A single-phase motor proportional actuator and a proportional control method thereof

Abstract

The application discloses a single-phase motor proportional actuator and a proportional control method thereof, which comprises a shell, an executing mechanism and a fine adjustment mechanism. The front end of the shell is fixedly connected with a cover plate. The executing mechanism comprises a transmission shaft and a bearing seat. The bearing seat is fixedly connected to the middle part of the bottom wall of the shell. The middle part of the bearing seat is rotatably connected with the transmission shaft through a bearing. The front end of the transmission shaft penetrates through the through hole in the middle part of the cover plate. The fine adjustment mechanism comprises a cross shaft, guide rails and inclined tables. The cross shaft is fixedly sleeved on the front end of the transmission shaft and located at the front end of the bearing seat. The left and right sides of the middle part of the top wall and the middle part of the bottom wall of the shell are fixedly connected with the guide rails. The inclined tables are slidably connected between the upper and lower adjacent guide rails. The single-phase motor proportional actuator and the proportional control method thereof compensate the angle deviation caused by the overshoot of the single-phase motor and the gear gap error by adjusting the overall angle of the cross shaft and the transmission shaft in the mode that the inclined tables extrude the cross shaft.

Description

Technical Field

[0001] This invention relates to the field of actuator technology, specifically to a single-phase motor proportional actuator and its proportional control method. Background Technology

[0002] An electric actuator is a core device that converts electrical signals into mechanical motion, and it is widely used in industrial automation, robotics, automotive electronics, and smart homes. Its basic working principle is based on electromagnetic induction or motor drive technology. A controller receives command signals, drives the motor to rotate, and then a transmission mechanism converts the motor's rotational motion into linear or angular displacement, thereby precisely controlling the external load.

[0003] A proportional actuator is a high-precision control device that continuously and proportionally adjusts the output displacement, velocity, or force based on the strength of the input signal. It typically consists of a motor, a high-precision transmission mechanism, and a built-in position feedback sensor. During operation, the controller compares the input target value with the actual position feedback from the sensor in real time, and precisely adjusts the motor action through a closed-loop control algorithm until the set position is reached. However, in gear-driven proportional actuators, overshoot of the motor and gear backlash can cause overshoot of the transmission shaft and other issues, resulting in a slight deviation in the actual angle of the transmission shaft. Therefore, we propose a single-phase motor proportional actuator and its proportional control method. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to overcome the existing defects and provide a single-phase motor proportional actuator and its proportional control method. By using a slanted platform to squeeze the cross shaft, the overall angle of the cross shaft and the transmission shaft is finely adjusted, which compensates for the angle deviation caused by the overshoot of the single-phase motor and the gear backlash error, and can effectively solve the problems in the background art.

[0005] To achieve the above objectives, the present invention provides the following technical solution: a single-phase motor proportional actuator, comprising a housing, an actuator, and a fine-tuning mechanism;

[0006] The outer casing has a cover plate fixedly connected to its front end;

[0007] Actuator: It includes a drive shaft and a bearing housing. The bearing housing is fixedly connected to the middle of the bottom wall of the housing. The drive shaft is rotatably connected to the middle of the bearing housing through a bearing. The front end of the drive shaft passes through the through hole in the middle of the cover plate.

[0008] Fine-tuning mechanism: It includes a cross shaft, guide rails and inclined platforms. The cross shaft is fixedly sleeved on the front end of the transmission shaft. The cross shaft is located at the front end of the bearing seat. Guide rails are fixedly connected to the left and right sides of the middle of the top wall and the middle of the bottom wall of the outer shell. Inclined platforms are slidably connected between two adjacent guide rails. The upper end of the inclined surface of the inclined platform is inclined away from the cross shaft. The inclined platforms are used in conjunction with the cross shaft. The overall angle of the cross shaft and the transmission shaft is finely adjusted by pressing the cross shaft with the inclined platforms to compensate for the angle deviation caused by the overshoot of the single-phase motor and the gear backlash error.

[0009] Furthermore, it also includes a controller, which is located on the left side of the housing. The input terminal of the controller is electrically connected to an external power source to control electrical appliances.

[0010] Furthermore, the actuator also includes a single-phase motor, a transmission gear, and a gear set. The gear set is fixedly connected to the inner rear end of the housing. The single-phase motor is fixedly connected to the rear side of the gear set. The input gear of the gear set is fixedly sleeved on the front end of the output shaft of the single-phase motor. The transmission gear is fixedly sleeved on the rear end of the transmission shaft. The transmission gear is located at the rear end of the bearing housing. The output gear is fixedly sleeved on the front end of the output shaft of the gear set. The transmission gear and the output gear are meshed and connected. The input end of the single-phase motor is electrically connected to the output end of the controller, driving the rotating shaft to rotate.

[0011] Furthermore, the fine-tuning mechanism also includes a thin-film pressure sensor, which is respectively bonded to the inclined surface of the inclined platform. The thin-film pressure sensor is bidirectionally electrically connected to the controller to detect the pressure applied by the cross shaft by the inclined platform.

[0012] Furthermore, the fine-tuning mechanism also includes a mounting plate and a lead screw motor. The mounting plates are fixedly connected to the left and right sides of the housing, respectively. Lead screw motors are fixedly connected to the opposite outer sides of the two mounting plates. The lead screw of the lead screw motor is threaded to the middle of the adjacent inclined platform at one end, and the input end of the lead screw motor is electrically connected to the output end of the controller to drive the inclined platform to slide.

[0013] Furthermore, brackets are fixedly connected to both the left and right sides of the bottom wall of the outer casing, and position switches are fixedly connected to the upper end of each bracket. The position switches are all located behind the adjacent inclined platform, and are used in conjunction with the adjacent inclined platform on the front side. The position switches are all bidirectionally electrically connected to the controller to detect whether the inclined platform has been reset.

[0014] Furthermore, an angle sensor is fixedly connected to the rear side of the cover plate, and the front end of the drive shaft is fixedly sleeved inside the detection hole of the angle sensor. The angle sensor is bidirectionally electrically connected to the controller to detect the position of the drive shaft.

[0015] The present invention also includes a proportional control method for a single-phase motor proportional actuator, comprising the following steps:

[0016] (S1: Install the proportional actuator of this single-phase motor through the through hole of the cover plate, and connect the front end of the drive shaft to the transmission mechanism;

[0017] (S2: The controller sends a control signal, and the output shaft of the single-phase motor drives the transmission shaft to rotate through the gear set and transmission gear. The angle sensor detects the angle change of the transmission shaft in real time and feeds it back to the controller to realize closed-loop control.

[0018] (S3: The controller compares the actual angle fed back by the angle sensor with the pre-input angle to make fine adjustments to the angle of the drive shaft. First, the left lead screw motor is started. The left lead screw motor drives the left inclined table to push towards the cross shaft. The angle of the drive shaft is adjusted by squeezing the cross shaft.

[0019] (S4: If the difference between the drive shaft angle and the pre-input angle increases, the left inclined platform moves away from the cross shaft, and the right inclined platform is pushed towards the cross shaft in the same way, so as to realize the reverse rotation of the cross shaft, and thus realize the reverse rotation adjustment of the drive shaft.

[0020] (S5: After adjustment, the ramp that is not in contact with the cross shaft is pushed back towards the cross shaft. The controller judges the pressure applied to the cross shaft by the ramp through the feedback of the membrane pressure sensor. Since the two ramps push the cross shaft to rotate at opposite angles when they are not at a special angle, the angle of the cross shaft is locked when both ramps are in contact with the cross shaft, and the angle of the transmission shaft is mechanically self-locked.

[0021] Compared with the prior art, the beneficial effects of the present invention are as follows: This single-phase motor proportional actuator and its proportional control method have the following advantages:

[0022] When this single-phase motor proportional actuator is in use, and the rotation angle of the drive shaft is within the applicable angle range, the inclined platforms on the left and right sides will respectively push the entire assembly consisting of the cross shaft and the drive shaft to rotate in opposite directions, thereby correcting the rotation angle of the drive shaft. While retaining the higher transmission efficiency of gear-type proportional actuators, it also provides more precise adjustment. Furthermore, when both inclined platforms are in contact with the cross shaft, the cross shaft can be self-locked without the need for an additional self-locking mechanism. Attached Figure Description

[0023] Figure 1 This is a schematic diagram of the structure of the present invention;

[0024] Figure 2 This is a cross-sectional structural diagram of the present invention.

[0025] In the diagram: 1. Housing, 2. Controller, 3. Actuator, 31. Single-phase motor, 32. Drive shaft, 33. Drive gear, 34. Bearing seat, 35. Gear set, 4. Fine adjustment mechanism, 41. Cross shaft, 42. Thin-film pressure sensor, 43. Guide rail, 44. Inclined platform, 45. Mounting plate, 46. Lead screw motor, 5. Position switch, 6. Bracket, 7. Cover plate, 8. Angle sensor. Detailed Implementation

[0026] 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.

[0027] Please see Figure 1-2 This embodiment provides a technical solution: a single-phase motor proportional actuator and its proportional control method.

[0028] A single-phase motor proportional actuator includes the following steps: a housing 1, an actuator 3, and a fine-tuning mechanism 4;

[0029] Outer shell 1: Its front end is fixedly connected to a cover plate 7;

[0030] Actuator 3: It includes a drive shaft 32 and a bearing housing 34. The bearing housing 34 is fixedly connected to the middle of the bottom wall of the housing 1. The drive shaft 32 is rotatably connected to the middle of the bearing housing 34 via a bearing. The front end of the drive shaft 32 passes through the through hole in the middle of the cover plate 7. Actuator 3 also includes a single-phase motor 31, a transmission gear 33, and a gear set 35. The gear set 35 is fixedly connected to the rear end of the housing 1. The single-phase motor 31 is fixedly connected to the rear side of the gear set 35. The input gear of the gear set 35 is fixedly sleeved on the front end of the output shaft of the single-phase motor 31. The rear end of the drive shaft 32 is fixedly sleeved on the front end of the output shaft of the single-phase motor 31. A transmission gear 33 is provided, which is located at the rear end of the bearing housing 34. An output gear is fixedly sleeved on the front end of the output shaft of the gear set 35. The transmission gear 33 and the output gear are meshed and connected. The input end of the single-phase motor 31 is electrically connected to the output end of the controller 2. The controller 2 sends a control signal. The output shaft of the single-phase motor 31 drives the transmission shaft 32 to rotate through the transmission of the gear set 35 and the transmission gear 33. The gear set 35 is a commonly used reduction gear set in the prior art. The gear connected to the output shaft of the single-phase motor 31 is the small gear in the first set of reduction gears in the gear set 35.

[0031] An angle sensor 8 is fixedly connected to the rear side of the cover plate 7. The front end of the drive shaft 32 is fixedly sleeved inside the detection hole of the angle sensor 8. The angle sensor 8 is bidirectionally electrically connected to the controller 2. The angle sensor 8 detects the angle change of the drive shaft 32 in real time and feeds it back to the controller 2 to realize closed-loop control. The controller 2 compares the actual angle of the drive shaft 32 with the pre-input angle and executes the angle correction program of the drive shaft 32.

[0032] Fine-tuning mechanism 4 includes a cross shaft 41, guide rails 43, and inclined platforms 44. The cross shaft 41 is fixedly sleeved on the front end of the transmission shaft 32 and is located at the front end of the bearing seat 34. Guide rails 43 are fixedly connected to the left and right sides of the middle of the top and bottom walls of the outer casing 1. Inclined platforms 44 are slidably connected between two adjacent guide rails 43. The upper ends of the inclined surfaces of the inclined platforms 44 are inclined away from the cross shaft 41. The inclined platforms 44 are used in conjunction with the cross shaft 41. Fine-tuning mechanism 4 also includes mounting plates 45 and lead screw motors 46. Mounting plates 45 are fixedly connected to the left and right sides of the outer casing 1, respectively. Lead screw motors 46 are fixedly connected to the opposite outer sides of the two mounting plates 45. The lead screw of the lead screw motor 46 is close to the cross shaft 41. One end of 1 is threadedly connected to the middle of the adjacent inclined platform 44. The input end of the lead screw motor 46 is electrically connected to the output end of the controller 2. The controller 2 first controls the left lead screw motor 46 to start. The lead screw of the left lead screw motor 46 rotates, causing the left inclined platform 44 to slide between the two guide rails 43. The inclined surface of the left inclined platform 44 slides towards the cross shaft 41. The protrusions of the cross shaft 41 are all arc-shaped. The upper end of the inclined surface of the inclined platform 44 is inclined away from the cross shaft 41. The angle between the inclined surface of the inclined platform 44 and the horizontal plane is 80°. When the inclined surface of the inclined platform 44 contacts the arc surface of the adjacent protrusion of the cross shaft 41, it pushes the cross shaft 41 to rotate around the central axis of the transmission shaft 32, causing the transmission shaft 32 to rotate.

[0033] The fine-tuning mechanism 4 also includes a thin-film pressure sensor 42, which is attached to the inclined surface of the inclined platform 44. The thin-film pressure sensor 42 is bidirectionally electrically connected to the controller 2. When the inclined surface of the inclined platform 44 contacts the arc protrusion adjacent to the cross shaft 41, the thin-film pressure sensor 42 detects the pressure change and feeds it back to the controller 2. When the pressure detected by the thin-film pressure sensor 42 exceeds the preset threshold set by the controller 2, the controller 2 controls the corresponding lead screw motor 46 to shut down to avoid overloading the corresponding lead screw motor 46. The preset threshold is determined during equipment debugging.

[0034] A bracket 6 is fixedly connected to both the left and right sides of the bottom wall of the outer casing 1. A position switch 5 is fixedly connected to the upper end of each bracket 6. The position switches 5 are all located behind the adjacent inclined platform 44. The position switches 5 are used in conjunction with the adjacent inclined platform 44 on the front side. The position switches 5 are all bidirectionally electrically connected to the controller 2. When the inclined platform 44 retracts, the detection point of the position switch 5 serves as the zero point position of the inclined platform 44. When the position switch 5 detects that the inclined platform 44 has reached its position, it sends a signal to the controller 2, and the lead screw motor 46 is turned off to avoid interference.

[0035] It also includes a controller 2, which is located on the left side of the housing 1, and the input terminal of the controller 2 is electrically connected to an external power source.

[0036] A proportional control method for a single-phase motor proportional actuator includes the following steps:

[0037] S1: Install the single-phase motor proportional actuator through the through hole of the cover plate 7, and connect the front end of the drive shaft 32 to the transmission mechanism;

[0038] S2: The controller 2 sends a control signal, and the output shaft of the single-phase motor 31 drives the transmission shaft 32 to rotate through the transmission of the gear set 35 and the transmission gear 33. The angle sensor 8 detects the angle change of the transmission shaft 32 in real time and feeds it back to the controller 2 to realize closed-loop control.

[0039] S3: The controller 2 compares the actual angle fed back by the angle sensor 8 with the pre-input angle and performs fine-tuning of the angle of the transmission shaft 32. First, the left lead screw motor 46 is started. The left lead screw motor 46 drives the left inclined table 44 to push towards the cross shaft 41. The angle of the transmission shaft 32 is adjusted by squeezing the cross shaft 41.

[0040] S4: If the difference between the angle of the drive shaft 32 and the pre-input angle increases, the left inclined platform 44 moves away from the cross shaft 41, and the right inclined platform 44 pushes towards the cross shaft 41 in the same way, so as to realize the reverse rotation of the cross shaft 41, and thus realize the reverse rotation adjustment of the drive shaft 32.

[0041] S5: After adjustment, the inclined platform 44, which is not in contact with the cross shaft 41, is pushed back towards the cross shaft 41. The controller 2 judges the pressure applied to the cross shaft 41 by the inclined platform 44 through the feedback of the membrane pressure sensor 42. Since the two inclined platforms 44 push the cross shaft 41 to rotate at opposite angles under non-special angle conditions, when both inclined platforms 44 are in contact with the cross shaft 41, the angle of the cross shaft 41 is locked, and the angle of the transmission shaft 32 achieves mechanical self-locking.

[0042] The working principle of the single-phase motor proportional actuator and its proportional control method provided by the present invention is as follows: The single-phase motor proportional actuator is installed through the through hole of the cover plate 7, and the front end of the transmission shaft 32 is connected to the transmission mechanism.

[0043] The controller 2 sends a control signal, and the output shaft of the single-phase motor 31 drives the transmission shaft 32 to rotate through the transmission of the gear set 35 and the transmission gear 33. The gear set 35 is a reduction gear set, and the gear connected to the output shaft of the single-phase motor 31 is the small gear in the first set of reduction gears in the gear set 35.

[0044] Angle sensor 8 detects the angle change of drive shaft 32 in real time and feeds it back to controller 2 to realize closed-loop control. Controller 2 compares the actual angle of drive shaft 32 with the pre-input angle and executes the angle correction program of drive shaft 32.

[0045] Controller 2 first controls the left lead screw motor 46 to start. The lead screw of the left lead screw motor 46 rotates, causing the left inclined platform 44 to slide between the two guide rails 43. The inclined surface of the left inclined platform 44 slides towards the cross shaft 41. The protrusions of the cross shaft 41 are all arc-shaped. The upper end of the inclined surface of the inclined platform 44 is inclined away from the cross shaft 41. The angle between the inclined surface of the inclined platform 44 and the horizontal plane is 80°. When the inclined surface of the inclined platform 44 contacts the arc surface of the adjacent protrusion of the cross shaft 41, it pushes the cross shaft 41 to rotate around the central axis of the transmission shaft 32, causing the transmission shaft 32 to rotate.

[0046] Angle sensor 8 detects angles from 0 to 360°. When the actual rotation angle of the transmission shaft 32 detected by angle sensor 8 deviates from the pre-input angle by more than 0.2°, it indicates that the left inclined platform 44 pushes the cross shaft 41 to rotate in the opposite direction. At this time, the left lead screw motor 46 drives the left inclined platform 44 to retract, and the right lead screw motor 46 similarly drives the right inclined platform 44 to push the cross shaft 41. The angle between the inclined surfaces of the left and right inclined platforms 44 in the front-back direction is 20°. The initial position is taken as the line connecting the centers of the arc protrusions at the upper and lower ends of the cross shaft 41 perpendicular to the horizontal plane. After rotating 90°, the position of the cross shaft 41 is the same as the initial position. In the initial position, the right inclined platform 44 pushes the cross shaft 41 to rotate counterclockwise when viewed from front to back, and the left inclined platform 44 pushes the cross shaft 41 to rotate clockwise when viewed from front to back. Under normal angles, the left and right inclined platforms 44 will push the cross shaft 41 to rotate in opposite directions.

[0047] The special angles are as follows: When the line connecting the right-side arc protrusion of the cross shaft 41 and the center of the cross shaft 41 is perpendicular to the inclined plane of the right-side ramp 44, that is, when the cross shaft 41 has rotated 10° from its initial position, the right-side ramp 44 cannot push the cross shaft 41 to rotate, and only the left-side ramp 44 can push the cross shaft 41 to rotate. Similarly, when the line connecting the left-side arc protrusion of the cross shaft 41 and the center of the cross shaft 41 is perpendicular to the inclined plane of the left-side ramp 44, only the right-side ramp 44 can push the cross shaft 41 to rotate. When the tangents of two adjacent arc protrusions of the cross shaft 41 are collinear and parallel to the inclined plane of the adjacent ramp 44, the corresponding ramp 44 will simultaneously contact the two arc protrusions, locking the position of the cross shaft 41. At this time, the ramp 44 in the opposite direction can push the cross shaft 41 to rotate.

[0048] When the inclined table 44 retracts, the detection point of the position switch 5 serves as the zero point position of the inclined table 44. When the position switch 5 detects that the inclined table 44 has reached its position, it sends a signal to the controller 2, and the lead screw motor 46 is turned off to avoid interference.

[0049] After the position of the drive shaft 32 is corrected, the inclined platform 44 on the opposite side pushes the cross shaft 41. Since the inclined platform 44 on the opposite side pushes the cross shaft 41 to rotate in opposite directions, and the lead screw of the lead screw motor 46 has a self-locking property, the cross shaft 41 is locked between the two inclined platforms 44, achieving mechanical locking.

[0050] When the inclined surface of the ramp 44 contacts the adjacent arc protrusion of the cross shaft 41, the diaphragm pressure sensor 42 detects the pressure change and feeds it back to the controller 2. When the pressure detected by the diaphragm pressure sensor 42 exceeds the preset threshold set by the controller 2, the controller 2 controls the corresponding lead screw motor 46 to shut down to avoid overloading of the corresponding lead screw motor 46. The preset threshold is determined during equipment debugging. The surface of the diaphragm pressure sensor 42 can be coated with Teflon to increase wear resistance.

[0051] When the cross shaft 41 rotates within the initial position range of 10-35°, both the left and right inclined platforms 44 will push the cross shaft 41 to rotate clockwise from front to back, making it unable to self-lock. When using this single-phase motor proportional actuator, attention should be paid to the applicable angle range. If full-angle self-locking is required, the length of the cross shaft 41, transmission shaft 32, and housing 1 can be increased, and another set of fine-tuning mechanisms 4 can be added. The angle between the inclined plane of the added fine-tuning mechanism 4 and the horizontal plane can both be 110°, and the angle between the inclined planes of the two inclined platforms 44 is 40°. The adjustment applicable angles of the two sets of fine-tuning mechanisms 4 are completely covered.

[0052] It is worth noting that the microcontroller built into the controller 2 disclosed in the above embodiments can be a PIC16F1823-I / P model microcontroller, the single-phase motor 31 can be a DKM series single-phase motor, the thin-film pressure sensor 42 can be an HWJ1 pressure sensor, the lead screw motor 46 can be an LA series lead screw motor, the position switch 5 can be a 73-1356T-A2-N magnetic position switch, the angle sensor 8 can be a HAPS24 hollow angle sensor, and the motor 95 can be freely configured according to the actual application scenario. The microcontroller 4 performs timing control of each process based on the feedback from the angle sensor 8 and the position switch 5. The controller 2 controls the operation of the single-phase motor 31, the thin-film pressure sensor 42, the lead screw motor 46, the position switch 5, and the angle sensor 8 using methods commonly used in the prior art.

[0053] The above description is merely an embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent structural or procedural transformations made based on the content of the present invention specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of the present invention.

Claims

1. A single-phase motor proportional actuator, characterized in that: It includes a housing (1), an actuator (3), and a fine-tuning mechanism (4); The outer casing (1) has a cover plate (7) fixedly connected to its front end; Actuator (3): It includes a drive shaft (32) and a bearing seat (34). The bearing seat (34) is fixedly connected to the middle of the bottom wall of the housing (1). The middle of the bearing seat (34) is rotatably connected to the drive shaft (32) through a bearing. The front end of the drive shaft (32) passes through the through hole in the middle of the cover plate (7). Fine-tuning mechanism (4): It includes a cross shaft (41), a guide rail (43) and a ramp (44). The cross shaft (41) is fixedly sleeved on the front end of the transmission shaft (32). The cross shaft (41) is located at the front end of the bearing seat (34). The left and right sides of the middle of the top wall and the middle of the bottom wall of the outer shell (1) are fixedly connected to the guide rail (43). The ramp (44) is slidably connected between two adjacent guide rails (43). The upper end of the ramp (44) is inclined away from the cross shaft (41). The ramp (44) is used in conjunction with the cross shaft (41).

2. The single-phase motor proportional actuator according to claim 1, characterized in that: It also includes a controller (2), which is located on the left side of the housing (1), and the input terminal of the controller (2) is electrically connected to an external power source.

3. A single-phase motor proportional actuator according to claim 2, characterized in that: The actuator (3) further includes a single-phase motor (31), a transmission gear (33) and a gear set (35). The gear set (35) is fixedly connected to the inner rear end of the housing (1). The single-phase motor (31) is fixedly connected to the rear side of the gear set (35). The input gear of the gear set (35) is fixedly sleeved on the front end of the output shaft of the single-phase motor (31). The transmission gear (33) is fixedly sleeved on the rear end of the transmission shaft (32). The transmission gear (33) is located at the rear end of the bearing seat (34). The output gear is fixedly sleeved on the front end of the output shaft of the gear set (35). The transmission gear (33) meshes with the output gear. The input end of the single-phase motor (31) is electrically connected to the output end of the controller (2).

4. A single-phase motor proportional actuator according to claim 2, characterized in that: The fine-tuning mechanism (4) also includes a thin-film pressure sensor (42), which is attached to the inclined surface of the inclined platform (44) and is bidirectionally electrically connected to the controller (2).

5. A single-phase motor proportional actuator according to claim 1, characterized in that: The fine-tuning mechanism (4) also includes a mounting plate (45) and a lead screw motor (46). The mounting plate (45) is fixedly connected to the left and right sides of the outer shell (1). The two mounting plates (45) are fixedly connected to the opposite outer sides of the outer surfaces of the two mounting plates (45). The lead screw of the lead screw motor (46) is threadedly connected to the middle of the adjacent inclined plate (44) at one end near the cross shaft (41). The input end of the lead screw motor (46) is electrically connected to the output end of the controller (2).

6. A single-phase motor proportional actuator according to claim 2, characterized in that: The bottom wall of the outer shell (1) is fixedly connected to the left and right sides of the bracket (6), and the upper end of the bracket (6) is fixedly connected to the position switch (5). The position switch (5) is located on the rear side of the adjacent inclined platform (44). The position switch (5) is used in conjunction with the adjacent inclined platform (44) on the front side. The position switch (5) is bidirectionally electrically connected to the controller (2).

7. A single-phase motor proportional actuator according to claim 1, characterized in that: An angle sensor (8) is fixedly connected to the rear side of the cover plate (7), and the front end of the drive shaft (32) is fixedly sleeved inside the detection hole of the angle sensor (8). The angle sensor (8) is bidirectionally electrically connected to the controller (2).

8. A proportional control method for a single-phase motor proportional actuator, characterized in that: The single-phase motor proportional actuator according to any one of claims 1-7 includes the following steps: (S1: Install the single-phase motor proportional actuator through the through hole of the cover plate (7), and connect the front end of the drive shaft (32) to the transmission mechanism; (S2: The controller (2) sends a control signal, and the output shaft of the single-phase motor (31) drives the transmission shaft (32) to rotate through the transmission of the gear set (35) and the transmission gear (33). The angle sensor (8) detects the angle change of the transmission shaft (32) in real time and feeds it back to the controller (2) to realize closed-loop control; (S3: The controller (2) compares the actual angle fed back by the angle sensor (8) with the pre-input angle and performs fine-tuning of the angle of the drive shaft (32). First, the left lead screw motor (46) is started. The left lead screw motor (46) drives the left inclined table (44) to push towards the cross shaft (41). The angle of the drive shaft (32) is adjusted by squeezing the cross shaft (41). (S4: If the difference between the angle of the drive shaft (32) and the pre-input angle increases, the left inclined platform (44) moves away from the cross shaft (41), and the right inclined platform (44) pushes towards the cross shaft (41) in the same way, so as to realize the reverse rotation of the cross shaft (41) and thus realize the reverse rotation adjustment of the drive shaft (32). (S5: After the adjustment is completed, the inclined platform (44) that is not in contact with the cross shaft (41) is pushed back to the cross shaft (41). The controller (2) judges the pressure applied to the cross shaft (41) by the inclined platform (44) through the feedback of the thin film pressure sensor (42). Since the two inclined platforms (44) push the cross shaft (41) to rotate at opposite angles under non-special angle conditions, when both inclined platforms (44) are in contact with the cross shaft (41), the angle of the cross shaft (41) is locked, and the angle of the transmission shaft (32) is mechanically self-locked.

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