on the position of cam 640 and thus on the position of piston 630 and clevis 634. As the valve's position is varied by movement of load piston 630, lines 612 and 614 are variably vented via grooves 650 and 652 in valve rod 644 to return line 654. This venting tends to reduce the pressure imbalance acting on the amplifier's spool valve causing it to return to a neutral position and stopping movement of the load piston. Hence the clevis and the load attached to it will come to rest at a position dependent on the displaced position of the transmitter's control lever 602.

In this commercial embodiment, the amplifier spool valve and load piston both incorporates feedback means taught by the preferred embodiment of the invention. These feedback means are shown working in cooperation to produce a final clevis position that is a known function of the control lever's position. Also, since the load piston has unequal areas exposed to the differential pressures from conduits 626 and 628, the load piston will come to rest at a balance of forces on its two sides rather than at a balance of pressures in lines 626 and 628.

FIG. 27 shows an isometric view of feedback 642 along lines 27--27 of FIG. 26. Springs 648 are shown biasing roller 646, which is attached to valve rod 644, into contact with inclined form 640. The cam which is shown as being "T" shaped in this illustration, rests on lower roller 656, which is a guide roller.

FIGS. 28 and 29 illustrate sectional views of the feedback valve rod and amplifier spool valve, respectively, clearly showing the feedback grooves taught by the preferred embodiment of the invention.

FIG. 30 illustrates a second commercial embodiment of the invention. In this embodiment a rotary transmitter 700 and a rotary feedback 702 operate with an amplifier 704, which is substantially the same as amplifier 620 illustrated and described in FIG. 26, and hydraulic motor 706 to produce a rotary fluidic servo system.

Transmitter 700 has a rotatable head 701 contstrained by stop 703 (see FIG. 31) to be rotatable by wheel 705 through 180 degrees. Head 701 is mounted concentric to and rotatably on control shaft 707 so as to define therebetween an annular space 710. Inside of head 701 there is an eccentric circular groove 712. Bottom plate 709 is affixed to head 701 with screws 711. Seal rigns 713 maintain the pressure integrity of the transmitter.

Fluid under pressure is introduced from a source, not shown, to conduit 708. This pressurizes annular space 710 that is in fluid communication with eccentric groove 712. This eccentric groove, which is clearly illustrated in FIG. 31, differentially pressurizes conduits 714 and 716 that extend to the ends of radially projecting arms 706' on shaft 707, and are connected to the control inputs of fluidic amplifier 704. As conduits 714 and 716 are differentially pressurized by fluid having under pressure through their respective sections of groove 712, amplifier 704 acts to control hydraulic motor 706 by establishing differential pressures in output conduits 720 and 722. Motor 706 has a two ended output shaft. End 724 is connected to a load or indicator as may be appropriate. End 726 is connected through coupling 728 to the rotary head 730 of feedback 702. Feedback 702 is structurally identical to transmitter 700. In the feedback differentially pressurized conduits 714 and 716 are variably vented via eccentric groove 732 through communicating chamber 734 to conduit 718, which is connected to a fluid reservoir, not shown. Variable venting tends to equalize pressures in conduits 714 and 716, causing the rotation of shaft 724 of hydraulic motor 706 to cease at a position that is a known function of the rotational displacement of transmitter 700's control knob 705. Stop 703 is adapted to prevent the rotation of eccentric groove 712 in head 701 past its point of greatest flow with respect to the conduits opening into said eccentric groove from control shaft 707. A similar stop, not shown, performs the same function with respect to venting these conduits in feedback 702.

FIG. 31 is a sectional view of transmitter 700 taken along line 31--31. It illustrates the fluid communication of conduits 714 and 716 with eccentric groove 712 and shows the differential variable obstruction provided by the groove between conduit 708 and each of conduits 714 and 716. The geometry of this eccentric groove may be varied in both the transmitter and the feedback to obtain a desired feedback function between the transmitter and the load in the illustrated servo system.

Referring now to FIG. 32 there is shown a single line fluidic repeater which is similar to that shown in FIG. 19 and like parts are given like reference numbers. However, feedback is effected by variable throttling of the fluid from pressure source 368A, which may be the same a source 368 or a different source at the same or different pressure, rather than variable venting to reservoir 367 as in FIG. 19. This effects a simplifcation in the number of fluid passages required as compared with the FIG. 19 construction. This also illustrates that the feedback need not always be effected by variable venting as in the previously described embodiments. The feedback groove 337A of FIG. 32 has a reverse slope compared to that of FIG. 19 due to the fact it is operating by throttling instead of venting.

Referring to FIG. 33 there is shown a single line fluidic repeater which is similar to that shown in FIG. 19, like parts being given like reference numbers. A minor difference is that a torque motor 241A serves as an actuator in the FIG. 33 embodiment, taking the place of the manual actuator 241 of FIG. 19. More importantly, the feedback means including groove 337A and reservoir return line 366A is on the opposite side of the load piston from the variable pressure line 353 coming from the transmitter. Also, in FIG. 33 the piston end 321A is exposed to reservoir pressure rather than the reverse as in FIG. 19. In the FIG. 33 arrangement, the two sides of the piston 319 are both exposed to vented pressure fluid, vented by the transmitter on one side and vented by the feedback on the other side, and equal end areas of the piston are exposed to atmospheric or reservoir pressure, so that a balance is easily achieved without the need for a pressure source at the end of the piston rod as on FIG. 19.

FIG. 34 is the same system as is shown in FIG. 33 but illustrates a commercial embodiment as distinct from the schematic showing in FIG. 33. Like parts are given the same numbers. Also, in FIG. 34 sink and source manifold 224A is provided to which connections are made as required for both reservoir pressure and for pump pressure.

FIG. 35 illustrates a single line system the same as that shown in FIG. 20 except that the transmitter has a fixed choke 245A instead of a variable throttle valve 245. By changing the size of the choke 254A movement of this load piston can be effected. Operation would be in distinct steps rather than continuous.

FIG. 36 illustrates an embodiment of the invention which is similar to that of FIG. 5, and like parts are given like numbers. However, instead of providing feedback grooves in the pistons 77, 79 as in the FIG. 5 embodiment, feedback vent ports 88A, 90A are provided in the tips of tubes 88B, 90B in the ends of the amplifier cylinder leading back to the reservoir via passages 85, 87. The ends 92A, 94A of the amplifier piston restrict flow through ports 88A, 90A to varying degrees according to the proximity of the piston ends to the ports, thereby providing variable venting according to the position of the amplifier piston. The tubes 88B, 90B provide stops limiting axial travel of the amplifier piston, preventing it from blocking the passages 61, 63 from the transmitter.

FIG. 36 also illustrates the addition of a load feedback means inside of housing 128A (compare FIG. 1) actuated by the load via bar 125A. As the load piston, not shown but similar to that of FIG. 1, travels axially, the bar 125A connected thereto causes axial travel of bolt 127A and disc 133A secured thereto. Disc 133P variably restricts flow vent nozzles 145A, 147A according to the position of the disc relative to the nozzles. The nozzles are connected by fluid lines 141A, 153A to lines 23, 25, thereby to vent the ends of the amplifier cylinder. Disc 133A and nozzles 145A, 147A are located inside the housing 128A which is vented to the reservoir via passage 167A. The operation is like that of FIG. 1 embodiment.

Referring now to FIG. 37 there is shown a load cylinder 751 in which moves piston 753 to which is connected piston rod 755. A clevis 757 on the end of the rod provides means for making connection with a load to be driven. Fluid for moving the piston in the cylinder is supplied via fluid lines 759, 781 connected to ports 763, 765 in the side wall of the cylinder. For example, fluid lines 759, 761 could be connected to lines 113, 115 of the FIG. 21 construction in place of the piston and cylinder there shown. However, in addition to such substitution the load feedback means of the FIG. 21 construction would also be omitted for the load feedback means of the FIG. 37 construction, now to be described, would take its place. In the FIG. 37 construction the load feedback means is incorporated into the load piston and cylinder.

Referring once more to FIG. 37, piston rod 755 is tubular and is threadedly connected to a threaded hole 763 in piston 753, being sealed thereto by O-ring 765. A tubular stinger 767 is threadedly connected to a threaded socket 769 in cylinder head 771 and is sealed thereto by O-ring 770. Bore 772 at the bottom of socket 769 communicates with radial passage 771 in the cylinder head. Stinger 767 extends into piston rod 775 through the end thereof that is screwed into hole 763. Stinger 767 is sealed to piston rod 755 by O-ring 773 which provides a sliding seal.

Valve tube 775 is screwed into a threaded socket 777 beyond bore 772 in the cylinder head 771. Bore 777 in the bottom of socket 777 communicates with radial passage 779 in the cylinder head. Tube 775 is sealed to socket 777 by O-ring 781. Tube 775 extends concentrically inside stinger 776 and being of smaller outer diameter than the inner diameter of the stringer forms as annular fluid passage 783 therebetween. Passage 783 opens into the space 785 in piston rod 755. The free end of tube 767 is provided with an annular inturned radial flange whose inner periphery provides a needle valve seat 787. A needle 789 is screwed into a socket 791 in the closed end of the piston rod adjacent clevis 757. The needle is provided with one or more tapered grooves 793 on its outer periphery variably by-passing seat 787. It will be apparent that fluid lines 771, 779 in the cylinder head 771 will be interconnected via annular passage 793 in the stinger and the interior passage 799 in the valve tube, and that flow through such connection will be variably throttled or restricted by needle 789 and seat 787 according to the axial position of piston 753 in cylinder 751. When incorporated into the FIG. 21 construction, fluid lines 795, 797 would connect to fluid passage 153 and return conduit 367, and the needle valve controlled fluid path from lines 795 to 797 would provide the desired variable negative feedback means.

Referring now to FIG. 37 there is shown an application of the invention to a crane to be used for loading a floating vessel, the motion of the vessel being compensated whereby the crane operator can load the vessel much the same as if the vessel were stationary. The general system of such compensation is already known, e.g. from U.S. Pat. No. 3,309,065-Prudhomme et al, so that is need be described only briefly. Crane 801 includes a support means 803 which may be a fixed or mobile platform but in any case affixed to land or sea floor. A cab 805 is pivotally mounted on the platform for rotation about vertical axis. A boom 805 is pivotally mounted on the cab for swinging up and down about a horizontal axis. Motor means not shown are provided for rotating the cab and moving the boom up and down. A cable 807 is wound on a power winch (not shown) mounted in the cab. The free end of the cable passes over pulleys 809 811 on the end of the boom and thence down to a hook 815 supporting load 817 over floating vessel 817.

Hydraulic servo motor 819 includes therewithin a piston 821 having a rod 823 extending up toward cable 807. The rod 823 is provided at its upper end with a pulley 825 adapted to pull a bight in the cable as shown at 827 in dashed lines. The length of the bight is controlled in accordance with the up and down motion of the vessel 817 by means of transmitter 829.

Transmitter 829 is mounted on arm 831 pivotally mounted at 833 on a bracket 834 for swinging up and down about a horizontal axis