Judgment Method for Manual and Automatic States of Electric Actuators

Abstract

The present invention relates to the technical field of mine electric actuators, and in particular to a method for judging the manual and automatic states of an electric actuator, comprising the following steps: S1, input the maximum input current b when the motor is no-load into the controller, and the maximum input current c when the motor is connected to the transmission component and normally drives the transmission component to move; S2, the detection module detects the input current of the motor, records the detected current as a and transmits it to the controller; S3, the controller compares a with b and c. If a is greater than b and less than or equal to c, it is judged to be in the electric state, and the controller controls the motor drive module to continue driving the motor; S4, if a is less than or equal to b, it is judged to be in the manual state, and the controller controls the motor drive module to stop driving the motor. The method for judging the manual and automatic states of the electric actuator of the present invention stops driving the motor by the controller control motor drive module after judging the manual state, improving the safety performance.

Description

Technical Field

[0001] The invention relates to the technical field of electric actuators for mining, and in particular to a method for judging manual and automatic states of electric actuators. Background Art

[0002] At present, mining flameproof electric actuators are widely used in coal mine ventilation and water pump systems. They are important actuators in underground coal mine automation control. Electric actuators are widely used to control the closing of valves. In the event of a power outage, the manual switching mechanism can realize the conversion between electric operation and manual operation, and can complete the closing of manually operated valves.

[0003] However, during manual operation, if the power is restored and there is a control signal input, it will directly affect the manual operation of the rotary valve, and even cause a major safety accident. Therefore, it is necessary to detect whether the electric actuator is in manual or automatic state, so as to improve the safety of the electric actuator. Summary of the invention

[0004] The technical problem to be solved by the present invention is: in order to solve the technical problem in the prior art that when the electric actuator is in manual state, if the power is restored and there is a control signal input, it will directly affect the manual operation of the valve, and even cause a major safety accident, the present invention provides a method for judging the manual and automatic states of an electric actuator, which can judge whether the actuator is in automatic state or manual state. When it is judged to be in manual state, the controller controls the motor drive module to stop driving the motor, and the motor stops rotating, thereby avoiding causing a safety accident.

[0005] The technical solution adopted by the present invention to solve its technical problem is: a method for judging the manual and automatic states of an electric actuator, which is applied to the electric actuator, wherein the electric actuator comprises a housing and a motor, a transmission assembly and a clutch assembly arranged in the housing, wherein the motor is transmission-connected to the transmission assembly, and the clutch assembly is connected to the transmission assembly to disconnect or close the connection between the motor and the transmission assembly, and the electric actuator further comprises a detection module, a motor drive module and a controller, wherein the motor is electrically connected to an external power supply via a first connection, the motor drive module is arranged on the first connection, the detection module is electrically connected to the first connection, the detection module is electrically connected to the controller for signal transmission, and the controller is electrically connected to the motor drive module to control the driving or stopping of the motor;

[0006] The method for determining the manual and automatic states of the electric actuator comprises the following steps:

[0007] S1, input the maximum input current b of the motor when it is unloaded, and the maximum input current c when the motor is connected to the transmission component and drives the transmission component to move normally;

[0008] In S2, the detection module detects the input current of the motor, records the detected input current of the motor as a, and transmits the detected current signal a to the controller;

[0009] In S3, the controller compares a with b and c. If a is greater than b and less than or equal to c, it is judged as the electric state, and the controller controls the motor drive module to continue driving the motor;

[0010] In S4, if a is less than or equal to b, it is judged as the manual state, the controller controls the motor drive module to stop driving the motor, and the motor stops driving.

[0011] Furthermore, it further includes the steps:

[0012] In S5, if a is greater than c, it is judged that there is a fault in the transmission between the motor and the transmission component, or the transmission component fails, resulting in an increase in the load of the motor, resulting in the required input current being greater than the current required for normal driving of the motor, and the controller controls the motor drive module to stop driving the motor.

[0013] Furthermore, the transmission component includes a driven gear, a driving gear is drivingly connected to the output shaft of the motor, the driving gear meshes with the driven gear, a driven shaft is coaxially and movably arranged on the driven gear, and the driven gear moves along the central axis direction of the driven shaft to switch between meshing and disengaging with the driving gear;

[0014] The clutch assembly includes a clutch disc and a clutch shaft, the clutch disc is sleeved on the driven shaft, the clutch shaft meshes with the clutch disc, a handwheel is arranged at one end of the clutch shaft, and the handwheel is connected to the clutch shaft to push the clutch shaft to move axially and mesh with the clutch disc.

[0015] Furthermore, a first spring is sleeved on the clutch shaft, a first limiting member is fixedly arranged on the clutch shaft, one end of the first spring abuts against the first limiting member, and the other end of the first spring abuts against the inner wall of the housing.

[0016] Furthermore, a pull pin assembly is arranged on one side of the clutch shaft, and the pull pin assembly is movably arranged on the housing along the radial direction of the clutch shaft to limit the first limiting member axially along the clutch shaft.

[0017] Furthermore, the pull pin assembly includes:

[0018] A pull pin housing, the pull pin housing is fixedly connected to the housing, and a cavity is arranged inside the pull pin housing;

[0019] A pull pin is arranged inside a pull pin housing in a radially movable manner along a clutch shaft. One end of the pull pin penetrates through the pull pin housing and extends outside the pull pin housing, and the other end of the pull pin abuts against the front end face or the rear end face of a first limiting member.

[0020] Furthermore, a second spring is sleeved on the pull pin. A limiting flange is arranged on the pull pin. One end of the second spring abuts against the pull pin housing, and the other end of the second spring abuts against the limiting flange.

[0021] Furthermore, a second limiting member is arranged inside the housing. A third spring is sleeved on the driven shaft. One end of the third spring abuts against the second limiting member, and the other end of the third spring abuts against the driven gear.

[0022] Furthermore, a first resistor is arranged on the first wiring. The first resistor is located on the side of the motor drive module away from the motor. The detection module is electrically connected to both ends of the first resistor. In step S2, the detection module detects the voltage across the first resistor and converts the detected voltage value into a current value through calculation.

[0023] Furthermore, one end of the detection module is connected to a second wiring. The end of the second wiring away from the detection module is grounded. A second resistor is arranged on the second wiring. The controller is electrically connected to both ends of the second resistor. The controller collects the voltage across the second resistor and then converts the voltage across the second resistor into a current value.

[0024] The beneficial effect of the present invention is that when in the electric state, if power is cut off at this time, in order to enable the electric actuator to continue to be used, the electric actuator can be switched to the manual state for continued use. After being switched to the manual state, the clutch shaft 8 meshes with the clutch disc 6, and the driving gear 3 disengages from the driven gear 4, so that the hand wheel 9 can be manually rotated for power input, keeping the electric actuator capable of continuing to be used normally.

[0025] The method for judging the manual and automatic states of this electric actuator detects the input current of the motor, transmits the detected current signal to the controller, and the controller compares the received current signal with the current when the motor is no-load and the current when the motor and the transmission component are in normal transmission. If the received current signal is less than or equal to the current when the motor is no-load, it is judged that the electric actuator is in the manual state, and the controller will control the motor drive module to stop driving the motor. Since when operating the electric actuator in the manual state, if the motor is still driving, a manual misoperation is likely to connect the motor to the transmission device, which will cause the motor to drive the transmission component to move, and will have a serious impact on the manual operation of the actuator, and even affect the safety of the staff. By judging that it is in the manual state, the present invention timely stops the drive of the motor, thereby avoiding the influence of the motor drive on the manual operation of the electric actuator, thus avoiding safety accidents and avoiding the waste of energy due to the idling of the motor. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] The present invention will be further described below with reference to the drawings and embodiments.

[0027] Figure 1 It is a schematic structural diagram of the electric actuator of the present invention.

[0028] Figure 2 It is a schematic cross-sectional structural diagram of the electric actuator of the present invention.

[0029] Figure 3 is Figure 2 The enlarged view at A in

[0030] Figure 4 It is a schematic partial structural diagram of the electric actuator of the present invention.

[0031] Figure 5 It is a schematic partial cross-sectional structural diagram of the electric actuator of the present invention.

[0032] Figure 6 is Figure 5 The enlarged view at B in

[0033] Figure 7 It is a schematic structural diagram of the transmission component inside the housing in the embodiment of the present invention.

[0034] Figure 8 It is a schematic structural diagram of the transmission component inside the housing in the embodiment of the present invention.

[0035] Figure 9 It is a schematic diagram of the controller detecting the input current of the motor in the present invention.

[0036] Figure 10 It is a schematic flow diagram of the method for judging the manual and automatic states of the electric actuator of the present invention.

[0037] In the figure: 1, housing; 2, motor; 3, driving gear; 7-3, driven gear; 5, driven shaft; 6, clutch disc; 7, transmission assembly; 8, clutch shaft; 9, handwheel; 10, first spring; 11, first limiting member; 12, pull pin assembly; 12-1, pull pin housing; 12-2, pull pin; 12-3, second spring; 13, limiting flange; 14, guiding strip; 15, guiding groove; 16, second limiting member; 17, third spring; 18, elastic limiting retaining ring; 19, pull ring; 7-1, worm gear; 7-2, worm; 20, detection module; 21, motor drive module; 22, controller; 23, first wiring; 24, first resistor; 25, second wiring; 26, second resistor. Detailed implementation mode

[0038] The embodiments of the present invention will be described in detail below. The examples of the embodiments are shown in the drawings, where the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the drawings are exemplary and are only used to explain the present invention and should not be construed as a limitation of the present invention.

[0039] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation of the present invention. In addition, the features defined as "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the present invention, unless otherwise stated, the meaning of "a plurality" is two or more. In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, the terms "installation", "connection" and "connection" should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection or an integral connection; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and it may be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

[0040] As Figures 1 to 10As shown, this is the optimal embodiment of the present invention, a method for judging the manual and automatic states of an electric actuator, which is applied to an electric actuator. The electric actuator includes a housing 1, a motor 2, a transmission assembly 7 and a clutch assembly arranged in the housing 1. The motor 2 is drivingly connected to the transmission assembly 7, and the clutch assembly is connected to the transmission assembly 7 to disconnect or close the connection between the motor 2 and the transmission assembly 7.

[0041] The transmission assembly 7 includes a driven gear 7-3, a worm 7-2 and a worm wheel 7-1. The clutch assembly includes a clutch shaft 8 and a clutch disc 6. A driving gear 3 is drivingly connected to the output shaft of the motor 2. The driven gear 7-3 is movably arranged in the housing 1. A driven shaft 5 is coaxially and movably arranged on the driven gear 7-3. The clutch disc 6 is sleeved on the driven shaft 5, and the clutch disc 6 is coaxially and fixedly connected to the driven gear 7-3. The driven gear 7-3 moves along the central axis direction of the driven shaft 5 on the driven shaft 5 to switch between meshing and disengaging with the driving gear 3. The worm wheel 7-1 and the worm 7-2 are both installed in the housing 1. The worm 7-2 is drivingly connected to the driven shaft 5, and the worm wheel 7-1 meshes with the worm 7-2. The central axis of the worm wheel 7-1 extends outside the housing 1, and the central axis of the worm wheel 7-1 drives an external load to move. The clutch shaft 8 meshes with the clutch disc 6; a handwheel 9 is arranged at one end of the clutch shaft 8, and the handwheel 9 is connected to the clutch shaft 8 to push the clutch shaft 8 to move axially and mesh with the clutch disc 6; a first spring 10 is sleeved on the clutch shaft 8, and a first limiting member 11 is fixedly arranged on the clutch shaft 8. One end of the first spring 10 abuts against the first limiting member 11, and the other end of the first spring 10 abuts against the inner wall of the housing 1; a pull pin 12-2 assembly 12 is arranged on one side of the clutch shaft 8. The pull pin 12-2 assembly 12 is arranged radially along the clutch shaft 8, and the pull pin 12-2 assembly 12 is movably arranged on the housing 1 radially along the clutch shaft 8.

[0042] The pull pin 12-2 assembly 12 includes: a pull pin 12-2 housing 12-1 and a pull pin 12-2. The pull pin 12-2 housing 12-1 is fixedly connected to the housing 1, and a cavity is arranged inside the pull pin 12-2 housing 12-1; the pull pin 12-2 is movably arranged radially along the clutch shaft 8 inside the pull pin 12-2 housing 12-1. One end of the pull pin 12-2 penetrates through the pull pin 12-2 housing 12-1 and extends outside the pull pin 12-2 housing 12-1, and the other end of the pull pin 12-2 abuts against the front end face or the rear end face of the first limiting member 11. A pull ring 19 is arranged at the end of the pull pin 12-2 extending outside the pull pin 12-2 housing 12-1. A second spring 12-3 is sleeved on the pull pin 12-2, and a limiting flange 13 is arranged on the pull pin 12-2. One end of the second spring 12-3 abuts against the pull pin 12-2 housing 12-1, and the other end of the second spring 12-3 abuts against the limiting flange 13.

[0043] In order to guide and limit the driven gear 7-3, a plurality of guide bars 14 are provided on the driven shaft 5. The length direction of the conductive bars is arranged along the central axis direction of the driven shaft 5. The plurality of guide bars 14 are arranged along the circumferential direction of the driven shaft 5. A plurality of guide grooves 15 that cooperate with the guide bars 14 are provided on the shaft hole of the driven gear 7-3. The plurality of guide grooves 15 are arranged along the axial direction of the shaft hole of the driven gear 7-3. The cooperation between the limit bar and the limit groove can not only guide the axial movement of the driven gear 7-3 along the driven shaft, but also limit the driven gear 7-3 to prevent the driven gear 7-3 from rotating along the driven shaft 5.

[0044] A second limit member 16 is provided inside the housing 1. A third spring 17 is sleeved on the driven shaft 5. One end of the third spring 17 abuts against the second limit member 16, and the other end of the third spring 17 abuts against the driven gear 7-3. The second limit member 16 is a bearing. The bearing is sleeved on the driven shaft 5. The outer ring of the bearing is fixedly arranged with the housing 1, and the inner ring of the bearing is fixedly arranged with the driven shaft 5. The third spring 17 abuts against the end face of the bearing. An elastic limit retaining ring 18 is provided at the front end of the driven shaft 5. The elastic limit retaining ring 18 is located on the front side of the clutch disc 6. The front end of the clutch disc 6 abuts against the elastic limit retaining ring 18. An annular groove for fixing the elastic limit retaining ring 18 is arranged on the driven shaft 5 in the circumferential direction.

[0045] For the electric actuator of the present invention, when it is in the electric state and power is cut off at this time, in order to enable the electric actuator to continue to be used, the electric actuator can be switched to the manual state for continued use. After switching to the manual state, the clutch shaft 8 meshes with the clutch disc 6, and the driving gear 3 disengages from the driven gear 7-3. Thus, the handwheel 9 can be manually rotated for power input to keep the electric actuator continuing to be used normally.

[0046] After switching from the electric state to the manual state, the pull pin 12-2 abuts against the front end face of the first limit member 11, so that the first limit member 11 cannot move forward any more, thereby keeping the clutch shaft 8 and the clutch disc 6 always meshed, and keeping the driving gear 3 and the driven gear 7-3 always disengaged. The driven gear 7-3 does not rotate, so that the handwheel 9 will not rotate due to the rotation of the driving gear 3. Therefore, the safety of the electric actuator during the manual and electric switching process can be greatly improved.

[0047] The motor 2 is electrically connected to an external power supply to supply power to the power supply. The power supply and the motor 2 are electrically connected through a first wiring 23. A first resistor 24 and a motor 2 drive module are provided on the first wiring 23. The motor 2 drive module is located on the side of the first resistor 24 away from the power supply.

[0048] The electric actuator further includes a detection module 20 and a controller 22. The detection module 20 is electrically connected to both ends of the first resistor 24 to detect the voltage across the first resistor 24. One end of the detection module 20 is connected to a second wiring 25. The end of the second wiring 25 away from the detection module 20 is grounded, and a second resistor 26 is provided on the second wiring 25. The detection module 20 collects the input current of the motor 2 by detecting the voltage across the first resistor 24. After the acquisition module collects the voltage across the first resistor 24, it converts the voltage into a current value, and then outputs the detected current signal from the second wiring 25. The acquisition module uses a zxct1107 chip, and the output current flows to the second wiring 25. The controller 22 is electrically connected to both ends of the second resistor to detect and collect the voltage value across the second resistor. The controller 22 collects the voltage across the second resistor, and then converts the voltage across the second resistor into a current value.

[0049] The method for judging the manual and automatic states of the electric actuator of the present invention includes the following steps:

[0050] S1. Input the maximum input current b of the motor 2 when it is no-load into the controller 22, and the maximum input current c when the motor 2 is connected to the transmission component 7 and normally drives the transmission component 7 to move. The maximum input current b when no-load is the maximum value of the input current of the motor when the driving gear and the driven gear do not transmit power. The current c is the current when the driving gear and the driven gear drive the maximum load to move. The maximum load is the maximum load that the motor output shaft can drive.

[0051] S2. The detection module 20 detects the input current of the motor 2, records the detected input current of the motor 2 as a, and transmits the detected current signal to the controller 22 as a proportional current value a.

[0052] S3. The controller 22 compares a with b and c. If a is greater than b and less than or equal to c, it is judged as the electric state, and the controller 22 controls the motor 2 drive module to continue driving the motor 2.

[0053] S4. If a is less than or equal to b, it is judged as the manual state, and the controller 22 controls the motor 2 drive module to stop driving the motor 2, and the motor 2 stops driving.

[0054] S5. If a is greater than c, it is judged that there is a fault in the transmission between the motor 2 and the transmission component 7, or the transmission component 7 fails, resulting in an increase in the load of the motor 2, and the required input current is greater than the current required for the normal driving of the motor 2. The controller 22 controls the motor 2 drive module to stop driving the motor 2.

[0055] Specifically, in step S2, the detection module 20 detects the voltage across the first resistor 24 and converts the detected voltage value into a current value through calculation.

[0056] Referring to Table 1, which shows the results of current tests on multiple motors. Table 1 presents the test results when multiple motors are installed in an electric actuator with a load on the electric actuator and when the electric actuator is in the manual state. According to Table 1, the input current of the motor falls within different data ranges in the automatic and manual states of the electric actuator. Therefore, the method of testing the input current of the motor can effectively determine whether the electric actuator is in the manual or automatic state. The determination method is simple and reliable. The controller promptly determines the manual and automatic states of the electric actuator and proceeds with the next operation in a timely manner, improving the flexible application of the electric actuator and enhancing its safety.

[0057]

[0058] The beneficial effect of the present invention is that the method for determining the manual and automatic states of this electric actuator detects the input current of the motor 2, transmits the detected current signal to the controller 22. The controller 22 compares the received current signal with the current of the motor 2 when it is no-load and the current of the motor 2 when it is driving the transmission component 7 normally. If the received current signal is less than or equal to the current of the motor 2 when it is no-load, it is determined that the electric actuator is in the manual state. The controller 22 will control the motor 2 drive module to stop driving the motor 2. When operating the electric actuator in the manual state, if the motor 2 is still driving, a manual misoperation is likely to connect the motor 2 to the transmission device, which will cause the motor 2 to drive the transmission component 7 to move, seriously affecting the manual operation of the actuator and even endangering the safety of the staff. By promptly stopping the drive of the motor 2 when it is determined to be in the manual state, the present invention avoids the influence of the drive of the motor 2 on the manual operation of the electric actuator, thus avoiding safety accidents and preventing the waste of energy due to the idling of the motor 2.

[0059] Inspired by the ideal embodiments of the present invention described above, through the above description, relevant staff can make various changes and modifications without departing from the technical idea of this invention. The technical scope of this invention is not limited to the content in the specification and must be determined according to the scope of the claims.

Claims

1. A method for judging the manual and automatic states of an electric actuator, which is applied to the electric actuator. The electric actuator includes a housing (1), a motor (2), a transmission assembly (7) and a clutch assembly arranged in the housing (1). The motor (2) is drivingly connected to the transmission assembly (7), and the clutch assembly is connected to the transmission assembly (7) to disconnect or close the connection between the motor (2) and the transmission assembly (7). Characterized in that: The electric actuator further includes a detection module (20), a motor (2) driving module and a controller (22). The motor (2) is electrically connected to an external power supply through a first wiring (23). The motor (2) driving module is arranged on the first wiring (23). The detection module (20) is electrically connected to the first wiring (23). The detection module (20) is electrically connected to the controller (22) for signal transmission. The controller (22) is electrically connected to the motor (2) driving module to control the driving or stopping of the motor (2). The method for judging the manual and automatic states of the electric actuator includes the following steps: S1. Input the maximum input current b when the motor (2) is no-load and the maximum input current c when the motor (2) is connected to the transmission assembly (7) and normally drives the transmission assembly (7) to move into the controller (22). S2. The detection module (20) detects the input current of the motor (2), records the detected input current of the motor (2) as a, and transmits the detected current signal to the controller (22). S3. The controller (22) compares a with b and c. If a is greater than b and less than or equal to c, it is judged as the electric state, and the controller (22) controls the motor (2) driving module to continue driving the motor (2). S4. If a is less than or equal to b, it is judged as the manual state, the controller (22) controls the motor (2) driving module to stop driving the motor (2), and the motor (2) stops driving.

2. The method for judging the manual and automatic states of the electric actuator according to claim 1, Characterized in that: It further includes the step: S5. If a is greater than c, it is judged that a failure occurs in the transmission between the motor (2) and the transmission assembly (7), or a failure occurs in the transmission assembly (7), resulting in an increase in the load of the motor (2), so that the required input current is greater than the current required for the normal driving of the motor (2). The controller (22) controls the motor (2) driving module to stop driving the motor (2).

3. The method for judging the manual and automatic states of the electric actuator according to claim 1, Characterized in that: The transmission assembly (7) includes a driven gear (7-3). A driving gear (3) is drivingly connected to the output shaft of the motor (2). The driving gear (3) meshes with the driven gear (7-3). A driven shaft (5) is coaxially and movably arranged on the driven gear (7-3). The driven gear (7-3) moves along the central axis direction of the driven shaft (5) on the driven shaft (5) to switch between meshing and disengaging with the driving gear (3). The clutch assembly includes a clutch disc (6) and a clutch shaft (8). The clutch disc (6) is sleeved on the driven shaft (5), the clutch shaft (8) meshes with the clutch disc (6), a handwheel (9) is arranged at one end of the clutch shaft (8), and the handwheel (9) is connected to the clutch shaft (8) to push the clutch shaft (8) to move axially and mesh with the clutch disc (6).

4. The method for judging the manual and automatic states of the electric actuator as described in claim 3, characterized in that: a first spring (10) is sleeved on the clutch shaft (8), a first limiting member (11) is fixedly arranged on the clutch shaft (8), one end of the first spring (10) abuts against the first limiting member (11), and the other end of the first spring (10) abuts against the inner wall of the housing (1).

5. The method for judging the manual and automatic states of the electric actuator as described in claim 3, characterized in that: a pull pin (12-2) assembly (12) is arranged on one side of the clutch shaft (8), and the pull pin (12-2) assembly (12) is movably arranged on the housing (1) along the radial direction of the clutch shaft (8) to limit the first limiting member (11) axially along the clutch shaft (8).

6. The method for judging the manual and automatic states of the electric actuator as described in claim 5, characterized in that: the pull pin (12-2) assembly (12) includes: a pull pin (12-2) housing (12-1) fixedly connected to the housing (1), and a cavity is arranged inside the pull pin (12-2) housing (12-1); a pull pin (12-2) movably arranged inside the pull pin (12-2) housing (12-1) along the radial direction of the clutch shaft (8), one end of the pull pin (12-2) penetrates through the pull pin (12-2) housing (12-1) and extends outside the pull pin (12-2) housing (12-1), and the other end of the pull pin (12-2) abuts against the front end face or the rear end face of the first limiting member (11).

7. The method for judging the manual and automatic states of the electric actuator as described in claim 6, characterized in that: a second spring (12-3) is sleeved on the pull pin (12-2), a limiting flange (13) is arranged on the pull pin (12-2), one end of the second spring (12-3) abuts against the pull pin (12-2) housing (12-1), and the other end of the second spring (12-3) abuts against the limiting flange (13).

8. The method for judging the manual and automatic states of the electric actuator as described in claim 3, characterized in that: a second limiting member (16) is arranged inside the housing (1), a third spring (17) is sleeved on the driven shaft (5), one end of the third spring (17) abuts against the second limiting member (16), and the other end of the third spring (17) abuts against the driven gear (7-3).

9. The method for judging the manual and automatic states of the electric actuator as described in claim 1, characterized in that: A first resistor (24) is provided on the first wiring (23). The first resistor (24) is located on a side of the driving module of the motor (2) away from the motor (2). The detection module (20) is electrically connected to both ends of the first resistor (24). In step S2, the detection module (20) detects the voltage across the first resistor (24) and converts the detected voltage value into a current value through calculation.

10. The method for judging the manual and automatic states of the electric actuator according to claim 9, characterized in that: One end of the detection module (20) is connected to a second wiring (25). The end of the second wiring (25) away from the detection module (20) is grounded. A second resistor is provided on the second wiring (25). The controller (22) is electrically connected to both ends of the second resistor. The controller (22) collects the voltage across the second resistor and then converts the voltage across the second resistor into a current value.

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