Integrated hydraulically-driven dual-redundancy oil lubrication rotary steering mechanism

Abstract

An integrated hydraulic-driven dual-redundancy oil lubrication rotary steering mechanism comprises a linear hydraulic actuator cylinder body, a piston rod, a displacement sensor, a displacement sensor supporting cylinder, a bearing seat, a rocker arm seat, a rocker arm, a spline shaft, a rotary encoder and a sliding bearing. Sliding pairs are designed on the two sides of the linear hydraulic actuator and are supported by double bearing seats, and the problems of lateral thrust of a rocker arm to a rudder shaft and vibration noise caused by eccentric wear of the rudder shaft are solved; the bearing seat is rigidly connected with the rocker arm base, an independent linear hydraulic actuator base is eliminated, and integrated design is achieved; a sealed oil lubrication structure is adopted between the spline shaft and the bearing seat to replace a traditional grease lubrication scheme, abrasion impurities can be settled to the bottom, and the problem that abrasion redundant materials are accumulated in a friction pair is solved.

Description

Technical Field

[0001] The invention relates to an integrated hydraulically driven double-redundant oil-lubricated rotary steering mechanism, which is used for converting a linear force output of a linear hydraulic actuator into a rotary torque output. Background Art

[0002] There are mainly three types of hydraulically driven rotary steering mechanisms in the prior art, but all of them have the following problems:

[0003] 1. Use hydraulic rotary hydraulic actuator to directly output rotary torque. The rotary hydraulic actuator has large internal leakage and low volumetric efficiency.

[0004] 2. Use mechanical transmission methods such as sliders or gear racks to convert the linear motion of the hydraulic actuator into rotational motion. Slider or gear rack transmission has high noise and is not suitable for silent occasions;

[0005] 3. The linear hydraulic actuator is combined with the rocker arm transmission method, which has a simple structure and high efficiency. However, the hydraulic actuator and the rocker arm are traditionally installed separately. The linear hydraulic actuator requires a separate base support, and the rocker arm relies on the tiller handle bearing for support. This method also has the following disadvantages: First, the split installation occupies a large space, has many bases, and is heavy; second, the rocker arm has no separate supporting bearing, which forms a lateral thrust on the tiller handle, causing eccentric wear of the tiller handle and easily generating large vibration noise. Summary of the invention

[0006] The technical problem solved by the present invention is: to overcome the shortcomings of the prior art, to propose an integrated hydraulically driven dual-redundant oil-lubricated rotary steering mechanism, to solve the problem that the existing rocker-arm type hydraulic linear-rotary drive device occupies a large space and the lateral force easily causes eccentric wear of the rudder shaft to produce vibration and noise, and to develop an integrated hydraulically driven dual-redundant oil-lubricated rotary steering mechanism.

[0007] The technical solution of the present invention is: an integrated hydraulically driven double-redundant oil-lubricated rotary steering mechanism, comprising: 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, a sliding bearing, and a displacement sensor magnetic ring;

[0008] Sliding pairs are designed on both sides of the cylinder body of the linear hydraulic actuator, and the bearing seat includes a base and a mounting hole; the sliding pairs on both sides of the cylinder body of the linear hydraulic actuator are respectively connected to the mounting holes of the two bearing seats through bearings; a support platform is arranged on the outside of the rocker arm seat for connecting with the base of the bearing seat; the first oil port and the second oil port are respectively arranged at both axial ends of the cylinder body of the linear hydraulic actuator, and the piston rod is installed inside the cylinder body, and the linear reciprocating motion of the piston rod is realized through the oil in and out of the first oil port and the second oil port; the piston rod is connected to the rocker arm through a pin shaft, which is used to convert the linear reciprocating motion of the piston rod into the rotational motion of the rocker arm; the rocker arm is connected to the spline shaft through a key to transmit the rotational torque of the rocker arm to the spline shaft , realizing rotary steering; a mounting hole is arranged inside the rocker arm seat, the sliding bearing is coaxially arranged in the mounting hole inside the rocker arm seat, and the spline shaft is coaxially arranged inside the sliding bearing; a rotary encoder is coaxially arranged inside the spline shaft, which serves as an angle acquisition device of the spline shaft to acquire the rudder deflection angle; the displacement sensor support cylinder is installed on the end cover of the cylinder body of the linear hydraulic actuator, and the displacement sensor is installed on the displacement sensor support cylinder; a displacement sensor magnetic ring is arranged inside the piston rod; the displacement sensor and the cylinder body remain relatively stationary, the displacement sensor magnetic ring and the piston rod remain relatively stationary, the displacement sensor and the displacement sensor magnetic ring move relative to each other, and the displacement sensor acquires the relative position of the piston rod and the cylinder body.

[0009] When the sliding pairs on both sides of the cylinder body of the linear hydraulic actuator are installed with the two bearing seats, it is ensured that the cylinder body of the linear hydraulic actuator can rotate with the center line of the mounting hole of the bearing seat as the rotation axis.

[0010] Sealing structures and sealing members are arranged at both axial ends of the sliding bearing, so that the sliding bearing is located in a sealing cavity formed by the rocker arm seat, the spline shaft, the sealing structure and the sealing member.

[0011] The rocker arm seat is provided with an oil filling port and an oil outlet port on the radial upper and lower sides of the sealing chamber. The equipment is regularly filled with oil from the sealing chamber oil filling port. The oil forms an oil film between the sliding bearing and the rocker arm seat, and between the sliding bearing and the spline shaft to achieve lubrication. At the same time, the oil carries excess wear materials and flows to the sealing chamber oil outlet port through gravity, accumulates in the oil outlet port and is discharged regularly.

[0012] When oil enters the first oil port and oil exits the second oil port, the piston rod extends; when oil enters the second oil port and oil exits the first oil port, the piston rod retracts.

[0013] When the piston rod is located at the axial center point of the cylinder, that is, the displacement zero point, the hydraulic cylinder body is in a horizontal state, the central axis of the rocker arm is in a vertical state, and the rocker arm is at the rotation zero point.

[0014] When the piston rod is extended relative to the zero point of displacement, the rocker arm rotates clockwise, and the cylinder body of the linear hydraulic actuator rotates clockwise around the center line of the bearing.

[0015] When the piston rod is retracted relative to the displacement zero point, the rocker arm rotates counterclockwise, and the linear hydraulic actuator cylinder body rotates clockwise around the bearing center line.

[0016] The advantages of the present invention compared with the prior art are:

[0017] 1. Integrated oil-lubricated rotary steering mechanism design.

[0018] The linear hydraulic actuator of the present invention is designed with sliding pairs on both sides and supported by double bearing seats, thereby eliminating the lateral thrust of the rocker arm on the rudder shaft and the vibration and noise problems caused by the eccentric wear of the rudder shaft; the bearing seat is rigidly connected to the rocker arm base, eliminating the separate linear hydraulic actuator base and realizing an integrated design; a sealed oil lubrication structure is used between the spline shaft and the bearing seat to replace the traditional grease lubrication solution, so that the wear impurities can settle to the bottom, avoiding the accumulation of excess wear inside the friction pair;

[0019] 2. Linear-rotational heterogeneous redundant angle measurement design.

[0020] A displacement sensor is arranged inside the linear hydraulic actuator of the present invention to measure the displacement of the piston rod, and a rotary encoder is coaxially arranged inside the spline shaft to measure the rudder angle. The displacement sensor and the rotary encoder constitute a linear-rotary heterogeneous redundant measurement design, which eliminates common cause failure modes in isomorphic angle measurement and improves reliability. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 Schematic diagram of the integrated hydraulically driven double redundant oil-lubricated rotary steering mechanism;

[0022] Figure 2 Schematic diagram of sliding bearing installation;

[0023] Figure 3 Schematic diagram of displacement sensor installation; DETAILED DESCRIPTION

[0024] The present invention proposes an integrated hydraulically driven double-redundant oil-lubricated rotary steering mechanism, realizes the integrated design of the hydraulic cylinder and the steering mechanism, converts the linear force output of the linear hydraulic actuator into a rotary torque output, solves the problem of rotary shaft grease contamination, and solves the failure of single-redundant rotation angle measurement.

[0025] The integrated hydraulically driven double redundant oil-lubricated rotary steering mechanism is shown in the figure Figure 1 As shown, it includes a linear hydraulic actuator cylinder 1, a first oil port 2, a second oil port 3, a piston rod 4, a displacement sensor 5, a displacement sensor support cylinder 6, a bearing seat 7, a rocker arm seat 8, a rocker arm 9, a spline shaft 10, and a rotary encoder 11. The specific technical solution is as follows:

[0026] (1) Integrated design of hydraulic cylinder and steering mechanism.

[0027] Sliding pairs are designed on both sides of the linear hydraulic actuator cylinder 1, and the bearing seat 7 includes a base and a mounting hole. The sliding pairs of the linear hydraulic actuator cylinder 1 are respectively connected to the mounting holes of the bearing seats 7 on both sides through bearings, and the linear hydraulic actuator cylinder 1 can rotate with the center line of the mounting hole of the bearing seat 7 as the rotation axis. The base of the bearing seat 7 is connected to the support platform of the rocker seat 8, and the spline shaft 10 is installed in the internal mounting port of the rocker seat 8.

[0028] Compared with the existing technical solutions, this design enables the linear hydraulic actuator cylinder 1 providing linear force to be integrated with the spline shaft 10 for providing torque output, eliminating the separate linear hydraulic actuator base and realizing the integrated design of the hydraulic cylinder and the steering mechanism.

[0029] (2) The steering mechanism is designed to achieve the output of rotational torque.

[0030] The cylinder body 1 of the linear hydraulic actuator realizes the linear reciprocating motion of the piston rod 4 through the first oil port 2 and the second oil port 3. When oil enters the first oil port 2 and oil exits the second oil port 3, the piston rod 4 extends; when oil enters the second oil port 3 and oil exits the first oil port 2, the piston rod 4 retracts.

[0031] The piston rod 4 is connected to the rocker arm 9 by a pin. When the piston rod 4 is located at the axial center point of the cylinder (displacement zero point), the hydraulic cylinder body 1 is in a horizontal state, and the central axis of the rocker arm 9 is in a vertical state. At this time, the rocker arm 9 is located at the rotation zero point. When the piston rod 4 is extended relative to the displacement zero point, the rocker arm 9 rotates clockwise, and the linear hydraulic actuator cylinder body 1 rotates clockwise around the bearing center line; when the piston rod 4 is retracted relative to the displacement zero point, the rocker arm 9 rotates counterclockwise, and the linear hydraulic actuator cylinder body 1 rotates clockwise around the bearing center line.

[0032] The rocker arm 9 is connected to a spline shaft 10 for torque output via a key, and the rotational torque of the rocker arm is transmitted to the spline shaft to realize rotary steering.

[0033] (3) Design of lubrication method for rocker arm seat and spline shaft.

[0034] Schematic diagram of sealed oil lubrication structure Figure 2 As shown, it includes a rocker arm seat 8, a spline shaft 10, and a sliding bearing 12.

[0035] like Figure 2, the sliding bearing 12, the rocker arm seat 8 and the spline shaft 10 are installed coaxially, and the rocker arm seat 8, the spline shaft 10 and the standard seal form a cylindrical sealing chamber for installing the sliding bearing 12. The rocker arm seat 8 has a sealing chamber oil filling port 14 and an oil outlet 15 on the radial upper and lower sides of the sealing chamber position. The equipment is regularly filled with oil from the sealing chamber oil filling port. The oil forms an oil film between the sliding bearing 12 and the rocker arm seat 8, and between the sliding bearing and the spline shaft 10 to achieve lubrication. At the same time, the oil carries the excess wear and tear and flows to the sealing chamber oil outlet through gravity, accumulates in the oil outlet and is discharged regularly.

[0036] Compared with the grease lubrication technical solution, this design can better remove excess wear and avoid the problem of excess wear accumulated inside the friction pair caused by grease lubrication.

[0037] (4) Linear-rotational heterogeneous redundant measurement design.

[0038] A rotary encoder 11 is coaxially arranged inside the spline shaft 10 to serve as an angle acquisition device for the spline shaft to acquire the rudder deflection angle.

[0039] The installation diagram of the displacement sensor is as follows: Figure 3 As shown, it includes a linear hydraulic actuator cylinder 1, a piston rod 4, a displacement sensor 5, a displacement sensor support cylinder 6, and a displacement sensor magnetic ring 13. The displacement sensor support cylinder 6 is installed on the end cover of the linear hydraulic actuator cylinder 1, and the displacement sensor 5 is installed on the displacement sensor support cylinder 6; the displacement sensor magnetic ring 13 is arranged inside the piston rod 4, and the relative motion between the displacement sensor 5 and the displacement sensor magnetic ring 13 can be converted into an electrical signal collected by the displacement sensor 5, and the displacement sensor 5 can be used as a position acquisition device for the piston rod 4. Since the position of the piston rod 4 is in a one-to-one correspondence with the rudder deflection angle, the displacement sensor 5 can be used as a redundant angle acquisition device for the rudder deflection angle.

[0040] Compared with the single redundant angle acquisition technical solution, the rotary encoder 11 and the linear displacement sensor 5 of the present invention are heterogeneous redundant angle acquisition devices, which can improve reliability.

[0041] Although the present invention has been disclosed as above in the form of a preferred embodiment, it is not intended to limit the present invention. Any person skilled in the art can make possible changes and modifications to the technical solution of the present invention by using the technical contents disclosed above without departing from the spirit and scope of the present invention. Therefore, any simple modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solution of the present invention shall fall within the protection scope of the technical solution of the present invention.

Claims

1. Integrated hydraulically driven double redundant oil-lubricated rotary steering mechanism, characterized in that: include: Linear hydraulic actuator cylinder, piston rod, displacement sensor, displacement sensor support cylinder, bearing seat, rocker arm seat, rocker arm, spline shaft, rotary encoder and sliding bearing; Sliding pairs are designed on both sides of the cylinder body of the linear hydraulic actuator, and the bearing seat includes a base and a mounting hole; the sliding pairs on both sides of the cylinder body of the linear hydraulic actuator are respectively connected to the mounting holes of the two bearing seats through bearings; a support platform is arranged on the outside of the rocker arm seat for connecting with the base of the bearing seat; the first oil port and the second oil port are respectively arranged at both axial ends of the cylinder body of the linear hydraulic actuator, and the piston rod is installed inside the cylinder body, and the linear reciprocating motion of the piston rod is realized through the oil in and out of the first oil port and the second oil port; the piston rod is connected to the rocker arm through a pin shaft, which is used to convert the linear reciprocating motion of the piston rod into the rotational motion of the rocker arm; the rocker arm is connected to the spline shaft through a key to transmit the rotational torque of the rocker arm to the spline shaft , realizing rotary steering; a mounting hole is arranged inside the rocker arm seat, the sliding bearing is coaxially arranged in the mounting hole inside the rocker arm seat, and the spline shaft is coaxially arranged inside the sliding bearing; a rotary encoder is coaxially arranged inside the spline shaft, which serves as an angle acquisition device of the spline shaft to acquire the rudder deflection angle; the displacement sensor support cylinder is installed on the end cover of the cylinder body of the linear hydraulic actuator, and the displacement sensor is installed on the displacement sensor support cylinder; a displacement sensor magnetic ring is arranged inside the piston rod; the displacement sensor and the cylinder body remain relatively stationary, the displacement sensor magnetic ring and the piston rod remain relatively stationary, the displacement sensor and the displacement sensor magnetic ring move relative to each other, and the displacement sensor acquires the relative position of the piston rod and the cylinder body.

2. The integrated hydraulically driven double-redundant oil-lubricated rotary steering mechanism according to claim 1, characterized in that: When the sliding pairs on both sides of the cylinder body of the linear hydraulic actuator are installed with the two bearing seats, it is ensured that the cylinder body of the linear hydraulic actuator can rotate with the center line of the mounting hole of the bearing seat as the rotation axis.

3. The integrated hydraulically driven double-redundant oil-lubricated rotary steering mechanism according to claim 1, characterized in that: Sealing structures and sealing members are arranged at both axial ends of the sliding bearing, so that the sliding bearing is located in a sealing cavity formed by the rocker arm seat, the spline shaft, the sealing structure and the sealing member.

4. The integrated hydraulically driven double-redundant oil-lubricated rotary steering mechanism according to claim 3, characterized in that: The rocker arm seat is provided with an oil filling port and an oil outlet port on the radial upper and lower sides of the sealing chamber. The equipment is regularly filled with oil from the sealing chamber oil filling port. The oil forms an oil film between the sliding bearing and the rocker arm seat, and between the sliding bearing and the spline shaft to achieve lubrication. At the same time, the oil carries excess wear materials and flows to the sealing chamber oil outlet port through gravity, accumulates in the oil outlet port and is discharged regularly.

5. The integrated hydraulically driven double-redundant oil-lubricated rotary steering mechanism according to claim 4, characterized in that: When oil enters the first oil port and oil exits the second oil port, the piston rod extends; when oil enters the second oil port and oil exits the first oil port, the piston rod retracts.

6. The integrated hydraulically driven double-redundant oil-lubricated rotary steering mechanism according to claim 4, characterized in that: When the piston rod is located at the axial center point of the cylinder, that is, the displacement zero point, the hydraulic cylinder body is in a horizontal state, the central axis of the rocker arm is in a vertical state, and the rocker arm is at the rotation zero point.

7. The integrated hydraulically driven double-redundant oil-lubricated rotary steering mechanism according to claim 6, characterized in that: When the piston rod is extended relative to the zero point of displacement, the rocker arm rotates clockwise, and the cylinder body of the linear hydraulic actuator rotates clockwise around the center line of the bearing.

8. The integrated hydraulically driven double-redundant oil-lubricated rotary steering mechanism according to claim 7, characterized in that: When the piston rod is retracted relative to the displacement zero point, the rocker arm rotates counterclockwise, and the linear hydraulic actuator cylinder body rotates clockwise around the bearing center line.

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