Abstract:
The present invention is a cylindrical linear fluid motor comprising a plurality of reciprocating rotary piston sleeve intermediate an inner coaxial hollow drive shaft and an outer coaxial cylindrical housing. Rotating disc valves at both ends of the sleeve piston control the sequential flow of high-pressure and low-pressure fluid through ports in both the drive shaft and the housing. High-pressure fluid acts on one end of the sleeve piston causing the piston to travel laterally along the drive shaft, with an inner set of roller balls in linear raceways ensuring no rotation between each piston and the drive shaft. The linear motion simultaneously affects exhausting of low-pressure fluid at the other end of the piston. Outer balls are seated in the housing and a sinusoidal circumferential raceway of each piston, to affect rotation in the piston from the lateral motion. As a piston reaches the limit of its linear travel the rotating disc valve on one end closes inlet ports and opens exhaust ports, while another rotating disc valve closes exhaust ports and opens inlet ports at the other end, causing the high-pressure fluid to reverse the piston&#39;s lateral direction of movement. The multiple pistons of a motor are rotationally sequenced to create consistent power production throughout 360-degree rotation, of the pistons.

Description:
CROSS-REFERENCE TO RELATED APPLICATIONS 
   This application claims the benefit of U.S. Provisional Application No. 60/448,559, filed Feb. 19, 2003. 

   STATEMENT REGARDING FEDERALLY SPONSORED RESEARCH OR DEVELOPMENT 
   Not Applicable. 
   BACKGROUND OF THE INVENTION 
   1. Field of the Invention 
   The invention relates to downhole positive displacement rotary motors of the type used for drilling operations. 
   2. Description of the Related Art 
   Linear downhole motors are widely known in the field of drilling operations. Motors are used to develop rotational drive on drilling implements from the drilling fluids forced through the drilling string. Typically, prior art motors use varying configurations of stator and rotor systems. Some examples of prior art systems follow: 
   U.S. Pat. No. 3,088,529 issued to Cullen et al. on May 7, 1963, discloses a cylindrical fluid-driven downhole engine having a central shaft possessing multiple rotors with moveable vanes contained in shaped stators in a linear casing that produce rotary motion in the shaft and attachable tools when fluid is forced through the casing configuration to sequentially push against vanes of the rotor. 
   U.S. Pat. No. 3,838,953 issued to Peterson on Oct. 1, 1974 discloses a cylindrical downhole rotor-stator motor, driven by a recirculating hydraulic system creating force against the rotor vanes independent of the fluid flushing system. 
   U.S. Pat. No. 3,876,350 issued to Warder on Apr. 8, 1975 discloses a positive displacement hydraulic-driven machine having fluid passages axially traveling the length of a central rotor shaft, providing inlet and outlet flow to multiple annular chambers defined by moveable linear vanes, a circumferential stator and a rotor. The device also employs a dumping valve, which continues to discharge fluid when stalling occurs. 
   U.S. Pat. No. 4,105,377 issued to Mayall on Aug. 8, 1978 discloses a hydraulic downhole roller motor wherein a core rotor possesses multiple external axial slots, wherein rod roller vanes are alternatingly compressed and withdrawn by forces of a shaped cylindrical housing and directed fluid flow, producing rotary motion in the core rotor and attachable tools. 
   U.S. Pat. Nos. 5,518,379, 5,785,509 and 5,833,444 issued to Harris et al. on May 21, 1996, Jul. 28, 1998 and Nov. 10, 1998, respectively, disclose variations of a fluid-driven downhole motor having a tubular rotor, with a central flow channel and radial, flow channels to direct the fluid to at least one action chamber between hollow tube stator and the tubular rotor, wherein the fluid acts on rolling vane rods, recessible in wells in the interior surface of the stator, producing rotary motion. 
   U.S. Pat. No. 6,302,666 B1 issued to Grupping on Oct. 16, 2001 discloses a roller vane motor for downhole drilling, wherein the housing is internally shaped to release and depress the roller vanes within wells in the rotor, producing rotation when fluid is forced through the housing. 
   It would be an improvement to the field to provide a fluid motor that produces rotational motion from reciprocation of multiple double-action piston sleeves by controlled application of hydraulic pressure to the ends of each piston sleeve. It would also be an improvement for a fluid motor to employ hydraulic energy of a fluid while preserving energy needed for other purposes in an application. It would also be an improvement for a fluid motor to be operable with either or both compressible and non-compressible fluids. It would also be an improvement to the field for a device to be adaptable to produce an output torque curve with simple design modifications. 
   BRIEF SUMMARY OF THE INVENTION 
   My invention is cylindrical fluid motor powered by the energy of pressurized fluid (gas or liquid) directed through structured valve ports to act upon multiple double acting reciprocating piston sleeves oriented along the axis of the drive shaft, which converts fluid pressure energy into uniform rotational speed and torque. The genuine nature of the invention permits creating both rotational torque from fluid power and fluid power from rotational torque. The specific design of a particular motor may be adapted to accept the input of power in either form in order to produce the other. 
   In the exemplary embodiment, the motor has a hollow drive shaft, into and through which a pressurized fluid flow is directed and selectively released through holes in drive shaft wall to cavities behind valve pistons. Valve pistons have inlet ports from their backside to a valve piston working face, and also exhaust ports from working face out to the side of valve piston to exhaust low-pressure fluid through exhaust ports in an outer tubular housing. The working face of rotating disc and valve piston form a seal to control fluid flow through inlet and exhaust ports. Opening and closing of inlet and exhaust ports is controlled by the shape of the ports and rotation of rotating disc. The sequencing of the opening and closing of inlet and exhaust ports is such that piston crowns and piston sleeves are forced back and forth along the axis of the drive shaft. In the exemplary embodiment, a full cycle of the back and forth motion occurs once for each piston in a particular motor during a single drive shaft rotation, or, as in a motor with four pistons, a fill cycle of the back and forth motion occurs four times per drive shaft rotation. Each piston sleeve travels on sets of roller balls on both the interior and exterior surfaces. The sets of roller balls are positioned intermediate each piston sleeve and coaxially inwardly and outwardly adjacent components. In the exemplary embodiment, the drive shaft is the inwardly adjacent component and the tubular housing is the outwardly adjacent component. One set of roller balls permit lateral axial motion, but does not permit radial movement, between the piston sleeve and the adjacent component, while the other set of roller balls induce rotational movement from forced lateral movement. The first set of roller balls are housed in lateral axial raceways contained in both the piston sleeve and the adjacent component, while the second set of roller balls is retained at a fixed position in one surface and housed in a sinusoidal circumferential raceway in the adjacent surface. As piston sleeves moves back and forth along the axis of the first set of roller balls, the second set of roller balls rotate around the axis following the sinusoidal circumferential raceway in one surface and forcing the fixed position of the adjacent component to rotate with the second set of roller balls. Configuration of sinusoidal circumferential raceway creates collaborative, symbiotic rotation of multiple double acting pistons of a motor, which yield uniform torque and rotation, providing fluid of constant pressure and flow is fed into the motor. 
   Accordingly, objects of my invention are to provide, inter alia, a positive displacement rotary motor that:
         requires very little delta-P to generate high torque, which reduces the load on the pump and increases tubing life;   may be driven by a wide variety of non-compressible and compressible fluids, to include drilling mud, water or air;   has a short length and lightweight in order to make it easy to transport;   has a compact length to enable faster rig up;   is able to negotiate short-radius curves and severe doglegs that conventional motors cannot;   is able to operate in a wide variety of attitudes;   is able to operate at high temperatures without degrading the performance;   requires no transmission;   requires no gear reduction;   has balanced motor forces to limit vibration;   has sealed bearings for long life;   has constant torque and speed output throughout the complete rotation of the drive shaft, eliminating tool chatter, increasing cutting speed, reducing cutting tool wear, permitting the operation of the cutting tool at higher torques and making it easier for an operator to control an attached tool;   is self-governing for speed and torque;   is minimally affected by reasonable bearing wear, because as the bearings and bearing surfaces wear the timing of the motor is altered, but this alteration of timing shows its self at the top and bottom of the piston stroke when the piston is generating almost zero torque;   places no side loads on the motor bearings, yielding long life;   delivers high-pressure fluid to the bottom of the motor that could be used for other mechanical purposes;   does not stop the flow of fluid if the motor stalls, eliminating the problem of impacting the motor in the cuttings;   exhausts fluid through the side of the motor, creating turbulence around the motor as well as increasing the flow velocity of the fluid up the hole, which help to remove the cuttings up the hole and reduce the chances of impacting the motor;   can operate in high temperatures, permitting a wide range of applications and depths to be achieved;   is adjustable at the job site, by changing the orifice at the bottom of the motor and altering the fluid flow rate and pressure to the motor, providing a very wide range of performance parameters, thereby reducing the inventory of tools needed at a job site as well as the number of tools needed in inventory;   has the potential to be alterable in the hole in order to modify performance without extracting the drill string; and   is not damaged if it stalls.       

   Other objects of my invention will become evident throughout the reading of this application. 

   
     BRIEF DESCRIPTION OF THE DRAWINGS 
     
         
         
           
               FIG. 1A  is a cross-sectional side view of an exemplary string attachment end of the current invention. 
           
         
       
    
       FIG. 1B  is a cross-sectional side view of a motor housing intermediate an attachment end and a tool end of an embodiment of the current invention. 
       FIG. 1C  is a cross-sectional side view of an exemplary tool attachment end of the current invention. 
       FIGS. 1D-1E  are perspective views of the top shaft and outer housing connection components of an embodiment of the current invention. 
       FIG. 2  is a perspective view of an exemplary sleeve piston. 
       FIG. 3  is a perspective view of an exemplary roller retainer. 
       FIG. 4  is a perspective view of an exemplary piston crown. 
       FIG. 5  is a perspective view of the piston crown of  FIG. 4 , with an outer seal. 
       FIG. 6  is a perspective view of an exemplary rotating disc. 
       FIG. 7  is a perspective view of an exemplary shoulder. 
       FIG. 8  is a perspective view of an exemplary retaining ring. 
       FIG. 9  is a perspective view of the chamber side of an exemplary valve piston. 
       FIG. 10  is a perspective view of the inlet side of an exemplary valve piston. 
       FIG. 11  is a perspective view of an exemplary spring. 
       FIG. 12  is a side view of a section of the drive shaft for the device of FIG.  1 . 
       FIG. 13  is a side view of a section of the outer housing for the device of FIG.  1 . 
       FIG. 14  is a schematic cross-sectional side view of a single sleeve piston section of the device in  FIG. 1 , cut in half along line 14—14. 
       FIG. 15A  is a schematic cross-sectional side view of a single sleeve piston of the device in  FIG. 1 , cut in half along line 15—15. 
       FIG. 15B  is a depiction of the outer bearing positioning in the sleeve piston raceway of FIG.  15 A. 
       FIG. 15C  is a cross-sectional end view of the piston of  FIG. 15A , cut at line C—C. 
       FIG. 15D  is a cross-sectional end view of the piston of  FIG. 15A , cut at line D—D. 
       FIG. 16A  is a schematic cross-sectional side view of a single sleeve piston of the device in  FIG. 1 , at 11.25 degrees of rotation from the view of FIG.  15 A. 
       FIG. 16B  is a depiction of the outer bearing positioning in the sleeve piston raceway of FIG.  16 A. 
       FIG. 16C  is a cross-sectional end view of the piston of  FIG. 16A , cut at line C—C. 
       FIG. 16D  is a cross-sectional end view of the piston of  FIG. 16A , cut at line D—D. 
       FIG. 17A  is a schematic cross-sectional side view of a single sleeve piston of the device in  FIG. 1 , at 22.5 degrees of rotation from the view of FIG.  15 A. 
       FIG. 17B  is a depiction of the outer bearing positioning in the sleeve piston raceway of FIG.  17 A. 
       FIG. 17C  is a cross-sectional end view of the piston of  FIG. 17A , cut at line C—C. 
       FIG. 17D  is a cross-sectional end view of the piston of  FIG. 17A , cut at line D—D. 
       FIG. 18A  is a schematic cross-sectional side view of a single sleeve piston of the device in  FIG. 1 , at 33.15 degrees of rotation from the view of FIG.  15 A. 
       FIG. 18B  is a depiction of the outer bearing positioning in the sleeve piston raceway of FIG.  18 A. 
       FIG. 18C  is a cross-sectional end view of the piston of  FIG. 18A , cut at line C—C. 
       FIG. 18D  is a cross-sectional end view of the piston of  FIG. 18A , cut at line D—D. 
       FIG. 19A  is a schematic cross-sectional side view of a single sleeve piston of the device in  FIG. 1  cut in half along line 14—14, at 45 degrees of rotation from the view of FIG.  15 A. 
       FIG. 19B  is a depiction of the outer bearing positioning in the sleeve piston raceway of FIG.  19 A. 
       FIG. 19C  is a cross-sectional end view of the piston of  FIG. 19A , cut at line C—C. 
       FIG. 19D  is a cross-sectional end view of the piston of  FIG. 19A , cut at line D—D. 
       FIG. 20A  is a schematic cross-sectional side view of a single sleeve piston of the device in  FIG. 1  cut in half along line 14—14, at 56.25 degrees of rotation from the view of FIG.  15 A. 
       FIG. 20B  is a depiction of the outer bearing positioning in the sleeve piston raceway of FIG.  20 A. 
       FIG. 20C  is a cross-sectional end view of the piston of  FIG. 20A , cut at line C—C. 
       FIG. 20D  is a cross-sectional end view of the piston of  FIG. 20A , cut at line D—D. 
       FIG. 21A  is a schematic cross-sectional side view of a single sleeve piston of the device in  FIG. 1  cut in half along line 14—14, at 67.5 degrees of rotation from the view of FIG.  15 A. 
       FIG. 21B  is a depiction of the outer bearing positioning in the sleeve piston raceway of FIG.  21 A. 
       FIG. 21C  is a cross-sectional end view of the piston of  FIG. 21A , cut at line C—C. 
       FIG. 21D  is a cross-sectional end view of the piston of  FIG. 21A , cut at line D—D. 
       FIG. 22A  is a schematic cross-sectional side view of a single sleeve piston of the device in  FIG. 1  cut in half along line 14—14, at 78.75 degrees of rotation from the view of FIG.  15 A. 
       FIG. 22B  is a depiction of the outer bearing positioning in the sleeve piston raceway of FIG.  22 A. 
       FIG. 22C  is a cross-sectional end view of the piston of  FIG. 22A , cut at line C—C. 
       FIG. 22D  is a cross-sectional end view of the piston of  FIG. 22A , cut at line D—D. 
       FIG. 23  is an exemplary cyclical torque chart for an exemplary three-piston fluid motor according to the present invention. 
       FIG. 24  is an exemplary cyclical torque chart for an exemplary two-piston fluid motor according to the present invention. 
   

   While the invention is susceptible to various modifications and alternative forms, specific embodiments thereof have been shown by way of example in the drawings and are herein described in detail. It should be understood, however, that the description herein of specific embodiments is not intended to limit the invention to the particular forms disclosed, but on the contrary, the intention is to cover all modifications, equivalents, and alternatives falling within the spirit and scope of the invention as defined by the appended claims. 
   DESCRIPTION OF THE INVENTION 
   Illustrative embodiments of the invention are described below. In the interest of clarity, not all features of an actual implementation are described in this specification. It will of course be appreciated that in the development of any such actual embodiment, numerous implementation-specific decisions must be made to achieve the developers&#39; specific goals, such as compliance with system-related and business-related constraints, which will vary from one implementation to another. Moreover, it will be appreciated that such a development effort might be complex and time-consuming, but would nevertheless be a routine undertaking for those of ordinary skill in the art having the benefit of this disclosure. 
   Referring to FIGS.  1  and  12 - 15 , motor  10  has a core axis  11 , which runs through the center of motor  10  between string attachment end  13  and tool attachment end  14 . At the axial center of motor  10  is coaxial drive shaft  20 , having a coaxial core passageway  21 , which provides fluid communication from string attachment end  13  and tool attachment end  14 . Motor  10  has a tubular outer housing  30  that is coaxially distal core axis  11 . Intermediate drive shaft  20  and outer housing  30  is a plurality of coaxial piston assemblies  40  and a plurality of fluid control assemblies  70 . 
   Referring to  FIG. 1A , motor  10  connects to a typical drill string (not shown) at string attachment end  13 . Top sub  130  interfaces with the drill string and firmly attaches to same by means known in the field. Top sub  130  has core inlet orifice  132 , which provides fluid communication to core passageway  21  from the drill string. Top sub  130  connects to shaft  20  and outer housing  30  in a fashion that permits shaft  20  to rotate freely around core axis  11  within outer housing  30 . In the exemplary embodiment this connection is accomplished by inserting shaft  20  through a passageway coaxial with core axis  11  in thrust bearing housing  136 . Thrust bearing housing  136  is designed to threadedly connect to both top sub  130  and outer housing  30  by threaded interfaces. Nut-side thrust bearing  134  and spring-side thrust bearing  135  provide smooth rotation of shaft  20  within thrust bearing housing  136 . Shaft  20  is secured in the position through thrust bearing housing  136  by shaft nut  133 , which has recessed seeming bolts, so as to provide a smooth interface with the interior cavity of top sub  130 . 
   Referring to  FIGS. 1B and 14 , shaft  20  and outer housing  30  run virtually the entire length of motor  10  and form an intermediate motor function cavity  19 . The motor function cavity  19  contains the primary components of piston assembly  40  and fluid control assembly  70 . 
   Referring to  FIG. 1C , at the other end of motor  10 , opposite attachment end i 3 , may be tool attachment end  14 . Tool attachment end  14  may connect to a typical downhole tools (not shown), such as a drill bit, with a bottom sub  140 . Bottom sub  140  has core exit orifice  142 , which provides fluid communication from core passageway  21  to a tool. Bottom sub  140  connects to shaft  20  and outer housing  30  in a fashion that permits shaft  20  to rotate freely around core axis  11  within outer housing  30 . In the exemplary embodiment this connection is accomplished by bottom sub  140  being securely fastened to slip shaft  145 , while outer housing  30  connects to a housing terminus  143 , which in turn, connects to bottom sub  140  with retaining terminus bearings  144 . 
   Slip shaft  145  extends coaxially from shaft  20 , as an extension that permits slight linear movement to lengthen and shorten the combination of shaft  20  and slip shaft  145 . Exemplary slip shaft  145  rotates with shaft  20  because of a slip key  147  and slip key raceway  148  connection, interior to a shaft slip housing  146 . Shaft slip housing  146  has a passageway coaxial with core axis  11  through which shaft  20  enters from one end and slip shaft  145  enters from the other. Shaft slip housing  146  is designed to threadedly connect to  146  both outer housing  30  and housing terminus  143  by threaded, interfaces. A two-piece needle/taper bearing  149  is positioned on slip shaft  145  intermediate shaft slip housing  146  and bottom sub  140 . 
   Drive shaft  20  and outer housing  30  have a plurality of inlet ports  22  and exhaust ports  32 , which provide fluid communication to fluid control assemblies  70 , specifically inlet passageways  15  and exhaust passageways  17 , respectively. Inlet passageways  15  and exhaust passageways  17  each have an interior end opposite their inlet port  22  or exhaust port  32 , respectively, which, interior end accesses one of a plurality of pressure chambers  12 , providing fluid communication to the respective inlet passageways  15  or exhaust passageways  17 . 
   Each pressure chamber  12  delineates a circumferential interface between a piston assembly  40  and a fluid control assembly  70 . Each piston assembly  40  resides between two pressure chambers  12  and two fluid control assemblies  70 , and is comprised of a piston sleeve  42 , potentially referred to as a sleeve piston, and two piston crowns  60 . Each piston sleeve  42  is a hard circumferential sleeve that may move laterally along core axis  11 , and has a first crown end  43  and a second crown end  44 . 
   Referring to FIGS.  2  and  12 - 15 , each piston sleeve  42  has a core surface  45  that interfaces with drive shaft  20  with an intermediate inner roller set  25 . Each piston sleeve  42  has an outer surface  47  that interfaces with outer housing  30  with an intermediate outer roller set  50 . The interfaces of core surface  45  and outer surface  47  must be of two complimentary types—one interface being a first linear raceway  24  and a second linear raceway  46 , and the second interface being a circumferential sinusoidal raceway  48  and a fixed seat  54 . Inner roller set  25  and outer roller set  50  each seat in either of these two types of interfaces. In the exemplary embodiment, drive shaft  20  houses first linear raceway  24  and core surface  45  of piston sleeve  42  houses second linear raceway  46 , and outer surface  47  of piston sleeve  42  houses circumferential sinusoidal raceway  48  and outer housing  30  houses fixed seat  54 . 
   Referring to FIGS.  3  and  12 - 15 , in the exemplary embodiment, fixed seat  54  is a plurality of roller stall  52  of a roller retainer  51 , wherein roller retainer  51  is sleeve intermediate piston sleeve  42  and outer housing  30 . Roller retainer  51  has a plurality of roller stalls  52  for housing outer roller sets  50 . Roller retainer  51  is fixed to outer housing  30  by roller retainer pins  34 , which insert through roller retainer pin accesses  35  in outer housing  30 , and anchor in roller retainer pin seat  53 . 
   Referring to  FIGS. 4 ,  5  and  12 - 15 , a piston crown  60  is located at each crown end ( 43  and  44 ) of each piston sleeve  42 . Piston crown  60  is a circumferential piece that prevents pressurized fluid from passing from pressure chamber  12  into piston assembly  40 . Piston crown  60  has a sleeve face  63  that contacts crown end ( 43  or  44 ) and an acting face  62  that interfaces pressure chamber  12 . In the exemplary embodiment, piston crown  60  has an inner seal seat  64  and an outer seal seat  67 , into which inner seal  65  and outer seal  66  may be positioned. Exemplary seals are comprised of Viton®, but other materials, such as metal, Teflon®, and others are also suitable, depending on the application and performance parameters intended for the particular motor  10 . 
   Referring to  FIGS. 6-15 , fluid control assembly  70  comprises the balance of the area intermediate drive shaft  20  and outer housing  30 , and may vary greatly in many physical respects while still falling within the scope of this disclosure. The plurality of fluid control assemblies  70  are physically structured to work together to synchronize and coordinate the fluid communication of pressurized fluid to and from each pressure chamber  12 . 
   In the exemplary embodiment fluid control assembly  70  is comprised of rotating disc  71 , valve piston  100 , spring  110  and spring cavity  112 . Proximate inlet port  22 , intermediate drive shaft  20  and outer housing  30  is spring cavity  112 , in which circumferential spring  110  resides in order to maintain spring cavity  112  to sustain fluid communication with inlet port  22 . Spring  110  has a valve side  115  that contacts valve piston  100 , in order to permit valve piston  100 , in order to adjust to forces of motor  10  during operation, while maintaining a proper position to maintain the integrity of inlet passageway  15  and exhaust passageway  17 . Spring  110  also has a resistance side that may be in contact with an adjacent valve piston  100 , or may be in contact with thrust bearing housing  136  at the string attachment end or shaft slip housing  146  at the tool attachment end  14 , if the particular spring  110  is part of the first or last fluid control assembly  70 , respectively, in motor  10 . 
   Valve piston  100  houses distinct valve piston inlet passageways  16  and valve piston exhaust passageways  18 , which are each part of an entire inlet passageway  15  and exhaust passageway  17 , respectively. Valve piston inlet passageways  16  are run parallel to core axis  11 , directly through valve piston  100  from inlet side  106  to chamber side  105 . Valve piston exhaust passageways  18  run from chamber side  105  to outer surface  109 , where exhaust passageway  17  communicates with exhaust port  32  in outer housing  30 . Exemplary valve piston  100  has a pair of outer seal seats  104  on outer surface  109 , one intermediate exhaust passageway  17  and each edge to chamber side  105  and inlet side  106 , in order to ensure exhaust communication out exhaust port  32 , rather that toward pressure chamber  12  or spring cavity  112 . 
   Valve piston  100  is rotationally fixed to outer housing  30  by valve piston pins  36 , which insert through valve piston pin accesses  37  in outer housing  30 , to seat in valve piston seats  102 . In the exemplary embodiment, valve piston seats  102  have a slightly oblong shape to allow valve piston  100  to adjust to forces during motor  10  operation. 
   From chamber side  105 , each valve piston inlet passageway  16  and valve piston exhaust passageway  18  have oblong manifolds  101 , which increase the area through which pressurized fluid may be directed into or out of valve piston  100 . Oblong manifold&#39;s  101  size and percentage of area around the diameter of chamber side  105  determines the sequencing and duration of the flow of pressurized fluid to and from pressure chamber  12 . 
   Rotating disc  71  is positioned intermediate pressure chamber  12  and valve piston  100 . Rotating disc  71  is rotationally fixed to drive shaft  20  by rotating disc pins  72 , which insert through radial rotating disc pin accesses  73 , to seat in rotating disc pin seats  27  of drive shaft  20 . Rotating disc passageways  74 , which alternatingly form part of inlet passageways  15  and exhaust passageways  17 , run axially through rotating disc  71  from valve side  75  to chamber side  76 . 
   Rotating disc  71  is held in position, seated against valve piston  100 , by shoulder  80  and retaining ring  90 . The valve side of shoulder  80  has a beveled face  82 , which is machined to seat in the beveled edge  81  of rotating disc  71 . Shoulder  80  is held in place against rotating disc  71  by retaining ring  90 , which has an inside diameter  92  slightly smaller that the outside diameter of drive shaft  20 , so retaining ring  90  seats in retaining ring seat  28 . 
   In Operation 
   Referring to  FIGS. 12-15 , exemplary motor  10  has a hollow drive shaft  20 , into and through which a pressurized fluid flow (not shown) is directed and selectively released through multiple inlet ports  22  in drive shaft  20  to spring cavities  112  behind valve pistons  100 . Each inlet port  22  is the entrance of selectively open inlet passageways  15 , which when open traverses from inlet ports  22  into spring cavity  102  and valve piston inlet passageway  16 . Valve pistons  100  have valve piston inlet passageways  16  from inlet side  106  to a valve piston chamber side  105  of valve piston  100 , and also valve piston exhaust passageways  18  from valve piston chamber side  105  that exit out of the side of valve piston  100  to exhaust low-pressure fluid (not shown) through exhaust ports  32  in outer housing  30 . The valve side  75  of rotating disc  71  and valve piston  100  form a seal to control fluid flow through the ports. Opening and closing of inlet and exhaust ports are controlled by rotation of rotating disc  71 . The turning of the opening and closing of the inlet and exhaust ports is such that piston crowns  43  and  44  and piston sleeve  42  are forced back and forth along core axis on drive shaft  20 . A full cycle of the back and forth motion occurs once for each piston in the particular motor  10  during a single drive shaft  20  rotation. In the exemplary embodiment with four pistons a full cycle of the back and forth motion occurs four times per drive shaft  20  rotation. Piston sleeve  42  travels on coordinated sets of inner roller set  25  and outer roller set  50 . Inner roller set  25  is comprised of linear raceways  24  and  46 , and outer roller set  50  is comprised of circumferential raceway  48  and a fixed seat  54 . The configuration of the circumferential raceway  48  on the outside of the piston sleeve  42  in combination with the timing of the reciprocating motion yields uniform torque and rotation, providing fluid of constant pressure and flow is fed into through core passageway  21 . 
   High-pressure fluid (not shown) is taken in from core passageway  21  of drive shaft  20  through inlet ports  22  and exhausted through outer housing  30  through the exhaust ports  32 . The controlled flow of high-pressure fluid from core passageway  21  to exhaust ports  32  create systematic forces on the double acting piston sleeves  42 , causing each piston sleeve  42  to move back and forth laterally along core axis  11 . Piston sleeves  42  may move back and forth along core axis  11  with inner rollers  25  in first linear raceway  24  and second linear raceway  46 , but cannot move in a radial direction in regards to drive shaft  12 . Roller retainer  51  holds outer roller set  50  in a static position to the inside of outer housing  30 . Outer roller set  50  operates in circumferential raceway  48  machined on the outside surface of piston sleeve  42 , so that as piston sleeve  42  moves back and forth along core axis  11  piston sleeve  42  and drive shaft  20  are forced to rotate. 
   Circumferential raceways  48  are a circumferential series of radiuses  56  and ramps  57  in a sinusoidal pattern to control both the speed and torque of each double acting piston sleeve. The force generated by each piston sleeve  42  is governed by the pattern so the summation of the forces from all piston sleeves  42  remains constant throughout the rotation of drive shaft  20 . The result is that as long as the flow and pressure of the fluid provided to motor  10  remains constant the speed and torque produced at tool attachment end  14  remain constant throughout rotation. 
   Referring to  FIGS. 1A-1C , fluid pumped to the motor  10  may be much greater than motor  10  needs for the required speed output. Excess fluid goes through core passageway  21  and exits to the tool through core exit orifice  142 . 
   Referring to  FIGS. 12-15 , in the exemplary embodiment, each piston sleeve  42  makes four cycles from the top of its stroke to the bottom and back per drive shaft  20  rotation. This means that the inlet ports  22  and exhaust ports  32  must open and close four times per drive shaft  20  rotation at each end of double acting piston sleeve  42 . The ports open and close over 45° of drive shaft rotation. The plurality of fluid control assemblies  70  must work together to synchronize and coordinate the fluid communication of pressurized fluid to and from each pressure chamber  12  to force piston sleeves  42  back and forth along drive shaft  20 . 
   Piston sleeve  42  timing is established so that each double acting piston  42  starts at top center 11.25° degrees of drive shaft  20  rotation after one other piston set in motor  10 . The reason 11.25° is used is that each piston  42  goes from the top to the bottom of its stroke in 45° of drive shaft  20  rotation. As each double acting piston sleeve  42  must work during this 45° and must be equally spaced, dividing 45° by the number of piston sleeves  42 , four (4), lets one arrive at the optimal radial spacing, 11.25°. 
     FIGS. 15-22  show the sequential positioning at every 11.25° of the pistons and valves through 90° of drive shaft  20  rotation.  FIGS. 15C-22C  and  15 D- 22 D depict the interface between the particular valve piston  100  and rotating disc  71 , showing the positioning of rotating disc passageway  74  with respect to the oblong manifold  101  of valve piston  100 .  FIGS. 15B-22B  depict of where the inner piston sleeve is in relationship to its stroke by depicting a single outer roller  50 B in a single circumferential raceway  48 . 
   In  FIG. 15A-15D , exemplary piston sleeve  42  is at the top dead center of a stroke.  FIG. 15B  shows that representative outer roller  50 B is at the bottom center of a radius  56  of individual circumferential raceway  48 . Rotating disc passageways  74  are intermediate adjacent oblong manifolds  101 , so no inlet passageway  15  or exhaust passageway  17  is in existence. The instant piston assembly  40  is relying on forces on other piston sleeves  42  to rotate shaft  20  and fixedly attached top and bottom rotating discs  71  into position to align rotating disc passageways  74  with both valve piston inlet passageway  16  at the top and valve piston exhaust passageway  18  at the bottom. No fluid is passing through either fluid control assembly  70 . 
   In  FIGS. 16A-16D , exemplary piston sleeve  42  is rotated 11.25° from top dead center of a stroke.  FIG. 16B  shows that representative outer roller  50 B is moving off the bottom center of radius  56  heading onto ramp  57  of individual circumferential, raceway  48 . Rotating disc passageways  74  are aligned with the leading lobe of oblong manifolds  101 , so that both top and bottom fluid control assemblies  70 ,  70 A and  70 B, respectively, are directing fluid. With the alignment of rotating disc passageways  74  and oblong manifolds  101 , inlet passageway  15  exists in the top fluid control assembly  70 A in combined inlet port  22 , spring cavity  112 , valve piston inlet passageway  16  and rotating disc passageway  74 . At the same time, in the bottom fluid control assembly  70 B exhaust passageway  17  exists in combined exhaust port  32 , valve piston exhaust passageway  18  and rotating disc passageway  74 . The instant piston assembly  40  is generating force for motor  10  to rotate shaft  20  and fixedly attached top and bottom rotating discs  71 , as well as turn an attached tool, because pressurized fluid is entering top pressure chamber  12  through inlet passageway  15  and acting on acting face  62  of top piston crown  60 , to push piston sleeve  42  away from pressure chamber  12 . The linear action causes outer roller set  50  to progress along circumferential raceway, rotating shaft  20 . In the bottom fluid control assembly  70 B, the linear action of piston sleeve  42  causes acting face  62  of piston crown  60  to push fluid out of pressure chamber  60 , through exhaust passageway  17 . 
   In  FIGS. 17A-17D , exemplary piston sleeve  42  is rotated 22.5° from top dead center of a stroke.  FIG. 17B  shows that representative outer roller  50 B is moving on ramp  57  of individual circumferential raceway  48 . Rotating disc passageways  74  are aligned with the center of oblong manifolds  101 , so that both top and bottom fluid control assemblies  70 ,  70 A and  70 B, respectively, are directing fluid. With the alignment of rotating disc passageways  74  and oblong manifolds  101 , inlet passageway  15  exists in the top fluid control assembly  70 A in combined inlet port  22 , spring cavity  112 , valve piston inlet passageway  16  and rotating disc passageway  74 . At the same time, in the bottom fluid control assembly  70 B exhaust passageway  17  exists in combined exhaust port  32 , valve piston exhaust passageway  18  and rotating disc passageway  74 . The instant piston assembly  40  is generating force for motor  10  to rotate shaft  20  and fixedly attached top and bottom rotating discs  71 , as well as turn an attached tool, because pressurized fluid is entering top pressure chamber  12  through inlet passageway  15  and acting on acting face  62  of top piston crown  60 , to push piston sleeve  42  away from pressure chamber  12 . The linear action causes outer roller set  50  to progress along circumferential raceway, rotating shaft  20 . In the bottom fluid control assembly  70 B, the linear action of piston sleeve  42  causes acting face  62  of piston crown  60  to push fluid out of pressure chamber  60 , through exhaust passageway  17 . 
   In  FIGS. 18A-18D , exemplary piston sleeve  42  is rotated 33.75° from top dead center of a stroke.  FIG. 18B  shows that representative outer roller  50 B is progressing along ramp  57  and onto radius  56  of individual circumferential raceway  48 . Rotating disc passageways  74  are aligned with the trailing lobe of oblong manifolds  101 , so that both top and bottom fluid control assemblies  70 ,  70 A and  70 B, respectively, are directing fluid. With the alignment of rotating disc passageways  74  and oblong manifolds  101 , inlet passageway  15  still exists in top fluid control assembly  70 A in combined, inlet port  22 , spring cavity  112 , valve piston inlet passageway  16  and rotating disc passageway  74 . At the same time, in bottom fluid control assembly  70 B exhaust passageway  17  still exists in combined exhaust port  32 , valve piston exhaust passageway  18  and rotating disc passageway  74 . The instant piston assembly  40  is still generating force for motor  10  to rotate shaft  20  and fixedly attached top and bottom rotating discs  71 , as well as turn an attached tool, because pressurized fluid is entering top pressure chamber  12  through inlet passageway  15  and acting on acting face  62  of top piston crown  60 , to push piston sleeve  42  away from pressure chamber  12 . The linear action causes outer roller set  50  to progress along circumferential raceway, rotating shaft  20 . In bottom fluid control assembly  70 B, the linear action of piston sleeve  42  causes acting face  62  of piston crown  60  to push fluid out of pressure chamber  60 , through exhaust passageway  17 . 
   In  FIGS. 19A-19D , exemplary piston sleeve  42  is rotated 45° from top dead center of a stroke, which may also be called bottom dead center.  FIG. 19B  shows that representative outer roller  50 B is at the top center of a radius  56  of individual circumferential raceway  48 . Rotating disc passageways  74  are intermediate adjacent oblong manifolds  101 , so no inlet passageway  15  or exhaust passageway  17  is in existence. The instant piston assembly  40  must rely on forces on other piston sleeves  42  to rotate shaft  20  and fixedly attached top and bottom rotating discs  71  into position to align rotating disc passageways  74  with both valve piston inlet passageway  16  at the top and valve piston exhaust passageway  18  at the bottom. No fluid is passing through either fluid control assembly  70 . 
   In  FIGS. 20A-20D , exemplary piston sleeve  42  is rotated 56.25° from top dead center of a stroke.  FIG. 20B  shows that representative outer roller  50 B is moving off the bottom center of radius  56  heading onto ramp  57  of individual circumferential raceway  48 . Rotating disc passageways  74  are aligned with the leading lobe of oblong manifolds  101 , so that both top and bottom fluid control assemblies  70 ,  70 A and  70 B, respectively, are directing fluid. With the alignment of rotating disc passageways  74  and oblong manifolds  101 , inlet passageway  15  exists in the top fluid control assembly  70 A in combined inlet port  22 , spring cavity  112 , valve piston inlet passageway  16  and rotating disc passageway  74 . At the same time, in the bottom fluid control assembly  70 B exhaust passageway  17  exists in combined exhaust port  32 , valve piston exhaust passageway  18  and rotating disc passageway  74 . The instant piston assembly  40  is generating force for motor  10  to rotate shaft  20  and fixedly attached top and bottom rotating discs  71 , as well as turn an attached tool, because pressurized fluid is entering top pressure chamber  12  through inlet passageway  15  and acting on acting face  62  of top piston crown  60 , to push piston sleeve  42  away from pressure chamber  12 . The linear action causes outer roller set  50  to progress along circumferential raceway, rotating shaft  20 . In the bottom fluid control assembly  70 B, the linear action of piston sleeve  42  causes acting face  62  of piston crown  60  to push fluid out of pressure chamber  60 , through exhaust passageway  17 . 
   In  FIGS. 21A-21D , exemplary piston sleeve  42  is rotated 67.5° from top dead center of a stroke.  FIG. 21B  shows that representative outer roller  50 B is moving on ramp  57  of individual circumferential raceway  48 . Rotating disc passageways  74  are aligned with the center of oblong manifolds  101 , so that both top and bottom fluid control assemblies  70 ,  70 A and  70 B, respectively, are directing fluid. With the alignment of rotating disc passageways  74  and oblong manifolds  101 , inlet passageway  15  exists in the top fluid control assembly  70 A in combined inlet port  22 , spring cavity  112 , valve piston inlet passageway  16  and rotating disc passageway  74 . At the same time, in the bottom fluid control assembly  70 B exhaust passageway  17  exists in combined exhaust port  32 , valve piston exhaust passageway  18  and rotating disc passageway  74 . The instant piston assembly  40  is generating force for motor  10  to rotate shaft  20  and fixedly attached top and bottom rotating discs  71 , as well as turn an attached tool, because pressurized fluid is entering top pressure chamber  12  through inlet passageway  15  and acting on acting face  62  of top piston crown  60 , to push piston sleeve  42  away from pressure chamber  12 . The linear action causes outer roller set  50  to progress along circumferential raceway, rotating shaft  20 . In the bottom fluid control assembly  70 B, the linear action of piston sleeve  42  causes acting face  62  of piston crown  60  to push fluid out of pressure chamber  60 , through exhaust passageway  17 . 
   In  FIGS. 22A-22D , exemplary piston sleeve  42  is rotated 78.75° from top dead center of a stroke.  FIG. 22B  shows that representative outer roller  50 B is progressing along ramp  57  and onto radius  56  of individual circumferential raceway  48 . Rotating disc passageways  74  are aligned, with the trailing lobe of oblong manifolds  101 , so that both top and bottom fluid control assemblies  70 ,  70 A and  70 B, respectively, are directing fluid. With the alignment of rotating disc passageways  74  and oblong manifolds  101 , inlet passageway  15  still exists in top fluid control assembly  70 A in combined inlet port  22 , spring cavity  112 , valve piston inlet passageway  16  and rotating disc passageway  74 . At the same time, in bottom fluid control assembly  70 B exhaust passageway  17  still exists in combined exhaust port  32 , valve piston exhaust passageway  18  and rotating disc passageway  74 . The instant piston assembly  40  is still generating force for motor  10  to rotate shaft  20  and fixedly attached top and bottom rotating discs  71 , as well as turn an attached tool, because pressurized fluid is entering top pressure chamber  12  through inlet passageway  15  and acting on acting face  62  of top piston crown  60 , to push piston sleeve  42  away from pressure chamber  12 . The linear action causes outer roller set  50  to progress along circumferential raceway, rotating shaft  20 . In bottom fluid control assembly  70 B, the linear action of piston sleeve  42  causes acting face  62  of piston crown  60  to push fluid out of pressure chamber  60 , through exhaust passageway  17 . 
   The next 11.25° of rotation returns fluid control assemblies  70 A and  70 B, and piston assembly  40  to the configuration depicted in  FIG. 15 , and the sequence repeats until the flow of pressurized fluid through core passageway  21  is curtailed. 
   Referring to  FIGS. 2 ,  23  and  24 , the inventive fluid motor is extremely flexible in the variety of embodiments that may be designed and achieved. Though the embodiment shown throughout the majority of this disclosure possesses four piston sleeves  42 , embodiments with fewer or more piston sleeves  42  are possible and may provide specific benefits for particular purposes. Part of the flexibility of the invention is in the way the performance characteristics of a particular motor may be modified by modifying the configuration of radiuses  56  and ramps  57  of circumferential raceways  48 . This flexibility may extend to circumferential raceways  48  having a non-sinusoidal pattern, if an application would require a specific pattern of torque response throughout a single rotation of piston sleeve  42 . 
   Referring to  FIG. 23 , an exemplary torque profile is shown for a motor  10  having three piston sleeves  42  (P 1 , P 2  and P 3 ). The cycle shown from time line A to time line G may represent one revolution of a motor  10  wherein the piston sleeves  42  possess a circumferential raceway  48  that similarly has three top radiuses  56 . Time lines C and E would in that exemplary embodiment each mark the simultaneous 120-degrees of rotation of all three piston sleeves  42  (P 1 , P 2  and P 3 ). In that instance, piston sleeve P 2  would lag piston sleeve P 1  by 40-degrees and piston sleeve P 3  would lag piston sleeve P 1  by 80-degrees. However, if the cycle shown from time line A to time line G were to represent three revolutions of a motor  10 , with one revolution occurring between each of time lines A and C, C and E, and E and G, then piston sleeves  42  would possess circumferential raceway  48  that similarly has only one top radius  56 . Time lines B, C, D, E, F, and G would in that exemplary embodiment each mark the simultaneous 180-degree of rotation of all three piston sleeves  42  (P 1 , P 2  and P 3 ). In that instance, piston sleeve P 2  would lag piston sleeve P 1  by 60-degrees and piston sleeve P 3  would lag piston sleeve P 1  by 120-degrees. 
   Referring to  FIG. 24 , an exemplary torque profile is shown for a motor  10  having two piston sleeves  42  (P 1  and P 2 ). The cycle shown from time line A to time line E may represent one revolution of a motor  10  wherein the piston sleeves  42  possess a circumferential raceway  48  that similarly has only one top radius  56 , peaking at both time lines A and E. Time lines B, C, D and E would in that exemplary embodiment each mark the simultaneous 72-degrees of rotation of all three piston sleeves  42  (P 1 , P 2  and P 3 ). In that instance depicted piston sleeve P 2  would lag piston sleeve P 1  by 72-degrees. 
   Given the examples of the torque profiles of the exemplary motors depicted in  FIGS. 23 and 24  it is understandable that a torque profile that may be charted may provide the profile needed in a particular circumferential raceway  48  of the motor  10  that would produce the charted results. 
   Though the disclosure has use the exemplary embodiment of a fluid motor similar to one suitable for use in coil tubing operations, it is understood that the invention goes beyond this single application. Such other suitable applications include pumping operations where positive rotation torque is applied to the drive shaft while the housing is held stationary. In that instance one skilled in the art will readily see that fluid may be drawn by the pump and, for example without limiting this disclosure, draw fluid from the region surrounding the motor into the drive shaft and up an attached string. With a similar positive torque the motor may also operate as a compressor, gathering fluid from wherever the inlet passageways  15  are configured and forcefully transporting that fluid to wherever the exhaust or outlet passageways  17  are configured. 
   The present invention is directed to an apparatus for transitioning fluid power into torque. In one illustrative embodiment, the device comprises at least one piston sleeve, a drive shaft, a housing, inlet passageways, outlet passageways, and a valve system, said piston sleeves and said valve system intermediate and operatively connected to said drive shaft and said housing, each said piston sleeve having opposing ends, a first interface between said drive shaft and each said piston sleeve and a second interface between said housing and each said piston sleeve, said first interface and said second interface being each a different one of either of a linear interface and a combination interface such that linear motion in said piston sleeve results in rotation of said drive shaft relative to said housing, said inlet passageways and said outlet passageways capable of supporting portions of said fluid flow, and said valve system operative to coordinate intermittent flow of said portions of said fluid flow within each of said inlet passageway and each said outlet passageway such that said inlet passageways and said outlet passageways become alternatingly accessible to said opposing ends of each said piston sleeve. Other variations of this embodiment include said linear interface having a linear roller set and a linear pair of opposing raceways, and said combination interface having a combination roller set and a combination pair of opposing raceways, said combination pair of opposing raceways comprising a fixed point raceway and a circumferential raceway having radiuses and ramps. Other variations of this embodiment include a configuration of said circumferential raceway having radiuses and ramps determinative of said apparatus&#39; operational performance. Other variations of this embodiment include one of said drive shaft and said housing attachable to a pressurize fluid supply and the other attachable to a rotary tool. Other variations of this embodiment include one of said drive shaft and said housing attachable to a rotary power supply and the other in fluid communication with a fluid supply. And still another variation of this embodiment includes said drive shaft having an interior for supporting fluid flow. 
   In another embodiment, the device comprises fluid motor for manipulating a fluid, said motor comprising a housing, said housing having an exterior surface, and an axial hollow interior core, at least one piston sleeve, said piston sleeves generally cylindrical in shape, having an exterior surface and an axial hollow interior core, each said piston sleeve coaxially positioned within said hollow interior core of said housing, each said piston sleeve having opposing piston crowns, a drive shaft, said drive shaft generally cylindrical in shape, having an exterior surface and an axial hollow interior core capable of supporting a fluid flow, said drive shaft coaxially positioned within said hollow interior core of said piston sleeve, each said piston sleeve capable of both lateral and rotational motion, said lateral and rotational motion of said piston sleeve directly related, said piston sleeve operatively connected to said drive shaft and said housing such that one of said drive shaft and said housing rotates with said piston sleeve in relation to the other of said drive shaft and said housing, said inlet and outlet passages, each capable of supporting portions of said fluid flow to coordinatedly provide fluid communication to and from each of said piston crowns, and a valve system operatively connected with each of said piston sleeves, said drive shaft, said housing, said inlet flow passages and said outlet flow passages to coordinate alternatingly sequenced fluid communication of said portions of said fluid flow to and from each of said piston crowns. Other variations of this embodiment include said inlet and outlet passages, each capable of alternatingly providing fluid communication to and from each of said piston crowns. Other variations of this embodiment include complimentingly different corresponding pairs of raceways being an outside interface raceway pair and an inside interface raceway pair, said outside interface raceway pair comprising a raceway on said axial hollow interior core of said housing and said exterior surface of said sleeve piston, said inside interface raceway pair comprising a raceway on said axial hollow interior core of said sleeve piston and said exterior surface of said drive shaft, and two interface pairs comprising said piston sleeve and said housing, and said drive shaft and said piston sleeve, each of said outside interface raceway pair and said inside interface raceway pair adapted to either of permitting lateral motion while prohibiting rotational motion and permitting lateral motion directly related to rotational motion, between respective said interface pair. Other variations of this embodiment include a first said complimentingly different corresponding pair of raceways comprising a fixed point raceway and a circumferential raceway having radiuses and ramps, and a second said complimentingly different corresponding pair of raceways comprising at least one linear raceway. Other variations of this embodiment include one of said drive shaft and said housing attachable to a pressurized fluid supply and the other attachable to a rotary tool. Other variations of this embodiment include one of said drive shaft and said housing attachable to a rotary power supply and the other in fluid communication with a fluid supply. 
   In another embodiment, the device comprises at least one piston sleeve, a drive shaft, a housing, inlet passageways, outlet passageways, and a means for valving said inlet and outlet passageways, said piston sleeves and said valve system intermediate and operatively connected to said drive shaft and said housing, a means for interfacing said piston sleeves with said drive shaft and said housing, said interfacing means providing a direct relationship between linear motion in said piston sleeves and rotation of said drive shaft relative to said housing, said inlet passageways and said outlet passageways capable of supporting portions of said fluid flow, and said valving means operative to coordinate intermittent flow of said portions of said fluid flow within each of said inlet and said outlet passageways such that said inlet passageways and said outlet passageways become alternatingly accessible to opposing ends of each said piston sleeve. Other variations of this embodiment include said interfacing means further comprising complimentingly different corresponding pairs of raceways being an outside interface raceway pair and an inside interface raceway pair, said outside interface raceway pair comprising a raceway on said axial hollow interior core of said housing and said exterior surface of said piston sleeve, said inside interface raceway pair comprising a raceway on said axial hollow interior core of said piston sleeve and said exterior surface of said drive shaft, and two interface pairs comprising said piston sleeve and said housing, and said drive shaft and said piston sleeve, each of said outside interface raceway pair and said inside interface raceway pair adapted to either of permitting lateral motion while prohibiting rotational motion and permitting lateral motion directly related to rotational motion, between respective said interface pair. Other variations of this embodiment include a first said complimentingly different corresponding pair of raceways comprising a fixed point raceway and a circumferential raceway having radiuses and ramps, and a second said complimentingly different corresponding pair of raceways comprising at least one linear raceway. Other variations of this embodiment include said valving means for directing said fluid flow to said piston sleeve opposing crowns being a valve system at each said opposing end of each said piston sleeve. 
   In another embodiment, the device comprises transitioning between fluid power and torque comprising applying pressure to at least one piston sleeve to induce both lateral and rotational motion in each said piston sleeve, each of said piston sleeves operatively connected to a drive shaft and a housing such that one of said drive shaft and said housing rotates with each said piston sleeve in relation to the other of said drive shaft and said housing. Other variations of this embodiment include coordinating the application of pressure step with a valve system operatively connected with each of said piston sleeves, said drive shaft, said housing, said inlet flow passages and said outlet flow passages to coordinate alternatingly sequenced fluid communication of said portions of said fluid flow to and from each pair of piston crowns. Other variations of this embodiment include altering the rotational relationship between said drive shaft and said housing by modifying a configuration of a circumferential raceway having radiuses and ramps. Other variations of this embodiment include said pressure to said at least one piston sleeve is rotational pressure through either of said drive shaft and said housing. Other variations of this embodiment include said pressure to said at least one piston sleeve is fluid pressure alternatingly applied to each piston crown of said pair of piston crowns. 
   The foregoing disclosure and description of the invention is illustrative and explanatory thereof, as the invention may be modified and practiced in different but equivalent manners apparent to those skilled in the art having the benefit of the teachings herein. Furthermore, no limitations are intended to the details of construction or design herein shown, other than as described in the claims below. It is therefore evident that the particular embodiments disclosed above may be altered or modified and all such variations are considered within the scope and spirit of the invention. Accordingly, the protection sought herein is as set forth in the claims below.