A valve actuator applied to an unmanned ship

Abstract

The present invention relates to a valve actuator applied to an unmanned ship, and is characterized in that: the gland is fixedly installed at the lower end of the box body, and the upper part of the valve body is hermetically connected to the threaded blind hole provided at the lower end of the gland through a sealing gland; the operating shaft of the valve body passes through the gland and the lower part of the box body and extends into the box body; the operating shaft of the valve body is fixedly connected to the lower part of the valve-end coupling, and the upper part of the valve-end coupling is connected to the lower part of the motor-end coupling in a manner that is circumferentially limited and axially relatively movable, and the motor-end coupling is drivingly connected to the output shaft of the constant-speed motor; the cap is sleeved outside the valve-end coupling, is threadedly connected to the outer circumferential surface of the valve-end coupling through a fine-thread, and is in guiding cooperation with a plurality of vertical guide posts fixed on the middle horizontal partition plate inside the box body; the photoelectric induction piece is coaxially fixedly installed at the upper end of the cap; the two photoelectric switches are respectively fixed on the upper and lower photoelectric fixing plates, the two photoelectric fixing plates are respectively fixedly installed on the upper and lower photoelectric brackets, and the two photoelectric brackets are fixed inside the box body. The present invention has local operation and remote control functions.

Description

Technical Field

[0001] The present invention belongs to the technical field of ships, and in particular, relates to a valve actuator applied to unmanned ships. Background Art

[0002] With the progress of science and technology and the continuous development of the unmanned ship market, the requirements for the automation and intelligence of the underlying actuators are getting higher and higher. The underlying actuators applied to unmanned ships or harsh working conditions should have the ability to control the actuator actions through command or contact signals. Since the new shipbuilding cost of medium and large unmanned ships is high, the construction period is long, and there are many uncertain factors, the existing medium and large unmanned ships basically adopt the form of retrofitting old ships with unmanned engines. This has a short development period and low cost. Moreover, after long-term running-in, the electromechanical, power, manned and other systems of old ships are stable. Adopting the form of retrofitting old ships with unmanned engines has high system stability, cost reduction and efficiency improvement. The main engine power of medium and large unmanned ships is relatively large, and the required starting energy is high. Most of them use compressed air for starting. Compressed air is distributed from the gas storage cylinder to each gas-using equipment through valves, and the precise distribution of compressed air, grouped calling of gas storage cylinders and fault emergency protection and other functions are realized through the combination of each valve switch.

[0003] Most of the compressed air valves of existing manned ships are manually operated needle-type globe valves, which have an internal thread structure inside the valve body. By rotating the manual flange for multiple turns, the valve stem inside the valve is driven to rise / fall, so that the compressed air inside the valve passes through / stops. To meet the requirements of remote control valves for unmanned ships, the existing manual valves need to be changed to electric control switch valves, and local emergency operations are retained. A limit protection mechanism needs to be configured to realize the local / remote operation function. There are two schemes for modifying the existing valves. One is to replace the original valve and select an electric high-pressure air globe valve in the market; the other is to install an electric actuator on the original valve without damaging the original valve and pipeline. At present, the selected electric valves in the market are large in size and heavy in weight, and it is difficult to be compatible with the dimensions of manual valves. When installing, the original ship pipeline needs to be changed, and a large space is required. There is a risk of combustion and explosion during cutting, grinding and hot work in the cabin. Therefore, it is preferably to adopt the method of installing an actuator. This method does not require welding and does not damage any pipeline structure of the original ship. In case of emergency, it can be quickly restored to the original state, with flexible configuration, high cost-effectiveness and safety and reliability, which is suitable for the application requirements of unmanned ships. Summary of the Invention

[0004] The purpose of the present invention is to overcome the deficiencies of the prior art and provide a valve actuator applied to unmanned ships.

[0005] The above object of the present invention is achieved by the following technical solutions:

[0006] A valve actuator used in an unmanned ship, characterized in that it includes a valve body, a sealing ring, a gland, a valve end coupling, a cap, a photoelectric sensor sheet, a motor end coupling, a constant speed motor, a box, a photoelectric bracket, a photoelectric fixing plate, two photoelectric switches, a navigation plug, a green light valve opening button, a yellow light valve closing button, a supplementary closing button, a relay, and a power supply;

[0007] The gland is fixedly mounted on the lower end of the housing, and the upper part of the valve body forms a sealing connection with the threaded blind hole provided at the lower end of the gland through a sealing ring; the valve body operating shaft of the valve body passes through the gland and the bottom of the housing and extends into the housing; the valve body operating shaft is fixedly connected to the lower part of the valve end coupling, and the upper part of the valve end coupling is connected to the lower part of the motor end coupling in a manner of being limited in the circumferential direction and relatively movable in the axial direction, and the motor end coupling is drivingly connected to the output shaft of a constant speed motor installed in the housing;

[0008] The parallel cap is sleeved on the outside of the valve end coupling, and is threadedly connected with the outer cylindrical surface of the valve end coupling through fine pitch threads, and forms a guiding match with a plurality of vertical guide pillars fixed on the middle horizontal partition plate inside the box body; the photoelectric sensor sheet is coaxially fixedly installed on the upper end of the parallel cap;

[0009] The two photoelectric switches are respectively fixed on the upper and lower photoelectric fixing plates, which are respectively fixedly mounted on the upper and lower photoelectric brackets, which are fixed inside the box; the photoelectric switch located at the upper part is a valve opening detection switch, and the photoelectric switch located at the lower part is a valve closing detection switch;

[0010] The green light valve opening button, yellow light valve closing button, and supplementary closing button are installed outside the front side wall of the box; the relay, power supply, and constant speed motor are installed in the upper position of the inner cavity of the box; the aviation plug is fixedly installed on the side wall of the box;

[0011] When the green light valve opening button is triggered or pins 3 and 4 of the navigation plug are turned on, the fixed speed motor rotates forward and the valve enters the open state. When the photoelectric sensor moves up to the position where it blocks the upper photoelectric switch, the fixed speed motor stops, the valve opens in place, and the green light corresponding to the green light valve opening button lights up;

[0012] When the yellow light valve closing button is triggered or pins 3 and 5 of the aviation plug are turned on, the fixed speed motor reverses and the valve enters the closed state. When the photoelectric sensor moves down to the position where it blocks the lower photoelectric switch, the fixed speed motor stops, the valve is closed in place, and the yellow light corresponding to the yellow light valve closing button lights up.

[0013] Moreover, the valve end coupling is a sleeve structure with a square through-hole in the center, and a radial set screw hole communicating with the square through-hole is provided on the side wall of the sleeve near the upper end; the motor end coupling is a structure with a square rod at the upper part and a cylindrical sleeve at the lower part, and a radial set screw hole is provided on the side wall of the cylindrical sleeve; the shape of the square rod is inserted and fitted with the square through-hole in a clearance fit manner.

[0014] Moreover, the two photoelectric switches are groove switches.

[0015] Moreover, the relay includes KM1, KM2, K1, and K2; the power supply is a 220V AC power supply, and the AC power supply is connected to a switching power supply module for conversion into a 24V DC power supply; the 24V DC power supply is simultaneously connected to a valve opening control circuit, a valve closing control circuit, a valve opening in-place control circuit, and a valve closing in-place control circuit.

[0016] Moreover, the coil of the relay KM1, the normally closed contact of the relay K1, the normally closed contact of the relay KM2, and the normally open contact of the relay KM1 are sequentially connected in series with the 24V DC power supply to form a valve opening control circuit, and the green light valve opening button is connected in parallel at both ends of the normally open contact of the relay KM1 on the valve opening control circuit, and is connected in parallel with pins 3 and 4 of the aviation plug;

[0017] The coil of the relay KM2, the normally closed contact of the relay K2, the normally closed contact of the relay KM1, and the normally open contact of the relay KM2 are sequentially connected in series with the 24V DC power supply to form a valve closing control circuit, and the yellow light valve closing button is connected in parallel at both ends of the normally open contact of the relay KM2 on the valve closing control circuit, and is connected in parallel with pins 3 and 5 of the aviation plug;

[0018] The upper photoelectric switch, the coil of the relay K1 are connected in series with the 24V DC power supply to form a valve opening in-place control circuit, and the green light is connected in parallel at both ends of the coil of the relay K1 on the valve opening in-place control circuit;

[0019] The lower photoelectric switch, the coil of the relay K2 are connected in series with the 24V DC power supply to form a valve closing in-place control circuit, and the yellow light is connected in parallel at both ends of the coil of the relay K2 on the valve closing in-place control circuit.

[0020] Even more, the supplementary closing button is connected in parallel at the rear end of the connection point of the coil of the relay KM2 and the rear end of the connection point of the normally open contact of the relay KM2 on the valve closing control circuit.

[0021] Furthermore: The normally open contact of the relay K1 is connected between pins 7 and 8 of the aviation plug for realizing the output of the valve-opening in-place signal; the normally open contact of the relay K2 is connected between pins 7 and 9 of the aviation plug for realizing the output of the valve-closing in-place signal.

[0022] The advantages and positive effects of the present invention are as follows:

[0023] 1. For this valve actuator, relying on the existing valve body structure for unmanned remote control modification, there is no need to replace or change the original pipeline and valve body components of the ship. It has a short development cycle, is fully compatible with the original ship pipeline, ensures the sealing performance, and completely avoids the explosion risks such as in-cabin fire, grinding, and cutting during valve replacement.

[0024] 2. This valve actuator has local operation and remote control functions, fully retaining the manual local operation habits. Local indicators and mechanical observation holes are set to facilitate quickly confirming the switch state. By replacing the motor as the driving source, it has a faster response speed and shorter execution time than manually screwing the valve by hand, improving the operation efficiency. In the case of a power failure of the whole ship, only by installing the valve body gland and manually screwing the flange can the original function be restored, and the emergency handling time is short.

[0025] 3. For this valve actuator, the control signal adopts a trigger mechanism. The unmanned control system only sends a point-pulse open / close signal, and the valve will automatically execute to the specified position. It has an in-place self-protection function to avoid motor jamming. According to the stroke of each valve, the position of the photoelectric sensor can be flexibly adjusted to achieve closed-loop control of the position. The valve position signal is transmitted to the unmanned control system in real time for remote status monitoring, and it has the characteristics of flexible configuration and strong anti-interference ability. Brief Description of the Drawings

[0026] Figure 1 is the front view of the overall structure of the present invention;

[0027] Figure 2 is Figure 1 the A-A sectional view of

[0028] Figure 3 is the right view of the overall structure of the present invention;

[0029] Figure 4 is Figure 3 the B-B sectional view of

[0030] Figure 5 is the schematic diagram of the electrical part structure of the present invention;

[0031] Figure 6a is the three-dimensional view of the valve-end coupling of the present invention;

[0032] Figure 6b is the sectional view of the valve-end coupling of the present invention;

[0033] Figure 7a is a stereoscopic view of the motor end coupling of the present invention;

[0034] Figure 7b is a cross-sectional view of the motor end coupling of the present invention;

[0035] Figure 8 It is a structural schematic diagram of the present invention;

[0036] Figure 9 It is a schematic diagram of the structure of the photoelectric sensor sheet of the present invention;

[0037] Figure 10 It is a schematic diagram of the structure of the photoelectric switch of the present invention;

[0038] Figure 11 It is a schematic diagram of the coordination position of the photoelectric sensor sheet and the photoelectric switch of the present invention;

[0039] Figure 12 is a control circuit diagram of the present invention;

[0040] Figure 13 13a is a side view, and 13b is a front view. DETAILED DESCRIPTION

[0041] The structure of the present invention is further described below with reference to the accompanying drawings and by way of examples. It should be noted that the present examples are descriptive rather than restrictive.

[0042] A valve actuator used in unmanned ships, see Figures 1 - 13 The invention point is: it mainly includes valve body 10, sealing pressure ring 14, pressure cover 13, valve end coupling 19, cap 18, photoelectric sensor sheet 17, motor end coupling 12, constant speed motor 6, box body 4, photoelectric bracket 9, photoelectric fixing plate 7, photoelectric switch 8, aviation plug 11, green light valve opening button 1, yellow light valve closing button 2, supplementary closing button 3, relay 16, vertical guide column, power supply 15, box cover 5, etc.

[0043] like Figure 1As shown, the valve body is a globe valve with the manual flange removed. The upper end has an external thread structure, and the valve body operating shaft is a shaft structure with a square head at the upper end. The sealing gland is a flange gland made of polytetrafluoroethylene. The gland is a flange cover structure with threaded blind holes provided at the lower end. The sealing gland is embedded in the bottom of the threaded blind hole on the gland and sleeved on the lower part of the valve body operating shaft. The upper part of the valve body is connected to the threaded blind hole on the gland through threads to achieve tight sealing and prevent the valve from leaking high-pressure air. The flange part of the gland is fixedly connected to the box body by 4 M8*16 screws, flat washers, and spring washers. The motor is fixed in the box body with the output shaft facing downwards. The motor output shaft is connected to the valve end operating shaft through a coupling. The coupling is divided into two parts: the valve end coupling and the motor end coupling. For the valve end coupling, see Figure Figure 6a and Figure 6b , and for the motor end coupling, see Figure 7a and Figure 7b . The valve end coupling is a sleeve structure with a square (not limited to square) through hole 19.1 provided at the center. On the side wall near the lower end of the sleeve structure, there are radial set screw holes 19.2 communicating with the square through hole. The motor end coupling is a structural form with a cylindrical sleeve 12.1 at the upper part and a square rod 12.2 at the lower part, and there are radial set screw holes on the side wall of the cylindrical sleeve. The lower part of the square through hole of the valve end coupling is inserted and matched with the square head of the valve body operating shaft, and fixed connection is achieved through set screws. The upper part of the square through hole of the valve end coupling is connected to the square rod of the motor end coupling in a manner that is circumferentially square-limited but relatively movable up and down. The cylindrical sleeve of the motor end coupling is key-connected to the output end of the motor and fixed through set screws. During the valve opening and closing process, the valve body operating shaft and the valve end coupling perform a spiral motion. The socket connection method of the valve end coupling and the motor end coupling can meet the up and down movement of the valve body operating shaft; an external thread with a pitch of 1.5 mm is machined on the outer surface of the valve end coupling. The photoelectric induction sheet and the cap are fixed together, sleeved outside the coupling. The internal thread 18.1 of the cap matches the external thread of the coupling. The cap can limit the rotation of the photoelectric induction sheet through multiple guide posts, so that the photoelectric induction sheet can only move up and down. Among them, a horizontal partition board is provided in the box body, and multiple guide posts are fixed on the horizontal partition board. When the valve is opened and closed, the photoelectric induction sheet and the valve body operating shaft move up and down synchronously. Since the rotation direction of the external thread of the coupling is the same as that of the valve body operating shaft when it is opened, the photoelectric induction sheet amplifies the up and down stroke of the valve body operating shaft to Figure 13Taking the physical object shown as an example, the vertical stroke of the valve from the closed state to the open state is 20 mm, and the vertical stroke of the photoelectric induction sheet is 30 mm. The photoelectric induction sheet magnifies the vertical stroke of the valve by 1.5 times, which is beneficial to achieving precise control. The driving motor of the actuator is a constant-speed motor, powered by AC 220V, with a power of 15W. It comes with a built-in reduction gearbox, has forward and reverse control, and is fixedly installed inside the box to drive the valve to rotate and achieve the opening and closing actions. The photoelectric switch includes two, which are groove-type photoelectric switches with a response time <1ms. They are installed on the photoelectric support through the photoelectric fixing plate, and the photoelectric support is fixed inside the box. As Figure 11 shown, when the valve body reaches the open / closed position, the photoelectric induction sheet blocks the infrared ray of the groove-type switch, causing the output signal of the groove-type switch to change, driving the relay to close, and the motor movement to stop, achieving closed-loop control. At the same time, the photoelectric switch is connected to the pins of the aviation plug to provide acquisition contacts for the remote control system for valve position detection; the green valve-opening button and the yellow valve-closing button are self-resetting buttons installed on the surface of the box, which cooperate with the relay module to achieve the self-locking function. Pressing them point by point realizes the opening / closing valve action. When the valve body reaches the open position, the green indicator light turns on, and when it reaches the closed position, the yellow indicator light turns on. The supplementary closing button is a self-resetting type button. During the automatic opening and closing process of the valve, when there is a sudden power failure or accidental interruption, press the supplementary closing button, and the valve will move in the closing direction until the button is released. The power supply module is set inside the box to convert the AC 220V power supply into a DC 24V power supply function. The DC power supply provides control power for the relay coil, photoelectric switch, button, etc.

[0044] The electrical control implementation method of the present invention is shown in Figure 12 shown. The opening and closing actions of the valve are controlled by the unmanned control system for the pins 3 - 5 of the aviation plug or the local operation buttons. Connect the 220V AC power supply to the valve actuator, observe the states of the green valve-opening indicator light and the yellow valve-closing indicator light when powered on, or collect the output states of the pins 6 - 8 of the aviation plug through the unmanned control system to determine the initial power-on position of the valve. When the valve is in the open position, the green indicator light is on, and the pins 6 and 7 of the aviation plug are conductive; when the valve is in the closed position, the yellow indicator light is on, and the pins 6 and 8 of the aviation plug are conductive. When neither the yellow nor the green indicator lights are on and no conductive signal is output from the pins of the aviation plug, the valve is in the middle position. At this time, it is necessary to operate the supplementary closing button or remotely send a conductive signal to the pins 3 and 5 of the aviation plug to restore the valve to the closed state.

[0045] The valve-opening control process is as follows: As Figure 12As shown, the 220V AC power supply outputs 24V DC through the switching power supply module V1 to supply power to the relay coils (KM1, KM2, K1, K2), photoelectric switches (B1, B2), and status indicators (SB1, SB2); when the pins 3 and 4 of the unmanned system control aviation plug are conducted, or the valve opening button (SB1) is manually operated, after the actuator receives the trigger signal, the KM1 relay coil is energized, the normally open contact of KM1 is conducted, shorting the switch SB1 to form a signal lock. At this time, when the pin 4 of the aviation plug is disconnected or the valve opening button (SB1) is released, the relay coil remains energized continuously, and the normally open contact remains closed continuously. The constant-speed motor wire (forward rotation connection wire) and the common terminal are energized, and the motor rotates forward. During the operation of the valve, the photoelectric induction sheet rises accordingly. When the induction sheet blocks the valve-opening-in-place photoelectric switch B1, the photoelectric switch outputs a high level, the K1 relay coil is energized, and the normally closed contact of K1 is disconnected. Since the normally closed contact of the K1 relay is connected in series to the power supply of the KM1 relay coil, when the contact is disconnected, the KM1 relay coil loses power, the normally open contact of the KM1 relay coil is disconnected, the lock signal is released, the constant-speed motor stops moving, and at the same time the SB1 indicator light is lit. At this time, the valve-opening operation is completed.

[0046] The process of closing the valve is as follows: As Figure 12 shown, when the pins 3 and 5 of the unmanned system control aviation plug are conducted, or the valve closing button (SB2) is manually operated, after the actuator receives the trigger signal, the KM2 relay coil is energized, the normally open contact of KM2 is conducted, shorting the switch SB2 to form a signal lock. At this time, when the pins 3 and 5 of the aviation plug are disconnected or the valve closing button (SB2) is released, the relay coil remains energized continuously, and the normally open contact remains closed continuously. The constant-speed motor wire (reverse rotation connection wire) and the common terminal are energized, and the motor rotates in reverse. During the operation of the valve, the photoelectric induction sheet drops accordingly. When the induction sheet blocks the valve-closing-in-place photoelectric switch B2, the photoelectric switch outputs a high level, the K2 relay coil is energized, and the normally closed contact of K2 is disconnected. Since the normally closed contact of the K2 relay is connected in series to the power supply of the KM2 relay coil, when the contact is disconnected, the KM2 relay coil loses power, the normally open contact of the KM2 relay coil is disconnected, the lock signal is released, the constant-speed motor stops moving, and at the same time the SB2 indicator light is lit. At this time, the valve-closing operation is completed. After actual measurement, the duration of a single valve opening and closing process is less than 20S, which is better than the manual operation of flange rotation time.

[0047] Although the embodiments and drawings of the present invention are disclosed for illustrative purposes, those skilled in the art can understand that: within the spirit of the present invention and the appended claims, various substitutions, transformations, and modifications are possible. Therefore, the scope of the present invention is not limited to the content disclosed in the embodiments and drawings.

Claims

1. A valve actuator applied to an unmanned ship, characterized in that: It includes a valve body, a sealing gland, a gland cover, a valve-end coupling, a union nut, a photoelectric induction sheet, a motor-end coupling, a constant-speed motor, a box body, a photoelectric support, a photoelectric fixing plate, two photoelectric switches, a connector, a green light valve-opening button, a yellow light valve-closing button, a supplementary closing button, a relay, and a power supply; The gland cover is fixedly installed at the lower end of the box body. The upper part of the valve body is hermetically connected to the threaded blind hole provided at the lower end of the gland cover through the sealing gland. The valve operating shaft of the valve body passes through the gland cover and extends into the box body through the bottom of the box body. The valve operating shaft is fixedly connected to the lower part of the valve-end coupling. The upper part of the valve-end coupling is connected to the lower part of the motor-end coupling in a manner that is circumferentially limited and axially relatively movable. The motor-end coupling is drivingly connected to the output shaft of the constant-speed motor installed in the box body; The union nut is sleeved outside the valve-end coupling and is threadedly connected to the outer cylindrical surface of the valve-end coupling through a fine-thread, and forms a guiding fit with a plurality of vertical guide posts fixed on the middle horizontal partition plate inside the box body. The photoelectric induction sheet is coaxially and fixedly installed at the upper end of the union nut; The two photoelectric switches are respectively fixed on the upper and lower photoelectric fixing plates. The upper and lower photoelectric fixing plates are respectively fixedly installed on the upper and lower photoelectric supports. The upper and lower photoelectric supports are fixed inside the box body. The photoelectric switch located in the upper part is an open-valve in-place detection switch, and the photoelectric switch located in the lower part is a close-valve in-place detection switch; The green light valve-opening button, the yellow light valve-closing button, and the supplementary closing button are installed outside the front side wall of the box body. The relay, the power supply, and the constant-speed motor are installed at the upper position inside the box cavity. The connector is fixedly installed on the side wall of the box body; When the green light valve-opening button is triggered or the pins 3 and 4 of the connector are conducted, the constant-speed motor rotates forward, and the valve enters the open state. When the photoelectric induction sheet moves up with the union nut to block the upper photoelectric switch, the constant-speed motor stops rotating, the valve is opened in place, and the green light corresponding to the green light valve-opening button lights up; When the yellow light valve-closing button is triggered or the pins 3 and 5 of the connector are conducted, the constant-speed motor rotates reversely, and the valve enters the closed state. When the photoelectric induction sheet moves down with the union nut to block the lower photoelectric switch, the constant-speed motor stops rotating, the valve is closed in place, and the yellow light corresponding to the yellow light valve-closing button lights up.

2. The valve actuator applied to the unmanned ship according to claim 1, characterized in that: The valve-end coupling is a sleeve structure with a square through-hole provided in the center. A radial set screw hole communicating with the square through-hole is provided on the side wall of the sleeve structure near the lower end. The motor-end coupling is a structure with a cylindrical sleeve at the upper part and a square rod at the lower part, and a radial set screw hole is provided on the side wall of the cylindrical sleeve. The shape of the square rod is inserted and fitted with the square through-hole in a clearance fit manner.

3. The valve actuator applied to the unmanned ship according to claim 1, characterized in that: The two photoelectric switches are groove-type switches.

4. The valve actuator applied to an unmanned ship according to claim 1, characterized in that: The relay includes KM1, KM2, K1, and K2. The power supply is a 220V AC power supply, and the AC power supply is connected to a switching power supply module for conversion into a 24V DC power supply. The 24V DC power supply is simultaneously connected to a valve-opening control circuit, a valve-closing control circuit, a valve-opening in-place control circuit, and a valve-closing in-place control circuit.

5. The valve actuator applied to the unmanned ship according to claim 4, wherein: The coil of the relay KM1, the normally closed contact of the relay K1, the normally closed contact of the relay KM2, and the normally open contact of the relay KM1 are sequentially connected in series with a 24V DC power supply to form a valve opening control circuit. A green light valve opening button is connected in parallel across the two ends of the normally open contact of the relay KM1 on the valve opening control circuit, and is connected in parallel with pins 3 and 4 of the aviation plug; The coil of the relay KM2, the normally closed contact of the relay K2, the normally closed contact of the relay KM1, and the normally open contact of the relay KM2 are sequentially connected in series with a 24V DC power supply to form a valve closing control circuit. A yellow light valve closing button is connected in parallel across the two ends of the normally open contact of the relay KM2 on the valve closing control circuit, and is connected in parallel with pins 3 and 5 of the aviation plug; The upper photoelectric switch, the coil of the relay K1 are connected in series with a 24V DC power supply to form a valve opening in place control circuit. A green light is connected in parallel across the two ends of the coil of the relay K1 on the valve opening in place control circuit; The lower photoelectric switch, the coil of the relay K2 are connected in series with a 24V DC power supply to form a valve closing in place control circuit. A yellow light is connected in parallel across the two ends of the coil of the relay K2 on the valve closing in place control circuit.

6. The valve actuator applied to the unmanned ship according to claim 5, wherein: A supplementary closing button is connected in parallel at the rear end of the connection point of the coil of the relay KM2 and at the rear end of the connection point of the normally open contact of the relay KM2 on the valve closing control circuit.

7. The valve actuator applied to the unmanned ship according to claim 5, characterized in that: The normally open contact of the relay K1 is connected between pins 7 and 8 of the aviation plug for outputting a valve opening in place signal; the normally open contact of the relay K2 is connected between pins 7 and 9 of the aviation plug for outputting a valve closing in place signal.

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