JP3873020B2 - Actuator operating condition detecting device and operating condition detecting method - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to an actuator operating condition detection device and an operating condition detection method.
[0002]
[Prior art]
For example, in a thermal power plant, a fuel delivery path from a fuel tank to a boiler is complicated, and a number of valves are provided in the delivery path, and each valve is opened and closed by a respective actuator. Alternatively, a damper is provided in the supply / exhaust path of the boiler, and the damper is opened and closed by an actuator. These actuators are operated by remote control from the control panel.
[0003]
On the other hand, the performance of actuators or valves and dampers deteriorates with long-term use, so early detection and maintenance management of these abnormalities are important. At the same time, it is also a desirable technology to automate maintenance management for early detection and prediction detection of abnormalities without relying on human resources.
[0004]
For example, in Patent Document 1 and Patent Document 2, it is determined whether the control valve is normal or abnormal by detecting the valve opening of the control valve and comparing the valve opening with a predetermined value. Technology is disclosed.
[0005]
Patent Document 3 discloses a technique for detecting an abnormality related to the control valve based on the correlation between the operating air pressure, the valve opening of the control valve, and the flow rate.
[0006]
[Patent Document 1]
Japanese Patent No. 3222333
[Patent Document 2]
Japanese Patent No. 3189967
[Patent Document 3]
Japanese Patent Laid-Open No. 4-119275
[0007]
[Problems to be solved by the invention]
By the way, the performance of actuators, valves, dampers and the like driven by the actuators often deteriorates gradually, leading to failure. For example, even if the valve opens to the target opening and can fulfill the role of the valve, the movement of the actuator or valve may slow down or become fast due to the deterioration of the performance of the actuator or valve, and such an operating situation may occur. After that, the actuator and valve fail. Therefore, in order to detect abnormalities in actuators and valves at an early stage, it is necessary not only to check whether or not the valve functions can be fulfilled as a result, but also to monitor changes in the valve operating status. It becomes.
[0008]
However, in the techniques of Patent Documents 1 and 2 described above, abnormality of the control valve is determined by comparing the valve opening of the control valve with a predetermined value, and a change in the operating state of the valve is monitored. It is not a thing.
[0009]
Moreover, although the technique of patent document 3 looks at the correlation between the operation air pressure, the valve opening degree of the control valve, and the flow rate, it merely determines whether or not the role of the valve can be achieved as a result. Still, it does not monitor changes in the operating status of the valve.
[0010]
Therefore, the present invention has been made in view of the above-described conventional problems, and monitors changes in operating conditions of actuators, valves and dampers driven by the actuators, and early detection of these abnormalities is performed. It is an object of the present invention to provide an operating state detecting device and an operating state detecting method for an actuator.
[0011]
[Means for Solving the Problems]
  In order to solve the above problems, the present invention provides:In the operating condition detection device for the actuator that converts the linear motion of the piston in the cylinder into the rotational motion of the rotary shaft and outputs it,ActuatorAxis of rotationUsing position detection means for detecting that each operating position has been reached, and detection output of the position detection means,Actuator rotation axisBetween each operating positionrotationMoving time timing means for measuring moving timeAnd a storage means for storing the movement time measured by the movement time measuring means each time the actuator is operated, and the actuator by comparing each movement time in the storage means with a reference value or an initial value of each movement time. Determining means for determining the abnormality ofIt has.
  Further, the present invention provides an actuator operating state detection device for converting linear motion of a piston in a cylinder into rotational motion of a rotary shaft and outputting the position detection for detecting that the rotary shaft of the actuator has reached each operating position. Using the detection output of the position detecting means, the moving time measuring means for measuring the moving time for the rotation axis of the actuator to rotate between the operating positions, and the moving time measuring means for each time the actuator is operated. Storage means for storing the travel time, and determination means for judging an abnormality of the actuator by comparing the ratio of each travel time in the storage means with a threshold value.
[0012]
According to the present invention having such a configuration, it is detected that the operation location related to the operation of the actuator has reached each operation position, and the movement time for the operation location to move between the operation positions is counted. For this reason, it is possible to know whether the movement of each of the operating portions related to the operation of the actuator has become slow or fast based on the moving time. That is, it is possible to monitor a change in the operating state of the actuator.
[0013]
The operation location related to the operation of the actuator includes parts of the actuator, or parts such as a valve and a damper driven by the actuator. In addition, as the number of detected operation points increases, the change in the operating state of the actuator can be monitored in detail. For example, when the first to fourth operation points are set, the movement time between the first and second operation points is measured, the initial operation is monitored based on the movement time, and the second and third operation points are monitored. The movement time between points is counted, the intermediate operation is monitored based on this movement time, the movement time between the third and fourth operating points is further counted, and the final movement is monitored based on this movement time. be able to.
[0020]
Furthermore, in the present invention, the operation position related to the operation of the actuator is represented by a rotation position or a rotation angle. Alternatively, the operation position related to the operation of the actuator is represented by a movement position or a movement distance.
[0021]
As described above, the operation position can be expressed by any of the rotation position, the rotation angle, the movement position, and the movement distance.
[0022]
In the present invention, the position detecting means includes an optical sensor that detects that the operating location related to the operation of the actuator has reached each operating position, and the moving time measuring means is a detection output of the optical sensor of the position detecting means. Is used to measure the time required for the operation point to move between the operation positions.
[0023]
When the optical sensor is used, it can be detected in a non-contact manner that the operating point has reached each operating position.
[0024]
Furthermore, in the present invention, the actuator drives the valve. Alternatively, the actuator drives the damper.
[0025]
In this case, the operating location related to the operation of the actuator is the operating location of the actuator itself or the operating location of the valve or damper.
[0026]
  On the other hand, the operation status detection method of the actuator of the present invention is:In the method for detecting the operating state of the actuator that converts the linear motion of the piston in the cylinder into the rotational motion of the rotary shaft and outputs it,ActuatorAxis of rotationBased on the detection result in the position detection step and the position detection step, which detects that has reached each operating position,Actuator rotation axisA moving time measuring step for measuring the moving time for rotational movement between the operating positions;Each time the actuator is actuated, a storage step for storing the movement time measured in the movement time measurement step, and each movement time stored in the storage step is compared with a reference value or an initial value of each movement time. And a determination step for determining the abnormality.
  Also, the actuator operating state detection method of the present invention is an actuator operating state detection method that outputs a linear motion of a piston in a cylinder converted into a rotational motion of a rotating shaft. A position detecting step for detecting the occurrence of the failure, a moving time measuring step for measuring the moving time for the rotation axis of the actuator to rotate between the operating positions based on the detection result in the position detecting step, and the degree of actuation of the actuator. A storage step for storing the movement time measured in the movement time counting step, and a determination step for determining an abnormality of the actuator by comparing the ratio of each movement time stored in the storage step with a threshold value. .
[0027]
Such a method of the present invention can achieve the same operations and effects as the apparatus of the present invention.
[0028]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings.
[0029]
FIG.1 and FIG.2 is the top view and side view which show the actuator to which one Embodiment of the operation condition detection apparatus of this invention is applied. In the operation state detection apparatus 11 of the present embodiment, the rotating plate 14 is fixed to the upper end of the rotating shaft 13 of the actuator 12, the substrate A is fixed to the upper side of the actuator 12, and the substrate B is spaced apart above the substrate A and fixed. The first to fourth photosensors 15a to 15d are arranged at equal intervals along the notch 14a of the rotating plate 14 and fixed on the substrate B, and are connected to the first to fourth photosensors 15a to 15d. The electronic unit 16 is disposed on the substrate B. A stem 17 of a valve (not shown) is connected to the lower end of the rotating shaft 13 of the actuator 12.
[0030]
The rotating plate 14 rotates together with the rotating shaft 13 of the actuator 12 and the valve stem 17. The rotating plate 14 has a notch 14a on the outer periphery thereof. The first to fourth optical sensors 15a to 15d are each provided with a light emitting element and a light receiving element, and the respective elements are arranged opposite to each other with the notch portion 14a of the rotating plate 14 interposed therebetween, and the rotational position of the rotating plate 14 is detected. To do. When the edge 14b of the notch 14a of the rotating plate 14 reaches the first rotation position P1 with the rotation of the rotating plate 14, the optical path between the light emitting element and the light receiving element of the first optical sensor 15a is blocked by the rotating plate 14. The first optical sensor 15a detects that the edge 14b has reached the first rotational position P1. When the edge 14b of the notch 14a of the rotating plate 14 reaches the second rotational position P2, the optical path between the light emitting element and the light receiving element of the second photosensor 15b is blocked by the rotating plate 14, and the second photosensor 15b. Thus, it is detected that the edge 14b has reached the second rotational position P2. Similarly, when the edge 14b of the notch portion 14a of the rotating plate 14 sequentially reaches the third and fourth rotational positions P3 and P4, the third and fourth photosensors 15c and 15d cause the edge 14b to be third and fourth. It is detected that the rotational positions P3 and P4 have been reached sequentially. Further, when the rotating plate 14 rotates in the reverse direction, the edge 14b of the notch portion 14a of the rotating plate 14 is at the fourth rotation position P4, the third rotation position P3, the second rotation position P2, and the first rotation position P1. Each time the optical path of the fourth optical sensor 15d, the third optical sensor 15c, the second optical sensor 15b, and the first optical sensor 15a is sequentially re-formed, it is sequentially detected that the rotational positions have been reached. .
[0031]
FIG. 3 is a block diagram showing a configuration of the electronic unit 16. The electronic unit 16 includes a central processing unit (hereinafter referred to as “CPU”) 21, a memory 22, a communication circuit 23, and a power supply circuit 24.
[0032]
The CPU 21 monitors the detection outputs of the first to fourth optical sensors 15a to 15d, and determines the time from when one of the detection outputs of the first and second optical sensors 15a and 15b changes until the other changes. The time is measured to obtain the first movement time t1 when the edge 14b of the notch 14a of the rotating plate 14 moves between the first and second rotational positions P1 and P2. Also, the time from when one of the detection outputs of the second and third photosensors 15b and 15c changes until the other changes, the edge 14b moves between the second and third rotational positions P2 and P3. The second moving time t2 for moving is obtained, and the time from when one of the detection outputs of the third and fourth photosensors 15c and 15d changes until the other changes, the edge 14b becomes the third and A third movement time t3 for moving between the fourth rotational positions P3 and P4 is obtained. Then, the CPU 21 stores the first movement time t1, the second movement time t2, and the third movement time t3 in the memory 22, and the actuator 12 or the valve malfunctions based on the first to third movement times t1 to t3. Determine. Since the rotating plate 14 rotates together with the rotating shaft 13 of the actuator 12 and the stem 17 of the valve, the first to third movement times t1 to t3 are also rotating times required for the rotating shaft 13 and the stem 17 to rotate. Therefore, based on the first to third movement times t1 to t3, it is possible to monitor changes in the operating state of the actuator 12 or the valve and determine these abnormalities.
[0033]
The communication circuit 23 performs wired communication or wireless communication, and is connected to a terminal device (not shown) such as a computer through, for example, a LAN. The CPU 21 performs data communication with the terminal device through the communication circuit 23.
[0034]
The power supply circuit 24 inputs power from an external power supply, and supplies this power to the CPU 21, the memory 22, the communication circuit 23, the first to fourth photosensors 15a to 15d, and the like.
[0035]
4 and 5 are a transverse sectional view and a longitudinal sectional view showing the actuator 12, respectively. 4 and 5, the operation is described with a swing type actuator having a scotch and yoke type structure, but this may be another structure, for example, a rack and pinion type actuator.
[0036]
As apparent from FIGS. 4 and 5, the actuator 12 includes the cylindrical body 31, the left lid body 32 and the right lid body 33 that close the openings on both sides of the cylindrical body 31, and the left side that is inserted inside the cylindrical body 31. The piston 34 and the right piston 35, the connecting body 36 that connects the left piston 34 and the right piston 35, the rotating shaft 13 that is rotatably supported, the arm 38 that is fixed to the rotating shaft 13, and the connecting body 36. And a pin 39 that is rotatably supported and inserted into the groove 38 a of the arm 38.
[0037]
6 and 7 are cross-sectional views showing the operating state of the actuator 12. As is clear from FIGS. 6 and 7, a left gas path 41 and a right gas path 42 are formed in the cylindrical body 31. A left chamber 43 sandwiched between the left lid 32 and the left piston 34 and a right chamber 44 sandwiched between the right lid 33 and the right piston 35 are formed inside the cylindrical body 31. The left gas path 41 reaches the left chamber 43 from the left port 41a. The right gas path 42 extends from the right port 42 a to the right chamber 44.
[0038]
Here, as shown in FIG. 6, gas (air, nitrogen gas, etc.) is pumped from the port 41a to the left chamber 43 through the left gas path 41, and the gas in the right chamber 44 is sent from the right port 42a through the right gas path 42. When discharged, the left chamber 43 expands, and the left piston 34, the right piston 35, and the coupling body 36 move in the right direction. Along with this, the pin 39 moves to the right, the arm 38 turns clockwise, and the rotary shaft 13 and the rotary plate 14 rotate clockwise. In addition, as shown in FIG. 7, when the gas is pumped from the port 42 a to the right chamber 44 through the right gas path 42 and the gas in the left chamber 43 is discharged from the left port 41 a through the left gas path 41, the right gas path 42 is The left piston 34, the right piston 35, and the coupling body 36 move leftward. Along with this, the pin 39 moves to the left, the arm 38 turns counterclockwise, and the rotating shaft 13 and the rotating plate 14 rotate counterclockwise.
[0039]
Further, as shown in FIG. 5, since the valve stem 17 is fitted in the lower end recess 13a of the rotating shaft 13, not only the rotating plate 14 is rotated with the rotation of the rotating shaft 13, but also the The valve stem 17 is rotated to open and close the valve. When the edge 14b of the notch portion 14a of the rotating plate 14 reciprocates between the first and fourth rotational positions P1 and P4, the rotating shaft 13 and the valve stem 17 also reciprocately move, and the opening / closing operation of the valve is performed. Done once.
[0040]
Next, a process for determining an abnormality of the actuator 12 by the operating state detection device 11 will be described according to the flowchart of FIG.
[0041]
First, the CPU 21 monitors the detection outputs of the first to fourth optical sensors 15a to 15d (step S101), and the rotating plate 14 is based on the change in the detection outputs of the first to fourth optical sensors 15a to 15d. The first movement time t1 when the edge 14b of the notch 14a moves between the first and second rotational positions P1 and P2, and the second movement when the edge 14b moves between the second and third rotational positions P2 and P3. Time t2, and the third movement time t3 when the edge 14b moves between the third and fourth rotational positions P3 and P4 (step S102), the first movement time t1, the second movement time t2, and the third time The travel time t3 is stored in the memory 22 (step S103).
[0042]
Next, the CPU 21 compares the first movement time t1, the second movement time t2, and the third movement time t3 with preset first reference time T1, second reference time T2, and third reference time T3, respectively. If t1 ≦ T1, t2 ≦ T2, and t3 ≦ T3, it is determined that no abnormality has occurred in the actuator 12 or the valve (“OK” in step S104), and the process returns to step S101. If at least one of t1> T1, t2> T2, and t3> T3 is satisfied, the CPU 21 determines that an abnormality has occurred in the actuator 12 or the valve (“NG” in step S104). The determination content is stored in the memory 22 (step S105), and the determination content is transmitted to a terminal device such as a computer through the communication circuit 23 (step S106). Thereafter, the process returns to step S101.
[0043]
Here, when the first movement time t1 exceeds the first reference time T1, the second movement time t2 exceeds the second reference time T2, or the third movement time t3 exceeds the third reference time T3, that is, the actuator If the rotation time of the twelve rotating shafts 13 and the valve stem 17 takes longer than usual, it is considered that some abnormality has occurred in the actuator 12 or the valve, and this abnormality is notified to a terminal device such as a computer. is doing.
[0044]
In general, as the operating period of the actuator 12 or the valve becomes longer, these performances gradually deteriorate and the operating time becomes longer. Therefore, when at least one of t1> T1, t2> T2, and t3> T3 is satisfied, it is considered that an abnormality has occurred in the actuator 12 or the valve, and this abnormality is notified to an external terminal device. If the occurrence of an abnormality of the actuator 12 or the valve is notified on the terminal device side by display or voice, the actuator 12 or the valve can be inspected and maintenance management such as repair or replacement can be performed before the actuator 12 or the valve breaks down. .
[0045]
For example, if impurities are mixed into the gas for operating the actuator 12 or impurities are mixed into the fluid (gas or liquid) passing through the valve, the movement time may be reduced. Therefore, the abnormality of the actuator 12 or the valve can be detected, and before the actuator 12 or the valve breaks down, the abnormality can be notified and the maintenance management can be performed.
[0046]
By the way, in this embodiment, when at least one of t1> T1, t2> T2, and t3> T3 is established, it is considered that an abnormality has occurred in the actuator 12 or the valve, but t1> T1, When two of t2> T2 and t3> T3 are established, or when all of these are established, it may be considered that an abnormality has occurred in the actuator 12 or the valve. Further, as a condition when it is regarded as abnormal, a condition that the moving time becomes less than the reference time may be set. In this case, the operation time of the actuator 12 or the valve is shortened.
[0047]
Further, instead of comparing the measured travel time with the reference time, the travel time is stored in the memory 22 every time the travel time is measured, and travel history information is created in the memory 22. The occurrence of abnormality may be determined based on the information. For example, the first to third movement times t1 to t3 measured first are stored in the memory 22 as initial values, and the first to third movement times t1 to t3 timed and stored after this are stored. Compared with the initial value, when the value deviates significantly from the initial value, it is considered that an abnormality has occurred. In this case, it is also possible to grasp the deterioration state of the performance of the actuator 12 and the valve based on the degree of deviation from the initial value.
[0048]
Further, based on the detection outputs of the first to fourth optical sensors 15a to 15d, the number N of times the edge 14b of the notch 14a of the rotating plate 14 reciprocates between the first and fourth rotational positions P1 and P4 (actuator Only when the number N reaches n times a predetermined number (n is an integer), the first to third movement times t1 to t3 are counted and stored. Also good. That is, the actuator 12 or the valve has a very long service life, and the performance of the actuator 12 or the valve does not deteriorate rapidly. Therefore, the actuator 12 is not timed and stored every time the actuator 12 is operated. Only when N reaches n times 100, the movement time is measured and stored.
[0049]
Further, the ratio of the first and second movement times t1, t2, the ratio of the first and third movement times t1, t3, the ratio of the second and third movement times t2, t3, etc. are obtained. The set threshold values may be compared, and it may be determined whether an abnormality has occurred based on the comparison result. The actuator 12 or the valve has different operating speeds immediately after the start of operation, at each operation position such as an intermediate operation position and just before the end of the operation. For example, the operation speed is low immediately after the start of the operation, the operation speed is high at the intermediate operation position, and the operation speed is further increased just before the end of the operation. Therefore, if the first rotation position P1, the second rotation position P2, the third rotation position P3, and the fourth rotation position P4 are arranged at equal intervals, the first movement time t1, the second movement time t2, and the The three movement times t3 are different from each other, and when the actuator 12 or the valve is operating normally or abnormally, the first movement time t1, the second movement time t2, and the third movement time t3 The ratio changes. Therefore, it is possible to determine whether or not an abnormality has occurred by comparing the ratio with the threshold value.
[0050]
Further, the four rotation positions of the rotating plate 14 are detected by the first to fourth optical sensors 15a to 15d, but if two or more rotation positions are detected and one or more movement times are counted, It can be determined whether or not an abnormality has occurred based on the travel time. However, the greater the number of detected positions, the greater the number of movement times that are timed, so that the occurrence of an abnormality can be determined while monitoring the operation of the actuator 12 in detail.
[0051]
Further, the rotational position of the rotary shaft 13 of the actuator 12 is detected, but the rotational angle of the rotary shaft 13 is detected, and the left piston 34, the right piston 35, the coupling body 36, etc. of the actuator 12 are linearly moved. The position and moving distance may be detected. Even with other types of actuators, the rotation position, rotation angle, movement position, movement distance, etc. of the output shaft are detected, the movement time is counted, and the occurrence of an abnormality is determined based on this movement time. can do. Furthermore, not only an actuator that operates by gas pressure, but an actuator that operates by hydraulic pressure, water pressure, or electric power may be used.
[0052]
Further, if the member is not only an output shaft of the actuator 12 but also a member that is linked to this output shaft, the rotation position, rotation angle, movement position, movement distance, etc. of the operation position of this member are detected and the movement time of this member You can count the time. Examples of this member include valve parts. In this case, the operation of the output shaft of the actuator 12 is indirectly monitored.
[0053]
Further, instead of the first to fourth optical sensors 15a to 15d and the rotating plate 14, one optical sensor 51 and a rotating plate 52 as shown in FIG. 9 may be provided. The rotating plate 52 is formed with a plurality of slits 52 a radially, and is fixed to the upper end of the rotating shaft 13 of the actuator 12. The optical sensor 51 includes a light emitting element and a light receiving element, and the elements are arranged to face each other with the rotating plate 52 interposed therebetween. When the rotating plate 52 is rotated, an optical path between the light emitting element and the light receiving element is formed or blocked depending on whether each slit 52a of the rotating plate 52 is positioned between the light emitting element and the light receiving element of the optical sensor 51. 51 detection output changes. Since the number of output changes of the optical sensor 51 corresponds to the rotation angle of the rotating plate 52, the rotating position of the rotating plate 52, that is, the rotating position of the rotating shaft 13 can be detected by counting this number of times. However, it is necessary to set an initial rotation angle of the rotating plate 52 and add / subtract the rotation angle corresponding to the number of output changes of the optical sensor 51 to the initial rotation position. On the other hand, when the first to fourth optical sensors 15a to 15d and the rotating plate 14 are used, the first to fourth optical sensors 15a to 15d are not required even if the initial rotation angle of the rotating plate 14 is not set. Based on this detection output, the rotational position of the rotating plate 14 can be detected.
[0054]
Further, an optical sensor that emits and enters light through an optical fiber may be used. Or you may apply the proximity sensor which detects the approach of a to-be-detected object instead of an optical sensor. Furthermore, instead of the combination of the optical sensor and the rotating plate, a cam and a micro switch or limit switch are combined, each switch is positioned around the cam, and each switch is turned on and off by the movement of the cam. The operating position of the output shaft of the actuator may be detected. Further, a position detection device such as a potentiometer or an encoder that can detect a rotation position, a rotation angle, a movement position, a movement distance, and the like, a position detection device using a positioner, and the like may be applied. In short, any type of detection means may be applied as long as the rotation position, rotation angle, movement position, movement distance, and the like can be detected.
[0055]
Further, the electronic unit 16 may perform processing up to the measurement of the travel time, communicate the travel time to an external terminal device, and perform an abnormality determination based on the travel time on the external terminal device side.
[0056]
The valve driven by the actuator is a ball valve, a butterfly valve or the like, or a control valve, and may be any other type of valve. Furthermore, a damper or the like may be driven instead of driving the valve by an actuator. As the actuator that drives the damper, a swinging actuator may be used, and a linear actuator that rotates the cylinder rod when moving forward or backward with an external mechanism may be considered. A linear mechanism of the actuator may be rotated by a link mechanism to rotate the drive shaft of the damper.
[0057]
【The invention's effect】
As described above, according to the present invention, it is detected that the operation location related to the operation of the actuator has reached each operation position, and the movement time for the operation location to move between the operation positions is counted. For this reason, it is possible to know whether the movement of the operating portion related to the operation of the actuator is slow or fast based on the moving time. That is, it is possible to monitor a change in the operating state of the actuator.
[0058]
For example, if impurities are mixed into the fluid (gas or liquid) for operating the actuator, or impurities are mixed into the fluid (gas or liquid) passing through the valve, the actuator operation will be adversely affected. Since the moving time changes, the abnormality of the actuator or valve can be detected, and the maintenance management can be performed by knowing these abnormality before the actuator or valve breaks down.
[0059]
Further, by providing a determination means, the operation status of the actuator is automatically determined. For example, a reference time is compared with a movement time during which the operating location moves between the operating locations, and it is automatically determined whether the motion of the operating location related to the operation of the actuator is slow or fast. Or the change of each movement time is memorize | stored and the operating condition of an actuator is determined based on the historical information of movement time.
[Brief description of the drawings]
FIG. 1 is a plan view showing an actuator to which an embodiment of an operation state detection apparatus of the present invention is applied.
FIG. 2 is a side view showing an operation state detection device and an actuator of FIG. 1;
3 is a block diagram showing a configuration of an electronic unit in the operation state detection apparatus of FIG.
4 is a transverse sectional view showing the actuator of FIG. 1. FIG.
FIG. 5 is a longitudinal sectional view showing the actuator of FIG. 1;
6 is a view used for explaining an operating state of the actuator of FIG. 1; FIG.
7 is a view used for explaining another operating state of the actuator of FIG. 1; FIG.
FIG. 8 is a flowchart showing a processing process for determining an abnormality of an actuator by the operating state detection device of FIG. 1;
9 is a diagram showing a modification of the optical sensor and the rotating plate in the operating state detection device of FIG. 1. FIG.
[Explanation of symbols]
11 Operating status detection device
12 Actuator
13 Rotating shaft
14 Rotating plate
15a to 15d first to fourth optical sensors
16 electronic units
17 stem
21 Central processing unit (CPU)
22 memory
23 Communication circuit
24 Power supply circuit
31 Cylindrical body
32 Left lid
33 Right lid
34 Left piston
35 Right piston
36 Linkage
38 arms
39 pins
41 Left gas path
42 Right gas path
43 left ventricle
44 Right chamber
51 Optical sensor
52 Rotating plate

Claims (12)

In the operating condition detection device for the actuator that converts the linear motion of the piston in the cylinder into the rotational motion of the rotary shaft and outputs it,
Position detecting means for detecting that the rotation shaft of the actuator has reached each operating position;
Using the detection output of the position detecting means, a moving time counting means for counting a moving time the rotary shaft of the actuator rotates moves between the operative position,
Storage means for storing the movement time measured by the movement time counting means each time the actuator is operated;
An actuator operating state detection apparatus comprising: a determination unit that determines an abnormality of the actuator by comparing each movement time in the storage unit with a reference value or an initial value of each movement time . 2. The actuator operating state detection apparatus according to claim 1, wherein the determination unit determines that the actuator is abnormal when the movement time in the storage unit exceeds a reference value of the movement time. 2. The actuator operating state detection apparatus according to claim 1, wherein the determination unit determines that the actuator is abnormal when the movement time in the storage unit is less than a reference value of the movement time. 2. The actuator operating state detection apparatus according to claim 1, wherein the determining means determines an abnormality of the actuator based on a degree that the moving time in the storage means deviates from an initial value of the moving time. In the operating condition detection device for the actuator that converts the linear motion of the piston in the cylinder into the rotational motion of the rotary shaft and outputs it,
Position detecting means for detecting that the rotation shaft of the actuator has reached each operating position;
Using the detection output of the position detection means, the movement time counting means for measuring the movement time for the rotational axis of the actuator to rotate between the operating positions;
Storage means for storing the movement time measured by the movement time counting means each time the actuator is operated;
Determining means for determining an abnormality of the actuator by comparing a ratio of each moving time in the storage means with a threshold;
An actuator operating state detection device comprising: 2. The actuator operating state detecting device according to claim 1, wherein the operating position of the rotating shaft of the actuator is represented by a rotating position or a rotating angle. 2. The actuator operating state detecting device according to claim 1, wherein the operating position of the rotating shaft of the actuator is represented by a moving position or a moving distance. The position detecting means includes an optical sensor that detects that the operating position of the rotation shaft of the actuator has reached each operating position,
2. The operating state of the actuator according to claim 1, wherein the moving time measuring means measures a moving time during which the operating portion moves between the operating positions using the detection output of the optical sensor of the position detecting means. Detection device. The actuator operating state detecting device according to claim 1, wherein the actuator drives a valve. The actuator operating state detection device according to claim 1, wherein the actuator drives a damper. In the method for detecting the operating state of the actuator that converts the linear motion of the piston in the cylinder into the rotational motion of the rotary shaft and outputs the
A position detecting step for detecting that the rotation axis of the actuator has reached each operating position;
Based on the detection result in the position detection step, a movement time counting step for measuring the movement time for the rotation axis of the actuator to rotate between the operating positions;
A storage step for storing the travel time measured in the travel time timing step each time the actuator is operated,
A determination step of determining an abnormality of the actuator by comparing each movement time stored in the storage step with a reference value or an initial value of each movement time;
A method for detecting an operating state of an actuator, comprising: In the method for detecting the operating state of the actuator that converts the linear motion of the piston in the cylinder into the rotational motion of the rotary shaft and outputs it,
A position detecting step for detecting that the rotation axis of the actuator has reached each operating position;
Based on the detection result in the position detection step, a movement time counting step for measuring the movement time for the rotation axis of the actuator to rotate between the operating positions;
A storage step for storing the travel time measured in the travel time timing step each time the actuator is operated,
A determination step of determining an abnormality of the actuator by comparing a ratio of each movement time stored in the storage step with a threshold value;
A method for detecting an operating state of an actuator, comprising:

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