Full-rotation actuator

Abstract

The invention relates to a full-rotation actuator. The full-rotation actuator comprises a shell, an intermediate shaft, a planetary gear reducing mechanism and a driving motor, wherein the intermediate shaft, the planetary gear reducing mechanism and the driving motor are arranged in the shell. The middle shaft penetrates through the upper end and the lower end of the shell and is rotationally connected with the upper end and the lower end of the shell, and the middle shaft sequentially penetrates through the driving motor and the planetary gear speed reducing mechanism from top to bottom. An input gear is arranged around the position, corresponding to the driving motor, of the middle shaft and is in transmission connection with the driving motor. The driving motor comprises a motor rotor shell, and a rotor self-locking inner gear ring, a motor inner cavity upper planetary gear, a motor inner cavity lower planetary gear and a motor inner cavity planetary bracket which are arranged in the motor rotor shell; the motor inner cavity upper planetary gear is meshed with the rotor self-locking inner gear ring and the input teeth, and the motor inner cavity lower planetary gear is in transmission connection with the planetary gear reducing mechanism. The internal space is effectively utilized, all functional parts of the actuator are finely designed and reasonably arranged, and the size of the actuator is effectively reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of actuators, and in particular to a full-rotation actuator. Background Art

[0002] In ship systems, gate valves and globe valves with full rotation, high performance and long stroke are widely used. Such valves play a key role in fluid control in ship operation, especially in complex ship working conditions, which require extremely high accuracy and reliability of valve control. In the field of electric valve actuators, the development of technology has always been centered around how to optimize performance to better adapt to ship systems.

[0003] For electric valve actuators, reducing size, reducing weight and improving operational convenience to more accurately control the valve state are the key points. In actual ship application scenarios, especially on luxury passenger cruise ships with extremely limited space, there are stringent requirements for the compactness and high efficiency of the equipment. The compact size can not only effectively utilize the limited ship space, but also bring great convenience to users during the installation process; while the lightness helps to reduce the overall load of the ship and improve energy efficiency.

[0004] However, the existing electric actuators for valves on the market cannot meet these requirements. They have problems such as large size, heavy weight, and inconvenient operation, which seriously restricts the optimization and upgrading of ship systems. Summary of the invention

[0005] The object of the present invention is to provide a full-rotation actuator to solve the problem that the existing electric actuator is large in size.

[0006] To achieve the above-mentioned purpose, the present invention discloses a full-rotation actuator, comprising: a housing and an intermediate shaft arranged inside the housing, a planetary gear reduction mechanism and a drive motor. The intermediate shaft passes through the upper and lower ends of the housing and is rotatably connected to the upper and lower ends of the housing. The intermediate shaft passes through the drive motor and the planetary gear reduction mechanism in sequence from top to bottom. An input gear is arranged around the intermediate shaft corresponding to the position of the drive motor, and the input gear is transmission-connected to the drive motor. The drive motor comprises a motor rotor housing and a rotor self-locking internal gear ring arranged inside the motor rotor housing, a motor inner cavity upper planetary gear, a motor inner cavity lower planetary gear and a motor inner cavity planetary bracket; the intermediate shaft passes through the motor rotor housing and the motor inner cavity planetary bracket, and the intermediate shaft is rotatably connected with the motor rotor housing and the motor inner cavity planetary bracket respectively, the motor inner cavity upper planetary gear is rotatably mounted on the upper side of the motor inner cavity planetary bracket, the motor inner cavity lower planetary gear is rotatably mounted on the lower side of the motor inner cavity planetary bracket, the rotor self-locking internal gear ring is fixedly mounted on the upper part of the inner cavity of the motor rotor housing, the motor inner cavity upper planetary gear is meshed with the rotor self-locking internal gear ring and the input teeth, and the motor inner cavity lower planetary gear is transmission connected with the planetary gear reduction mechanism.

[0007] Preferably, the planetary gear reduction mechanism comprises a primary sun gear input shaft, a primary sun gear, a secondary planetary inner gear ring, a secondary planetary gear, a secondary planetary gear support, a secondary sun gear, a third planetary gear and a third planetary inner gear ring. The primary sun gear input shaft is a hollow structure, the primary sun gear input shaft is sleeved on the outside of the intermediate shaft and is rotatably connected to the intermediate shaft, the primary sun gear input shaft extends to the inside of the motor rotor housing and meshes with the planetary gear at the bottom of the motor inner cavity, the middle outer side of the primary sun gear input shaft is rotatably connected to the lower part of the motor rotor housing, and the lower part of the primary sun gear input shaft is transmission-connected to the primary sun gear. The primary sun gear is sleeved on the outside of the primary sun gear input shaft, the outer side of the primary sun gear is provided with an outer gear ring, and the outer gear ring of the primary sun gear meshes with the secondary planetary gear. The intermediate shaft passes through the secondary planetary gear support and is rotatably connected to the secondary planetary gear support, the secondary planetary gear is rotatably mounted on the secondary planetary gear support, and the secondary planetary gear support is transmission-connected to the secondary sun gear. The secondary planetary gear inner ring is arranged at the periphery of the secondary planetary gear and meshes with the secondary planetary gear. The intermediate shaft passes through the secondary sun gear and is rotatably connected with the secondary sun gear. The secondary sun gear is arranged obliquely below the secondary planetary gear bracket, and the upper part of the secondary sun gear is transmission-connected with the inner wall of the secondary planetary gear bracket. The secondary planetary gear bracket drives the secondary sun gear to rotate, and the secondary sun gear meshes with the tertiary planetary gear. The lower end of the intermediate shaft extends to the circumference to form a mounting platform, and the tertiary planetary gear is rotatably mounted on the mounting platform. The tertiary planetary gear inner ring is arranged at the periphery of the tertiary planetary gear, and the tertiary planetary gear meshes with the tertiary planetary gear inner ring.

[0008] Preferably, the housing comprises a top cover, a top outer cover, a middle plate, a bottom outer cover and a mounting base arranged in order from top to bottom, the top outer cover and the bottom outer cover have the same cross-sectional shape and are both closed figures, the middle plate is provided with a mounting groove, and the bottom of the drive motor is mounted in the mounting groove. The top cover, the top outer cover, the middle plate, the bottom outer cover and the mounting base are fixedly connected by bolts and nuts.

[0009] Preferably, the top end of the intermediate shaft is rotatably connected to the top cover, and the lower end of the intermediate shaft is rotatably connected to the mounting base.

[0010] Preferably, it comprises an encoder fixing disk, wherein the encoder fixing disk is arranged below the top cover and above the drive motor, and an encoder assembly is mounted on the encoder fixing disk.

[0011] Preferably, the encoder assembly includes an encoder, an encoder seat and an encoder gear on the intermediate shaft, the encoder includes a first encoder and a second encoder, the first encoder is provided with a first encoder gear at the bottom, the second encoder is provided with a second encoder gear at the bottom, and the first encoder gear and the second encoder gear differ by one tooth. The encoder gear on the intermediate shaft is sleeved on the outside of the intermediate shaft, the encoder gear on the intermediate shaft is used to transmit the rotational motion of the intermediate shaft, and the encoder gear on the intermediate shaft is meshed with the first encoder gear and the second encoder gear respectively.

[0012] Preferably, a handwheel operating assembly is included, and the handwheel operating assembly includes a rotor emergency operation connecting gear, a handwheel operating connecting gear, a handwheel operating connecting shaft and a handwheel operating shaft. A mounting cavity is provided on the top of the top cover, and the mounting cavity passes through the top cover and the encoder fixing ring, and the handwheel operating assembly is installed in the mounting cavity; the handwheel operating shaft is arranged above the handwheel operating connecting shaft and is transmission-connected with the handwheel operating connecting shaft, and the lower end of the handwheel operating connecting shaft is fixedly connected to the handwheel operating connecting gear; the rotor emergency operation connecting gear is arranged around the motor rotor housing; and the handwheel operating connecting gear is meshed with the rotor emergency operation connecting gear.

[0013] Preferably, a valve flange adapter plate and a valve stem connecting shaft are provided at the bottom of the shell, the valve stem connecting shaft passes through the valve flange connecting plate, and the valve stem connecting shaft is rotatably connected to the valve flange connecting plate, the valve flange connecting plate is fixedly connected to the mounting base, and the valve stem connecting shaft is fixedly connected to the intermediate shaft.

[0014] Preferably, the intermediate shaft and the valve stem connecting shaft are both hollow structures, and the interiors of the intermediate shaft and the valve stem connecting shaft are interconnected.

[0015] Preferably, a connecting shaft sealing ring is provided between the intermediate shaft and the valve stem connecting shaft.

[0016] Preferably, a circuit board box bracket is provided on the side of the top outer cover, a circuit board box is provided on the circuit board box bracket, the circuit board box and the circuit board box bracket are detachably connected, a through hole is opened at the position where the top outer cover is connected to the circuit board, and a cable sleeve is sleeved in the through hole.

[0017] Preferably, the rotor self-locking inner gear ring, the upper planetary gears in the motor cavity, the lower planetary gears in the motor cavity, the first-stage sun gear input shaft, the first-stage sun gear, the second-stage planetary inner gear ring, the second-stage planetary gear, the second-stage sun gear, the third-stage planetary gear and the third-stage planetary inner gear ring are all made of high-strength 42CrMo alloy steel QPQ and nitriding strengthening treatment, followed by fine grinding process.

[0018] The present invention has the following beneficial effects: 1. The rotary actuator of the present invention has a compact structure, small size, light weight and is easy to operate.

[0019] 2. The present invention adopts a unique hollow design concept in structure, effectively utilizes the internal space and reduces unnecessary space occupation; at the same time, the various functional components of the actuator are finely designed and reasonably arranged to ensure smoother coordination between the components while reducing the overall size. In terms of improving control efficiency, the valve state can be quickly and accurately controlled by optimizing the transmission mechanism, using high-performance motors and advanced control algorithms.

[0020] 3. The full-rotation actuator of the present invention can achieve the performance indicators of maximum torque of 500Nm and rotation speed of 36Rpm, meeting the needs of various industrial application scenarios for high torque and low speed output, and has broad application prospects in the fields of valve control and the like.

[0021] 4. During the entire implementation process of the present invention, the precise coordination and collaborative work between the various components, as well as the unique planetary gear train design and motor drive method, together constitute the core technical advantage of the hollow compact design of the full-rotation actuator of the present invention, ensuring that the actuator achieves efficient and stable operating performance in a compact space.

[0022] 5. The present invention has a compact structure and can achieve efficient layout in a limited space; it has a large transmission torque and can effectively meet the driving requirements; it has high transmission efficiency and reduces energy loss; it is easy to install and saves installation time and manpower. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is an overall cross-sectional schematic diagram provided in a specific embodiment of the present invention; Figure 2 An exploded axial side view provided in a specific embodiment of the present invention; Figure 3 A side view of an external component of an actuator provided in a specific embodiment of the present invention; Figure 4 A side view of an external component of an actuator provided in a specific embodiment of the present invention; Figure 5 A cross-sectional view of a rotor drive assembly provided in a specific embodiment of the present invention; Figure 6 A schematic diagram of a motor inner cavity drive assembly provided in a specific embodiment of the present invention; Figure 7 A schematic diagram of a primary sun gear assembly provided in a specific embodiment of the present invention; Figure 8 A schematic diagram of an intermediate plate assembly and a secondary planetary inner gear ring provided in a specific embodiment of the present invention; Fig. 9A schematic diagram of a secondary sun gear assembly provided in a specific embodiment of the present invention; Fig.10 A schematic diagram of a three-stage planetary gear and intermediate shaft assembly provided in a specific embodiment of the present invention; Fig.11 It is a schematic diagram of the shaft side of the encoder assembly provided in a specific embodiment of the present invention.

[0024] Main component symbols: 1. Mounting base; 2. Valve stem connecting shaft; 3. Valve flange adapter plate; 4. Intermediate shaft; 5. Secondary sun gear; 6. Third-stage planetary gear; 7. Second-stage planetary bracket; 8. Bottom cover; 9. Connecting shaft sealing ring; 10. Third-stage planetary inner gear ring; 11. Intermediate plate; 12. Second-stage planetary inner gear ring; 13. Second-stage planetary gear; 14. First-stage sun gear; 15. First-stage sun gear input shaft; 16. Lower planetary gear in the motor cavity; 17. Planetary bracket in the motor cavity; 18. Upper planetary gear in the motor cavity; 1 9. Input gear; 20. Rotor self-locking inner gear ring; 21. Rotor housing; 22. Encoder fixing plate; 23. Rotor emergency operation connecting gear; 24. Handwheel operation connecting gear; 25. Encoder; 26. Handwheel operation connecting shaft; 27. Top cover; 28. Top cover; 29. ​​Handwheel operation shaft; 30. Cable sleeve; 31. Circuit board box bracket; 32. Circuit board box; 35. Encoder gear on the intermediate shaft; 36. First encoder gear; 37. Second encoder gear; 38. Encoder seat. DETAILED DESCRIPTION

[0025] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments.

[0026] like Figures 1 to 11 As shown, the present invention discloses a full-rotation actuator, comprising: a housing and an intermediate shaft 4 arranged inside the housing, a planetary gear reduction mechanism and a driving motor. The intermediate shaft 4 passes through the upper and lower ends of the housing and is rotatably connected to the upper and lower ends of the housing. The top end of the intermediate shaft 4 is rotatably connected to the top cover 28, and the lower end of the intermediate shaft 4 is rotatably connected to the mounting base 1.

[0027] The intermediate shaft 4 passes through the drive motor and the planetary gear reduction mechanism from top to bottom. The drive motor, the intermediate shaft 4 and the housing are on a central axis, and the structure is compact, which can effectively reduce the volume of the actuator. The intermediate shaft 4 is a hollow structure, and the inner wall of the intermediate shaft 4 and the outer side of the housing are exposed to the outside, which can ensure that the housing is sealed during operation.

[0028] An input gear 19 is arranged around the intermediate shaft 4 corresponding to the position of the driving motor, and the input gear 19 is connected to the driving motor in a transmission manner. The driving motor includes a motor rotor housing 21 and a rotor self-locking internal gear ring 20 arranged inside the motor rotor housing 21, a motor inner cavity upper planetary gear 18, a motor inner cavity lower planetary gear 16 and a motor inner cavity planetary bracket 17; the intermediate shaft 4 passes through the motor rotor housing 21 and the motor inner cavity planetary bracket 17, and the intermediate shaft 4 is respectively connected to the motor rotor housing 21 and the motor inner cavity planetary bracket 17 in rotation, the motor inner cavity upper planetary gear 18 is rotatably mounted on the upper side of the motor inner cavity planetary bracket 17, the motor inner cavity lower planetary gear 16 is rotatably mounted on the lower side of the motor inner cavity planetary bracket 17, the rotor self-locking internal gear ring 20 is fixedly mounted on the upper part of the inner cavity of the motor rotor housing 21, the motor inner cavity upper planetary gear 18 is meshed with the rotor self-locking internal gear ring 20 and the input teeth, and the motor inner cavity lower planetary gear 16 is connected to the planetary gear reduction mechanism in a transmission manner.

[0029] In this embodiment, a self-designed motor is used as the driving force. The rotor self-locking internal gear ring 20 in the motor rotor housing 21 rotates to drive the input gear 19 on the intermediate shaft 4, and at the same time, it is transmitted step by step to the three-stage planetary gear 6 and the three-stage planetary bracket (i.e., the intermediate shaft 4). Different speeds and different torques are applied at both ends of the intermediate shaft 4 to achieve deceleration, thereby achieving the purpose of torque amplification. The maximum torque can reach 500Nm and the speed can reach 36Rpm.

[0030] The planetary gear reduction mechanism includes a primary sun gear input shaft 15, a primary sun gear 14, a secondary planetary inner gear ring 12, a secondary planetary gear 13, a secondary planetary gear 13 bracket, a secondary sun gear 5, a third planetary gear 6 and a third planetary inner gear ring 10. The primary sun gear input shaft 15 is a hollow structure, the primary sun gear input shaft 15 is sleeved outside the intermediate shaft 4, and is rotatably connected with the intermediate shaft 4, the primary sun gear input shaft 15 extends to the inside of the motor rotor housing 21, and is meshed with the planetary gear 16 in the motor inner cavity, the outer middle part of the primary sun gear input shaft 15 is rotatably connected with the lower part of the motor rotor housing 21, and the lower part of the primary sun gear input shaft 15 is drivingly connected with the primary sun gear 14.

[0031] The primary sun gear 14 is sleeved on the outside of the primary sun gear input shaft 15, and an outer gear ring is provided on the outside of the primary sun gear 14, and the outer gear ring of the primary sun gear 14 meshes with the secondary planetary gear 13. The intermediate shaft 4 passes through the secondary planetary gear 13 bracket and is rotatably connected with the secondary planetary gear 13 bracket. The secondary planetary gear 13 is rotatably mounted on the secondary planetary gear 13 bracket, and the secondary planetary gear 13 bracket is drivingly connected with the secondary sun gear 5. The inner gear ring of the secondary planetary gear 13 is arranged on the periphery of the secondary planetary gear 13 and meshes with the secondary planetary gear 13.

[0032] In this embodiment, the first-stage sun gear 14 is mounted on the first-stage sun gear input shaft 15. Two deep groove ball bearings are used on the outer circumference to fix it to the motor rotor housing 21. Two stacked thrust needle bearings are used on the inner wall to support the intermediate shaft 4 and rotate around the intermediate shaft 4. The planetary gear 16 below the motor cavity is meshed with the first-stage sun gear input shaft 15. The planetary gear 18 on the motor cavity is meshed with the rotor self-locking inner gear ring 20 on the outside and with the input gear 19 on the intermediate shaft on the inside. The input gear 19 on the intermediate shaft is connected to the intermediate shaft 4 with a flat key to achieve synchronous operation. The motor cavity planet carrier 17 is installed in the middle of this stage of planetary gears. The planet carrier and the intermediate shaft 4 are supported by a deep groove ball bearing for radial and axial fixation.

[0033] The intermediate shaft 4 passes through the secondary sun gear 5 and is rotatably connected with the secondary sun gear 5. The secondary sun gear 5 is arranged obliquely below the secondary planetary gear 13 bracket, and the upper part of the secondary sun gear 5 is drivingly connected with the inner wall of the secondary planetary gear 13 bracket. The secondary planetary gear 13 bracket drives the secondary sun gear 5 to rotate, and the secondary sun gear 5 is meshed with the tertiary planetary gear 6. The lower end of the intermediate shaft 4 extends to the circumferential side to form a mounting platform, and the tertiary planetary gear 6 is rotatably mounted on the mounting platform. The inner gear ring of the tertiary planetary gear 6 is arranged on the periphery of the tertiary planetary gear 6, and the tertiary planetary gear 6 is meshed with the inner gear ring of the tertiary planetary gear 6.

[0034] In this embodiment, the secondary sun gear 5 relies on the circumferential surface of the intermediate shaft 4 and the plane of the mounting table at the lower end of the intermediate shaft 4 to achieve smooth and low-damping operation under the action of two thrust needle roller bearings in the axial and radial directions. The secondary sun gear 5 is integrally designed with the secondary planetary gear 13 bracket. Eight secondary planetary gears 13 are supported on the secondary planetary gear 13 bracket, which are respectively meshed with the secondary planetary internal gear ring 12 and the primary sun gear 14. Axial positioning is achieved by relying on the thrust bearing on the plane of the secondary planetary gear 13 bracket and the thrust needle roller bearing on the secondary sun gear 5. The thrust needle roller bearing on the circumference of the secondary sun gear 5 and the intermediate shaft 4 are used for radial positioning support. The secondary planetary internal gear ring 12 is fixed in the middle plate 11, and the middle plate 11 is fixed to the base and the bottom outer cover 8.

[0035] The bottom level is the third-level gear mechanism for the final output torque transmission, with the largest torque transmission, which includes an intermediate shaft 4, eight third-level planetary gears 6 meshing with the third-level planetary internal gear ring 10, and supported on the intermediate shaft 4 by a group of deep groove ball bearings and two groups of upper and lower thrust needle roller bearings.

[0036] The housing includes a top cover 28, a top cover 27, a middle plate 11, a bottom cover 8 and a mounting base 1 which are arranged in order from top to bottom. The top cover 27 and the bottom cover 8 have the same cross-sectional shape and are both closed figures. The middle plate 11 is provided with a mounting groove, and the bottom of the drive motor is mounted in the mounting groove. The bottom of the drive motor is rotatably connected to the mounting groove through a bearing. The top cover 28, the top cover 27, the middle plate 11, the bottom cover 8 and the mounting base 1 are fixedly connected by bolts and nuts.

[0037] The top cover 28 is installed with the handwheel operating assembly and together with the exposed parts such as the outer cover of the rotating intermediate shaft 4, it is IP-proof and dustproof. The top outer cover 27 can effectively resist external dust, water vapor and a certain degree of mechanical impact, and protect the internal precision components. Its good heat dissipation can prevent the components from overheating, and the aluminum alloy material is light and durable, which is conducive to the stable operation of the equipment and convenient installation and maintenance. In the three-stage reduction multi-turn electric actuator, the middle plate 11 fixes the secondary planetary inner ring 12 and the motor to support and stabilize the transmission. In the marine environment, the bottom outer cover 8 protects the multi-turn actuator with an IP68 outer cover to prevent foreign objects and water intrusion. The mounting base 1 is used as a base support component for power output, which is used to fix the valve flange adapter plate 3 to transmit torque to achieve the opening and closing of the valve.

[0038] The encoder fixing plate 22 is provided below the top cover 28 and above the driving motor, and an encoder 25 component is installed on the encoder fixing plate 22 .

[0039] In this embodiment, the encoder 25 assembly includes an encoder 25, an encoder seat 38 and an encoder gear 35 on the intermediate shaft. The encoder 25 includes a first encoder 25 and a second encoder 25. A first encoder gear 36 is provided at the bottom of the first encoder 25, and a second encoder gear 37 is provided at the bottom of the second encoder 25. The first encoder gear 36 and the second encoder gear 37 differ by one tooth. The encoder gear 35 on the intermediate shaft is sleeved on the outside of the intermediate shaft 4. The encoder gear 35 on the intermediate shaft is used to transmit the rotational motion of the intermediate shaft 4. The encoder gear 35 on the intermediate shaft is meshed with the first encoder gear 36 and the second encoder gear 37 respectively.

[0040] The encoder 25 uses a double set of high-precision magnetic encoders 25, and is provided with two sets of signal transmission gears, namely, the first encoder gear and the second encoder gear 37. The two sets of gears are made of silent, maintenance-free, high-strength, wear-resistant plastics, and the number of rotations and angles of the actuator are determined by the received signal difference. The first encoder gear 36 and the second encoder gear 37 differ by one tooth. By comparing the prime numbers 31 and 13 through the least common multiple, it can be calculated that a maximum of 2015 circles can be memorized.

[0041] The encoder fixing plate 22 provides stable support and precise positioning for the encoder 25 assembly and the encoder 25 seat assembly, ensuring that the relative position of the two remains unchanged, effectively ensuring the accurate signal acquisition based on the tooth number difference and the precise maintenance of the transmission ratio. The encoder gear 35 on the intermediate shaft transmits the rotational motion of the intermediate shaft 4 to the encoder 25, and the matching hole can be flexibly adjusted according to the size of the intermediate shaft 4. The encoder seat 38 is a fixed seat for the encoder 25 standard part, and can be installed according to different sizes.

[0042] It comprises a handwheel operation assembly, which comprises a rotor emergency operation connecting gear 23 , a handwheel operation connecting gear 24 , a handwheel operation connecting shaft 26 and a handwheel operation shaft 29 .

[0043] An installation cavity is opened at the top of the top cover 28, and the installation cavity passes through the top cover 28 and the fixing ring of the encoder 25, and the handwheel operation assembly is installed in the installation cavity; the handwheel operation shaft 29 is arranged above the handwheel operation connecting shaft 26, and is transmission connected to the handwheel operation connecting shaft 26, and the lower end of the handwheel operation connecting shaft 26 is fixedly connected to the handwheel operation connecting gear 24; the rotor emergency operation connecting gear 23 is arranged around the motor rotor housing 21; the handwheel operation connecting gear 24 is meshed with the rotor emergency operation connecting gear 23.

[0044] In this embodiment, the handwheel operating shaft 29 that can be normally disengaged gives the actuator flexible control characteristics. It can be disengaged to avoid interference during electric operation, and manually connected in case of failure or power failure to achieve manual emergency operation, ensure the stable operation of the actuator under different working conditions, and enhance the reliability and adaptability of the system. After the handwheel operating shaft 29 is connected to the handwheel, it drives the handwheel operation connecting shaft 26 to rotate, and then drives the handwheel operation connecting gear 24 to rotate, drives the drill emergency operation connecting gear to rotate, thereby drives the rotor housing 21 to rotate, drives the intermediate shaft 4 to rotate, and the intermediate shaft 4 drives the valve stem connecting shaft 2 to rotate.

[0045] A valve flange adapter plate 3 and a valve stem connecting shaft 2 are provided at the bottom of the shell. The valve stem connecting shaft 2 passes through the valve flange connecting plate, and the valve stem connecting shaft 2 is rotatably connected to the valve flange connecting plate. The valve flange connecting plate is fixedly connected to the mounting base 1, and the valve stem connecting shaft 2 is fixedly connected to the intermediate shaft 4.

[0046] In this embodiment, the valve stem connecting shaft 2 realizes power transmission, and the valve stem connecting shaft 2 plays a key bridge role in the valve system. It transmits the power generated by the electric actuator to the valve stem, so that the valve stem can rotate or move linearly according to the instructions of the actuator, thereby realizing the opening and closing operation of the valve; it can adapt to different components, and the electric actuator and the valve stem may have different shapes, sizes and connection methods. The valve flange adapter plate 3 is used to connect flanges and valves of different specifications. The intermediate shaft 4 and the valve stem connecting shaft 2 are both hollow structures, and the interiors of the intermediate shaft 4 and the valve stem connecting shaft 2 are interconnected. In this way, the valve lifting rod can pass through the valve stem connecting shaft 2 and the intermediate shaft 4, and at the same time, by utilizing the hollow inner cavity space, the height of the gear box can be reduced to a very low level.

[0047] A connecting shaft sealing ring 9 is provided between the intermediate shaft 4 and the valve stem connecting shaft 2. The hollow shaft and the connecting shaft sealing ring 9 can prevent leakage, water and dust, protect internal components, and ensure stable operation.

[0048] A circuit board box bracket 31 is provided on the side of the top outer cover 27, a circuit board box 32 is provided on the circuit board box bracket 31, the circuit board box 32 is detachably connected to the circuit board box bracket 31, a through hole is opened at the position where the top outer cover 27 is connected to the circuit board, and a cable sleeve 30 is sleeved in the through hole.

[0049] The circuit board box bracket 31 provides a stable installation position and seal for the circuit board box 32, protects the circuit board from mechanical vibration and external force interference, ensures stable electrical connection, and facilitates good grounding, heat dissipation and wiring management. As a carrier of electronic components such as junction boxes and circuit boards, the circuit board box 32 provides physical protection for the circuit board to prevent dust, moisture and physical damage. At the same time, it helps electromagnetic shielding, reduces electromagnetic interference, and ensures the normal operation of electronic components on the circuit board and stable signal transmission. The cable cover 30 is a protective cover for the lead-out wires of the motor and electronic devices, ensuring the insulation safety and cable protection of the product.

[0050] The rotor self-locking internal gear ring 20, the upper planetary gear 18 in the motor cavity, the lower planetary gear 16 in the motor cavity, the first-stage sun gear input shaft 15, the first-stage sun gear 14, the second-stage planetary internal gear ring 12, the second-stage planetary gear 13, the second-stage sun gear 5, the third-stage planetary gear 6 and the third-stage planetary internal gear ring 10 are all made of high-strength 42CrMo alloy steel QPQ and nitriding strengthening treatment, and then fine grinding process.

[0051] Power transmission and deceleration and torque increase principle The present invention adopts a self-designed motor as a driving force source. When the motor is started, the rotor self-locking inner gear ring 20 in the motor rotor housing 21 begins to rotate, driving the planetary gear 16 in the motor cavity to rotate. The planetary gear 16 in the motor cavity rotates. On the one hand, it transmits power to the first-stage sun gear 14 through the meshing relationship with the first-stage sun gear input shaft 15; on the other hand, it transmits power step by step to the third-stage planetary gear 6 and the third-stage planetary bracket (i.e., the intermediate shaft 4) through the meshing relationship with the input gear 19 on the intermediate shaft. During the power transmission process, due to the transmission ratio setting of the planetary gear system at each stage and the different speeds and torque inputs at both ends of the intermediate shaft 4, the functions of deceleration and torque amplification are realized through the differential principle. After testing, the full-rotation actuator of the present invention can achieve a maximum torque of 500Nm and a speed of 36Rpm. The performance indicators meet the needs of various industrial application scenarios for high torque and low speed output, and have broad application prospects in valve control and other fields. During the entire implementation process, the precise coordination and collaborative work between the various components, as well as the unique planetary gear train design and motor drive method, together constitute the core technical advantage of the hollow compact design of the full-rotation actuator of the present invention, ensuring that the actuator achieves efficient and stable operating performance in a compact space.

[0052] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily conceived by any technician familiar with the technical field within the technical scope disclosed by the present invention should be covered within the protection scope of the present invention.

Claims

1. A full-turn actuator, characterized in that: include: A housing, an intermediate shaft (4) arranged inside the housing, a planetary gear reduction mechanism, and a drive motor; The intermediate shaft (4) passes through the upper and lower ends of the housing and is rotatably connected to the upper and lower ends of the housing. The intermediate shaft (4) passes through the drive motor and the planetary gear reduction mechanism in sequence from top to bottom. An input gear (19) is disposed around the intermediate shaft (4) at a position corresponding to the drive motor, and the input gear (19) is drivingly connected to the drive motor; The drive motor comprises a motor rotor housing (21), a rotor self-locking internal gear ring (20) arranged inside the motor rotor housing (21), a motor inner cavity upper planetary gear (18), a motor inner cavity lower planetary gear (16) and a motor inner cavity planetary bracket (17); the intermediate shaft (4) passes through the motor rotor housing (21) and the motor inner cavity planetary bracket (17), and the intermediate shaft (4) is rotatably connected to the motor rotor housing (21) and the motor inner cavity planetary bracket (17), respectively; the motor inner cavity upper planetary gear (18) is rotatably mounted on the upper side of the motor inner cavity planetary bracket (17), the motor inner cavity lower planetary gear (16) is rotatably mounted on the lower side of the motor inner cavity planetary bracket (17), the rotor self-locking internal gear ring (20) is fixedly mounted on the upper part of the inner cavity of the motor rotor housing (21), the motor inner cavity upper planetary gear (18) meshes with the rotor self-locking internal gear ring (20) and the input teeth, and the motor inner cavity lower planetary gear (16) is drivingly connected to a planetary gear reduction mechanism.

2. The full-turn actuator according to claim 1, characterized in that: The planetary gear reduction mechanism comprises a primary sun gear input shaft (15), a primary sun gear (14), a secondary planetary internal gear ring (12), a secondary planetary gear (13), a secondary planetary gear (13) bracket, a secondary sun gear (5), a third planetary gear (6) and a third planetary internal gear ring (10); The first-stage sun gear input shaft (15) is a hollow structure. The first-stage sun gear input shaft (15) is sleeved outside the intermediate shaft (4) and is rotationally connected to the intermediate shaft (4). The first-stage sun gear input shaft (15) extends into the interior of the motor rotor housing (21) and meshes with the planetary gear (16) below the motor inner cavity. The outer middle portion of the first-stage sun gear input shaft (15) is rotationally connected to the lower portion of the motor rotor housing (21), and the lower portion of the first-stage sun gear input shaft (15) is drivingly connected to the first-stage sun gear (14). The first-stage sun gear (14) is sleeved on the outside of the first-stage sun gear input shaft (15), an outer gear ring is provided on the outside of the first-stage sun gear (14), and the outer gear ring of the first-stage sun gear (14) is meshed with the second-stage planetary gear (13); The intermediate shaft (4) passes through the secondary planetary gear (13) bracket and is rotatably connected to the secondary planetary gear (13) bracket; the secondary planetary gear (13) is rotatably mounted on the secondary planetary gear (13) bracket; and the secondary planetary gear (13) bracket is drivingly connected to the secondary sun gear (5); The inner gear ring of the secondary planetary gear (13) is arranged on the periphery of the secondary planetary gear (13) and meshes with the secondary planetary gear (13); The intermediate shaft (4) passes through the secondary sun gear (5) and is rotationally connected to the secondary sun gear (5); the secondary sun gear (5) is arranged obliquely below the secondary planetary gear (13) bracket, and the upper part of the secondary sun gear (5) is transmission-connected to the inner wall of the secondary planetary gear (13) bracket; the secondary planetary gear (13) bracket drives the secondary sun gear (5) to rotate, and the secondary sun gear (5) meshes with the tertiary planetary gear (6); The lower end of the intermediate shaft (4) extends toward the circumferential side to form a mounting platform, the three-stage planetary gear (6) is rotatably mounted on the mounting platform, the inner gear ring of the three-stage planetary gear (6) is arranged on the periphery of the three-stage planetary gear (6), and the three-stage planetary gear (6) is meshed with the inner gear ring of the three-stage planetary gear (6).

3. The full-rotation actuator according to claim 2, characterized in that: The housing comprises a top cover (28), a top outer cover (27), an intermediate plate (11), a bottom outer cover (8) and a mounting base (1) which are arranged in order from top to bottom, the top outer cover (27) and the bottom outer cover (8) having the same cross-sectional shape and both being closed figures, the intermediate plate (11) being provided with a mounting groove, the bottom of the drive motor being mounted in the mounting groove; The top cover (28), the top outer cover (27), the middle plate (11), the bottom outer cover (8) and the mounting base (1) are fixedly connected by bolts and nuts.

4. The full-rotation actuator according to claim 3, characterized in that: The top end of the intermediate shaft (4) is rotatably connected to the top cover (28), and the lower end of the intermediate shaft (4) is rotatably connected to the mounting base (1).

5. The full-rotation actuator according to claim 4, characterized in that: It also includes an encoder fixing disk (22), the encoder fixing disk (22) being arranged below the top cover (28) and above the drive motor, and an encoder (25) component being mounted on the encoder fixing disk (22).

6. The full-rotation actuator according to claim 5, characterized in that: The encoder (25) assembly comprises an encoder (25), an encoder seat (38) and an encoder gear (35) on an intermediate shaft, the encoder (25) comprising a first encoder (25) and a second encoder (25), a first encoder gear (36) being arranged at the bottom of the first encoder (25), a second encoder gear (37) being arranged at the bottom of the second encoder (25), and the first encoder gear (36) and the second encoder gear (37) differ by one tooth; The encoder gear (35) on the intermediate shaft is sleeved on the outside of the intermediate shaft (4), the encoder gear (35) on the intermediate shaft is used to transmit the rotational motion of the intermediate shaft (4), and the encoder gear (35) on the intermediate shaft is respectively meshed with the first encoder gear (36) and the second encoder gear (37).

7. The full-rotation actuator according to claim 6, characterized in that: Also included is a handwheel operating assembly, the handwheel operating assembly comprising a rotor emergency operation connecting gear (23), a handwheel operating connecting gear (24), a handwheel operating connecting shaft (26) and a handwheel operating shaft (29); The top of the top cover (28) is provided with an installation cavity, the installation cavity penetrates the top cover (28) and the encoder (25) fixing ring, and the handwheel operation assembly is installed in the installation cavity; the handwheel operation shaft (29) is arranged above the handwheel operation connecting shaft (26) and is transmission-connected to the handwheel operation connecting shaft (26), and the lower end of the handwheel operation connecting shaft (26) is fixedly connected to the handwheel operation connecting gear (24); the rotor emergency operation connecting gear (23) is arranged around the motor rotor housing (21); and the handwheel operation connecting gear (24) is meshed with the rotor emergency operation connecting gear (23).

8. The full-rotation actuator according to claim 7, characterized in that: A valve flange adapter plate (3) and a valve stem connecting shaft (2) are provided at the bottom of the housing; the valve stem connecting shaft (2) passes through the valve flange connecting plate, and the valve stem connecting shaft (2) is rotatably connected to the valve flange connecting plate; the valve flange connecting plate is fixedly connected to the mounting base (1), and the valve stem connecting shaft (2) is fixedly connected to the intermediate shaft (4).

9. The full-rotation actuator according to claim 8, characterized in that: The intermediate shaft (4) and the valve stem connecting shaft (2) are both hollow structures, and the interiors of the intermediate shaft (4) and the valve stem connecting shaft (2) are interconnected.

10. The full-rotation actuator according to claim 9, characterized in that: A connecting shaft sealing ring (9) is provided between the intermediate shaft (4) and the valve stem connecting shaft (2).

11. The full-rotation actuator according to claim 10, characterized in that: A circuit board box bracket (31) is arranged on the side of the top outer cover (27), a circuit board box (32) is arranged on the circuit board box bracket (31), the circuit board box (32) and the circuit board box bracket (31) are detachably connected, and a through hole is opened at the position where the top outer cover (27) is connected to the circuit board, and a cable sleeve (30) is sleeved in the through hole.

12. The full-rotation actuator according to claim 11, characterized in that: The rotor self-locking internal gear ring (20), the motor inner cavity upper planetary gear (18), the motor inner cavity lower planetary gear (16), the first-stage sun gear input shaft (15), the first-stage sun gear (14), the second-stage planetary internal gear ring (12), the second-stage planetary gear (13), the second-stage sun gear (5), the third-stage planetary gear (6) and the third-stage planetary internal gear ring (10) are all made of high-strength 42CrMo alloy steel QPQ and subjected to nitriding strengthening treatment.

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