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Valve Basics & Automation,
Valve Basics & Automation,
M t A 25 2008
M t A 25 2008
Mustang Aug. 25, 2008
Mustang Aug. 25, 2008
Tom Jeansonne
Tom Jeansonne
Emerson, Valve Automation
S i R i l S l M
Senior Regional Sales Manager
What is a Valve?
What is a Valve?
What is a Valve?
What is a Valve?
In order to better understand how basic
In order to better understand how basic
types of actuators are selected, it might be
best to have a quick review of the basic
best to have a quick review of the basic
types and functional requirements of typical
valves.
What is a Valve?
What is a Valve?
What is a Valve?
What is a Valve?
A Valve is a flow interrupting mechanical
A Valve is a flow interrupting mechanical
device, utilizing a body or housing and
having a working element It has at least
having a working element. It has at least
one inlet and outlet, and is intended to shut
off or control the flow of a given media.
g
Terminology
Terminology -
- “Working Element” or “Element”
“Working Element” or “Element”
Terminology
Terminology -
- “Working Element” or “Element”
“Working Element” or “Element”
The DISC in A
Butterfly valve
BALL i
or a BALL in a
ball valve
That part of a valve which acts directly
i th fl t t l th fl
in the flow, to control the flow.
Two Major Groups of Valve Element
Two Major Groups of Valve Element
Movement
Movement
Two Major Groups of Valve Element
Two Major Groups of Valve Element
Movement
Movement
Rotary Types...
Rotary Types...
Rotary Types...
Rotary Types...
Rotary Types...
Rotary Types...
Rotary Types...
Rotary Types...
 Part – Turn
 Multi – Turn
Linear Types...
Linear Types...
Linear Types...
Linear Types...
Linear Types...
Linear Types...
Linear Types...
Linear Types...
 Non – Rotating
 Rotating
Terminology
Terminology -
- THRUST and TORQUE
THRUST and TORQUE
Terminology
Terminology -
- THRUST and TORQUE
THRUST and TORQUE
Terminology
Terminology THRUST and TORQUE
THRUST and TORQUE
Terminology
Terminology THRUST and TORQUE
THRUST and TORQUE
Typically, our industry describes
linear force as “thrust” and
rotary force as “torque ”
rotary force as torque.
Basic Types of Linear Valves That Require
Basic Types of Linear Valves That Require
Thrust
Thrust
Basic Types of Linear Valves That Require
Basic Types of Linear Valves That Require
Thrust
Thrust
API 6D Gate
API 6D Gate
Valve
Valve
Globe or
Globe or
Diaphragm Valve
Diaphragm Valve
Gate Valve
Gate Valve
Valve
Valve Diaphragm Valve
Diaphragm Valve
Basic Types of ¼ or Part Turn Valves That
Basic Types of ¼ or Part Turn Valves That
Require Torque
Require Torque
Basic Types of ¼ or Part Turn Valves That
Basic Types of ¼ or Part Turn Valves That
Require Torque
Require Torque
Ball
Ball Plug
Plug Butterfly
Butterfly
Valve
Valve examples
examples
Valve
Valve examples
examples
TORQUE:
TORQUE:
TORQUE:
TORQUE:
TORQUE:
TORQUE:
TORQUE:
TORQUE:
 For the balance of this session we will
concentrate one ¼ turn valves and
torque producing mechanisms.
TORQUE:
TORQUE:
TORQUE:
TORQUE:
TORQUE:
TORQUE:
TORQUE:
TORQUE:
 The force required to rotate
 The force required to rotate
a valve’s stem.
The product of force acting
 The product of force acting
upon a moment arm to
produce rotary motion
produce rotary motion.
Valve Torque Requirements
Valve Torque Requirements
Valve Torque Requirements
Valve Torque Requirements
Valve Position/Torque Terminology
Valve Position/Torque Terminology
Valve Position/Torque Terminology
Valve Position/Torque Terminology
Factors Affecting Valve Requirements
Factors Affecting Valve Requirements
Factors Affecting Valve Requirements
Factors Affecting Valve Requirements
 Valve flow bore size  Speed of operation
 Valve design
 Stem size and/or design
 ESD applications
 Valve condition/alignment
 Working pressures
 Media characteristics
 Position of valve/damper
 Dual purpose applications
 Media characteristics
 Temperature
Fl t /di ti ( )
 Dual purpose applications
 Media build-up
D d ti / l t
 Flow rate/direction(s)  Dead time / cycle rate
Valve Size Factor:
Valve Size Factor:
Valve Size Factor:
Valve Size Factor:
Valve Size Factor:
Valve Size Factor:
Valve Size Factor:
Valve Size Factor:
 Generally, the larger the
valve, the larger the element.
g
Valve Size Factor:
Valve Size Factor:
Valve Size Factor:
Valve Size Factor:
 Reduced Port
Ball bore is
smaller than
smaller than
flange bore
S f
Surface
contact
i
area is
smaller
th f ll
than a full
bore
Valve Design or Type
Valve Design or Type
Valve Design or Type
Valve Design or Type
The type of valve will usually
 The type of valve will usually
determine what type motion
the stem requires to operate
the stem requires to operate
the working element.
Valve Design or Type
Valve Design or Type
Valve Design or Type
Valve Design or Type
Application vs. Design Pressures
 Application Pressure:
– Pressure the valve will be
subjected to in real-world
applications.
 Design Pressure:
– Manufacturer’s Design Pressure
– Manufacturer s Design Pressure
(which should be greater or at least equal
to the application pressure)
to the application pressure)
Application Pressure(s)
Application Pressure(s)
Application Pressure(s)
Application Pressure(s)
 Pressure Differential:
Upstream – Downstream Pressure =
Pressure Differential
Application Pressure(s)
Application Pressure(s)
Application Pressure(s)
Application Pressure(s)
 Pressure Differential
Upstream – Downstream Pressure =
Upstream – Downstream Pressure =
Pressure Differential
Typical floating ball valve
Typical floating ball valve
Typical floating ball valve
Typical floating ball valve
One-piece body:
bronze,
Blowout-
proof stem
316 SS, or
carbon steel
Precision-machined
ball with TFE Seats
ball with TFE Seats
Typical Floating Ball Valve
Typical Floating Ball Valve
Typical Floating Ball Valve
Typical Floating Ball Valve
Basic Types of Rotary Ball Valves...
Basic Types of Rotary Ball Valves...
Basic Types of Rotary Ball Valves...
Basic Types of Rotary Ball Valves...
Floating Ball Valve
Ball is free to move
Ball is free to move
downstream in
reaction to pressure
reaction to pressure
Pressure forces the
ball/element into the
downstream seat
Typical Floating Ball Valve
Break
ng
End
Torque
Increasin
Rotation
0° 90°
T
I
Close
Ball Valve
with Rotating Seats
Typical Trunnion Mounted Ball Valve
g
Break
Seat Rotation
e
sing
Torque
Increas
End
R t ti
0° 90°
Rotation
Close
0 90
Open
Butterfly Valve Torque
Dynamic Flow
Typical HP B’fly Valve in Modulating Service
y
B k
Run
sitive
easing
Break
Torque
Pos
Incre
g
End
T
Negative
Decreasing
0° 90°
D
Close
0° 90°
Open
Typical Straight Plug Valve
Break
itive
asing
End
Run
orque
Pos
Incre
End
To
Negative
ecreasing
N
De
Close
0° 90°
Open
Rotation
Typical Lubricated Plug Valve
e
asing
Break End
Run
Torqu
Increa
Close
0° 90°
Open
Rotation
MEDIA
MEDIA
MEDIA
MEDIA
MEDIA
MEDIA
MEDIA
MEDIA
A material or collection of materials
of which a valve is used to control.
 Gas
 Liquid
 Liquid
 Solids in suspension
 Mixture of above (e.g. a slurry)
Flow Rate, Direction
Flow Rate, Direction -
- Concerns / Effects
Concerns / Effects
Flow Rate, Direction
Flow Rate, Direction -
- Concerns / Effects
Concerns / Effects
Bi-directional, Unidirectional, balanced
element or perhaps a triple offset ?
element or perhaps a triple offset ?
Flow Rate, Direction
Flow Rate, Direction -
- Concerns / Effects
Concerns / Effects
Flow Rate, Direction
Flow Rate, Direction -
- Concerns / Effects
Concerns / Effects
There's torque seated b’fly valves too!
Speed of Operation
Speed of Operation -
- Concerns / Effects
Concerns / Effects
Speed of Operation
Speed of Operation -
- Concerns / Effects
Concerns / Effects
 Pneumatic / Hydraulic
The output torque or thrust of a
pneumatic or hydraulic actuator is
not directly affected by speed of
operation.
Speed of Operation
Speed of Operation -
- Concerns / Effects
Concerns / Effects
Speed of Operation
Speed of Operation -
- Concerns / Effects
Concerns / Effects
 Electric
Both Quarter–turn and Multi-turn
electric actuator outputs may be
affected by the speed of operation.
Dead Time (lack of movement)
Dead Time (lack of movement)
Dead Time (lack of movement)
Dead Time (lack of movement)
 The length of time a valve and its
actuator remains stationary
actuator remains stationary.
Summary as concerns actuator automation affects
Summary as concerns actuator automation affects
Summary as concerns actuator automation affects
Summary as concerns actuator automation affects
Remember, the more information
h d d t d b t
you have and understand about
your application, the more likely the
most efficient actuator is selected.
Why Automate?
Why Automate?
Why Automate?
Why Automate?
Why Automate?
Why Automate?
Why Automate?
Why Automate?
Definition
Definition -
- Actuator
Actuator
Definition
Definition -
- Actuator
Actuator
Definition
Definition Actuator
Actuator
Definition
Definition Actuator
Actuator
An Actuator is a device
designed to power- operate
the closure element of a valve.
the closure element of a valve.
Increased Power (Torque or Thrust)
Increased Power (Torque or Thrust)
Increased Power (Torque or Thrust)
Increased Power (Torque or Thrust)
Increased Power (Torque or Thrust)
Increased Power (Torque or Thrust)
Increased Power (Torque or Thrust)
Increased Power (Torque or Thrust)
Pi t C t f VMA
Picture Courtesy of VMA
Reduced Costs
Reduced Costs
Reduced Costs
Reduced Costs
Reduced Costs
Reduced Costs
Reduced Costs
Reduced Costs
Pi t C t f VMA
Picture Courtesy of VMA
Greater Safety
Greater Safety
Greater Safety
Greater Safety
Greater Safety
Greater Safety
Greater Safety
Greater Safety
Pi t C t f VMA
Picture Courtesy of VMA
Remote Operation
Remote Operation
Remote Operation
Remote Operation
Remote Operation
Remote Operation
Remote Operation
Remote Operation
Pi t C t f VMA
Picture Courtesy of VMA
Summary, Why Automate?
Summary, Why Automate?
Summary, Why Automate?
Summary, Why Automate?
Increased Power
Summary, Why Automate?
Summary, Why Automate?
Summary, Why Automate?
Summary, Why Automate?
Increased Power
Reduced Costs
Greater Safety
Remote Operation
Remote Operation
G l O ll I d S f t
General Overall Improved Safety,
Service and Efficiency
The Part Turn (1/4) Actuator Product
The Part Turn (1/4) Actuator Product
The Part Turn (1/4) Actuator Product
The Part Turn (1/4) Actuator Product
Torque = What you specify and what you
The Part Turn (1/4) Actuator Product
The Part Turn (1/4) Actuator Product
The Part Turn (1/4) Actuator Product
The Part Turn (1/4) Actuator Product
Torque = What you specify and what you
pay for.
B t i t t h t f d
Be certain to get what you pay for and
but do not go overboard (could be
more dangerous)
more dangerous).
Control = An actuator is like a car
Control = An actuator is like a car,
torque/horsepower are great, but you
must be able to control that torque.
must be able to control that torque.
Actuator
Actuator
T
T
Actuator
Actuator
T
T
Torque
Torque
Mechanisms
Mechanisms
Torque
Torque
Mechanisms
Mechanisms
Mechanisms
Mechanisms
Mechanisms
Mechanisms
Actuator Torque
Actuator Torque
Actuator Torque
Actuator Torque
Actuator Torque
Actuator Torque
Actuator Torque
Actuator Torque
 How Much?
 Where is it Needed?
Actuator Types
Actuator Types
Actuator Types
Actuator Types
Actuator Types
Actuator Types
Actuator Types
Actuator Types
 Rack & Pinion
 Scotch Yoke
 Helical Gear
Force . .Piston or Diaphragm
Force . .Piston or Diaphragm
Force . .Piston or Diaphragm
Force . .Piston or Diaphragm
P
I
S
u
A Force
Force . .Piston or Diaphragm
Force . .Piston or Diaphragm
Force . .Piston or Diaphragm
Force . .Piston or Diaphragm
I
s
t
o
r
f
a
c
A
r
e
a
Force
Operating
Pressure
ne
F P A
F = P x A
Where:
F = Force in Lbs
F Force in Lbs.
P = Operating Pressure in lbs. per square inch
A = Area of Piston in square inches
Torque
Torque
Torque
Torque
Force
Torque
Torque
Torque
Torque
Moment Arm
Force to Torque Calculation
Force to Torque Calculation
Force to Torque Calculation
Force to Torque Calculation
(in-lb)?
(in lb)?
 Torque = Force x Radius (or moment arm)
 T (in-lb) = F (lb) x  (in)
Cylinder or Diaphragm & Crank Arm
Cylinder or Diaphragm & Crank Arm
Cylinder or Diaphragm & Crank Arm
Cylinder or Diaphragm & Crank Arm
A x P = Force
Operating
Pressure,
+
Pneumatic or
Hydraulic
Moment Arm,
I h
+
Inches
T F R di ( t )
 Torque = Force x Radius (or moment arm)
 T (in-lb) = F (lb) x  (in)
The Robotarm® Story
The Robotarm® Story
The Robotarm Story
The Robotarm Story
The torque output from a crank arm mechanism plotted
against the torque requirement of most rotary valves can be
t d hi ll th
represented graphically thus:
Scotch Yoke Torque Output
Scotch Yoke Torque Output
Scotch Yoke Torque Output
Scotch Yoke Torque Output
Rack & Pinion
q p
q p
q p
q p
MA
F
0° 90°
45°
F
0° 90°
45°
Min. MA
Max MA
Fluid/Gas Powered Actuators:
Fluid/Gas Powered Actuators:
Fluid/Gas Powered Actuators:
Fluid/Gas Powered Actuators:
Fluid/Gas Powered Actuators:
Fluid/Gas Powered Actuators:
Fluid/Gas Powered Actuators:
Fluid/Gas Powered Actuators:
MOMENT TORQUE
AREA x PRESSURE x
MOMENT
ARM
TORQUE
OUTPUT
=
Rack & Pinion
Rack & Pinion
Rack & Pinion
Rack & Pinion
Today’s Rack & Pinion
Today’s Rack & Pinion
Today’s Rack & Pinion
Today’s Rack & Pinion
Today s Rack & Pinion
Today s Rack & Pinion
Today s Rack & Pinion
Today s Rack & Pinion
Today’s Rack & Pinion (Cutaway)
Today’s Rack & Pinion (Cutaway)
Today’s Rack & Pinion (Cutaway)
Today’s Rack & Pinion (Cutaway)
Today s Rack & Pinion (Cutaway)
Today s Rack & Pinion (Cutaway)
Today s Rack & Pinion (Cutaway)
Today s Rack & Pinion (Cutaway)
Pinion Gear
Two Pistons
Two Pistons
with “Racks”
Typical Modern Rack & Pinion
Typical Modern Rack & Pinion
Typical Modern Rack & Pinion
Typical Modern Rack & Pinion
Typical Modern Rack & Pinion
Typical Modern Rack & Pinion
Typical Modern Rack & Pinion
Typical Modern Rack & Pinion
Operating
Operating Operating
Pressure
p.s.i.
Operating
Pressure
p.s.i. p.s.i.
p.s.i.
Inboard Rotation
Then/Or ...
Today’s Rack & Pinion
Today’s Rack & Pinion
Today’s Rack & Pinion
Today’s Rack & Pinion
Today s Rack & Pinion
Today s Rack & Pinion
Today s Rack & Pinion
Today s Rack & Pinion
Operating
Operating
Pressure
p.s.i.
Rack & Pinion Mechanism
Rack & Pinion Mechanism
Rack & Pinion Mechanism
Rack & Pinion Mechanism
Rack & Pinion Mechanism
Rack & Pinion Mechanism
Rack & Pinion Mechanism
Rack & Pinion Mechanism
Torque is generated by pressurizing one side of the
actuator’s piston. In this example the left hand side of the
piston is pressurized causing the rack to move to the right
piston is pressurized, causing the rack to move to the right
and the pinion to rotate in an anti-clockwise direction.
Pinion
Gear
Piston
Supply Pressure
Cylinder
Rack
Rack
Rack & Pinion Mechanism
Rack & Pinion Mechanism
Rack & Pinion Mechanism
Rack & Pinion Mechanism
Rack & Pinion Mechanism
Rack & Pinion Mechanism
Rack & Pinion Mechanism
Rack & Pinion Mechanism
Counter-clockwise and clockwise pinion rotation is
achieved by pressurizing either the inboard or
outboard sides of the pistons
outboard sides of the pistons.
Counter-Clockwise Clockwise
Supply Pressure
(A li d t O tb d Sid f Pi t )
Supply Pressure
(A li d t I b d Sid f Pi t )
Using two piston and racks also provides balanced forces on the
pinion and allows for maximum torque generation for a given
piston diameter.
(Applied to Outboard Side of Pistons) (Applied to Inboard Side of Pistons)
piston diameter.
Rack & Pinion Mechanism
Rack & Pinion Mechanism
Rack & Pinion Mechanism
Rack & Pinion Mechanism
Rack & Pinion Mechanism
Rack & Pinion Mechanism
Rack & Pinion Mechanism
Rack & Pinion Mechanism
Spring return actuators are used when a specific valve position
(known as the failure position) is required when the actuator
supply pressure or control signal is lost Failure positions can be
supply pressure or control signal is lost. Failure positions can be
achieve by simply rotating the racks 180º within the actuator’s
body.
Counter-Clockwise Spring Stroke
This rack configuration would cause the
actuator to fail the valve open (anti-
clockwise mounting code B) on loss of
clockwise, mounting code B) on loss of
the supply pressure
Clockwise Spring Stroke
R t ti th k 180º ld th
Rotating the racks 180º would cause the
actuator to now fail the valve closed
(clockwise, mounting code A) on loss of
the pressure
p
Rack & Pinion Torque Output
Rack & Pinion Torque Output
Rack & Pinion Torque Output
Rack & Pinion Torque Output
Rack & Pinion Torque Output
Rack & Pinion Torque Output
Rack & Pinion Torque Output
Rack & Pinion Torque Output
Torque is the multiplication of a linear force by the distance
of the force from the point of rotation (Moment Arm). E.G.
p ( )
Torque = Force x MA.
T = (P x A) x MA
Where: T = Torque
F = Force
P = Pressure
A = Piston Area
MA = Moment Arm
MA = Moment Arm
MA
F
Torque Output
Torque Output –
– Double
Double-
-Acting R & P
Acting R & P
Actuators
Actuators
Torque Output
Torque Output –
– Double
Double-
-Acting R & P
Acting R & P
Actuators
Actuators
Actuators
Actuators
Actuators
Actuators
In a double-acting rack & pinion actuator, the torque output
remains constant throughout the actuator stroke since both
the forces generated by the pistons remain constant
the forces generated by the pistons remain constant
(assuming a constant supply pressure) and the MA (distance)
between the pistons forces and the pinion remains constant.
Torqu
u
e
Output
0º 45º 45º
90º 0º
Valve Opening Stroke Valve Closing Stroke
Torque
Torque
Torque
Torque
Torque
Torque
Torque
Torque
In a spring-return rack & pinion actuator, the
torque output varies throughout the valve stroke.

On the air stroke the torque starts high but
linearly decreases as more of the force
linearly decreases as more of the force
generated by the piston is used to compress the
springs (rather than rotate the pinion).
On the spring stroke the torque starts high but
li l d th i t d (
linearly decreases as the springs extend (re:
Hooks Law) from their fully compressed
position.
Rack & Pinion S.R. Torque Output
Rack & Pinion S.R. Torque Output
Rack & Pinion S.R. Torque Output
Rack & Pinion S.R. Torque Output
Rack & Pinion S.R. Torque Output
Rack & Pinion S.R. Torque Output
Rack & Pinion S.R. Torque Output
Rack & Pinion S.R. Torque Output
Start Start
Torque
T
End End
Standard Rotation
-5° 0° 90° 95°
45°
Rack & Pinion,
Rack & Pinion,
Typical Materials Of Construction
Typical Materials Of Construction
Rack & Pinion,
Rack & Pinion,
Typical Materials Of Construction
Typical Materials Of Construction
Typical Materials Of Construction
Typical Materials Of Construction
Typical Materials Of Construction
Typical Materials Of Construction
 Body, pistons and end caps = Aluminum, anodized or co-deposition coating
 Pinion Gear = Aluminum or plated (zinc or ENP) carbon steel
 Springs = Alloy steel (Coated)
 Paint = Two part epoxy or anodized
 Seals
– Nitrile for standard temperature, -20f to +250f, Best general purpose, good wearage
rate
– Low temp Nitrile, -40f to +180f, does not wear as long as above, not the best for
compression set resistance, use only when actual temperature requires
p , y p q
– Silicone for ultra low temp, -50/60/70 f to +125/150f consult factory, use only when
actual temperature requires, not long wearing, expensive and hard to get
– Viton for high temperature, -20f to +300/350f
– Carboxilated Nitrile, 20-40% more expensive than Nitrile but excellent service life for high
cycle applications
Scotch Yoke
Scotch Yoke
Scotch Yoke
Scotch Yoke
Today’s Scotch Yoke
Today’s Scotch Yoke
Today’s Scotch Yoke
Today’s Scotch Yoke
Today s Scotch Yoke
Today s Scotch Yoke
Today s Scotch Yoke
Today s Scotch Yoke
Scotch Yoke Torque Output
Scotch Yoke Torque Output
Scotch Yoke Torque Output
Scotch Yoke Torque Output
Scotch Yoke Torque Output
Scotch Yoke Torque Output
Scotch Yoke Torque Output
Scotch Yoke Torque Output
Pressure
Opposing Spring Force
Piston (Surface Area)
Scotch Yoke Torque Output
Scotch Yoke Torque Output
Scotch Yoke Torque Output
Scotch Yoke Torque Output
Rack & Pinion
q p
q p
q p
q p
MA
F
0° 90°
45°
F
0° 90°
45°
Min. MA
Max MA
The Robotarm® Story
The Robotarm® Story
The Robotarm Story
The Robotarm Story
The diagram illustrates that the moment arm varies
throughout the stroke. By geometric design, the moment arm
length at the start and end of the stroke can be found by
dividing the moment arm length at the center by the cosine of
dividing the moment arm length at the center by the cosine of
45 or .707. By performing this arithmetic, it will be found that
the moment arm at the start and end of travel is 1.414 times the
moment arm at the center position of travel
moment arm at the center position of travel.
Scotch Yoke D.A. Torque Output
Scotch Yoke D.A. Torque Output
Scotch Yoke D.A. Torque Output
Scotch Yoke D.A. Torque Output
Scotch Yoke D.A. Torque Output
Scotch Yoke D.A. Torque Output
Scotch Yoke D.A. Torque Output
Scotch Yoke D.A. Torque Output
A1
A3
MAX MA
A2
Min MA
A1 = Pressure Start (Break/Unseating)
( )
0o o
90
Rotation
A2 = Pressure Minimum (Run)
A3 = Pressure End (Full Open)
Actuators & Valves
Scotch Yoke S.R. Torque Output
Scotch Yoke S.R. Torque Output
Scotch Yoke S.R. Torque Output
Scotch Yoke S.R. Torque Output
A1 B1
Scotch Yoke S.R. Torque Output
Scotch Yoke S.R. Torque Output
Scotch Yoke S.R. Torque Output
Scotch Yoke S.R. Torque Output
Unseat Full Flow
Going CW
A2
B2 A2
B2
Full Flow
Going CCW
Seat
Fail CW: A1 = Pres Start A2 = Pres End / B1 = Spr Start B2 = Spr End
0o o
90
Rotation
Fail CW: A1 = Pres. Start, A2 = Pres. End / B1 = Spr Start, B2 = Spr End
Fail CCW: A1 = Spr Start, A2 = Spr End / B1 = Pres. Start, B2 = Pres. End
Actuators & Valves
Scotch
Scotch-
-Yoke GC
Yoke GC –
– Canted Yoke
Canted Yoke
Scotch
Scotch-
-Yoke GC
Yoke GC –
– Canted Yoke
Canted Yoke
Scotch
Scotch Yoke GC
Yoke GC Canted Yoke
Canted Yoke
Scotch
Scotch Yoke GC
Yoke GC Canted Yoke
Canted Yoke
0° 90°
45° CANTED YOKE
0° 90°
45°
Scotch Yokes
Scotch Yokes –
– Canted
Canted
Scotch Yokes
Scotch Yokes –
– Canted
Canted
Scotch Yokes
Scotch Yokes Canted
Canted
Scotch Yokes
Scotch Yokes Canted
Canted
 Canted Yoke – Swings or twists torque symmetric curve
160000
SPRING END STROKE STROKE IMPROVED
130000
140000
150000
SYMMETRIC YOKE CANTED YOKE
G 5016-32 SR4
G 4014-28 SR1
100000
110000
120000
E
OUTPUTS
G 4014-28 SR1
70000
80000
90000
TORQUE
40000
50000
60000
0 45 90
DEGREES
0 45 90
DEGREES
Bettis BH Helical spline mechanism
Bettis BH Helical spline mechanism
Bettis BH Helical spline mechanism
Bettis BH Helical spline mechanism
Bettis BH Helical spline mechanism
Bettis BH Helical spline mechanism
Bettis BH Helical spline mechanism
Bettis BH Helical spline mechanism
•The BH piston utilizes multiple
h li l li hi h ith
helical splines which engage with
reciprocal splines in the actuator’s
lower housing.
•The splines minimize the surface
stresses so that wear and fatigue are
stresses so that wear and fatigue are
minimal.
All moving parts of the mechanism
•All moving parts of the mechanism
are permanently submerged in, and
lubricated by the operating fluid.
Products
Products –
– Hydraulic Helical Gear Actuators
Hydraulic Helical Gear Actuators
Products
Products –
– Hydraulic Helical Gear Actuators
Hydraulic Helical Gear Actuators
Products
Products Hydraulic Helical Gear Actuators
Hydraulic Helical Gear Actuators
Products
Products Hydraulic Helical Gear Actuators
Hydraulic Helical Gear Actuators
• turns 90º and is balanced
• fail-safe by means of
fail safe by means of
disc springs
• Linear torque output,
very similar to rack and
pinion
t d i
• compact design
Scotch Yoke & Helical Gear,
Scotch Yoke & Helical Gear,
Typical Materials Of Construction
Typical Materials Of Construction
Scotch Yoke & Helical Gear,
Scotch Yoke & Helical Gear,
Typical Materials Of Construction
Typical Materials Of Construction
Typical Materials Of Construction
Typical Materials Of Construction
Typical Materials Of Construction
Typical Materials Of Construction
 Body, pistons, yoke and end caps = Cast Ductile Iron or Fabricated Steel
Plate
 Springs = Alloy steel (Coated)
 Springs = Alloy steel (Coated)
 Paint = Primer is standard, many other paint systems available
 Seals
Nitrile for standard temperature 20f to +250f Best general purpose good wearage
– Nitrile for standard temperature, -20f to +250f, Best general purpose, good wearage
rate
– Low temp Nitrile, -40f to +200f, does not wear as long as above, not the best for
compression set resistance, use only when actual temperature requires
– Viton for high temperature, -20f to +350f
– Carboxilated Nitrile, 20-40% more expensive than Nitrile but excellent service life
for high cycle applications
– Special seal materials available
Special seal materials available
The Robotarm® Story
The Robotarm® Story
The Robotarm Story
The Robotarm Story
Using the same piston area, operating pressure, moment
arm and assuming identical efficiencies, the torque outputs
g q p
from the three above-described mechanisms can be plotted
graphically thus:
OK, So when Do I Use Which?
OK, So when Do I Use Which?
OK, So when Do I Use Which?
OK, So when Do I Use Which?
OK, So when Do I Use Which?
OK, So when Do I Use Which?
OK, So when Do I Use Which?
OK, So when Do I Use Which?
 The following are general guidelines, THERE ARE
MANY VARIABLES.
– USE RACK AND PINION WHEN
• Extreme cold AND CHARPY Requirements
Extreme cold AND CHARPY Requirements
• Weight is critical (Helical Gear)
• Unusual dimensional requirements (Helical Gear)
q ( )
• Constant torque output is an advantage (May
actually be cost driven between 25 – 7,500 LB./In.
OK, So when Do I Use Which?
OK, So when Do I Use Which?
OK, So when Do I Use Which?
OK, So when Do I Use Which?
OK, So when Do I Use Which?
OK, So when Do I Use Which?
OK, So when Do I Use Which?
OK, So when Do I Use Which?
 The following are general guidelines, THERE ARE
MANY VARIABLES.
USE SCOTCH YOKE
USE SCOTCH YOKE
– Aluminum not desirable (Helical Gear)
– Weight is not critical
Unusual dimensional requirements (Helical Gear)
– Unusual dimensional requirements (Helical Gear)
– Variable torque output is an advantage (May be cost driven
between 3,000 – 25,000 and will be availability driven from
35,000 to 6,000,000+ LB./In.
– High Torque requirement
– High temperature requirement
– Remote overrides are required
– Very High stroke speeds are required (Helical Gear)
– Hydraulic or high pressure service (Helical Gear)
OK, So when Do I Use Which? RP VS. SY & HG
OK, So when Do I Use Which? RP VS. SY & HG
OK, So when Do I Use Which? RP VS. SY & HG
OK, So when Do I Use Which? RP VS. SY & HG
OK, So when Do I Use Which? RP VS. SY & HG
OK, So when Do I Use Which? RP VS. SY & HG
OK, So when Do I Use Which? RP VS. SY & HG
OK, So when Do I Use Which? RP VS. SY & HG
 Common actuator DESIGN or APPLICATION
misconceptions
 One mechanism has less backlash, hysteresis or dead band than the
other
 One mechanism is best overall
 One design typically out cycles/performs the other
 Rack and pinions are a “better choice” for plug or metal seated ball
valves
valves
 Scotch yokes are a “better choice” for ball and butterfly valves
 Truth is, it all depends on your specific application. There
is no such thing as one design that is best for every
application.
Closed Loop Systems
Closed Loop Systems
Closed Loop Systems
Closed Loop Systems
 There is an increase in the requirements for “fail
safe” - “spring return type” valve actuators.
p y
p y
p g yp
 The applications are in areas of severe
environments.
High humidity
Salt air
Salt air
Corrosive dust, inks and dyes
Wash Downs
Wash Downs
Etc
Closed Loop Systems
Closed Loop Systems
The pumping action of spring return actuators
Closed Loop Systems
Closed Loop Systems
 The pumping action of spring return actuators
causes the “vented” side of the pneumatic cylinder
to purge itself with each stroke.
p g
 This purging action poses the problem of drawing in
contaminates that are potentially harmful to
cylinders, springs, and other internal components of
the actuator.
Closed Loop Systems
Closed Loop Systems
Closed Loop Systems
Closed Loop Systems
As the piston
travels the cylinder
travels the cylinder
volume is exhaled
and atmosphere
and atmosphere
inhaled (breathing).
Closed Loop Systems
Closed Loop Systems
 The “closed loop purge system” presents a
relatively inexpensive, simple solution to the
j i f ll h li i
Closed Loop Systems
Closed Loop Systems
majority of all such applications.
 The closed loop system routes the operating
di b i h t d f th id
media being exhausted from the power side
of the cylinder to the vented side of the
cylinder.
y
 Maximum pressure on the vented side of the
power cylinder is to be 5 to 8 psig.
Closed Loop Systems
Closed Loop Systems
 Materials for the vent check (relief) valve is
generally selected from aluminum, brass, or
Closed Loop Systems
Closed Loop Systems
g y
stainless steel to suit specific environmental
requirements
B i ll l i l l f h
 Bettis generally selects stainless steel for the
components.
Closed Loop Systems
Closed Loop Systems
p y
p y
QUICK EXHAUST VALVE
X
VENT CHECK VALVE
Closed Loop Systems
Closed Loop Systems
p y
p y
VENT CHECK VALVE
X
X
QUICK EXHAUST VALVE
Closed Loop Systems
Closed Loop Systems
p y
p y
VENT CHECK VALVE
X
QUICK EXHAUST VALVE
G Series and CBA Models on Main Discharge Valves
G Series and CBA Models on Main Discharge Valves
G Series and CBA Models on Main Discharge Valves
G Series and CBA Models on Main Discharge Valves
G Series and CBA Models on Main Discharge Valves
G Series and CBA Models on Main Discharge Valves
G Series and CBA Models on Main Discharge Valves
G Series and CBA Models on Main Discharge Valves
G Series Units on Field Gathering lines
G Series Units on Field Gathering lines
G Series Units on Field Gathering lines
G Series Units on Field Gathering lines
G Se es U ts o e d Gat e g es
G Se es U ts o e d Gat e g es
G Se es U ts o e d Gat e g es
G Se es U ts o e d Gat e g es
High Speed Spring Stroke Testing
High Speed Spring Stroke Testing (Note the vapor
(Note the vapor
cloud and ear muffs)
cloud and ear muffs)
High Speed Spring Stroke Testing
High Speed Spring Stroke Testing (Note the vapor
(Note the vapor
cloud and ear muffs)
cloud and ear muffs)
c oud a d ea u s)
c oud a d ea u s)
c oud a d ea u s)
c oud a d ea u s)
Typical
Typical
Sub Sea
Helical
Helical
Gear
Units
Units
G130T52
G130T52–
–SR3 On 42” ANSI 1500# Torque Seated
SR3 On 42” ANSI 1500# Torque Seated
Butterfly Valves
Butterfly Valves
G130T52
G130T52–
–SR3 On 42” ANSI 1500# Torque Seated
SR3 On 42” ANSI 1500# Torque Seated
Butterfly Valves
Butterfly Valves
utte y a es
utte y a es
utte y a es
utte y a es
World’s Most Powerful Spring Return Actuator,
World’s Most Powerful Spring Return Actuator,
1.8 M Lb./In. Spring Ending with 3.2 M Air Start
1.8 M Lb./In. Spring Ending with 3.2 M Air Start
World’s Most Powerful Spring Return Actuator,
World’s Most Powerful Spring Return Actuator,
1.8 M Lb./In. Spring Ending with 3.2 M Air Start
1.8 M Lb./In. Spring Ending with 3.2 M Air Start
8 b / Sp g d g t 3 Sta t
8 b / Sp g d g t 3 Sta t
8 b / Sp g d g t 3 Sta t
8 b / Sp g d g t 3 Sta t
Thank You!
Headline Copy
Headline Copy
Headline Copy
Headline Copy
Headline Copy
Headline Copy
Headline Copy
Headline Copy
 Body text
 Body text
 Body text
– Body text
Removing logo from slide
Removing logo from slide
Removing logo from slide
Removing logo from slide
Removing logo from slide
Removing logo from slide
Removing logo from slide
Removing logo from slide
 It is recommended that the logo be removed from slides
when the information on a slide needs the maximum amount
f t b t d l d ith i
of space to be presented clean and with maximum
readability.
– You can do this by accessing the “Format” menu selection, scroll
y g
down and select “Background”, then click in the box next to the
statement, “Omit background graphics from master,” and select
“Apply”.
– You can reinstate the line under the title by drawing in a line using the
line tool and coloring it blue.
Color Palette
Color Palette
Color Palette
Color Palette
Color Palette
Color Palette
Color Palette
Color Palette
 This slide represents the Emerson color palette
R 15
G 36
B 95
R 150
G 150
B 150
P f d di t
R 225
G 225
B 0
R 225
G 204
B 0
R 153
G 225
B 51
R 0
G 153
B 0
R 224
G 158
B 50
R 225
G 0
B 0
R 71
G 186
B 214
R 0
G 153
B 204
R 204
G 0
B 102
R 153
G 0
B 51
R 102
G 153
B 255
R 102
G 0
B 102
Preferred gradient use
The Emerson Color Palette
The Emerson Color Palette
The Emerson Color Palette
The Emerson Color Palette
The Emerson Color Palette
The Emerson Color Palette
The Emerson Color Palette
The Emerson Color Palette
 The Emerson color palette was designed to bring color
consistency to various applications — from web design to
presentations to brochures It is strongly recommended that
presentations to brochures. It is strongly recommended that
the bright and vibrant colors in this palette be used in graphs,
text and charts to highlight your PowerPoint presentations,
thereby showcasing our “world in action.”
 A selection of colors from the palette have been embedded
into this template for your use. In order to use the other colors
available to you from the palette, please use the following
instructions:
instructions:
– Select the word or graphic element you wish to color and select either
the “Paint can”, the “Brush”, or the “A”, depending on the item you are
coloring, choose “More (fill, line, font) colors”, click on the tab “Custom”
and enter the correct R G B numbers for the color from the palette on the
and enter the correct R G B numbers for the color from the palette on the
preceding slide you are creating, click OK.
Using the Emerson Color Palette
Using the Emerson Color Palette
Using the Emerson Color Palette
Using the Emerson Color Palette
Using the Emerson Color Palette
Using the Emerson Color Palette
Using the Emerson Color Palette
Using the Emerson Color Palette
 The extended color palette brings bright, vibrant colors to
be used in many ways — from highlighting words to
ki iti h t d h
making exciting charts and graphs.
 A selection of colors from the palette have been
imbedded into this template for your use. In order to use
imbedded into this template for your use. In order to use
the other colors available to you from the palette please
use the following instructions:
Select the word or graphic element you wish to color and select
– Select the word or graphic element you wish to color and select
either the “Paint can”, the “Brush”, or the “A”, depending on the
item you are coloring, choose “More (fill, line, font) colors”, click
on the tab “Custom” and enter the correct R G B numbers for the
color from the palette on the preceding slide you are creating,
click OK.

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Valve Basics & Automation.pdf

  • 1. Valve Basics & Automation, Valve Basics & Automation, M t A 25 2008 M t A 25 2008 Mustang Aug. 25, 2008 Mustang Aug. 25, 2008 Tom Jeansonne Tom Jeansonne Emerson, Valve Automation S i R i l S l M Senior Regional Sales Manager
  • 2. What is a Valve? What is a Valve? What is a Valve? What is a Valve? In order to better understand how basic In order to better understand how basic types of actuators are selected, it might be best to have a quick review of the basic best to have a quick review of the basic types and functional requirements of typical valves.
  • 3. What is a Valve? What is a Valve? What is a Valve? What is a Valve? A Valve is a flow interrupting mechanical A Valve is a flow interrupting mechanical device, utilizing a body or housing and having a working element It has at least having a working element. It has at least one inlet and outlet, and is intended to shut off or control the flow of a given media. g
  • 4. Terminology Terminology - - “Working Element” or “Element” “Working Element” or “Element” Terminology Terminology - - “Working Element” or “Element” “Working Element” or “Element” The DISC in A Butterfly valve BALL i or a BALL in a ball valve That part of a valve which acts directly i th fl t t l th fl in the flow, to control the flow.
  • 5. Two Major Groups of Valve Element Two Major Groups of Valve Element Movement Movement Two Major Groups of Valve Element Two Major Groups of Valve Element Movement Movement
  • 6. Rotary Types... Rotary Types... Rotary Types... Rotary Types... Rotary Types... Rotary Types... Rotary Types... Rotary Types...  Part – Turn  Multi – Turn
  • 7. Linear Types... Linear Types... Linear Types... Linear Types... Linear Types... Linear Types... Linear Types... Linear Types...  Non – Rotating  Rotating
  • 8. Terminology Terminology - - THRUST and TORQUE THRUST and TORQUE Terminology Terminology - - THRUST and TORQUE THRUST and TORQUE Terminology Terminology THRUST and TORQUE THRUST and TORQUE Terminology Terminology THRUST and TORQUE THRUST and TORQUE Typically, our industry describes linear force as “thrust” and rotary force as “torque ” rotary force as torque.
  • 9. Basic Types of Linear Valves That Require Basic Types of Linear Valves That Require Thrust Thrust Basic Types of Linear Valves That Require Basic Types of Linear Valves That Require Thrust Thrust API 6D Gate API 6D Gate Valve Valve Globe or Globe or Diaphragm Valve Diaphragm Valve Gate Valve Gate Valve Valve Valve Diaphragm Valve Diaphragm Valve
  • 10. Basic Types of ¼ or Part Turn Valves That Basic Types of ¼ or Part Turn Valves That Require Torque Require Torque Basic Types of ¼ or Part Turn Valves That Basic Types of ¼ or Part Turn Valves That Require Torque Require Torque Ball Ball Plug Plug Butterfly Butterfly
  • 12. TORQUE: TORQUE: TORQUE: TORQUE: TORQUE: TORQUE: TORQUE: TORQUE:  For the balance of this session we will concentrate one ¼ turn valves and torque producing mechanisms.
  • 13. TORQUE: TORQUE: TORQUE: TORQUE: TORQUE: TORQUE: TORQUE: TORQUE:  The force required to rotate  The force required to rotate a valve’s stem. The product of force acting  The product of force acting upon a moment arm to produce rotary motion produce rotary motion.
  • 14. Valve Torque Requirements Valve Torque Requirements Valve Torque Requirements Valve Torque Requirements
  • 15. Valve Position/Torque Terminology Valve Position/Torque Terminology Valve Position/Torque Terminology Valve Position/Torque Terminology
  • 16. Factors Affecting Valve Requirements Factors Affecting Valve Requirements Factors Affecting Valve Requirements Factors Affecting Valve Requirements  Valve flow bore size  Speed of operation  Valve design  Stem size and/or design  ESD applications  Valve condition/alignment  Working pressures  Media characteristics  Position of valve/damper  Dual purpose applications  Media characteristics  Temperature Fl t /di ti ( )  Dual purpose applications  Media build-up D d ti / l t  Flow rate/direction(s)  Dead time / cycle rate
  • 17. Valve Size Factor: Valve Size Factor: Valve Size Factor: Valve Size Factor: Valve Size Factor: Valve Size Factor: Valve Size Factor: Valve Size Factor:  Generally, the larger the valve, the larger the element. g
  • 18. Valve Size Factor: Valve Size Factor: Valve Size Factor: Valve Size Factor:  Reduced Port Ball bore is smaller than smaller than flange bore S f Surface contact i area is smaller th f ll than a full bore
  • 19. Valve Design or Type Valve Design or Type Valve Design or Type Valve Design or Type The type of valve will usually  The type of valve will usually determine what type motion the stem requires to operate the stem requires to operate the working element.
  • 20. Valve Design or Type Valve Design or Type Valve Design or Type Valve Design or Type Application vs. Design Pressures  Application Pressure: – Pressure the valve will be subjected to in real-world applications.  Design Pressure: – Manufacturer’s Design Pressure – Manufacturer s Design Pressure (which should be greater or at least equal to the application pressure) to the application pressure)
  • 21. Application Pressure(s) Application Pressure(s) Application Pressure(s) Application Pressure(s)  Pressure Differential: Upstream – Downstream Pressure = Pressure Differential
  • 22. Application Pressure(s) Application Pressure(s) Application Pressure(s) Application Pressure(s)  Pressure Differential Upstream – Downstream Pressure = Upstream – Downstream Pressure = Pressure Differential
  • 23. Typical floating ball valve Typical floating ball valve Typical floating ball valve Typical floating ball valve One-piece body: bronze, Blowout- proof stem 316 SS, or carbon steel Precision-machined ball with TFE Seats ball with TFE Seats
  • 24. Typical Floating Ball Valve Typical Floating Ball Valve Typical Floating Ball Valve Typical Floating Ball Valve
  • 25. Basic Types of Rotary Ball Valves... Basic Types of Rotary Ball Valves... Basic Types of Rotary Ball Valves... Basic Types of Rotary Ball Valves... Floating Ball Valve Ball is free to move Ball is free to move downstream in reaction to pressure reaction to pressure Pressure forces the ball/element into the downstream seat
  • 26. Typical Floating Ball Valve Break ng End Torque Increasin Rotation 0° 90° T I Close
  • 27. Ball Valve with Rotating Seats Typical Trunnion Mounted Ball Valve g Break Seat Rotation e sing Torque Increas End R t ti 0° 90° Rotation Close 0 90 Open
  • 28. Butterfly Valve Torque Dynamic Flow Typical HP B’fly Valve in Modulating Service y B k Run sitive easing Break Torque Pos Incre g End T Negative Decreasing 0° 90° D Close 0° 90° Open
  • 29. Typical Straight Plug Valve Break itive asing End Run orque Pos Incre End To Negative ecreasing N De Close 0° 90° Open Rotation
  • 30. Typical Lubricated Plug Valve e asing Break End Run Torqu Increa Close 0° 90° Open Rotation
  • 31. MEDIA MEDIA MEDIA MEDIA MEDIA MEDIA MEDIA MEDIA A material or collection of materials of which a valve is used to control.  Gas  Liquid  Liquid  Solids in suspension  Mixture of above (e.g. a slurry)
  • 32. Flow Rate, Direction Flow Rate, Direction - - Concerns / Effects Concerns / Effects Flow Rate, Direction Flow Rate, Direction - - Concerns / Effects Concerns / Effects Bi-directional, Unidirectional, balanced element or perhaps a triple offset ? element or perhaps a triple offset ?
  • 33. Flow Rate, Direction Flow Rate, Direction - - Concerns / Effects Concerns / Effects Flow Rate, Direction Flow Rate, Direction - - Concerns / Effects Concerns / Effects There's torque seated b’fly valves too!
  • 34. Speed of Operation Speed of Operation - - Concerns / Effects Concerns / Effects Speed of Operation Speed of Operation - - Concerns / Effects Concerns / Effects  Pneumatic / Hydraulic The output torque or thrust of a pneumatic or hydraulic actuator is not directly affected by speed of operation.
  • 35. Speed of Operation Speed of Operation - - Concerns / Effects Concerns / Effects Speed of Operation Speed of Operation - - Concerns / Effects Concerns / Effects  Electric Both Quarter–turn and Multi-turn electric actuator outputs may be affected by the speed of operation.
  • 36. Dead Time (lack of movement) Dead Time (lack of movement) Dead Time (lack of movement) Dead Time (lack of movement)  The length of time a valve and its actuator remains stationary actuator remains stationary.
  • 37. Summary as concerns actuator automation affects Summary as concerns actuator automation affects Summary as concerns actuator automation affects Summary as concerns actuator automation affects Remember, the more information h d d t d b t you have and understand about your application, the more likely the most efficient actuator is selected.
  • 38. Why Automate? Why Automate? Why Automate? Why Automate? Why Automate? Why Automate? Why Automate? Why Automate?
  • 39. Definition Definition - - Actuator Actuator Definition Definition - - Actuator Actuator Definition Definition Actuator Actuator Definition Definition Actuator Actuator An Actuator is a device designed to power- operate the closure element of a valve. the closure element of a valve.
  • 40. Increased Power (Torque or Thrust) Increased Power (Torque or Thrust) Increased Power (Torque or Thrust) Increased Power (Torque or Thrust) Increased Power (Torque or Thrust) Increased Power (Torque or Thrust) Increased Power (Torque or Thrust) Increased Power (Torque or Thrust) Pi t C t f VMA Picture Courtesy of VMA
  • 41. Reduced Costs Reduced Costs Reduced Costs Reduced Costs Reduced Costs Reduced Costs Reduced Costs Reduced Costs Pi t C t f VMA Picture Courtesy of VMA
  • 42. Greater Safety Greater Safety Greater Safety Greater Safety Greater Safety Greater Safety Greater Safety Greater Safety Pi t C t f VMA Picture Courtesy of VMA
  • 43. Remote Operation Remote Operation Remote Operation Remote Operation Remote Operation Remote Operation Remote Operation Remote Operation Pi t C t f VMA Picture Courtesy of VMA
  • 44. Summary, Why Automate? Summary, Why Automate? Summary, Why Automate? Summary, Why Automate? Increased Power Summary, Why Automate? Summary, Why Automate? Summary, Why Automate? Summary, Why Automate? Increased Power Reduced Costs Greater Safety Remote Operation Remote Operation G l O ll I d S f t General Overall Improved Safety, Service and Efficiency
  • 45. The Part Turn (1/4) Actuator Product The Part Turn (1/4) Actuator Product The Part Turn (1/4) Actuator Product The Part Turn (1/4) Actuator Product Torque = What you specify and what you The Part Turn (1/4) Actuator Product The Part Turn (1/4) Actuator Product The Part Turn (1/4) Actuator Product The Part Turn (1/4) Actuator Product Torque = What you specify and what you pay for. B t i t t h t f d Be certain to get what you pay for and but do not go overboard (could be more dangerous) more dangerous). Control = An actuator is like a car Control = An actuator is like a car, torque/horsepower are great, but you must be able to control that torque. must be able to control that torque.
  • 47. Actuator Torque Actuator Torque Actuator Torque Actuator Torque Actuator Torque Actuator Torque Actuator Torque Actuator Torque  How Much?  Where is it Needed?
  • 48. Actuator Types Actuator Types Actuator Types Actuator Types Actuator Types Actuator Types Actuator Types Actuator Types  Rack & Pinion  Scotch Yoke  Helical Gear
  • 49. Force . .Piston or Diaphragm Force . .Piston or Diaphragm Force . .Piston or Diaphragm Force . .Piston or Diaphragm P I S u A Force Force . .Piston or Diaphragm Force . .Piston or Diaphragm Force . .Piston or Diaphragm Force . .Piston or Diaphragm I s t o r f a c A r e a Force Operating Pressure ne F P A F = P x A Where: F = Force in Lbs F Force in Lbs. P = Operating Pressure in lbs. per square inch A = Area of Piston in square inches
  • 51. Force to Torque Calculation Force to Torque Calculation Force to Torque Calculation Force to Torque Calculation (in-lb)? (in lb)?  Torque = Force x Radius (or moment arm)  T (in-lb) = F (lb) x  (in)
  • 52. Cylinder or Diaphragm & Crank Arm Cylinder or Diaphragm & Crank Arm Cylinder or Diaphragm & Crank Arm Cylinder or Diaphragm & Crank Arm A x P = Force Operating Pressure, + Pneumatic or Hydraulic Moment Arm, I h + Inches T F R di ( t )  Torque = Force x Radius (or moment arm)  T (in-lb) = F (lb) x  (in)
  • 53. The Robotarm® Story The Robotarm® Story The Robotarm Story The Robotarm Story The torque output from a crank arm mechanism plotted against the torque requirement of most rotary valves can be t d hi ll th represented graphically thus:
  • 54. Scotch Yoke Torque Output Scotch Yoke Torque Output Scotch Yoke Torque Output Scotch Yoke Torque Output Rack & Pinion q p q p q p q p MA F 0° 90° 45° F 0° 90° 45° Min. MA Max MA
  • 55. Fluid/Gas Powered Actuators: Fluid/Gas Powered Actuators: Fluid/Gas Powered Actuators: Fluid/Gas Powered Actuators: Fluid/Gas Powered Actuators: Fluid/Gas Powered Actuators: Fluid/Gas Powered Actuators: Fluid/Gas Powered Actuators: MOMENT TORQUE AREA x PRESSURE x MOMENT ARM TORQUE OUTPUT =
  • 56. Rack & Pinion Rack & Pinion Rack & Pinion Rack & Pinion
  • 57. Today’s Rack & Pinion Today’s Rack & Pinion Today’s Rack & Pinion Today’s Rack & Pinion Today s Rack & Pinion Today s Rack & Pinion Today s Rack & Pinion Today s Rack & Pinion
  • 58. Today’s Rack & Pinion (Cutaway) Today’s Rack & Pinion (Cutaway) Today’s Rack & Pinion (Cutaway) Today’s Rack & Pinion (Cutaway) Today s Rack & Pinion (Cutaway) Today s Rack & Pinion (Cutaway) Today s Rack & Pinion (Cutaway) Today s Rack & Pinion (Cutaway) Pinion Gear Two Pistons Two Pistons with “Racks”
  • 59. Typical Modern Rack & Pinion Typical Modern Rack & Pinion Typical Modern Rack & Pinion Typical Modern Rack & Pinion Typical Modern Rack & Pinion Typical Modern Rack & Pinion Typical Modern Rack & Pinion Typical Modern Rack & Pinion Operating Operating Operating Pressure p.s.i. Operating Pressure p.s.i. p.s.i. p.s.i. Inboard Rotation Then/Or ...
  • 60. Today’s Rack & Pinion Today’s Rack & Pinion Today’s Rack & Pinion Today’s Rack & Pinion Today s Rack & Pinion Today s Rack & Pinion Today s Rack & Pinion Today s Rack & Pinion Operating Operating Pressure p.s.i.
  • 61. Rack & Pinion Mechanism Rack & Pinion Mechanism Rack & Pinion Mechanism Rack & Pinion Mechanism Rack & Pinion Mechanism Rack & Pinion Mechanism Rack & Pinion Mechanism Rack & Pinion Mechanism Torque is generated by pressurizing one side of the actuator’s piston. In this example the left hand side of the piston is pressurized causing the rack to move to the right piston is pressurized, causing the rack to move to the right and the pinion to rotate in an anti-clockwise direction. Pinion Gear Piston Supply Pressure Cylinder Rack Rack
  • 62. Rack & Pinion Mechanism Rack & Pinion Mechanism Rack & Pinion Mechanism Rack & Pinion Mechanism Rack & Pinion Mechanism Rack & Pinion Mechanism Rack & Pinion Mechanism Rack & Pinion Mechanism Counter-clockwise and clockwise pinion rotation is achieved by pressurizing either the inboard or outboard sides of the pistons outboard sides of the pistons. Counter-Clockwise Clockwise Supply Pressure (A li d t O tb d Sid f Pi t ) Supply Pressure (A li d t I b d Sid f Pi t ) Using two piston and racks also provides balanced forces on the pinion and allows for maximum torque generation for a given piston diameter. (Applied to Outboard Side of Pistons) (Applied to Inboard Side of Pistons) piston diameter.
  • 63. Rack & Pinion Mechanism Rack & Pinion Mechanism Rack & Pinion Mechanism Rack & Pinion Mechanism Rack & Pinion Mechanism Rack & Pinion Mechanism Rack & Pinion Mechanism Rack & Pinion Mechanism Spring return actuators are used when a specific valve position (known as the failure position) is required when the actuator supply pressure or control signal is lost Failure positions can be supply pressure or control signal is lost. Failure positions can be achieve by simply rotating the racks 180º within the actuator’s body. Counter-Clockwise Spring Stroke This rack configuration would cause the actuator to fail the valve open (anti- clockwise mounting code B) on loss of clockwise, mounting code B) on loss of the supply pressure Clockwise Spring Stroke R t ti th k 180º ld th Rotating the racks 180º would cause the actuator to now fail the valve closed (clockwise, mounting code A) on loss of the pressure p
  • 64. Rack & Pinion Torque Output Rack & Pinion Torque Output Rack & Pinion Torque Output Rack & Pinion Torque Output Rack & Pinion Torque Output Rack & Pinion Torque Output Rack & Pinion Torque Output Rack & Pinion Torque Output Torque is the multiplication of a linear force by the distance of the force from the point of rotation (Moment Arm). E.G. p ( ) Torque = Force x MA. T = (P x A) x MA Where: T = Torque F = Force P = Pressure A = Piston Area MA = Moment Arm MA = Moment Arm MA F
  • 65. Torque Output Torque Output – – Double Double- -Acting R & P Acting R & P Actuators Actuators Torque Output Torque Output – – Double Double- -Acting R & P Acting R & P Actuators Actuators Actuators Actuators Actuators Actuators In a double-acting rack & pinion actuator, the torque output remains constant throughout the actuator stroke since both the forces generated by the pistons remain constant the forces generated by the pistons remain constant (assuming a constant supply pressure) and the MA (distance) between the pistons forces and the pinion remains constant. Torqu u e Output 0º 45º 45º 90º 0º Valve Opening Stroke Valve Closing Stroke
  • 66. Torque Torque Torque Torque Torque Torque Torque Torque In a spring-return rack & pinion actuator, the torque output varies throughout the valve stroke.  On the air stroke the torque starts high but linearly decreases as more of the force linearly decreases as more of the force generated by the piston is used to compress the springs (rather than rotate the pinion). On the spring stroke the torque starts high but li l d th i t d ( linearly decreases as the springs extend (re: Hooks Law) from their fully compressed position.
  • 67. Rack & Pinion S.R. Torque Output Rack & Pinion S.R. Torque Output Rack & Pinion S.R. Torque Output Rack & Pinion S.R. Torque Output Rack & Pinion S.R. Torque Output Rack & Pinion S.R. Torque Output Rack & Pinion S.R. Torque Output Rack & Pinion S.R. Torque Output Start Start Torque T End End Standard Rotation -5° 0° 90° 95° 45°
  • 68. Rack & Pinion, Rack & Pinion, Typical Materials Of Construction Typical Materials Of Construction Rack & Pinion, Rack & Pinion, Typical Materials Of Construction Typical Materials Of Construction Typical Materials Of Construction Typical Materials Of Construction Typical Materials Of Construction Typical Materials Of Construction  Body, pistons and end caps = Aluminum, anodized or co-deposition coating  Pinion Gear = Aluminum or plated (zinc or ENP) carbon steel  Springs = Alloy steel (Coated)  Paint = Two part epoxy or anodized  Seals – Nitrile for standard temperature, -20f to +250f, Best general purpose, good wearage rate – Low temp Nitrile, -40f to +180f, does not wear as long as above, not the best for compression set resistance, use only when actual temperature requires p , y p q – Silicone for ultra low temp, -50/60/70 f to +125/150f consult factory, use only when actual temperature requires, not long wearing, expensive and hard to get – Viton for high temperature, -20f to +300/350f – Carboxilated Nitrile, 20-40% more expensive than Nitrile but excellent service life for high cycle applications
  • 69. Scotch Yoke Scotch Yoke Scotch Yoke Scotch Yoke
  • 70. Today’s Scotch Yoke Today’s Scotch Yoke Today’s Scotch Yoke Today’s Scotch Yoke Today s Scotch Yoke Today s Scotch Yoke Today s Scotch Yoke Today s Scotch Yoke
  • 71. Scotch Yoke Torque Output Scotch Yoke Torque Output Scotch Yoke Torque Output Scotch Yoke Torque Output Scotch Yoke Torque Output Scotch Yoke Torque Output Scotch Yoke Torque Output Scotch Yoke Torque Output Pressure Opposing Spring Force Piston (Surface Area)
  • 72. Scotch Yoke Torque Output Scotch Yoke Torque Output Scotch Yoke Torque Output Scotch Yoke Torque Output Rack & Pinion q p q p q p q p MA F 0° 90° 45° F 0° 90° 45° Min. MA Max MA
  • 73. The Robotarm® Story The Robotarm® Story The Robotarm Story The Robotarm Story The diagram illustrates that the moment arm varies throughout the stroke. By geometric design, the moment arm length at the start and end of the stroke can be found by dividing the moment arm length at the center by the cosine of dividing the moment arm length at the center by the cosine of 45 or .707. By performing this arithmetic, it will be found that the moment arm at the start and end of travel is 1.414 times the moment arm at the center position of travel moment arm at the center position of travel.
  • 74. Scotch Yoke D.A. Torque Output Scotch Yoke D.A. Torque Output Scotch Yoke D.A. Torque Output Scotch Yoke D.A. Torque Output Scotch Yoke D.A. Torque Output Scotch Yoke D.A. Torque Output Scotch Yoke D.A. Torque Output Scotch Yoke D.A. Torque Output A1 A3 MAX MA A2 Min MA A1 = Pressure Start (Break/Unseating) ( ) 0o o 90 Rotation A2 = Pressure Minimum (Run) A3 = Pressure End (Full Open) Actuators & Valves
  • 75. Scotch Yoke S.R. Torque Output Scotch Yoke S.R. Torque Output Scotch Yoke S.R. Torque Output Scotch Yoke S.R. Torque Output A1 B1 Scotch Yoke S.R. Torque Output Scotch Yoke S.R. Torque Output Scotch Yoke S.R. Torque Output Scotch Yoke S.R. Torque Output Unseat Full Flow Going CW A2 B2 A2 B2 Full Flow Going CCW Seat Fail CW: A1 = Pres Start A2 = Pres End / B1 = Spr Start B2 = Spr End 0o o 90 Rotation Fail CW: A1 = Pres. Start, A2 = Pres. End / B1 = Spr Start, B2 = Spr End Fail CCW: A1 = Spr Start, A2 = Spr End / B1 = Pres. Start, B2 = Pres. End Actuators & Valves
  • 76. Scotch Scotch- -Yoke GC Yoke GC – – Canted Yoke Canted Yoke Scotch Scotch- -Yoke GC Yoke GC – – Canted Yoke Canted Yoke Scotch Scotch Yoke GC Yoke GC Canted Yoke Canted Yoke Scotch Scotch Yoke GC Yoke GC Canted Yoke Canted Yoke 0° 90° 45° CANTED YOKE 0° 90° 45°
  • 77. Scotch Yokes Scotch Yokes – – Canted Canted Scotch Yokes Scotch Yokes – – Canted Canted Scotch Yokes Scotch Yokes Canted Canted Scotch Yokes Scotch Yokes Canted Canted  Canted Yoke – Swings or twists torque symmetric curve 160000 SPRING END STROKE STROKE IMPROVED 130000 140000 150000 SYMMETRIC YOKE CANTED YOKE G 5016-32 SR4 G 4014-28 SR1 100000 110000 120000 E OUTPUTS G 4014-28 SR1 70000 80000 90000 TORQUE 40000 50000 60000 0 45 90 DEGREES 0 45 90 DEGREES
  • 78. Bettis BH Helical spline mechanism Bettis BH Helical spline mechanism Bettis BH Helical spline mechanism Bettis BH Helical spline mechanism Bettis BH Helical spline mechanism Bettis BH Helical spline mechanism Bettis BH Helical spline mechanism Bettis BH Helical spline mechanism •The BH piston utilizes multiple h li l li hi h ith helical splines which engage with reciprocal splines in the actuator’s lower housing. •The splines minimize the surface stresses so that wear and fatigue are stresses so that wear and fatigue are minimal. All moving parts of the mechanism •All moving parts of the mechanism are permanently submerged in, and lubricated by the operating fluid.
  • 79. Products Products – – Hydraulic Helical Gear Actuators Hydraulic Helical Gear Actuators Products Products – – Hydraulic Helical Gear Actuators Hydraulic Helical Gear Actuators Products Products Hydraulic Helical Gear Actuators Hydraulic Helical Gear Actuators Products Products Hydraulic Helical Gear Actuators Hydraulic Helical Gear Actuators • turns 90º and is balanced • fail-safe by means of fail safe by means of disc springs • Linear torque output, very similar to rack and pinion t d i • compact design
  • 80. Scotch Yoke & Helical Gear, Scotch Yoke & Helical Gear, Typical Materials Of Construction Typical Materials Of Construction Scotch Yoke & Helical Gear, Scotch Yoke & Helical Gear, Typical Materials Of Construction Typical Materials Of Construction Typical Materials Of Construction Typical Materials Of Construction Typical Materials Of Construction Typical Materials Of Construction  Body, pistons, yoke and end caps = Cast Ductile Iron or Fabricated Steel Plate  Springs = Alloy steel (Coated)  Springs = Alloy steel (Coated)  Paint = Primer is standard, many other paint systems available  Seals Nitrile for standard temperature 20f to +250f Best general purpose good wearage – Nitrile for standard temperature, -20f to +250f, Best general purpose, good wearage rate – Low temp Nitrile, -40f to +200f, does not wear as long as above, not the best for compression set resistance, use only when actual temperature requires – Viton for high temperature, -20f to +350f – Carboxilated Nitrile, 20-40% more expensive than Nitrile but excellent service life for high cycle applications – Special seal materials available Special seal materials available
  • 81. The Robotarm® Story The Robotarm® Story The Robotarm Story The Robotarm Story Using the same piston area, operating pressure, moment arm and assuming identical efficiencies, the torque outputs g q p from the three above-described mechanisms can be plotted graphically thus:
  • 82. OK, So when Do I Use Which? OK, So when Do I Use Which? OK, So when Do I Use Which? OK, So when Do I Use Which? OK, So when Do I Use Which? OK, So when Do I Use Which? OK, So when Do I Use Which? OK, So when Do I Use Which?  The following are general guidelines, THERE ARE MANY VARIABLES. – USE RACK AND PINION WHEN • Extreme cold AND CHARPY Requirements Extreme cold AND CHARPY Requirements • Weight is critical (Helical Gear) • Unusual dimensional requirements (Helical Gear) q ( ) • Constant torque output is an advantage (May actually be cost driven between 25 – 7,500 LB./In.
  • 83. OK, So when Do I Use Which? OK, So when Do I Use Which? OK, So when Do I Use Which? OK, So when Do I Use Which? OK, So when Do I Use Which? OK, So when Do I Use Which? OK, So when Do I Use Which? OK, So when Do I Use Which?  The following are general guidelines, THERE ARE MANY VARIABLES. USE SCOTCH YOKE USE SCOTCH YOKE – Aluminum not desirable (Helical Gear) – Weight is not critical Unusual dimensional requirements (Helical Gear) – Unusual dimensional requirements (Helical Gear) – Variable torque output is an advantage (May be cost driven between 3,000 – 25,000 and will be availability driven from 35,000 to 6,000,000+ LB./In. – High Torque requirement – High temperature requirement – Remote overrides are required – Very High stroke speeds are required (Helical Gear) – Hydraulic or high pressure service (Helical Gear)
  • 84. OK, So when Do I Use Which? RP VS. SY & HG OK, So when Do I Use Which? RP VS. SY & HG OK, So when Do I Use Which? RP VS. SY & HG OK, So when Do I Use Which? RP VS. SY & HG OK, So when Do I Use Which? RP VS. SY & HG OK, So when Do I Use Which? RP VS. SY & HG OK, So when Do I Use Which? RP VS. SY & HG OK, So when Do I Use Which? RP VS. SY & HG  Common actuator DESIGN or APPLICATION misconceptions  One mechanism has less backlash, hysteresis or dead band than the other  One mechanism is best overall  One design typically out cycles/performs the other  Rack and pinions are a “better choice” for plug or metal seated ball valves valves  Scotch yokes are a “better choice” for ball and butterfly valves  Truth is, it all depends on your specific application. There is no such thing as one design that is best for every application.
  • 86. Closed Loop Systems Closed Loop Systems  There is an increase in the requirements for “fail safe” - “spring return type” valve actuators. p y p y p g yp  The applications are in areas of severe environments. High humidity Salt air Salt air Corrosive dust, inks and dyes Wash Downs Wash Downs Etc
  • 87. Closed Loop Systems Closed Loop Systems The pumping action of spring return actuators Closed Loop Systems Closed Loop Systems  The pumping action of spring return actuators causes the “vented” side of the pneumatic cylinder to purge itself with each stroke. p g  This purging action poses the problem of drawing in contaminates that are potentially harmful to cylinders, springs, and other internal components of the actuator.
  • 88. Closed Loop Systems Closed Loop Systems Closed Loop Systems Closed Loop Systems As the piston travels the cylinder travels the cylinder volume is exhaled and atmosphere and atmosphere inhaled (breathing).
  • 89. Closed Loop Systems Closed Loop Systems  The “closed loop purge system” presents a relatively inexpensive, simple solution to the j i f ll h li i Closed Loop Systems Closed Loop Systems majority of all such applications.  The closed loop system routes the operating di b i h t d f th id media being exhausted from the power side of the cylinder to the vented side of the cylinder. y  Maximum pressure on the vented side of the power cylinder is to be 5 to 8 psig.
  • 90. Closed Loop Systems Closed Loop Systems  Materials for the vent check (relief) valve is generally selected from aluminum, brass, or Closed Loop Systems Closed Loop Systems g y stainless steel to suit specific environmental requirements B i ll l i l l f h  Bettis generally selects stainless steel for the components.
  • 91. Closed Loop Systems Closed Loop Systems p y p y QUICK EXHAUST VALVE X VENT CHECK VALVE
  • 92. Closed Loop Systems Closed Loop Systems p y p y VENT CHECK VALVE X X QUICK EXHAUST VALVE
  • 93. Closed Loop Systems Closed Loop Systems p y p y VENT CHECK VALVE X QUICK EXHAUST VALVE
  • 94. G Series and CBA Models on Main Discharge Valves G Series and CBA Models on Main Discharge Valves G Series and CBA Models on Main Discharge Valves G Series and CBA Models on Main Discharge Valves G Series and CBA Models on Main Discharge Valves G Series and CBA Models on Main Discharge Valves G Series and CBA Models on Main Discharge Valves G Series and CBA Models on Main Discharge Valves
  • 95. G Series Units on Field Gathering lines G Series Units on Field Gathering lines G Series Units on Field Gathering lines G Series Units on Field Gathering lines G Se es U ts o e d Gat e g es G Se es U ts o e d Gat e g es G Se es U ts o e d Gat e g es G Se es U ts o e d Gat e g es
  • 96. High Speed Spring Stroke Testing High Speed Spring Stroke Testing (Note the vapor (Note the vapor cloud and ear muffs) cloud and ear muffs) High Speed Spring Stroke Testing High Speed Spring Stroke Testing (Note the vapor (Note the vapor cloud and ear muffs) cloud and ear muffs) c oud a d ea u s) c oud a d ea u s) c oud a d ea u s) c oud a d ea u s)
  • 98. G130T52 G130T52– –SR3 On 42” ANSI 1500# Torque Seated SR3 On 42” ANSI 1500# Torque Seated Butterfly Valves Butterfly Valves G130T52 G130T52– –SR3 On 42” ANSI 1500# Torque Seated SR3 On 42” ANSI 1500# Torque Seated Butterfly Valves Butterfly Valves utte y a es utte y a es utte y a es utte y a es
  • 99. World’s Most Powerful Spring Return Actuator, World’s Most Powerful Spring Return Actuator, 1.8 M Lb./In. Spring Ending with 3.2 M Air Start 1.8 M Lb./In. Spring Ending with 3.2 M Air Start World’s Most Powerful Spring Return Actuator, World’s Most Powerful Spring Return Actuator, 1.8 M Lb./In. Spring Ending with 3.2 M Air Start 1.8 M Lb./In. Spring Ending with 3.2 M Air Start 8 b / Sp g d g t 3 Sta t 8 b / Sp g d g t 3 Sta t 8 b / Sp g d g t 3 Sta t 8 b / Sp g d g t 3 Sta t
  • 101.
  • 102. Headline Copy Headline Copy Headline Copy Headline Copy Headline Copy Headline Copy Headline Copy Headline Copy  Body text  Body text  Body text – Body text
  • 103. Removing logo from slide Removing logo from slide Removing logo from slide Removing logo from slide Removing logo from slide Removing logo from slide Removing logo from slide Removing logo from slide  It is recommended that the logo be removed from slides when the information on a slide needs the maximum amount f t b t d l d ith i of space to be presented clean and with maximum readability. – You can do this by accessing the “Format” menu selection, scroll y g down and select “Background”, then click in the box next to the statement, “Omit background graphics from master,” and select “Apply”. – You can reinstate the line under the title by drawing in a line using the line tool and coloring it blue.
  • 104. Color Palette Color Palette Color Palette Color Palette Color Palette Color Palette Color Palette Color Palette  This slide represents the Emerson color palette R 15 G 36 B 95 R 150 G 150 B 150 P f d di t R 225 G 225 B 0 R 225 G 204 B 0 R 153 G 225 B 51 R 0 G 153 B 0 R 224 G 158 B 50 R 225 G 0 B 0 R 71 G 186 B 214 R 0 G 153 B 204 R 204 G 0 B 102 R 153 G 0 B 51 R 102 G 153 B 255 R 102 G 0 B 102 Preferred gradient use
  • 105. The Emerson Color Palette The Emerson Color Palette The Emerson Color Palette The Emerson Color Palette The Emerson Color Palette The Emerson Color Palette The Emerson Color Palette The Emerson Color Palette  The Emerson color palette was designed to bring color consistency to various applications — from web design to presentations to brochures It is strongly recommended that presentations to brochures. It is strongly recommended that the bright and vibrant colors in this palette be used in graphs, text and charts to highlight your PowerPoint presentations, thereby showcasing our “world in action.”  A selection of colors from the palette have been embedded into this template for your use. In order to use the other colors available to you from the palette, please use the following instructions: instructions: – Select the word or graphic element you wish to color and select either the “Paint can”, the “Brush”, or the “A”, depending on the item you are coloring, choose “More (fill, line, font) colors”, click on the tab “Custom” and enter the correct R G B numbers for the color from the palette on the and enter the correct R G B numbers for the color from the palette on the preceding slide you are creating, click OK.
  • 106. Using the Emerson Color Palette Using the Emerson Color Palette Using the Emerson Color Palette Using the Emerson Color Palette Using the Emerson Color Palette Using the Emerson Color Palette Using the Emerson Color Palette Using the Emerson Color Palette  The extended color palette brings bright, vibrant colors to be used in many ways — from highlighting words to ki iti h t d h making exciting charts and graphs.  A selection of colors from the palette have been imbedded into this template for your use. In order to use imbedded into this template for your use. In order to use the other colors available to you from the palette please use the following instructions: Select the word or graphic element you wish to color and select – Select the word or graphic element you wish to color and select either the “Paint can”, the “Brush”, or the “A”, depending on the item you are coloring, choose “More (fill, line, font) colors”, click on the tab “Custom” and enter the correct R G B numbers for the color from the palette on the preceding slide you are creating, click OK.