Steering engine

Abstract

The steering engine (1) includes: a steering engine body (11) of the Rahson sliding type including at least one hydraulic device operating according to an electrical signal; and at least one control device (9) which is installed on the steering engine main body (11) and controls the at least one hydraulic device. For example, the steering engine main body (11) comprises: a tiller (2) fixed to a rudder shaft (15); plungers (3A, 3B) that engage with the tiller (2); cylinders (4A-4D) into which both ends of the plungers (3A, 3B) are inserted, respectively; and a plurality of hydraulic units (5) that constitute a hydraulic circuit together with the cylinders (4A-4D), and a control device (9) is attached to each of the cylinders (4A-4D).

Description

Technical Field

[0001] The present disclosure relates to a steering gear. Background Art

[0002] Conventionally, there is known a servo including a servo body of a Rapson sliding type. For example, Patent Document 1 discloses Fig.10 A steering gear 100 as shown.

[0003] Specifically, the steering gear 100 includes a steering gear body 110 and a control device 120. The steering gear body 110 includes a tiller 111 fixed to the rudder shaft 200, a plunger 112 engaged with the tiller 111, and two cylinders 113, into which both ends of the plunger 112 are respectively inserted. In addition, the steering gear body 110 includes a hydraulic unit 114 that constitutes a hydraulic circuit together with the cylinder 113. The hydraulic unit 114 includes an electromagnetic switching valve as a hydraulic device that operates according to an electrical signal, and the electromagnetic switching valve is controlled by the control device 120. The control device 120 is connected to the operating device 130.

[0004] Prior art literature: Patent Literature: Patent document 1: Japanese Patent Application Publication No. 2016-147550. Summary of the invention

[0005] Problems to be solved by the invention: However, in Fig.10 In the steering gear 100 shown, the control device 120 is arranged at a position away from the steering gear body 110 , so the electrical wiring between the steering gear body 110 and the control device 120 becomes relatively long.

[0006] Therefore, an object of the present disclosure is to provide a steering gear capable of shortening the electrical wiring between the steering gear main body and the control device.

[0007] Means of solving the problem: According to one aspect, the present disclosure provides a steering gear comprising: a Lapson slide type steering gear body including at least one hydraulic device operating according to an electrical signal; and at least one control device installed on the steering gear body to control the at least one hydraulic device.

[0008] According to another aspect, the present disclosure provides a steering gear comprising: a Lapson sliding type steering gear body, which includes at least one hydraulic device that works according to an electrical signal; and at least one control device, which is installed on the hull near the steering gear body to control the at least one hydraulic device.

[0009] Effect of the invention: According to the present disclosure, there is provided a steering gear capable of shortening the electrical wiring between a steering gear main body and a control device. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] Figure 1 is a top view of a steering gear according to an embodiment; Figure 2 is a front view of the steering gear; Figure 3 is a hydraulic circuit diagram of the steering gear; Figure 4 yes Figure 1 A magnified view of a key part of Figure 5 is a front view of the key part; Figure 6 It is along Figure 5 A cross-sectional view of line VI-VI; Figure 7 It is around Figure 2 An enlarged view of the motor in FIG. Figure 8 is a diagram showing another method of installing the control device; Fig. 9 middle Fig. 9 9A and 9B are respectively a front view and a side view of a motor of a steering gear of a modified example; Fig.10 This is a perspective view of a conventional steering gear. DETAILED DESCRIPTION

[0011] Figures 1 to 3 1 shows a steering gear 1 of one embodiment. The steering gear 1 includes a steering gear body 11 of a Lapson slide type and at least one control device 9 mounted on the steering gear body 11. In this embodiment, four control devices 9A to 9D are mounted on the steering gear body 11.

[0012] In this embodiment, the steering gear body 11 includes a tiller 2 fixed to a rudder shaft 15 and two hydraulic actuators for swinging the tiller 2. One hydraulic actuator includes a first plunger 3A and two first cylinders 4A and 4B, and the other hydraulic actuator includes a second plunger 3B and two second cylinders 4C and 4D. However, the steering gear body 11 may include only one hydraulic actuator.

[0013] The tiller handle 2 includes a cylindrical portion 21 in which the rudder shaft 15 is inserted, and a pair of arm portions 22 protruding in opposite directions from the side of the cylindrical portion 21. Each arm portion 22 includes a pair of opposing walls 23 that face each other in the vertical direction with the corresponding plunger (the first plunger 3A or the second plunger 3B) interposed therebetween, and an engaging groove 24 is formed at the tip end of these opposing walls 23.

[0014] The first plunger 3A and the second plunger 3B are arranged parallel to each other so as to sandwich the rudder shaft 15. Pins 31 protruding upward and downward are provided at the center of the first plunger 3A and the second plunger 3B, and these pins 31 engage with the engagement groove 24 of the rudder arm 2 via rollers 32.

[0015] Both ends of the first plunger 3A are inserted into the first cylinders 4A and 4B, respectively, and both ends of the second plunger 3B are inserted into the second cylinders 4C and 4D, respectively.

[0016] The front parts of the first cylinder 4A and the second cylinder 4C adjacent to each other are connected to each other via a connecting plate 13, and the front parts of the first cylinder 4B and the second cylinder 4D adjacent to each other are connected to each other via a connecting plate 12. The first cylinders 4A, 4B and the second cylinders 4C, 4D are placed on a cylinder installation stand 10 which is a part of the hull, and are fixed to the cylinder installation stand 10 by bolts and nuts.

[0017] Furthermore, the steering gear body 11 includes a plurality of hydraulic units 5 that constitute a hydraulic circuit together with the first cylinders 4A, 4B and the second cylinders 4C, 4D. In the present embodiment, the steering gear body 11 includes four hydraulic units, namely, the first hydraulic unit 5A, the second hydraulic unit 5B, the third hydraulic unit 5C, and the fourth hydraulic unit 5D. The first hydraulic unit 5A and the second hydraulic unit 5B are disposed above the first cylinders 4A, 4B, respectively, and the third hydraulic unit 5C and the fourth hydraulic unit 5D are disposed above the second cylinders 4C, 4D, respectively.

[0018] The first to fourth hydraulic units 5A to 5D each include a tank unit 51 , a valve unit 52 , and a motor 54 . The tank unit 51 includes a tank storing hydraulic oil and a hydraulic pump 61 disposed in the tank. The motor 54 drives the corresponding hydraulic pump 61 .

[0019] The tank unit 51 has a substantially rectangular parallelepiped shape. The tank unit 51 and the motor 54 are mounted on the corresponding cylinder (one of the first cylinder 4A and 4B or one of the second cylinder 4C and 4D) in a state of being arranged along the axial direction of the cylinder. The tank unit 51 is located near the corresponding plunger (the first plunger 3A or the second plunger 3B), and the motor 54 is located on the opposite side of the plunger across the tank unit 51.

[0020] In the present embodiment, each hydraulic pump 61 is a variable capacity pump, and the first to fourth hydraulic units 5A to 5D each include a regulator 53 for changing the capacity of the corresponding hydraulic pump 61. In addition, in the present embodiment, each hydraulic pump 61 is a double tilt pump, and the rotation direction remains unidirectional and the discharge direction of the hydraulic pump 61 can be switched by the regulator 53. However, each hydraulic pump 61 can also switch the discharge direction by switching the rotation direction.

[0021] The regulator 53 is a hydraulic device that operates according to an electrical signal. In addition, the structure of the regulator 53 is well known, so its description is omitted. In the first to fourth hydraulic units 5A to 5D, the regulator 53 is installed on one side surface of the tank unit 51 (in this embodiment, the side surface facing the inner side of the steering gear body 11), and the valve unit 52 is installed on the other side surface of the tank unit 51 (in this embodiment, the side surface facing the outer side of the steering gear body 11).

[0022] like Figure 3 As shown, the hydraulic pump 61 of the second hydraulic unit 5B is connected to the first cylinder 4A through the supply and discharge line 62, and is connected to the first cylinder 4B through the supply and discharge line 63. If the discharge direction of the hydraulic pump 61 is set to the supply and discharge line 62 side by the regulator 53, the working oil discharged from the hydraulic pump 61 is supplied to the first cylinder 4A through the supply and discharge line 62, and the working oil discharged from the first cylinder 4B is sucked into the hydraulic pump 61 through the supply and discharge line 63. On the contrary, if the discharge direction of the hydraulic pump 61 is set to the supply and discharge line 63 side, the working oil discharged from the hydraulic pump 61 is supplied to the first cylinder 4B through the supply and discharge line 63, and the working oil discharged from the first cylinder 4A is sucked into the hydraulic pump 61 through the supply and discharge line 62.

[0023] The supply and exhaust lines 62 and 63 cross the valve unit 52 of the second hydraulic unit 5B. The valve unit 52 includes a valve such as a relief valve or a check valve provided in a branch line branching from the supply and exhaust lines 62 and 63. The valve unit 52 of the second hydraulic unit 5B is connected to the first cylinder 4A through the hydraulic pipe 1a constituting a part of the supply and exhaust line 62, and is connected to the first cylinder 4B through the hydraulic pipe 1b constituting a part of the supply and exhaust line 63.

[0024] The hydraulic pump 61 of the first hydraulic unit 5A is connected to the supply and exhaust line 62 through the supply and exhaust line 64, and is connected to the supply and exhaust line 63 through the supply and exhaust line 65. If the discharge direction of the hydraulic pump 61 is set to the supply and exhaust line 64 side by the regulator 53, the hydraulic oil discharged from the hydraulic pump 61 is supplied to the first cylinder 4A through the supply and exhaust lines 64 and 62, and the hydraulic oil discharged from the first cylinder 4B is sucked into the hydraulic pump 61 through the supply and exhaust lines 63 and 65. On the contrary, if the discharge direction of the hydraulic pump 61 is set to the supply and exhaust line 65 side, the hydraulic oil discharged from the hydraulic pump 61 is supplied to the first cylinder 4B through the supply and exhaust lines 65 and 63, and the hydraulic oil discharged from the first cylinder 4A is sucked into the hydraulic pump 61 through the supply and exhaust lines 62 and 64.

[0025] The supply and exhaust lines 64 and 65 cross the valve unit 52 of the first hydraulic unit 5A. The valve unit 52 includes a valve such as a relief valve or a check valve provided in a branch line branching from the supply and exhaust lines 64 and 65. The valve unit 52 of the first hydraulic unit 5A is connected to the valve unit 52 of the second hydraulic unit 5B through a hydraulic pipe 1g constituting a part of the supply and exhaust line 64 and a hydraulic pipe 1h constituting a part of the supply and exhaust line 65.

[0026] The hydraulic pump 61 of the fourth hydraulic unit 5D is connected to the second cylinder 4D through the supply and discharge line 66, and is connected to the second cylinder 4C through the supply and discharge line 67. If the discharge direction of the hydraulic pump 61 is set to the supply and discharge line 66 side by the regulator 53, the hydraulic oil discharged from the hydraulic pump 61 is supplied to the second cylinder 4D through the supply and discharge line 66, and the hydraulic oil discharged from the second cylinder 4C is sucked into the hydraulic pump 61 through the supply and discharge line 67. On the contrary, if the discharge direction of the hydraulic pump 61 is set to the supply and discharge line 67 side, the hydraulic oil discharged from the hydraulic pump 61 is supplied to the second cylinder 4C through the supply and discharge line 67, and the hydraulic oil discharged from the second cylinder 4D is sucked into the hydraulic pump 61 through the supply and discharge line 66.

[0027] The supply and exhaust lines 66 and 67 cross the valve unit 52 of the fourth hydraulic unit 5D. The valve unit 52 includes a valve such as a relief valve or a check valve provided in a branch line branching from the supply and exhaust lines 66 and 67. The valve unit 52 of the fourth hydraulic unit 5D is connected to the second cylinder 4D through the hydraulic pipe 1d constituting a part of the supply and exhaust line 66, and is connected to the second cylinder 4C through the hydraulic pipe 1c constituting a part of the supply and exhaust line 67.

[0028] The hydraulic pump 61 of the third hydraulic unit 5C is connected to the supply and exhaust line 66 through the supply and exhaust line 68, and is connected to the supply and exhaust line 67 through the supply and exhaust line 69. If the discharge direction of the hydraulic pump 61 is set to the supply and exhaust line 68 side by the regulator 53, the hydraulic oil discharged from the hydraulic pump 61 is supplied to the second cylinder 4D through the supply and exhaust lines 68 and 66, and the hydraulic oil discharged from the second cylinder 4C is sucked into the hydraulic pump 61 through the supply and exhaust lines 67 and 69. On the contrary, if the discharge direction of the hydraulic pump 61 is set to the supply and exhaust line 69 side, the hydraulic oil discharged from the hydraulic pump 61 is supplied to the second cylinder 4C through the supply and exhaust lines 69 and 67, and the hydraulic oil discharged from the second cylinder 4D is sucked into the hydraulic pump 61 through the supply and exhaust lines 66 and 68.

[0029] The supply and exhaust lines 68 and 69 cross the valve unit 52 of the third hydraulic unit 5C. The valve unit 52 includes a valve such as a relief valve or a check valve provided in a branch line branched from the supply and exhaust lines 68 and 69. The valve unit 52 of the third hydraulic unit 5C is connected to the valve unit 52 of the fourth hydraulic unit 5D through a hydraulic pipe 1i constituting a part of the supply and exhaust line 68 and a hydraulic pipe 1j constituting a part of the supply and exhaust line 69.

[0030] Furthermore, in the present embodiment, the supply and exhaust line 62 and the supply and exhaust line 66 are connected by a connection line 72, and the supply and exhaust line 63 and the supply and exhaust line 67 are connected by a connection line 71. A separation valve 73 is provided near the supply and exhaust lines 62 and 63 of the connection lines 71 and 72, and a separation valve 74 is provided near the supply and exhaust lines 66 and 67 of the connection lines 71 and 72.

[0031] The separation valves 73 and 74 are normally located in a communication position where the supply and exhaust lines 62 and 66 are connected to each other through the connection line 72, and the supply and exhaust lines 63 and 67 are connected to each other through the connection line 71. On the other hand, when an abnormality occurs in one or both of the first cylinders 4A and 4B, the separation valve 74 is switched to a blocking position to block the ends of the connection lines 71 and 72 on the supply and exhaust lines 66 and 67 sides, thereby separating the first cylinders 4A and 4B from the hydraulic circuit. Conversely, when an abnormality occurs in one or both of the second cylinders 4C and 4D, the separation valve 73 is switched to a blocking position to block the ends of the connection lines 71 and 72 on the supply and exhaust lines 62 and 63 sides, thereby separating the second cylinders 4C and 4D from the hydraulic circuit.

[0032] The separation valve 73 is included in the valve unit 52 of the second hydraulic unit 5B, and the separation valve 74 is included in the valve unit 52 of the fourth hydraulic unit 5D. The valve units 52 of the second hydraulic unit 5B and the fourth hydraulic unit 5D are connected to each other through a hydraulic pipe 1e constituting a part of the connection line 71 and a hydraulic pipe 1f constituting a part of the connection line 72.

[0033] A control device 9A for controlling the motor 54 and the regulator 53 of the first hydraulic unit 5A is mounted on the first cylinder 4A, and a control device 9B for controlling the motor 54 and the regulator 53 of the second hydraulic unit 5B is mounted on the first cylinder 4B. A control device 9C for controlling the motor 54 and the regulator 53 of the third hydraulic unit 5C is mounted on the second cylinder 4C, and a control device 9D for controlling the motor 54 and the regulator 53 of the fourth hydraulic unit 5D is mounted on the second cylinder 4D. The control devices 9A to 9D are connected to the corresponding motor 54 and the regulator 53 through electrical wiring, respectively. A steering angle command is input from the operating device to the control devices 9A to 9D, and the control devices 9A to 9D control the motor 54 and the regulator 53 based on the steering angle command.

[0034] Regarding the control devices 9A~9D, the functions of the elements disclosed in this specification can be performed using a circuit or processing circuit that includes a general-purpose processor, a special-purpose processor, an integrated circuit, an ASIC (Application Specific Integrated Circuits), an existing circuit and / or a combination thereof that is constructed or programmed to perform the disclosed functions. The processor is regarded as a processing circuit or circuit because it includes transistors or other circuits. In the present disclosure, a circuit, unit or means is hardware that performs the listed functions, or hardware that is programmed to perform the listed functions. The hardware may be the hardware disclosed in this specification, or other known hardware that is programmed or constructed to perform the listed functions. When the hardware is considered to be a processor of a circuit, the circuit, means or unit is a combination of hardware and software, and the software is used in the construction of the hardware and / or processor.

[0035] In the present embodiment, the control devices 9A to 9D (control device 9) each have the function of a starter of the motor 54. However, the starter of each motor 54 may be provided separately and independently from the control device 9. In this case, the starter may be installed on the corresponding cylinder (one of the first cylinders 4A and 4B or one of the second cylinders 4C and 4D) or on the hull (for example, the cylinder installation stand 10).

[0036] The control device 9A mounted on the first cylinder 4A is located on the opposite side of the first plunger 3A relative to the first hydraulic unit 5A. That is, the control device 9A is located behind the motor 54 of the first hydraulic unit 5A so as to face the motor 54 in the axial direction of the first cylinder 4A.

[0037] The control device 9B mounted on the first cylinder 4B is located on the opposite side of the first plunger 3A with respect to the second hydraulic unit 5B. That is, the control device 9B is located behind the motor 54 of the second hydraulic unit 5B so as to face the motor 54 in the axial direction of the first cylinder 4B.

[0038] The control device 9C mounted on the second cylinder 4C is located on the opposite side of the third hydraulic unit 5C from the second plunger 3B. That is, the control device 9C is located behind the motor 54 of the third hydraulic unit 5C so as to face the motor 54 in the axial direction of the second cylinder 4C.

[0039] The control device 9D attached to the second cylinder 4D is located on the opposite side of the second plunger 3B with respect to the fourth hydraulic unit 5D. That is, the control device 9D is located behind the motor 54 of the fourth hydraulic unit 5D so as to face the motor 54 in the axial direction of the second cylinder 4D.

[0040] like Figure 7As shown, a control device receiver 41 forming a flat mounting surface is provided on the upper surface of the rear end portion of each of the first cylinder 4A, 4B and the second cylinder 4C, 4D. The control devices 9A to 9D (control devices 9 ) are mounted on the control device receiver 41 via brackets 91 .

[0041] Furthermore, a motor support 42 forming a flat mounting surface is provided on the upper surface of each of the first cylinder 4A, 4B and the second cylinder 4C, 4D, in front of the control device support 41. The motor 54 is mounted on the motor support 42 via a base 43. The base 43 is as shown in FIG. Fig. 9 As shown in B, it includes a base plate 44 and a plurality of blocks 45 arranged on the base plate 44.

[0042] return Figure 1 The hydraulic pipes 1e and 1f connecting the valve units 52 of the second hydraulic unit 5B and the fourth hydraulic unit 5D are in a U-shape in a top view, so as to surround the first cylinder 4B and the second cylinder 4D. That is, among the control devices 9A to 9D, the control devices 9B and 9D are located near the hydraulic pipes 1e and 1f, and the control devices 9B and 9D are arranged to be closer to the inside than the hydraulic pipes 1e and 1f. In addition, the hydraulic pipes 1e and 1f are as shown in FIG. Figure 2 As shown, it is laid below the control devices 9B and 9D so as to pass through the space facing the back sides of the first cylinder 4B and the second cylinder 4D.

[0043] Thus, in this embodiment, since the control devices 9B and 9D are arranged inside the hydraulic pipes 1e and 1f laid so as to pass through the space facing the back of the first cylinder 4B and the second cylinder 4D, the occupied space behind the first cylinder 4B and the second cylinder 4D becomes smaller for these control devices 9B and 9D. Therefore, it is possible to prevent the entire steering gear from becoming larger.

[0044] Furthermore, the steering gear body 11 is provided with: a steering angle transmitter 8C for detecting the angle of the rudder plate fixed to the rudder shaft 15 relative to the ship length direction, that is, the steering angle; and two stroke sensors 8A and 8B for detecting the stroke of the second plunger 3B. The steering angle transmitter 8C outputs the detected steering angle to the steering angle meter installed in the bridge of the ship. The steering angle transmitter 8C includes: a rotation sensor 83; a support column 85 erected on the cylindrical portion 21 of the tiller handle 2; and a link mechanism 84 that connects the rotation sensor 83 and the support column 85 and can change the bending angle to convert the rotation angle of the rotation sensor 83 into the steering angle.

[0045] The stroke sensors 8A and 8B are used as tracking transmitters for feedback control. In the present embodiment, the stroke sensor 8A is connected to the control device 9C through electrical wiring, and the stroke sensor 8B is connected to the control device 9D through electrical wiring. The control device 9C converts the stroke of the second plunger 3B detected by the stroke sensor 8A into a steering angle, and the control device 9C converts the stroke of the second plunger 3B detected by the stroke sensor 8A into a steering angle. However, only one stroke sensor may be provided, and the stroke sensor may be connected to both the control devices 9C and 9D.

[0046] In this embodiment, the stroke sensors 8A and 8B are arranged in the vertical direction on the side of the second plunger 3B (on the outside of the steering gear body 11 in this embodiment). Figures 4 to 6 As shown in FIG. 1 , a block 33 is provided at the center of the second plunger 3B so as to protrude in a direction opposite to the direction toward the rudder shaft 15. The stroke sensors 8A and 8B each include: a detection element 81, which is mounted on the second plunger 3B via the block 33; and a linear detector 82, which sends a signal corresponding to the position of the detection element 81. Figure 1 , 2 As shown, the linear detector 82 extends across the second cylinders 4C and 4D, and both ends of the linear detector 82 are mounted on the second cylinders 4C and 4D via the support members 40 provided on the second cylinders 4C and 4D.

[0047] As described above, in the steering gear 1 of the present embodiment, since the control devices 9A to 9D are mounted on the steering gear main body 11 , the electrical wiring between the steering gear main body 11 and the control devices 9A to 9D can be shortened.

[0048] Furthermore, in the present embodiment, the control devices 9A to 9D (control device 9 ) are located on the opposite side of the plunger (first plunger 3A or second plunger 3B) relative to the corresponding hydraulic unit 5 , so that the space on the opposite side of the hydraulic unit 5 relative to the plunger can be effectively utilized.

[0049] In the present embodiment, the hydraulic pipes 1e and 1f pass under the control devices 9B and 9D behind the first cylinder 4B and the second cylinder 4D, thereby ensuring good accessibility to the control devices 9B and 9D from behind the first cylinder 4B and the second cylinder 4D.

[0050] Furthermore, in the present embodiment, the stroke sensors 8A and 8B can be used as tracking transmitters for feedback control. Furthermore, since the stroke sensors 8A and 8B can be mounted on the steering gear body 11, they do not need to be mounted on the hull like conventional tracking transmitters.

[0051] (Variation) The present disclosure is not limited to the above-described embodiments, and various modifications can be made without departing from the gist of the present disclosure.

[0052] For example, Figure 8 As shown, a vibration-proof material 92 may be interposed between the control device seat 41 and the bracket 91 respectively provided in the first cylinder 4A, 4B and the second cylinder 4C, 4D, and between the bracket 91 and the control device 9 (each of the control devices 9A to 9D). The vibration-proof material 92 is, for example, a sheet material having a cushioning property. According to this structure, the transmission of vibration to the control device 9 can be suppressed. In addition, the vibration-proof material 92 only needs to be interposed between the control device seat 41 and the bracket 91, and between the bracket 91 and the control device 9.

[0053] In addition, if Fig. 9 As shown in FIGS. 9A and 9B, the control devices 9A to 9D (control device 9) may also be located on the side of the motor 54. In this case, the control device 9 may be installed on the corresponding cylinder (one of the first cylinders 4A and 4B or one of the second cylinders 4C and 4D) via, for example, a bracket 93 having a T-shaped cross section, a bottom plate 44 of the base 43, and a motor support 42. When such a bracket 93 is used, a vibration-proof material 92 may be interposed between at least one of the bottom plate 44 of the base 43 and the bracket 93 and between the bracket 93 and the control device 9.

[0054] Furthermore, the control devices 9A to 9D are not necessarily mounted on the first cylinders 4A, 4B and the second cylinders 4C, 4D, and may be mounted on the tank unit 51 or the valve unit 52 of the first to fourth hydraulic units 5A to 5D.

[0055] Alternatively, the control devices 9A to 9D may be mounted on the hull (e.g., the cylinder installation stand 10) near the steering gear main body 11. Here, "near the steering gear main body 11" refers to an area around the steering gear main body 11 surrounded by a line 50 cm away from the outline of the steering gear main body 11 in a plan view. In this configuration, as in the above-mentioned embodiment, the electrical wiring between the steering gear main body 11 and the control devices 9A to 9D can be shortened.

[0056] For example, when the control devices 9A to 9D (control device 9 ) are respectively mounted on the hull via brackets, the vibration-proof material 92 may be interposed between at least one of the hull and the bracket and between the bracket and the control device 9 .

[0057] In addition, the number of control devices 9 does not necessarily have to be four, and may be one, two, or three. However, from the perspective of fail safe, it is desirable that the number of control devices 4 is multiple. For example, a first control device in which control devices 9A and 9B are integrated and a second control device in which control devices 9C and 9D are integrated may be used, the first control device controls the motor 54 and the regulator 53 of the first and second hydraulic units 5A and 5B, and the second control device controls the motor 54 and the regulator 53 of the third and fourth hydraulic units 5C and 5D. In this case, the first control device may be installed on one of the first cylinders 4A and 4B, and the second control device may be installed on one of the second cylinders 4C and 4D.

[0058] Furthermore, the number of the hydraulic units does not necessarily have to be four, and may be two or three. For example, the third hydraulic unit 5C may be omitted in the above-described embodiment.

[0059] The hydraulic device operated by the electric signal included in the steering gear body 11 is not necessarily the regulator 53. For example, in the case where the hydraulic pump 61 is a fixed displacement type pump that rotates in one direction, the hydraulic device operated by the electric signal may be an electromagnetic switching valve included in the valve unit 52 of the first to fourth hydraulic units 5A to 5D, which switches the supply destination of the hydraulic oil discharged from the hydraulic pump 61. In the case where the hydraulic pump 61 is a fixed displacement type pump, the discharge flow rate of the hydraulic pump 61 can be changed by the rotation speed of the hydraulic pump 61.

[0060] In addition, depending on the structure of the steering gear body 11, the number of hydraulic devices that operate according to the electrical signals included in the steering gear body 11 may be one, three, or more than five.

[0061] (Summarize) As a first form, the present disclosure provides, according to one aspect, a steering gear comprising: a Lapson slide-type steering gear body including at least one hydraulic device operating according to an electrical signal; and at least one control device installed on the steering gear body to control the at least one hydraulic device.

[0062] According to the above configuration, since the control device is attached to the steering gear main body, the electrical wiring between the steering gear main body and the control device can be shortened.

[0063] As a second aspect, in the first aspect, the at least one hydraulic device may include a plurality of hydraulic devices, the at least one control device may include a plurality of control devices, the steering gear body may include: a tiller fixed to a rudder shaft; at least one plunger provided with a pin engaged with the tiller; at least two cylinders into which both ends of the at least one plunger are respectively inserted; and a plurality of hydraulic units, which together with the at least two cylinders constitute a hydraulic circuit and each have the plurality of hydraulic devices, a plurality of hydraulic pumps, and a plurality of motors for driving the plurality of hydraulic pumps, the plurality of hydraulic units being arranged above the at least two cylinders, and the plurality of control devices being mounted on the at least two cylinders in a manner that they are located on the opposite side of the plunger relative to the plurality of hydraulic units. According to this structure, the space on the opposite side of the plunger relative to the hydraulic unit can be effectively utilized.

[0064] As a third aspect, in the second aspect, the at least one plunger may include a first plunger and a second plunger arranged in parallel to each other in a manner of clamping the rudder shaft, and the at least two cylinders may include: two first cylinders, each of which is inserted into both ends of the first plunger; and two second cylinders, each of which is inserted into both ends of the second plunger, and a hydraulic pipe may be laid below the plurality of control devices so as to pass through a space facing the back sides of two cylinders adjacent to each other among the two first cylinders and the two second cylinders. According to this structure, good accessibility to the control device can be ensured.

[0065] As a fourth form, in the third form, for example, the multiple hydraulic pumps may include four hydraulic pumps, the multiple motors may include four motors, the multiple hydraulic units may include four hydraulic units, the four hydraulic units may respectively include the four hydraulic pumps, the four motors and four valve units, and the hydraulic piping may connect two of the four valve units to each other.

[0066] As a fifth aspect, in the fourth aspect, for example, each of the four hydraulic pumps may be a variable displacement pump, and the plurality of hydraulic devices may include four regulators that respectively change the displacement of the four hydraulic pumps.

[0067] As a sixth aspect, in the fifth aspect, the plurality of control devices may include four control devices for controlling the four regulators, respectively, the four control devices being installed in the two first cylinders and the two second cylinders, respectively, and two control devices located near the hydraulic piping among the four control devices being arranged on the inner side of the hydraulic piping laid so as to pass through the space facing the back side of two adjacent cylinders, so that the entire steering gear can be prevented from being enlarged because the space occupied by the rear side of the cylinders becomes smaller.

[0068] As a seventh aspect, in any one of the second to sixth aspects, the steering gear may further include: at least one stroke sensor, which includes: a detection element, which detects the stroke of the at least one plunger and is installed on the at least one plunger; and a linear detector, which extends across the at least two cylinders and sends a signal corresponding to the position of the detection element, and at least two of the plurality of control devices convert the stroke of the at least one plunger detected by the at least one stroke sensor into a steering angle. According to this structure, the stroke sensor can be used as a tracking transmitter for feedback control. In addition, the stroke sensor can be installed on the steering gear body, so it does not need to be installed on the hull like the previous tracking transmitter.

[0069] As an eighth aspect, the present disclosure provides a steering gear according to another aspect, comprising: a Lapson sliding type steering gear body, which includes at least one hydraulic device that works according to an electrical signal; and at least one control device, which is installed on the hull near the steering gear body to control the at least one hydraulic device.

[0070] According to the above configuration, since the control device is attached to the hull in the vicinity of the steering gear main body, the electrical wiring between the steering gear main body and the control device can be shortened.

[0071] As a ninth aspect, in any one of the first to eighth aspects, the at least one control device may be mounted on the steering gear body or the hull via a bracket, and a vibration-proof material may be interposed between at least one of the steering gear body or the hull and the bracket, and between the bracket and the at least one control device. According to this structure, the transmission of vibration to the control device can be suppressed.

Claims

1. A steering gear, characterized in that: have: A servo body of the Lapson slide type including at least one hydraulic device operating in response to an electrical signal; and At least one control device is installed on the steering gear body to control the at least one hydraulic device.

2. The steering gear according to claim 1, characterized in that: The at least one hydraulic device comprises a plurality of hydraulic devices, The at least one control device comprises a plurality of control devices, The steering gear body comprises: A tiller, which is fixed to the rudder shaft; at least one plunger provided with a pin engaging with the tiller; at least two cylinders, into which both ends of the at least one plunger are respectively inserted; and a plurality of hydraulic units, which together with the at least two cylinders form a hydraulic circuit and each of which has the plurality of hydraulic devices, a plurality of hydraulic pumps, and a plurality of electric motors for driving the plurality of hydraulic pumps; The plurality of hydraulic units are arranged above the at least two cylinders, The plurality of control devices are mounted on the at least two cylinders so as to be located on a side opposite to the plunger with respect to the plurality of hydraulic units.

3. The steering gear according to claim 2, characterized in that: The at least one plunger includes a first plunger and a second plunger which are arranged parallel to each other in a manner of clamping the rudder shaft. The at least two cylinders include: two first cylinders, into which both ends of the first plunger are inserted respectively; and two second cylinders, into which both ends of the second plunger are inserted respectively. A hydraulic pipe is laid below the plurality of control devices so as to pass through a space facing the back surfaces of two cylinders adjacent to each other among the two first cylinders and the two second cylinders.

4. The steering gear according to claim 3, characterized in that: The plurality of hydraulic pumps include four hydraulic pumps, The plurality of motors include four motors, The plurality of hydraulic units include four hydraulic units, The four hydraulic units respectively include the four hydraulic pumps, the four electric motors and four valve units. The hydraulic pipe connects two valve units among the four valve units to each other.

5. The steering gear according to claim 4, characterized in that: The four hydraulic pumps are variable capacity pumps. The plurality of hydraulic devices include four regulators that respectively change capacities of the four hydraulic pumps.

6. The steering gear according to claim 5, characterized in that: The plurality of control devices include four control devices that respectively control the four regulators, The four control devices are respectively installed on the two first cylinders and the two second cylinders, Two of the four control devices located near the hydraulic pipe are arranged on the inner side of the hydraulic pipe.

7. The steering gear according to any one of claims 2 to 6, characterized in that: The invention also comprises: at least one stroke sensor, which comprises: a detection element, which detects the stroke of the at least one plunger and is installed on the at least one plunger; and a linear detector, which extends across the at least two cylinders and sends a signal corresponding to the position of the detection element. At least two of the plurality of control devices convert the stroke of the at least one plunger detected by the at least one stroke sensor into a steering angle.

8. A steering gear, characterized in that: have: A servo body of the Lapson slide type including at least one hydraulic device operating in response to an electrical signal; and At least one control device is installed on the hull near the steering gear body to control the at least one hydraulic device.

9. The steering gear according to claim 1 or 8, characterized in that: The at least one control device is mounted on the steering engine body or the hull via a bracket, A vibration-proof material is interposed between at least one of the steering gear body or the hull and the bracket and between the bracket and the at least one control device.

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