High-precision fin angle transmission mechanism and fin angle detection method for fin stabilizer

Abstract

The application relates to a high-precision fin angle sending mechanism and a fin angle detection method of a fin stabilizer, and belongs to the technical field of ship stabilizers. The fin angle sending mechanism comprises a crank, a transmission rod, a feedback rod, a connecting rod, a connecting link and a rocker. One end of the crank is fixedly connected with a fin shaft, and the other end is hingedly connected with the bottom end of the transmission rod. The top end of the transmission rod is hingedly connected with the bottom end of the feedback rod. The top end of the feedback rod is fixedly connected with the bottom end of the connecting rod. The feedback rod drives the connecting rod to move linearly. The top end of the connecting rod is hingedly connected with the top end of the connecting link, the bottom end of the connecting link is hingedly connected with one end of the rocker, and the other end of the rocker is fixedly connected with an angle sensor. The rotating radius of the crank is equal to that of the rocker. The length of the transmission rod is equal to that of the connecting link. The eccentricity of the feedback rod relative to the center of the fin shaft is equal to the eccentricity of the connecting rod relative to the center of the angle sensor. The rotation of the fin shaft is transmitted to the rocker in a 1:1 mode. The fin angle control precision and use efficiency of the fin stabilizer device are improved, and the fin angle sending mechanism can be applied to any type of rotating fin mechanism.

Description

Technical Field

[0001] The present invention relates to the technical field of ship roll stabilization, and in particular to a high-precision fin angle transmitting mechanism and a method for detecting the fin angle of a fin stabilizer. Background Art

[0002] The ship's fin stabilizer is used to reduce the severity of the ship's rolling. It is a ship equipment that integrates mechanical, electrical, hydraulic and fluid. The control principle of the fin stabilizer is as follows: Figure 1 The figure shows a typical servo control system. The fin angle transmitter reproduces the actual mechanical angle of the fin and fin axis, serving as a benchmark for system commissioning. This signal is converted into an electrical signal by the fin angle sensor and fed back to the fin stabilizer controller, thus forming a complete closed-loop fin stabilizer control system. The accuracy of fin angle feedback determines the accuracy of fin angle control, significantly impacting the fin stabilizer's roll reduction performance and structural safety.

[0003] The fin angle transmission mechanism of the existing retractable fin stabilizer device does not directly detect the fin angle, but indirectly obtains the rotation angle of the fin and the fin axis by detecting the movement of the piston rod of the fin rotating cylinder in the fin rotating mechanism. Figure 2 As shown, the linear motion of the cylinder piston rod is transmitted to the rocker arm 2' via the connecting shaft and connecting rod 1', converting it into rotational motion of the rocker arm 2' and the angle sensor attached to it. In fin stabilizers using existing fin angle transmission mechanisms, the fin rotation cylinder must be fixed relative to the fin stabilizer base when driving the fins. Otherwise, the fin angle on the fin angle transmission mechanism cannot be accurately measured.

[0004] Existing fin-angle transmission mechanisms use indirect fin-angle detection, which can introduce systemic errors. This can lead to discrepancies between the feedback fin angle and the actual fin angle, impacting the control efficiency of the fin stabilizer. Furthermore, existing fin-angle transmission mechanisms are limited in the form of fin-rotating mechanisms. If the fin-rotating mechanism of a retractable fin stabilizer is driven by a motor or a vane-rotating cylinder, or if the linear fin-rotating cylinder in the fin-rotating mechanism exhibits overall oscillation, the existing fin-angle transmission mechanism will be unsuitable. Summary of the Invention

[0005] In response to the problems of low accuracy and poor adaptability of existing fin angle feedback devices, the present invention provides a high-precision fin angle transmission mechanism and a fin stabilizer fin angle detection method, which directly converts the rotation of the fin and fin shaft into joystick rotation in a 1:1 ratio. The fin angle can be determined by directly detecting the joystick angle, thereby improving the fin angle control accuracy and utilization efficiency of the fin stabilizer device, and is applicable to any type of fin rotation mechanism.

[0006] To achieve the above object, the present invention provides the following technical solutions:

[0007] A high-precision fin angle transmission mechanism, the fin angle transmission mechanism comprising a crank, a transmission rod, a feedback rod, a connecting rod, a connecting rod, and a rocker;

[0008] One end of the crank is fastened to the fin shaft; the other end of the crank is hingedly connected to the bottom end of the transmission rod; the top end of the transmission rod is hingedly connected to the bottom end of the feedback rod, and the transmission rod is used to transmit the rotating force of the fin shaft to the crank; the feedback rod is longitudinally arranged through the support part, and the top end of the feedback rod is fastened to the bottom end of the connecting rod; the feedback rod drives the connecting rod to move linearly together under the driving of the rotating force;

[0009] The top end of the connecting rod is hingedly connected to the top end of the connecting rod, the bottom end of the connecting rod is hingedly connected to one end of the rocker, and the other end of the rocker is fixedly connected to the angle sensor; the rotating radius of the crank is equal to that of the rocker; the length of the transmission rod is equal to that of the connecting rod; the eccentricity of the feedback rod relative to the center of the fin shaft is equal to that of the connecting rod relative to the center of the angle sensor; the connecting rod drives the rocker and the crank to rotate synchronously through the connecting rod, and the rotation of the fin shaft is transmitted to the rocker at a ratio of 1:1; the angle sensor is used to detect and output the rotation angle of the rocker.

[0010] Further, the rotating axis of the crank coincides with that of the fin shaft, and the rotating axis of the rocker coincides with that of the angle sensor.

[0011] Further, the feedback rod comprises a shift fork, a lower straight rod and an upper straight rod; the shift fork, the lower straight rod and the upper straight rod are fastened in sequence from bottom to top; the shift fork is connected to the top end of the transmission rod; and the upper straight rod is connected to the bottom end of the connecting rod.

[0012] Further, the shift fork, the lower straight rod and the upper straight rod are threadedly connected in sequence.

[0013] Further, the top of the upper straight rod is externally threaded and threadedly connected to the bottom end of the connecting rod.

[0014] Further, the support part comprises a sliding bearing, an end cover and a swivel body; the upper and lower parts of the feedback rod pass through the sliding bearings arranged in the end cover and the swivel body, respectively.

[0015] Further, the transmission rod is hingedly connected to the crank and the feedback rod through a hinged structure composed of a transmission pin and a joint bearing at both ends of the transmission rod.

[0016] The application further discloses a fin angle detection method of the fin stabilizer, the fin stabilizer is provided with the high-precision fin angle transmission mechanism, and the fin angle detection method is as follows: the crank rotates together with the fin shaft, the crank drives the feedback rod and the connecting rod to move linearly along the vertical direction through the transmission rod, the connecting rod transmits the rotation of the fin shaft to the rocker arm through the connecting rod in a 1:1 mode, and the rocker arm drives the angle sensor to rotate synchronously; the angle sensor detects the rotation angle of the fin shaft through the rotation angle of the rocker arm and feeds back to the control system, and the control system obtains the fin angle according to the rotation angle of the fin shaft.

[0017] Further, the control system calculates the actual fin angle according to the angle information fed back by the angle sensor and the compensation amount required due to the eccentricity error, and the calculation formula is as follows:

[0018] delta 1 = delta 2 + s

[0019]

[0020] x = e2-e1

[0021] Wherein, delta 1 is the actual fin angle; delta 2 is the fin angle detected by the fin angle transmission mechanism; s is the compensation amount required due to the eccentricity error; e1 is the eccentricity of the feedback rod relative to the center of the fin shaft; e2 is the eccentricity of the connecting rod relative to the center of the angle sensor; x is the eccentricity deviation; a, b and c are compensation coefficients.

[0022] Further, different a, b and c compensation coefficients are used for fin angles in different angle ranges.

[0023] The application has the following beneficial effects:

[0024] The high-precision fin angle transmission mechanism and the fin angle detection method of the fin stabilizer transmit the rotation of the fin shaft from the crosshead cavity to the cabin and transmit it to the rocker arm in a 1:1 mode, and the fin angle can be known by detecting the rotation angle of the rocker arm, high-precision feedback of the fin angle is realized, the control precision and use efficiency of the fin stabilizer device are improved, the fin angle feedback device is suitable for any type of fin rotating mechanism, and the adaptability of the fin angle feedback device is improved.

[0025] The fin angle transmission mechanism can be installed in the cabin of the ship, the rotation of the fin shaft is converted into the linear motion of the feedback rod through the crank, the transmission rod, the feedback rod, the connecting rod, the connecting rod and the rocker arm, and the linear motion is converted into the rotation of the rocker arm, so that the rotation of the fin and the fin shaft located at the bottom of the ship is converted into the rotation of the rocker arm in the cabin, direct detection is facilitated, the fin angle control precision is ensured, and the roll reduction effect and structural safety of the fin stabilizer are ensured.

[0026] The crank of the application is equal in radius to the rocker, the transmission rod is equal in length to the connecting rod, and the eccentricity of the feedback rod relative to the center of the fin shaft is equal to the eccentricity of the connecting rod relative to the center of the angle sensor, so that the rotation of the fin shaft is transmitted to the rocker at a ratio of 1:1, that is, the fin angle can be obtained by direct detection of the angle sensor. The application can also ensure the detection accuracy of the fin angle by adding a compensation coefficient to compensate for the system error caused by the manufacturing and assembly error of the parts, realize high-precision feedback of the fin angle, and improve the control accuracy and use efficiency of the fin stabilizer.

[0027] The feedback rod of the application adopts a modular split structure, that is, it is convenient to connect, and it is also convenient to replace the corresponding module according to the working condition to adjust the length of the feedback rod, so as to be suitable for different types of fin rotating mechanisms, and the adaptability of the fin angle feedback device is enhanced. BRIEF DESCRIPTION OF DRAWINGS

[0028] Figure 1 It is a control principle block diagram of the existing fin stabilizer;

[0029] Figure 2 It is a schematic diagram of the existing fin angle transmission mechanism;

[0030] Figure 3 It is a schematic diagram of the high-precision fin angle transmission mechanism of the application;

[0031] Figure 4 It is a schematic diagram of the 1:1 transmission ratio of the fin angle transmission mechanism in the application.

[0032] 1-crank, 2-transmission rod, 3-feedback rod, 3.1-yoke, 3.2-lower straight rod, 3.3-upper straight rod, 4-sliding bearing, 5-connecting rod, 6-connecting rod, 7-rocker, 8-angle sensor, 9-end cover, 10-rotary body, 11-fin shaft, 12-transmission pin, 13-knuckle bearing. DETAILED DESCRIPTION

[0033] The specific embodiments of the application will be further described in detail below in combination with the drawings and examples. The following examples are only used to illustrate the application, but not to limit the scope of the application.

[0034] The up, down, left, right, inner, outer, front end, rear end, head, tail and other orientation or positional relationship terms in the present application file are established based on the orientation or positional relationship shown in the drawings. If the drawings are different, the corresponding positional relationship may also change accordingly, so it cannot be understood as a limitation on the scope of protection.

[0035] In the present application, the terms "mounting", "connecting", "connecting", "connecting", "fixing" and the like should be broadly understood, for example, it can be fixedly connected, it can also be detachably connected, it can also be integrally connected, it can also be mechanically connected, it can also be electrically connected or can communicate with each other, it can also be directly connected, it can also be indirectly connected through an intermediate medium, it can be the communication between the two components, or it can be the interaction relationship between the two components. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0036] The embodiment describes a high-precision fin angle transmission mechanism, which transmits the rotation of the fin shaft from the crosshead cavity to the cabin, and the rotation angle of the fin and the fin shaft is directly converted through the fin angle transmission mechanism, which improves the fin angle detection precision and efficiency of the fin stabilizer device, and can be applied to any type of fin rotating mechanism.

[0037] As shown in Figure 3 The fin and the fin shaft 11 of the fin stabilizer device rotate integrally, and the fin angle transmission mechanism includes a crank 1, a transmission rod 2, a feedback rod 3, a connecting rod 5, a connecting rod 6, and a rocker 7.

[0038] One end of the crank 1 is connected to the fin shaft 11 of the fin through a thread, and the zero position is when the crank 1 is in a horizontal position, and the rotation axis of the crank 1 and the fin shaft 11 coincides. The other end of the crank 1 is hinged to the bottom end of the transmission rod 2, and the top end of the transmission rod 2 is hinged to the bottom end of the feedback rod 3. The hinge mode in the embodiment includes but is not limited to a hinge composed of a transmission pin 12 and a joint bearing 13.

[0039] The feedback rod 3 of the embodiment is longitudinally arranged and perpendicular to the crank 1 at zero position, and comprises a yoke 3.1, a lower straight rod 3.2 and an upper straight rod 3.3. The yoke 3.1, the lower straight rod 3.2 and the upper straight rod 3.3 are sequentially screwed from bottom to top. The yoke 3.1 has a fork structure with a transmission pin 12 horizontally penetrating through, and a joint bearing 13 inner ring is sleeved on the transmission pin 12. The joint bearing 13 outer ring is installed in the inner hole of the top of the transmission rod 2. The lower straight rod 3.2 penetrates through the sliding bearing 4 arranged in the rotary body 10. The upper straight rod 3.3 penetrates through the sliding bearing 4 in the end cover 9 and extends into the cabin, so that the end cover 9 and the rotary body 10 on the ship body form the support of the feedback rod 3, and the up-and-down linear motion of the feedback rod 3 is ensured. The top of the upper straight rod 3.3 is provided with external threads and is screwed with the bottom end of the connecting rod 5. The threaded connection position of the upper straight rod 3.3 and the connecting rod 5 can adjust the assembly cumulative error of the fin angle transmission mechanism in the height direction. After adjustment is completed, it can be locked by using a nut.

[0040] When the fin and the fin shaft 11 rotate, the crank 1 drives the feedback rod 3 and the connecting rod 5 to move linearly along the vertical direction through the transmission rod 2, and the rotation of the fin shaft 11 is transmitted to the rocker 7 through the connecting rod 6. The rocker 7 rotates synchronously with the crank 1, driving the angle sensor 8 to rotate. Thus, the rotation of the fin shaft 11 is converted into the rotation of the rocker 7, and the angle sensor 8 feeds back the detected rotation angle of the rocker 7 to the control system of the fin stabilizer device.

[0041] In the embodiment, the crank 1 rotation radius R1 is equal to the rocker 7 rotation radius R2, the transmission rod 2 length L1 is equal to the connecting rod 6 length L2, and the eccentricity e1 of the feedback rod 3 relative to the center of the fin shaft 11 is equal to the eccentricity e2 of the connecting rod 5 relative to the center of the angle sensor 8. Thus, as shown in the figure, the fin angle δ1 of the fin shaft 11 rotation is equal to the rotation angle δ2 of the rocker 7, that is, the rotation of the fin shaft 11 is transmitted to the rocker 7 at a ratio of 1:1. Through the fin angle transmission mechanism of the embodiment, the rotation angle of the bottom fin and the fin shaft 11 is directly converted into the rotation angle of the rocker 7, and the rotation angle of the fin and the fin shaft can be directly detected by the angle sensor 8. In theory, high-precision fin angle feedback without system error can be realized. Figure 4

[0042] ​But the fin angle sending mechanism in use exists parts manufacturing error and assembly error, in order to make up the system error appeared because of the parts processing and assembly error, the embodiment can also obtain the compensation amount of the rocker 7 rotation angle through the test, in order to further ensure the fin angle sending mechanism accurate feedback fin angle. The control system calculates the actual fin angle according to the angle feedback by the angle sensor 8 and the compensation amount.

[0043] The fin angle sending mechanism of the embodiment measures the eccentricity e1 of the feedback rod 3 relative to the center of the fin shaft 11 and the eccentricity e2 of the connecting rod 5 relative to the center of the angle sensor 8 after the assembly is completed, assuming that e2 = e1 + x, where x is the eccentricity deviation, then:

[0044] δ1 = δ2 + s

[0045]

[0046] x = e2 - e1

[0047] Where, δ1 is the actual fin angle; δ2 is the fin angle detected by the fin angle sending mechanism; s is the compensation amount required due to the eccentricity error; x is the eccentricity deviation; a, b, c are compensation coefficients, and are determined according to the different lengths of the transmission rod 2 L1, the connecting rod 6 L2, the crank 1 rotation radius R1, the rocker 7 rotation radius R2, the eccentricity e1, e2.

[0048] The a, b, c compensation coefficients of the fin stabilizer in different fin angle ranges can be obtained through simulation test with different transmission rod 2 length L1, connecting rod 6 length L2, crank 1 rotation radius R1, rocker 7 rotation radius R2, eccentricity e1, e2.

[0049] Assuming that L1 = L2 = 340 mm, R1 = R2 = 440 mm, e1 = 400 mm, e2 = 405 mm in the fin angle sending mechanism, and the eccentricity deviation x = e2 - e1 = 5 mm after assembly.

[0050] When the fin angle is 0°-15°, the compensation coefficients are a1 = 2.8, b1 = -0.8, c1 = 0.9; when the fin angle is 15°-25°, the compensation coefficients are a2 = 4.1, b2 = -42, c2 = 326; when the fin angle is -15°-0°, the compensation coefficients are a3 = 2.9, b3 = 1.3, c3 = 1.2; when the fin angle is -25°- -15°, the compensation coefficients are a4 = 3.1, b4 = 6.3, c4 = 31.

[0051] The above fin angle sending mechanism is installed on the fin stabilizer, and the preset a, b, c compensation coefficients are used for fin angle detection, which can ensure the fin angle detection accuracy, and also reduce the calculation time and difficulty of the control system.

[0052] When the fin angle sending mechanism detects an angle δ2=10°, the compensation amount s(10°)-10 -5 ×5×(2.8×10 2 -0.8×10+0.9)=-0.014°

[0053] Therefore, the actual fin angle δ1=δ2+s=10°-0.014°=9.986°.

[0054] Although the principles of the present application have been described in detail above with reference to the preferred embodiments thereof, it is to be understood that the above-described embodiments are merely illustrative of the present application and are not intended to limit the scope of the present application. The details in the embodiments are not intended to limit the scope of the present application, and any equivalent changes, simple replacements, etc. based on the technical solutions of the present application, without departing from the spirit and scope of the present application, fall within the protection scope of the present application.

Claims

1. A high-precision fin angle transmission mechanism, characterized in that: The fin angle transmission mechanism comprises a crank (1), a transmission rod (2), a feedback rod (3), a connecting rod (5), a connecting rod (6), and a rocker (7); One end of the crank (1) is tightly connected to the fin shaft (11); the other end of the crank (1) is hingedly connected to the bottom end of the transmission rod (2); the top end of the transmission rod (2) is hingedly connected to the bottom end of the feedback rod (3), and the transmission rod (2) is used to transmit the rotational force of the fin shaft (11) to the crank (1) to the feedback rod (3); the feedback rod (3) is longitudinally arranged through the support portion, and the top end of the feedback rod (3) is tightly connected to the bottom end of the connecting rod (5); the feedback rod (3) drives the connecting rod (5) to move linearly together under the driving of the rotational force; The top end of the connecting rod (5) is hingedly connected to the top end of the connecting rod (6), the bottom end of the connecting rod (6) is hingedly connected to one end of the rocker (7), and the other end of the rocker (7) is fixedly connected to the angle sensor (8); the rotation radius of the crank (1) is equal to that of the rocker (7); the length of the transmission rod (2) is equal to that of the connecting rod (6); the eccentricity of the feedback rod (3) relative to the center of the fin shaft (11) is equal to the eccentricity of the connecting rod (5) relative to the center of the angle sensor (8); the connecting rod (5) drives the rocker (7) and the crank (1) to rotate synchronously through the connecting rod (6), and the rotation of the fin shaft (11) is transmitted to the rocker (7) in a 1:1 ratio; the angle sensor (8) is used to detect and output the rotation angle of the rocker (7).

2. The high-precision fin angle transmission mechanism according to claim 1, characterized in that: The crank (1) coincides with the rotation axis of the fin shaft (11), and the rocker (7) coincides with the rotation axis of the angle sensor (8).

3. The high-precision fin angle transmission mechanism according to claim 1, characterized in that: The feedback rod (3) comprises a shift fork (3.1), a lower straight rod (3.2), and an upper straight rod (3.3); the shift fork (3.1), the lower straight rod (3.2), and the upper straight rod (3.3) are fastened and connected in sequence from bottom to top; the shift fork (3.1) is connected to the top end of the transmission rod (2); and the upper straight rod (3.3) is connected to the bottom end of the connecting rod (5).

4. The high-precision fin angle transmission mechanism according to claim 3, characterized in that: The shift fork (3.1), the lower straight rod (3.2) and the upper straight rod (3.3) are threadedly connected in sequence.

5. The high-precision fin angle transmission mechanism according to claim 3, characterized in that: The top of the upper straight rod (3.3) is provided with an external thread, which is threadedly connected to the bottom end of the connecting rod (5).

6. The high-precision fin angle transmission mechanism according to claim 1, characterized in that: The support portion comprises a sliding bearing (4), an end cover (9) and a rotating body (10); the upper and lower portions of the feedback rod (3) respectively pass through the sliding bearing (4) disposed in the end cover (9) and the rotating body (10).

7. The high-precision fin angle transmission mechanism according to claim 1, characterized in that: Both ends of the transmission rod (2) are respectively hingedly connected to the crank (1) and the feedback rod (3) through hinged structures composed of a transmission pin (12) and a joint bearing (13).

8. A method for detecting the fin angle of a fin stabilizer, characterized in that: The anti-roll fin is equipped with a high-precision fin angle transmission mechanism according to any one of claims 1 to 7, and the fin angle detection method is as follows: the crank (1) rotates together with the fin shaft (11), and the crank (1) drives the feedback rod (3) and the connecting rod (5) to move linearly in the vertical direction up and down through the transmission rod (2), and the connecting rod (5) transmits the rotation of the fin shaft (11) to the rocker (7) in a 1:1 ratio through the connecting rod (6), and the rocker (7) synchronously drives the angle sensor (8) to rotate; the angle sensor (8) detects the rotation angle of the fin shaft (11) through the rotation angle of the rocker (7) and feeds back to the control system, and the control system obtains the fin angle according to the rotation angle of the fin shaft (11).

9. The method for detecting the fin angle of a fin stabilizer according to claim 8, characterized in that: The control system calculates the actual fin angle based on the angle information fed back by the angle sensor (8) and the compensation required due to the eccentricity error. The calculation formula is as follows: δ1=δ2+s x=e2-e1 Among them, δ1 is the actual fin angle; δ2 is the fin angle detected by the fin angle sending mechanism; s is the compensation required due to the eccentricity error; e1 is the eccentricity of the feedback rod (3) relative to the center of the fin shaft (11); e2 is the eccentricity of the connecting rod (5) relative to the center of the angle sensor (8); x is the eccentricity deviation; a, b, and c are compensation coefficients.

10. The method for detecting the fin angle of a fin stabilizer according to claim 9, characterized in that: Fin angles in different angle ranges use different a, b, and c compensation coefficients.

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