Boat yaw angle closed-loop control side thruster

Abstract

The utility model belongs to the technical field of ship closed-loop control, and relates to a ship yaw angle closed-loop control side thruster which comprises a machine shell and a paddle connecting rod, the paddle connecting rod is arranged on the left side of the interior of the machine shell in a penetrating mode, and a yaw angle sensor can monitor the yaw angle of a ship in real time and accurately adjust the side thrusting force and direction in time. Automatic accurate correction of the ship navigation yaw angle is achieved, meshing transmission connection between a driving gear and a driven gear can accurately drive a paddle connecting rod to operate, intelligent regulation and control can be conducted by integrating multi-party data, the control logic is optimized, ship yaw angle control better meets the actual navigation requirement, and the ship navigation accuracy is improved. According to the ship yaw angle closed-loop control side thruster, the automation and intelligence level of ship navigation is comprehensively improved, stable and accurate yaw angle keeping of a ship in the navigation process is achieved, the navigation control experience is optimized, and the problems that an existing ship yaw angle closed-loop control side thruster is complex in operation and poor in stability and safety in the ship body control effect are solved.

Description

Technical Field

[0001] The utility model belongs to the technical field of closed-loop control of ships and boats, and relates to a closed-loop control thruster for the yaw angle of a ship and boat. Background Art

[0002] Boats are lightweight water vehicles used to transport people and objects. They are compact and agile, making them suitable for water patrols, search and rescue, scientific research, sightseeing, and recreational fishing. Boats often require specialized control thrusters to control the boat's motion on the water, adjusting its trajectory and correcting its course. For example, a 7-meter-long ordinary fishing boat must maintain a fixed yaw angle within 20 meters of reefs near the shore, facilitating angler positioning while avoiding grounding.

[0003] Since the horizontal attitude of a boat (hereinafter referred to as the yaw angle) is greatly affected by the environmental wind, current, surge and waves, when the boat needs to anchor in dangerous waters, berth at a dock, or perform special operations, if the horizontal attitude of the boat is not accurately controlled, it is easy for the boat to collide with reefs, obstacles, docks, etc., causing property damage or even casualties. Utility Model Content

[0004] The technical problem to be solved by the utility model is to overcome the defects of the prior art and solve the problems of the existing closed-loop control thruster of the yaw angle of a boat in controlling the hull, such as complex operation, poor stability and safety.

[0005] The technical solution adopted by the utility model to solve its technical problems is: a closed-loop control thruster for yaw angle of a boat, comprising a casing and a blade connecting rod, the blade connecting rod being inserted and arranged on the left side inside the casing, the upper end of the blade connecting rod being sequentially sleeved and installed with a thrust direction indicator, a depth adjustment ring, a rotating slot seat, a driven gear, a shaft sleeve and a support seat from top to bottom, a first skeleton oil seal and a second skeleton oil seal being respectively installed on the upper and lower sides between the inner wall of the rotating slot seat and the outer wall of the blade connecting rod, a bearing and a third skeleton oil seal being respectively installed on the upper and lower sides between the inner wall of the support seat and the outer wall of the blade connecting rod, the casing being located between the rotating slot seat and the support seat;

[0006] A driving gear located on one side of a driven gear is rotatably connected to either side of the top end of the housing, a power output end of the driving gear is meshed and connected to the driven gear, and the center of the driven gear is detachably connected to the outer wall of the blade connecting rod via a key pin;

[0007] The lower end of the driving gear is provided with a limit baffle movably connected to either side of the inner wall of the casing. Micro switches are installed at both ends of the limit baffle. The casing is equipped with a yaw angle sensor at any location on the boat without magnetic field interference.

[0008] In a preferred technical solution of the present invention, a main control circuit and a steering motor are respectively installed on the upper and lower sides of the casing. The steering motor is located below the drive gear. The center of the drive gear is connected to the steering motor through a flange. The thrust direction indicator is electrically connected to the main control circuit. The yaw angle sensor is signal-connected to the main control circuit. The main control circuit is connected to a battery through a wire.

[0009] In a preferred technical solution of the present invention, a fixing clip is fixedly connected to either end of the support seat.

[0010] In a better technical solution of the present invention, a first skeleton oil seal and a second skeleton oil seal are respectively installed on the upper and lower sides between the inner wall of the rotating slot seat and the outer wall of the blade connecting rod, and a bearing and a third skeleton oil seal are respectively installed on the upper and lower sides between the inner wall of the support seat and the outer wall of the blade connecting rod.

[0011] Compared with the prior art, the present invention has the following beneficial effects:

[0012] The fixing clamp can keep the support base stably clamped on the boat, and the support base can stably support the casing on the boat. The casing consists of an upper cover and a lower cover. The connection between the upper cover and the lower cover is reinforced and sealed with an O-ring, so that the driving gear, driven gear, steering motor, and main control circuit are sealed inside the casing and are not exposed to water. This improves the sealing and durability of the equipment, reduces the risk of component corrosion and failure caused by water ingress, extends the service life of the equipment, and ensures the normal operation of the circuit.

[0013] Placing the main control circuit and steering motor in the same housing facilitates a more integrated control structure for the thruster. The drive gear is connected to the steering motor via a flange, resulting in a compact and rational structure and ensuring the continuity of power transmission. This allows the entire thruster system to respond quickly, enabling rapid adjustments to thruster movements and adapting to complex and changing navigation conditions.

[0014] The main control circuit establishes signal connections with the thrust direction limit micro switch and the yaw angle sensor respectively, which can integrate multi-party data for intelligent regulation and optimize the control logic, making the boat's yaw angle control more accurate and rapid, and comprehensively improving the automation and intelligence level of the boat's navigation;

[0015] The battery is connected to the main control circuit via wires, providing an independent and stable power source for the entire device, eliminating reliance on external fixed power sources. This allows the boat to maintain stable operation of the fully automatic yaw angle closed-loop control function in different navigation scenarios, enhancing the flexibility of device application.

[0016] The fixing clip at one end of the support base facilitates the installation and fixation of the equipment on the boat, ensuring the stable position of the control thruster, reducing shaking and displacement during navigation, maintaining stable operation of the equipment, and ensuring the consistency of the thrust effect;

[0017] The meshing transmission connection between the driving gear and the driven gear ensures stable and efficient power transmission, which can accurately drive the blade connecting rod to ensure the accuracy of the lateral thrust, allowing the boat to achieve stable and precise lateral propulsion during navigation and optimizing the sailing control experience.

[0018] The core function of the limit baffles and the micro switches at both ends is to complete the closed-loop control of the lateral thrust direction, ensuring that the lateral thrust is always perpendicular to the hull. At the same time, it can play a role in limiting the operation of the drive gear, providing precise limit for the operation of the drive gear, preventing the driving gear and the driven gear from excessive rotation, resulting in collision and damage caused by over-travel operation, and further enhancing the safety and reliability of equipment operation.

[0019] The yaw angle sensor can monitor relevant data in real time and transmit the signal to the main control circuit to monitor the yaw angle of the boat in real time, so as to adjust the thrust force and direction in a timely and accurate manner, realize automatic and accurate correction of the boat's yaw angle, significantly improve the stability and safety of navigation, and reduce the difficulty of crew control. Combined with the information fed back by the yaw angle sensor, the main control circuit can accurately control the operating status and realize fully automatic yaw angle closed-loop control, making the boat's navigation control more precise;

[0020] One end of the support base is fixedly connected to a fixing clip, which facilitates the installation of the entire control thruster, making it easy to install it firmly on the boat and able to be quickly removed from the boat when maintenance is required, reducing the difficulty and time of installation;

[0021] The above effects show that the closed-loop control of the yaw angle achieved by the control thruster is significantly flexible and efficient. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 This is the installation effect diagram of the overall structure of the utility model;

[0023] Figure 2 This is the installation effect diagram of the blade connecting rod and the casing of the utility model;

[0024] Figure 3 This is a rendering of the installation effect of the internal structure of the blade connecting rod of the utility model;

[0025] Figure 4 This is a rendering of the installation effect of the external structure of the blade connecting rod of the utility model;

[0026] Figure 5 This is a schematic diagram of the internal structure of the casing of the present utility model.

[0027] In the figure: 1. Yaw angle sensor; 2. Casing; 3. Blade connecting rod; 4. Thrust direction indicator; 5. Fixing clamp; 6. Battery; 7. Support seat; 8. Depth adjustment ring; 9. First skeleton oil seal; 10. Second skeleton oil seal; 11. Bearing; 12. Third skeleton oil seal; 13. Steering motor; 14. Main control circuit; 15. Drive gear; 16. Driven gear; 17. Bushing; 18. Limit baffle; 19. Micro switch; 20. Rotary card slot seat. DETAILED DESCRIPTION

[0028] See also Figure 1-5 The present invention provides a technical solution: a closed-loop control thruster for yaw angle of a boat, comprising a casing 2 and a blade connecting rod 3, the blade connecting rod 3 is inserted and arranged on the left side of the casing 2, and the upper end of the blade connecting rod 3 is sequentially sleeved with a thrust direction indicator 4, a depth adjustment ring 8, a rotating slot seat 20, a driven gear 16, a shaft sleeve 17 and a support seat 7 from top to bottom. A first skeleton oil seal 9 and a second skeleton oil seal 10 are respectively installed on the upper and lower sides between the inner wall of the rotating slot seat 20 and the outer wall of the blade connecting rod 3. A bearing 11 and a third skeleton oil seal 12 are respectively installed on the upper and lower sides between the inner wall of the support seat 7 and the outer wall of the blade connecting rod 3. The casing 2 is located between the rotating slot seat 20 and the support seat 7; either side of the top end of the casing 2 is rotatably connected to a driving gear 15 located on one side of the driven gear 16, and the power output end of the driving gear 15 is meshed with the driven gear 16 for transmission connection, and the center of the driven gear 16 is detachably connected to the outer wall of the blade connecting rod 3 by a key pin; the lower end of the driving gear 15 A limit baffle 18 is provided at one end of the housing 2, which is movably connected to either side of the inner wall of the housing 2. A micro switch 19 is installed at both ends of the limit baffle 18. A yaw angle sensor 1 is installed at any place on the boat where there is no magnetic field interference in the housing 2; a main control circuit 14 and a steering motor 13 are installed on the upper and lower sides of the housing 2; a fixing clamp 5 is fixedly connected to either end of the support base 7, and the fixing clamp 5 itself is screwed into a bolt for fastening to the boat. The bolts on the fixing clamp 5 are loosened to make the fixing clamp 5 Put it on the position where the boat needs to be installed, tighten the bolts again, so that the bolts are tightened on the boat, and the support seat 7 is suspended on the boat by means of the fixing clamp 5. The support seat 7 allows the casing 2 to be suspended outside the boat above the water surface, and the fixing clamp 5 can keep the support seat 7 stably clamped on the boat, and the support seat 7 can support the casing 2 stably in the air on the boat, so that the blade connecting rod 3 is upright and vertically inserted into the water, and the lower end of the blade connecting rod 3 is used to install the blade to stir the water flow to drive the boat to swim.

[0029] The main control circuit 14 is connected to the battery 6 through a wire, and the battery 6 is connected to the main control circuit 14 through a wire, providing an independent and stable power source for the entire device, and getting rid of the dependence on an external fixed power supply. The fixing clamp 5 at one end of the support seat 7 facilitates the installation and fixation of the device on the boat, ensuring that the control thruster is in a stable position, reducing shaking and displacement during navigation, maintaining stable operation of the equipment, and ensuring the consistency of the thrust effect, so that the boat can maintain the stable operation of the fully automatic yaw angle closed-loop control function in different navigation scenarios, and can be quickly removed from the boat when maintenance is required, providing convenience for the installation of the entire control thruster and enhancing the flexibility of equipment application.

[0030] The shell consists of an upper cover and a lower cover, and an O-ring is used to reinforce the seal at the connection between the upper cover and the lower cover. The O-ring reinforcement seal enhances the sealing of the gap at the connection between the upper cover and the lower cover, preventing water from entering the casing 2, so that the driving gear 15, the driven gear 16, the steering motor 13, and the main control circuit 14 are sealed inside the shell and will not be exposed to water, thereby improving the sealing and durability of the equipment, reducing the risk of component corrosion and failure due to water ingress, extending the service life of the equipment, and ensuring the normal operation of the circuit.

[0031] The simultaneous arrangement of the main control circuit 14 and the steering motor 13 inside the same casing 2 is conducive to making the control thruster more structurally integrated. The drive gear 15 is connected to the steering motor 13 through a flange, which makes the structure compact and reasonable. The internal structure of the casing 2 is highly integrated, which makes the accommodating space of the drive gear 15 and the driven gear 16 more reasonable. The meshing transmission connection between the drive gear 15 and the driven gear 16 makes the power transmission stable and efficient, and can accurately drive the blade connecting rod 3 to operate, ensuring the accuracy of the thruster action. The transmission process is more flexible and the transmission accuracy is higher, which ensures the continuity of power transmission.

[0032] The limit baffle 18 is equipped with micro switches 19 at both ends. The two micro switches 19 are arranged at a 180-degree angle at the head and tail ends of the surface of the limit baffle 18. The micro switches 19 are connected to the main control circuit 14 through wires. The micro switches 19 are also called angle sensors to sense the angle change signal of the deflection of the limit baffle 18. When the limit baffle 18 contacts the drive gear 15, the micro switches 19 will be triggered to feedback to the main control circuit 14, so that the micro switches 19 will feedback the signal to the main control circuit 14. The main control circuit 14 automatically controls the steering motor 13 to drive the drive according to the signal feedback from the micro switches 19. The main control circuit 14 will turn off the steering motor 13 in time when the speed of the driving gear 15 is too fast, which can play a role in limiting the operation of the driving gear 15 and provide precise limit for the operation of the driving gear 15, thereby preventing the driving gear 15 and the driven gear 16 from excessive rotation and causing collision and damage caused by over-travel operation, further enhancing the safety and reliability of equipment operation, allowing the entire thrust system to respond quickly, quickly completing the adjustment of the thrust action, and allowing the boat to achieve stable and precise lateral propulsion during navigation, optimizing the navigation control experience, and adapting to complex and changeable navigation conditions.

[0033] The thrust direction indicator 4 has three main functions. The first is to tell the user the direction of thrust. The second is to prevent rain or seawater from entering the motor along the steel pipe and causing the motor to short-circuit and burn. The third is to act as an interface between the propeller motor power supply and the main control circuit. The main function of the thrust direction indicator 4 is to tell the user in which direction the current thruster is pushing in an emergency or abnormal situation, so that the user can accurately judge whether the thruster is running in the expected thrust direction. The main control circuit 14 integrates a PLC operation control chip. The yaw angle sensor 1 feeds back the signal to the main control circuit 14. The main control circuit 14 processes the signal fed back by the yaw angle sensor 1. The steering motor 13 is located below the drive gear 15. The center of the drive gear 15 is connected to the steering motor 13 through a flange transmission. The main control circuit 14 then The processed signal is output to the steering motor 13, the steering motor 13 drives the driving gear 15 to rotate, the driving gear 15 drives the driven gear 16 to rotate, and the driven gear 16 drives the blade connecting rod 3 to rotate. The bearing 11 can ensure that the blade connecting rod 3 rotates smoothly, so that the propeller installed on the blade connecting rod 3 rotates. The rotating slot seat 20 can provide a horizontal support surface for the depth adjustment ring 8 to be stably installed. The function of the depth adjustment ring 8 is to clamp the blade connecting rod 3 to fix the depth of the propeller. The first skeleton oil seal 9, the second skeleton oil seal 10 and the third skeleton oil seal 12 are used together to fill the surface gap of the blade connecting rod 3 for waterproofing the inside of the casing 2. The sleeve 17 can rotate the slot seat 20 to maintain a distance from the bearing 11, and the blade connecting rod 3 can rotate smoothly along the inner wall of the sleeve 17.

[0034] The yaw angle sensor 1 is provided to monitor relevant data in real time and transmit the signal to the main control circuit 14 to monitor the yaw angle of the boat in real time, so as to adjust the side thrust force and direction in a timely and accurate manner, realize automatic and accurate correction of the boat's yaw angle, significantly improve the stability and safety of navigation, and reduce the difficulty of crew control. Combined with the information feedback from the yaw angle sensor 1, the main control circuit 14 is able to accurately control the operating status and realize fully automatic yaw angle closed-loop control, making the boat navigation control more accurate.

[0035] The thrust direction indicator 4 is electrically connected to the main control circuit 14, and the yaw angle sensor 1 is signal-connected to the main control circuit 14. The main control circuit 14 establishes signal connections with the thrust direction limit microswitch 19 and the yaw angle sensor 1 respectively. The microswitch 19 and the yaw angle sensor 1 both synchronously feedback to the main control circuit 14. The main control circuit 14 makes adjustments to the overall thruster control according to the signals fed back by the microswitch 19 and the yaw angle sensor 1. It can integrate multi-party data for intelligent regulation and optimize the control logic, so that the boat yaw angle control is more in line with actual navigation needs, and the automation and intelligence level of boat navigation is comprehensively improved. Combined with the above effects, it shows that the yaw angle closed-loop control effect achieved by the control thruster is significant, flexible and efficient.

Claims

1. A closed-loop control thruster for a vessel's yaw angle, comprising a housing (2) and a blade connecting rod (3), characterized in that: The blade connecting rod (3) is inserted into the left side of the housing (2), and the upper end of the blade connecting rod (3) is sequentially inserted into and installed with a thrust direction indicator (4), a depth adjustment ring (8), a rotating slot seat (20), a driven gear (16), a shaft sleeve (17) and a support seat (7) from top to bottom, and the housing (2) is located between the rotating slot seat (20) and the support seat (7); A driving gear (15) located on one side of a driven gear (16) is rotatably connected to any side of the top end of the housing (2), a power output end of the driving gear (15) is meshed and connected to the driven gear (16), and the center of the driven gear (16) is detachably connected to the outer wall of the blade connecting rod (3) via a key pin; The lower end of the driving gear (15) is provided with a limit baffle (18) movably connected to any side of the inner wall of the housing (2), and micro switches (19) are installed at both ends of the limit baffle (18). The housing (2) is provided with a yaw angle sensor (1) at any position on the boat without magnetic field interference.

2. The closed-loop control thruster for yaw angle of a vessel according to claim 1, characterized in that: A main control circuit (14) and a steering motor (13) are installed on the upper and lower sides of the casing (2), respectively. The steering motor (13) is located below the driving gear (15). The center of the driving gear (15) is connected to the steering motor (13) through a flange transmission. The thrust direction indicator (4) is electrically connected to the main control circuit (14). The yaw angle sensor (1) is signal-connected to the main control circuit (14). The main control circuit (14) is connected to a battery (6) through a wire.

3. The closed-loop control thruster for yaw angle of a vessel according to claim 1, characterized in that: A fixing clamp (5) is fixedly connected to any one end of the support seat (7).

4. The closed-loop control thruster for yaw angle of a vessel according to claim 1, characterized in that: A first skeleton oil seal (9) and a second skeleton oil seal (10) are respectively installed on the upper and lower sides between the inner wall of the rotating slot seat (20) and the outer wall of the blade connecting rod (3), and a bearing (11) and a third skeleton oil seal (12) are respectively installed on the upper and lower sides between the inner wall of the support seat (7) and the outer wall of the blade connecting rod (3).

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