EP3501811B1 - Method for regulating the rotor speed of a rotor of a rotary tablet press and rotary tablet press - Google Patents

Method for regulating the rotor speed of a rotor of a rotary tablet press and rotary tablet press Download PDF

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Publication number
EP3501811B1
EP3501811B1 EP18214860.1A EP18214860A EP3501811B1 EP 3501811 B1 EP3501811 B1 EP 3501811B1 EP 18214860 A EP18214860 A EP 18214860A EP 3501811 B1 EP3501811 B1 EP 3501811B1
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EP
European Patent Office
Prior art keywords
rotor
tablet press
torque
rotational speed
rotary drive
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EP18214860.1A
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German (de)
French (fr)
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EP3501811A1 (en
Inventor
Alexander Evers
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Fette Compacting GmbH
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Fette Compacting GmbH
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Publication of EP3501811A1 publication Critical patent/EP3501811A1/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B30—PRESSES
    • B30B—PRESSES IN GENERAL
    • B30B11/00—Presses specially adapted for forming shaped articles from material in particulate or plastic state, e.g. briquetting presses, tabletting presses
    • B30B11/005—Control arrangements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B30—PRESSES
    • B30B—PRESSES IN GENERAL
    • B30B11/00—Presses specially adapted for forming shaped articles from material in particulate or plastic state, e.g. briquetting presses, tabletting presses
    • B30B11/02—Presses specially adapted for forming shaped articles from material in particulate or plastic state, e.g. briquetting presses, tabletting presses using a ram exerting pressure on the material in a moulding space
    • B30B11/08—Presses specially adapted for forming shaped articles from material in particulate or plastic state, e.g. briquetting presses, tabletting presses using a ram exerting pressure on the material in a moulding space co-operating with moulds carried by a turntable

Definitions

  • the invention relates to a method for regulating the rotor speed of a rotor of a rotary tablet press, the rotor having a rotary drive for rotating the rotor, a die disk rotating with the rotor with a plurality of cavities and a plurality of upper and lower punches also rotating with the rotor, which are assigned in pairs to a cavity of the die disk for pressing filling material in the cavity into a compact, with a speed controller controlling the rotary drive of the rotor based on a comparison of a measured rotor speed with a target speed value.
  • the invention also relates to a rotary tablet press, comprising a rotor with a rotary drive for rotating the rotor, a die disk rotating with the rotor with a plurality of cavities and a plurality of upper and lower punches also rotating with the rotor, which are paired in pairs with a cavity of the die disk Pressing filling material in the cavity to form a compact are assigned, further comprising a speed controller which is designed to control the rotary drive of the rotor based on a comparison of a measured rotor speed with a target speed value.
  • the speed controller reliably provides a constant rotor speed in standard operation of a rotary tablet press at rotor speeds of, for example, more than 60 rpm.
  • rotor speeds for example, more than 60 rpm.
  • EP 1 445 093 A1 proposed to measure the pressing force and, if the pressing force is too low, as occurs in particular with matrices that are not or not completely filled with molding compound, to reduce the speed of the rotor and thus the stamp to a speed below the nominal speed.
  • Another tablet press is out RU 2 165 851 C1 known, in which there is also speed control. If there is an unacceptable increase in the pressing force, for example due to a foreign body in a die, the electric motor driving the rotor is switched off using a mechanical safety device and the machine is stopped.
  • the invention is therefore based on the object of providing a method and a rotary table press of the type mentioned at the outset, with which reliable operation at all times is possible with constant process results without unwanted noise, even at low rotor speeds.
  • the invention solves the problem in that an additional target torque for controlling the rotary drive is provided as a pilot control based on directly or indirectly determined pressing force values of upper and/or lower punches.
  • the invention solves the problem in that a pilot control device is also provided, which is designed to provide an additional target torque for controlling the rotary drive as a pilot control based on directly or indirectly determined pressing force values of upper and / or lower punches to provide.
  • the invention is used in a rotary tablet press with a rotor that is driven to rotate by a rotary drive.
  • the rotor has a die disk that rotates during rotation and has a plurality of cavities into which the usually powdery filling material to be pressed into a tablet is filled during operation.
  • the cavities can pass through immediately Holes may be formed in the die disk. However, they can also be formed by die sleeves inserted into the die disk.
  • the matrix disk can be a one-piece ring disk or consist of several ring segments.
  • the rotor also has a plurality of upper and lower punches that also rotate with the rotor. A pair of upper and lower punches is assigned to a cavity in the die disk and rotates with it.
  • the rotary tablet press can include a pre-press station and a main press station.
  • the filling material is pre-compressed in the pre-pressing station and the filling material is pressed into the finished tablet in the main pressing station.
  • several pressing stations in particular several pre-pressing stations and several main pressing stations, can also be provided.
  • Each press station can have upper and lower pressure rollers that press the upper and lower punches into the cavities.
  • a speed controller of the rotary tablet press compares a measured speed, which can be made available to the speed controller as an input variable, for example, with a target speed value for the rotor speed specified to the speed controller. If the speed controller detects a deviation here, the speed controller controls the rotary drive in order to adapt the measured speed back to the target speed value. In the method according to the invention or the rotary tablet press according to the invention, this speed control can take place permanently during operation of the rotary tablet press.
  • the speed can be detected, for example, by a speed sensor provided on the rotary drive or the rotor.
  • the specified target speed value can depend on different process conditions, such as: The material to be pressed depends on the tablet size or the equipment of the rotary tablet press.
  • the speed controller only maintains the constant frictional torque of the pressing stations, in particular the upper and lower punches, due to the high moment of inertia of the rotor, which weighs more than 100 kg, for example
  • the pressure rollers pressing the cavities must be compensated.
  • the momentum energy of the rotor is sufficient to guide the upper and lower punches past the pressure rollers.
  • the speed controller therefore only needs to adjust slightly at high rotor speeds, so that the rotor speed can be kept constant without any problems.
  • the invention is further based on the idea that at low speeds of, for example, 20 rpm or less, the rotational energy of the rotor is no longer sufficient to guide the upper and lower punches past the pressure rollers. This results in a significant drop in speed when a pair of upper and lower punches comes into contact with a pair of pressure rollers.
  • the speed controller In order to intervene, the speed controller must first determine a speed error. In response to the sharp drop in speed, the speed controller adjusts strongly to adjust the rotor speed back to the target speed value. Due to the time delay associated with this, the speed controller provides a significantly higher drive torque for the rotary drive when the pair of upper and lower punches that previously came into contact with the pressure rollers comes out of the contact area with the pressure rollers again.
  • the invention provides a pilot control based on pressing force values of upper and/or lower punches.
  • Pressing force values of at least one upper punch and/or at least one lower punch, preferably several upper and/or lower punches, more preferably all of the upper and/or lower punches are determined.
  • the pressing force values are measured during the pressing process to press the filling material into the cavity.
  • the pressing force values are therefore determined in particular when the upper and/or lower punches are in contact with pressure rollers of the pressing station(s) of the rotary tablet press.
  • the pressing force measurement can be carried out at all pressing stations of the rotary tablet press.
  • pre- and main press stations can be provided, with pre-pressure rollers and main pressure rollers.
  • the pressing force measurement can be carried out accordingly then take place at the pre-press station (upper and/or lower pre-pressure rollers) and/or at the main press station (upper and/or lower main pressure rollers). In principle, it is sufficient to carry out a pressing force measurement on one pressure roller per pressing station, i.e. on the upper or lower pressure roller.
  • the expected load moment for the rotary drive is determined when passing through the pressing stations, in particular the pressure rollers.
  • This expected load torque is given to the rotary drive control in the form of the additional target torque as a pilot control variable.
  • the rotary drive is therefore controlled in such a way that it also applies the additional target torque in addition to the torque required to reach the target speed.
  • the invention is based on the idea that the pressing forces that occur when pressing tablets in rotary tablet presses are proportional to the torque to be applied to the rotor by the rotary drive. Particularly at low speeds, when the rotational energy of the rotor is not sufficient to push the upper and lower punches under the pressure rollers, the additional torque required can be determined in this way.
  • the invention is further based on the idea that the friction torque that occurs when the rotor, in particular the pressure rollers, rotates is essentially constant. What is variable, on the other hand, is a (highly) dynamically changing torque, caused by the upper and lower punches alternately coming into contact with the pressure rollers and emerging from contact with the pressure rollers.
  • this dynamically changing torque is compensated for by the high rotational energy of the rotor.
  • the speed controller only has to compensate for the constant frictional torque. While in the invention the speed controller continues to compensate for this constant frictional torque in order to keep the speed constant, the pilot control according to the invention also ensures that the dynamic torque is balanced safely and evenly by the pressing processes, even if the rotational energy of the rotor is not sufficient for this.
  • the speed does not drop when contact begins between the upper and lower punches and the pressure rollers and does not increase beyond the target speed value when the upper and lower punches exit the pressure rollers. Rather, the load torque expected in the course of the process is already given to the rotary drive by the pilot control as an additional target torque, so that the rotor speed can be safely kept constant even at low speeds and high pressing forces.
  • the control of the rotary drive adapts the required torque based on the pilot control before a significant deviation of the measured speed from the target speed value occurs. This means that the speed fluctuations explained and the associated shaking of the rotary tablet press do not occur.
  • the invention can also advantageously be retrofitted into existing rotary tablet presses.
  • the control can take place via a fieldbus.
  • the invention is particularly advantageous in galenics, i.e. in laboratory operations, when, for example, low speeds are desired for experimental purposes, possibly with high pressing forces, and constant experimental parameters are of utmost importance.
  • the pilot control device and/or the speed controller can use a characteristic map, a table or a calculation rule.
  • the control of the rotary drive based on the additional target torque can take place according to a control ramp, so that the torque of the rotary drive is increased (slowly) according to the ramp. In this way, overshoots can be avoided.
  • the pilot control device or the pilot control can take into account one or more further parameters, such as the position of the pressing force sensors and possible phase offset of the measurement signals, type of pressing force sensors, type and nominal torque of the rotary drive, a speed threshold at which the pilot control is activated, for example less than 30 rev /min, preferably less than 20 rpm, number and size (for example punch head geometry) of the upper and lower punches, rotor diameter, diameter of the pitch circle of the cavities, equipping the rotary tablet press with upper and lower punches, position of the pressing stations, in particular the position of the pressure rollers relative to one another .
  • a speed threshold at which the pilot control is activated for example less than 30 rev /min, preferably less than 20 rpm
  • number and size (for example punch head geometry) of the upper and lower punches, rotor diameter, diameter of the pitch circle of the cavities equipping the rotary tablet press with upper and lower punches, position of the pressing stations, in particular the position of the pressure rollers relative to one another
  • the additional target torque can be determined during at least one entire revolution of the rotor.
  • the pilot control device is then designed accordingly to determine the additional target torque during at least one entire revolution of the rotor.
  • an additional target torque profile (expected load profile) can be provided as a pilot control for at least one entire rotation of the rotor.
  • the rotary drive can be controlled in such a way that it can compensate in advance for the load torque expected during a rotation according to the entry and exit of the upper and lower punches into and out of the pressure rollers. This results in a particularly reliable pilot control.
  • the method according to the invention can be used with the method according to the invention Pilot control is carried out permanently during operation of the rotary tablet press, for example, as explained above, a speed threshold can be specified below which the pilot control is used.
  • the speed controller usually works permanently during operation of the rotary tablet press anyway.
  • a frequency converter can act as a speed controller to control the rotary drive.
  • the frequency converter can receive the target speed value as the first input variable and the additional target torque as the second input variable, with the frequency converter controlling the rotary drive based on the target speed value and the additional target torque.
  • the frequency converter can determine a target torque by comparing the target speed value with the actual speed value of the rotor in order to adjust the speed of the rotor back to the target speed.
  • the frequency converter can also use the additional target torque to control the rotary drive.
  • the additional target torque can be provided by a pilot control device that receives pressing force measurements as an input variable.
  • the pressing force measurement can be carried out by at least one pressing force sensor, which is arranged on at least one pressure roller of the rotary tablet press which presses the upper and/or lower punches for pressing the filling material into the cavities.
  • a direct pressing force measurement takes place.
  • the at least one pressing force sensor can, for example, be at least one load cell arranged on the at least one pressure roller of the pressing station(s).
  • Such press force sensors are usually provided in rotary tablet presses anyway, since the press force curve is an important parameter for the Quality assurance is evaluated. This means that no new sensors need to be installed for the invention. Retrofitting existing presses is particularly easy, for example as part of a software update.
  • the pressing force measurement with such pressing force sensors is a rotation angle-related pressing force measurement, i.e. position-dependent.
  • a precise local assignment is possible and thus a particularly reliable pre-control of the rotary drive.
  • the time value does not have to be assigned to a specific position, as is the case, for example, with a time-resolved pressing force measurement. This eliminates a source of error.
  • the pilot control also takes into account any tolerances or deviations between the punches. In addition, the pilot control works reliably in this way even if, for example, in laboratory operation, individual pairs of stamps have been removed, i.e. not all stamp positions of the rotor are equipped.
  • the pressing force of all upper and/or lower punches can be determined.
  • the pressing force can be evaluated at all pressing stations, as already explained. It would also be conceivable to provide the additional target torque for the pilot control based on an average of pressing forces measured for several punches of the rotary tablet press. It would also be conceivable to provide the additional target torque based on a maximum value of the measured pressing force of several punches.
  • the pressing force measurement can be carried out based on a torque determination of the rotary drive.
  • the torque is proportional to the pressing force. Therefore, the pressing force can be measured indirectly via torque measurement.
  • the torque can be calculated, for example, from a pressing force curve.
  • the rotor can be rotated in the method according to the invention at a speed of less than 30 rpm, preferably less than 20 rpm.
  • a speed threshold can be specified, for example, below which the pilot control or the pilot control device according to the invention becomes active. This speed threshold can have the aforementioned values.
  • the pilot control according to the invention is particularly advantageous at low speeds.
  • the method according to the invention can be carried out with the device according to the invention. Accordingly, the device according to the invention and its components can be designed to carry out the method according to the invention and its method steps.
  • the rotary tablet press has a machine housing 10 in which a rotor 12 of the rotary tablet press can be driven in rotation by means of a rotary drive 14 which is also arranged within the machine housing 10.
  • the rotor has, in a manner known per se, a die disk that rotates with the rotor and has a plurality of cavities, as well as a plurality of upper and lower punches that also rotate with the rotor, which are paired in pairs with a cavity of the die disk for pressing filling material in the cavity into a compact , in particular a tablet, are assigned.
  • the filling material is pressed in a manner known per se in pressing stations that include pressure rollers. For reasons of illustration, only two upper pressure rollers 18 are shown in the single figure.
  • each pressure roller 18 is assigned a pressing force sensor 20, for example a load cell 20.
  • the pressing force sensors 20 measure the pressing forces of the upper and lower punches passed through the pressure rollers 18. This happens in a manner known per se on the pressure rollers 18. It goes without saying that corresponding pressing force sensors can also be assigned to other pressure rollers provided, in particular lower pressure rollers.
  • the measured values of the pressing force sensors 20 are applied to a pilot control device 22, as illustrated by the arrows 24.
  • the pilot control device 22 is arranged in a control housing 26, in which a frequency converter 28 forming a speed controller is also arranged.
  • the pilot control device 22 specifies a target speed value for the rotor speed of the rotor 12 to the frequency converter 28, as illustrated by the arrow 30.
  • the frequency converter 28 also receives the actual rotor speed of the rotor 12 as a comparison measurement value.
  • the frequency converter 28 in the example shown determines a target torque value for controlling the rotary drive 14 by the frequency converter 28, as illustrated by the arrow 32, in order to adapt the actual rotor speed to the target speed value.
  • the pilot control device 22 determines an additional target torque as a pilot control based on the pressing force values provided by the pressing force sensors 20 in order to compensate in advance for the load torque expected when the rotor 12 rotates due to the interaction between the upper and lower punches and the pressure rollers 18.
  • the additional target torque is also made available to the frequency converter 28 by the pilot control device 22, as illustrated by the arrow 34 in the figure.
  • the frequency converter 28 adds this additional target torque to the target torque determined by it for speed control.
  • the rotary drive 14 is therefore controlled on the basis of the target torque value determined by the frequency converter 28 in the course of speed control and the additional target torque provided by the pilot control device 22. In this way, a constant rotor speed can be ensured even at low speeds of the rotor 12.
  • the explained pilot control in particular the determination of the additional target torque, only becomes active from a threshold of, for example, less than 30 rpm, preferably less than 20 rpm, of the rotor 12.
  • a threshold for example, less than 30 rpm, preferably less than 20 rpm, of the rotor 12.
  • the additional target torque is then permanently determined by the pilot control device 22 during operation of the rotary tablet press. In particular, this results in an additional target torque profile for the respective rotation of the rotor 12, which is also taken into account in the speed control, which is also carried out permanently.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Medical Preparation Storing Or Oral Administration Devices (AREA)
  • Control Of Presses (AREA)
  • Processing And Handling Of Plastics And Other Materials For Molding In General (AREA)

Description

Die Erfindung betrifft ein Verfahren zum Regeln der Rotordrehzahl eines Rotors einer Rundläufertablettenpresse, wobei der Rotor einen Drehantrieb zum Drehen des Rotors, eine mit dem Rotor umlaufende Matrizenscheibe mit einer Mehrzahl von Kavitäten sowie eine Mehrzahl von ebenfalls mit dem Rotor umlaufenden Ober- und Unterstempeln aufweist, die paarweise einer Kavität der Matrizenscheibe zum Verpressen von Füllmaterial in der Kavität zu einem Pressling zugeordnet sind, wobei ein Drehzahlregler aufgrund eines Vergleichs einer gemessenen Rotordrehzahl mit einem Solldrehzahlwert den Drehantrieb des Rotors ansteuert.The invention relates to a method for regulating the rotor speed of a rotor of a rotary tablet press, the rotor having a rotary drive for rotating the rotor, a die disk rotating with the rotor with a plurality of cavities and a plurality of upper and lower punches also rotating with the rotor, which are assigned in pairs to a cavity of the die disk for pressing filling material in the cavity into a compact, with a speed controller controlling the rotary drive of the rotor based on a comparison of a measured rotor speed with a target speed value.

Die Erfindung betrifft außerdem eine Rundläufertablettenpresse, umfassend einen Rotor mit einem Drehantrieb zum Drehen des Rotors, eine mit dem Rotor umlaufende Matrizenscheibe mit einer Mehrzahl von Kavitäten sowie eine Mehrzahl von ebenfalls mit dem Rotor umlaufenden Ober- und Unterstempeln, die paarweise einer Kavität der Matrizenscheibe zum Verpressen von Füllmaterial in der Kavität zu einem Pressling zugeordnet sind, weiter umfassend einen Drehzahlregler, der dazu ausgebildet ist, aufgrund eines Vergleichs einer gemessenen Rotordrehzahl mit einem Solldrehzahlwert den Drehantrieb des Rotors anzusteuern.The invention also relates to a rotary tablet press, comprising a rotor with a rotary drive for rotating the rotor, a die disk rotating with the rotor with a plurality of cavities and a plurality of upper and lower punches also rotating with the rotor, which are paired in pairs with a cavity of the die disk Pressing filling material in the cavity to form a compact are assigned, further comprising a speed controller which is designed to control the rotary drive of the rotor based on a comparison of a measured rotor speed with a target speed value.

Der Drehzahlregler stellt im Standardbetrieb einer Rundläufertablettenpresse bei Rotordrehzahlen von beispielsweise mehr als 60 U/min zuverlässig eine konstante Rotordrehzahl bereit. In der Praxis hat sich allerdings gezeigt, dass es bei niedrigen Drehzahlen, wie sie in manchen Anwendungen von Rundläufertablettenpressen, beispielsweise der Galenik, prozessbedingt gewünscht oder erforderlich sind, zu ungleichmäßigen Rotordrehzahlen und einem damit verbundenen starken Rütteln bzw. Vibrieren der Rundläufertablettenpresse kommt. Dies hat neben einer erheblichen Geräuschentwicklung unerwünschten Einfluss auf das Prozessergebnis, insbesondere die hergestellten Tabletten. So kann das Rütteln zu einer ungleichmäßigen Befüllung der Kavitäten mit Füllmaterial und damit zu einem nicht konstanten Tablettenergebnis führen.The speed controller reliably provides a constant rotor speed in standard operation of a rotary tablet press at rotor speeds of, for example, more than 60 rpm. In practice, however, it has been shown that at low speeds, as are desired or required due to the process in some applications of rotary tablet presses, for example in galenics, uneven rotor speeds and the associated strong shaking or vibration of the rotary tablet press occur. In addition to considerable noise, this has an undesirable influence on the process result, especially the tablets produced. So the shaking can lead to one lead to uneven filling of the cavities with filling material and thus to an inconsistent tablet result.

Aus EP 1 445 093 A1 sind ein Verfahren nach dem Oberbegriff des Anspruchs 1 und eine Vorrichtung zur Steuerung einer Rundläufertablettiermaschine nach dem Oberbegriff des Anspruchs 9 bekannt. Dabei wird das Problem behandelt, dass bei nicht oder nur teilweise mit Pressmasse gefüllten Matrizen Druckrollen der Tablettiermaschine durch die mit dem Rotor rotierenden Stempel nicht auf die Nenndrehzahl der Stempel beschleunigt werden, beispielsweise im Anlaufbetrieb der Tablettiermaschine. Trifft anschließend ein erstes Stempelpaar bei vollständig mit Pressmasse gefüllten Matrizen auf die zuvor nicht auf Nenndrehzahl beschleunigten Druckrollen, muss durch die Druckrollen erhebliche kinetische Energie absorbiert werden, was zu mechanischen Beschädigungen der Druckrollen als auch der Stempel führen könne. Zur Vermeidung dieses Problems wird in EP 1 445 093 A1 vorgeschlagen, die Presskraft zu messen und bei zu niedriger Presskraft, wie sie insbesondere bei nicht oder nicht vollständig mit Pressmasse gefüllten Matrizen auftritt, die Drehzahl des Rotors und damit der Stempel auf eine Drehzahl unterhalb der Nenndrehzahl zu reduzieren.Out of EP 1 445 093 A1 a method according to the preamble of claim 1 and a device for controlling a rotary tablet machine according to the preamble of claim 9 are known. The problem addressed here is that when matrices are not or only partially filled with molding compound, pressure rollers of the tableting machine are not accelerated to the nominal speed of the punch by the stamps rotating with the rotor, for example when the tabletting machine is starting up. If a first pair of punches then hits the pressure rollers that were not previously accelerated to the nominal speed when the dies are completely filled with molding compound, considerable kinetic energy must be absorbed by the pressure rollers, which could lead to mechanical damage to the pressure rollers as well as the punch. To avoid this problem, in EP 1 445 093 A1 proposed to measure the pressing force and, if the pressing force is too low, as occurs in particular with matrices that are not or not completely filled with molding compound, to reduce the speed of the rotor and thus the stamp to a speed below the nominal speed.

Eine weitere Tablettenpresse ist aus RU 2 165 851 C1 bekannt, bei der ebenfalls eine Drehzahlregelung erfolgt. Bei einem inakzeptablen Anstieg der Presskraft, zum Beispiel aufgrund eines Fremdkörpers in einer Matrize, wird mittels einer mechanischen Sicherungseinrichtung der den Rotor antreibende elektrische Motor abgeschaltet und die Maschine gestoppt.Another tablet press is out RU 2 165 851 C1 known, in which there is also speed control. If there is an unacceptable increase in the pressing force, for example due to a foreign body in a die, the electric motor driving the rotor is switched off using a mechanical safety device and the machine is stopped.

Aus CN 101 130 286 A ist darüber hinaus eine Rundläufertablettenpresse mit einer Ausschusseinrichutng für Schlechttabletten mit einer Drehzahlregelung bekannt.Out of CN 101 130 286 A A rotary tablet press with a reject device for bad tablets with speed control is also known.

Ausgehend von dem erläuterten Stand der Technik liegt der Erfindung daher die Aufgabe zugrunde, ein Verfahren und eine Rundläufertabellenpresse der eingangs genannten Art bereitzustellen, mit denen auch bei niedrigen Rotordrehzahlen ein jederzeit zuverlässiger Betrieb bei konstantem Prozessergebnis ohne unerwünschte Geräuschentwicklung möglich ist.Based on the state of the art explained, the invention is therefore based on the object of providing a method and a rotary table press of the type mentioned at the outset, with which reliable operation at all times is possible with constant process results without unwanted noise, even at low rotor speeds.

Die Erfindung löst die Aufgabe durch die unabhängigen Ansprüche 1 und 9. Vorteilhafte Ausgestaltungen finden sich in den abhängigen Ansprüchen, der Beschreibung und den Figuren.The invention solves the problem through the independent claims 1 and 9. Advantageous refinements can be found in the dependent claims, the description and the figures.

Für ein Verfahren der eingangs genannten Art löst die Erfindung die Aufgabe dadurch, dass als Vorsteuerung auf Grundlage von direkt oder indirekt ermittelten Presskraftwerten von Ober- und/oder Unterstempeln ein Zusatzsolldrehmoment zur Ansteuerung des Drehantriebs bereitgestellt wird.For a method of the type mentioned at the outset, the invention solves the problem in that an additional target torque for controlling the rotary drive is provided as a pilot control based on directly or indirectly determined pressing force values of upper and/or lower punches.

Für eine Rundläufertablettenpresse der eingangs genannten Art löst die Erfindung die Aufgabe entsprechend dadurch, dass weiterhin eine Vorsteuereinrichtung vorgesehen ist, die dazu ausgebildet ist, als Vorsteuerung auf Grundlage von direkt oder indirekt ermittelten Presskraftwerten von Ober- und/oder Unterstempeln ein Zusatzsolldrehmoment zur Ansteuerung des Drehantriebs bereitzustellen.For a rotary tablet press of the type mentioned at the outset, the invention solves the problem in that a pilot control device is also provided, which is designed to provide an additional target torque for controlling the rotary drive as a pilot control based on directly or indirectly determined pressing force values of upper and / or lower punches to provide.

Die Erfindung kommt bei einer Rundläufertablettenpresse zum Einsatz mit einem Rotor, der durch einen Drehantrieb drehend angetrieben wird. Der Rotor weist eine bei der Drehung mitdrehende Matrizenscheibe mit einer Mehrzahl von Kavitäten auf, in die im Betrieb das zu einer Tablette zu verpressende in der Regel pulverförmige Füllmaterial gefüllt wird. Die Kavitäten können unmittelbar durch Bohrungen in der Matrizenscheibe gebildet sein. Sie können aber auch durch in die Matrizenscheibe eingesetzte Matrizenhülsen gebildet sein. Die Matrizenscheibe kann eine einstückige Ringscheibe sein oder aus mehreren Ringsegmenten bestehen. Der Rotor weist weiterhin eine Mehrzahl von ebenfalls mit dem Rotor drehenden Ober- und Unterstempeln auf. Jeweils ein Paar aus Ober- und Unterstempeln ist einer Kavität der Matrizenscheibe zugeordnet und läuft mit dieser um. Im Betrieb werden die Ober- und Unterstempel im Bereich der Pressstation(en) der Rundläufertablettenpresse in die Kavitäten zum Verpressen des darin befindlichen Füllmaterials zu einer Tablette gepresst. Die Rundläufertablettenpresse kann eine Vorpressstation und eine Hauptpressstation umfassen. In der Vorpressstation wird das Füllmaterial vorverpresst und in der Hauptpressstation wird das Füllmaterial zu der fertigen Tablette verpresst. Beispielsweise bei sogenannten Doppelrundläufertablettenpressen können auch mehrere Pressstationen, insbesondere mehrere Vorpressstationen und mehrere Hauptpressstationen vorgesehen sein. Jede Pressstation kann obere und untere Druckrollen aufweisen, die die Ober- und Unterstempel in die Kavitäten pressen. Dieser Aufbau einer Rundläufertablettenpresse ist an sich bekannt.The invention is used in a rotary tablet press with a rotor that is driven to rotate by a rotary drive. The rotor has a die disk that rotates during rotation and has a plurality of cavities into which the usually powdery filling material to be pressed into a tablet is filled during operation. The cavities can pass through immediately Holes may be formed in the die disk. However, they can also be formed by die sleeves inserted into the die disk. The matrix disk can be a one-piece ring disk or consist of several ring segments. The rotor also has a plurality of upper and lower punches that also rotate with the rotor. A pair of upper and lower punches is assigned to a cavity in the die disk and rotates with it. During operation, the upper and lower punches in the area of the pressing station(s) of the rotary tablet press are pressed into the cavities for pressing the filling material contained therein into a tablet. The rotary tablet press can include a pre-press station and a main press station. The filling material is pre-compressed in the pre-pressing station and the filling material is pressed into the finished tablet in the main pressing station. For example, in so-called double rotary tablet presses, several pressing stations, in particular several pre-pressing stations and several main pressing stations, can also be provided. Each press station can have upper and lower pressure rollers that press the upper and lower punches into the cavities. This structure of a rotary tablet press is known per se.

Ein Drehzahlregler der Rundläufertablettenpresse vergleicht eine gemessene Drehzahl, die dem Drehzahlregler beispielsweise als Eingangsgröße zur Verfügung gestellt werden kann, mit einem dem Drehzahlregler vorgegebenen Solldrehzahlwert für die Rotordrehzahl. Stellt der Drehzahlregler hier eine Abweichung fest, steuert der Drehzahlregler den Drehantrieb an, um die gemessene Drehzahl wieder an den Solldrehzahlwert anzupassen. Diese Drehzahlregelung kann bei dem erfindungsgemäßen Verfahren bzw. der erfindungsgemäßen Rundläufertablettenpresse permanent während des Betriebs der Rundläufertablettenpresse erfolgen. Die Drehzahl kann beispielsweise durch einen am Drehantrieb oder dem Rotor vorgesehenen Drehzahlsensor erfasst werden. Der vorgegebene Solldrehzahlwert kann von unterschiedlichen Prozessbedingungen, wie zum Beispiel dem zu verpressenden Material, der Tablettengröße oder der Bestückung der Rundläufertablettenpresse abhängen.A speed controller of the rotary tablet press compares a measured speed, which can be made available to the speed controller as an input variable, for example, with a target speed value for the rotor speed specified to the speed controller. If the speed controller detects a deviation here, the speed controller controls the rotary drive in order to adapt the measured speed back to the target speed value. In the method according to the invention or the rotary tablet press according to the invention, this speed control can take place permanently during operation of the rotary tablet press. The speed can be detected, for example, by a speed sensor provided on the rotary drive or the rotor. The specified target speed value can depend on different process conditions, such as: The material to be pressed depends on the tablet size or the equipment of the rotary tablet press.

Wie eingangs erläutert, treten hochfrequente Drehzahlschwankungen und das damit einhergehende Rütteln der Rundläufertablettenpresse insbesondere bei niedrigen Drehzahlen von beispielsweise 20 U/min oder weniger auf. Der vorliegenden Erfindung liegt die Erkenntnis zugrunde, dass bei höheren Drehzahlen der Rundläufertablettenpresse von beispielsweise 60 U/min der Drehzahlregler aufgrund des hohen Trägheitsmoments des beispielsweise mehr als 100 kg schweren Rotors nur das konstante Reibmoment der Pressstationen, insbesondere der die Ober- und Unterstempel in die Kavitäten drückenden Druckrollen, ausgleichen muss. So ist die Schwungenergie des Rotors ausreichend, um die Ober- und Unterstempel an den Druckrollen vorbei zu führen. Der Drehzahlregler muss daher bei hohen Rotordrehzahlen nur geringfügig nachregeln, so dass die Rotordrehzahl problemlos konstant gehalten werden kann. Der Erfindung liegt weiter der Gedanke zugrunde, dass bei niedrigen Drehzahlen von beispielsweise 20 U/min oder weniger die Rotationsenergie des Rotors nicht mehr ausreichend ist, um die Ober- und Unterstempel an den Druckrollen vorbei zu führen. Dies führt zu einem erheblichen Drehzahleinbruch, wenn ein Paar von Ober- und Unterstempeln in Kontakt mit einem Druckrollenpaar kommt. So muss der Drehzahlregler für ein Eingreifen zunächst einen Drehzahlfehler ermitteln. Als Reaktion auf den starken Einbruch der Drehzahl regelt der Drehzahlregler stark nach, um die Rotordrehzahl wieder an den Solldrehzahlwert anzupassen. Aufgrund der hiermit verbundenen zeitlichen Verzögerung stellt der Drehzahlregler ein wesentlich höheres Antriebsmoment für den Drehantrieb zur Verfügung, wenn das zuvor in Kontakt mit den Druckrollen getretene Paar von Ober- und Unterstempeln schon wieder aus dem Kontaktbereich mit den Druckrollen heraus kommt. Während beim Eintritt der Ober- und Unterstempel in die Druckrollen sprunghaft ein höheres Drehmoment erforderlich ist, ist beim Austritt aus den Druckrollen ein entsprechend geringeres Drehmoment erforderlich. Dieser Effekt führt dazu, dass die Rotordrehzahl nun den Solldrehzahlwert erheblich übersteigt. Der Drehzahlregler regelt entsprechend wieder stark in der anderen Richtung nach, so dass das zur Verfügung gestellte Antriebsmoment bei Eintritt des nächsten Paares von Ober- und Unterstempeln in die Druckrollen wieder nicht ausreicht. Dies führt zu den in der Praxis beobachteten erheblichen Drehzahlschwankungen, die sich als Rütteln der Rundläufertablettenpresse bemerkbar machen. Im Extremfall könnte es bei besonders niedrigen Drehzahlen bei Eintritt eines Paares von Ober- und Unterstempeln in ein Druckrollenpaar sogar zu einem Stillstand des Rotors kommen.As explained at the beginning, high-frequency speed fluctuations and the associated shaking of the rotary tablet press occur particularly at low speeds of, for example, 20 rpm or less. The present invention is based on the knowledge that at higher speeds of the rotary tablet press of, for example, 60 rpm, the speed controller only maintains the constant frictional torque of the pressing stations, in particular the upper and lower punches, due to the high moment of inertia of the rotor, which weighs more than 100 kg, for example The pressure rollers pressing the cavities must be compensated. The momentum energy of the rotor is sufficient to guide the upper and lower punches past the pressure rollers. The speed controller therefore only needs to adjust slightly at high rotor speeds, so that the rotor speed can be kept constant without any problems. The invention is further based on the idea that at low speeds of, for example, 20 rpm or less, the rotational energy of the rotor is no longer sufficient to guide the upper and lower punches past the pressure rollers. This results in a significant drop in speed when a pair of upper and lower punches comes into contact with a pair of pressure rollers. In order to intervene, the speed controller must first determine a speed error. In response to the sharp drop in speed, the speed controller adjusts strongly to adjust the rotor speed back to the target speed value. Due to the time delay associated with this, the speed controller provides a significantly higher drive torque for the rotary drive when the pair of upper and lower punches that previously came into contact with the pressure rollers comes out of the contact area with the pressure rollers again. While a higher torque is suddenly required when the upper and lower punches enter the pressure rollers, a correspondingly lower torque is required when they exit the pressure rollers necessary. This effect means that the rotor speed now significantly exceeds the target speed value. The speed controller adjusts strongly in the other direction, so that the drive torque provided is again insufficient when the next pair of upper and lower punches enter the pressure rollers. This leads to the significant speed fluctuations observed in practice, which become noticeable as shaking of the rotary tablet press. In extreme cases, at particularly low speeds, the rotor could even come to a standstill when a pair of upper and lower punches enter a pair of pressure rollers.

Es ist insoweit auch nicht zweckmäßig, die Regelfrequenz des Drehzahlreglers zu erhöhen. Dies hat andere negative Auswirkungen auf den Betrieb der Rundläufertablettenpresse, da der Drehzahlregler dann schon bei kleinsten Drehzahländerungen mit einem massiven Drehmoment für den Drehantrieb reagieren würde. Dies wiederum führt zu Überschwingern und einer entsprechend hohen Belastung des Drehantriebs und der Mechanik der Rundläufertablettenpresse.In this respect, it is also not advisable to increase the control frequency of the speed controller. This has other negative effects on the operation of the rotary tablet press, as the speed controller would then react with massive torque for the rotary drive even with the smallest changes in speed. This in turn leads to overshoots and a correspondingly high load on the rotary drive and the mechanics of the rotary tablet press.

Um das erläuterte Problem zu lösen, sieht die Erfindung eine Vorsteuerung auf Grundlage von Presskraftwerten von Ober- und/oder Unterstempeln vor. Es werden dabei Presskraftwerte von mindestens einem Oberstempel und/oder mindestens einem Unterstempel, bevorzugt mehreren Ober- und/oder Unterstempeln, weiter bevorzugt von sämtlichen Ober- und/oder Unterstempeln ermittelt. Die Presskraftwerte werden beim Pressvorgang zum Verpressen des Füllmaterials in der Kavität gemessen. Die Presskraftwerte werden also insbesondere ermittelt, wenn die Ober- und/oder Unterstempel mit Druckrollen der Pressstation(en) der Rundläufertablettenpresse in Kontakt sind. Die Presskraftmessung kann an sämtlichen Pressstationen der Rundläufertablettenpresse erfolgen. Wie erläutert, können zum Beispiel Vor- und Hauptpressstationen vorgesehen sein, mit Vordruckrollen und Hauptdruckrollen. Entsprechend kann die Presskraftmessung dann an der Vorpressstation (oberen und/oder unteren Vordruckrollen) und/oder an der Hauptpressstation (oberen und/oder unteren Hauptdruckrollen) erfolgen. Grundsätzlich ist es dabei ausreichend, pro Pressstation an einer Druckrolle, also an der oberen oder unteren Druckrolle eine Presskraftmessung durchzuführen. Auf Grundlage der Presskraftmessung erfolgt eine Ermittlung des zu erwartenden Lastmoments für den Drehantrieb beim Durchlaufen der Pressstationen, insbesondere der Druckrollen. Dieses zu erwartenden Lastmoment wird der Drehantriebssteuerung in Form des Zusatzsolldrehmoments als Vorsteuergröße aufgegeben. Der Drehantrieb wird also so angesteuert, dass er zusätzlich zu dem für das Erreichen der Solldrehzahl erforderlichen Drehmoment auch das Zusatzsolldrehmoment aufbringt.In order to solve the problem explained, the invention provides a pilot control based on pressing force values of upper and/or lower punches. Pressing force values of at least one upper punch and/or at least one lower punch, preferably several upper and/or lower punches, more preferably all of the upper and/or lower punches are determined. The pressing force values are measured during the pressing process to press the filling material into the cavity. The pressing force values are therefore determined in particular when the upper and/or lower punches are in contact with pressure rollers of the pressing station(s) of the rotary tablet press. The pressing force measurement can be carried out at all pressing stations of the rotary tablet press. As explained, for example, pre- and main press stations can be provided, with pre-pressure rollers and main pressure rollers. The pressing force measurement can be carried out accordingly then take place at the pre-press station (upper and/or lower pre-pressure rollers) and/or at the main press station (upper and/or lower main pressure rollers). In principle, it is sufficient to carry out a pressing force measurement on one pressure roller per pressing station, i.e. on the upper or lower pressure roller. Based on the pressing force measurement, the expected load moment for the rotary drive is determined when passing through the pressing stations, in particular the pressure rollers. This expected load torque is given to the rotary drive control in the form of the additional target torque as a pilot control variable. The rotary drive is therefore controlled in such a way that it also applies the additional target torque in addition to the torque required to reach the target speed.

Der Erfindung liegt der Gedanke zugrunde, dass die beim Pressen von Tabletten in Rundläufertablettenpressen auftretenden Presskräfte proportional zu dem von dem Drehantrieb auf den Rotor aufzubringenden Drehmoment sind. Insbesondere bei niedrigen Drehzahlen, wenn die Rotationsenergie des Rotors nicht ausreicht, um die Ober- und Unterstempel unter den Druckrollen hindurchzudrücken, kann auf diese Weise das insoweit erforderliche Zusatzdrehmoment ermittelt werden. Der Erfindung liegt weiter der Gedanke zugrunde, dass das bei einer Drehung des Rotors auftretende Reibmoment, insbesondere der Druckrollen, im Wesentlichen konstant ist. Veränderlich ist dagegen ein (hoch-)dynamisch wechselndes Drehmoment, bewirkt durch die abwechselnd in Kontakt mit den Druckrollen kommenden und aus dem Kontakt mit den Druckrollen austretenden Ober- und Unterstempeln. Bei hohen Drehzahlen des Rotors wird, wie erläutert, dieses dynamisch wechselnde Drehmoment durch die hohe Rotationsenergie des Rotors ausgeglichen. Der Drehzahlregler muss insoweit also nur das konstante Reibmoment ausgleichen. Während bei der Erfindung der Drehzahlregler weiterhin dieses konstante Reibmoment ausgleicht, um so die Drehzahl konstant zu halten, sorgt die erfindungsgemäße Vorsteuerung dafür, dass auch das dynamische Drehmoment durch die Pressvorgänge sicher und gleichmäßig ausgeglichen wird, auch wenn die Rotationsenergie des Rotors hierfür nicht ausreicht.The invention is based on the idea that the pressing forces that occur when pressing tablets in rotary tablet presses are proportional to the torque to be applied to the rotor by the rotary drive. Particularly at low speeds, when the rotational energy of the rotor is not sufficient to push the upper and lower punches under the pressure rollers, the additional torque required can be determined in this way. The invention is further based on the idea that the friction torque that occurs when the rotor, in particular the pressure rollers, rotates is essentially constant. What is variable, on the other hand, is a (highly) dynamically changing torque, caused by the upper and lower punches alternately coming into contact with the pressure rollers and emerging from contact with the pressure rollers. At high rotor speeds, as explained, this dynamically changing torque is compensated for by the high rotational energy of the rotor. The speed controller only has to compensate for the constant frictional torque. While in the invention the speed controller continues to compensate for this constant frictional torque in order to keep the speed constant, the pilot control according to the invention also ensures that the dynamic torque is balanced safely and evenly by the pressing processes, even if the rotational energy of the rotor is not sufficient for this.

Durch die erfindungsgemäße Vorsteuerung bricht die Drehzahl also bei beginnendem Kontakt zwischen Ober- und Unterstempeln und den Druckrollen nicht ein und erhöht sich bei Austreten der Ober- und Unterstempeln aus den Druckrollen auch nicht über den Solldrehzahlwert hinaus. Vielmehr wird dem Drehantrieb durch die Vorsteuerung bereits das im Zuge des Prozesses zu erwartende Lastmoment als Zusatzsolldrehmoment aufgegeben, so dass die Rotordrehzahl auch bei niedrigen Drehzahlen und hohen Presskräften sicher konstant gehalten werden kann. Insbesondere passt die Steuerung des Drehantriebs das erforderliche Drehmoment aufgrund der Vorsteuerung bereits an bevor eine erhebliche Abweichung der gemessenen Drehzahl von dem Solldrehzahlwert auftritt. Es kommt somit nicht zu den erläuterten Drehzahlschwankungen und dem hiermit verbundenen Rütteln der Rundläufertablettenpresse. Auf diese Weise ist gewährleistet, dass auch bei niedrigeren Drehzahlen die relevanten Qualitätskriterien für den Pressvorgang eingehalten werden, beispielsweise eine definierte Druckhaltezeit beim Pressen. Die Presse läuft gleichmäßig und ruhig, so dass auch das Befüllen der Kavitäten mit Füllmaterial entsprechend zuverlässig konstant gewährleistet ist. Presskraftkurven können sehr exakt eingestellt werden.Due to the pilot control according to the invention, the speed does not drop when contact begins between the upper and lower punches and the pressure rollers and does not increase beyond the target speed value when the upper and lower punches exit the pressure rollers. Rather, the load torque expected in the course of the process is already given to the rotary drive by the pilot control as an additional target torque, so that the rotor speed can be safely kept constant even at low speeds and high pressing forces. In particular, the control of the rotary drive adapts the required torque based on the pilot control before a significant deviation of the measured speed from the target speed value occurs. This means that the speed fluctuations explained and the associated shaking of the rotary tablet press do not occur. This ensures that the relevant quality criteria for the pressing process are met even at lower speeds, for example a defined pressure retention time during pressing. The press runs evenly and quietly, so that the filling of the cavities with filling material is reliably and consistently guaranteed. Pressing force curves can be set very precisely.

Die Erfindung kann vorteilhaft auch in bestehenden Rundläufertablettenpressen nachgerüstet werden. Die Regelung kann über einen Feldbus erfolgen. Besonders vorteilhaft ist die Erfindung in der Galenik, also im Laborbetrieb, wenn beispielsweise zu Versuchszwecken geringe Drehzahlen gegebenenfalls bei hohen Presskräften gewünscht sind und konstante Versuchsparameter von größter Bedeutung sind.The invention can also advantageously be retrofitted into existing rotary tablet presses. The control can take place via a fieldbus. The invention is particularly advantageous in galenics, i.e. in laboratory operations, when, for example, low speeds are desired for experimental purposes, possibly with high pressing forces, and constant experimental parameters are of utmost importance.

Zur Ermittlung des Zusatzsolldrehmoments kann die Vorsteuereinrichtung und/oder der Drehzahlregler auf ein Kennfeld, eine Tabelle oder eine Berechnungsvorschrift zurückgreifen. Das Ansteuern des Drehantriebs auf Grundlage des Zusatzsolldrehmoments kann gemäß einer Steuerrampe erfolgen, so dass das Drehmoment des Drehantriebs gemäß der Rampe (langsam) erhöht wird. Auf diese Weise können Überschwingvorgänge vermieden werden.To determine the additional target torque, the pilot control device and/or the speed controller can use a characteristic map, a table or a calculation rule. The control of the rotary drive based on the additional target torque can take place according to a control ramp, so that the torque of the rotary drive is increased (slowly) according to the ramp. In this way, overshoots can be avoided.

Die Vorsteuereinrichtung bzw. die Vorsteuerung können einen oder mehrere weitere Parameter berücksichtigen, wie beispielsweise Position der Presskraftsensoren und eventueller Phasenversatz der Messsignale, Art der Presskraftsensoren, Art und Nennmoment des Drehantriebs, eine Drehzahlschwelle, bei der die Vorsteuerung aktiviert wird, beispielsweise weniger als 30 U/min, vorzugsweise weniger als 20 U/min, Anzahl und Größe (beispielsweise Stempelkopfgeometrie) der Ober- und Unterstempel, Rotordurchmesser, Durchmesser des Teilkreises der Kavitäten, Bestückung der Rundläufertablettenpresse mit Ober- und Unterstempeln, Position der Pressstationen, insbesondere Position der Druckrollen zueinander.The pilot control device or the pilot control can take into account one or more further parameters, such as the position of the pressing force sensors and possible phase offset of the measurement signals, type of pressing force sensors, type and nominal torque of the rotary drive, a speed threshold at which the pilot control is activated, for example less than 30 rev /min, preferably less than 20 rpm, number and size (for example punch head geometry) of the upper and lower punches, rotor diameter, diameter of the pitch circle of the cavities, equipping the rotary tablet press with upper and lower punches, position of the pressing stations, in particular the position of the pressure rollers relative to one another .

Gemäß einer Ausgestaltung kann das Zusatzsolldrehmoment während mindestens eines gesamten Umlaufs des Rotors ermittelt werden. Die Vorsteuereinrichtung ist dann entsprechend dazu ausgebildet, das Zusatzsolldrehmoment während mindestens eines gesamten Umlaufs des Rotors zu ermitteln. Auf dieser Grundlage kann ein Zusatzsolldrehmomentprofil (zu erwartendes Lastprofil) für mindestens einen gesamten Umlauf des Rotors als Vorsteuerung bereitgestellt werden. Es ergibt sich eine zeit- oder bevorzugt positionsabhängige Zusatzsolldrehmomentkurve für den Rotor bzw. seinen Drehantrieb. Auf dieser Grundlage kann der Drehantrieb so angesteuert werden, dass er das bei einem Umlauf gemäß dem Ein- und Austritt der Ober- und Unterstempel in bzw. aus den Druckrollen zu erwartende Lastmoment im Voraus ausgleichen kann. Es ergibt sich eine besonders zuverlässige Vorsteuerung. Insbesondere kann das erfindungsgemäße Verfahren mit der erfindungsgemäßen Vorsteuerung während des Betriebs der Rundläufertablettenpresse permanent ausgeführt werden, wobei beispielsweise wie oben erläutert eine Drehzahlschwelle vorgegeben werden kann, unterhalb der die Vorsteuerung zum Einsatz kommt. Der Drehzahlregler arbeitet in der Regel ohnehin permanent während des Betriebs der Rundläufertablettenpresse.According to one embodiment, the additional target torque can be determined during at least one entire revolution of the rotor. The pilot control device is then designed accordingly to determine the additional target torque during at least one entire revolution of the rotor. On this basis, an additional target torque profile (expected load profile) can be provided as a pilot control for at least one entire rotation of the rotor. This results in a time- or preferably position-dependent additional target torque curve for the rotor or its rotary drive. On this basis, the rotary drive can be controlled in such a way that it can compensate in advance for the load torque expected during a rotation according to the entry and exit of the upper and lower punches into and out of the pressure rollers. This results in a particularly reliable pilot control. In particular, the method according to the invention can be used with the method according to the invention Pilot control is carried out permanently during operation of the rotary tablet press, for example, as explained above, a speed threshold can be specified below which the pilot control is used. The speed controller usually works permanently during operation of the rotary tablet press anyway.

Gemäß einer besonders praxisgemäßen Ausgestaltung kann ein Frequenzumrichter als Drehzahlregler den Drehantrieb ansteuern. Der Frequenzumrichter kann als erste Eingangsgröße den Solldrehzahlwert erhalten und als zweite Eingangsgröße das Zusatzsolldrehmoment erhalten, wobei der Frequenzumrichter den Drehantrieb auf Grundlage des Solldrehzahlwerts und des Zusatzsolldrehmoments ansteuert. Der Frequenzumrichter kann dabei aus dem Vergleich des Solldrehzahlwerts mit dem tatsächlichen Drehzahlwert des Rotors ein Solldrehmoment ermitteln, um den Rotor in seiner Drehzahl wieder an die Solldrehzahl anzupassen. Zusätzlich zu diesem Solldrehmomentwert kann durch den Frequenzumrichter zur Ansteuerung des Drehantriebs auch das Zusatzsolldrehmoment zugrunde gelegt werden.According to a particularly practical embodiment, a frequency converter can act as a speed controller to control the rotary drive. The frequency converter can receive the target speed value as the first input variable and the additional target torque as the second input variable, with the frequency converter controlling the rotary drive based on the target speed value and the additional target torque. The frequency converter can determine a target torque by comparing the target speed value with the actual speed value of the rotor in order to adjust the speed of the rotor back to the target speed. In addition to this target torque value, the frequency converter can also use the additional target torque to control the rotary drive.

Das Zusatzsolldrehmoment kann von einer Vorsteuereinrichtung bereitgestellt werden, die als Eingangsgröße Presskraftmesswerte erhält.The additional target torque can be provided by a pilot control device that receives pressing force measurements as an input variable.

Gemäß einer weiteren bevorzugten Ausgestaltung kann die Presskraftmessung durch mindestens einen Presskraftsensor erfolgen, der an mindestens einer die Ober- und/oder Unterstempel zum Verpressen des Füllmaterials in die Kavitäten drückenden Druckrolle der Rundläufertablettenpresse angeordnet ist. Es erfolgt bei dieser Ausgestaltung also eine direkte Presskraftmessung. Der mindestens eine Presskraftsensor kann zum Beispiel mindestens eine an der mindestens einen Druckrolle der Pressstation(en) angeordnete Kraftmessdose sein. Solche Presskraftsensoren sind in der Regel bei Rundläufertablettenpressen ohnehin vorgesehen, da der Presskraftverlauf als bedeutender Parameter für die Qualitätssicherung ausgewertet wird. Damit müssen für die Erfindung keine neuen Sensoren installiert werden. Die Nachrüstbarkeit in bestehende Pressen ist besonders einfach, beispielsweise im Rahmen eines Software-Updates. Die Presskraftmessung mit solchen Presskraftsensoren ist eine drehwinkelbezogene Presskraftmessung, also positionsabhängig. Es ist eine präzise örtliche Zuordnung möglich und damit eine besonders zuverlässige Vorsteuerung des Drehantriebs. Insbesondere muss nicht, wie zum Beispiel bei einer zeitlich aufgelösten Presskraftmessung, der Zeitwert einer bestimmten Position zugeordnet werden. Hierdurch wird eine Fehlerquelle eliminiert. Insbesondere wenn die Presskräfte für die Presskraftkurven jedes Ober- und/oder Unterstempels ermittelt werden, berücksichtigt die Vorsteuerung auch eventuelle Toleranzen bzw. Abweichungen zwischen den Stempeln. Außerdem funktioniert auf diese Weise die Vorsteuerung auch dann zuverlässig, wenn zum Beispiel im Laborbetrieb einzelne Stempelpaare ausgebaut sind, also nicht alle Stempelpositionen des Rotors bestückt sind. Es kann wie erläutert die Presskraft sämtlicher Ober- und/oder Unterstempel ermittelt werden. Außerdem kann die Presskraft an sämtlichen Pressstationen ausgewertet werden, wie ebenfalls bereits erläutert. Es wäre auch denkbar, das Zusatzsolldrehmoment für die Vorsteuerung basierend auf einem Mittelwert von für mehrere Stempel der Rundläufertablettenpresse gemessenen Presskräften bereitzustellen. Auch wäre es denkbar, das Zusatzsolldrehmoment auf Grundlage eines Maximalwerts der gemessenen Presskraft von mehreren Stempeln bereitzustellen.According to a further preferred embodiment, the pressing force measurement can be carried out by at least one pressing force sensor, which is arranged on at least one pressure roller of the rotary tablet press which presses the upper and/or lower punches for pressing the filling material into the cavities. In this embodiment, a direct pressing force measurement takes place. The at least one pressing force sensor can, for example, be at least one load cell arranged on the at least one pressure roller of the pressing station(s). Such press force sensors are usually provided in rotary tablet presses anyway, since the press force curve is an important parameter for the Quality assurance is evaluated. This means that no new sensors need to be installed for the invention. Retrofitting existing presses is particularly easy, for example as part of a software update. The pressing force measurement with such pressing force sensors is a rotation angle-related pressing force measurement, i.e. position-dependent. A precise local assignment is possible and thus a particularly reliable pre-control of the rotary drive. In particular, the time value does not have to be assigned to a specific position, as is the case, for example, with a time-resolved pressing force measurement. This eliminates a source of error. In particular, when the pressing forces are determined for the pressing force curves of each upper and/or lower punch, the pilot control also takes into account any tolerances or deviations between the punches. In addition, the pilot control works reliably in this way even if, for example, in laboratory operation, individual pairs of stamps have been removed, i.e. not all stamp positions of the rotor are equipped. As explained, the pressing force of all upper and/or lower punches can be determined. In addition, the pressing force can be evaluated at all pressing stations, as already explained. It would also be conceivable to provide the additional target torque for the pilot control based on an average of pressing forces measured for several punches of the rotary tablet press. It would also be conceivable to provide the additional target torque based on a maximum value of the measured pressing force of several punches.

Nach einer weiteren Ausgestaltung kann die Presskraftmessung anhand einer Drehmomentermittlung des Drehantriebs erfolgen. Wie erläutert, ist das Drehmoment proportional zu der Presskraft. Daher kann über eine Drehmomentmessung indirekt die Presskraft gemessen werden. Zur Drehmomentermittlung kann das Drehmoment beispielsweise aus einer Presskraftkurve berechnet werden.According to a further embodiment, the pressing force measurement can be carried out based on a torque determination of the rotary drive. As explained, the torque is proportional to the pressing force. Therefore, the pressing force can be measured indirectly via torque measurement. To determine the torque, the torque can be calculated, for example, from a pressing force curve.

Nach einer weiteren Ausgestaltung kann der Rotor bei dem erfindungsgemäßen Verfahren mit einer Drehzahl von weniger als 30 U/min, vorzuweise von weniger als 20 U/min, gedreht werden. Wie bereits erwähnt, kann beispielsweise eine Drehzahlschwelle vorgegeben werden, unterhalb der die Vorsteuerung bzw. die erfindungsgemäße Vorsteuereinrichtung aktiv wird. Diese Drehzahlschwelle kann die vorgenannten Werte haben. Wie ebenfalls bereits erläutert, ist die erfindungsgemäße Vorsteuerung insbesondere bei niedrigen Drehzahlen vorteilhaft.According to a further embodiment, the rotor can be rotated in the method according to the invention at a speed of less than 30 rpm, preferably less than 20 rpm. As already mentioned, a speed threshold can be specified, for example, below which the pilot control or the pilot control device according to the invention becomes active. This speed threshold can have the aforementioned values. As already explained, the pilot control according to the invention is particularly advantageous at low speeds.

Das erfindungsgemäße Verfahren kann mit der erfindungsgemäßen Vorrichtung ausgeführt werden. Entsprechend können die erfindungsgemäße Vorrichtung und ihre Bestandteile zur Ausführung des erfindungsgemäßen Verfahrens und seiner Verfahrensschritte ausgebildet sein.The method according to the invention can be carried out with the device according to the invention. Accordingly, the device according to the invention and its components can be designed to carry out the method according to the invention and its method steps.

Ein Ausführungsbeispiel der Erfindung wird nachfolgend anhand einer Figur näher erläutert. Die einzige Figur zeigt sehr schematisch eine erfindungsgemäße Rundläufertablettenpresse.An exemplary embodiment of the invention is explained in more detail below using a figure. The only figure shows very schematically a rotary tablet press according to the invention.

In dem gezeigten Beispiel weist die Rundläufertablettenpresse ein Maschinengehäuse 10 auf, in dem ein Rotor 12 der Rundläufertablettenpresse mittels eines ebenfalls innerhalb des Maschinengehäuses 10 angeordneten Drehantriebs 14 drehend antreibbar ist. Der Rotor weist in an sich bekannter Weise eine mit dem Rotor umlaufende Matrizenscheibe mit einer Mehrzahl von Kavitäten sowie eine Mehrzahl von ebenfalls mit dem Rotor umlaufenden Ober- und Unterstempeln auf, die paarweise einer Kavität der Matrizenscheibe zum Verpressen von Füllmaterial in der Kavität zu einem Pressling, insbesondere einer Tablette, zugeordnet sind. Das Verpressen des Füllmaterials erfolgt in ebenfalls an sich bekannter Weise in Pressstationen, die Druckrollen umfassen. In der einzigen Figur sind aus Veranschaulichungsgründen lediglich zwei obere Druckrollen 18 gezeigt. Es versteht sich, dass in der Regel auch untere Druckrollen, gegenüberliegend zu den oberen Druckrollen 18 angeordnet, vorgesehen sind. Darüber hinaus ist in dem gezeigten Beispiel jeder Druckrolle 18 ein Presskraftsensor 20, beispielsweise eine Kraftmessdose 20, zugeordnet. Die Presskraftsensoren 20 messen die Presskräfte der durch die Druckrollen 18 hindurchgeführten Ober- bzw. Unterstempel. Dies geschieht in an sich bekannter Weise an den Druckrollen 18. Es versteht sich, dass auch weiteren vorgesehenen Druckrollen, insbesondere unteren Druckrollen, entsprechende Presskraftsensoren zugeordnet sein können.In the example shown, the rotary tablet press has a machine housing 10 in which a rotor 12 of the rotary tablet press can be driven in rotation by means of a rotary drive 14 which is also arranged within the machine housing 10. The rotor has, in a manner known per se, a die disk that rotates with the rotor and has a plurality of cavities, as well as a plurality of upper and lower punches that also rotate with the rotor, which are paired in pairs with a cavity of the die disk for pressing filling material in the cavity into a compact , in particular a tablet, are assigned. The filling material is pressed in a manner known per se in pressing stations that include pressure rollers. For reasons of illustration, only two upper pressure rollers 18 are shown in the single figure. It goes without saying that there are usually also lower pressure rollers, opposite to the upper pressure rollers 18 are arranged. In addition, in the example shown, each pressure roller 18 is assigned a pressing force sensor 20, for example a load cell 20. The pressing force sensors 20 measure the pressing forces of the upper and lower punches passed through the pressure rollers 18. This happens in a manner known per se on the pressure rollers 18. It goes without saying that corresponding pressing force sensors can also be assigned to other pressure rollers provided, in particular lower pressure rollers.

Die Messwerte der Presskraftsensoren 20 liegen an einer Vorsteuereinrichtung 22 an, wie durch die Pfeile 24 veranschaulicht. Die Vorsteuereinrichtung 22 ist in einem Steuergehäuse 26 angeordnet, in dem auch ein einen Drehzahlregler bildender Frequenzumrichter 28 angeordnet ist. In dem gezeigten Beispiel gibt die Vorsteuereinrichtung 22 dem Frequenzumrichter 28 einen Solldrehzahlwert für die Rotordrehzahl des Rotors 12 vor, wie durch den Pfeil 30 veranschaulicht. Der Frequenzumrichter 28 erhält außerdem die tatsächliche Rotordrehzahl des Rotors 12 als Vergleichsmesswert. Aus einem Vergleich der tatsächlichen Rotordrehzahl mit dem Solldrehzahlwert ermittelt der Frequenzumrichter 28 in dem gezeigten Beispiel einen Solldrehmomentwert zur Ansteuerung des Drehantriebs 14 durch den Frequenzumrichter 28, wie durch den Pfeil 32 veranschaulicht, um die tatsächliche Rotordrehzahl an den Solldrehzahlwert anzupassen..The measured values of the pressing force sensors 20 are applied to a pilot control device 22, as illustrated by the arrows 24. The pilot control device 22 is arranged in a control housing 26, in which a frequency converter 28 forming a speed controller is also arranged. In the example shown, the pilot control device 22 specifies a target speed value for the rotor speed of the rotor 12 to the frequency converter 28, as illustrated by the arrow 30. The frequency converter 28 also receives the actual rotor speed of the rotor 12 as a comparison measurement value. From a comparison of the actual rotor speed with the target speed value, the frequency converter 28 in the example shown determines a target torque value for controlling the rotary drive 14 by the frequency converter 28, as illustrated by the arrow 32, in order to adapt the actual rotor speed to the target speed value.

Die Vorsteuereinrichtung 22 ermittelt auf Grundlage der von den Presskraftsensoren 20 bereitgestellten Presskraftwerte ein Zusatzsolldrehmoment als Vorsteuerung, um das bei einer Drehung des Rotors 12 aufgrund der Wechselwirkung zwischen den Ober- und Unterstempeln und den Druckrollen 18 zu erwartende Lastmoment im Voraus auszugleichen. Das Zusatzsolldrehmoment wird von der Vorsteuereinrichtung 22 ebenfalls dem Frequenzumrichter 28 zur Verfügung gestellt, wie in der Figur durch den Pfeil 34 veranschaulicht. Der Frequenzumrichter 28 addiert dieses Zusatzsolldrehmoment auf das von ihm ermittelte Solldrehmoment für die Drehzahlregelung. Der Drehantrieb 14 wird also auf Grundlage des von dem Frequenzumrichter 28 im Zuge der Drehzahlregelung ermittelten Solldrehmomentwerts und des von der Vorsteuereinrichtung 22 bereitgestellten Zusatzsolldrehmoments angesteuert. Auf diese Weise kann auch bei niedrigen Drehzahlen des Rotors 12 eine konstante Rotordrehzahl sichergestellt werden.The pilot control device 22 determines an additional target torque as a pilot control based on the pressing force values provided by the pressing force sensors 20 in order to compensate in advance for the load torque expected when the rotor 12 rotates due to the interaction between the upper and lower punches and the pressure rollers 18. The additional target torque is also made available to the frequency converter 28 by the pilot control device 22, as illustrated by the arrow 34 in the figure. The frequency converter 28 adds this additional target torque to the target torque determined by it for speed control. The rotary drive 14 is therefore controlled on the basis of the target torque value determined by the frequency converter 28 in the course of speed control and the additional target torque provided by the pilot control device 22. In this way, a constant rotor speed can be ensured even at low speeds of the rotor 12.

In dem gezeigten Beispiel wird die erläuterte Vorsteuerung, insbesondere die Ermittlung des Zusatzsolldrehmoments, erst ab einer Schwelle von beispielsweise weniger als 30 U/min, vorzugsweise weniger als 20 U/min, des Rotors 12 aktiv. Unterhalb dieser Schwelle wird durch die Vorsteuereinrichtung 22 dann permanent während des Betriebs der Rundläufertablettenpresse das Zusatzsolldrehmoment ermittelt. Insbesondere ergibt sich auf diese Weise ein Zusatzsolldrehmomentprofil für den jeweiligen Umlauf des Rotors 12, der entsprechend bei der ebenfalls permanent durchgeführten Drehzahlregelung zusätzlich berücksichtigt wird.In the example shown, the explained pilot control, in particular the determination of the additional target torque, only becomes active from a threshold of, for example, less than 30 rpm, preferably less than 20 rpm, of the rotor 12. Below this threshold, the additional target torque is then permanently determined by the pilot control device 22 during operation of the rotary tablet press. In particular, this results in an additional target torque profile for the respective rotation of the rotor 12, which is also taken into account in the speed control, which is also carried out permanently.

BezugszeichenlisteReference symbol list

1010
MaschinengehäuseMachine housing
1212
Rotorrotor
1414
DrehantriebRotary drive
1818
DruckrollenPressure rollers
2020
PresskraftsensorenPress force sensors
2222
VorsteuereinrichtungPilot control device
2424
PfeilArrow
2626
SteuergehäuseControl housing
2828
Frequenzumrichterfrequency converter
3030
PfeilArrow
3232
PfeilArrow
3434
PfeilArrow

Claims (16)

  1. A method for regulating the rotor rotational speed of a rotor (12) of a rotary tablet press, wherein the rotor (12) has a rotary drive (14) for rotating the rotor (12), a die plate which revolves with the rotor (12) and has a plurality of cavities as well as a plurality of upper and lower punches which likewise revolve with the rotor (12) and are assigned in pairs to a cavity of the die plate in order to compress filling material in the cavity into a pellet, wherein a rotational speed regulator actuates the rotary drive (14) of the rotor (12) based on a comparison of a measured rotor rotational speed with a nominal rotational speed value, characterized in that, on the basis of directly or indirectly determined pressing force values of upper and/or lower punches, a load torque to be expected is determined for the rotary drive (14) when passing through pressing rollers (18) of the rotary tablet press, and the determined load torque to be expected is provided as a pilot control in the form of an additional nominal torque for actuating the rotary drive (14).
  2. The method according to Claim 1, characterized in that the additional nominal torque is determined during at least one entire revolution of the rotor (12).
  3. The method according to one of the preceding claims, characterized in that a frequency converter (28) actuates the rotary drive (14) as the rotational speed regulator.
  4. The method according to Claim 3, characterized in that the frequency converter (28) receives the nominal rotational speed value as a first input variable, and the frequency converter (28) receives the additional nominal torque as a second input variable, wherein the frequency converter (28) actuates the rotary drive (14) on the basis of the nominal rotational speed value and the additional nominal torque.
  5. The method according to one of the preceding claims, characterized in that the additional nominal torque is provided by a pilot control apparatus (22) which receives pressing force measured values as the input variable.
  6. The method according to one of the preceding claims, characterized in that the pressing force is measured by at least one pressing force sensor (20) which is arranged on at least one pressing roller (18) of the rotary tablet press which presses the upper and/or lower punches in order to compress the filling material into the cavities.
  7. The method according to one of the preceding claims, characterized in that the pressing force is measured by determining the torque of the rotary drive (14).
  8. The method according to one of the preceding claims, characterized in that the rotor (12) is rotated at a rotational speed of less than 30 rpm, preferably less than 20 rpm.
  9. A rotary tablet press, comprising a rotor (12) having a rotary drive (14) for rotating the rotor (12), a die plate which revolves with the rotor (12) and has a plurality of cavities as well as a plurality of upper and lower punches which likewise revolve with the rotor (12) and are assigned in pairs to a cavity of the die plate in order to compress filling material in the cavity into a pellet, further comprising a rotational speed regulator which is configured to actuate the rotary drive (14) of the rotor (12) based on a comparison of a measured rotor rotational speed with a nominal rotational speed value, characterized in that a pilot control apparatus (22) is furthermore provided, which is configured to determine, on the basis of directly or indirectly determined pressing force values of upper and/or lower punches, a load torque to be expected for the rotary drive (14) when passing through pressing rollers (18) of the rotary tablet press, and to provide the determined load torque to be expected as a pilot control in the form of an additional nominal torque for actuating the rotary drive (14).
  10. The rotary tablet press according to Claim 9, characterized in that the pilot control apparatus (22) is configured to determine the additional nominal torque during at least one entire revolution of the rotor (12).
  11. The rotary tablet press according to one of Claims 9 or 10, characterized in that a frequency converter (28) is provided as the rotational speed regulator for actuating the rotary drive (14).
  12. The rotary tablet press according to Claim 11, characterized in that the nominal rotational speed value is applied to the frequency converter (28) as a first input variable, and the additional nominal torque is applied to the frequency converter (28) as a second input variable, wherein the frequency converter (28) is configured to actuate the rotary drive (14) on the basis of the nominal rotational speed value and the additional nominal torque.
  13. The rotary tablet press according to one of Claims 9 to 12, characterized in that pressing force measured values are applied to the pilot control apparatus (22) as an input variable.
  14. The rotary tablet press according to one of Claims 9 to 13, characterized in that at least one pressing force sensor (20) for determining the pressing force measured values is provided, which is arranged on at least one pressing roller (18) of the rotary tablet press which presses the upper and/or lower punches in order to compress the filling material into the cavities.
  15. The rotary tablet press according to one of Claims 9 to 14, characterized in that a torque determining apparatus for determining the torque of the rotary drive (14) is provided for determining the pressing force values.
  16. The rotary tablet press according to one of Claims 9 to 15, characterized in that the pilot control apparatus (22) is configured to only become active at a rotor rotational speed of less than 30 rpm, preferably less than 20 rpm.
EP18214860.1A 2017-12-21 2018-12-20 Method for regulating the rotor speed of a rotor of a rotary tablet press and rotary tablet press Active EP3501811B1 (en)

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DE102017130885.7A DE102017130885B4 (en) 2017-12-21 2017-12-21 Method for regulating the rotor speed of a rotor of a rotary tablet press and rotary tablet press

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DE102017130885A1 (en) 2019-06-27
US11511506B2 (en) 2022-11-29
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DE102017130885B4 (en) 2020-01-23
US20190193362A1 (en) 2019-06-27
PL3501811T3 (en) 2024-03-11
JP2019115930A (en) 2019-07-18
EP3501811A1 (en) 2019-06-26

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