Actuator for automation technology
The actuator integrates signal analysis within the actuator components to monitor condition and events, reducing costs by using existing sensors for vibration analysis, addressing the inefficiency of separate sensors in existing designs.
Patent Information
- Authority / Receiving Office
- DE · DE
- Patent Type
- Applications
- Current Assignee / Owner
- AUMA RIESTER GMBH & CO KG
- Filing Date
- 2024-12-05
- Publication Date
- 2026-06-11
Smart Images
Figure 00000000_0000_ABST
Abstract
Description
[0001] The invention relates to an actuator for automation technology for actuating a fitting such as a valve or a gate in a line such as a channel or a pipeline, as shown for example in DE102011106372A1.
[0002] Actuators typically feature sensors for position and torque to provide the user with feedback on important operating parameters. Some actuators also include vibration or acceleration sensors to analyze signals and learn information about the actuator and / or its technical environment.
[0003] Additional sensors for such signal analyses involve costs and effort in terms of firmware and sensor channels.
[0004] The object of the invention is therefore to propose a robust actuator by means of which signal analysis can be implemented cost-effectively.
[0005] The problem is solved by an actuator according to independent claim 1.
[0006] An actuator according to the invention for automation technology for actuating a fitting such as a valve or a gate in a line such as a channel or a pipeline, comprising at least the following actuator components: a motor, such as an electric motor or a fluid motor, for generating torque or force, with a motor shaft; an electronic operating circuit for operating the motor; a gearbox; an output with an output shaft for actuating the fitting; a housing arrangement comprising at least one housing, wherein the motor, the electronic operating circuit, the gearbox and the output are arranged in the housing arrangement, the gearbox is designed to transmit the torque or force to the output shaft, wherein the actuator has at least one measuring device with at least one first sensor, wherein the at least one first sensor is configured to provide a measurement signal with respect to a first measurand, wherein the measuring device or the electronic operating circuit is configured to derive measurement values with respect to the first measurand from the at least one measurement signal with respect to the first measurand where the measuring device or the electronic operating circuit is additionally equipped to subject at least one measurement signal of the at least one measurement signal to a signal analysis such as a time-frequency analysis such as a Fourier analysis or a wavelet analysis and to generate measured values for at least one analysis parameter such as measurement signal frequencies and in particular for associated measurement signal phases.
[0007] By using existing and otherwise used sensors for additional signal analysis, a separate sensor for the subject of the additional signal analysis can be avoided.
[0008] In one embodiment, the measuring device or the electronic operating circuit is configured to derive a statement about the state of the actuator and / or the valve and / or the line and / or an event and / or a sequence of events from the measured values of the analysis parameter, such as measurement signal frequencies and in particular from associated measurement signal phases.
[0009] When the actuator motor is activated, causing movement of the motor shaft, gearbox, and output shaft, mechanical vibrations are generated and propagated through the actuator. Signal analysis of these vibrations can provide insights into the actuator's condition. For example, localized bearing damage to a motor shaft or output shaft can manifest as recurring deviations from a normal vibration state. General wear can be indicated by a gradual change in operating vibrations compared to their initial state. Insufficient lubrication can be associated with increased vibration amplitudes and / or the excitation of higher-frequency vibration modes.
[0010] Accordingly, vibrations originating from the fitting, for example through the actuation of a fitting actuator, or from the line, and transmitted to the actuator via the drive shaft or an actuator flange, can also be subjected to signal analysis.
[0011] In one embodiment, the first sensor is rigidly connected to one of the other actuator components and / or without a damping device.
[0012] This ensures that vibrations are effectively detected by the first sensor, as the sensor is acoustically well coupled to the actuator in this way.
[0013] In one embodiment, at least 100, and preferably at least 300, in particular at least 1000 measurement points of the measurement signal are taken into account during the signal analysis. and / or The sampling rate of the measurement signal is at least 20 per second, and preferably at least 50 per second and particularly at least 100 per second.
[0014] In one embodiment, the first measured variable is a measured variable relating to the actuator, such as from the following list: Position of the output shaft, torque or force applied to the output shaft or motor shaft, torque dropping across the gearbox, movement detection of the drive shaft or motor shaft.
[0015] The listed measured variables are of which, for actuators, at least one is sensibly known or measured. In particular, the actuated position must be measured and known so that the actuator can be used effectively in an industrial plant. Measurement signals generated anyway can advantageously be used a second time to obtain additional information in accordance with the invention.
[0016] In one configuration, the first sensor is a sensor from the following list: Hall sensor, piezo sensor, capacitance sensor, strain gauge.
[0017] In one embodiment, the measurement signal is formed by one of the following quantities: electric current, electric voltage, electric capacitance, inductance, electric resistance.
[0018] In one embodiment, the statement regarding the condition of the actuator relates to a gearbox condition, a bearing condition of output shaft bearings or motor shaft bearings, or a motor condition.
[0019] Vibrations, as well as their repeated occurrence, are visible in frequency analyses and allow conclusions to be drawn about their origin.
[0020] In one embodiment, at least one reference value is stored for each analytical parameter in the electronic operating circuit or in the measuring device.
[0021] The invention will be described below using exemplary embodiments. Fig. Figure 1 shows a schematically sketched arrangement comprising an exemplary actuator according to the invention, a fitting and a line; Fig. 2 a) and Fig. 2 b) show an exemplary positioning measuring device. Fig. Figure 3 shows an example torque measuring device.
[0022] Fig. Figure 1 shows an arrangement with an exemplary actuator 1 according to the invention for automation technology, a fitting 100, and a line 200, such as a channel or, as shown here, a pipeline. The actuator is configured to actuate the fitting 100, the fitting being able to have a valve actuator 120, such as a valve or a gate valve, or, as shown here, a flap valve. The actuator can be connected to or attached to a fitting flange 110 of the fitting via an actuator flange 17, as shown here.
[0023] The actuator comprises at least the following actuator components: a motor 11, such as an electric motor or a fluid motor, for generating a torque or force, with a motor shaft 11.1; an electronic operating circuit 12 for operating the motor; a gearbox 13; an output 14 with an output shaft 14.1 for actuating the valve; a housing arrangement 15 with at least one housing 15.1, wherein the motor, the electronic operating circuit, the gearbox and the output are arranged in the housing arrangement, the gearbox 13 being configured to transmit the torque or force to the output shaft.
[0024] The valve actuator can be operated via the output shaft by means of torque or force.
[0025] The actuator further comprises at least one measuring device 16 with at least one first sensor 16.1 (See Fig. 2 a or Fig. 2 b) comprising, wherein the at least one first sensor 16.1 is configured to provide a measurement signal with respect to a first measurand, wherein the measuring device 16 or the electronic operating circuit 12 is configured to derive measured values with respect to the first measurand from the at least one measurement signal with respect to the first measurand. This first measurand can be, for example, one of the following quantities: position of the output shaft, torque or force applied to the output shaft or motor shaft, torque drop across the gearbox, motion detection of the drive shaft or motor shaft.
[0026] According to the invention, the measuring device 16 or the electronic operating circuit 12 is additionally configured to subject at least one measurement signal of the at least one measurement signal to a signal analysis, such as a time-frequency analysis like a Fourier analysis or a wavelet analysis, and to generate measured values for at least one analysis parameter, such as measurement signal frequencies and, in particular, for associated measurement signal phases. By utilizing existing and otherwise used sensors for an additional signal analysis, a separate sensor for the subject of the additional signal analysis can be avoided.
[0027] This allows the measuring device or electronic operating circuit to derive information about the condition of the actuator and / or valve and / or line and / or an event and / or sequence of events from the measured values of the analysis parameter, such as measurement signal frequencies and, in particular, from the associated measurement signal phases. When the actuator motor is actuated and the resulting movement of the motor shaft, gearbox, and output shaft causes mechanical vibrations that propagate through the actuator. Signal analysis of these vibrations can provide insights into the actuator's condition. For example, localized bearing damage to a motor shaft or output shaft can manifest itself in recurring deviations from a normal vibration state. General wear can manifest itself in the gradual change of operating vibrations compared to an initial state.Insufficient lubrication can be associated with increased vibration amplitudes and / or excitation of higher-frequency vibration modes. Accordingly, vibrations originating from the valve, for example, through the actuation of a valve actuator 120, or from the line 200, and transmitted to the actuator via the drive shaft 14.1 or an actuator flange 17, can also be subjected to signal analysis. Typically, vibrations from different sources differ in their vibration parameters. For example, differences in the frequency spectrum can be used for differentiation and / or origin identification.
[0028] For the purpose of comparison, at least one reference value, for example with regard to an actuator state, can be stored in the electronic operating circuit or in the measuring device for each analysis parameter.
[0029] Preferably, at least 100, and preferably at least 300, and in particular at least 1000 measurement points of the measurement signal are considered in the signal analysis. This enables a sufficiently accurate determination of signal parameters.
[0030] The sampling rate of the measurement signal can be at least 20 per second, and preferably at least 50 per second and particularly at least 100 per second.
[0031] Typically, the output shaft rotates at speeds of up to approximately 200 revolutions per minute, or up to approximately 3 revolutions per second. At a sampling rate of 20 per second and a high rotational speed, this ensures that at least approximately 7 measurement points are captured per rotation.
[0032] To detect higher-frequency vibrations, which, for example, travel from the pipeline or fitting to the first sensor of the actuator via walls or the output shaft, the sampling rate can also be greater than 1000 per second or, for example, greater than 1500 per second.
[0033] The first sensor 16.1 can be a sensor from the following list: Hall sensor, piezoelectric sensor, capacitance sensor, strain gauge. The measurement signal can be, for example, formed by one of the following quantities: electric current, electric voltage, electric capacitance, inductance, electric resistance.
[0034] The first sensor 16.1 can be rigidly connected to one of the other actuator components and / or without a damping device. In this way, vibrations are effectively transmitted to the first sensor.
[0035] Fig. 2 a) and Fig. 2 b) Sketch an exemplary measuring device 16 for detecting the position of the output shaft. The measuring device comprises three gears with different numbers of teeth in pairs. One of the three gears is actuated by the transmission 13 or by the output shaft 14 and rotates the other two gears along with it. Magnets 16.11 of the sensor 16.1, which are arranged on the gears, are also rotated. Due to the different numbers of teeth on the gears, many revolutions are required before the gears and thus the magnets return to their original position. An instantaneous orientation of the magnets can be translated into an instantaneous position of the actuator or the actuator of the valve. For detection, at least one Hall sensor 16.12 is provided for each magnet, which outputs measuring voltages depending on the orientation of the magnets.
[0036] Vibrations, which for example reach the gears via the gearbox 13 or the output shaft 14.1, lead, for example, to a trembling of the magnets, which is detectable in the measuring voltages of the Hall sensors and can therefore be evaluated or analyzed.
[0037] Fig.Figure 3 outlines an exemplary measuring device 16 with a first sensor 16.1, which is used as a torque sensor on the output shaft 14.1 of the output. This can be implemented, for example, by means of a strain gauge. Vibrations propagating through the output shaft lead to comparatively high-frequency deformations of the strain gauge, which manifest themselves in corresponding changes in the resistance value of the strain gauge. This resistance value can be read out by current and voltage measurements and used for torque measurement. According to the invention, the resistance measurement signal and / or the current measurement signal and / or the voltage measurement signal can additionally be subjected to signal analysis. Reference symbol list 1 actuator 11 Engine 11.1 Motor shaft 12 electronic operating circuit 13 gearboxes 14 Drive 14.1 Output shaft 15 Housing arrangement 15.1 Housing 16 Measuring device 16.1 first sensor 16.11 Magnet 16.12 Hall probe 17 Actuator flange 100 fittings 110 fitting flange 120 Valve actuator 200 pipeline QUOTES INCLUDED IN THE DESCRIPTION
[0000] This list of documents cited by the applicant was automatically generated and is included solely for the reader's convenience. The list is not part of the German patent or utility model application. The DPMA accepts no liability for any errors or omissions. Cited patent literature
[0000] DE 102011106372A1
[0001]
Claims
[1] Actuator (1) of automation technology for actuating a fitting (100) such as a valve or a gate in a line such as a duct or a pipeline (200), comprising at least the following actuator components: a motor (11) such as an electric motor or a fluid motor for generating a torque or force, with a motor shaft (11.1); an electronic operating circuit (12) for operating the motor; a gearbox (13); an output (14) with an output shaft (14.1) for actuating the fitting; a housing arrangement (15) with at least one housing (15.1), wherein the motor, the electronic operating circuit, the gearbox and the output are arranged in the housing arrangement, wherein the transmission (13) is configured to transmit the torque or force to the output shaft, wherein the actuator has at least one measuring device (16) with at least one first sensor (16.1), wherein the at least one first sensor (16.1) is configured to provide a measuring signal with respect to a first measured quantity, wherein the measuring device (16) or the electronic operating circuit (12) is configured to derive measured values with respect to the first measured quantity from the at least one measuring signal with respect to the first measured quantity, characterized by , that the measuring device (16) or the electronic operating circuit (12) is additionally equipped to subject at least one measurement signal of the at least one measurement signal to a signal analysis such as a time-frequency analysis such as a Fourier analysis or a wavelet analysis and to produce measured values for at least one analysis parameter other than the first measured parameter such as measurement signal frequencies and in particular for associated measurement signal phases. [2] Actuator according to claim 1, wherein the measuring device (16) or the electronic operating circuit (12) is configured to derive from the measured values of the analysis parameter such as measurement signal frequencies and in particular from associated measurement signal phases a statement about a state of the actuator and / or the valve and / or the line and / or an event and / or a sequence of events. [3] Actuator according to claim 1 or 2, wherein the first sensor (16.1) is rigidly and / or without a damping device connected to one of the other actuator components. [4] Actuator according to any of the preceding claims, wherein at least 100, and preferably at least 300, in particular at least 1000 measurement points of the measurement signal are taken into account in the signal analysis, and / or wherein the sampling rate of the measurement signal is at least 20 per second, and preferably at least 50 per second and particularly at least 100 per second. [5] Actuator according to one of the preceding claims, wherein the first measured variable is a measured variable with respect to the actuator (1) such as from the following list: Position of the output shaft (14.1), torque or force applied to the output shaft (14.1) or motor shaft (11.1), torque dropping across the gearbox (13), detection of movement of the input shaft (14.1) or motor shaft (11.1). [6] Actuator according to any of the preceding claims, wherein the first sensor (16.1) is a sensor from the following list: Hall sensor, piezo sensor, capacitance sensor, inductance sensor, strain gauge. [7] Actuator according to one of the preceding claims, wherein the measuring signal is formed by one of the following quantities: electric current, electric voltage, resonant frequency. [8] Actuator according to any one of claims 2 to 7, wherein the statement regarding the state of the actuator (1) relates to a gearbox state, a bearing state of output shaft bearings or motor shaft bearings, or a motor state. [9] Actuator according to any of the preceding claims, wherein at least one reference value is stored for each analytical parameter in the electronic operating circuit or in the measuring device, wherein the electronic operating circuit (12) or the measuring device (16) is configured to issue an alarm signal in the event of a minimum deviation of a measured value of the analyzed quantity from an associated reference value.