Deep-sea low-temperature environment ball valve opening and closing execution system

Abstract

The application is suitable for the technical field of subsea pipeline control valve, and provides a deep-sea low-temperature environment ball valve opening and closing execution system, which comprises a ball valve body, a moving positioning mechanism, a jet flushing mechanism, a stabilizing mechanism and an opening and closing mechanism. The ball valve body is provided with a valve cover, a ball, an upper valve seat, a lower valve seat, an upper packing gland and a lower packing gland. The moving positioning mechanism comprises a machine body, a circumferential limiting rod, an electromagnet, a propeller, a gas conveying pipe, a gas bag and a positioner. The jet flushing mechanism comprises a flushing water pump, flushing pipes and liquid supply pipes. The flushing water pump is connected with a circle of liquid supply pipes, and the liquid supply pipes are connected with a plurality of flushing pipes. The stabilizing mechanism comprises a circumferential limiting rod and an electromagnet. The electromagnet is adsorbed on the ball valve body after being electrified. The opening and closing mechanism comprises an opening and closing motor, a horn guide body and a connecting sleeve. The application can automatically open and close the ball valve under deep-sea working conditions, and avoids various risks of manually opening and closing the deep-sea ball valve.

Description

Technical Field

[0001] This invention relates to the field of underwater pipeline control valve technology, and provides an underwater robot device capable of diving into the seabed to open or close ball valves. Background Technology

[0002] Deep-sea ball valves are typically used in wellhead control systems for deep-sea oil and gas development, located 2000-3000 meters below sea level. Opening and closing these valves is often more difficult than with ordinary valves. The deep sea is an extreme environment with low temperatures, high pressure, and harsh conditions, making it difficult for ordinary people to work there. Using remote control for opening and closing would be problematic due to signal interference, potential malfunctions in the electrical control components, and excessively high costs.

[0003] Automated robots can adapt to such harsh environments, unaffected by factors such as temperature and pressure. Furthermore, they can operate continuously, without time constraints or fatigue. This allows them to operate whenever needed, without requiring personnel rotation or rest. Therefore, developing and designing a ball valve opening and closing actuator system suitable for the low-temperature environment of the deep sea is an urgent problem to be solved. Summary of the Invention

[0004] To address the aforementioned shortcomings of existing technologies, the technical problem this invention aims to solve is that the opening and closing of ball valves in existing deep-sea applications pose significant risks to operators if done manually. This invention designs a ball valve opening and closing system for deep-sea cryogenic environments, which automatically approaches and positions the ball valve, accurately connects the valve stem after cleaning, and rotates the valve stem.

[0005] To achieve the above objectives, the present invention provides the following technical solution: a ball valve opening and closing execution system for deep-sea cryogenic environment, comprising a ball valve body, a moving positioning mechanism, a jet flushing mechanism, a stabilizing mechanism, and an opening and closing mechanism, wherein a cable is connected to a power supply system on the water to supply power to each electric component of the moving positioning mechanism, the jet flushing mechanism, the stabilizing mechanism, and the opening and closing mechanism;

[0006] The ball valve body includes a valve cover, a ball, an upper valve seat, a lower valve seat, an upper packing gland, and a lower packing gland. A metal sealing ring is installed between the valve cover and the valve body. An upward-opening V-shaped packing is installed between the upper and lower packing glands, and a downward-opening V-shaped packing is installed at the bottom of the lower packing gland. Both types of V-shaped packing fit against the valve stem. Multiple O-rings and lip seals are installed between the lower packing gland, the valve stem, and the valve body. A valve seat lip seal is installed between the upper valve seat and the valve body. A valve seat sealing ring is installed between the lower valve seat and the ball.

[0007] The mobile positioning mechanism includes a body, a circumferential limiting rod, an electromagnet, a thruster, an air supply pipe, an airbag, and a positioner. Multiple thrusters are mounted on the body, and multiple airbags are located on the top of the body. The upper part of the air supply pipe extends above the water surface, and the lower part connects to the branch pipes of each airbag, providing air for the airbags to control balance and elevation. The electromagnet can attract the ball valve body when energized, and the circumferential limiting rod can be inserted into the lug of the ball valve body. The ball valve body has two positioning launch points; the positioner receives signals from the positioning launch points and drives the thrusters and airbags to descend and approach the ball valve body.

[0008] The jet flushing mechanism includes a flushing water pump, a flushing pipe, and a liquid supply pipe. The flushing water pump is connected to a ring of liquid supply pipe, and the liquid supply pipe is connected to multiple flushing pipes.

[0009] The stabilizing mechanism includes a circumferential limiting rod and an electromagnet. When the electromagnet is energized, it is attracted to the ball valve body. The circumferential limiting rod is inserted into the lug of the ball valve body to prevent the start / stop motor and the machine body from rotating during operation.

[0010] The opening and closing mechanism includes an opening and closing motor, a horn guide body, and a connecting sleeve. The horn guide body is fixedly installed on the machine body. The connecting sleeve is installed inside the horn guide body and can rotate relative to the horn guide body. A keyway is provided inside the connecting sleeve. A notch is provided at the top of the valve stem. A limit key is installed in the notch. A spring is installed between the limit key and the valve stem.

[0011] According to another embodiment of the present invention or any of the foregoing embodiments, the opening and closing execution system includes two types of flushing pipes: one is a vertically downward straight jet pipe, and the other is an outwardly inclined jet pipe. The liquid supply pipe is rectangular, with one or more straight jet pipes or inclined jet pipes on each side.

[0012] According to another embodiment of the present invention or any of the foregoing embodiments, the electromagnet is columnar, with four or more columns evenly distributed in a ring, corresponding to the bolts on the top of the valve cover, and is attracted to the bolts after being energized.

[0013] According to another embodiment of the present invention or any of the foregoing embodiments, the opening and closing execution system is provided with a chamfer on the top of the limit key, and L-shaped guide grooves are provided on both sides of the notch of the valve stem, and a bottom groove is provided on the bottom surface of the notch, in which a spring is installed; protrusions are provided on both sides of the limit key, and the limit key is inserted into the notch along the guide groove.

[0014] According to another embodiment of the present invention or any of the foregoing embodiments, the opening and closing execution system is provided with a groove on the side of the connecting sleeve, the connecting sleeve is inserted into the horn guide body, the side of the horn guide body is provided with a plurality of pin holes, the pins are interference-fitted in the pin holes and inserted into the groove, and the pins restrict the axial movement of the connecting sleeve when the connecting sleeve rotates relative to the horn guide body.

[0015] According to another embodiment of the present invention or any of the foregoing embodiments, the opening and closing execution system wherein the spring is a V-shaped spring.

[0016] According to another embodiment of the present invention or any of the foregoing embodiments, the opening and closing execution system has three or more keyways in the connecting sleeve, which are evenly distributed in a circumferential direction to facilitate the quick insertion of the limit key into the keyway.

[0017] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0018] The deep-sea cryogenic environment ball valve opening and closing execution system provided by this invention relies on a positioner for position identification, and approaches the ball valve under the action of a thruster and an airbag. After the ball valve surface is cleaned by a jet flushing mechanism, the valve stem is circumferentially limited by a specially designed limit key. The torque is transmitted to the valve stem through a motor, thereby opening and closing the ball valve, avoiding the various risks of manually opening and closing deep-sea ball valves. Attached Figure Description

[0019] Figure 1 A three-dimensional schematic diagram of an existing ball valve;

[0020] Figure 2 This is a three-dimensional schematic diagram of the ball valve opening and closing actuator system for deep-sea cryogenic environments described in this invention;

[0021] Figure 3 This is an enlarged three-dimensional schematic diagram of the balancing mechanism described in this invention;

[0022] Figure 4 This is an enlarged three-dimensional schematic diagram of the jet flushing mechanism described in this invention;

[0023] Figure 5 This is a three-dimensional schematic diagram of the ball valve body, opening and closing mechanism, and jet flushing mechanism described in this invention;

[0024] Figure 6 This is an enlarged cross-sectional view of the opening and closing mechanism and valve stem described in this invention.

[0025] Figure 7 This is an enlarged exploded view of the opening and closing mechanism described in this invention.

[0026] Figure 8 This is an enlarged exploded view of the valve stem assembly according to the present invention;

[0027] Figure 9 for Figure 8 An enlarged schematic diagram of part A shown;

[0028] Figure 10 This is a cross-sectional schematic diagram of the ball valve body according to the present invention;

[0029] Figure 11for Figure 10 An enlarged schematic diagram of part B;

[0030] Figure 12 for Figure 10 An enlarged schematic diagram of part C;

[0031] Figure 13 for Figure 10 An enlarged schematic diagram of part D.

[0032] In the diagram: 1. Ball valve body; 101. Valve cover; 102. Ball; 103. Upper valve seat; 104. Lower valve seat; 105. Upper packing gland; 106. Lower packing gland; 107. Valve body; 2. Circumferential limit rod; 3. Machine body; 4. Propeller; 5. Air bladder; 6. Cable; 7. Air supply pipe; 8. Electromagnet; 9. Opening and closing motor; 10. Horn guide body; 11. Positioner; 12. Flushing water pump; 13. Flushing pipe; 4. Liquid supply pipe; 15. Branch pipe; 16. Starter motor; 17. Valve stem; 1701. Guide groove; 1702. Bottom groove; 18. Limit key; 1801. Protrusion; 19. Pin; 20. Connecting sleeve; 2001. Groove; 2002. Keyway; 21. V-shaped spring; 22. Metal sealing ring; 23. Valve seat lip seal; 24. Valve seat sealing ring; 25. V-type packing; 26. O-ring; 27. Lip seal. Detailed Implementation

[0033] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0034] like Figure 2 As shown, a ball valve opening and closing execution system for deep-sea cryogenic environment includes a ball valve body 1, a moving positioning mechanism, a jet flushing mechanism, a stabilizing mechanism, and an opening and closing mechanism. A cable 6 is connected to a power supply system on the water to supply power to the electric components of the moving positioning mechanism, the jet flushing mechanism, the stabilizing mechanism, and the opening and closing mechanism.

[0035] like Figure 10-13As shown, the ball valve body 1 is provided with a valve cover 101, a ball 102, an upper valve seat 103, a lower valve seat 104, an upper packing gland 105, and a lower packing gland 106. A metal sealing ring 22 is installed between the valve cover 101 and the valve body 107. An upward-opening V-shaped packing 25 is installed between the upper packing gland 105 and the lower packing gland 106, and a downward-opening V-shaped packing 25 is installed at the lower part of the lower packing gland 106. Both types of V-shaped packing 25 fit against the valve stem 17. Multiple O-rings 26 and lip seals 27 are installed between the lower packing gland 106 and the valve stem 17 and the valve body 107. A valve seat lip seal 23 is installed between the upper valve seat 103 and the valve body 107. A valve seat sealing ring 24 is installed between the lower valve seat 104 and the ball 102.

[0036] like Figure 2 As shown, the mobile positioning mechanism includes a body 3, a circumferential limiting rod 2, an electromagnet 8, a thruster 4, an air supply pipe 7, an airbag 5, and a positioner 11. Multiple thrusters 4 are installed on the body 3, and multiple airbags 5 are located on the top of the body 3; Figure 3 As shown, the upper part of the air supply pipe 7 extends out of the water surface and the lower part is connected to the branch pipes 15 of each airbag 5, providing air for the airbag 5 to control balance and rise and fall; the electromagnet 8 can attract the ball valve body 1 after being energized, and the circumferential limit rod 2 can be inserted into the ear hole of the ball valve body 1; the ball valve body 1 is provided with two positioning launch points, and the positioner 11 receives the signal from the positioning launch points and drives the thruster 4 and the airbag 5 to sink and approach the ball valve body 1;

[0037] like Figure 4 , 5 As shown, the jet flushing mechanism includes a flushing water pump 12, a flushing pipe 13, and a liquid supply pipe 14. The flushing water pump 12 is connected to a ring of liquid supply pipe 14, and the liquid supply pipe 14 is connected to multiple flushing pipes 13. The flushing pipes 13 include two types: one is a vertically downward straight jet pipe, and the other is an outward inclined jet pipe. The liquid supply pipe 14 is rectangular, with one or more straight jet pipes and inclined jet pipes on each side.

[0038] like Figure 2 As shown, the stabilizing mechanism includes a circumferential limiting rod 2 and an electromagnet 8. When the electromagnet 8 is energized, it is attracted to the ball valve body 1. The circumferential limiting rod 2 is inserted into the ear hole of the ball valve body 1 to prevent the start-stop motor 16 and the machine body 3 from rotating when they are working. The electromagnet 8 is columnar, with more than four, evenly distributed in a ring, corresponding to the bolts on the top of the valve cover 101. When energized, it is attracted to the bolts.

[0039] like Figure 5 , 6As shown in Figure 7, the opening and closing mechanism includes an opening and closing motor 16, a horn guide body 10, and a connecting sleeve 20. The horn guide body 10 is fixedly installed on the machine body 3. The connecting sleeve 20 is installed inside the horn guide body 10 and can rotate relative to the horn guide body 10. A keyway 2002 is provided inside the connecting sleeve 20. There are more than three keyways 2002 inside the connecting sleeve 20, which are evenly distributed in a circumferential direction to facilitate the quick insertion of the limit key 18 into the keyway 2002.

[0040] like Figure 8 , 9 As shown, a notch is provided at the top of the valve stem 17, and a limit key 18 is installed in the notch. A spring is installed between the limit key 18 and the valve stem 17. Figure 9 As shown, the top of the limit key 18 is chamfered, and the valve stem 17 has L-shaped guide grooves 1701 on both sides inside the notch. The bottom surface of the notch has a bottom groove 1702, and a spring is installed in the bottom groove 1702. The spring is a V-shaped spring 21.

[0041] like Figure 8 , 9 As shown, protrusions 1801 are provided on both sides of the limiting key 18, and the limiting key 18 is inserted into the notch along the guide groove 1701. Figure 6 , 7 As shown, the connecting sleeve 20 has a groove 2001 on its side. The connecting sleeve 20 is inserted into the horn guide body 10. The horn guide body 10 has multiple pin holes on its side. The pin 19 is interference-fitted into the pin hole and inserted into the groove 2001. When the connecting sleeve 20 rotates relative to the horn guide body 10, the pin 19 restricts the axial movement of the connecting sleeve 20.

[0042] Working principle and method of the present invention:

[0043] Traditional ball valves, as per the instruction manual Figure 1 As shown, the handwheel needs to be turned manually to rotate the valve stem 17, which in turn rotates the ball 102 to open or close the ball valve. However, in deep-sea conditions, ball valves are typically used in wellhead control systems in deep-sea oil and gas development, located 2000-3000 meters below sea level. Due to the high pressure, low temperature, high salinity, and high corrosiveness of the deep-sea working environment, this invention relates to an underwater robot for opening and closing ball valves.

[0044] As a deep-sea robot, its operation process includes four stages: movement, flushing, positioning, stabilization, and rotating valve stem 17. This system includes a bidirectional sealed ball valve body 1, a movement and positioning mechanism, a jet flushing mechanism, a stabilization mechanism, and an opening and closing mechanism.

[0045] The seal at the valve stem 17 of the ball valve body 1 is a dynamic seal, employing a multi-seal combination to simultaneously prevent both external and internal leakage. For example... Figure 13As shown, the V-shaped packing with the opening facing upwards prevents external leakage, while the one with the opening facing downwards prevents internal leakage; the lip seal 27 and O-ring 26 are static seals, also to prevent external leakage. Both valve seat seals are static seals using the lip seal 27 structure, with the upper valve seat 103 as shown... Figure 11 As shown in partial view B, the lip seal 27 has its opening facing the inlet, preventing liquid in the flow channel from leaking into the valve chamber, but allowing fluid in the valve chamber to leak into the flow channel to achieve a pressure relief effect. The lower valve seat 104 is as follows... Figure 12 As shown in partial view C, unlike the upper valve seat 103, the lower valve seat 104 uses two lip seals 27 in opposite directions to completely isolate the valve cavity from the flow channel, achieving bidirectional sealing.

[0046] The mobile positioning mechanism includes a positioning device, a thruster 4, and airbags 5. The positioning device is installed on the balancing body 3. The positioning device can obtain its coordinate value relative to the valve in real time and automatically move towards the valve. During the movement, it can avoid obstacles using radar. The horizontal information of the actuator is obtained by sensors, and the air pump is controlled to adjust the gas volume of the four airbags 5 to maintain balance in real time.

[0047] After the machine body 3 approaches the ball valve body 1, it first performs jet flushing. The flushing water pump 12 draws seawater, which is then ejected at high speed from the four ports of the flushing pipe 13, forming a cavitation jet that flushes the upper surface of the ball valve body 1, achieving a cleaning effect. After positioning, the circumferential limiting rod 2 is inserted into the ear hole of the ball valve body 1 to prevent the opening and closing mechanism from rotating relative to the ball valve body 1 without support. The electromagnet 8 holds the ball valve body 1 to maintain stability. This is because when the valve stem 17 engages with the connecting sleeve 20 of the actuator, i.e., the limiting key 18 engages with the keyway 2002 on the connecting sleeve 20, the opening and closing mechanism can rotate relative to the valve if its rotation is not restricted. Therefore, the electromagnet 8 needs to be energized, and the circumferential limiting rod 2 inserted into the ear hole. With the jet flushing device in place, the valve cover 101 can then be cleaned.

[0048] The key to the opening and closing mechanism is the connection between the valve stem 17 and the opening and closing motor 16. This invention employs a self-fitting connection between the connecting sleeve 20 and the limiting key 18. Because the top side of the valve stem 17 of the horn guide body 10 has an installation notch, a guide groove 1701 and a bottom groove 1702 are provided within the installation notch. Protrusions 1801 are provided on both sides of the limiting key 18. The protrusions 1801 guide the limiting key 18 along the guide groove 1701, causing the limiting key 18 to embed into the installation notch. A V-shaped spring 21 causes the limiting key 18 to spring back. A chamfer is provided on the upper part of the limiting key 18. 8. As the valve stem 17 is inserted into the horn guide body 10, when the valve stem 17 is engaged with the connecting sleeve 20, the limiting key 18 can move downward along the keyway 2002 in the radial direction of the valve stem 17 under the pressure, so that the valve stem 17 can be smoothly inserted into the coupling. When the start-stop motor 16 drives the connecting sleeve 20 to rotate until the keyway 2002 on it is aligned with the limiting key 18, the limiting key 18 can spring upward under the action of the V-shaped spring 21, thereby locking in the keyway 2002 to transmit torque and drive the valve stem 17 to rotate.

[0049] The working process of this invention is as follows: When opening or closing is required, the connecting cable 6 and air supply pipe 7 are connected. After the underwater robot body 3 is submerged, the actuator can only obtain the approximate position of the valve through the positioner 11. The two positioning points on the valve and the two positioning points on the actuator are aligned vertically. The actuator continuously approaches the valve through the propulsion device. The balance state of the entire mechanism is obtained through the horizontal sensor, and the air pump is then controlled to rapidly inflate the airbag 5 to adjust the balance in real time. When the moving positioning mechanism is in a deeper position, the actuator can also be rapidly floated to the surface by rapidly inflating the airbag 5.

[0050] When approaching the valve, the propeller initially propels the valve downwards. Since the body 3 is in motion, alignment is not precise, requiring the horn guide 10 on the switching mechanism to guide the valve stem 17 into the connecting sleeve 20. At this point, the connecting sleeve 20 engages with the valve stem 17, preventing horizontal movement during opening and closing, and the limit key 18 may not necessarily engage with the keyway 2002. As the coupling rotates, when the limit key 18 engages with the keyway 2002 on the connecting sleeve 20, the opening and closing mechanism rotates relative to the valve. Rotation stops when the two positioning points are vertically aligned. At this point, four electromagnets 8 are attracted to the valve body 107, and four hydraulically controlled circumferential limit rods 2 are inserted into the lugs to prevent the actuator from rotating relative to the valve during opening and closing. The valve can then be opened or closed.

[0051] In the description of this invention, it should be understood that the orientation or positional relationship indicated by directional terms such as "front, back, up, down, left, right", "horizontal, vertical, horizontal" and "top, bottom" is generally based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing this invention and simplifying the description. Unless otherwise stated, these directional terms do not indicate or imply that the device or element referred to must have a specific orientation or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on the scope of protection of this invention. The directional terms "inner" and "outer" refer to the inner and outer contours relative to the outline of each component itself.

[0052] The above are merely preferred embodiments of the present invention. Any person skilled in the art may modify the present invention or modify it into an equivalent technical solution using the technical solutions described above. Therefore, any simple modifications or equivalent substitutions made based on the technical solutions of the present invention are within the scope of protection claimed by the present invention.

Claims

1. A ball valve opening and closing actuator system for deep-sea cryogenic environments, characterized in that: It includes a ball valve body (1), a moving positioning mechanism, a jet flushing mechanism, a stabilizing mechanism, and an opening and closing mechanism. The cable (6) is connected to the power supply system on the water to supply power to the electric components of the moving positioning mechanism, the jet flushing mechanism, the stabilizing mechanism, and the opening and closing mechanism. The ball valve body (1) is provided with a valve cover (101), a ball (102), an upper valve seat (103), a lower valve seat (104), an upper packing gland (105), and a lower packing gland (106). A metal sealing ring (22) is installed between the valve cover (101) and the valve body (107). An upward-opening V-shaped packing (25) is installed between the upper packing gland (105) and the lower packing gland (106). The lower packing gland (106) is located below... The valve body is fitted with V-shaped packing (25) with the opening facing downwards. Two types of V-shaped packing (25) fit against the valve stem (17). Multiple O-rings (26) and lip seals (27) are installed between the lower packing gland (106) and the valve stem (17) and valve body (107). A valve seat lip seal (23) is installed between the upper valve seat (103) and the valve body (107). A valve seat sealing ring (24) is installed between the lower valve seat (104) and the ball (102). The mobile positioning mechanism includes a body (3), a circumferential limiting rod (2), an electromagnet (8), a thruster (4), an air supply pipe (7), an airbag (5), and a locator (11). Multiple thrusters (4) are installed on the body (3), and multiple airbags (5) are set on the top of the body (3). The upper part of the air supply pipe (7) extends out of the water surface, and the lower part is connected to the branch pipe (15) of each airbag (5) to provide air for the airbag (5) to control balance and rise and fall. The electromagnet (8) can attract the ball valve body (1) after being energized, and the circumferential limiting rod (2) can be inserted into the ear hole of the ball valve body (1). The ball valve body (1) is provided with two positioning launch points. The locator (11) receives the signal from the positioning launch points and drives the thruster (4) and the airbag (5) to sink and approach the ball valve body (1). The jet flushing mechanism is installed at the bottom of the body (3) and surrounds the outside of the horn guide (10). The jet flushing mechanism cleans the surface of the ball valve. The jet flushing mechanism includes a flushing water pump (12), a flushing pipe (13), and a liquid supply pipe (14). The flushing water pump (12) is connected to a ring of liquid supply pipe (14), and the liquid supply pipe (14) is connected to multiple flushing pipes (13). The flushing pipe (13) includes two types: one is a vertically downward straight jet pipe, and the other is an outward inclined jet pipe. The liquid supply pipe (14) is rectangular, with one or more straight jet pipes and inclined jet pipes on each side. The flushing water pump (12) draws seawater, which is ejected from the straight jet pipe and inclined jet pipe of the flushing pipe (13) to form a cavitation jet and flush the upper surface of the ball valve body (1). The stabilizing mechanism includes a circumferential limiting rod (2) and an electromagnet (8). After the electromagnet (8) is energized, it is attracted to the ball valve body (1). The circumferential limiting rod (2) is inserted into the ear hole of the ball valve body (1) to prevent the start-stop motor (16) and the machine body (3) from rotating when they are working. The circumferential limiting rod (2) is inserted into the ear hole and, in conjunction with the jet flushing device, cleans the valve cover (101). The opening and closing mechanism includes an opening and closing motor (16), a horn guide (10), and a connecting sleeve (20). The horn guide (10) is fixedly installed on the machine body (3). The connecting sleeve (20) is installed inside the horn guide (10) and can rotate relative to the horn guide (10). A keyway (2002) is provided inside the connecting sleeve (20). A notch is provided at the top of the valve stem (17). A limit key (18) is installed in the notch. A spring is installed between the limit key (18) and the valve stem (17).

2. The deep-sea cryogenic environment ball valve opening and closing actuation system according to claim 1, characterized in that: The electromagnet (8) is columnar, with four or more evenly distributed in a ring, corresponding to the bolts on the top of the valve cover (101), and is attracted to the bolts after being energized.

3. The deep-sea cryogenic environment ball valve opening and closing actuation system according to claim 1, characterized in that: The top of the limit key (18) is chamfered, and L-shaped guide grooves (1701) are provided on both sides of the notch of the valve stem (17). A bottom groove (1702) is provided on the bottom surface of the notch, and a spring is installed in the bottom groove (1702). The two sides of the limit key (18) are provided with protrusions (1801), and the limit key (18) is inserted into the notch along the guide groove (1701).

4. A ball valve opening and closing actuation system for deep-sea cryogenic environments according to claim 1 or 3, characterized in that: The connecting sleeve (20) has a groove (2001) on its side. The connecting sleeve (20) is inserted into the horn guide (10). The horn guide (10) has multiple pin holes on its side. The pin (19) is interference-fitted into the pin hole and inserted into the groove (2001). When the connecting sleeve (20) rotates relative to the horn guide (10), the pin (19) restricts the axial movement of the connecting sleeve (20).

5. A ball valve opening and closing actuator system for deep-sea cryogenic environments according to claim 1 or 3, characterized in that: The spring is a V-shaped spring (21).

6. The deep-sea cryogenic environment ball valve opening and closing actuation system according to claim 1, characterized in that: There are more than three keyways (2002) in the connecting sleeve (20), which are evenly distributed in a circumferential direction to facilitate the quick insertion of the limiting key (18) into the keyway (2002).

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