Integrated hydraulic drive dual-redundancy oil lubrication rotary steering mechanism

Abstract

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.

Description

TECHNICAL FIELD

[0001] The present application relates to an integrated hydraulic drive dual-redundancy oil-lubricated rotary steering mechanism for converting linear force output of a linear hydraulic actuator into rotary torque output. BACKGROUND

[0002] There are three kinds of hydraulic drive rotary steering mechanisms in the prior art, but all have the following problems:

[0003] 1. Direct rotary torque output using a hydraulic rotary hydraulic actuator, which has large internal leakage and low volumetric efficiency;

[0004] 2. Mechanical transmission such as slider or gear rack is used to convert linear motion of the hydraulic actuator into rotary motion, which has large transmission noise and is not suitable for silent occasions;

[0005] 3. Linear hydraulic actuator is used in combination with a rocker arm transmission mode, which has simple structure and high efficiency, but the hydraulic actuator and the rocker arm are traditionally installed separately, the linear hydraulic actuator needs a separate base support, and the rocker arm relies on the rudder handle bearing support. This mode has the following disadvantages: first, the separate installation occupies a large space and has many bases and heavy weight; second, the rocker arm has no separate support bearing, which forms a lateral thrust on the rudder handle, causing the rudder handle to be abraded and generating large vibration noise. SUMMARY

[0006] The technical problem solved by the present application is to overcome the deficiencies of the prior art and provide an integrated hydraulic drive dual-redundancy oil-lubricated rotary steering mechanism, which solves the problems of large space occupation, lateral force-induced rudder shaft abrasion and vibration noise of the existing rocker arm type hydraulic linear-rotary drive device, and develops an integrated hydraulic drive dual-redundancy oil-lubricated rotary steering mechanism.

[0007] The technical solution of the present application is an integrated hydraulic drive dual-redundancy oil-lubricated rotary steering mechanism, which comprises a linear hydraulic actuator cylinder body, 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] The linear hydraulic actuator cylinder body is provided with sliding pairs on both sides, and the bearing seat comprises a base and a mounting hole; the sliding pairs on both sides of the linear hydraulic actuator cylinder body are connected with the mounting holes of the two bearing seats through bearings; a support table is arranged on the outer side of the rocker arm base and used for connecting with the base of the bearing seat; the linear hydraulic actuator cylinder body is provided with a first oil port and a second oil port at the axial two ends, respectively; the piston rod is installed in 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 with the rocker arm through a pin shaft, and is used for converting the linear reciprocating motion of the piston rod into the rotary motion of the rocker arm; the rocker arm is connected with the spline shaft through a key, and the rotary torque of the rocker arm is transmitted to the spline shaft to realize rotary steering; the rocker arm base is provided with a mounting hole inside, a sliding bearing is coaxially arranged in the mounting hole inside the rocker arm base, and the spline shaft is coaxially arranged inside the sliding bearing; a rotary encoder is coaxially arranged inside the spline shaft, and is used as an angle acquisition device of the spline shaft to acquire the rudder deflection angle; a displacement sensor support cylinder is installed on the end cover of the linear hydraulic actuator cylinder body, and a 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 relatively, 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 linear hydraulic actuator cylinder body are mounted with the two bearing seats, it is ensured that the linear hydraulic actuator cylinder body can rotate around the center line of the bearing seat mounting hole as the rotation axis.

[0010] The sliding bearing is provided with a sealing structure and a sealing element at the axial two ends, so that the sliding bearing is located in a sealing cavity formed by the rocker arm base, the spline shaft and the sealing structure and the sealing element.

[0011] The rocker arm base is provided with an oil injection port and an oil outlet port on the radial upper and lower sides of the sealing cavity position, respectively, the equipment is periodically injected with oil through the oil injection port of the sealing cavity, and the oil forms an oil film between the sliding bearing and the rocker arm base and between the sliding bearing and the spline shaft to achieve lubrication, at the same time, the oil carries the wear residues to flow to the oil outlet port of the sealing cavity through gravity, and the wear residues are accumulated in the oil outlet port and are periodically discharged.

[0012] When the first oil port is filled with oil and the second oil port is discharged, the piston rod is extended; when the second oil port is filled with oil and the first oil port is discharged, the piston rod is retracted.

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

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

[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 through the bearing center line.

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

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

[0018] The present application designs sliding pairs on both sides of the linear hydraulic actuator and is supported by double bearing seats, eliminating 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; the bearing seat is rigidly connected with the rocker arm base, eliminating the separate linear hydraulic actuator base and realizing integrated design; the sealed oil-lubricated structure between the spline shaft and the bearing seat replaces the traditional grease lubrication scheme, and the wear impurities can be settled at the bottom, avoiding the accumulation of wear debris in the internal friction pair.

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

[0020] The displacement sensor is arranged inside the linear hydraulic actuator for measuring the displacement of the piston rod, and the rotary encoder is coaxially arranged inside the spline shaft for measuring the rudder deflection angle, and the displacement sensor and the rotary encoder constitute a linear-rotary heterogeneous redundant measurement design, eliminating the common cause failure mode in the same structure angle measurement and improving the reliability. BRIEF DESCRIPTION OF DRAWINGS

[0021] Figure 1 Integrated hydraulic drive double-redundancy oil-lubricated rotary steering mechanism schematic diagram;

[0022] Figure 2 Sliding bearing installation schematic diagram;

[0023] Figure 3 Displacement sensor installation schematic diagram; DETAILED DESCRIPTION

[0024] The present application proposes an integrated hydraulic drive double-redundancy oil-lubricated rotary steering mechanism, realizing the integrated design of the hydraulic cylinder and the steering mechanism, converting the linear force output of the linear hydraulic actuator into rotary torque output, solving the pollution problem of rotary shaft grease, and solving the single-redundancy rotary angle measurement failure.

[0025] The integrated hydraulic drive double-redundancy oil-lubricated rotary steering mechanism diagram is shown in Figure 1 , including a linear hydraulic actuator cylinder body 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 base 8, a rocker arm 9, a spline shaft 10, and a rotary encoder 11. The specific technical solutions are as follows:

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

[0027] The linear hydraulic actuator cylinder 1 is designed with sliding pairs on both sides, and the bearing seat 7 includes a base and a mounting hole. The sliding pairs of the linear hydraulic actuator cylinder 1 are connected with the mounting holes of the bearing seats 7 on both sides through bearings, and the linear hydraulic actuator cylinder 1 can rotate around 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 with the support table of the rocker arm seat 8, and the spline shaft 10 is installed in the inner mounting hole of the rocker arm seat 8.

[0028] Compared with the prior art, the linear hydraulic actuator cylinder 1 for providing linear force can 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 realizes the output of rotary torque.

[0030] The linear hydraulic actuator cylinder 1 realizes the linear reciprocating motion of the piston rod 4 through the first oil port 2 and the second oil port 3. When the first oil port 2 is filled with oil and the second oil port 3 is drained, the piston rod 4 is extended; when the second oil port 3 is filled with oil and the first oil port 2 is drained, the piston rod 4 is retracted.

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

[0032] The rocker arm 9 is connected with the spline shaft 10 for torque output through a key, so as to transmit the rotary torque of the rocker arm to the spline shaft and realize rotary steering.

[0033] (3) Lubrication mode design of rocker arm seat and spline shaft.

[0034] The sealed oil lubrication structure is shown in Figure 2 , including the rocker arm seat 8, the spline shaft 10, and the sliding bearing 12.

[0035] As shown in Figure 2The sliding bearing 12, rocker arm seat 8, and splined shaft 10 are coaxially mounted. The rocker arm seat 8, splined shaft 10, and standard seals form a cylindrical sealing cavity for mounting the sliding bearing 12. The rocker arm seat 8 has an oil inlet 14 and an oil outlet 15 on the upper and lower radial sides of the sealing cavity. The equipment is periodically filled with oil through the oil inlet. The oil forms an oil film between the sliding bearing 12 and the rocker arm seat 8, and between the sliding bearing and the splined shaft 10, respectively, to achieve lubrication. At the same time, the oil carries excess wear material and flows to the oil outlet of the sealing cavity by gravity, where it accumulates and is periodically discharged.

[0036] Compared to grease lubrication, this design can better remove wear debris and avoid the problem of wear debris accumulating 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 collect the rudder deflection angle as an angle acquisition device for the spline shaft.

[0039] The installation diagram of the displacement sensor is shown below. Figure 3 As shown, the actuator 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 mounted on the end cap of the linear hydraulic actuator cylinder 1, and the displacement sensor 5 is mounted on the displacement sensor support cylinder 6. The displacement sensor magnetic ring 13 is arranged inside the piston rod 4. 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, which can serve as a position acquisition device for the piston rod 4. Since the position of the piston rod 4 corresponds one-to-one with the rudder deflection angle, the displacement sensor 5 can serve as a redundant angle acquisition device for the rudder deflection angle.

[0040] Compared to single-redundant angle acquisition technology, the rotary encoder 11 and the linear displacement sensor 5 are heterogeneous redundant angle acquisition devices, which can improve reliability.

[0041] Although the present invention has been disclosed above with reference to preferred embodiments, it is not intended to limit the present invention. Any person skilled in the art can make possible changes and modifications to the technical solutions of the present invention based on the above-disclosed technical content 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 solutions of the present invention shall fall within the protection scope of the technical solutions of the present invention.

Claims

1. An integrated hydraulically driven, dual-redundant, oil-lubricated rotary steering mechanism, characterized in that, include: The linear hydraulic actuator consists of a cylinder body, piston rod, displacement sensor, displacement sensor support cylinder, bearing housing, rocker arm housing, rocker arm, splined shaft, rotary encoder, and sliding bearing. The linear hydraulic actuator cylinder body features sliding pairs on both sides, with bearing seats comprising a base and mounting holes. The sliding pairs on both sides of the cylinder body are connected to the mounting holes of the two bearing seats via bearings. A support platform is provided on the outer side of the rocker arm seat for connection to the base of the bearing seat. The cylinder body has a first oil port and a second oil port at its axial ends. The piston rod is installed inside the cylinder body, and its linear reciprocating motion is achieved through the inflow and outflow of oil through the first and second oil ports. The piston rod is connected to the rocker arm via a pin, converting the linear reciprocating motion of the piston rod into the rotational motion of the rocker arm. The rocker arm is connected to a splined shaft via a key, transmitting the rotational torque of the rocker arm to the splined shaft. This system enables rotary steering. An internal mounting hole is provided in the rocker arm seat, and a sliding bearing is coaxially arranged within this hole. A splined shaft is coaxially arranged inside the sliding bearing. A rotary encoder is coaxially arranged inside the splined shaft to collect the rudder deflection angle. A displacement sensor support cylinder is mounted on the end cover of the linear hydraulic actuator cylinder, and the displacement sensor is mounted on the support cylinder. A displacement sensor magnetic ring is arranged inside the piston rod. The displacement sensor remains relatively stationary with the cylinder, and the displacement sensor magnetic ring remains relatively stationary with the piston rod. Relative movement occurs between the displacement sensor and the magnetic ring, allowing the displacement sensor to collect the relative position of the piston rod and the cylinder. The sliding bearing is provided with sealing structures and seals at both axial ends, so that the sliding bearing is located in the sealing cavity formed by the rocker arm seat, the splined shaft, and the sealing structures and seals; The rocker arm seat has an oil inlet and an oil outlet on the upper and lower radial sides of the sealed cavity. The equipment is periodically filled with oil through the oil inlet of the sealed cavity. 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 the excess wear material and flows to the oil outlet of the sealed cavity by gravity, where it accumulates and is periodically discharged.

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

3. The integrated hydraulically driven dual-redundant oil-lubricated rotary steering mechanism according to claim 1, characterized in that, When oil enters through the first port and exits through the second port, the piston rod extends; when oil enters through the second port and exits through the first port, the piston rod retracts.

4. The integrated hydraulically driven dual-redundant oil-lubricated rotary steering mechanism according to claim 1, characterized in that, When the piston rod is located at the axial center point of the cylinder, i.e., the zero displacement point, the hydraulic cylinder body is in a horizontal state, and the central axis of the rocker arm is in a vertical state. At this time, the rocker arm is located at the zero rotation point.

5. The integrated hydraulically driven dual-redundant oil-lubricated rotary steering mechanism according to claim 4, characterized in that, When the piston rod extends relative to the zero displacement point, the rocker arm rotates clockwise, and at the same time, the linear hydraulic actuator cylinder rotates clockwise around the bearing centerline.

6. The integrated hydraulically driven dual-redundant oil-lubricated rotary steering mechanism according to claim 5, characterized in that, When the piston rod retracts relative to the zero displacement point, the rocker arm rotates counterclockwise, while the linear hydraulic actuator cylinder rotates clockwise around the bearing centerline.

Images