Pressure compensation electric actuating mechanism for deep sea high-pressure valve of ship

Abstract

A pressure compensation electric actuating mechanism for a ship deep-sea high-pressure valve comprises a shell, a motor, an output shaft assembly, a worm assembly, a compensation assembly and a multi-stage gear assembly, and the multi-stage gear assembly comprises a first-stage pinion, a fourth-stage large gear and a multi-stage duplicate gear assembly arranged between the first-stage pinion and the fourth-stage large gear; the vertically-arranged output shaft assembly is located in the middle, the horizontally-arranged motor is arranged on one side of the output shaft assembly, and the horizontally-arranged worm assembly is arranged on the other side of the output shaft assembly. An inner cavity of the shell is divided into a first containing cavity and a second containing cavity through a bearing mounting plate, the first containing cavity comprises a motor containing cavity used for containing a motor, the portion, outside the motor containing cavity, of the first containing cavity contains a worm assembly and an output shaft assembly, and a multi-stage duplicate gear assembly is contained in the middle of the second containing cavity. An output shaft of the motor extending into the second containing cavity on one side of the multi-stage duplicate gear assembly is fixedly connected with the first-stage pinion. The invention has the advantages of light weight, small volume, low fault rate, high precision, fast response and high reliability.

Description

Technical Field

[0001] The invention relates to the technical field of deep sea high pressure, in particular to a pressure compensating electric actuator for a deep sea high pressure valve of a ship. Background Art

[0002] At present, hydraulically driven actuators are used for deep-sea valve actuators. Since hydraulic oil source systems, piping systems, switching valve systems, pressure control systems, and hydraulic monitoring systems are required, hydraulically driven actuators are large in size, require large installation space, have complex structures, and are difficult to use and maintain. Since the deep sea is a high-pressure environment, the cost of hydraulically driven actuators to resist pressure is high, and they also result in large size and weight. Especially when multiple deep-sea valves are used, the space and weight occupied by deep-sea ships are further increased, which does not meet the requirements of miniaturization, integration, and lightweight of deep-sea ships.

[0003] The requirements for informatization of deep-sea ships are becoming increasingly higher, requiring onboard equipment to provide real-time feedback on its working status. Due to the requirements for informatization, onboard equipment needs to have a unified communication interface and improve the operability of the human-machine interface. At present, hydraulic drive actuators require additional limited space due to the use of electronic components and sensors in the deep-sea high-pressure environment. In addition, due to the collection of multi-point hydraulic information, the wiring cost is high and the pressure resistance cost is high, which is not conducive to integration, lightweight, miniaturization, and informatization.

[0004] Due to the operating environment, deep-sea ships have changes between normal pressure and high pressure environments, as well as changes between low temperature and high temperature environments. During the change between normal pressure and high pressure, the oil container needs to be designed to be pressure-resistant due to the compressibility of the liquid. The change between high and low temperatures will be caused by the thermal expansion and contraction effect of the liquid. At high temperatures, the volume of the oil expands, and the pressure increases sharply at a fixed volume to produce high pressure. At low temperatures, the volume of the oil decreases, and the pressure decreases sharply at a fixed volume to produce negative pressure. Therefore, the oil container needs to be designed to be pressure-resistant and pressure-compensated, which increases the complexity of the hydraulic system.

[0005] Due to limited space on deep-sea ships, maintenance is difficult, and the equipment used is required to be highly reliable and reduce the frequency of maintenance. At the same time, it must have functions such as fault feedback and remote control. Deep-sea ships involve personal safety, and strictly require that the equipment be safe and reliable without endangering personal safety. The hydraulic drive actuator has low fault detection capability, slow response to pressure faults, and slow remote control response, which is not conducive to ship safety. At the same time, the hydraulic system requires regular maintenance. Due to the shelf life of the hydraulic oil and the warranty period of rubber seals, the hydraulic oil and rubber seals need to be replaced regularly. According to the warranty period, they need to be replaced every five years. After replacement, the sealing performance of the hydraulic system needs to be checked. The maintenance cost is high, which is not conducive to the large-scale popularization and application of deep-sea technology. Summary of the invention

[0006] The purpose of the present invention is to overcome the above-mentioned deficiencies of the prior art and to propose a pressure compensating electric actuator for a ship's deep-sea high-pressure valve which has the advantages of light weight, small size, low failure rate, high precision, fast response and high reliability.

[0007] The scheme of the present invention is: A pressure compensation electric actuator for a ship deep-sea high-pressure valve comprises a housing, a motor, an output shaft assembly, a worm assembly, a compensation assembly, and a multi-stage gear assembly, wherein the multi-stage gear assembly comprises a first-stage pinion, a fourth-stage gear, and a multi-stage double gear assembly disposed between the first-stage pinion and the fourth-stage gear; a vertically disposed output shaft assembly is located in the middle, a horizontally disposed motor is disposed on one side of the output shaft assembly, and a horizontally disposed worm assembly is disposed on the other side of the output shaft assembly; The inner cavity of the housing is divided into a first accommodating cavity and a second accommodating cavity by a bearing mounting plate. The first accommodating cavity includes a motor accommodating cavity for accommodating the motor. The first accommodating cavity outside the motor accommodating cavity accommodates a worm assembly and an output shaft assembly. The middle part of the second accommodating cavity accommodates a multi-stage double gear assembly. The output shaft of the motor extending into the second accommodating cavity on one side of the multi-stage double gear assembly is connected and fixed with a first-stage pinion. The worm assembly includes a worm. The end of the worm extending into the second accommodating cavity on the other side of the multi-stage double gear assembly is fixed with a fourth-stage large gear. The first-stage small gear, the multi-stage double gear assembly, and the fourth-stage large gear are meshed in sequence to form a transmission assembly. The output shaft assembly comprises an output shaft for connecting with a valve stem, and a worm wheel for meshing with a worm, wherein the worm wheel is fixed on a cylindrical surface of the output shaft; The upper part of the shell body corresponding to the second accommodating chamber is provided with a refueling hole, and a plugging cap is detachably connected to the refueling hole; the side part of the shell body corresponding to the second accommodating chamber is provided with a leather cup docking port; The upper part of the housing corresponding to the first accommodating chamber is provided with an upper mounting hole corresponding to the output shaft, a position sensor is connected to the output shaft, and a bearing cover for positioning the upper end of the output shaft is installed at the upper mounting hole; the lower part of the housing is provided with a lower mounting hole for installing the lower end of the output shaft; A compensation component is installed outside the shell, and the compensation component includes a leather cup and a leather cup shield covering the leather cup. One end of the leather cup has a bowl mouth, and the inner cavity of the leather cup is connected with the second accommodating cavity through the bowl mouth and the leather cup docking interface; Seals are arranged between the bearing cover and the housing, between the output shaft and the housing, and between the side plate and the housing.

[0008] The surface of the leather cup shield is provided with a plurality of through holes, and the shape of the leather cup shield is adapted to the shape of the leather cup; The multi-stage double gear assembly includes a first-stage double gear assembly, a second-stage double gear assembly, and a third-stage double gear assembly, and the third-stage double gear assembly is connected to the worm gear through a fourth-stage large gear; The fourth sealing ring is placed between the bearing cover and the housing to seal the bearing cover and the housing; the fifth sealing ring is placed between the output shaft and the housing to seal the output shaft and the housing; the sixth sealing ring is placed between the side plate and the housing to seal the side plate and the housing. The fourth sealing ring, the fifth sealing ring and the sixth sealing ring constitute a sealing member.

[0009] The worm wheel is a fan-shaped worm wheel, and the lower end of the bearing cover is provided with a fan-shaped boss that contacts the fan-shaped worm wheel and is used for outputting mechanical limit to avoid position overshoot when the output shaft rotates.

[0010] The method of use is as follows: open the plug cap, add hydraulic oil to the housing and the leather cup, press the leather cup during the process of adding hydraulic oil, and discharge excess air through the filling hole; when the housing and the leather cup are filled with hydraulic oil, let the hydraulic oil stand, after the standing is over, press the leather cup, discharge excess air through the filling hole, and exhaust is completed; after exhaust is completed, the plug cap is installed and sealed on the housing; the valve stem is connected to the output shaft; When the valve needs to be opened, the drive motor works forward, and the high-speed and low-torque power of the motor is converted into low-speed and high-torque output torque through the transmission assembly and the worm gear, and the torque is transmitted to the valve stem through the output shaft to open the valve; When the valve needs to be closed, the drive motor works in reverse, and the high-speed, low-torque power of the motor is converted into a low-speed, high-torque output torque through the transmission assembly and the worm gear, and the torque is transmitted to the valve stem through the output shaft to close the valve.

[0011] It also includes a control assembly installed on the top of the housing, the control assembly includes a control housing, a control cover, and a controller, the controller is placed in the control housing, the control cover is sealed and connected to the control housing, and the side of the control housing is integrated with a second socket, a third socket, and a fourth socket; the controller is respectively connected to the second socket, the third socket, and the fourth socket through wires to form a power supply and signal transmission circuit; A first socket connected to the position sensor is provided on the outer side of the shell. The front end wire of the motor passes through the shell and is connected to the control component through the first socket, the cable assembly to form a motor power supply control loop; the position sensor is connected to the control component through the first socket, the cable assembly to form a position information feedback loop.

[0012] The method of use is as follows: first, open the plug cap, and fill the housing and the leather cup with hydraulic oil. During the process of filling the hydraulic oil, press the leather cup to discharge excess air through the filling hole; when the housing and the leather cup are filled with hydraulic oil, let the hydraulic oil stand. After the standing time is over, press the leather cup to discharge excess air through the filling hole, and the exhaust is completed; after the exhaust is completed, install the plug cap and seal it on the housing; then install the control assembly above the housing, and connect the cable assembly to the control assembly and the first socket; the valve stem is connected to the output shaft; When the valve needs to be opened, the valve opening instruction is transmitted to the control component through the third socket, and the control component drives the motor to work in the forward direction. The high-speed and low-torque power of the motor is converted into a low-speed and high-torque output torque through the transmission component and the worm gear, and the torque is transmitted to the valve stem through the output shaft to open the valve. The position sensor detects the rotation position information of the output shaft and transmits it to the control component through the position information feedback loop. When the control component determines that the output shaft rotation position information is in the valve opening state, the motor power supply control loop controls the motor to cut off the power; in the process of diving from the sea surface in the external environment, the external seawater pressure increases, and the seawater pressure is transmitted to the leather cup. The internal oil volume decreases during the pressure increase process, the leather cup deforms inward, and the internal volume of the leather cup decreases, compensating for the smaller volume of the oil, so that the pressure difference between the inside and outside pressures is maintained at a small value, and the housing and the seal are equivalent to a low-pressure seal; When the valve needs to be closed, the valve closing command is transmitted to the control component through the third socket, and the control component drives the motor to work in reverse. The high-speed and low-torque power of the motor is converted into a low-speed and high-torque output torque through the transmission component and the worm gear, and the torque is transmitted to the valve stem through the output shaft to close the valve. The position sensor detects the rotation position information of the output shaft and transmits it to the control component through the position information feedback loop. When the control component determines that the output shaft rotation position information is in the valve closed state, the motor power supply control loop controls the motor to cut off power. In the process of the external environment rising from the deep sea to the surface, the external seawater pressure decreases, and the change in seawater pressure is transmitted to the upper surface. The volume of the internal oil increases during the pressure reduction process, the leather cup deforms outward, and the internal volume of the leather cup increases to compensate for the increased volume of the oil, thereby also keeping the pressure difference between the inside and outside at a small value.

[0013] A pressure compensation electric actuator for a ship's deep-sea high-pressure valve comprises a motor, a position sensor, an output shaft assembly, a worm assembly, a control assembly, a bearing mounting plate, a side plate, a first socket, a compensation assembly, a housing, a bearing cover, a first-stage pinion, a first-stage double gear assembly, a second-stage double gear assembly, a third-stage double gear assembly, a cable assembly, and a plug cap. The front end wire of the motor is connected to the control assembly through the first socket and the cable assembly to form a motor power supply control circuit. The cylindrical housing of the motor is horizontally placed in the horizontal cylindrical cavity on the lower right side of the housing. The circular mounting surface at the front end of the motor is connected and fixed to the bearing mounting plate by five screws. The cylindrical output of the motor at the front end is fixed to the bearing mounting plate by five screws. The shaft is connected and fixed to the cylindrical inner hole of the first-stage pinion by a retaining ring. The left side of the first-stage pinion meshes with the right side of the first-stage double gear assembly, the left side of the first-stage double gear assembly meshes with the right side of the second-stage double gear assembly, the left side of the second-stage double gear assembly meshes with the right side of the third-stage double gear assembly, the left side of the third-stage double gear assembly meshes with the right side of the fourth-stage large gear of the worm assembly, the first-stage double gear assembly, the second-stage double gear assembly, and the third-stage double gear assembly are horizontally placed between the bearing mounting plate and the side plate, the right side of the middle worm cylindrical surface of the worm assembly meshes with the left side of the middle worm wheel cylindrical surface of the output shaft assembly, and the worm assembly is horizontally mounted on the left side of the housing The worm end of the worm assembly is positioned by a bearing mounting plate, the output shaft assembly is vertically placed between the cylindrical cavity in the middle of the shell and the bearing cover, the position sensor is horizontally placed between the output shaft assembly and the bearing cover, the upper end face of the position sensor is fixedly connected to the circular boss on the upper part of the bearing cover by four screws, the lower end face of the position sensor is fixedly connected to the upper end face of the output shaft in the output shaft assembly by four screws, the position sensor is connected to the control assembly through a first socket and a cable assembly to form a position information feedback loop, the cylindrical boss at the lower end of the bearing cover is placed in the cylindrical cavity in the middle of the shell and is fixed by six screws, the rear of the side plate The end face is fixed to the front end face of the shell by ten screws, the front end of the compensation component is fixed to the middle of the left side of the shell by four screws, the bottom face of the control component is connected and fixed to the four cylindrical faces on the upper end of the shell by four screws, the rear end face of the bearing mounting plate is connected and fixed to the rear end face of the waist-shaped cavity at the front end of the shell by six screws, the first socket is placed in the middle of the left side of the shell and connected and fixed by four screws, the first socket is placed under the compensation component, the first plug at the lower end of the cable assembly is connected and fixed to the first socket, the second plug at the upper end of the cable assembly is connected and fixed to the second socket on the left side of the control component, and the plugging cap is installed on the cylindrical boss on the upper left end of the waist-shaped body of the shell; The shell has a small horizontal cylinder on the left, a square body in the middle, a large horizontal cylinder on the right, and a waist-shaped body at the front end. The left cylinder, the middle square body, the right cylinder and the front waist-shaped body are connected as one. The left cylinder has a horizontal cylindrical cavity, the middle square body has a square cavity, the right cylinder has a horizontal cylindrical cavity, and the front waist-shaped body has a waist-shaped cavity. The left cylindrical cavity, the middle square cavity, the right cylindrical cavity and the front waist-shaped cavity are connected, and the middle square cavity is separated from the right cylindrical cavity. Open or not connected, the middle square body has a cylinder in the vertical direction, there is a cylindrical through hole in the middle of the vertical cylinder, the vertical cylinder is surrounded by six evenly distributed screw holes, the cylindrical through hole is connected to the direction cavity, the upper end of the shell has four cylindrical bosses, there is a threaded hole in the middle of the cylindrical boss, ten cylinders are evenly distributed on the outside of the front waist-shaped body, there are threaded holes in the middle of the ten cylinders, there is a rhombus on the left side of the front waist-shaped body, there is a cylindrical hole in the middle of the rhombus, the cylindrical hole forms a leather cup docking interface, and the cylindrical hole is connected to the front waist-shaped cavity A small square body for fixing and connecting the first socket is provided below the rhombus body on the left side of the front waist-shaped body, a cylinder is provided at the front end of the small square body, a cylindrical through hole is provided in the middle of the small square body, threaded holes are provided at the four corners of the small square body, the cylindrical through hole is connected with the front waist-shaped cavity, a small cylinder is provided on the left side of the left cylinder, a threaded hole is provided in the middle of the small cylinder, a vertical cylindrical boss is provided in the middle of the bottom of the shell body, a circular through hole is provided in the middle of the cylindrical boss, the circular through hole forms a lower mounting hole, the circular through hole is connected with the square cavity, and the cylindrical boss is surrounded by four small circular holes. Column boss, a threaded hole in the middle of the small cylindrical boss, eight unevenly distributed threaded holes for connecting and fixing the bearing mounting plate at the rear end of the waist-shaped cavity, a square wiring groove at the rear end of the waist-shaped cavity, a threading port for the position sensor on the square wiring groove, a cylindrical boss at the upper left end of the waist-shaped body, a refueling hole for installing a plugging cap in the middle of the cylindrical boss, a threaded hole, the refueling hole is connected to the front waist-shaped cavity, and a circular sealing groove is provided on the upper end of the cylindrical boss; the compensation component includes a leather cup and a leather cup shield; The middle part of the bearing cover has a placement space for placing the position sensor, the lower part of the placement space has a positioning groove for positioning the second bearing of the output shaft assembly, and the outer ring of the bearing cover has a circle of mounting holes; The output shaft assembly includes an output shaft, a worm gear, a first bearing, a second bearing, and screws. The worm gear is fixed to the middle cylindrical surface of the output shaft by screws, the first bearing is placed on the lower cylindrical surface of the output shaft, and the second bearing is placed on the upper cylindrical surface of the output shaft. The worm assembly includes a worm, a third bearing, a fourth bearing, a four-stage gear, a flat key, and a retaining ring. The third bearing is placed on the cylindrical surface at the tail end of the worm, the fourth bearing is placed on the cylindrical surface at the front end of the worm, the four-stage gear is placed in front of the fourth bearing, the flat key is placed between the four-stage gear and the worm, and the retaining ring is placed at the front end of the four-stage gear; The control assembly comprises a control housing, a control cover, a controller, a second socket, a third socket, a fourth socket, a first control sealing ring, and a second control sealing ring. The controller is placed in the control housing cavity and fixed by screw connection. The control cover is placed above the control housing and fixed by screw connection. The controller is respectively connected with the second socket, the third socket, and the fourth socket by wires to form a power supply and signal transmission circuit. The first control sealing ring is placed between the control cover and the horizontal contact surface of the control housing, the second control sealing ring is placed between the control cover and the vertical contact surface of the control housing, the second socket is placed on the left outer wall of the control housing and fixed by screw connection. The third socket is placed on the left outer wall of the control housing and fixed by screw connection. The third socket is placed in front of the second socket, the fourth socket is placed on the left outer wall of the control housing and fixed by screw connection, and the fourth socket is placed in front of the third socket. The fifth sealing ring is placed between the output shaft and the housing to seal the output shaft and the housing; the sixth sealing ring is placed between the side plate and the housing to seal the side plate and the housing; the fourth sealing ring, the fifth sealing ring and the sixth sealing ring constitute a sealing member.

[0014] The bearing mounting plate is a waist-shaped plate, the inner surface of the bearing mounting plate has a cylindrical first boss, the middle of the first boss has a circular groove for positioning the motor, the end face of the first boss has a circular hole 1 for fixing the motor, the middle of the circular groove has an axial hole for passing through the output shaft of the motor, the inner surface of the bearing mounting plate also has a cylindrical third boss, the middle of the third boss has a positioning groove for positioning the fourth bearing, the middle of the positioning groove has an assembly hole for passing through the worm, the outer surface of the bearing mounting plate has a cylindrical second boss corresponding to the assembly hole, the outer surface of the bearing mounting plate also has a positioning groove 1 for positioning one end of the multi-stage double gear assembly, and the inner surface of the side plate has a positioning groove 2 corresponding to the positioning groove 1 for positioning the other end of the multi-stage double gear assembly; The inner surface of the bearing mounting plate between the third boss and the first boss is provided with an avoidance groove for avoiding the worm gear; The side panels are waist-shaped panels.

[0015] The leather cup is placed in the inner cavity of the leather cup shield, the rear end of the leather cup is a cuboid, the interior of the cuboid is a cuboid cavity, the middle section of the leather cup is a cylinder, the middle of the cylinder is a circular cavity, the front end of the leather cup is a rhombus, the middle of the rhombus is a circular hole, the cuboid cavity at the rear end of the leather cup is connected with the circular cavity in the middle section and the circular hole at the front end, the rear end of the leather cup shield is a cuboid, the interior of the cuboid of the leather cup shield is a cuboid cavity, a square hole is opened at the rear end of the cuboid at the rear end of the leather cup shield, the middle of the cuboid at the rear end of the leather cup shield is evenly distributed with circular holes connected with the cuboid cavity, the middle section of the leather cup shield is a cylinder, the middle of the cylinder is a circular cavity, the front end of the leather cup shield is a rhombus, the middle of the rhombus is a circular hole, the cuboid cavity at the rear end of the leather cup shield is connected with the circular cavity in the middle section and the circular hole at the front end.

[0016] The bearing cover has a circular boss on the upper part, a protruding cylinder below the circular boss, a circle of mounting holes on the protruding cylinder, a cylindrical boss below the protruding cylinder, a circular groove for positioning the second bearing of the output shaft assembly in the middle of the lower cylindrical boss, a circular hole above the circular groove, a cylindrical groove above the circular hole, the circular hole and the cylindrical groove form a placement space for placing a position sensor, a square groove on the left side of the lower cylindrical boss, the square groove has an inclined cylindrical hole inclined to the right, the inclined cylindrical hole is connected to the upper cylindrical groove, a fan-shaped boss in contact with the worm gear for outputting mechanical limit is provided below the lower cylindrical boss, and the worm gear is a fan-shaped worm gear; The first-stage pinion has circumferential teeth at the front and rear levels, a right cylindrical boss at the front and rear of the teeth, and a flat through hole in the middle of the cylindrical boss; The first-stage double gear assembly comprises a first-stage large gear, a second-stage small gear, a first bearing 1, and a second bearing 1. The second-stage small gear is placed on the middle side cylindrical surface of the first-stage large gear, the first bearing 1 is placed on the front end cylindrical surface of the first-stage large gear, and the second bearing 1 is placed on the rear end cylindrical surface of the first-stage large gear. The two-stage double gear assembly includes a two-stage large gear, a three-stage small gear, a third bearing 1, and a fourth bearing 1. The three-stage small gear is placed on the middle side cylindrical surface of the two-stage large gear, the third bearing 1 is placed on the front end cylindrical surface of the two-stage large gear, and the fourth bearing 1 is placed on the rear end cylindrical surface of the two-stage large gear. The three-stage double gear assembly comprises a three-stage large gear, a four-stage small gear, a fifth bearing and a sixth bearing. The four-stage small gear is placed on the middle side cylindrical surface of the three-stage large gear, the fifth bearing is placed on the left cylindrical surface of the three-stage large gear, and the sixth bearing is placed on the right cylindrical surface of the three-stage large gear. The cable assembly comprises a first plug, a second plug, and a vulcanized cable, wherein the first plug is below the vulcanized cable and connected to the vulcanized cable at 90 degrees, the second plug is above the vulcanized cable and connected to the vulcanized cable at 90 degrees, the first plug and the second plug are staggered at 90 degrees in space, and the first plug and the second plug are connected through the vulcanized cable to form a loop; The plugging cap comprises a plug and a third sealing ring. The upper end of the plug is provided with a cylinder, the middle of the upper cylinder is provided with a hexagonal groove, the lower part of the upper cylinder is provided with an externally threaded cylinder, the middle part of the externally threaded cylinder and the upper cylinder is provided with an annular groove, and the third sealing ring is placed in the annular groove of the plug.

[0017] In the present invention, the motor is a power source that converts electrical energy into mechanical energy, the position sensor provides output shaft rotation position information, the output shaft assembly is connected to the outside and transmits torque, the worm assembly converts horizontal torque into vertical torque, the control assembly controls the operation of the motor according to external instructions and output position information, the side plate and the bearing mounting plate jointly support the horizontal transfer gear assembly, the first socket is connected to an external power supply and communication, the compensation assembly realizes a pressure compensation function, the housing and the bearing cover are installed to fix other parts, the first-stage pinion, the first-stage double gear assembly, the second-stage double gear assembly, and the third-stage double gear assembly convert the motor output power into the required output low speed.

[0018] Based on the thermal expansion and contraction characteristics of oil and the compressible characteristics, the inventor calculated the volume change of a certain amount of oil at different temperatures based on the oil expansion coefficient based on the temperature difference of the temperature environment used by the oil. According to the liquid pressure formula, a certain amount of liquid volume change will cause a change in oil pressure under fixed volume conditions, that is, temperature rise will cause volume increase, but the container volume remains unchanged, and the pressure will increase, and vice versa. The present invention eliminates the influence of the unchanged container volume and the pressure change caused by temperature change by the deformable characteristics of the pressure-compensated leather cup. At the same time, the present invention is applicable to deep-sea high-pressure environments. Similarly, pressure changes will cause changes in oil volume. Similarly, the influence of pressure is eliminated by the deformation of the leather cup. The pressure compensation design of the present invention takes into account the influence of temperature and pressure changes. According to the pressure formula, the greater the liquid pressure under the same volume, the smaller the volume. In the deep-sea high-pressure environment, the external pressure of the shell is transmitted to the inside of the shell through the deformation of the leather cup, the volume of the leather cup becomes smaller, the volume of the oil becomes smaller, and the oil pressure becomes larger, approaching the external deep-sea pressure, so that the internal and external pressures are basically the same. Similarly, under normal pressure, the oil volume returns to its original volume through the leather cup, the oil pressure returns to normal pressure, and the internal and external pressures are basically the same.

[0019] The vertically arranged output shaft assembly in the housing of the present invention is located in the middle, the horizontally arranged motor and worm assembly are located on both sides of the output shaft assembly, the transmission assembly is placed at the ends of the output shaft and worm assembly, and the motor and worm assembly are arranged symmetrically along the output shaft assembly. This layout makes the housing present a flat structure, and the center of gravity of the overall structure of the present invention is lowered, thereby improving the vibration and impact resistance of the present invention from a structural perspective. The valve position information is collected through the transmission component, and the motor is used to drive the transmission component. Compared with the hydraulic system, the motor has higher accuracy, faster response speed, lower failure rate, and higher safety. It has been verified by experiments that the service life is greatly extended, and it can withstand the influence of high temperature, low temperature, vibration, impact and other environmental factors. It has a simple and compact structure, is easy to arrange, and has good stability, which is conducive to the miniaturization, lightweight, informationization, and integration of ships. The transmission component includes a transmission assembly, a worm assembly, and a worm wheel.

[0020] The present invention does not set a spring, avoiding the problem of poor temperature stability of the compensation method relying on spring elastic force. The present invention proposes a pressure compensation electric actuator for a ship's deep-sea high-pressure valve, which has a small size, a high safety factor, and a low sealing cost. The pressure compensation structure balances the internal and external high-pressure environments of the transmission components, reduces the pressure difference between the inside and outside pressures, facilitates the rotary sealing of the transmission components, and avoids the extremely high cost of high-pressure rotary sealing. At the same time, due to the balance of internal and external pressures, the pressure resistance requirements of the shell are reduced, and the hydraulic pressure compensation and temperature compensation are solved. The shell can be designed to be lightweight and miniaturized, with small dimensions and light weight, reducing the space and weight occupied by the ship.

[0021] The hydraulic volume used in the present invention is greatly reduced. Compared with the 10L hydraulic oil used in the hydraulic drive device of a 500Nm valve of a certain ship, the hydraulic oil in the pressure compensation electric actuator of the ship deep-sea high-pressure valve of the present invention, which is also used for a 500Nm valve, is 0.9L, which fills the housing and the leather cup, thus achieving lightweight in terms of oil volume.

[0022] In the present invention, the movable parts are immersed in oil to fully lubricate, avoid mechanical wear, extend the service life of the movable parts, and improve reliability. The movable parts include motor rotors, bearings, gears, worm gears, output shafts, position sensors, leather cups, sealing rings, etc.

[0023] The housing and the seal in the present invention are equivalent to low-pressure seals, with low sealing costs and high reliability. The number of seals used is also greatly reduced, avoiding high maintenance costs and facilitating popularization and application. The seal only includes a control component seal ring, a bearing cover seal ring, an output shaft seal ring, and a side cover seal ring. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a structural schematic diagram of a pressure compensation electric actuator with a control assembly 5 of a ship deep-sea high-pressure valve according to the present invention; Figure 2 It is a structural schematic diagram of a pressure compensation electric actuator for a ship deep-sea high-pressure valve without a control component 5 of the present invention; Figure 3 It is one of the partial cross-sectional views of the pressure-compensating electric actuator for a ship's deep-sea high-pressure valve according to the present invention; Figure 4 This is the second partial cross-sectional view of the pressure-compensating electric actuator for a ship's deep-sea high-pressure valve according to the present invention; Figure 5 is a schematic diagram of the output shaft assembly; Figure 6 is a schematic diagram of the worm assembly; Figure 7 is a schematic diagram of the control components; Figure 8 is a cross-sectional view of the control assembly; Fig. 9 This is one of the schematic diagrams of the bearing mounting plate; Fig.10 This is the second schematic diagram of the bearing mounting plate; Fig.11 It is one of the schematic diagrams of the side panels; Fig.12 It is one of the schematic diagrams of the side panels; Fig.13 is a schematic diagram of compensation components; Fig.14 It is a schematic diagram of the leather bowl; Fig.15 It is a schematic diagram of the leather cup guard; Fig.16 It is one of the schematic diagrams of the shell; Fig.17 This is the second schematic diagram of the shell; Fig.18 is a schematic diagram of the bearing cover; Fig.19 is a cross-sectional view of the bearing cap; Fig. 20 It is a schematic diagram of a first-stage duplex gear assembly; Fig.21 It is a schematic diagram of a two-stage duplex gear assembly; Fig. 22 It is a schematic diagram of a three-stage duplex gear assembly; Fig.23 is a schematic diagram of a cable assembly; Fig.24 It is a cross-sectional view of the plug cap; Fig.25 It is a three-dimensional diagram of the plug cap. DETAILED DESCRIPTION

[0025] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0026] Figure 1 In the figure, the direction inside the paper is the back, the direction outside the paper is the front, and the up, down, left and right directions remain unchanged.

[0027] Figure 1-4In the present invention, the pressure compensation electric actuator for deep-sea high-pressure valves of ships includes a motor 1, a position sensor 2, an output shaft assembly 3, a worm assembly 4, a control assembly 5, a bearing mounting plate 6, a side plate 7, a first socket 8, a compensation assembly 9, a housing 10, a bearing cover 11, a first-stage pinion 12, a first-stage double gear assembly 13, a second-stage double gear assembly 14, a third-stage double gear assembly 15, a cable assembly 16, and a plug cap 17. The front-end wire of the motor is connected to the control assembly 5 through the first socket 8 and the cable assembly 16 to form a motor power supply control circuit. The front-end wire of the motor refers to the lead wire of the three-phase motor and the rotor position sensor. The three-phase wire is the lead wire of the three-phase winding of the motor, which supplies power to the motor winding. The lead wire of the rotor position sensor is the lead wire of the position sensor at the tail of the motor rotor, which supplies power to the position sensor and feedbacks the rotor position signal; the front-end wire of the motor passes through the square wiring groove (10V) at the front end of the housing. The cylindrical outer shell of the motor 1 is horizontally placed in the horizontal cylindrical cavity on the lower right side of the shell 10. The circular mounting surface at the front end of the motor 1 is connected and fixed to the bearing mounting plate 6 by five screws. The cylindrical output shaft at the front end of the motor 1 is connected and fixed to the cylindrical inner hole of the first-stage pinion 12 by a retaining ring. The first-stage pinion 12 has a circumferential tooth profile in the front and rear horizontal directions, and a right cylindrical boss in the front and rear of the tooth profile, and a flat through hole in the middle of the cylindrical boss; the left side of the first-stage pinion 12 is meshed with the right side of the first-stage double gear assembly 13, the left side of the first-stage double gear assembly 13 is meshed with the right side of the second-stage double gear assembly 14, the left side of the second-stage double gear assembly 14 is meshed with the right side of the third-stage double gear assembly 15, and the left side of the third-stage double gear assembly 15 is meshed with the right side of the fourth-stage large gear 4d of the worm assembly 4. The first-stage double gear assembly 13, the second-stage double gear assembly 14, and the third-stage double gear assembly 15 are horizontally placed between the bearing mounting plate 6 and the side plate 7.The right side of the cylindrical surface of the middle worm of the worm assembly 4 is meshed with the left side of the cylindrical surface of the middle worm wheel 3b of the output shaft assembly 3. The worm assembly 4 is horizontally installed in the cylindrical cavity on the left side of the housing 10. The end of the middle worm of the worm assembly 4 is positioned by the bearing mounting plate 6. The output shaft assembly 3 is vertically placed between the middle cylindrical cavity of the housing 10 and the bearing cover 11. The position sensor 2 is horizontally placed between the output shaft assembly 3 and the bearing cover 11. The upper end face of the position sensor 2 is fixedly connected to the circular boss 11a on the upper part of the bearing cover 11 by four screws. The lower end face of the position sensor 2 is fixedly connected to the upper end face of the output shaft 3a in the output shaft assembly 3 by four screws. The position sensor 2 is connected to the control assembly 5 through the first socket 8 and the cable assembly 16 to form a position information feedback loop. The cylindrical boss at the lower end of the bearing cover 11 is placed in the middle cylindrical cavity of the housing 10 and is fixed by six screws. The rear end face of the side plate 7 is fixed by ten screws. Fixed on the front end face of the shell 10, the front end of the compensation component 9 is fixed in the middle of the left side of the shell 10 by four screws, the bottom surface of the control component 5 is connected and fixed to the four cylindrical surfaces at the upper end of the shell 10 by four screws, the rear end face of the bearing mounting plate 6 is connected and fixed to the rear end face of the waist-shaped cavity at the front end of the shell 10 by six screws, the first socket 8 is placed in the middle of the left side of the shell 10 and is connected and fixed by four screws, the first socket 8 is placed below the compensation component 9, the first plug at the lower end of the cable assembly 16 is connected and fixed to the first socket 8, the second plug 16b at the upper end of the cable assembly 16 is connected and fixed to the second socket 5d on the left side of the control component 5, the blocking cap 17 is installed on the cylindrical boss 10u at the upper end of the left side of the waist-shaped body of the shell 10; the middle part of the bearing cover 11 has an accommodation space for accommodating the position sensor 2, the lower part of the accommodation space has a positioning groove for positioning the second bearing 3d of the output shaft assembly, and the outer ring of the bearing cover 11 has a circle of mounting holes. The fourth sealing ring 18 is placed between the bearing cover 11 and the housing 10 to seal the bearing cover 11 and the housing 10; the fifth sealing ring 19 is placed between the output shaft 3a and the housing 10 to seal the output shaft 3a and the housing 10; the sixth sealing ring 20 is placed between the side plate 7 and the housing 10 to seal the side plate 7 and the housing 10. The fourth sealing ring 18, the fifth sealing ring 19, and the sixth sealing ring 20 constitute a sealing member.

[0028] Figure 5 In the figure, the output shaft assembly 3 includes an output shaft 3a, a worm gear 3b, a first bearing 3c, a second bearing 3d, and a screw 3e. The worm gear 3b is fixed to the middle cylindrical surface of the output shaft 3a by the screw 3e, the first bearing 3c is placed on the lower cylindrical surface of the output shaft 3a, and the second bearing 3d is placed on the upper cylindrical surface of the output shaft 3a.

[0029] Figure 6In the figure, the worm assembly 4 includes a worm 4a, a third bearing 4b, a fourth bearing 4c, a four-stage gear 4d, a flat key 4e, and a retaining ring 4f. The third bearing 4b is placed on the cylindrical surface at the tail end of the worm 4a, the fourth bearing 4c is placed on the cylindrical surface at the front end of the worm 4a, the four-stage gear 4d is placed in front of the fourth bearing 4c, the flat key 4e is placed between the four-stage gear 4d and the worm 4a, and the retaining ring 4f is placed at the front end of the four-stage gear 4d.

[0030] Figure 7 , 8 In the embodiment, the control assembly 5 includes a control housing 5a, a control cover 5b, a controller 5c, a second socket 5d, a third socket 5e, a fourth socket 5f, a first control sealing ring 5g, and a second control sealing ring 5h. The controller 5c is placed in the cavity of the control housing 5a and fixed by screws. The control cover 5b is placed above the control housing 5a and fixed by screws. The controller 5c is respectively connected to the second socket 5d, the third socket 5e, and the fourth socket 5f through wires to form a power supply and signal transmission circuit. The first control sealing ring 5g is placed between the control cover 5b and the horizontal contact surface of the control housing 5a. The second control seal ring 5h is placed between the vertical contact surface of the control cover 5b and the control housing 5a. The controller 5c includes a control board and a power board. The control board is mounted on the power board, and the control board is connected to the power board through a pin header. The second socket 5d is placed on the left outer wall of the control housing 5a and fixed by screws. The third socket 5e is placed on the left outer wall of the control housing 5a and fixed by screws. The third socket 5e is placed in front of the second socket 5d. The fourth socket 5f is placed on the left outer wall of the control housing 5a and fixed by screws. The fourth socket 5f is placed in front of the third socket 5e. The controller is composed of a control board and a power board to avoid mutual interference. At the same time, an upper and lower two-layer structure design is adopted to make full use of space and reduce the volume of the control component. The small volume control component is conducive to the adaptability to the deep sea high pressure environment. The small volume control component is less deformed under the deep sea high pressure, and the sealing structure will not fail due to deformation, thereby ensuring the sealing reliability. The sealing failure will cause damage to the internal controller, and ultimately cause the valve to fail, resulting in a serious accident.

[0031] Fig. 9 , 10In the figure, the bearing mounting plate 6 is a waist-shaped plate, with a cylindrical first boss 6a at the front end on the left side, a circular groove 6b in the middle of the first boss 6a, five unevenly distributed circular holes 6c on the outside of the first boss 6a, an axial hole 6e in the middle of the left side, a cylindrical second boss 6d at the rear end of the right side, a cylindrical third boss 6f at the front end on the right side, a positioning groove 6h in the middle of the third boss 6f, an assembly hole 6g in the middle of the right side, four unevenly distributed circular holes 6j on the outside of the right side, and an avoidance groove 6k in the middle of the front end. The avoidance groove is a square groove, with a cylindrical fourth boss 6q, a cylindrical fifth boss 6w, and a cylindrical sixth boss 6r in the middle of the rear end, the fourth boss 6q is between the second boss 6d and the fifth boss 6w, the fifth boss 6w is on the left side of the sixth boss 6r, the fifth boss 6w and the sixth boss 6r are connected in the middle, there is a circular groove 6t in the middle of the fourth boss 6q, there is a circular groove 6y in the middle of the fifth boss 6w, there is a circular groove 6u in the middle of the sixth boss 6r, and there are six circular holes 6p on the upper and lower sides in the middle.

[0032] Fig.11 , 12 In the middle, the side plate 7 is a waist-shaped plate 7a, with ten semicircular bosses 7b on the outside of the waist-shaped plate 7a, a circular hole 7c in the middle of the semicircular boss 7b, a waist-shaped boss 7d in the middle of the front end, a waist-shaped groove 7e in the middle of the rear end, three unevenly horizontally distributed cylindrical bosses 7f in the middle of the waist-shaped groove 7e, and a circular groove 7h in the middle of the three cylindrical bosses 7f.

[0033] Figure 13-15 In the embodiment, the compensation component 9 includes a leather cup 9a and a leather cup shield 9b, which are realized by deformation of the leather cup. The square structure of the leather cup is used to increase the internal volume of the leather cup as much as possible under the existing size, and to compensate as much as possible. The leather cup shield structure protects the leather cup from scratches and other damages. The leather cup 9a is placed in the rectangular cavity of the leather cup shield 9b. The rear end of the leather cup 9a is a rectangular parallelepiped, and the interior of the rectangular parallelepiped is a rectangular cavity. The middle section of the leather cup 9a is a cylinder, and the middle of the cylinder is a circular cavity. The front end of the leather cup 9a is a rhombus, and the middle of the rhombus is a circular hole. The rear end of the leather cup 9a is a rectangular parallelepiped. The body cavity is connected with the middle circular cavity and the front circular hole. The rear end of the leather cup guard 9b is a cuboid, and the interior of the cuboid of the leather cup guard 9b is a cuboid cavity. A square hole is opened in the rear end of the cuboid of the rear end of the leather cup guard 9b. The middle of the cuboid at the rear end of the leather cup guard 9b is evenly distributed with circular holes connected with the cuboid cavity. The middle section of the leather cup guard 9b is a cylinder, and the middle of the cylinder is a circular cavity. The front end of the leather cup guard 9b is a rhombus, and the middle of the rhombus is a circular hole. The cuboid cavity at the rear end of the leather cup guard 9b is connected with the middle circular cavity and the front circular hole.

[0034] Fig.16 , 17In the embodiment, the left side of the shell 10 is a horizontal small cylinder 10a, the middle is a square body 10b, the right side is a horizontal large cylinder 10c, and the front end is a waist-shaped body 10d. The left cylinder 10a, the middle square body 10b, the right cylinder 10c and the front end waist-shaped body 10d are connected as a whole. The left cylinder 10a is a horizontal cylindrical cavity 10e, the middle square body is a square cavity 10f, the right cylinder is a horizontal cylindrical cavity 10h, and the front end waist-shaped body is a waist-shaped cavity 10g. The left cylindrical cavity 10e, the middle square cavity 10f, the right cylindrical cavity 10h and the front end waist-shaped cavity 10g are connected, and the middle square cavity 10f is separated from the right cylindrical cavity 10h and is not connected. The purpose of the connection is to protect the motor and avoid control or position sensor failure that causes the worm wheel to rotate beyond the limit and hit the motor to damage. The middle square body 10b has a cylinder 10j in the vertical direction, and a cylindrical through hole 10k in the middle of the vertical cylinder 10j. The vertical cylinder 10j is surrounded by six evenly distributed screw holes, and the cylindrical through hole 10k is connected to the direction cavity 10f. There are four cylindrical bosses 10q on the upper end of the shell 10, and a threaded hole is provided in the middle of the cylindrical boss 10q. Ten cylinders 10w are evenly distributed on the outside of the front waist-shaped body 10d, and there is a threaded hole in the middle of the ten cylinders 10w. There is a rhombus 10r on the left side of the front waist-shaped body 10d, and there is a cylindrical hole 10 in the middle of the rhombus 10r. The cylindrical hole 10t forms a skin Bowl docking interface, cylindrical hole 10t is connected with front waist-shaped cavity 10g, below the rhombus 10r on the left side of the front waist-shaped body 10d, there is a small square body 10y for fixing the first socket 8, the front end of the small square body 10y has a cylinder 10p, the middle of the small square body 10y has a cylindrical through hole 10s, the four corners of the small square body 10y have threaded holes, the cylindrical through hole 10s is connected with the front waist-shaped cavity 10g, the left side of the left cylinder 10a has a small cylinder 10z, the middle of the small cylinder 10z has a threaded hole, the middle of the bottom of the shell 10 has a vertical cylindrical boss 10x, the middle of the cylindrical boss 10x has a circular through hole 10m, the circular through hole 10m forms a lower mounting hole, and the circular through hole 10m is connected to the square cavity 10f The cylindrical boss 10x is connected, and is surrounded by four small cylindrical bosses 10n. There is a threaded hole in the middle of the small cylindrical boss 10n. There are eight unevenly distributed threaded holes for connecting and fixing the bearing mounting plate 6 at the rear end of the waist-shaped cavity 10g. There is a square wiring groove 10V at the rear end of the waist-shaped cavity 10g. The function of the square wiring groove is to route the front end wires of the motor and the wires of the position sensor to the first socket. There is a threading port 10i for the wires of the position sensor on the square wiring groove 10V. There is a cylindrical boss 10u at the upper left end of the waist-shaped body 10d. There is a refueling hole in the middle of the cylindrical boss 10u for installing a plugging cap. The refueling hole is a threaded hole. The refueling hole is connected with the front end waist-shaped cavity 10g, and there is a circular sealing groove at the upper end of the cylindrical boss 10u.

[0035] Fig.18 , 19In the embodiment, the bearing cover 11 has a circular boss 11a on the upper part, a protruding cylinder 11b is provided below the circular boss 11a, the protruding cylinder 11b has a circle of mounting holes, a cylindrical boss 11c is provided below the protruding cylinder 11b, a circular groove 11d for positioning the second bearing 3d of the output shaft assembly is provided in the middle of the lower cylindrical boss 11c, a circular hole 11e is provided above the circular groove 11d, a cylindrical groove 11f is provided above the circular hole 11e, the circular hole 11e and the cylindrical groove 11f form a placement space for placing the position sensor 2, and the lower cylindrical boss 11c has a circular hole 11e on the left and a cylindrical hole 11f on the right. There is a square groove 11g on the side, and the square groove has an inclined cylindrical hole 11h inclined to the right from 11g. The inclined cylindrical hole 11h is connected to the upper cylindrical groove 11f, and below the lower cylindrical boss 11c there is a fan-shaped boss 11j in contact with the worm gear for output mechanical limit, and the worm gear is a fan-shaped worm gear; the square groove and the inclined cylindrical hole are convenient for threading the position sensor; the fan-shaped boss is used for output mechanical limit to avoid position overshoot when the output shaft rotates; the cylindrical groove 11f is used to accommodate the position sensor space; the circular groove 11d is used to position the second bearing 3d of the output shaft assembly.

[0036] Fig. 20 In the figure, the first-stage double gear assembly 13 includes a first-stage large gear 13a, a second-stage small gear 13b, a first bearing 13c, and a second bearing 13d. The second-stage small gear 13b is placed on the middle side cylindrical surface of the first-stage large gear 13a, the first bearing 13c is placed on the front end cylindrical surface of the first-stage large gear 13a, and the second bearing 13d is placed on the rear end cylindrical surface of the first-stage large gear 13a.

[0037] Fig.21 In the figure, the two-stage double gear assembly 14 includes a two-stage large gear 14a, a three-stage small gear 14b, a third bearing 14c, and a fourth bearing 14d. The three-stage small gear 14b is placed on the middle side cylindrical surface of the two-stage large gear 14a, the third bearing 14c is placed on the front end cylindrical surface of the two-stage large gear 14a, and the fourth bearing 14d is placed on the rear end cylindrical surface of the two-stage large gear 14a.

[0038] Fig. 22 In the figure, the three-stage double gear assembly 15 includes a three-stage large gear 15a, a four-stage small gear 15b, a fifth bearing 15c, and a sixth bearing 15d. The four-stage small gear 15b is placed on the middle side cylindrical surface of the three-stage large gear 15a, the fifth bearing 15c is placed on the left cylindrical surface of the three-stage large gear 15a, and the sixth bearing 15d is placed on the right cylindrical surface of the three-stage large gear 15a.

[0039] Fig.23In the figure, the cable assembly 16 includes a first plug 16a, a second plug 16b, and a vulcanized cable 16c. The first plug 16a is below the vulcanized cable 16c, and the first plug 16a is connected to the vulcanized cable 16c at 90 degrees. The second plug 16b is above the vulcanized cable 16c, and the second plug 16b is connected to the vulcanized cable 16c at 90 degrees. The first plug 16a and the second plug 16b are staggered at 90 degrees in space, and the first plug 16a and the second plug 16b are connected through the vulcanized cable 16c to form a loop.

[0040] Fig.24 , 25 In the figure, the plug cap 17 includes a plug 17a and a third sealing ring 17b. The plug 17a has a cylinder at the upper end, a hexagonal groove in the middle of the upper cylinder, an externally threaded cylinder below the upper cylinder, an annular groove between the externally threaded cylinder and the upper cylinder, and the third sealing ring 17b is placed in the annular groove of the plug 17a.

[0041] The method of use is: first open the plug cap 17, and fill the housing 10 and the leather cup with hydraulic oil. The hydraulic oil can enter the accommodating chamber 2 between the bearing mounting plate 6 and the side plate 7, the motor mounting chamber and the inside of the motor 1, the worm gear mounting chamber in the housing, the output shaft mounting position sensor chamber in the housing, and the inside of the leather cup. There are through holes at the front end, rear end and middle of the motor, and the oil will enter the motor. The through holes allow the motor to be fully filled with oil. The oil chamber is filled with oil, and the amount of oil added is calculated based on the volume of the shell and the leather cup; the oil volume of the present invention is 0.9±0.2 liters; during the process of filling the hydraulic oil, press the leather cup 9a to discharge excess air through the filling hole. Pressing the leather cup helps the oil to expel the air in the cavity, and by pressing, check whether the deformation function of the leather cup is normal and the sealing performance of the leather cup; when the shell 10 and the leather cup are filled with hydraulic oil, let the hydraulic oil stand (the standing time is 0.5-3 days). After the standing time is over, press the leather cup 9a to discharge excess air through the filling hole, and the exhaust is completed; after the exhaust is completed, the plug cap 17 is installed and sealed on the shell 10; then the control component 5 is installed above the shell 10, and the cable assembly 16 connects the control component 5 and the first socket 8; the valve stem is connected to the output shaft 3a.

[0042] When the valve needs to be opened, the valve opening instruction is transmitted to the control component 5 through the third socket 5e, and the control component 5 drives the motor 1 to work in the forward direction. The high-speed and low-torque power of the motor 1 is converted into a low-speed and high-torque output torque through the transmission component and the worm gear, and the torque is transmitted to the valve stem through the output shaft 3a to open the valve. The position sensor 2 detects the rotation position information of the output shaft 3a and transmits it to the control component 5 through the position information feedback loop. When the control component 5 determines that the rotation position information of the output shaft 3a is in the valve opening state, the motor power supply control loop controls the motor to cut off the power; in the process of diving from the sea surface in the external environment, the external seawater pressure increases, and the seawater pressure is transmitted to the leather cup 9a. The internal oil decreases in volume during the pressure increase process, the leather cup 9a deforms inward, and the internal volume of the leather cup 9a decreases, compensating for the smaller volume of the oil, so that the pressure difference between the inside and outside pressures is maintained at a small value, and the housing and the seal are equivalent to low-pressure seals, with low sealing costs and high reliability.

[0043] When the valve needs to be closed, the valve closing instruction is transmitted to the control component 5 through the third socket 5e, and the control component 5 drives the motor 1 to work in reverse. The high-speed and low-torque power of the motor 1 is converted into a low-speed and high-torque output torque through the transmission component and the worm gear, and the torque is transmitted to the valve stem through the output shaft to close the valve. The position sensor 2 detects the rotation position information of the output shaft 3a and transmits it to the control component 5 through the position information feedback loop. When the control component 5 determines that the rotation position information of the output shaft 3a is in the valve closing state, the motor power supply control loop controls the motor to cut off the power; in the process of the external environment rising from the deep sea to the surface, the external seawater pressure decreases, and the change in seawater pressure is transmitted to 9a. The volume of the internal oil increases during the pressure reduction process, the leather cup 9a deforms outward, and the internal volume of the leather cup 9a increases to compensate for the increased volume of the oil, thereby also keeping the internal and external pressure differential at a small value.

[0044] The specific implementation of the present invention described above does not constitute a limitation on the protection scope of the present invention. Any other corresponding changes and modifications made based on the technical concept of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. A pressure-compensated electric actuator for a ship's deep-sea high-pressure valve, characterized in that: The invention comprises a housing (10), a motor (1), an output shaft assembly (3), a worm assembly (4), a compensation assembly (9), and a multi-stage gear assembly, wherein the multi-stage gear assembly comprises a first-stage pinion gear (12), a fourth-stage large gear gear (4d), and a multi-stage double gear assembly disposed between the first-stage pinion gear (12) and the fourth-stage large gear gear (4d); the vertically arranged output shaft assembly (3) is located in the middle, one side of the output shaft assembly (3) is the horizontally arranged motor (1), and the other side of the output shaft assembly (3) is the horizontally arranged worm assembly (4); The inner cavity of the housing (10) is divided into a first accommodating cavity and a second accommodating cavity via a bearing mounting plate (6); the first accommodating cavity includes a motor accommodating cavity for accommodating the motor (1); the first accommodating cavity outside the motor accommodating cavity accommodates a worm assembly (4) and an output shaft assembly (3); the middle portion of the second accommodating cavity accommodates a multi-stage double gear assembly; the output shaft of the motor (1) extending into the second accommodating cavity on one side of the multi-stage double gear assembly is connected and fixed to a first-stage pinion (12); the worm assembly (4) includes a worm (4a); the end portion of the worm (4a) extending into the second accommodating cavity on the other side of the multi-stage double gear assembly is fixed to a fourth-stage large gear (4d); the first-stage small gear (12), the multi-stage double gear assembly, and the fourth-stage large gear (4d) are meshed in sequence to form a transmission assembly; The output shaft assembly (3) comprises an output shaft (3a) for connecting to a valve stem, and a worm wheel (3b) for meshing with a worm (4a); the worm wheel (3b) is fixed on a cylindrical surface of the output shaft (3a); The upper portion of the shell (10) corresponding to the second accommodating chamber is provided with a refueling hole, and a plugging cap (17) is detachably connected to the refueling hole; the side portion of the shell (10) corresponding to the second accommodating chamber is provided with a leather cup docking port; The upper portion of the housing (10) corresponding to the first accommodating chamber has an upper mounting hole corresponding to the output shaft (3a); the output shaft (3a) is connected to a position sensor (2); a bearing cover (11) for positioning the upper end of the output shaft (3a) is mounted at the upper mounting hole; the lower portion of the housing (10) has a lower mounting hole for mounting the lower end of the output shaft (3a); A compensation component (9) is installed outside the shell (10), the compensation component (9) comprising a leather cup (9a) and a leather cup shield (9b) covering the leather cup (9a), one end of the leather cup (9a) having a bowl mouth, and the inner cavity of the leather cup (9a) is connected to the second accommodating cavity through the bowl mouth and the leather cup docking interface; Seals are provided between the bearing cover (11) and the housing (10), between the output shaft (3a) and the housing (10), and between the side plate (7) and the housing (10).

2. The pressure-compensated electric actuator for a ship's deep-sea high-pressure valve according to claim 1 is characterized by: A plurality of through holes are formed on the surface of the leather cup shield (9b), and the shape of the leather cup shield (9b) matches the shape of the leather cup; The multi-stage double gear assembly comprises a first-stage double gear assembly (13), a second-stage double gear assembly (14), and a third-stage double gear assembly (15), wherein the third-stage double gear assembly (15) is drivingly connected to the worm (4a) via a fourth-stage large gear (4d); The fourth sealing ring (18) is placed between the bearing cover (11) and the housing (10) to seal the bearing cover (11) and the housing (10); the fifth sealing ring (19) is placed between the output shaft (3a) and the housing (10) to seal the output shaft (3a) and the housing (10); the sixth sealing ring (20) is placed between the side plate (7) and the housing (10) to seal the side plate (7) and the housing (10); the fourth sealing ring (18), the fifth sealing ring (19), and the sixth sealing ring (20) constitute a sealing member.

3. The pressure-compensating electric actuator for a ship's deep-sea high-pressure valve according to claim 1 is characterized by: The worm wheel is a fan-shaped worm wheel, and the lower end of the bearing cover (11) is provided with a fan-shaped boss which contacts the fan-shaped worm wheel and is used for outputting mechanical limit.

4. The pressure-compensating electric actuator for a ship's deep-sea high-pressure valve according to claim 1 is characterized by: The method of use is as follows: the plugging cap (17) is opened, and hydraulic oil is added to the housing (10) and the leather cup. During the process of adding hydraulic oil, the leather cup (9a) is pressed to discharge excess air through the filling hole. When the housing (10) and the leather cup are filled with hydraulic oil, the hydraulic oil is allowed to stand. After the standing time is over, the leather cup (9a) is pressed to discharge excess air through the filling hole, and exhaust is completed. After exhaust is completed, the plugging cap (17) is installed and sealed on the housing (10); the valve stem is connected to the output shaft (3a); When the valve needs to be opened, the driving motor (1) works in the forward direction, and the high-speed and low-torque power of the motor (1) is converted into a low-speed and high-torque output torque through the transmission assembly and the worm gear, and the torque is transmitted to the valve stem through the output shaft (3a), so that the valve is opened; When the valve needs to be closed, the driving motor (1) works in the reverse direction, and the high-speed and low-torque power of the motor (1) is converted into a low-speed and high-torque output torque through the transmission assembly and the worm gear, and the torque is transmitted to the valve stem through the output shaft, so that the valve is closed.

5. The pressure-compensating electric actuator for a ship's deep-sea high-pressure valve according to claim 1 is characterized by: The control assembly (5) is also included and is installed above the housing (10). The control assembly (5) includes a control housing (5a), a control cover (5b), and a controller (5c). The controller (5c) is placed inside the control housing (5a). The control cover (5b) is sealed and connected to the control housing (5a). A second socket (5d), a third socket (5e), ​​and a fourth socket (5f) are integrated on the side of the control housing (5a). The controller (5c) is connected to the second socket (5d), the third socket (5e), ​​and the fourth socket (5f) through wires to form a power supply and signal transmission circuit. A first socket (8) connected to the position sensor (2) is provided on the outer side of the housing (10); a front end wire of the motor passes through the housing (10) and is connected to the control component (5) via the first socket (8) and the cable component (16) to form a motor power supply control loop; and the position sensor (2) is connected to the control component (5) via the first socket (8) and the cable component (16) to form a position information feedback loop.

6. The pressure compensation electric actuator for deep-sea high-pressure valves of ships according to claim 5 is characterized in that: The method of use is as follows: first, open the plug cap (17), fill the housing (10) and the leather cup with hydraulic oil, and during the process of filling the hydraulic oil, press the leather cup (9a) to discharge excess air through the filling hole; when the housing (10) and the leather cup are filled with hydraulic oil, let the hydraulic oil stand, and after the standing time is over, press the leather cup (9a) to discharge excess air through the filling hole, and the exhaust is completed; after the exhaust is completed, the plug cap (17) is installed and sealed on the housing (10); then the control component (5) is installed above the housing (10), and the cable component (16) connects the control component (5) and the first socket (8); the valve stem is connected to the output shaft (3a); When the valve needs to be opened, the valve opening instruction is transmitted to the control component (5) through the third socket (5e), ​​and the control component (5) drives the motor (1) to work in the forward direction. The high-speed and low-torque power of the motor (1) is converted into a low-speed and high-torque output torque through the transmission component and the worm gear, and the torque is transmitted to the valve stem through the output shaft (3a), so that the valve is opened. The position sensor (2) detects the rotation position information of the output shaft (3a) and transmits it to the control component (5) through the position information feedback loop. When the control component (5) determines that the rotation position information of the output shaft (3a) is in the valve opening state, the motor power supply control loop controls the motor to cut off the power. During the process of diving from the sea surface in the external environment, the external seawater pressure increases, and the seawater pressure is transmitted to the leather cup (9a). The volume of the internal oil decreases during the pressure increase process, the leather cup (9a) deforms inward, and the internal volume of the leather cup (9a) decreases, compensating for the smaller volume of the oil, so that the pressure difference between the inside and outside pressures is kept at a small value, and the shell and the seal are equivalent to a low-pressure seal. When the valve needs to be closed, the valve closing command is transmitted to the control component (5) through the third socket (5e), ​​and the control component (5) drives the motor (1) to work in the reverse direction. The high-speed and low-torque power of the motor (1) is converted into a low-speed and high-torque output torque through the transmission component and the worm gear, and the torque is transmitted to the valve stem through the output shaft to close the valve. The position sensor (2) detects the rotation position information of the output shaft (3a) and transmits it to the control component (5) through the position information feedback loop. When the control component (5) determines that the rotation position information of the output shaft (3a) is in the valve closing state, the motor power supply control loop controls the motor to cut off the power. In the process of the external environment rising from the deep sea to the sea surface, the external seawater pressure decreases, and the seawater pressure decreases. The change is transmitted to (9a), and the volume of the internal oil increases during the pressure reduction process. The leather cup (9a) deforms outward, and the internal volume of the leather cup (9a) increases to compensate for the increased volume of the oil, so that the pressure difference between the inside and outside is also kept at a small value.

7. A pressure-compensated electric actuator for a ship's deep-sea high-pressure valve, characterized in that: The invention comprises a motor (1), a position sensor (2), an output shaft assembly (3), a worm assembly (4), a control assembly (5), a bearing mounting plate (6), a side plate (7), a first socket (8), a compensation assembly (9), a housing (10), a bearing cover (11), a first-stage pinion (12), a first-stage double-linked gear assembly (13), a second-stage double-linked gear assembly (14), a third-stage double-linked gear assembly (15), a cable assembly (16), and a plug cap (17). The front end wire of the motor is connected to the control assembly (5) through the first socket (8) and the cable assembly (16) to form a motor power supply control circuit. The cylindrical housing of the motor (1) is horizontally placed in a horizontal cylindrical cavity on the lower right side of the housing (10). The front end circular mounting surface of the motor (1) The motor (1) is connected and fixed to the bearing mounting plate (6) by five screws. The front cylindrical output shaft of the motor (1) is connected and fixed to the cylindrical inner hole of the first pinion (12) by a retaining ring. The left side of the first pinion (12) meshes with the right side of the first double gear assembly (13). The left side of the first double gear assembly (13) meshes with the right side of the second double gear assembly (14). The left side of the second double gear assembly (14) meshes with the right side of the third double gear assembly (15). The left side of the third double gear assembly (15) meshes with the right side of the fourth large gear (4d) of the worm assembly (4). The first double gear assembly (13), the second double gear assembly (14) and the third double gear assembly (15) are horizontally placed on the bearing mounting plate ( 6) and the side plate (7), the right side of the cylindrical surface of the middle worm of the worm assembly (4) meshes with the left side of the cylindrical surface of the middle worm wheel (3b) of the output shaft assembly (3), the worm assembly (4) is horizontally mounted on the left cylindrical cavity of the housing (10), the end of the middle worm of the worm assembly (4) is positioned by the bearing mounting plate (6), the output shaft assembly (3) is vertically placed between the middle cylindrical cavity of the housing (10) and the bearing cover (11), the position sensor (2) is horizontally placed between the output shaft assembly (3) and the bearing cover (11), the upper end surface of the position sensor (2) is fixedly connected to the upper part of the bearing cover (11) with a circular boss (11a) by four screws, and the lower end surface of the position sensor (2) is fixedly connected to the output shaft assembly (10) by four screws. 3) The upper end surface of the output shaft (3a) is fixedly connected, the position sensor (2) is connected to the control component (5) through the first socket (8) and the cable assembly (16) to form a position information feedback loop, the cylindrical boss at the lower end of the bearing cover (11) is placed in the middle cylindrical cavity of the shell (10) and is connected and fixed by six screws, the rear end surface of the side plate (7) is fixed to the front end surface of the shell (10) by ten screws, the front end of the compensation component (9) is fixed to the middle of the left side of the shell (10) by four screws, the bottom surface of the control component (5) is connected and fixed to the four cylindrical surfaces at the upper end of the shell (10) by four screws, and the rear end surface of the bearing mounting plate (6) is connected and fixed to the rear end surface of the waist-shaped cavity at the front end of the shell (10) by six screws.The first socket (8) is placed in the middle of the left side of the housing (10) and is connected and fixed by four screws. The first socket (8) is placed below the compensation component (9). The first plug at the lower end of the cable component (16) is connected and fixed to the first socket (8). The second plug (16b) at the upper end of the cable component (16) is connected and fixed to the second socket (5d) on the left side of the control component (5). The plug (17) is mounted on the cylindrical boss (10u) at the upper end of the left side of the waist-shaped body of the housing (10); The shell (10) has a small horizontal cylinder (10a) on the left side, a square body (10b) in the middle, a large horizontal cylinder (10c) on the right side, and a waist-shaped body (10d) at the front end; the left cylinder (10a), the middle square body (10b), the right cylinder (10c) and the front waist-shaped body (10d) are connected as one; the left cylinder (10a) has a horizontal cylindrical cavity (10e); the middle square body has a square cavity (10f); the right cylinder has a horizontal cylindrical cavity (10h); the front waist-shaped body has a waist-shaped cavity (10g); the left cylindrical cavity (10e), the middle square cavity (10f), the right cylindrical cavity (10h) and the front waist-shaped cavity (10g) are connected; the middle square cavity (10f) is connected to the right cylinder; The side cylindrical cavity (10h) is separated and not connected, the middle square body (10b) has a cylinder (10j) in the vertical direction, the vertical cylinder (10j) has a cylindrical through hole (10k) in the middle, the vertical cylinder (10j) is surrounded by six evenly distributed screw holes, the cylindrical through hole (10k) is connected to the directional cavity (10f), the upper end of the shell (10) has four cylindrical bosses (10q), the cylindrical bosses (10q) have a threaded hole in the middle, ten cylinders (10w) are evenly distributed on the outside of the front waist-shaped body (10d), the ten cylinders (10w) have a threaded hole in the middle, a rhombus (10r) is provided on the left side of the front waist-shaped body (10d), the rhombus (10r) has a cylindrical hole (10t) in the middle, and the cylindrical hole (10t) forms a leather cup docking interface, The cylindrical hole (10t) is connected to the front waist-shaped cavity (10g); a small square body (10y) for fixedly connecting to the first socket (8) is provided below the rhombus body (10r) on the left side of the front waist-shaped body (10d); a cylinder (10p) is provided at the front end of the small square body (10y); a cylindrical through hole (10s) is provided in the middle of the small square body (10y); threaded holes are provided at the four corners of the small square body (10y); the cylindrical through hole (10s) is connected to the front waist-shaped cavity (10g); a small cylinder (10z) is provided on the left side of the left cylinder (10a); a threaded hole is provided in the middle of the small cylinder (10z); a vertical cylindrical boss (10x) is provided in the middle of the bottom of the shell (10); a circular through hole (10m) is provided in the middle of the cylindrical boss (10x); the circular through hole (10m) forms a lower mounting hole. The mounting hole, the circular through hole (10m) is connected with the square cavity (10f), the cylindrical boss (10x) is surrounded by four small cylindrical bosses (10n), the small cylindrical boss (10n) has a threaded hole in the middle, the rear end of the waist-shaped cavity (10g) has eight unevenly distributed threaded holes for connecting and fixing the bearing mounting plate (6), the rear end of the waist-shaped cavity (10g) has a square wiring groove (10V), the square wiring groove (10V) has a wire threading port (10i) for the position sensor, the upper left end of the waist-shaped body (10d) has a cylindrical boss (10u), the middle of the cylindrical boss (10u) has a refueling hole for installing a plugging cap, the refueling hole is a threaded hole, the refueling hole is connected with the front waist-shaped cavity (10g), and the upper end of the cylindrical boss (10u) has a circular sealing groove;The compensation component (9) comprises a leather cup (9a) and a leather cup shield (9b); The bearing cover (11) has a placement space in the middle for placing the position sensor (2), a positioning groove in the lower part of the placement space for positioning the second bearing (3d) of the output shaft assembly, and the outer ring of the bearing cover (11) has a circle of mounting holes; The output shaft assembly (3) comprises an output shaft (3a), a worm wheel (3b), a first bearing (3c), a second bearing (3d), and a screw (3e); the worm wheel (3b) is fixed to the middle cylindrical surface of the output shaft (3a) by means of the screw (3e); the first bearing (3c) is placed on the lower cylindrical surface of the output shaft (3a); and the second bearing (3d) is placed on the upper cylindrical surface of the output shaft (3a); The worm assembly (4) comprises a worm (4a), a third bearing (4b), a fourth bearing (4c), a fourth-stage gear (4d), a flat key (4e), and a retaining ring (4f), wherein the third bearing (4b) is placed on the cylindrical surface at the rear end of the worm (4a), the fourth bearing (4c) is placed on the cylindrical surface at the front end of the worm (4a), the fourth-stage gear (4d) is placed in front of the fourth bearing (4c), the flat key (4e) is placed between the fourth-stage gear (4d) and the worm (4a), and the retaining ring (4f) is placed at the front end of the fourth-stage gear (4d); The control assembly (5) comprises a control housing (5a), a control cover (5b), a controller (5c), a second socket (5d), a third socket (5e), ​​a fourth socket (5f), a first control sealing ring (5g), and a second control sealing ring (5h); the controller (5c) is placed in a cavity of the control housing (5a) and fixed by screws; the control cover (5b) is placed above the control housing (5a) and fixed by screws; the controller (5c) is respectively connected to the second socket (5d), the third socket (5e), ​​and the fourth socket (5f) by wires to form a power supply and signal transmission circuit; the first control sealing ring (5 g) is placed between the horizontal contact surface of the control cover (5b) and the control housing (5a), the second control sealing ring (5h) is placed between the vertical contact surface of the control cover (5b) and the control housing (5a), the second socket (5d) is placed on the left outer wall of the control housing (5a) and fixed by screws, the third socket (5e) is placed on the left outer wall of the control housing (5a) and fixed by screws, the third socket (5e) is placed in front of the second socket (5d), the fourth socket (5f) is placed on the left outer wall of the control housing (5a) and fixed by screws, and the fourth socket (5f) is placed in front of the third socket (5e); The fifth sealing ring (19) is placed between the output shaft (3a) and the housing (10) to seal the output shaft (3a) and the housing (10); the sixth sealing ring (20) is placed between the side plate (7) and the housing (10) to seal the side plate (7) and the housing (10); the fourth sealing ring (18), the fifth sealing ring (19), and the sixth sealing ring (20) constitute a sealing member.

8. A pressure-compensated electric actuator for a ship's deep-sea high-pressure valve according to claim 7, characterized in that: The bearing mounting plate (6) is a waist-shaped plate, the inner surface of the bearing mounting plate (6) has a first cylindrical boss (6a), the middle of the first boss (6a) has a circular groove (6b) for positioning the motor, the end surface of the first boss (6a) has a circular hole (6c) for fixing the motor, the middle of the circular groove (6b) has a shaft hole (6e) for passing the motor output shaft, the inner surface of the bearing mounting plate (6) also has a third cylindrical boss (6f), the middle of the third boss (6f) has a positioning groove (6h) for positioning the fourth bearing (4c), the middle of the positioning groove (6h) has an assembly hole (6g) for passing the worm (4a), the outer surface of the bearing mounting plate (6) has a second cylindrical boss (6d) corresponding to the assembly hole (6g), the outer surface of the bearing mounting plate (6) also has a positioning groove (1) for positioning one end of the multi-stage double gear assembly, and the inner surface of the side plate (7) has a positioning groove (2) corresponding to the positioning groove (1) for positioning the other end of the multi-stage double gear assembly; An avoidance groove (6k) for avoiding the worm wheel (3b) is provided on the inner surface of the bearing mounting plate (6) between the third boss (6f) and the first boss (6a); The side panels (7) are waist-shaped panels.

9. The pressure-compensating electric actuator for a ship's deep-sea high-pressure valve according to claim 7, characterized in that: The leather cup (9a) is placed in the inner cavity of the leather cup shield (9b); the rear end of the leather cup (9a) is a rectangular parallelepiped, the interior of the rectangular parallelepiped is a rectangular parallelepiped cavity, the middle section of the leather cup (9a) is a cylinder, the middle of the cylinder is a circular cavity, the front end of the leather cup (9a) is a rhombus, the middle of the rhombus is a circular hole, the rectangular parallelepiped cavity at the rear end of the leather cup (9a) is connected to the circular cavity in the middle section and the circular hole at the front end, the rear end of the leather cup shield (9b) is a rectangular parallelepiped, the leather cup shield (9b) ) has a rectangular cavity inside the rectangular parallelepiped, a square hole is opened in the rear end of the rectangular parallelepiped at the rear end of the leather cup shield (9b), circular holes are evenly distributed in the middle of the rectangular parallelepiped at the rear end of the leather cup shield (9b) and are connected to the rectangular cavity, the middle section of the leather cup shield (9b) is a cylinder, the middle of the cylinder is a circular cavity, the front end of the leather cup shield (9b) is a rhombus, the middle of the rhombus is a circular hole, and the rectangular cavity at the rear end of the leather cup shield (9b) is connected to the circular cavity in the middle section and the circular hole at the front end.

10. The pressure-compensating electric actuator for a ship's deep-sea high-pressure valve according to claim 7, characterized in that: The bearing cover (11) has a circular boss (11a) on the upper part, a protruding cylinder (11b) below the circular boss (11a), the protruding cylinder (11b) having a circle of mounting holes, a cylindrical boss (11c) below the protruding cylinder (11b), a circular groove (11d) for positioning the second bearing (3d) of the output shaft assembly in the middle of the lower cylindrical boss (11c), a circular hole (11e) above the circular groove (11d), and a cylindrical groove (11e) above the circular hole (11e). 11f), a circular hole (11e) and a cylindrical groove (11f) form a placement space for placing a position sensor (2), a square groove (11g) is provided on the left side of the lower cylindrical boss (11c), the square groove has (11g) an inclined cylindrical hole (11h) inclined to the right, the inclined cylindrical hole (11h) is connected to the upper cylindrical groove (11f), and a fan-shaped boss (11j) is provided below the lower cylindrical boss (11c) and contacts the worm gear for outputting a mechanical limit, and the worm gear is a fan-shaped worm gear; The first-stage pinion (12) has circumferential teeth at the front and rear levels, a front and rear right cylindrical boss, and a flat through hole in the middle of the cylindrical boss; The first-stage double gear assembly (13) comprises a first-stage large gear (13a), a second-stage small gear (13b), a first bearing 1 (13c), and a second bearing 1 (13d); the second-stage small gear (13b) is placed on the middle side cylindrical surface of the first-stage large gear (13a), the first bearing 1 (13c) is placed on the front end cylindrical surface of the first-stage large gear (13a), and the second bearing 1 (13d) is placed on the rear end cylindrical surface of the first-stage large gear (13a); The two-stage double gear assembly (14) comprises a two-stage large gear (14a), a three-stage small gear (14b), a third bearing one (14c), and a fourth bearing one (14d); the three-stage small gear (14b) is placed on the middle side cylindrical surface of the two-stage large gear (14a), the third bearing one (14c) is placed on the front end cylindrical surface of the two-stage large gear (14a), and the fourth bearing one (14d) is placed on the rear end cylindrical surface of the two-stage large gear (14a); The three-stage double gear assembly (15) comprises a three-stage large gear (15a), a four-stage small gear (15b), a fifth bearing (15c), and a sixth bearing (15d), wherein the four-stage small gear (15b) is placed on the middle side cylindrical surface of the three-stage large gear (15a), the fifth bearing (15c) is placed on the left cylindrical surface of the three-stage large gear (15a), and the sixth bearing (15d) is placed on the right cylindrical surface of the three-stage large gear (15a); The cable assembly (16) comprises a first plug (16a), a second plug (16b), and a vulcanized cable (16c); the first plug (16a) is below the vulcanized cable (16c), and the first plug (16a) is connected to the vulcanized cable (16c) at an angle of 90 degrees; the second plug (16b) is above the vulcanized cable (16c), and the second plug (16b) is connected to the vulcanized cable (16c) at an angle of 90 degrees; the first plug (16a) and the second plug (16b) are staggered at 90 degrees in space; the first plug (16a) and the second plug (16b) are connected via the vulcanized cable (16c) to form a loop; The plugging cap (17) comprises a plug (17a) and a third sealing ring (17b); the plug (17a) has a cylinder at the upper end, a hexagonal groove in the middle of the upper cylinder, an externally threaded cylinder below the upper cylinder, an annular groove in the middle of the externally threaded cylinder and the upper cylinder, and the third sealing ring (17b) is placed in the annular groove of the plug (17a).

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