EP1775480B1 - Control device for a fluid actuator - Google Patents

Control device for a fluid actuator Download PDF

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Publication number
EP1775480B1
EP1775480B1 EP20060021167 EP06021167A EP1775480B1 EP 1775480 B1 EP1775480 B1 EP 1775480B1 EP 20060021167 EP20060021167 EP 20060021167 EP 06021167 A EP06021167 A EP 06021167A EP 1775480 B1 EP1775480 B1 EP 1775480B1
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EP
European Patent Office
Prior art keywords
control device
valve
actuator
charge
control
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Fee Related
Application number
EP20060021167
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German (de)
French (fr)
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EP1775480A3 (en
EP1775480A2 (en
Inventor
Markus Boger
Martin Fuss
Walter Suchy
Otto Dr. Szenn
Heinz Röckle
Jörg Ullmann
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Festo SE and Co KG
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Festo SE and Co KG
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Publication date
Application filed by Festo SE and Co KG filed Critical Festo SE and Co KG
Priority to EP10015763A priority Critical patent/EP2322809A3/en
Publication of EP1775480A2 publication Critical patent/EP1775480A2/en
Publication of EP1775480A3 publication Critical patent/EP1775480A3/en
Application granted granted Critical
Publication of EP1775480B1 publication Critical patent/EP1775480B1/en
Expired - Fee Related legal-status Critical Current
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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
    • F15B21/08—Servomotor systems incorporating electrically operated control means

Definitions

  • the invention relates to a control device for at least one fluidic actuator according to the preamble of claim 1.
  • control device includes for generating energy, for example, an air pressure transducer with electric generator. This is constantly connected to the pressure line, which has a constant air consumption, even if the energy storage has sufficient memory content. Due to the continuous operation, it is even suggested to completely renounce the energy storage. Its state of charge thus depends on the operation of the other components and is more or less random.
  • An object of the present invention is to improve the known control device so that the air consumption is minimized despite sufficient power supply.
  • a favorable energy balance and a low air consumption for energy generation are achieved by providing actuator exhaust air controlled by the valve driver stage assembly via the air pressure transducer leading valve assembly. Fluidic actuators must be vented again and again due to operational reasons. In the process, this exhaust air, which is otherwise unusable for the energy balance, is guided via the air pressure transducer and contributes positively to the energy balance, namely to the charging of the energy store. As a result, it must be switched on less often by the fluidic pressure line.
  • the entire control device has the further particular advantage that it only has to be connected to a fluidic line. All electrical supply and control lines can be omitted. It is therefore particularly suitable for use in spatially widely distributed systems, such as process equipment, where enormous installation costs can be saved.
  • the supply module can be realized by the arrangement of both the turbine wheel and the rotor of the generator in the same housing very small, the arrangement of the rotor and the turbine on a common shaft still supports this Kleinstaubweise and contributes to a simple assembly, as both in one operation can be used in the housing.
  • the entire supply module is quickly and easily replaceable as a compact unit.
  • control device According to the invention, in particular, that the air pressure transducer for the charge control valve is only switched on when this is necessary for the energy supply. In the remaining time, so with sufficient state of charge of the energy storage, the air pressure transducer is turned off, and there is no air consumption. By the charge control device, the state of charge of the energy storage can be completely detected.
  • the charge control valve can form part of this valve arrangement and thus contribute to reducing the number of total components.
  • At least one sensor interface which can be connected to external sensors has proven to be favorable on the sequence controller. As a result, for example, sensors arranged on the actuators can be evaluated without the need for voltage supply lines from external devices.
  • a pressure sensor connected to the pressure line is expediently connected to the sequence controller in order to be able to monitor the supply pressure and to be able to take suitable measures if it moves outside a correct range.
  • the energy balance can additionally be improved by providing a solar cell generator and / or a wind generator in addition to the charge of the energy store.
  • the energy store is expediently designed as an electric battery, in particular as a rechargeable battery, or as a capacitor arrangement.
  • an infrared and / or radio device is suitable as a wireless transmitting and / or receiving device.
  • the entire control device with all the components can be advantageously designed as a compact unit, in particular be arranged in a common housing.
  • the generator is expediently designed as an alternating voltage generator, in which case the charging control device contains the electrical components required for forming a direct voltage, for example a rectifier arrangement, a regulating device and / or a smoothing device.
  • the generator can also be designed as a DC voltage generator.
  • control device described below for at least one fluidic actuator 10 is housed as a compact unit in a common housing 11, wherein variations may also be divided into several units.
  • a single actuator is shown, for example, a linear drive, a pneumatic gripper, a working cylinder, a process valve or the like, wherein a plurality of identical or different actuators can be controlled.
  • a corresponding number and design of control valves must be provided in the control device. It is also possible to arrange the control device together with an actuator integrally in a housing or to integrate.
  • a flow controller 12 For electronic control of the actuator 10 is a flow controller 12, which contains at least one microprocessor or a logic logic.
  • a radio device 13 designed as a transmitting and receiving device is used for wireless data transmission from and to an external control unit 14, which may be, for example, a central control for a plurality of such control devices. From this control unit 14 control signals are transmitted to the sequence controller 12, wherein in the reverse direction, transmission signals are sent to the external control unit 14.
  • the flow controller 12 may itself include a flow program through which certain functions and operations in the actuator 10 may be independently controlled. It remains the respective conception reserved which and how many functions of the sequence controller 12 can run independently and which and how many functions are controlled by the external control unit 14.
  • an infrared device 15 is also connected to the sequence controller 12, via which alternatively or additionally a communication with external devices, for example also with an external control unit, can be carried out. In a simpler embodiment, this infrared device 15 can also be omitted.
  • the control device is connected to a fluidic pressure line 16 to which a working pressure P of an external pressure source is constantly applied.
  • This pressure line 16 extends via an input valve 17 and a working valve 18 in the housing 11 to the actuator 10.
  • a connected to the pressure line 16 pressure sensor 19 is connected to the sequence controller 12 and transmits the measured pressure values to this.
  • external sensors 20, 21 are connected via a sensor interface 22 to the sequence controller 12, to this sensor data, for example of the actuator 10 or other external sensor data.
  • Such sensor data are position data as well as, for example, print data, temperature data or the like. All sensor data can be transmitted from the flow controller 12 via the radio device 13 of the external control unit 14.
  • the sequence controller 12 is used for position control of, for example, designed as a working cylinder or process valve actuator 10.
  • a limit position detection and / or end position control of the corresponding actuator member of the actuator 10 so for example a piston or valve member, while also a cushioning can be realized.
  • a limit position detection and / or end position control of the corresponding actuator member of the actuator 10 so for example a piston or valve member, while also a cushioning can be realized.
  • a limit position detection and / or end position control of the corresponding actuator member of the actuator 10 so for example a piston or valve member, while also a cushioning can be realized.
  • an electric or electropneumatic fine drive can be provided as an additional servopneumatic or electrical positioner, which is switched linear or parallel.
  • the pressure line 16 is further connected to the input valve 17 via a charge control valve 23 and an air pressure transducer 24 with a fluid outlet 25.
  • the air pressure converter 24 drives an electric generator 26 whose generated Voltage via a charge control device 27 for charging an electric storage battery 28 is used.
  • the electric generator 26 may be a DC or AC generator.
  • the charge control device 27 also contains a controlled or uncontrolled rectifier arrangement, eg a MOSFET rectifier circuit.
  • the charge control device 27 reports the respective state of charge of the storage battery 28 to the sequence controller 12, which then opens the charge control valve 23 via a valve driver stage arrangement 29 as required, that is to say when the charge state is too low, and thereby the air pressure converter 24 and the electric generator 26 for charging the storage battery 28 in operation.
  • the charging control device 27 supplies all the electrical and electronic components of the control device with the required supply voltage.
  • the charge control device 27 includes a voltage converter, which converts the voltage of the storage battery 28 into the respectively required supply voltage, which should be a stabilized voltage.
  • the air pressure transducer 24 may be formed, for example, as a microturbine or vane motor, with vane motors being commercially available, for example, under the name Globe vane motor.
  • any known system can be used for the combination of air pressure motor-generator in the invention, can be converted by the air pressure energy into electrical energy.
  • non-rotating electrical generators for example piezo-generators.
  • the input valve 17 and the working valve 18 are also controlled by the drain controller 12 via the valve driver stage assembly 29.
  • the input valve 17 is open in the normal state.
  • the outflowing fluid is used in addition to the operation of the air pressure transducer 24 and the electric generator 26 and thus to charge the storage battery 28.
  • the working valve 18 and the charge control valve 23 are opened and the input valve 17 is closed.
  • the fluid flow around the actuator 10 can be guided via the air pressure transducer 24 to the fluid outlet 25.
  • the working valve 18 may be formed as a multi-way valve and have a fluid outlet for the discharged from the actuator 10 fluid. This fluid outlet can then be connected directly to the inlet of the air pressure transducer 24. In this case, the input valve 17 can be omitted, and the charge control valve 23 is closed during the backflow of the fluid from the actuator 10.
  • the execution of the working valve 18 depends not least on the control requirements for the actuator 10, that is, how many control paths the working valve 18 must have.
  • the charge control device 27 may also be integrated in the drain controller 12. Alternatively, a separation of the charge control device 27 may be provided in a module for actual charge control or regulation and in a module for power supply.
  • a solar cell generator 30 and / or a wind generator 31 may also be provided. This depends on the particular local conditions, that is, whether the control device is positioned at a location that ensures sufficient light, or at a point where sufficient wind occurs, so for example in an outdoor application.
  • control device is used in a potentially explosive area, then the units used must be explosion-proof, for example, the housing would have to be designed either pressure-resistant or overpressure-encapsulated.
  • a capacitive element or a capacitor arrangement can be used as an energy storage, including, for example. at least one gold cap or ultracap element is particularly suitable.
  • FIG. 2 illustrated electrical supply module, which in itself is not part of the invention, contains a part of the components and assemblies according to FIG. 1 Essentially, the part that is used for the power supply. These components are integrated in a separate module housing 41, which is used to power the in FIG. 1 can be used in the housing 11 shown control device. However, this electrical supply module 40 can also be used to supply power to other electrical devices that have a fluid connection, in particular a compressed air connection. Same or equivalent components and assemblies already in FIG. 1 are shown and described in wear FIG. 2 the same reference numerals.
  • the example cylindrical, cuboid or pot-shaped module housing 41 includes the arranged on a common shaft 42 compressed air converter 24 and the electric generator 26.
  • This common shaft is connected to an end portion in a bearing 43 of an end wall 44 of the module housing 41 and with its other end in one Bearing 45 mounted in an intermediate wall 46.
  • a compressed air inlet 47 is connected to a compressed air outlet 48 via the charge control valve 23 designed as a proportional valve and via the compressed air converter 24 designed as a microturbine. If the compressed air inlet 47 is acted upon by compressed air, then a turbine wheel 49 of the compressed air converter 24 is driven and set in rotation, which in turn drives a rotor 50 of the electric generator 26 via the common shaft 42.
  • the electric generator 26 consists of this rotor 50 and a stator winding 51 in the form of a basket winding, which is arranged in a wall region of a housing part 52 of the module housing 41 encompassing the rotor 50.
  • this stator coil 51 could also be arranged on the inside of the housing part 52; however, this would require a larger footprint.
  • the winding may also rotate while the permanent magnet substantially forms the stator.
  • the stator coil 51 is connected via electrical lines 53 to the charge control device 27, which is also located in the module housing 41 and which is designed to charge the electric storage battery 28 on the one hand and for the removal of energy from the same, as has already been described.
  • the charge control device 27 In a trained as an alternator generator 26 are for the voltage conditioning required components in the charge control device 27 included. This may be, for example, a rectifier arrangement and / or a regulating device and / or a smoothing arrangement.
  • the rectifier arrangement can be designed as a controlled or uncontrolled rectifier circuit, for example as a MOSFET circuit. Instead of an alternator, of course, a DC generator can be used, which does not require a rectifier arrangement.
  • the sequence controller 12 could additionally be integrated in the module housing.
  • the module housing described is a very small housing which is suitable for insertion into pneumatic or electrical arrangements with pneumatic components.
  • a typical size for example, has a length of 30 mm and a diameter of 20 mm.
  • the charge control valve 23 may be formed, for example, as a piezo valve.
  • a speed sensor 54 is used to detect the rotational speed of the turbine wheel 59 and the rotor 50 of the generator 26. It is also connected via the electrical lines 53 to the charge control device 27, wherein the illustrated two lines 53 are only a schematic representation. The number of lines, however, depends on the respective requirements.
  • the rotational speed signal of the rotational speed sensor 54 is supplied to the charge control device 27, which contains a control device, as an actual value in order to regulate the rotational speed of the generator 26 as a function of the required charging voltage. It is a load-dependent speed control to regulate a desired voltage of 12 V, for example. This is done via the designed as a proportional valve charge control valve 23, the air flow through the Compressed air converter 24 continuously controls or regulates.
  • the actuation of the charge control valve 23 via the integrated valve driver stage assembly 29, of course, according to FIG. 1 can be designed as a separate unit.
  • the charge state of the storage battery 28 is continuously interrogated by the charge control device 27, and accordingly the charging voltage is controlled by the rotational speed of the electric generator 26.
  • the voltage of the storage battery 28 or a voltage derived therefrom can be tapped as the supply voltage.
  • the charge control device 27 may also include a voltage converter and / or a voltage regulator to provide one or more supply voltages as stabilized voltages available.
  • the pressure sensor 19 generates a sensor value which corresponds to the supply pressure at the compressed air inlet (47) and supplies it to the charge control device (27) so that the speed control can be influenced as a function of the available supply pressure.

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Analytical Chemistry (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Connection Of Motors, Electrical Generators, Mechanical Devices, And The Like (AREA)
  • Fluid-Pressure Circuits (AREA)
  • Control Of Eletrric Generators (AREA)

Description

Die Erfindung betrifft eine Steuereinrichtung für wenigstens einen fluidischen Aktor nach der Gattung des Anspruchs 1.The invention relates to a control device for at least one fluidic actuator according to the preamble of claim 1.

Eine derartige, aus der WO 01/18405 A1 bekannte Steuereinrichtung enthält zur Energieerzeugung beispielsweise einen Luftdruckwandler mit elektrischem Generator. Diese ist ständig an die Druckleitung angeschlossen, was einen ständigen Luftverbrauch zur Folge hat, selbst wenn der Energiespeicher einen ausreichenden Speicherinhalt besitzt. Aufgrund des dauernden Betriebs wird sogar vorgeschlagen, auf den Energie-speicher ganz zu verzichten. Dessen Ladezustand hängt somit von der Arbeitsweise der übrigen Komponenten ab und ist mehr oder weniger zufällig.Such, from the WO 01/18405 A1 known control device includes for generating energy, for example, an air pressure transducer with electric generator. This is constantly connected to the pressure line, which has a constant air consumption, even if the energy storage has sufficient memory content. Due to the continuous operation, it is even suggested to completely renounce the energy storage. Its state of charge thus depends on the operation of the other components and is more or less random.

Eine Aufgabe der vorliegenden Erfindung besteht darin, die bekannte Steuereinrichtung so zu verbessern, dass der Luftverbrauch trotz ausreichender Spannungsversorgung minimiert wird.An object of the present invention is to improve the known control device so that the air consumption is minimized despite sufficient power supply.

Diese Aufgabe wird erfindungsgemäß durch eine Steuereinrichtung mit den Merkmalen des Anspruchs 1 gelöst.This object is achieved by a control device with the features of claim 1 solved.

Eine günstige Energiebilanz und ein geringer Luftverbrauch für die Energieerzeugung werden dadurch erreicht, dass eine von der Ventiltreiberstufenanordnung gesteuerte, Aktorabluft über den Luftdruckwandler führende Ventilanordnung vorgesehen ist. Fluidische Aktoren müssen betriebsbedingt immer wieder entlüftet werden. Dabei wird diese ansonsten für die Energiebilanz nicht verwertbare Abluft über den Luftdruckwandler geführt und trägt positiv zur Energiebilanz, nämlich zur Aufladung des Energiespeichers, bei. Dadurch muss diese weniger oft durch die fluidische Druckleitung eingeschaltet werden.A favorable energy balance and a low air consumption for energy generation are achieved by providing actuator exhaust air controlled by the valve driver stage assembly via the air pressure transducer leading valve assembly. Fluidic actuators must be vented again and again due to operational reasons. In the process, this exhaust air, which is otherwise unusable for the energy balance, is guided via the air pressure transducer and contributes positively to the energy balance, namely to the charging of the energy store. As a result, it must be switched on less often by the fluidic pressure line.

Die gesamte Steuereinrichtung besitzt den weiteren besonderen Vorteil, dass sie lediglich an eine fluidische Leitung angeschlossen werden muss. Sämtliche elektrischen Versorgungs-und Steuerleitungen können entfallen. Sie eignet sich daher vor allem für den Einsatz in räumlich weit verteilten Systemen, beispielsweise Prozessanlagen, bei denen enorme Installationskosten eingespart werden können.The entire control device has the further particular advantage that it only has to be connected to a fluidic line. All electrical supply and control lines can be omitted. It is therefore particularly suitable for use in spatially widely distributed systems, such as process equipment, where enormous installation costs can be saved.

Vorteilhafterweise kann das Versorgungsmodul durch die Anordnung sowohl des Turbinenrads als auch des Rotors des Generators im gleichen Gehäuse sehr kleinbauend realisiert werden, wobei die Anordnung des Rotors und des Turbinenrads auf einer gemeinsamen Welle diese Kleinstaubweise noch unterstützt und zu einer einfachen Montage beiträgt, da beides in einem Arbeitsgang in das Gehäuse eingesetzt werden kann. Das gesamte Versorgungsmodul ist als kompakte Einheit schnell und einfach austauschbar.Advantageously, the supply module can be realized by the arrangement of both the turbine wheel and the rotor of the generator in the same housing very small, the arrangement of the rotor and the turbine on a common shaft still supports this Kleinstaubweise and contributes to a simple assembly, as both in one operation can be used in the housing. The entire supply module is quickly and easily replaceable as a compact unit.

Durch die in den Unteransprüchen aufgeführten Maßnahmen sind vorteilhafte Weiterbildungen und Verbesserungen der im Anspruch 1 angegebenen Steuereinrichtung möglich.The measures listed in the dependent claims advantageous refinements and improvements of the claim 1 control device are possible.

Weitere Vorteile der erfindungsgemäßen Steuereinrichtung bestehen insbesondere darin, dass der Luftdruckwandler für das Ladesteuerungsventil nur dann eingeschaltet wird, wenn dies für die Energieversorgung erforderlich ist. In der übrigen Zeit, also bei ausreichendem Ladezustand des Energiespeichers, ist der Luftdruckwandler abgeschaltet, und es tritt kein Luftverbrauch auf. Durch die Ladesteuerungseinrichtung kann der Ladezustand des Energiespeichers komplett erfasst werden.Further advantages of the control device according to the invention are, in particular, that the air pressure transducer for the charge control valve is only switched on when this is necessary for the energy supply. In the remaining time, so with sufficient state of charge of the energy storage, the air pressure transducer is turned off, and there is no air consumption. By the charge control device, the state of charge of the energy storage can be completely detected.

In vorteilhafter Weise kann das Ladesteuerungsventil einen Teil dieser Ventilanordnung bilden und so zur Verringerung der Zahl der Gesamtkomponenten beitragen.Advantageously, the charge control valve can form part of this valve arrangement and thus contribute to reducing the number of total components.

Als günstig hat sich auch wenigstens ein mit externen Sensoren verbindbares Sensor-Interface am Ablauf-Controller erwiesen. Hierdurch können beispielsweise an den Aktoren angeordnete Sensoren ausgewertet werden, ohne dass Spannungsversorgungsleitungen von externen Einrichtungen erforderlich wären.At least one sensor interface which can be connected to external sensors has proven to be favorable on the sequence controller. As a result, for example, sensors arranged on the actuators can be evaluated without the need for voltage supply lines from external devices.

Zweckmäßigerweise ist ein an die Druckleitung angeschlossener Drucksensor mit dem Ablauf-Controller verbunden, um den Versorgungsdruck überwachen zu können und um geeignete Maßnahmen ergreifen zu können, wenn dieser sich außerhalb eines korrekten Bereichs bewegt.A pressure sensor connected to the pressure line is expediently connected to the sequence controller in order to be able to monitor the supply pressure and to be able to take suitable measures if it moves outside a correct range.

Die Energiebilanz kann noch zusätzlich dadurch verbessert werden, dass ein Solarzellengenerator und/oder ein Windgenerator zusätzlich zur Ladung des Energiespeichers vorgesehen sind.The energy balance can additionally be improved by providing a solar cell generator and / or a wind generator in addition to the charge of the energy store.

Der Energiespeicher ist zweckmäßigerweise als elektrische Batterie, insbesondere als Akkumulator, oder als Kondensatoranordnung ausgebildet.The energy store is expediently designed as an electric battery, in particular as a rechargeable battery, or as a capacitor arrangement.

Als drahtlose Sende- und/oder Empfangseinrichtung eignet sich insbesondere eine Infrarot- und/oder Funkeinrichtung.In particular, an infrared and / or radio device is suitable as a wireless transmitting and / or receiving device.

Die gesamte Steuereinrichtung mit sämtlichen Komponenten kann in vorteilhafter Weise als kompakte Einheit ausgebildet sein, insbesondere in einem gemeinsamen Gehäuse angeordnet sein.The entire control device with all the components can be advantageously designed as a compact unit, in particular be arranged in a common housing.

Der Generator ist zweckmäßigerweise als Wechselspannungsgenerator ausgebildet, wobei dann die Ladesteuerungseinrichtung die zur Bildung einer Gleichspannung erforderlichen elektrischen Komponenten enthält, beispielsweise eine Gleichrichteranordnung, eine Regeleinrichtung und/oder eine Glättungseinrichtung. Der Generator kann jedoch auch als Gleichspannungsgenerator ausgebildet sein.The generator is expediently designed as an alternating voltage generator, in which case the charging control device contains the electrical components required for forming a direct voltage, for example a rectifier arrangement, a regulating device and / or a smoothing device. However, the generator can also be designed as a DC voltage generator.

Ausführungsbeispiele der Erfindung sind in der Zeichnung dargestellt und in der weiteren Beschreibung näher erläutert. Es zeigen:

Figur 1
ein Blockschaltbild einer Steuereinrichtung als Ausführungsbeispiel der Erfindung und
Figur 2
ein elektrisches Versorgungsmodul zur Spannungsversorgung der Steuereinrichtung oder einer sonstigen elektrischen Einrichtung.
Embodiments of the invention are illustrated in the drawings and explained in more detail in the further description. Show it:
FIG. 1
a block diagram of a control device as an embodiment of the invention and
FIG. 2
an electrical supply module for supplying power to the control device or other electrical device.

Die im Folgenden beschriebene Steuereinrichtung für wenigstens einen fluidischen Aktor 10 ist als kompakte Einheit in einem gemeinsamen Gehäuse 11 untergebracht, wobei Variationen auch in mehrere Einheiten unterteilt sein können. Im Ausführungsbeispiel ist ein einziger Aktor dargestellt, beispielsweise ein Linearantrieb, ein pneumatischer Greifer, ein Arbeitszylinder, ein Prozessventil oder dergleichen, wobei auch mehrere gleiche oder unterschiedliche Aktoren angesteuert werden können. Hierzu müssen eine entsprechende Zahl und Ausgestaltung von Steuerventilen in der Steuereinrichtung vorgesehen sein. Es ist auch möglich, die Steuereinrichtung zusammen mit einem Aktor integral in einem Gehäuse anzuordnen bzw. zu integrieren.The control device described below for at least one fluidic actuator 10 is housed as a compact unit in a common housing 11, wherein variations may also be divided into several units. In the exemplary embodiment, a single actuator is shown, for example, a linear drive, a pneumatic gripper, a working cylinder, a process valve or the like, wherein a plurality of identical or different actuators can be controlled. For this purpose, a corresponding number and design of control valves must be provided in the control device. It is also possible to arrange the control device together with an actuator integrally in a housing or to integrate.

Zur elektronischen Steuerung des Aktors 10 dient ein Ablauf-Controller 12, der mindestens einen Mikroprozessor oder eine Verknüpfungslogik enthält. Eine als Sende- und Empfangseinrichtung ausgebildete Funkeinrichtung 13 dient zur drahtlosen Datenübertragung von und zu einer externen Steuereinheit 14, bei der es sich beispielsweise um eine Zentralsteuerung für mehrere solcher Steuereinrichtungen handeln kann. Von dieser Steuereinheit 14 werden Steuersignale an den Ablauf-Controller 12 übermittelt, wobei in umgekehrter Richtung Sendesignale an die externe Steuereinheit 14 gesendet werden. Der Ablauf-Controller 12 kann selbst ein Ablaufprogramm enthalten, durch das bestimmte Funktionen und Abläufe im Aktor 10 unabhängig gesteuert werden können. Es bleibt der jeweiligen Konzeption vorbehalten, welche und wie viele Funktionen der Ablauf-Controller 12 selbstständig ausführen kann und welche und wie viele Funktionen seitens der externen Steuereinheit 14 gesteuert werden.For electronic control of the actuator 10 is a flow controller 12, which contains at least one microprocessor or a logic logic. A radio device 13 designed as a transmitting and receiving device is used for wireless data transmission from and to an external control unit 14, which may be, for example, a central control for a plurality of such control devices. From this control unit 14 control signals are transmitted to the sequence controller 12, wherein in the reverse direction, transmission signals are sent to the external control unit 14. The flow controller 12 may itself include a flow program through which certain functions and operations in the actuator 10 may be independently controlled. It remains the respective conception reserved which and how many functions of the sequence controller 12 can run independently and which and how many functions are controlled by the external control unit 14.

Als weitere drahtlose Kommunikationseinrichtung ist noch eine Infraroteinrichtung 15 mit dem Ablauf-Controller 12 verbunden, über die alternativ oder zusätzlich eine Kommunikation mit externen Geräten, beispielsweise auch mit einer externen Steuereinheit, durchgeführt werden kann. In einer einfacheren Ausführung kann diese Infraroteinrichtung 15 auch entfallen.As an additional wireless communication device, an infrared device 15 is also connected to the sequence controller 12, via which alternatively or additionally a communication with external devices, for example also with an external control unit, can be carried out. In a simpler embodiment, this infrared device 15 can also be omitted.

Die Steuereinrichtung ist an eine fluidische Druckleitung 16 angeschlossen, an der ständig ein Arbeitsdruck P einer externen Druckquelle anliegt. Diese Druckleitung 16 verläuft über ein Eingangsventil 17 und ein Arbeitsventil 18 im Gehäuse 11 bis zum Aktor 10. Ein an die Druckleitung 16 angeschlossener Drucksensor 19 ist mit dem Ablauf-Controller 12 verbunden und überträgt die gemessenen Druckwerte an diesen. Weiterhin sind externe Sensoren 20, 21 über ein Sensor-Interface 22 mit dem Ablauf-Controller 12 verbunden, um diesem beispielsweise Sensordaten des Aktors 10 oder sonstige externe Sensordaten zu übermitteln. Solche Sensordaten sind Positionsdaten sowie beispielsweise Druckdaten, Temperaturdaten oder dergleichen. Alle Sensordaten können vom Ablauf-Controller 12 aus über die Funkeinrichtung 13 der externen Steuereinheit 14 übermittelt werden.The control device is connected to a fluidic pressure line 16 to which a working pressure P of an external pressure source is constantly applied. This pressure line 16 extends via an input valve 17 and a working valve 18 in the housing 11 to the actuator 10. A connected to the pressure line 16 pressure sensor 19 is connected to the sequence controller 12 and transmits the measured pressure values to this. Furthermore, external sensors 20, 21 are connected via a sensor interface 22 to the sequence controller 12, to this sensor data, for example of the actuator 10 or other external sensor data. Such sensor data are position data as well as, for example, print data, temperature data or the like. All sensor data can be transmitted from the flow controller 12 via the radio device 13 of the external control unit 14.

Im Falle der Ausbildung der Sensoren 20, 21 oder eines Teils derselben als ein Positionssensor oder als mehrere Positionssensoren oder als kontinuierliches Wege- oder Winkelmesssystem dient der Ablauf-Controller 12 zur Positionsregelung des beispielsweise als Arbeitszylinder oder Prozessventil ausgebildeten Aktors 10. Neben einer Endlagenerkennung und/oder Endlagenregelung des entsprechenden Aktorglieds des Aktors 10, also beispielsweise eines Kolbens oder Ventilglieds, kann dabei auch noch eine Endlagendämpfung realisiert werden. Je nach der Zahl der Positionsschalter bzw. Positionssensoren können mehrere Positionen angefahren bzw. eingeregelt werden. Im Falle eines kontinuierlichen Wege- oder Winkelmesssystems können beliebige Positionen angefahren werden. Zur Feinregelung kann noch ein elektrischer oder elektropneumatischer Feinantrieb als zusätzlicher servopneumatischer oder elektrischer Stellungsregler vorgesehen sein, der linear oder parallel geschaltet wird. Insgesamt wird dadurch eine sensorabhängige Lageregelung realisiert, die keine Zufuhr elektrischer Energie von außen erfordert und die somit eine autarke Einrichtung bildet, wobei bevorzugt die Steuereinrichtung an den Aktor angebaut ist oder mit diesem zusammen eine integrierte Einheit bildet.In the case of the formation of the sensors 20, 21 or a part thereof as a position sensor or as a plurality of position sensors or as a continuous path or angle measuring system of the sequence controller 12 is used for position control of, for example, designed as a working cylinder or process valve actuator 10. In addition to a limit position detection and / or end position control of the corresponding actuator member of the actuator 10, so for example a piston or valve member, while also a cushioning can be realized. Depending on the number of position switches or position sensors several positions can be approached or adjusted. In the case of a continuous path or angle measuring system, any positions can be approached. For fine control, an electric or electropneumatic fine drive can be provided as an additional servopneumatic or electrical positioner, which is switched linear or parallel. Overall, a sensor-dependent position control is thereby realized, which requires no supply of electrical energy from the outside and thus forms a self-sufficient device, wherein preferably the control device is attached to the actuator or together with this forms an integrated unit.

Die Druckleitung 16 ist weiterhin nach dem Eingangsventil 17 über ein Ladesteuerungsventil 23 und einen Luftdruckwandler 24 mit einem Fluidausgang 25 verbunden. Der Luftdruckwandler 24 treibt einen elektrischen Generator 26 an, dessen erzeugte Spannung über eine Ladesteuerungseinrichtung 27 zur Aufladung einer elektrischen Speicherbatterie 28 dient. Der elektrische Generator 26 kann ein Gleichstrom- oder Wechselstromgenerator sein. Im Falle eines Wechselspannungsgenerators enthält die Ladesteuerungseinrichtung 27 noch eine gesteuerte oder ungesteuerte Gleichrichteranordnung, z.B. eine MOSFET-Gleichrichterschaltung. Die Ladesteuerungseinrichtung 27 meldet den jeweiligen Ladezustand der Speicherbatterie 28 dem Ablauf-Controller 12, der dann jeweils nach Bedarf, also bei zu niedrigem Ladezustand, über eine Ventiltreiberstufenanordnung 29 das Ladesteuerungsventil 23 öffnet und dadurch den Luftdruckwandler 24 und den elektrischen Generator 26 zur Aufladung der Speicherbatterie 28 in Betrieb setzt. Nach Erreichen des jeweils vorgesehenen korrekten Ladezustands wird dann das Ladesteuerungsventil 23 wieder geschlossen. Über die Ladesteuerungseinrichtung 27 werden alle elektrischen und elektronischen Komponenten der Steuereinrichtung mit der erforderlichen Versorgungsspannung versorgt. Hierzu enthält die Ladesteuerungseinrichtung 27 einen Spannungsumsetzer, der die Spannung der Speicherbatterie 28 in die jeweils erforderliche Versorgungsspannung umsetzt, die eine stabilisierte Spannung sein sollte.The pressure line 16 is further connected to the input valve 17 via a charge control valve 23 and an air pressure transducer 24 with a fluid outlet 25. The air pressure converter 24 drives an electric generator 26 whose generated Voltage via a charge control device 27 for charging an electric storage battery 28 is used. The electric generator 26 may be a DC or AC generator. In the case of an AC voltage generator, the charge control device 27 also contains a controlled or uncontrolled rectifier arrangement, eg a MOSFET rectifier circuit. The charge control device 27 reports the respective state of charge of the storage battery 28 to the sequence controller 12, which then opens the charge control valve 23 via a valve driver stage arrangement 29 as required, that is to say when the charge state is too low, and thereby the air pressure converter 24 and the electric generator 26 for charging the storage battery 28 in operation. After reaching the respectively provided correct state of charge then the charge control valve 23 is closed again. The charging control device 27 supplies all the electrical and electronic components of the control device with the required supply voltage. For this purpose, the charge control device 27 includes a voltage converter, which converts the voltage of the storage battery 28 into the respectively required supply voltage, which should be a stabilized voltage.

Der Luftdruckwandler 24 kann z.B. als Mikroturbine oder Lamellenmotor ausgebildet sein, wobei Lamellenmotoren beispielsweise unter der Bezeichnung Globe Lamellenmotor im Handel erhältlich sind. Im Übrigen kann für die Kombination Luftdruckmotor-Generator jedes bekannte System im Rahmen der Erfindung eingesetzt werden, durch das Luftdruckenergie in elektrische Energie umgesetzt werden kann. Dabei können außer rotierenden Generatoren auch nicht-rotierende elektrische Generatoren eingesetzt werden, z.B. Piezo-Generatoren.The air pressure transducer 24 may be formed, for example, as a microturbine or vane motor, with vane motors being commercially available, for example, under the name Globe vane motor. Incidentally, any known system can be used for the combination of air pressure motor-generator in the invention, can be converted by the air pressure energy into electrical energy. In addition to rotating generators, it is also possible to use non-rotating electrical generators, for example piezo-generators.

Das Eingangsventil 17 und das Arbeitsventil 18 werden ebenfalls vom Ablauf-Controller 12 über die Ventiltreiberstufenanordnung 29 gesteuert. Das Eingangsventil 17 ist im Normalzustand geöffnet. Bei einer Entlüftung des Aktors 10 wird das ausströmende Fluid zusätzlich zum Betrieb des Luftdruckwandlers 24 beziehungsweise des elektrischen Generators 26 und damit zur Aufladung der Speicherbatterie 28 verwendet. Hierzu werden das Arbeitsventil 18 und das Ladesteuerungsventil 23 geöffnet und das Eingangsventil 17 geschlossen. Dadurch kann das vom Aktor 10 umströmte Fluid über den Luftdruckwandler 24 zum Fluidausgang 25 geführt werden.The input valve 17 and the working valve 18 are also controlled by the drain controller 12 via the valve driver stage assembly 29. The input valve 17 is open in the normal state. In a venting of the actuator 10, the outflowing fluid is used in addition to the operation of the air pressure transducer 24 and the electric generator 26 and thus to charge the storage battery 28. For this purpose, the working valve 18 and the charge control valve 23 are opened and the input valve 17 is closed. As a result, the fluid flow around the actuator 10 can be guided via the air pressure transducer 24 to the fluid outlet 25.

Alternativ hierzu kann auch das Arbeitsventil 18 als Mehrwegeventil ausgebildet sein und einen Fluidauslass für das vom Aktor 10 abgegebene Fluid besitzen. Dieser Fluidauslass kann dann direkt mit dem Eingang des Luftdruckwandlers 24 verbunden werden. In diesem Falle kann das Eingangsventil 17 entfallen, und das Ladesteuerungsventil 23 ist während der Rückströmung des Fluids vom Aktor 10 geschlossen. Die Ausführung des Arbeitsventils 18 hängt nicht zuletzt auch von den Steuerungserfordernissen für den Aktor 10 ab, das heißt, wie viele Steuerungswege das Arbeitsventil 18 besitzen muss. Anstelle eines Arbeitsventils können selbstverständlich auch mehrere Arbeitsventile vorgesehen sein, insbesondere auch für den Fall, dass mehrere Aktoren 10 angeschlossen sind. Als Ventile eignen sich vor allem Impulsventile.Alternatively, the working valve 18 may be formed as a multi-way valve and have a fluid outlet for the discharged from the actuator 10 fluid. This fluid outlet can then be connected directly to the inlet of the air pressure transducer 24. In this case, the input valve 17 can be omitted, and the charge control valve 23 is closed during the backflow of the fluid from the actuator 10. The execution of the working valve 18 depends not least on the control requirements for the actuator 10, that is, how many control paths the working valve 18 must have. Of course, instead of a working valve, it is also possible to provide a plurality of working valves, in particular also in the event that a plurality of actuators 10 are connected. Above all, impulse valves are suitable as valves.

Die Ladesteuerungseinrichtung 27 kann auch im Ablauf-Controller 12 mitintegriert sein. Alternativ hierzu kann auch eine Auftrennung der Ladesteuerungseinrichtung 27 in ein Modul zur eigentlichen Ladesteuerung oder -regelung und in ein Modul zur Spannungsversorgung vorgesehen sein.The charge control device 27 may also be integrated in the drain controller 12. Alternatively, a separation of the charge control device 27 may be provided in a module for actual charge control or regulation and in a module for power supply.

Zur zusätzlichen Energieerzeugung können auch noch ein Solarzellengenerator 30 und/oder ein Windgenerator 31 vorgesehen sein. Dies hängt von den jeweiligen örtlichen Gegebenheiten ab, also ob die Steuereinrichtung an einer Stelle positioniert ist, die einen ausreichenden Lichteinfall gewährleistet, oder an einer Stelle, an der ausreichender Wind auftritt, also beispielsweise bei einer Anwendung im Freien.For additional energy generation, a solar cell generator 30 and / or a wind generator 31 may also be provided. This depends on the particular local conditions, that is, whether the control device is positioned at a location that ensures sufficient light, or at a point where sufficient wind occurs, so for example in an outdoor application.

Falls die Steuereinrichtung in einem explosionsgefährdeten Bereich eingesetzt wird, so müssen die eingesetzten Einheiten explosionsgeschützt ausgeführt werden, wobei beispielsweise das Gehäuse entweder druckfest oder überdruckgekapselt ausgeführt werden müsste.If the control device is used in a potentially explosive area, then the units used must be explosion-proof, for example, the housing would have to be designed either pressure-resistant or overpressure-encapsulated.

Anstelle einer elektrischen Speicherbatterie 28 oder eines sonstigen elektrischen Akkumulators kann beispielsweise auch ein kapazitives Element bzw. eine Kondensatoranordnung als Energiespeicher eingesetzt werden, wozu sich z.B. wenigstens ein Goldcap- oder Ultracap-Element besonders eignet.Instead of an electrical storage battery 28 or other electrical accumulator, for example, a capacitive element or a capacitor arrangement can be used as an energy storage, including, for example. at least one gold cap or ultracap element is particularly suitable.

Das in Figur 2 dargestellte elektrische Versorgungsmodul, das für sich genommen nicht Teil der Erfindung ist, enthält einen Teil der Bauteile und Baugruppen gemäß Figur 1, und zwar im Wesentlichen den Teil, der für die Spannungsversorgung eingesetzt wird. Diese Bauteile sind in einem eigenen Modulgehäuse 41 integriert, das zur Spannungsversorgung der in Figur 1 dargestellten Steuereinrichtung in deren Gehäuse 11 eingesetzt sein kann. Dieses elektrische Versorgungsmodul 40 kann jedoch auch zur Spannungsversorgung anderer elektrischer Geräte eingesetzt werden, die einen Fluidanschluss, insbesondere einen Druckluftanschluss besitzen. Gleiche oder gleichwirkende Bauteile und Baugruppen, die bereits in Figur 1 dargestellt und beschrieben sind, tragen in Figur 2 dieselben Bezugszeichen.This in FIG. 2 illustrated electrical supply module, which in itself is not part of the invention, contains a part of the components and assemblies according to FIG. 1 Essentially, the part that is used for the power supply. These components are integrated in a separate module housing 41, which is used to power the in FIG. 1 can be used in the housing 11 shown control device. However, this electrical supply module 40 can also be used to supply power to other electrical devices that have a fluid connection, in particular a compressed air connection. Same or equivalent components and assemblies already in FIG. 1 are shown and described in wear FIG. 2 the same reference numerals.

Das beispielsweise zylindrische, quaderförmige oder auch topfförmige Modulgehäuse 41 enthält den an einer gemeinsamen Welle 42 angeordneten Druckluftwandler 24 und den elektrischen Generator 26. Diese gemeinsame Welle ist mit einem Endbereich in einem Lager 43 einer Stirnwandung 44 des Modulgehäuses 41 und mit ihrem anderen Endbereich in einem Lager 45 in einer Zwischenwandung 46 gelagert.The example cylindrical, cuboid or pot-shaped module housing 41 includes the arranged on a common shaft 42 compressed air converter 24 and the electric generator 26. This common shaft is connected to an end portion in a bearing 43 of an end wall 44 of the module housing 41 and with its other end in one Bearing 45 mounted in an intermediate wall 46.

Ein Drucklufteinlass 47 ist über das als Proportionalventil ausgebildete Ladesteuerungsventil 23 und über den als Mikroturbine ausgebildeten Druckluftwandler 24 mit einem Druckluftauslass 48 verbunden. Wird der Drucklufteinlass 47 mit Druckluft beaufschlagt, so wird ein Turbinenrad 49 des Druckluftwandlers 24 angetrieben und in Rotation versetzt, das seinerseits über die gemeinsame Welle 42 einen Rotor 50 des elektrischen Generators 26 antreibt.A compressed air inlet 47 is connected to a compressed air outlet 48 via the charge control valve 23 designed as a proportional valve and via the compressed air converter 24 designed as a microturbine. If the compressed air inlet 47 is acted upon by compressed air, then a turbine wheel 49 of the compressed air converter 24 is driven and set in rotation, which in turn drives a rotor 50 of the electric generator 26 via the common shaft 42.

Der elektrische Generator 26 besteht aus diesem Rotor 50 und einer als Korbwicklung ausgebildeten Statorspule 51, die in einem den Rotor 50 umgreifenden Wandbereich eines Gehäuseteils 52 des Modulgehäuses 41 angeordnet ist. Prinzipiell könnte diese Statorspule 51 auch an der Innenseite des Gehäuseteils 52 angeordnet sein; jedoch hätte dies einen größeren Platzbedarf zur Folge. Weiterhin kann bei einer alternativen Glockenanker-Ausführung auch die Wicklung rotieren, während der Permanentmagnet im wesentlichen den Stator bildet.The electric generator 26 consists of this rotor 50 and a stator winding 51 in the form of a basket winding, which is arranged in a wall region of a housing part 52 of the module housing 41 encompassing the rotor 50. In principle, this stator coil 51 could also be arranged on the inside of the housing part 52; however, this would require a larger footprint. Furthermore, in an alternative bell armature design, the winding may also rotate while the permanent magnet substantially forms the stator.

Die Statorspule 51 ist über elektrische Leitungen 53 mit der Ladesteuerungseinrichtung 27 verbunden, die sich ebenfalls im Modulgehäuse 41 befindet und die zur Aufladung der elektrischen Speicherbatterie 28 einerseits und zur Entnahme von Energie aus derselben ausgebildet ist, wie dies bereits beschrieben worden ist. Bei einem als Wechselstromgenerator ausgebildeten Generator 26 sind die für die Spannungsaufbereitung erforderlichen Komponenten in der Ladesteuerungseinrichtung 27 enthalten. Hierbei kann es sich beispielsweise um eine Gleichrichteranordnung und/oder eine Regeleinrichtung und/oder eine Glättungsanordnung handeln. Die Gleichrichteranordnung kann dabei als gesteuerte oder ungesteuerte Gleichrichterschaltung ausgebildet sein, beispielsweise als MOSFET-Schaltung. Anstelle eines Wechselstromgenerators kann selbstverständlich auch ein Gleichstromgenerator eingesetzt werden, der eine Gleichrichteranordnung nicht benötigt. Auch der Ablauf-Controller 12 könnte noch zusätzlich im Modulgehäuse integriert sein.The stator coil 51 is connected via electrical lines 53 to the charge control device 27, which is also located in the module housing 41 and which is designed to charge the electric storage battery 28 on the one hand and for the removal of energy from the same, as has already been described. In a trained as an alternator generator 26 are for the voltage conditioning required components in the charge control device 27 included. This may be, for example, a rectifier arrangement and / or a regulating device and / or a smoothing arrangement. The rectifier arrangement can be designed as a controlled or uncontrolled rectifier circuit, for example as a MOSFET circuit. Instead of an alternator, of course, a DC generator can be used, which does not require a rectifier arrangement. The sequence controller 12 could additionally be integrated in the module housing.

Bei dem beschriebenen Modulgehäuse handelt es sich um ein sehr kleines Gehäuse, das zum Einsetzen in pneumatische bzw. elektrische Anordnungen mit pneumatischen Komponenten geeignet ist. Eine typische Größe besitzt beispielsweise eine Länge von 30 mm und einen Durchmesser von 20 mm. Bei dieser geringen Größe kann das Ladesteuerungsventil 23 beispielsweise als Piezoventil ausgebildet sein.The module housing described is a very small housing which is suitable for insertion into pneumatic or electrical arrangements with pneumatic components. A typical size, for example, has a length of 30 mm and a diameter of 20 mm. In this small size, the charge control valve 23 may be formed, for example, as a piezo valve.

Ein Drehzahlsensor 54 dient zum Erfassen der Drehzahl des Turbinenrads 59 bzw. des Rotors 50 des Generators 26. Er ist ebenfalls über die elektrischen Leitungen 53 mit der Ladesteuerungseinrichtung 27 verbunden, wobei die dargestellten zwei Leitungen 53 nur eine schematische Darstellung sind. Die Zahl der Leitungen richtet sich indes nach den jeweiligen Erfordernissen. Das Drehzahlsignal des Drehzahlsensors 54 wird der Ladesteuerungseinrichtung 27, die eine Regelungseinrichtung enthält, als Istwert zugeführt, um die Drehzahl des Generators 26 in Abhängigkeit der erforderlichen Ladespannung zu regeln. Es handelt sich dabei um eine lastabhängige Drehzahlregelung um eine gewünschte Spannung von z.B. 12 V zu regeln. Dies erfolgt über das als Proportionalventil ausgebildete Ladesteuerungsventil 23, das die Luftströmung durch den Druckluftwandler 24 kontinuierlich steuert bzw. regelt. Die Betätigung des Ladesteuerungsventils 23 erfolgt über die integrierte Ventiltreiberstufenanordnung 29, die selbstverständlich auch gemäß Figur 1 als separate Einheit ausgebildet sein kann.A speed sensor 54 is used to detect the rotational speed of the turbine wheel 59 and the rotor 50 of the generator 26. It is also connected via the electrical lines 53 to the charge control device 27, wherein the illustrated two lines 53 are only a schematic representation. The number of lines, however, depends on the respective requirements. The rotational speed signal of the rotational speed sensor 54 is supplied to the charge control device 27, which contains a control device, as an actual value in order to regulate the rotational speed of the generator 26 as a function of the required charging voltage. It is a load-dependent speed control to regulate a desired voltage of 12 V, for example. This is done via the designed as a proportional valve charge control valve 23, the air flow through the Compressed air converter 24 continuously controls or regulates. The actuation of the charge control valve 23 via the integrated valve driver stage assembly 29, of course, according to FIG. 1 can be designed as a separate unit.

Der Ladezustand der Speicherbatterie 28 wird kontinuierlich von der Ladesteuerungseinrichtung 27 abgefragt, und entsprechend wird über die Drehzahl des elektrischen Generators 26 die Ladespannung geregelt, An elektrischen Anschlüssen 55 der Ladesteuerungseinrichtung 27 kann die Spannung der Speicherbatterie 28 oder eine daraus abgeleitete Spannung als Versorgungsspannung abgegriffen werden. Hierzu kann die Ladesteuerungseinrichtung 27 auch noch einen Spannungsumsetzer und/oder einen Spannungsregler enthalten, um eine oder mehrere Versorgungsspannungen auch als stabilisierte Spannungen zur Verfügung zu stellen.The charge state of the storage battery 28 is continuously interrogated by the charge control device 27, and accordingly the charging voltage is controlled by the rotational speed of the electric generator 26. At electrical connections 55 of the charge control device 27, the voltage of the storage battery 28 or a voltage derived therefrom can be tapped as the supply voltage. For this purpose, the charge control device 27 may also include a voltage converter and / or a voltage regulator to provide one or more supply voltages as stabilized voltages available.

Der Drucksensor 19 erzeugt einen Sensorwert, der dem Versorgungsdruck am Drucklufteinlass (47) entspricht und führt ihn der Ladesteuerungseinrichtung (27) zu, damit die Drehzahlregelung in Abhängigkeit des zur Verfügung stehenden Versorgungsdrucks beeinflusst werden kann.The pressure sensor 19 generates a sensor value which corresponds to the supply pressure at the compressed air inlet (47) and supplies it to the charge control device (27) so that the speed control can be influenced as a function of the available supply pressure.

Claims (11)

  1. Control device for at least one fluidic actuator belonging to the control device, which actuator can be connected to a fluidic pressure line (16) via at least one valve (17, 18), the control device comprising a sequence controller (12) controlling the valve (16, 17) and connected via a wireless transmitting and/or receiving device (13, 15) to an external control unit (14), and further comprising an air pressure converter (24) connected to the pressure line (16), with an electric generator (26) for the generation of electric energy and with an energy storage device (28) for the storage thereof and for the voltage supply of all the electric components which have to be supplied, wherein the actuator (10) comprises a position sensing device (20) for detecting at least one position of its movable actuator member, and wherein the sequence controller (12) comprises means for open- or closed-loop position control of the actuator member by means of the valve (18) in dependence on the detected positional data, characterised in that the control device comprises a valve arrangement (17, 18, 23) which directs actuator exhaust air via the air pressure converter (24) and which can be controlled by a valve driver stage arrangement (29).
  2. Control device according to claim 1, characterised in that the position sensing device (20) is provided with at least one position switch and/or a continuous linear or angular position measuring system.
  3. Control device according to claim 1 or 2, characterised in that the actuator (10) is provided with a servo-pneumatic or electric position controller to support the open- or closed-loop position control.
  4. Control device according to any of the preceding claims, characterised in that the actuator (10) is designed as an operating cylinder or a process valve.
  5. Control device according to any of the preceding claims, characterised in that the air pressure converter (24) is connected to the pressure line (16) via a charge control valve (23), in that a charge control device (27) is provided for the energy storage device (28), and in that the valve driver stage arrangement (29) controlled by the sequence controller (12) is, in order to open the charge control valve (23) if the state of charge of the energy storage device (28) falls below a presettable value, connected to said charge control valve (23).
  6. Charge control device according to claim 5, characterised in that the charge control valve (23) is a part of this valve arrangement.
  7. Control device according to any of the preceding claims, characterised in that the control device comprises a sensor interface (22) which can be connected to at least one external sensor (20, 21) and which is located on the sequence controller (12).
  8. Control device according to any of the preceding claims, characterised in that the control device comprises a pressure sensor (19) connected to the pressure line (16) and connected to the sequence controller (12).
  9. Control device according to any of the preceding claims, characterised in that the control device comprises a solar cell generator (30) and/or a wind-driven generator (31) which is/are additionally provided for charging the energy storage device (28).
  10. Control device according to any of the preceding claims, characterised in that the wireless transmitting and/or receiving device (13, 15) is designed as an infrared and/or radio device.
  11. Control device according to any of the preceding claims, characterised in that it is designed as a compact unit and is in particular accommodated in a common housing (11).
EP20060021167 2005-10-11 2006-10-10 Control device for a fluid actuator Expired - Fee Related EP1775480B1 (en)

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DE200510048646 DE102005048646B3 (en) 2005-10-11 2005-10-11 Control device for fluid actuator e.g. linear drive, has inlet valve, working valve and load control valve that are controlled by valve driver stage arrangement and provided for guiding exhaust air of actuator to air-pressure transducer

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WO2009146718A1 (en) * 2008-06-03 2009-12-10 Siemens Aktiengesellschaft Field device for process instrumentation and operating method
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EP1775480A3 (en) 2009-12-23
EP2322809A3 (en) 2011-09-14
DE102005048646B3 (en) 2007-02-22
EP2322809A1 (en) 2011-05-18
EP2322809A8 (en) 2011-06-29
EP1775480A2 (en) 2007-04-18
DK1775480T3 (en) 2011-08-15

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