Actuating drive used in automation technology
The actuator integrates a motor, electronic circuit, and sensor within a housing to analyze mechanical vibrations, addressing the need for additional sensors, enhancing operational efficiency and reducing costs.
Patent Information
- Authority / Receiving Office
- WO · WO
- Patent Type
- Applications
- Current Assignee / Owner
- AUMA RIESTER GMBH & CO KG
- Filing Date
- 2025-12-03
- Publication Date
- 2026-06-11
AI Technical Summary
Existing actuators for automation technology, such as those used for valves or gates in channels or pipelines, require additional sensors for signal analysis, which increase costs and complexity.
An actuator design that integrates a motor, electronic operating circuit, gearbox, and output shaft within a housing, equipped with a measuring device and sensor to analyze mechanical vibrations and derive additional measurement signals, allowing for cost-effective signal analysis without separate sensors.
Enables effective signal analysis of actuator conditions and operational states, reducing costs and complexity by utilizing existing sensors for additional analysis, thereby improving operational efficiency and reliability.
Smart Images
Figure EP2025085216_11062026_PF_FP_ABST
Abstract
Description
[0001] PC 25 2005 C 1 . December 2025
[0002] Actuator for automation technology
[0003] 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.
[0004] Actuators typically have sensors for position and torque to provide the user with feedback on important operating parameters. Some actuators also have vibration or...
[0005] Acceleration sensors are used to learn something about the actuator and / or its technical environment from signal analysis.
[0006] Additional sensors for such signal analyses involve costs and effort in terms of firmware and sensor channels.
[0007] The object of the invention is therefore to propose a robust actuator by means of which signal analysis can be implemented cost-effectively.
[0008] The problem is solved by an actuator according to independent claim 1.
[0009] 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
[0010] Fluid motor for generating a torque or force, PC 25 2005 C 2 / 22 1 December 2025, comprising a motor shaft; an electronic operating circuit for operating the motor; an output with an actuating element such as an output shaft or output rod for actuating the valve; in particular, 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, wherein the gearbox is configured to transmit the torque or force to the actuating element, wherein the actuator comprises at least one measuring device with at least one sensor, wherein the at least one sensor is configured to provide a measurement signal with respect to a measured quantity, wherein the electronic operating circuit or the measuring device is configured toto evaluate at least one measurement signal for calculating measured values of the measured quantity, wherein at least one evaluation quantity is calculated during the evaluation, wherein the electronic operating circuit is in particular configured to use the measured quantity for operating the actuator, in particular the electric motor, wherein the measuring device or the electronic operating circuit is additionally configured to evaluate at least one measurement signal of the at least one measurement signal or at least one of the PC 25 2005 C 3 / 22 1 December 2025,
[0011] To subject evaluation parameters of a signal analysis such as a time-frequency analysis such as a Fourier analysis or a wavelet analysis, and to calculate measured values for at least one analysis parameter other than the at least one evaluation parameter, such as measurement signal frequencies and / or measurement signal phases.
[0012] 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.
[0013] Examples of parameters in a processing chain of evaluation parameters from the measurement signal to measured values with respect to the measured quantity are: analog filtered measurement signal, digitized measurement signal, measured values, measured value profiles.
[0014] The measuring device or the electronic operating circuit can be configured to derive measured values with respect to the measured quantity from the at least one measurement signal.
[0015] According to the invention, in an existing processing chain from a measurement signal to measured values of a corresponding measured quantity, a branch is set up in order to derive measured values for an analysis quantity other than the evaluation quantities.
[0016] The measured quantity can be a mechanical quantity. The measured quantity can characterize an operating state of the actuator.
[0017] The analysis parameter can characterize a technical condition, for example of an actuator, a fitting, or a pipeline.
[0018] A mechanical measurement quantity that also indicates the operating state of the PC 25 2005 C 4 / 22 1 December 2025
[0019] The actuator's characteristic can be, for example, a torque that drops across the gearbox, or a position of an output shaft of the actuator.
[0020] The measured quantity(s) are used by the electronic control circuitry to operate the actuator, particularly the electric motor. For example, the measured quantity could be the actuator's position or the torque applied to the actuator. These quantities can be used, for instance, to switch off the electric motor when an end position or a closed position of the valve is reached. Therefore, knowing either of these two measured quantities is relevant for the operation of the actuator or the electric motor. For example, the measured quantity could also be the temperature of an actuator component, with a warning signal being issued if a temperature limit is exceeded. This is also an example of a measured quantity that can be used for the operation of the actuator.
[0021] 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 analyzed quantity, such as measurement signal frequencies and in particular from associated measurement signal phases.
[0022] When the actuator motor is actuated, causing movement of the motor shaft, gearbox, and output shaft, mechanical vibrations are generated and propagate through the actuator. Signal analysis of these vibrations can provide insights into the actuator's condition (PC 25 2005 C 5 / 22, December 1, 2025). 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.
[0023] 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.
[0024] In one embodiment, the sensor is rigidly connected to one of the other actuator components and / or without a damping device.
[0025] This ensures that vibrations can be detected effectively by the sensor, as the sensor is acoustically well coupled to the actuator in this way.
[0026] 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 in particular at least 100 per second.
[0027] In one embodiment, the measured variable is a measured variable with respect to the actuator, such as from the following list: PC 25 2005 C 6 / 22 1 December 2025
[0028] Position of the actuating element, torque or force applied to the actuating element or motor shaft, torque dropping across the gearbox, detection of movement of the actuating element or motor shaft.
[0029] The listed measured variables are of which, in the case of 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 subjected to a second use to obtain additional information in accordance with the invention.
[0030] In one configuration, the sensor is a sensor from the following list:
[0031] Hall sensor, piezo sensor, capacitance sensor, strain gauge.
[0032] In one embodiment, the measurement signal is formed by one of the following quantities: electric current, electric voltage, electric capacitance, inductance, electric resistance.
[0033] In one embodiment, the statement regarding the state of the actuator relates to a gearbox state, a bearing state of output shaft bearings or motor shaft bearings, or a motor.
[0034] Vibrations, as well as their repeated occurrence, are visible in frequency analyses and allow conclusions to be drawn about their origin.
[0035] In one form, in the electronic
[0036] Operating circuit or in the measuring device for each PC 25 2005 C 7 / 22 1 December 2025
[0037] Analysis parameter: at least one reference value is stored.
[0038] The invention is described below using exemplary embodiments.
[0039] Fig. 1 shows a schematically sketched arrangement comprising an exemplary actuator according to the invention, a fitting and a line;
[0040] Fig. 2 a) and 2 b) show an exemplary positioning measuring device.
[0041] Fig. 3 shows an exemplary torque measuring device.
[0042] Fig. 4 shows an exemplary scheme of a measurement signal processing according to the invention.
[0043] Fig. 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.
[0044] 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 actuating element 14.1 for actuating the valve; a PC 25 2005 C 8 / 22 1 December 2025
[0045] Housing arrangement 15 with at least one housing 15.1, wherein the motor, the electronic operating circuit, the gearbox and the output can be arranged in the housing arrangement as shown here, wherein the gearbox 13 is configured to transmit the torque or force to the actuating element. The actuating element can protrude from the housing arrangement.
[0046] The valve actuator can be actuated by the actuator element using torque or force. The actuator element can be a rotary output shaft or a linear output rod.
[0047] The actuator further comprises at least one measuring device 16 with at least one sensor 16.1 (see Fig. 2a or Fig. 2b), wherein the at least one sensor 16.1 is configured to provide a measurement signal with respect to a measured quantity, and wherein the measuring device 16 or the electronic operating circuit 12 is configured to derive measured values with respect to the measured quantity from the at least one measurement signal with respect to the measured quantity. The electronic operating circuit or the measuring device is configured to evaluate the at least one measurement signal for the calculation of measured values of the measured quantity, whereby at least one evaluation quantity is calculated during the evaluation.
[0048] This measured quantity can be, for example, one of the following: position of the output shaft, torque or force applied to the output shaft or motor shaft, torque dropping across the gearbox, motion detection of the drive shaft or motor shaft.
[0049] According to the invention, for example, the measuring device 16 or PC 25 2005 C 9 / 22 1 December 2025, 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, such as a Fourier analysis or a wavelet analysis, and to calculate measured values for at least one analysis parameter other than the evaluation parameters, such as measurement signal frequencies and, in particular, associated measurement signal phases. By using existing and otherwise employed sensors for an additional signal analysis, a separate sensor for the subject of the additional signal analysis can be avoided.
[0050] 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 analyzed variable, such as measurement signal frequencies and, in particular, from the associated measurement signal phases. When the actuator motor is actuated, causing movement of the motor shaft, gearbox, and output shaft, mechanical vibrations are generated, which propagate through the actuator. Signal analysis of these vibrations can provide insights into the actuator's condition. For example, a localized bearing failure of a motor shaft or output shaft can manifest itself in recurring deviations from a normal vibration state.General wear can manifest itself in a gradual change in operating vibrations compared to an initial state. Insufficient lubrication can be accompanied by increased vibration amplitudes and / or excitation of higher-frequency vibration modes. Similarly, vibrations originating from the valve, for example through the actuation of a valve actuator 120, or from the line 200, and transmitted through the drive shaft PC 25 2005 C 10 / 22 1 December 2025, can also cause this.
[0051] 14.1 or through an actuator flange 17 into the actuator, are subjected to signal analysis. Typically, vibrations from different sources differ in vibration parameters. For example, differences in the frequency spectrum can be used for differentiation and / or origin detection.
[0052] In particular, the measured variable is used by the electronic operating circuit to control the actuator, especially the electric motor. For example, the measured variable could be a position or a torque applied to the actuator. These variables can be used, for instance, to switch off the electric motor when an end position or a closed position of the valve is reached. Therefore, knowledge of either of these two measured variables is relevant for the operation of the actuator or the electric motor. However, the measured variable is not necessarily limited to torque or position.
[0053] For the purpose of comparison, at least one reference value, for example regarding the state of an actuator, can be stored in the electronic operating circuit or in the measuring device for each analyzed parameter.
[0054] 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.
[0055] The sampling rate of the measurement signal can be at least 20 per second, and preferably at least 50 per second, and in particular at least 100 per second.
[0056] Typically, the output shaft speed is approximately 200 revolutions per minute or up to approximately 3 revolutions per second (PC 25 2005 C 11 / 22 1 December 2025). In this way, at a sampling rate of 20 per second and a high rotational speed, at least approximately 7 measurement points per rotation are still captured.
[0057] To detect higher frequency vibrations, which, for example, travel from the pipeline or fitting to the actuator sensor 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.
[0058] The sensor 16.1 can be a sensor from the following list: Hall sensor, piezoelectric sensor, capacitance sensor, strain gauge. The measurement signal can be formed, for example, by one of the following quantities: electric current, electric voltage, electric capacitance, inductance, electric resistance.
[0059] The 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 sensor.
[0060] Figures 2a) and 2b) 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 until the gears, and thus the magnets, return to their original position. A momentary PC 25 2005 C 12 / 22 1 December 2025
[0061] The alignment of the magnets can be translated into a momentary position of the actuator or the actuator of the valve. For detection, at least one Hall sensor 16 12 is provided per magnet, which outputs measurement signals in the form of measuring voltages depending on the alignment of the magnets. Vibrations, which, for example, are transmitted to the gears via the gearbox 13 or the output shaft 14 1, cause the magnets to vibrate, which is detectable in the measuring voltages of the Hall sensors and can therefore be evaluated or analyzed.
[0062] The measurement signals from the three gears are processed together to derive measured values regarding a current position via a measurement signal processing chain. High-frequency measurement signal components are irrelevant in this context. However, high-frequency measurement signal components can carry relevant information regarding the state of the actuator, the valve, or the pipeline connected to the valve. According to the invention, in an existing processing chain from a measurement signal to measured values of a corresponding measured quantity, here for example, the position, a branch is established in the processing chain to derive measured values for an analysis quantity different from the measured quantity, for example, regarding a state of the actuator 1, the valve 100, or the pipeline 200. The branch can take place, for example, at the measurement signal level or at quantities derived therefrom, see Fig.4 , here the branching takes place by way of example at one level of frequency filtering of the measurement signals .
[0063] Fig. 3 sketches an exemplary measuring device 16 with a sensor 16.1, which is used as a torque sensor on the output shaft 14.1 of the output. This can be set up, for example, by means of a strain gauge. Vibrations propagating through the output shaft PC 25 2005 C 13 / 22 1 December 2025 lead to comparatively high-frequency deformations of the strain gauge, which manifests itself 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, or a derived evaluation value leading to the torque measurement value, can additionally be subjected to signal analysis.
[0064] Fig. 4 shows an exemplary scheme of a measurement signal processing system according to the invention. Three measurement signals MS, such as measurement voltages as can occur in a measuring device as sketched in Fig. 2a), are each at the beginning of a processing chain leading to measured values of a measurand. The measured values are pre-filtered to remove, for example, high-frequency noise, so that a filtered measurement signal GMS is available at a subsequent link in the respective processing chain. In a next step, the filtered measurement signals are combined to calculate measured values of a measurand. This measurand can, for example, be a set position derived from three measurement voltages from Hall sensors, as described in Fig. 2a).In a further processing step, a measurement profile MWV can be generated from a plurality of measured values MW, for example, as shown here; in this case, a time course of the position. The quantities measurement signal MS, filtered measurement signal GMS, measured value of a measured quantity MW, and measurement profile represent, by way of example, a set of evaluation parameters with respect to the first measured quantity.
[0065] According to the invention, at one point one of the
[0066] Processing chains from one of the measurement signals to PC 25 2005 C 14 / 22 1 December 2025
[0067] The measured variable initiates a further processing chain or branch leading to an analysis variable AG, which, for example, ends in a statement A regarding an actuator state. This branch can also start, for example, at the level of the measurement signals MS, the measured values MW, or the measured value trends. The analysis variable AG is not part of the set of evaluation variables.
[0068] For example, a low-frequency signal component or even a zero-frequency component of the measurement signals may be of interest for calculating the measured values MW or the measured value trend MWV. A high-frequency signal component can carry information that is not relevant for calculating the measured values MW, but allows for an assessment of the condition of the actuator, the valve, and / or the pipeline. Therefore, at the level of signal filtering of the measurement signals, the branching or delimitation of at least one analysis variable from the evaluation variables AG can be established by separating frequencies relevant for calculating the measured values of the measured quantity from frequencies relevant for calculating the measured values of the analysis variable.
[0069] PC 25 2005 C 15 / 22 1 December 2025
[0070] Reference symbol list
[0071] 1 actuator
[0072] 11 Engine
[0073] 11.1 Motor shaft
[0074] 12 electronic operating circuit
[0075] 13 gearboxes
[0076] 14 Drive
[0077] 1.1 Actuating element
[0078] 15 Housing arrangement
[0079] 15.1 Housing
[0080] 16 Measuring device
[0081] 16.1 Sensor
[0082] 16.11 Magnet
[0083] 16.12 Hall probe
[0084] 17 Actuator flange
[0085] 100 fittings
[0086] 110 fittings and flanges
[0087] 120 Valve actuator
[0088] 200 pipeline
[0089] MS measurement signal
[0090] GMS filtered measurement signal
[0091] MW measured value
[0092] MWV Me ss value trend
[0093] AG Evaluation large
[0094] AN analysis parameter
[0095] A statement
Claims
PC 25 2005 C 16 / 22 1 December 2025 Claims 1. An actuator (1) for 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 torque with a motor shaft (11.1); an electronic operating circuit (12) for operating the motor; an output (14) with an actuating element (14.1) such as an output shaft or an output rod for actuating the fitting; in particular 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, a gearbox (13) for converting a rotary motion of the motor shaft into a linear or rotary motion of the actuating element, wherein the actuator has at least one measuring device (16) with at least one sensor (16.1), wherein the at least one sensor (16.1) is configured to provide a measurement signal with respect to a measured quantity, wherein the electronic operating circuit or the measuring device is configured to use the at least one measurement signal for calculating measured values of the measured quantity. PC 25 2005 C 17 / 22 1 December 2025 to be evaluated, wherein at least one evaluation variable (AG) is calculated during the evaluation, wherein the electronic operating circuit is in particular configured to use the measured variable for operation of the actuator, characterized in that the measuring device (16) or the electronic The operating circuit (12) is additionally set up to subject at least one measurement signal of the at least one measurement signal or at least one of the evaluation variables to a signal analysis such as a time-frequency analysis such as a Fourier analysis or a wavelet analysis and to calculate measured values for at least one analysis variable (AN) differently from the at least one evaluation variable.
2. Actuator according to claim 1, wherein the measured variable is a mechanical measured variable and / or characterizes an operating state of the actuator (1), and / or wherein the analyzed variable characterizes a technical state of, for example, the actuator (1) and / or the valve (100) and / or the line.
3. Actuator according to claim 1 or 2, wherein the measuring device (16) or the electronic operating circuit (12) is configured to select from the PC 25 2005 C 18 / 22 1 December 2025 Measured values relating to the analyzed variable, such as measurement signal frequencies and especially from associated measurement signal phases, are used 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.
4. Actuator according to one of the preceding claims, wherein the sensor (16.1) is rigidly and / or without a damping device connected to one of the other actuator components.
5. Actuator according to one of the preceding claims, wherein at least 100, and preferably at least 300, in particular at least 1000 measuring points of the measurement signal are taken into account in the signal analysis, and / or wherein a sampling rate of the measurement signal is at least 20 per second, and preferably at least 50 per second and in particular at least 100 per second.
6. Actuator according to one of the preceding claims, wherein the measured variable is a measured variable with respect to the actuator (1) such as a measured variable 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), motion detection of the Drive shaft (14.1) or engine shaft (11.1) . PC 25 2005 C 19 / 22 1 December 2025 7. Actuator according to any of the preceding claims, wherein the sensor (16.1) is a sensor from the following list: Hall sensor, piezo sensor, capacitance sensor, inductance sensor, strain gauges, Wiegand sensor, incremental encoder.
8. 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.
9. Actuator according to 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.
10. Actuator according to one of the preceding claims, wherein at least one reference value is stored in the electronic operating circuit or in the measuring device for each analysis parameter, wherein the electronic operating circuit (12) or the measuring device (16) is configured to output an alarm signal in the event of a minimum deviation of a measured value of the analysis parameter from an associated reference value.
11. Actuator according to one of the preceding claims, wherein the measuring device (16) or the electronic operating circuit (12) is configured to derive at least one measurement signal with respect to the measured quantity from the PC 25 2005 C 20 / 22 1 December 2025 To derive measured values with respect to the measured quantity.