EP3938690A1

EP3938690A1 - Electrohydraulic system having an adjustment device for a valve

Info

Publication number: EP3938690A1
Application number: EP20711535.3A
Authority: EP
Inventors: Juergen Schneider; Alexandre ORTH; Gottfried Hendrix; Oliver GERHARD
Original assignee: Robert Bosch GmbH
Current assignee: Robert Bosch GmbH
Priority date: 2019-03-15
Filing date: 2020-03-09
Publication date: 2022-01-19
Also published as: CN113544423A; WO2020187615A1; DE102019203514A1; US11976741B2; US20220163133A1

Abstract

The invention relates to an electrohydraulic system having an adjustment device (1) for a valve (2), comprising a drive apparatus (3), a control apparatus (4) and a preloading apparatus (5). In the event of a fault, the energy stored in the preloading apparatus (5) can be transferred to the control apparatus (4) such that a rotational motion of the control apparatus (4) begins, which leads to the adjustment of the valve (2). The preloading apparatus (5) comprises at least one elastic element, which is arranged adjacent to a control shaft (10) of the control apparatus (4), is stationarily connected to the control shaft (10) and applies a torque to the control shaft (10).

Description

Electro-hydraulic system with an adjustment device for a valve

description

The invention relates to an electrohydraulic system with an adjusting device for a valve, with a drive device, with an adjusting device and with a pretensioning device, wherein the energy stored in the pretensioning device can be transferred to the adjusting device in the event of a malfunction, so that a rotary movement of the adjusting device begins, which is used for Adjustment of the rotatably actuated valve leads.

Such electrohydraulic systems with process valves can be used in a large number of industrial applications, for example underwater (off shore oil and gas) or above water (on shore oil and gas).

Such kind of electrohydraulic systems are mainly used to underwater in water depths up to several thousand meters in connection with the production of oil and natural gas, with mining, scientific inquiries or

Infrastructure projects to move an element. For example, in crude oil or natural gas production systems at sea there are process valves at great depths with which the volume flow of the medium to be transported can be regulated or shut off.

In a known device, the actuating device is designed with an actuator for actuating a valve by means of an actuator. This actuator is one

Assigned emergency actuation device, via which the actuator can be reset essentially independently of the activation of the actuator in the event of a fault. This emergency actuation device has an energy store, the stored energy of which can be released for resetting. In this case, the emergency actuation device has a piston which is acted upon on the one hand by the energy store and on the other hand by a pressure in a pressure chamber that can be connected to a tank or the like via a switching valve to release the energy stored in the energy store. The piston is designed in such a way that it adjusts the actuator in the return direction when the pressure chamber is relieved. The linear displacement of the piston in an emergency is converted via a linearly displaceable driver into a likewise linear movement of the actuator (console) via which the valve is closed. The linear displacement device is neither intended nor suitable for closing a valve that can be operated in rotation. A particular problem is that the linear movement does not allow a torque to be transmitted directly to the valve.

Even if the known solution has already proven to be very convenient and safe, it cannot always be used, for example, with special space requirements or positions of the actuator. It is precisely in these situations that a new concept is required.

Proceeding from this, the object of the present invention is to create an electrohydraulic system with an adjusting device which alleviates or even avoids the disadvantages mentioned. In particular, a compact design, namely a small installation space and an increased service life, should be implemented in a structurally simple manner. In addition, an effective adjustment of the rotary actuator should be made possible in a simple manner. Finally, the valve, which can be actuated in rotation, should be reliably closed if the power supply fails.

These objects are achieved with an arrangement according to the independent patent claim 1. Further embodiments of the invention are specified in the dependent patent claims. It should be pointed out that the description, in particular in connection with the figures, cites further details and developments of the invention, which can be combined with the features from the patent claims.

Contributing to this is an electrohydraulic system with an adjusting device for a valve with a drive device, with an adjusting device and a pretensioning device, the energy stored in the pretensioning device being transferable to the adjusting device in the event of a malfunction, so that a rotary movement of the adjusting device begins, which is used to adjust the Valve leads. The pretensioning device comprises at least one elastic element which is arranged adjacent to an adjusting axis of the adjusting device and which is fixedly connected to the adjusting axis and exerts a torque on the adjusting axis.

It is possible for several elastic elements to be arranged (in series and / or parallel to one another). Several elastic elements can be combined as a package. The elastic element is formed in particular with a metal. In particular, it has an external shape that can be changed elastically.

The elastic element is arranged adjacent to the adjusting axis. That means in particular that a center axis of the elastic element is not arranged coaxially and / or parallel to the adjusting axis. It is preferred that a center axis of the elastic element is not aligned perpendicular to the adjustment axis. A central axis of the elastic element is preferably inclined, tangential, skewed or has an alignment parallel to the adjusting axis.

The elastic element is (indirectly or directly) fixedly connected to the adjusting axis. In other words, that means in particular that a force introduction point acting on the adjusting axis by the elastic element is invariable with respect to the position relative to the adjusting axis. This can be achieved in that the elastic element and the adjusting axis are firmly connected to one another, so z. B. the elastic element is mounted on or on the (surface of the) adjusting axis, welded, etc. In particular, the force application point does not move relative to the (surface of the) adjusting axis.

The at least one elastic element is also provided, positioned and / or set up in such a way that it can exert a torque on the adjusting axis (at least in an “active” position - emergency actuation). The torque is in particular such that it enables or realizes a return adjustment or rotation of the adjusting axis over a predeterminable angular range.

The electrohydraulic system presented here comprises an encapsulated emergency drive with a mechanical energy store (here by means of the at least one elastic element). The energy stored in the elastic element (e.g. a spring) is converted into a rotary movement via a mechanical spindle or a hydraulic motor. In both cases, the spring can be operated by a hydraulic cylinder during the normal operation, which is shut off via a valve. When the valve is opened (e.g. due to a power failure) the cylinder is pushed by the spring and the energy is released. In the event of a malfunction, the rotary movement leads to an immediate adjustment and thus to the rapid closure of a rotary operated valve. The actuating device is triggered quickly and fail-safe.

With the present device, an emergency safety module for rotary axes, in particular process valves, is created without using electrical batteries. The module can be exchanged underwater and enables the valve to be operated by an external actuator or robot.

For multiple applications underwater and also overwater (on shore oil and gas), a rotatively actuated actuator is preferred, which can be exchanged with a standard interface (for example by an ROV = Remotely Operated Vehicle or AUV = Autonomous Underwater Vehicle). With the electrohydraulic system presented here, an accident prevention and locking mechanism for rotary actuators is implemented using a spring system and hydraulic control (without electrical batteries), which is exchanged by an external actuator or underwater robot or vehicle (e.g. ROVs and AUVs) and can be operated.

The fail-safe mechanism for rotary actuated valves does not use batteries, but uses springs with reliable hydraulic control, which can also be replaced underwater, which have a spindle drive or a hydraulic motor and / or can also contain a complete drive system (i.e. not just safety functions, but also the normal operational work).

The adjustment device presented here realizes an accident prevention system with a spring system, the safety control system being integrated into a hydraulic control, that is, an electrical drive device is decoupled and a required torque and a rotary movement are provided in order to move a process valve into a secured (closed) position bring and hold in this position.

The emergency safety module for rotary process valves enables a high level of safety and reliability for a long service life (e.g. 25 years). It can be used as an independent module, either to supplement existing electrical actuators or as a single actuator. The module can easily be exchanged underwater; the operation of an external tool or actuator can be deactivated by an electro-hydraulic control system (no block).

The drive device for the adjustment device can be a remote operated vehicle (ROV) or an autonomous underwater vehicle (AUV) or a robot. A spindle or a hydraulic motor with a rotary drive can preferably be used as the adjusting device. The actuating device is preferably set up to drive the valve in rotation, for example a process valve.

The valves can preferably be shut-off valves for blocking and opening a line. Furthermore, conical seat valves which can be adjusted hydraulically via a hydraulic motor or mechanically via a spindle are preferably used as valve elements. The closing force generated by the counter pressure causes elastic deformation on the support element. If there is sufficient closing force, leak-free tightness is guaranteed. Here, a valve cone is pressed onto a housing seat by a movement spindle. The threaded nut can lie in the housing. The movement spindle is preferably driven by an actuator that performs a rotary movement. The movement spindle with the valve cone is shifted linearly when the valve is opened and closed, while the threaded nut remains stationary. Ball elements with a continuous bore can also be used, which are mounted in a seal and release or block the opening when rotated by 90 °. The ball element and the actuator are stationary here. Rotary slide valves are also preferably used.

The pretensioning device comprises at least one spring element, for example a helical compression spring or another resilient element. The pretensioning device can interact with a piston which delimits a liquid-filled pressure chamber which is set up to adjust the actuating device in the return direction (closing direction) of the valve when the pressure chamber is relieved.

The elastic element preferably comprises at least one spring system with at least one pretensioning spring. The preload spring is preferably a helical spring. At least one lever arm, attachment or the like, on which one end of the at least one pretensioning spring engages, is advantageously attached to the adjusting axis. It is particularly preferred that the at least one lever arm, extension or the like rests directly on the surface of the adjusting axis and is fastened there. It is possible for a guide and / or a joint to be provided which can compensate for the relative movement between the adjusting axis and the elastic element and / or which can transmit the required torque.

The or predominant direction of action of the prestressing spring expediently runs essentially perpendicularly but at a distance from the longitudinal axis of the adjusting axis.

The or the predominant direction of action of the pretensioning spring preferably runs essentially parallel to a tangent to the (surface of the) adjusting axis.

The spring system is preferably preloaded by at least one rotatable motor.

The spring system is advantageously preloaded by at least one hydraulic cylinder with at least one pressure piston.

The hydraulic cylinder is expediently connected to at least one directional control valve via at least one channel, the pressure chamber of the hydraulic cylinder being displaceable by the spring system when it is opened.

The adjusting axis of the adjusting device and the adjusting axis of the valve are preferably arranged coaxially to one another.

An (electromagnetic) tensioning device is preferably provided for the pretensioning device. The electromagnetic tensioning device can in particular be set up to set and / or maintain the pretensioning.

A release device for the pretensioning device is advantageously provided. The triggering device can in particular be set up to relax the preload and / or to trigger an introduction of torque into the actuating axis by means of the at least one element. A reset device for the pretensioning device is expediently available. The reset device can be set up to adjust and / or maintain the pre-tensioning of the pre-tensioning device in the event of failure of an electromagnetic tensioning device provided for this purpose, this preferably taking place via an alternative path, in particular with hydraulically and / or mechanically operated components.

The invention and the technical environment are explained in more detail below with reference to figures. The same components are identified by the same reference symbols. The representations are schematic and not intended to illustrate proportions. The explanations given with reference to individual details of a figure can be extracted and freely combined with facts from other figures or the above description, unless something else is mandatory for a person skilled in the art or such a combination is explicitly prohibited here. They show schematically:

Fig. La: a side view of the adjusting device with an open valve and tensioned pretensioning device,

Fig. Lb: the adjusting device according to Fig. La with closed valve and relaxed pretensioning device,

Fig. 2a: in section l-l the pretensioning device with helical compression spring in the tensioned position according to Fig. La,

Fig. 2b: in section II-II the pretensioning device with helical compression spring in the relaxed position according to Fig. Lb,

Fig. 3: in perspective, an embodiment of the pretensioning device with a

Plurality of preload springs,

Fig. 4: an embodiment of the adjusting device with electromagnetic

Clutch, electromagnetic tensioning device and mechanical reset device, FIG. 5: an embodiment of the adjusting device as in FIG. 4, but with a hydraulic return device,

Fig. 6: an embodiment of the adjusting device with electromagnetic

Clutch, hydraulic tensioning device and mechanical reset device,

FIG. 7: an embodiment like FIG. 6, but with a directional control valve between

Hydraulic pump and hydraulic cylinder and

FIG. 8: an embodiment similar to FIG. 4, but with one module each for the triggering device and the pretensioning device and one module for the tensioning device.

FIGS. La and lb show the adjusting device 1 with the valve 2 open and the pretensioning spring 16 tensioned (FIG. La) and with the valve 2 closed and the pretensioning spring 16 relaxed (FIG. Lb). The adjustment device 1 for a valve 2 with a drive device 3, with an actuation device 4 and with a pretensioning device 5 is shown.

The functional diagrams according to FIGS. 1 a and 1 b show the actuating device 4 for actuating the valve 2, for example a process valve, via which a volume flow 6 can be set. The adjusting device 4 has a spindle drive with a drive device 3, for example an electric machine 7, which drives a spindle 8. The spindle 8 rotates around the longitudinal axis 10 in the direction of arrows A or B. In the example shown, the rotation of the spindle 8 is transmitted to a ball element 11 of the valve 2 with a through hole 12, which is sealingly mounted in a valve housing 13 . A valve channel 14 runs through the valve housing 13, which is continued at its mouths through tubes 15 and in which a gaseous or liquid medium (volume flow 6) flows.

In the valve housing 13, a cavity is formed in which the ball element 11 with the bore 12 (flow opening) is rotatably mounted. The ball element 11 is attached coaxially to the output end 8.2 of the spindle 8. In the state according to FIG. 1 a, the bore 12 and the valve channel 14 are aligned with one another, the full flow opening is released, the valve 2 is therefore open. When the ball element 11 is rotated by 90 ° in the direction of the arrow C or D, the ball element 11 and the valve channel 14 overlap, the passage opening is blocked, the valve 2 is closed (see FIG. 1b).

The electric machine 7 is arranged at the drive end 8.1 of the spindle 8. By controlling the electric machine 7 in normal operation, the rotational movement of the drive shaft 24 of the electric machine 7 in the direction of arrows E and F, the rotational movement of the spindle 8 in the direction of arrows A and B and the rotational movement of the drive shaft 25 of the valve 2 in the direction of Arrows C and D - the ball element 11 of the valve 2 can be adjusted as a function of the rotational movement of the threaded spindle 8 in the direction of arrows C and D, respectively.

In the event that the valve 2 is opened (opened) and a certain volume flow 6 is set, the valve 2 would remain open in the event of a power failure or a system-side malfunction, so that the function of the process fitting can no longer be controlled. For such a malfunction, an emergency actuation device is provided, by means of which the spindle 8 can be returned to a basic position in which the valve 2 is closed (FIG. 1b). In the solution shown in FIGS. La and lb, this resetting takes place mechanically, with no components having to be electrically operated for the emergency function. The emergency actuation device consists essentially of an energy store, in the present case of the pretensioning device 5 with a pretensioning spring 16 (spring store).

As shown in FIGS. 2a and 2b, the pretensioning spring 16 is supported with its one end on a first support element 17 which is rotatably fastened to a stationary pivot bearing 21 via a first pivot point 19. At its other end, the pretensioning spring 17 is supported on a second support element 18 which acts on one end of a lever arm 9 via a second pivot point 20. The lever arm 9 or an equivalent element is fixed at its other end to the spindle 8, for example by gluing, welding, screwing or the like, and is thereby rigidly connected to the spindle 8.

La and 2a show the biasing spring 16 in the tensioned position, while the figures lb and 2b show the biasing spring 16 in the relaxed position. In the course of the relaxation of the pretensioning spring 16, for example a helical compression spring, the second support element 18 moves in the direction of the arrow H from a first position 18 '(FIG. 2a) into a second Position 18 "(Fig. 2b). Here, the lever arm 9 is pressed upwards so that the spindle 8 - seen in cross section - is rotated by an angle a = 90 ° about its adjusting axis 10 (longitudinal axis). In this way, the ball element 11 of the valve 2 is also rotated through 90 ° into the closed position (Fig. Lb). The arrow d indicates the direction in which the bias spring 16 is tensioned.

Fig. 3 shows in perspective a embodiment of the biasing device 5 with a plurality of biasing springs 16i to 16 _n (spring package). The prestressing springs 16.1 to 16n can be connected in series or in parallel. With 22 is a track guide and 23 with a holding element for the pretensioning device 5 is designated.

4 to 8 show different embodiments of the adjusting device 1. For reasons of simplification, the pretensioning device 5 is shown using the example of a helical spring. The angled spindle 8 is only intended to illustrate schematically that the movable end of the pretensioning device 5 is set up to exert a torque on the spindle 8.

The different designs shown in FIGS. 4 to 8 each include a drive for a tensioning device 26 for tensioning the pretensioning device 5, the pretensioning device 5 (accident prevention), a release device 27 for the pretensioning device 5 and a reset device 28.

4 shows an embodiment of the adjusting device 1 with the following elements: The drive for the clamping device 26 is provided by a first electric motor 29, which interacts with the spindle 8 via a first gear 32. The pretensioning device 5 comprises an elastic element, for example a spring element. The release device 27 has an electromagnetically actuated clutch 35 which acts as a brake and cooperates with the spindle 8 via a second gear 33. The reset device 28 is implemented mechanically, for example via the drive device 3 with drive shaft 24. An interface between the drive device 3 and the spindle 8 is designated by 35. A position encoder is designated by 40.

According to FIG. 5, an adjusting device 1 is provided as in FIG. 4, but with a hydraulic return device 28. For this purpose, a hydraulic circuit is provided, which is a first Hydraulic pump 36 and a hydraulic motor 38, which are arranged as a rotary drive within the spindle 8 between the drive device 3 (see FIG. 4) and the pretensioning device 5. This training enables a lower speed and lower forces.

FIG. 6 illustrates an adjusting device 1 in which the tensioning device 26 comprises a second hydraulic pump 37 driven by a second electric motor 30, which acts on a linear hydraulic cylinder 39. The clamping device 26 is realized electro-hydraulically.

7 illustrates an adjusting device 1 in which a directional valve 42 with an electromagnet and spring return is switched on in the tensioning device 26 in a hydraulic line 41 between the second hydraulic pump 37 and the hydraulic cylinder 39. 8 shows an adjusting device 1 with a first module 43 and a second module 44. The first module 43 comprises the release device 27 and the pretensioning device 5. The second module 44 contains the tensioning device 26. In a multi-valve system, each of the valves 2 can have a first module 43 be assigned. The second module 44 can be connected to one of the plurality of first modules 43 as required. A third transmission is designated by 34.

List of reference symbols

1 adjustment device

2 valve

3 drive device

4 adjusting device

5 pretensioning device

6 volume flow

7 electric machine

8 spindle

8.1 End of drive

8.2 End of output

9 lever arm

10 positioning axis

11 ball element

12 bore

13 valve body

14 valve channel

15 pipe

16 preload spring

16i to 16h preload springs

17 first support element

18 second support element 18 ‘first position

18 "second position

19 first pivot point

20 second pivot point 21 pivot bearing

22 Lane guidance

23 retaining element

24 drive shaft

25 drive axle

26 Clamping device 27 Release device

28 Reset device

29 first electric motor

30 second electric motor 31 third electric motor

32 first transmission

33 second gear

34 third gear

35 interface

36 first hydraulic pump

37 second hydraulic pump

38 hydraulic motor

39 hydraulic cylinders

40 Position sensor 41 Hydro line

42 directional control valve

43 first module

44 second module

Claims

1. Electrohydraulic system with an adjusting device (1) for a valve (2) with a drive device (3), with an adjusting device (4) and with a pretensioning device (5), the energy stored in the pretensioning device (5) in the event of a fault the actuating device (4) can be transmitted so that a rotary movement of the actuating device (4) begins, which leads to the adjustment of the valve (2), the pretensioning device (5) comprising at least one elastic element which is adjacent to an actuating axis (10) of the Adjusting device (4) is arranged and fixedly connected to the adjusting axis (10) and exerts a torque on the adjusting axis (10).

2. Electrohydraulic system according to claim 1, wherein the elastic element comprises at least one spring system with at least one biasing spring (16; 16i to 16 _n ).

3. An electro-hydraulic system according to one of the preceding claims, wherein at least one lever arm (9) is attached to the adjusting axis (10) at one end of the at least one biasing spring (16; 16 i to 16 _N) engages.

4. Electro-hydraulic system according to one of the preceding claims, wherein the direction of action of the pretensioning spring (16; 16i to 16 _n ) runs essentially parallel to a tangent to the adjusting axis (10).

5. Electro-hydraulic system according to one of the preceding claims, wherein the pretensioning device (5) is pretensioned by at least one rotatable electric motor (29).

6. Electro-hydraulic system according to one of the preceding claims, wherein the pretensioning device (5) is pretensioned by at least one hydraulic cylinder (39) with at least one linearly movable pressure piston.

7. Electrohydraulic system according to claim 6, wherein the hydraulic cylinder (39) is connected to at least one directional control valve (42) via at least one channel (41), at the opening of which the pressure piston of the hydraulic cylinder (39) can be displaced by the pretensioning device (5).

8. Electrohydraulic system according to one of the preceding claims, wherein the adjusting axis (10) of the adjusting device (4) and the drive axis (25) of the valve (2) are arranged coaxially to one another.

9. Electro-hydraulic system according to one of the preceding claims, wherein a tensioning device (26) for the pretensioning device (5) is present.

10. Electrohydraulic system according to one of the preceding claims, wherein a release device (27) is provided for the pretensioning device (5).

11. Electro-hydraulic system according to one of the preceding claims, wherein a resetting device (28) for the pretensioning device (5) is present.