188results about "Steering rudders" patented technology

A control device for controlling a watercraft includes a position detection module and a positioning module. The position detection module is configured to detect a current position of the watercraft. The positioning module is configured to determine a new position for the watercraft within a delimited region depending on at least one positioning parameter when the watercraft approaches a boundary of the delimited region to within a predetermined distance or a parameterizable distance.

The invention belongs to the technical field of rudders, and particularly relates to a ship side high-performance rudder which comprises a rudder body, a blowing and spraying cabin is arranged in the rudder body, a propeller control assembly is installed on the side of the blowing and spraying cabin, the other side of the propeller control assembly is meshed with a gear control assembly, and an inner and outer rod control assembly is arranged in the gear control assembly. One end of the inner and outer rod control assembly is connected with a gear transmission assembly, a differential mechanism is installed at one end of the gear transmission assembly, and a blowing flow guide assembly is arranged in the blowing cabin. The propeller control assembly comprises a thin shaft, a small straight gear, a small bevel gear and a propeller shaft, the outer wall of the thin shaft is fixedly connected with the small straight gear, and the small bevel gear is arranged on the side of the small straight gear; rudder angles around the ship body can be controlled, so that flow fields at different positions on the ship side are controlled, the ship type performance is improved, meanwhile, the flow fields on the ship side are further adjusted through the blowing and spraying device, and the steering effect is improved.

A marine propulsion device includes a motor including an output shaft, a drive shaft extending in a vertical direction of the marine propulsion device, and a cooling device. The motor is disposed so that an extension direction of the output shaft is a direction perpendicular to the vertical direction. The cooling device includes an intake port taking water outside the marine propulsion device into the marine propulsion device, a motor water jacket provided in the motor and cooling the motor, a water pump disposed below the motor and sending water taken into the marine propulsion device from the intake port to the motor water jacket as cooling water, and a first cooling water passage connecting a discharge port of the water pump to an inlet port of the motor water jacket.

This utility model relates to the field of steering gear lubrication technology, specifically a high-efficiency and energy-saving steering gear transmission device for ships. It includes a steering gear body, a transmission gear set inside the steering gear body, multiple temperature detection units for detecting the internal temperature of the steering gear body, a liquid cooling unit body installed on the outside of the steering gear body, and heat dissipation pipes arranged inside the steering gear body. Coolant absorbs heat from the internal side of the steering gear body through these pipes. This utility model uses liquid cooling, preventing moisture and dust from entering the steering gear body, thus avoiding the shortened service life of the transmission gear set due to moisture and dust. The lubricating oil is heated and stirred before addition to ensure optimal lubrication. A lubrication pump delivers the lubricating oil between the gears, reducing the friction coefficient and heat generation, thus solving the high-temperature problem at its source and protecting the gears, extending their service life.

The application relates to the technical field of ship equipment, and discloses a rudder heel structure and a rudder system, the rudder heel structure comprising a middle longitudinal plate, a plurality of transverse partition units, a platform plate and a plurality of shell side plates; the transverse partition unit comprises a transverse partition plate and a first plug welding backing plate; the rudder system structure comprises a rudder blade assembly and the rudder heel structure, the rudder blade assembly comprising a connecting piece, the device divides the middle longitudinal plate into a first segment and a second segment, and connects the first segment and the second segment through the connecting piece on the rudder system, so that the strength of the middle longitudinal plate is guaranteed, and the installation of the transverse partition plate, the platform plate and the shell side plate can be simultaneously performed in two groups, the assembly period is shortened, sufficient construction space is provided for construction personnel, the assembly difficulty is reduced, in addition, the device uses the first plug welding backing plate to replace plug welding holes, the welding strength is enhanced, the welding quality of the shell side plate is guaranteed, the time consumed for polishing the plug welding holes is avoided, and the assembly efficiency is improved.

The invention relates to the technical field of marine parts, and discloses a flexible and convenient upper rudder bearing and upper rudder bearing machining equipment, the flexible and convenient upper rudder bearing comprises a rudder bearing shell, a plurality of evenly distributed through holes are formed in the upper portion of the rudder bearing shell, and a plurality of thrust blocks are fixedly installed on the periphery of the rudder bearing shell; the rudder bearing frame is arranged above the rudder bearing shell; the radial bearing is arranged on the inner wall of the rudder bearing shell, and a rudderstock is sleeved with the radial bearing during installation; the axial bearing is arranged between the rudder bearing shell and the rudder bearing frame; the framework oil seal is arranged at the bottom of the joint of the radial bearing and the rudder bearing shell; and the protective sleeve is installed on the outer side of the rudder bearing shell, a plurality of blind holes are formed in the top of the protective sleeve, and the through holes are used in cooperation with the blind holes. By means of the prefabrication mode, the upper rudder bearing has a complete assembly state when being delivered to a shipyard, the shipyard only needs to connect and fix the rudder bearing shell and the rudder bearing frame through common bolts, and the installation period of a rudder system is greatly shortened.

The motor is used as a power source to rotate the propeller, and the rotation direction of the motor's output shaft is switched, while preventing the lifespan of the water pump impeller from being shortened. [Solution] The cooling device provided in the marine propulsion unit 1 includes a cooling mechanism that cools equipment requiring cooling, such as the motor 3, and a water pump 51 that sends water from outside the marine propulsion unit 1 to the cooling mechanism. The impeller 52 of the water pump 51 is connected to the output shaft 4 of the motor 3 via a one-way clutch 84 and a transmission shaft 81, and the impeller 52 rotates only when the output shaft 4 of the motor 3 rotates in a direction that moves the marine vessel forward.

A novel mechanical fish is characterized in that the novel mechanical fish comprises a head assembly, a middle assembly, a counterweight box assembly, a steering engine, an optical axis, an external counterweight cabin, a charging head, a first tail assembly, a second tail assembly and a third tail assembly; the third tail assembly is installed on the first tail assembly through the second tail assembly, a plurality of optical shafts are installed in the balance weight box, a balance weight box assembly is installed in the middle assembly, the steering engine is installed above the balance weight box assembly, the external balance weight cabin is installed at the bottom of the middle assembly, and the charging head is installed on the outer side of the middle assembly. The tails of the middle assembly, the first tail assembly and the second tail assembly are each provided with a double-shaft steering engine. According to the design, swimming movement of fishes such as sharks is simulated, and the fishtail is controlled to swing through the multiple steering engines, so that the fishtail has high flexibility and can steer flexibly. Therefore, on the basis that the bionic fish is small in size, a narrow and complex underwater environment can be explored.

This invention discloses a connection structure between a marine electric propulsion motor and a rudder, relating to the field of marine technology. It includes a shell containing symmetrically distributed rotating shafts rotatably connected within it. Each shaft has a fixedly mounted inclined push wheel. Symmetrically distributed fixed guide rails are fixedly connected to the inner side of the bottom wall of the shell. A fixed shaft is located inside the shell, with a rotating frame fixedly connected to its top and a rudder fixedly connected to its bottom. An emergency component is mounted on the rotating frame. This invention optimizes the transmission structure and emergency mechanism. Under normal operation, all components rotate collaboratively, ensuring precise and efficient directional adjustment. In abnormal situations, the emergency solution quickly disconnects the lifting sleeve from the rotating frame, simplifying the transmission path, avoiding bearing fatigue damage that could lead to jamming, ensuring safe navigation, and significantly improving the reliability and safety of the rudder system.

The invention relates to an energy storage system (100) for at least one electrical consumer (106) in the electrical system (142) of a watercraft (108), wherein the energy storage system (100) comprises at least one inverter (140) connected to the electrical system (142) for supplying power to the consumer (106). An energy storage device (160) is associated with the at least one inverter (140). According to the invention, the energy storage device (160) comprises at least one energy converter (162) and at least one storage unit (170) associated therewith, wherein the energy converter (162) is configured to enable a bidirectional energy flow (180, 182), thereby allowing the feeding (182) of excess electrical energy back into the electrical system (142) of the watercraft.This makes it possible to easily operate consumers (106) that cause high electrical load peaks, such as a stabilization device (120), a rudder system (128) or the like, on an on-board electrical system (142) of a watercraft (108).

The present invention provides a small ship that is easily installed by propeller and rudder steering, and by replacing the existing rudder, the ship steering auxiliary device can control the moving direction of the ship with high freedom. As an example of the ship steering auxiliary device, the steering auxiliary device is a device that replaces the existing rudder of the ship (1), installs the rudder unit (2), and can accurately control the water flow generated by the propeller (10), so that the ship (1) can perform complex movements. The steering auxiliary device includes a rudder unit (2), a connection unit (3), a driving unit (4), and a control unit. In addition, the rudder unit (2) includes a shaft portion (20) and a rudder portion (21). In addition, the shaft portion (20) is composed of a cylindrical outer shaft (200) and a cylindrical inner shaft (201). In addition, the rudder portion (21) is composed of two split rudders (210) and a split rudder (211).

The utility model discloses a kind of high-speed ship propeller control systems, belong to ship technical field, including propeller installed on the stern shaft of ship, further include for controlling propeller left and right steering steering control oil circuit and for controlling propeller up and down lifting oar or falling oar longitudinal control oil circuit;Propeller is provided with angle sensor for detecting propeller left and right angle and up and down angle, angle sensor and display device are electrically connected with control unit;Steering control oil circuit includes first hydraulic pump, first electromagnetic reversing valve, left steering oil cylinder, right steering oil cylinder, hydraulic steering gear and rudder wheel, first hydraulic pump selectively communicates first electromagnetic reversing valve or hydraulic steering gear, realizes the double-path control of rudder wheel and electric drive, the automatic control of propeller left and right steering and lifting oar falling oar is realized by hydraulic mode in the design, propeller angle of rotation can be monitored simultaneously, it is convenient to adjust in time.

The utility model relates to the field of cleaning ships, in particular to a driving device for a cleaning ship. The cleaning ship comprises a ship body, and a tipping bucket is arranged at the front end of the ship body, rotationally connected with the ship body through a turnover device and used for cleaning a water channel. The driving device is arranged at the tail end of the hull; the driving device comprises a propeller and a steering assembly, the steering assembly comprises a rudder mechanism and a steering engine driving mechanism, the steering engine driving mechanism comprises a steering seat and hydraulic drivers arranged in pairs, and the middle of the steering seat is coaxially fixed to the rudder mechanism; one end of any hydraulic driver is fixed to the ship body through a fixing frame, the other end of the hydraulic driver is hinged to the end of the steering base, and the pair of hydraulic drivers alternately act to drive the steering base to drive the rudder mechanism to swing. According to the driving device, the steering mechanism in the driving device can achieve steering control over the cleaning ship through the pair of hydraulic drivers. By means of the design, the number of mechanical parts is reduced, and therefore the maintenance cost is reduced.

This invention discloses an adjustable-posture multi-legged robot and its motion method. The multi-legged robot includes a motion module, a connecting shaft, and a posture adjustment mechanism. The motion module includes a housing and two symmetrically arranged drive components. Each drive component includes a transmission shaft and a swing mechanism. The swing mechanism is located on the side of the housing, and the transmission shaft drives the swing mechanism to swing. The two ends of the connecting shaft are respectively connected to the transmission shafts of two adjacent motion modules. The posture adjustment mechanism includes a servo motor and a rope. A servo disk is mounted on the rotation shaft of the servo motor, and the rope is wound around the servo disk. The rope includes a first rope segment and a second rope segment. The first rope segment is connected to the top of each housing, and the second rope segment is connected to the bottom of each housing. Torque transmission and modular connection of the motion modules are achieved through the connecting shaft. Moreover, the connecting shaft adopts a helical topology, which can transmit torque while also being flexible, thus preventing interference when the posture adjustment mechanism drives the multi-legged robot to pitch and deform.

The invention belongs to the technical field of ships, and particularly relates to a rudder angle indicating tool. The rudder angle indicating tool comprises a dial plate which is fixed on a ship body and is provided with angle scales; the indicating structure comprises a connecting assembly and a pointer, the connecting assembly is detachably connected with the rudder shaft, and the pointer is connected with the connecting assembly; wherein in the axial direction of the rudder shaft, at least part of the projection of the pointer falls on the dial plate and is used for indicating angle scales. The rudder angle indicating tool can guarantee the indicating precision.

The invention relates to the technical field of assault boats, and discloses an assault boat type unmanned ship. Comprising a boat body, a lifting seat is fixedly connected to the side surface of the boat body, an electric steering module, an automatic accelerator power module and an automatic gear engaging module are integrally arranged on the lifting seat, and a control system module and a matched remote control module are further arranged on the boat body. Automatic steering, automatic accelerator and automatic gear engaging are achieved, accurate adjustment of accelerator opening and closing and gearbox gears is achieved through an electric executing mechanism, remote control or system linkage is supported, manual operation is thoroughly replaced, the response speed and accuracy are improved, and the operation safety is improved. Safety, precision, automation and maintainability of assault boat operation are achieved, and task efficiency and adaptability are improved.

The invention relates to a vehicle water navigation control method and device, computer equipment, a computer readable storage medium and a computer program product, and can be applied to the technical field of vehicles. The method comprises the steps that water depth information of a wading area where a vehicle is located and wheel torque information of the vehicle are obtained; under the condition that the water depth information is larger than a preset water depth threshold value and the wheel torque information is smaller than a preset torque threshold value, the vehicle is controlled to enter a water sailing mode; a first propeller control instruction of the vehicle is generated according to the gear signal and the pedal signal of the vehicle in the water navigation mode; and according to the first propeller control instruction, the rotation direction and the rotation speed of a propeller arranged on the vehicle are controlled so as to control the vehicle to sail on the water. By adopting the method, the accuracy of vehicle water navigation control can be improved.

The utility model relates to the technical field of hydraulic steering engines, and discloses a rotor structure of a highly-sealed rotating vane type hydraulic steering engine, which comprises a bottom plate and a rotor, the rotor is rotatably connected inside the bottom plate, two hydraulic plungers are mounted on the upper surface of the bottom plate, shifting fork rods are fixedly mounted on the outer surfaces of the output ends of the hydraulic plungers, and the shifting fork rods are fixedly connected with the bottom plate. Two sets of rudder plate mechanisms are fixedly installed on the outer surface of the rotor, the abutting ends of the two sets of rudder plate mechanisms abut against the shifting fork rod, a lubricating mechanism is installed on the outer surface of the rotor, and the lubricating ends of the lubricating mechanism are arranged above the rudder plate mechanisms. Through the arrangement of the rudder plate mechanism, the effect of independently replacing the abutting surface is achieved, and the use cost is reduced.

The application belongs to the technical field of semi-suspension rudder anti-cavitation processing, and particularly relates to a follow-up sealing mechanism for inhibiting gap cavitation of a semi-suspension rudder. The follow-up sealing mechanism comprises two sealing assemblies arranged on the left and right sides of a rudder blade socket. Each sealing assembly comprises a rigid central shaft connected to the upper and lower inner walls of the rudder blade socket, and a roller sleeved on the rigid central shaft. The diameter of the roller matches the distance between the inner wall of the rudder blade socket and the rudder suspension arm. The follow-up sealing mechanism is installed on the rudder blade and can automatically and continuously dynamically seal the key gap as the rudder angle changes. The mechanism converts the traditional open high-speed drainage channel, which changes with the rudder angle, into a nearly closed or small constant gap limited space in real time through a pure mechanical physical method, thereby greatly weakening or even eliminating the conditions for generating gap cavitation, and has reliable, low-cost and simple structure design characteristics, and good compatibility with existing rudder systems.

The invention provides a steering synchronization method and device of a steering actuator and electronic equipment, and relates to the technical field of steering, the method comprises the following steps: in response to a synchronization trigger signal, obtaining a current steering angle and a target steering angle of the steering actuator; obtaining an angle error according to the current steering angle and the target steering angle; when the angle error is larger than or equal to an error threshold value or a continuous overtime condition occurs, the steering speed of the steering actuator is adjusted through a first adjusting strategy according to the angle error; and controlling the steering actuator to steer according to the steering speed, returning to the step of obtaining the angle error according to the current steering angle and the target steering angle, and ending synchronization until the angle error is smaller than an angle threshold value, so that the steering process has good synchronism and real-time performance.

The integrated hydraulic drive double-redundancy oil lubrication rotary steering mechanism comprises a linear hydraulic actuator cylinder, a piston rod, a displacement sensor, a displacement sensor support cylinder, a bearing seat, a rocker arm seat, a rocker arm, a spline shaft, a rotary encoder and a sliding bearing; the linear hydraulic actuator is designed with sliding pairs on both sides and is supported by double bearing seats, so that the lateral thrust of the rocker arm on the rudder shaft and the vibration noise problem caused by the eccentric wear of the rudder shaft are eliminated; the bearing seat is rigidly connected with the rocker arm base, so that the separate linear hydraulic actuator base is eliminated and the integrated design is realized; the sealed oil lubrication structure is adopted between the spline shaft and the bearing seat to replace the traditional grease lubrication scheme, so that the wear impurities can be settled at the bottom and the accumulation problem of the wear residues in the internal friction pairs is avoided.

According to the hard gear harmonic reducer, the two layers of rolling bodies are clamped between the tooth grooves of the inner hard gear and the tooth grooves of the outer hard gear, the two layers of rolling bodies are used for replacing radial movement of a flexible gear, transmission is achieved, torque is higher, the service life is longer, and contact parts of all parts in a torque transmission route are in rolling contact all the time.

[Object] Provided is a steering assistance device for a vessel, which can be easily retrofitted to a small vessel steered via a propeller and a steering rudder, and enables highly flexible control of the movement direction of the ship by replacing an existing rudder. [Solution Means] A steering assistance device, which is an example of a steering assistance device for a vessel, is a device that, by mounting a rudder unit 2 in place of an existing steering rudder of a ship 1, precisely controls a water current generated by a propeller 10, and enables complex movement in the ship 1. The steering assistance device includes the rudder unit 2, a connection unit 3, a drive unit 4, and a control unit. In addition, the rudder unit 2 includes a shaft portion 20 and a rudder portion 21. In addition, the shaft portion 20 is configured of a cylindrical outer shaft 200 and a cylindrical inner shaft 201. Furthermore, the rudder portion 21 includes two split rudders 210 and 211.

The invention discloses a bionic underwater robot capable of jumping. The bionic underwater robot comprises a shell, pectoral fin modules symmetrically distributed at the two ends of the shell, a tail propelling module and a control system. The pectoral fin module comprises a micro steering engine, a rotating shaft and pectoral fins, the micro steering engine is connected with the two pectoral fins which are symmetrically distributed, and the pectoral fins are in transmission connection with the micro steering engine through a pair of bevel gears which are meshed with each other; the tail propelling module comprises a motor, a crankshaft transmission assembly, a rotor assembly, a tail fin connecting frame and a flexible tail fin. The crankshaft transmission assembly converts rotation motion of the motor into reciprocating rotation motion of the rotor assembly. The control system is in signal connection with a micro steering engine of the pectoral fin module and a motor of the tail propelling module and is used for achieving robot swimming and controllable jumping. Water-air cross-boundary maneuvering of the bionic underwater robot is achieved, and the instantaneous explosive force needed by jumping of the robot out of the water surface can be provided.

The following type water surface control floating platform comprises an underwater robot and a control unit which are connected through an umbilical cable, the control unit is fixed to a cable bin assembly, the cable bin assembly is rotationally arranged at the top of an operation floating platform, and the operation floating platform floats on the water surface through three sets of buoyancy plates arranged at the bottom in an annular array; a control mechanism is arranged between the top of the buoyancy plate and the operation floating platform and comprises three sets of driving motors arranged on an outer ring of the operation floating platform in an annular array mode, planet wheels and a single set of outer gear rings, the three sets of planet wheels are meshed with the inner ring faces of the outer gear rings, and the sides, away from the outer gear rings, of the planet wheels are in transmission connection with the cable bin assembly. By synchronously controlling the floating platform to take up and pay off the cable body and efficiently controlling the floating platform to rotate on the water surface, the problem of torsion of the cable body is solved quickly, and meanwhile torsion monitoring of the cable body is effectively achieved.

A marine propulsion device includes a motor, a first transmission mechanism transmitting a rotation of the motor to a drive shaft, a second transmission mechanism transmitting a rotation of the drive shaft to a propeller shaft, an inverter controlling the motor, and a cooling device. The cooling device includes a motor water jacket cooling the motor, a transmission mechanism water jacket cooling the first transmission mechanism, an inverter water jacket cooling the inverter, and a distribution mechanism distributing and suppling a cooling water after flowing in the motor water jacket to the transmission mechanism water jacket and the inverter water jacket in parallel. The distribution mechanism includes a first distribution passage suppling the cooling water after flowing in the motor water jacket to the transmission mechanism water jacket, and a second distribution passage suppling the cooling water after flowing in the motor water jacket to the inverter water jacket.

This invention provides an electric steering gear device for electric ships, comprising two steering assemblies and a linkage assembly. Each steering assembly includes a steering gear, a reducer, and a rudder blade. The input shaft of the reducer faces upwards, and its output shaft is connected to the rudder blade. The linkage assembly includes two rotating members and a connecting rod. The input shaft of each reducer is connected to one of the rotating members, and the connecting rod is rotatably connected to both rotating members. Each rotating member is connected to one of the steering gears. Through linkage, a single electric steering gear drives multiple rudder blades, improving the reliability of steering and the stability of operation of the electric ship.

The small-resistance rudder tractor comprises a ship body, a reinforcing device and a protection device, the inner wall of the ship body is rotationally connected with the rudder stock through a bearing, the bottom of the rudder stock is fixedly connected with a supporting seat, the outer wall of the rudder stock is sleeved with a rudder blade, and one side of the ship body is provided with an installation device. The utility model relates to the technical field of shipbuilding, in particular to a small-resistance rudder towing device convenient to disassemble a rudderstock, when a paddle rotates, a ship body is driven to move, when a driving mechanism works, a rudder blade is driven to rotate through the rudderstock, the rudderstock is fixed in the rudder towing device through a mounting device, and by means of the fixing mode, when the rudder blade needs to be maintained, the rudderstock can be conveniently disassembled. The lower portion of the rudderstock can be detached by rotating the two rudders outwards, the rudderblade on the outer wall can be detached conveniently after the lower portion of the rudderstock is not limited, the rudderblade detaching process is simple and convenient, and manpower consumption and time cost are reduced.