CN-122008286-A - Actuator device and method

CN122008286ACN 122008286 ACN122008286 ACN 122008286ACN-122008286-A

Abstract

The invention relates to an actuator device and a method for industrial automation, in particular a pneumatic pivot drive or a pneumatic gripper, comprising a magnetic field sensor device and a drive device for performing a drive movement, the drive device having a rotary movement part which comprises a first magnetic element and which changes its rotational position relative to the magnetic field sensor device over a rotational position-angle range of more than one revolution during the drive movement, the drive device further comprising a linear movement part which is coupled in motion to the rotary movement part and which has a second magnetic element and which moves in a linear manner relative to the magnetic field sensor device during the drive movement, the magnetic field sensor device being configured to detect the magnetic fields of the first magnetic element and the second magnetic element, and the actuator device further having an evaluation unit which is configured to determine a single defined rotational position of the rotary movement part relative to the rotational position-angle range on the basis of the detected magnetic fields.

Inventors

H. BOHM
G. Damer
KLASEN DOROTHY

Assignees

费斯托股份两合公司

Dates

Publication Date: 20260512
Application Date: 20251111
Priority Date: 20241112

Claims (12)

1. Actuator device (1) for industrial automation, in particular a pneumatic pivot drive or a pneumatic gripper, comprising a magnetic field sensor device (2) and a drive device for performing a drive movement (3), wherein the drive device has a rotary movement part (4) which comprises a first magnetic element (5) and changes its rotational position relative to the magnetic field sensor device (2) over a rotational position-angle range of more than one revolution during the drive movement (3), wherein the drive device further comprises a linear movement part (6) which is coupled in motion with the rotary movement part (4) and which has a second magnetic element (7) and which moves in a linear manner relative to the magnetic field sensor device (2) during the drive movement, wherein the magnetic field sensor device (2) is configured to detect the magnetic fields of the first magnetic element (5) and the second magnetic element (7), and wherein the actuator device (1) further has an evaluation unit (14) which is configured to determine the rotational position-angle range of rotation relative to the single magnetic field sensor device (4) on the basis of the detection.
2. Actuator device (1) according to claim 1, wherein the evaluation unit (14) is configured to provide a first magnetic field value and a second magnetic field value with the magnetic field sensor device (2), wherein the first magnetic field value depends on the direction of rotation of the first magnetic element (5), the second magnetic field value depends on the spacing between the second magnetic element (7) and the magnetic field sensor device (2), and the single well-defined rotational position is determined based on the first magnetic field value and the second magnetic field value.
3. Actuator device (1) according to claim 2, wherein the evaluation unit (14) is configured to provide a rotational direction of the rotary motion part (4) based on the detected first magnetic field value and to determine a number of turns of the rotary motion part (4) based on the detected second magnetic field value, wherein the number of turns indicates within which turn (U0, U1, U2) of the rotational position-angle range the rotary motion part (4) is located, and the evaluation unit (14) is configured to determine the single definite rotational position based on the rotational direction and the number of turns.
4. An actuator device (1) according to claim 3, wherein the evaluation unit (14) is configured to determine the number of turns taking into account the first magnetic field value.
5. The actuator device (1) according to claim 4, wherein the evaluation unit (14) is configured to determine two turns candidate values that are consecutive to each other based on the detected second magnetic field value and to select one of the two turns candidate values as the turn based on the detected first magnetic field value.
6. Actuator device (1) according to any one of claims 3 to 5, wherein during the driving movement (3) the second magnetic element (7) is movable past the magnetic field sensor device within a transition section (a) of the rotational position-angle range, wherein within the transition section (a) there is a transition (18) from one turn (U0) of the rotational movement part (4) to the next turn (U1), the evaluation unit (14) being configured for determining the number of turns within the transition section (a) taking into account the first magnetic field value.
7. The actuator device (1) according to any one of claims 2 to 6, wherein the evaluation unit has a look-up table containing a plurality of value pairs consisting of respective first magnetic field values and respective second magnetic field values, wherein each value pair is assigned a respective rotational position value, wherein the evaluation unit (14) is configured to determine the single definite rotational position by using the look-up table.
8. The actuator device (1) according to any of the preceding claims, wherein the first magnetic field value is based on a first magnetic field component and a second magnetic field component, the second magnetic field value being based on a third magnetic field component, wherein the first magnetic field component, the second magnetic field component and the third magnetic field component are oriented orthogonally to each other.
9. Actuator device (1) according to claim 8, wherein the first and second magnetic field components are oriented orthogonally to the rotational axis of the rotary motion part (4) and/or the third magnetic field component is oriented axially along the rotational axis of the rotary motion part (4).
10. Actuator device (1) according to any of the preceding claims, wherein the magnetic field sensor device is configured as a magnetic field sensor element, in particular as a 3D hall sensor.
11. Actuator device (1) according to any of the preceding claims, wherein the drive means is designed as a rack gear, the rotary movement part (4) comprising a gear wheel (17), the linear movement part (6) comprising a rack (8) which meshes with the gear wheel (17).
12. A method for operating an actuator device according to any of the preceding claims, comprising the steps of: -performing a driving movement; -detecting the magnetic fields of said first magnetic element and said second magnetic element by means of a magnetic field sensor device, and -Determining the single well-defined rotational position by means of the evaluation unit based on the detected magnetic field.

Description

Actuator device and method Technical Field The invention relates to an actuator device for industrial automation, in particular a pneumatic pivot drive or a pneumatic gripper, comprising a magnetic field sensor device and a drive device for performing a drive movement, wherein the drive device has a rotary movement part which comprises a first magnetic element and changes its rotational position relative to the magnetic field sensor device over a rotational position-angle range of more than one revolution during the drive movement, wherein the drive device further comprises a linear movement part which is coupled in a movement to the rotary movement part. Background For example, the linear movement element is a pneumatically actuatable piston assembly, which forms a rack gear, in particular a pinion drive, with the rotary movement element. An actuator device that rotates over a position-angle range of more than one turn may also be referred to as a multi-turn actuator device. Disclosure of Invention The aim of the invention is to determine a single defined (eindeutige) rotational position of a rotating moving part with respect to a rotational position-angle range, i.e. with respect to an angle range comprising more than one revolution, i.e. more than 360 degrees. This object is achieved by an actuator device according to claim 1. The actuator device has a second magnetic element which moves linearly during a driving movement relative to a magnetic field sensor device, wherein the magnetic field sensor device is configured to detect the magnetic fields of the first magnetic element and the second magnetic element, and an evaluation unit which is configured to determine a single well-defined rotational position of the rotary motion part with respect to the rotational position-angle range on the basis of the detected magnetic fields. "The magnetic field sensor device detects the magnetic fields of the first magnetic element and the second magnetic element", in particular, it means that the magnetic fields of the first magnetic element and the second magnetic element are included in the magnetic field detection performed by the magnetic field sensor device, i.e., the magnetic field sensor device detects the total magnetic field generated by the superposition of the magnetic fields of the first magnetic element and the second magnetic element, for example. The linear movement of the second magnetic element relative to the magnetic field sensor arrangement causes a change in the magnetic field detected there by the second magnetic element at the location of the magnetic field sensor arrangement. Since the rotary motion member and the linear motion member are motion-coupled and the linear motion of the linear motion member is thus correlated with the rotary motion of the rotary motion member, it is possible to identify the turn of the rotary motion member based on the detected magnetic field of the second magnetic element. It is thus possible to determine a single well-defined rotational position of the rotary motion part with respect to the rotational position-angle range. The first magnetic element is thus preferably rotated, the second magnetic element is moved linearly therewith, wherein the magnetic fields of the two magnetic elements are superimposed and in particular detected by a single sensor element, so that a clear correlation between the sensor signal of the sensor element and the system state of the drive is achieved over the entire range of motion, i.e. in particular over the entire rotational position angle range. In this way, the evaluation unit is preferably able to directly determine a single defined rotational position when the actuator device is switched on, so that a true power-up of the multi-turn actuator mechanism is achieved. Advantageous refinements are the subject matter of the dependent claims. The invention also relates to a method for operating an actuator device, comprising the following steps: -performing a driving movement; -detecting the magnetic fields of the first magnetic element and the second magnetic element by means of a magnetic field sensor device, and -Determining the single well-defined rotational position by means of an evaluation unit based on the detected magnetic field. Drawings Further exemplary details and exemplary embodiments will be described below with reference to the accompanying drawings. FIG. 1 shows a schematic view of an actuator device; FIG. 2 shows a graph of a first magnetic field value and a second magnetic field value; FIG. 3 shows another graph of the first and second magnetic field values, and Fig. 4 shows a further graph of the first magnetic field value and the second magnetic field value. Detailed Description Fig. 1 shows an exemplary design of an actuator device 1 for industrial automation. Purely exemplary, the actuator device 1 is designed as a pneumatic actuator device. The actuator device 1 comprises drive means for executing a drive movem