Hollow gearbox and full-rotation actuator

Abstract

The utility model relates to a hollow gear box and a full-rotation actuator. The hollow gear box comprises a box body, 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 box body. The box body comprises a top cover, a top-layer outer cover, a middle plate, a bottom-layer outer cover and a mounting base which are sequentially arranged from top to bottom. The middle shaft penetrates through the top cover and the installation base, the top end of the middle shaft is rotationally connected with the top cover, and the lower end of the middle shaft is rotationally connected with the installation base. A valve flange transfer disc and a valve rod connecting shaft are arranged at the bottom of the box body, the middle shaft and the valve rod connecting shaft are each of a hollow structure, and the interior of the middle shaft is communicated with the interior of the valve rod connecting shaft. The intermediate shaft sequentially penetrates through the driving motor and the planetary gear reducing mechanism from top to bottom, and the driving motor, the intermediate shaft and the planetary gear reducing mechanism are in transmission connection. 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 utility model relates to the technical field of actuators, in particular to a hollow gear box and an omni-rotation actuator. Background Art

[0002] In marine systems, gate and globe valves, with their high performance and long travel, are widely used. These valves play a crucial role in fluid control during ship operations, and the complex operating conditions of vessels, in particular, place extremely high demands on valve control accuracy and reliability. In the field of electric valve actuators, technological development has consistently focused on optimizing performance to better suit marine systems.

[0003] For electric valve actuators, reducing size and weight, while improving ease of use, for more precise control of valve status, are key. In practical marine applications, particularly on luxury cruise ships with extremely limited space, demanding compactness and high efficiency are crucial. Compact size not only effectively utilizes limited vessel space but also greatly facilitates installation. Lightweightness, on the other hand, helps reduce the vessel's overall load and improves energy efficiency.

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

[0005] The purpose of the utility model is to provide a hollow gear box and an omni-rotation actuator to solve the problem of large size of existing electric actuators.

[0006] To achieve the above objectives, the present invention discloses a hollow gearbox comprising a housing, an intermediate shaft disposed within the housing, a planetary gear reduction mechanism, and a drive motor. The housing comprises, from top to bottom, a top cover, a top housing, an intermediate plate, a bottom housing, and a mounting base. The top cover, top housing, intermediate plate, bottom housing, and mounting base are fixedly connected via bolts and nuts. The intermediate shaft passes through the top cover and mounting base, with its top end rotatably connected to the top cover and its bottom end rotatably connected to the mounting base. A valve flange adapter plate and a valve stem connecting shaft are disposed at the bottom of the housing. The valve stem connecting shaft passes through the valve flange adapter plate and is rotatably connected to the valve flange adapter plate. The valve flange adapter plate is fixedly connected to the mounting base, and the valve stem connecting shaft is fixedly connected to the intermediate shaft. Both the intermediate shaft and the valve stem connecting shaft are hollow structures, and their interiors are interconnected. The intermediate shaft passes through the drive motor and the planetary gear reduction mechanism from top to bottom, and the drive motor, intermediate shaft, and planetary gear reduction mechanism are drivingly connected.

[0007] Preferably, an input gear is disposed around the intermediate shaft at a position corresponding to the drive motor, and the input gear is in transmission connection with the drive motor. A mounting slot is defined on the intermediate plate, and the bottom of the drive motor is mounted within the mounting slot. The drive motor comprises a motor rotor housing, a rotor self-locking internal gear ring disposed within the motor rotor housing, upper planetary gears within the motor cavity, lower planetary gears within the motor cavity, and a motor cavity planetary carrier. The intermediate shaft passes through the motor rotor housing and the motor cavity planetary carrier, and is rotationally connected to the motor rotor housing and the motor cavity planetary carrier, respectively. The upper planetary gears within the motor cavity are rotatably mounted on the upper side of the motor cavity planetary carrier, and the lower planetary gears within the motor cavity are rotatably mounted on the lower side of the motor cavity planetary carrier. The rotor self-locking internal gear ring is fixedly mounted on the upper portion of the motor rotor housing cavity. The upper planetary gears within the motor cavity mesh with the rotor self-locking internal gear ring and the input gears, and the lower planetary gears within the motor cavity are in transmission connection with a planetary gear reduction mechanism.

[0008] Preferably, the planetary gear reduction mechanism includes a primary sun gear input shaft, a primary sun gear, a secondary planetary ring gear, a secondary planetary gear, a secondary planetary gear carrier, a secondary sun gear, a third planetary gear, and a third planetary ring gear. The primary sun gear input shaft is a hollow structure, sleeved on the exterior of the intermediate shaft and rotatably connected thereto. The primary sun gear input shaft extends into the interior of the motor rotor housing and meshes with the planetary gears in the lower portion of the motor cavity. The middle outer portion of the primary sun gear input shaft is rotatably connected to the lower portion of the motor rotor housing, and the lower portion of the primary sun gear input shaft is transmission-connected to the primary sun gear. The primary sun gear is sleeved on the exterior of the primary sun gear input shaft, and an outer ring gear is defined on the exterior of the primary sun gear, which meshes with the secondary planetary gears. The intermediate shaft passes through the secondary planetary gear carrier and is rotationally connected thereto. The secondary planetary gears are rotatably mounted on the secondary planetary gear carrier, and the secondary planetary gear carrier is transmission-connected to the secondary sun gear. The secondary planetary gear inner ring gear is disposed on the periphery of the secondary planetary gears and meshes with the secondary planetary gears. The intermediate shaft passes through the secondary sun gear and is rotationally connected to the secondary sun gear. The secondary sun gear is disposed obliquely below the secondary planetary gear holder, and the upper portion of the secondary sun gear is drivingly connected to the inner wall of the secondary planetary gear holder. The secondary planetary gear holder drives the secondary sun gear in rotation, and the secondary sun gear meshes with the tertiary planetary gears. The lower end of the intermediate shaft extends circumferentially to form a mounting platform, on which the tertiary planetary gears are rotatably mounted. The tertiary planetary gear inner ring gear is disposed on the periphery of the tertiary planetary gears and meshes with the tertiary planetary gear inner ring gear.

[0009] Preferably, an encoder fixing disk is further included, wherein the encoder fixing disk is arranged below the top cover and above the drive motor, and an encoder assembly is installed on the encoder fixing disk.

[0010] Preferably, the encoder assembly includes an encoder, an encoder base, and an encoder gear on an 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 of the first encoder, and the second encoder is provided with a second encoder gear at the bottom of the second encoder. 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 and is used to transmit the rotational motion of the intermediate shaft. The encoder gear on the intermediate shaft meshes with the first encoder gear and the second encoder gear, respectively.

[0011] Preferably, the motor comprises a handwheel operating assembly, the handwheel operating assembly comprising 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 defined at the top of the top cover, the mounting cavity passing through the top cover and the encoder fixing ring, and the handwheel operating assembly is mounted within the mounting cavity; the handwheel operating shaft is disposed above the handwheel operating connecting shaft and is in transmission connection with the handwheel operating connecting shaft, the lower end of the handwheel operating connecting shaft being fixedly connected to the handwheel operating connecting gear; the rotor emergency operation connecting gear is disposed around the motor rotor housing; the handwheel operating connecting gear meshes with the rotor emergency operation connecting gear.

[0012] Preferably, a connecting shaft sealing ring is provided between the intermediate shaft and the valve stem connecting shaft.

[0013] 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 provided at the position where the top outer cover is connected to the circuit board, and a cable sleeve is provided in the through hole.

[0014] Preferably, the rotor self-locking internal gear ring, the upper planetary gear in the motor cavity, the lower planetary gear in the motor cavity, the first-stage sun gear input shaft, the first-stage sun gear, the second-stage planetary internal gear ring, the second-stage planetary gear, the second-stage sun gear, the third-stage planetary gear and the third-stage planetary internal gear ring are all made of high-strength CrMo alloy steel QPQ.

[0015] Preferably, an azimuth actuator comprises a hollow gearbox.

[0016] The utility model has the following beneficial effects:

[0017] 1. The full-rotation actuator of the utility model has a compact structure, small size, light weight and easy operation.

[0018] 2. The intermediate shaft and the valve stem connecting shaft of the utility model are hollow and interconnected, so that the valve lifting rod can pass through the intermediate shaft. By utilizing the hollow inner cavity space, the height of the gear box can be reduced to an extremely low level.

[0019] 3. Structurally, this utility model utilizes a unique hollow design concept, effectively utilizing internal space and reducing unnecessary space occupation. Simultaneously, the actuator's various functional components are meticulously designed and rationally arranged to ensure smoother coordination while minimizing overall size. To improve control efficiency, the optimized transmission mechanism, high-performance motor, and advanced control algorithms enable rapid and precise control of valve status.

[0020] 4. The utility model full-rotation actuator can achieve performance indicators of maximum torque of 500Nm and speed of 36Rpm, meeting the needs of various industrial application scenarios for high torque and low speed output, and has broad application prospects in fields such as valve control.

[0021] 5. Throughout the implementation of this utility model, 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 and compact design of the full-rotation actuator of this utility model, ensuring that the actuator achieves efficient and stable operating performance in a compact space.

[0022] 6. The utility model 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 needs; 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 This is a schematic overall cross-sectional view provided in a specific embodiment of the present utility model;

[0024] Figure 2 An exploded axial side view provided in a specific embodiment of the present utility model;

[0025] Figure 3 A side view of an external component of an actuator provided in a specific embodiment of the present utility model;

[0026] Figure 4 A side view of an external component of an actuator provided in a specific embodiment of the present utility model;

[0027] Figure 5 A cross-sectional view of a rotor drive assembly provided in a specific embodiment of the present utility model;

[0028] Figure 6 This is a schematic diagram of the motor cavity drive assembly provided in a specific embodiment of the present utility model;

[0029] Figure 7 This is a schematic diagram of a primary sun gear assembly provided in a specific embodiment of the present utility model;

[0030] Figure 8 A schematic diagram of the intermediate plate assembly and the secondary planetary ring gear provided in a specific embodiment of the present invention;

[0031] Figure 9 This is a schematic diagram of a secondary sun gear assembly provided in a specific embodiment of the present utility model;

[0032] Figure 10 This is a schematic diagram of a three-stage planetary gear and intermediate shaft assembly provided in a specific embodiment of the present utility model;

[0033] Figure 11 This is a schematic diagram of the shaft side of the encoder assembly provided in a specific embodiment of the present utility model.

[0034] Description of main components symbols:

[0035] 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 ring gear; 11. Intermediate plate; 12. Second-stage planetary ring gear; 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 ring gear; 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 outer 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

[0036] In order to make the purpose, technical solutions and advantages of the present invention more clear, the present invention is further described in detail below with reference to the accompanying drawings and embodiments.

[0037] Example 1

[0038] like Figures 1 to 11 As shown, the utility model discloses an omni-rotation actuator, comprising: a housing, an intermediate shaft 4 arranged inside the housing, a planetary gear reduction mechanism and a drive motor.

[0039] The housing comprises, arranged in descending order from top to bottom, a top cover 28, a top cover 27, a middle plate 11, a bottom cover 8, and a mounting base 1. The top cover 27 and the bottom cover 8 have identical, closed cross-sectional shapes. The middle plate 11 defines a mounting slot, into which the bottom of the drive motor is mounted. The bottom of the drive motor is rotatably connected to the mounting slot via a bearing. The top cover 28, top cover 27, middle plate 11, bottom cover 8, and mounting base 1 are secured together using bolts and nuts.

[0040] The intermediate shaft passes through the top cover 28 and the mounting base 1 , 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 .

[0041] A valve flange adapter plate 3 and a valve stem connecting shaft 2 are provided at the bottom of the box body. The valve stem connecting shaft 2 passes through the valve flange adapter plate 3, and the valve stem connecting shaft 2 is rotatably connected to the valve flange adapter plate 3. The valve flange adapter plate 3 is fixedly connected to the mounting base 1, and the valve stem connecting shaft 2 is fixedly connected to the intermediate shaft 4.

[0042] Intermediate shaft 4 and valve stem connecting shaft 2 are both hollow, and their interiors are interconnected. This allows the valve lift rod to pass through the actuator bore, gearbox, and motor in sequence. This allows the valve lift rod to pass through both valve stem connecting shaft 2 and intermediate shaft 4. Furthermore, by utilizing the hollow interior of the drive motor, the gearbox can be minimized.

[0043] In this embodiment, the valve stem connecting shaft 2 enables power transmission and plays a key role in the valve system. It transmits power generated by the electric actuator to the valve stem, enabling the valve stem to rotate or linearly move according to the actuator's instructions, thereby opening and closing the valve. It is adaptable to different components; the electric actuator and valve stem may have different shapes, sizes, and connection methods. The valve flange adapter 3 is used to connect flanges and valves of different specifications.

[0044] Intermediate shaft 4 passes through the drive motor and planetary gear reduction mechanism from top to bottom. The drive motor, intermediate shaft 4, and planetary gear reduction mechanism are connected in a transmission manner. The drive motor, intermediate shaft 4, and housing are aligned on a central axis, resulting in a compact structure that effectively reduces the size of the actuator. Intermediate shaft 4 is hollow, with its inner wall and the exterior of the housing exposed, ensuring a sealed structure during operation.

[0045] 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, waterproof, dustproof, protect internal components, and ensure stable operation.

[0046] In this embodiment, the top cover 28 is installed with a handwheel operating component and together with the exposed parts such as the outer cover of the rotating intermediate shaft 4, it is IP-rated for waterproof 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 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, and plays a supporting and stable transmission role. In the marine environment, the bottom outer cover 8, the IP68 outer cover protects the full-turn actuator and prevents foreign objects and water intrusion. The mounting base 1 is used as the base support component of the power output to fix the valve flange adapter plate 3 and transmit torque to realize the opening and closing of the valve.

[0047] An input gear 19 is disposed around the intermediate shaft 4 at a position corresponding to the drive motor, and is in transmission connection with the drive motor. The drive motor includes a motor rotor housing 21, a rotor self-locking internal gear ring 20 disposed within the motor rotor housing 21, upper planetary gears 18, lower planetary gears 16, and a motor inner cavity planetary carrier 17. The intermediate shaft 4 passes through the motor rotor housing 21 and the motor inner cavity planetary carrier 17 and is rotationally connected to the motor rotor housing 21 and the motor inner cavity planetary carrier 17, respectively. The upper planetary gears 18 are rotatably mounted on the upper side of the motor inner cavity planetary carrier 17, while the lower planetary gears 16 are rotatably mounted on the lower side of the motor inner cavity planetary carrier 17. The rotor self-locking internal gear ring 20 is fixedly mounted on the upper portion of the inner cavity of the motor rotor housing 21. The upper planetary gears 18 mesh with the rotor self-locking internal gear ring 20 and the input teeth. The lower planetary gears 16 are transmission connected to the planetary gear reduction mechanism.

[0048] In this embodiment, a self-designed motor is used as the driving force. The self-locking internal gear ring 20 in the motor rotor housing 21 rotates to drive the input gear 19 on the intermediate shaft 4. At the same time, the power is transmitted step by step to the three-stage planetary gear 6 and the three-stage planetary carrier (i.e., the intermediate shaft 4). Different speeds and torques are applied at both ends of the intermediate shaft 4 to achieve deceleration and torque amplification. The maximum torque can reach 500Nm and the speed can reach 36Rpm.

[0049] The planetary gear reduction mechanism includes a first-stage sun gear input shaft 15, a first-stage sun gear 14, a second-stage planetary ring gear 12, a second-stage planetary gear 13, a second-stage planetary gear 13 bracket, a second-stage sun gear 5, a third-stage planetary gear 6, and a third-stage planetary ring gear 10. The first-stage sun gear input shaft 15 is a hollow structure. It is sleeved on the outside of 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 lower planetary gears 16 in the motor 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.

[0050] The primary sun gear 14 is mounted on the outside of the primary sun gear input shaft 15. An outer ring gear is formed on the outside of the primary sun gear 14, meshing with the secondary planet gears 13. The intermediate shaft 4 passes through the support for the secondary planet gears 13 and is rotationally connected to the support. The secondary planet gears 13 are rotatably mounted on the support, which is in driving connection with the secondary sun gear 5. The inner ring gear of the secondary planet gear 13 is disposed on the periphery of the secondary planet gears 13 and meshes with them.

[0051] In this embodiment, the first-stage sun gear 14 is mounted on the first-stage sun gear input shaft 15. Its outer circumference is secured to the motor rotor housing 21 using two deep-groove ball bearings. Its inner wall is supported by two stacked thrust needle roller bearings, which support and rotate around the intermediate shaft 4. The motor's lower planetary gears 16 mesh with the first-stage sun gear input shaft 15. The upper planetary gears 18 mesh with the rotor's self-locking internal gear ring 20 on the outer side and with the intermediate shaft's input gear 19 on the inner side. The intermediate shaft's input gear 19 is keyed to the intermediate shaft 4 for synchronous operation. A motor's inner planetary carrier 17 is mounted in the center of this stage's planetary gears. A deep-groove ball bearing secures the carrier to the intermediate shaft 4 in both radial and axial directions.

[0052] Intermediate shaft 4 passes through and is rotationally connected to the secondary sun gear 5. The secondary sun gear 5 is positioned diagonally below the bracket for the secondary planetary gears 13. The upper portion of the secondary sun gear 5 is drivingly connected to the inner wall of the bracket for the secondary planetary gears 13. The bracket for the secondary planetary gears 13 drives the secondary sun gear 5 to rotate, and the secondary sun gear 5 meshes with the tertiary planetary gears 6. The lower end of the intermediate shaft 4 extends circumferentially to form a mounting platform, on which the tertiary planetary gears 6 are rotatably mounted. The inner ring gear of the tertiary planetary gear 6 is positioned around the outer periphery of the tertiary planetary gears 6, and the tertiary planetary gears 6 mesh with each other.

[0053] In this embodiment, the secondary sun gear 5 relies on the circumferential surface of the intermediate shaft 4 and the flat surface 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 integrated with the secondary planetary gear 13 bracket. The secondary planetary gear 13 bracket supports eight secondary planetary gears 13, which are respectively engaged with the secondary planetary inner gear ring 12 and the primary sun gear 14. The 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 radial positioning support is provided by the thrust needle roller bearing on the circumference of the secondary sun gear 5 and the intermediate shaft 4. The secondary planetary inner gear ring 12 is fixed in the intermediate plate 11, and the intermediate plate 11 is fixed to the base and the bottom outer cover 8.

[0054] The bottom level is the third-stage gear mechanism for the final output torque transmission, which transmits the largest torque. It includes an intermediate shaft 4, eight third-stage planetary gears 6 meshing with the third-stage planetary inner gear ring 10, and is supported on the intermediate shaft 4 by a set of deep groove ball bearings and two sets of upper and lower thrust needle roller bearings.

[0055] The encoder fixing plate 22 is provided below the top cover 28 and above the driving motor. The encoder fixing plate 22 is provided with an encoder 25 component.

[0056] In this embodiment, the encoder 25 assembly includes the encoder 25, an encoder base 38, and an intermediate shaft encoder gear 35. The encoder 25 includes a first encoder 25 and a second encoder 25. A first encoder gear 36 is disposed at the bottom of the first encoder 25, and a second encoder gear 37 is disposed at the bottom of the second encoder 25. The first encoder gear 36 and the second encoder gear 37 differ by one tooth. The intermediate shaft encoder gear 35 is sleeved on the exterior of the intermediate shaft 4 and is used to transmit the rotational motion of the intermediate shaft 4. The intermediate shaft encoder gear 35 meshes with the first encoder gear 36 and the second encoder gear 37, respectively.

[0057] Encoder 25 utilizes a dual set of high-precision magnetic encoders, equipped with two signal transmission gears: a first encoder gear and a second encoder gear 37. These two gears are made of quiet, maintenance-free, high-strength, wear-resistant plastic. The actuator's rotation number and angle are determined by the difference in received signals. The first encoder gear 36 and the second encoder gear 37 differ by one tooth. By comparing the prime numbers 31 and 13 using their lowest common multiple, calculations show that a maximum of 2015 rotations can be memorized.

[0058] The encoder mounting plate 22 provides stable support and precise positioning for the encoder 25 assembly and the encoder 25 mounting bracket, ensuring a constant relative position between them. This effectively ensures accurate signal acquisition based on the tooth number difference and 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. The mating hole can be flexibly adjusted to accommodate the size of the intermediate shaft 4. The encoder bracket 38 serves as the standard mounting bracket for the encoder 25 and can be adapted to accommodate different sizes.

[0059] It includes a handwheel operating assembly, which includes a rotor emergency operation connecting gear 23, a handwheel operation connecting gear 24, a handwheel operation connecting shaft 26 and a handwheel operating shaft 29.

[0060] An installation cavity is opened at the top of the top cover 28, which 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.

[0061] In this embodiment, the normally disengageable handwheel operating shaft 29 provides the actuator with flexible control features. It can be disengaged during electric operation to prevent interference, and manually engaged in the event of a fault or power outage, enabling manual emergency operation. This ensures stable operation of the actuator under various operating conditions and enhances system reliability and adaptability. Once connected to the handwheel, the handwheel operating shaft 29 rotates the handwheel operating connecting shaft 26, which in turn rotates the handwheel operating connecting gear 24, which in turn rotates the drill emergency operating connecting gear, which in turn rotates the rotor housing 21, which in turn rotates the intermediate shaft 4, which in turn rotates the valve stem connecting shaft 2.

[0062] A circuit board box bracket 31 is provided on the side of the top outer cover 27, and 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 provided in the through hole.

[0063] The circuit board box bracket 31 provides secure mounting and sealing for the circuit board box 32, protecting the circuit board from mechanical vibration and external interference, ensuring stable electrical connections, and facilitating good grounding, heat dissipation, and wiring management. As a carrier for electronic components such as the junction box and circuit boards, the circuit board box 32 provides physical protection for the circuit boards, preventing dust, moisture, and physical damage. It also contributes to electromagnetic shielding, reducing electromagnetic interference, and ensuring the proper operation of the electronic components on the circuit board and stable signal transmission. The cable cover 30 protects the lead-out wires of the motor and electronic components, ensuring product insulation safety and cable protection.

[0064] 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 subjected to nitriding strengthening treatment, and then fine grinding process.

[0065] Power transmission and deceleration and torque increase principle

[0066] This utility model uses an independently designed motor as its driving force. When the motor is started, the self-locking internal gear ring 20 within the motor rotor housing 21 begins to rotate, driving the planetary gears 16 below the motor cavity. This rotation of the planetary gears 16 transmits power to the first-stage sun gear 14 through meshing with the first-stage sun gear input shaft 15. Furthermore, through meshing with the input gear 19 on the intermediate shaft, the power is transmitted step by step to the third-stage planetary gears 6 and the third-stage planetary carrier (i.e., intermediate shaft 4). During this power transmission process, the transmission ratios of the planetary gear trains and the different speeds and torque inputs at both ends of the intermediate shaft 4 achieve both speed reduction and torque amplification through the differential principle. Testing has shown that this full-turn actuator achieves a maximum torque of 500 Nm at 36 RPM, meeting the high-torque, low-speed output requirements of various industrial applications. It has broad application prospects in valve control and other fields. Throughout 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 and compact design of the utility model's full-rotation actuator, ensuring that the actuator achieves efficient and stable operating performance in a compact space.

[0067] Example 2

[0068] The difference between this embodiment and the first embodiment is that: a full-rotation actuator adopts a hollow gear box.

[0069] The above is only a preferred specific implementation method of the present invention, but the protection scope of the present invention is not limited to this. Any changes or replacements that can be easily thought of by any technician familiar with this technical field within the technical scope disclosed in the present invention should be covered by the protection scope of the present invention.

Claims

1. A hollow gearbox, characterized in that: include: A housing, an intermediate shaft (4) arranged inside the housing, a planetary gear reduction mechanism, and a drive motor; The box body 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 sequence from top to bottom, wherein the top cover (28), the top outer cover (27), the intermediate plate (11), the bottom outer cover (8) and the mounting base (1) are fixedly connected by bolts and nuts; The intermediate shaft (4) passes through the top cover (28) and the mounting base (1), 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); The bottom of the box body is provided with a valve flange adapter plate (3) and a valve stem connecting shaft (2), the valve stem connecting shaft (2) passes through the valve flange adapter plate (3), and the valve stem connecting shaft (2) is rotatably connected to the valve flange adapter plate (3); the valve flange adapter plate (3) is fixedly connected to the mounting base (1), and the valve stem connecting shaft (2) is fixedly connected to the intermediate shaft (4); 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; The intermediate shaft (4) passes through the drive motor and the planetary gear reduction mechanism in sequence from top to bottom, and the drive motor, the intermediate shaft (4) and the planetary gear reduction mechanism are transmission-connected.

2. A hollow gearbox according to claim 1, characterized in that: An input gear (19) is provided around the intermediate shaft (4) at a position corresponding to the drive motor, and the input gear (19) is in transmission connection with the drive motor; The intermediate plate (11) is provided with a mounting groove, and the bottom of the drive motor is mounted in the mounting groove; The drive motor comprises a motor rotor housing (21), a rotor self-locking inner 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), 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 inner 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 inner gear ring (20) and the input teeth, and the motor inner cavity lower planetary gear (16) is transmission-connected to the planetary gear reduction mechanism.

3. The hollow gearbox according to claim 2, characterized in that: The planetary gear reduction mechanism comprises a first-stage sun gear input shaft (15), a first-stage sun gear (14), a second-stage planetary inner gear ring (12), a second-stage planetary gear (13), a second-stage planetary gear (13) bracket, a second-stage sun gear (5), a third-stage planetary gear (6) and a third-stage planetary inner 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 on the outside of 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) in 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). The lower portion of the first-stage sun gear input shaft (15) is transmission-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. The secondary planetary gear (13) bracket is transmission-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) is meshed 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).

4. The hollow gearbox according to claim 3, characterized in that: It also includes an encoder fixing disk (22), which is arranged below the top cover (28) and above the drive motor, and an encoder (25) component is installed on the encoder fixing disk (22).

5. The hollow gearbox according to claim 4, characterized in that: The encoder (25) assembly includes an encoder (25), an encoder seat (38) and an encoder gear (35) on an 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). 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 intermediate shaft encoder gear (35) is sleeved on the outside of the intermediate shaft (4), and the intermediate shaft encoder gear (35) is used to transmit the rotational motion of the intermediate shaft (4). The intermediate shaft encoder gear (35) is respectively engaged with the first encoder gear (36) and the second encoder gear (37).

6. The hollow gearbox according to claim 5, characterized in that: Also included is a handwheel operating assembly, the handwheel operating assembly including 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 passes through 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); the handwheel operation connecting gear (24) is meshed with the rotor emergency operation connecting gear (23).

7. The hollow gearbox according to claim 6, characterized in that: A connecting shaft sealing ring (9) is provided between the intermediate shaft (4) and the valve stem connecting shaft (2).

8. The hollow gearbox according to claim 7, characterized in that: 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) and the circuit board box bracket (31) are detachably connected, a through hole is provided at a position where the top outer cover (27) is connected to the circuit board, and a cable sleeve (30) is sleeved in the through hole.

9. The hollow gearbox according to claim 8, characterized in that: The rotor self-locking inner 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 inner 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 inner gear ring (10) are all made of high-strength CrMo alloy steel QPQ and subjected to nitriding strengthening treatment.

10. A full-rotation actuator, characterized in that: A hollow gearbox comprising the hollow gearbox according to any one of claims 1 to 9.

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