A high-efficiency, high-reliability, low-noise full-electric operation power-driven actuating device for a ship

Abstract

The utility model relates to a kind of high-efficiency high-reliability low-noise full-electric control power-driven action device for ship, including two servo electric cylinders, tiller, roller type support structure, base and mounting base;Tiller middle part is equipped with shaft hole, and one pin hole is respectively equipped in tiller both ends;Center shaft is fixedly worn in shaft hole, and center shaft lower end is connected in the bearing hole set in the front end of mounting base by bearing;One front pin shaft is respectively inserted and installed in the pin hole of tiller both ends;Two servo electric cylinders head are respectively rotated with two front pin shafts by centripetal joint bearing, and two servo electric cylinders tail are respectively rotated with rear pin shaft fixed in the front end of base by centripetal joint bearing;Base lower end is fixedly connected with the upper portion of the rear end of mounting base;Two groups of roller type support structures are connected in the bottom of servo electric cylinder, and two groups of roller type support structures are rolling contact with the upper end of mounting base.The device can greatly improve system operation efficiency, reduce noise and improve system continuous operation reliability.

Description

Technical Field

[0001] This utility model relates to the field of ship maneuvering and control technology, and relates to a high-efficiency, high-reliability, low-noise all-electric control power drive actuation device. Background Technology

[0002] As the core equipment of the ship's maneuvering and control system, the basic function of the power drive actuation system is to generate thrust torque according to the control commands, overcome the hydrodynamic effect, drive the rudder surface to rotate, so as to maintain or change the ship's course, depth and trim, so that the ship has the maneuverability necessary for navigation, which is extremely important to its survivability and combat effectiveness.

[0003] Traditional medium and large ships mostly use hydraulic drives, which, while meeting basic maneuvering and control requirements, also suffer from inherent drawbacks such as leakage, high vibration and noise, low overall efficiency, and low integration levels. In recent years, with the rapid development of multi-electric and all-electric technologies, servo motors and their control technologies, power electronics technologies, and high-precision reduction transmission technologies, all-electric control power drive systems are becoming the trend to replace traditional hydraulic systems. Compared to hydraulic systems, all-electric control power drive systems have advantages such as simple configuration, high system integration, low operating noise, and convenient maintenance.

[0004] All-electric control power drive actuation systems can be divided into single-cylinder drive actuation and multi-cylinder drive actuation based on the number of drive actuation mechanisms. Among them, single-cylinder drive systems have advantages such as high control precision and simple structure, but their thrust is difficult to meet the steering requirements of medium and large ships under heavy load. Multi-cylinder drive systems have actuation units that work together, and the thrust torque is superimposed and amplified, which can meet the thrust torque requirements of medium and large ships under heavy load. However, existing multi-cylinder drive systems have two shortcomings: 1) The efficiency of existing configurations is low under medium and low load conditions, and the overall system noise is still relatively high (compared to single-cylinder drive systems); 2) It is not possible to quickly disconnect the drive unit when a certain actuation cylinder fails, which affects the reliability of continuous system operation. Utility Model Content

[0005] This invention addresses the shortcomings of existing technologies by proposing a highly efficient, reliable, low-noise, all-electrically controlled power drive actuator for ships. This actuator can significantly improve system operating efficiency, reduce noise, and quickly disconnect the actuator drive unit when it malfunctions, without affecting the continued operation of the remaining normally functioning actuator units, thereby improving the reliability of continuous system operation.

[0006] The above-mentioned objective of this utility model is achieved through the following technical solution:

[0007] A highly efficient, reliable, low-noise, all-electric control and actuation device for ships includes two servo electric cylinders, a rudder handle, roller-type support structures, a base, and a mounting base. The rudder handle has a shaft hole in its center and pin holes at both ends. A central rotating shaft is fixedly inserted into the shaft hole of the rudder handle, and the lower end of the central rotating shaft is connected to a bearing hole at the front end of the mounting base via a bearing. A front pin is inserted into each of the pin holes at both ends of the rudder handle. The two servo electric cylinders are arranged in parallel, with their heads rotatably connected to the two front pins via radial spherical bearings, and their tails rotatably connected to a rear pin fixed to the front end of the base via radial spherical bearings. The lower end of the base is fixedly connected to the upper rear end of the mounting base. Two sets of roller-type support structures are connected to the bottom of the servo electric cylinders, and these two sets of roller-type support structures are in rolling contact with the upper end of the mounting base.

[0008] Furthermore, the servo electric cylinder includes a direct-drive torque motor, a tail hinge, a planetary roller screw pair consisting of a planetary screw and a planetary nut, a thrust self-aligning roller bearing, a screw front end support, a bearing housing, a cylinder, a push rod, a push rod support assembly, and a pin hole end. The front end of the tail hinge is fixedly connected to the rear end of the bearing housing, forming a motor mounting cavity. The direct-drive torque motor is fixed inside the motor mounting cavity, and two sets of thrust self-aligning roller bearings are installed inside the bearing housing. The front and rear ends of the planetary screw are respectively supported on the screw front end support and the thrust self-aligning roller bearing, and the rear end of the planetary screw is drivenly connected to the front end of the rotor of the direct-drive torque motor. The front end of the planetary nut is fixedly connected to the rear end of the push rod, and the push rod is supported on the push rod support assembly. The rear end of the cylinder is fixedly connected to the front end of the bearing housing, and an anti-rotation key is fixed on the outer wall of the push rod, which slides in conjunction with the inner keyway on the cylinder. The front end of the push rod is fixedly connected to the rear end of the pin hole end, and the front end of the pin hole end is connected to the rudder through a pin.

[0009] Furthermore, the servo electric cylinder also includes a motor encoder, a linear displacement sensor, and a limit switch; the motor encoder is installed at the rear end of the rotor of the direct-drive torque motor, one end of the linear displacement sensor is installed on the cylinder barrel, and the other end is installed on the front end of the push rod, moving linearly with the push rod, and the limit switch is installed on the cylinder barrel.

[0010] Furthermore, an encoder for real-time measurement of rudder angle is installed on the central shaft.

[0011] Moreover, the roller-type support structure consists of a straight cylindrical universal ball pulley and a support structure: the support structure consists of a top plate, a bottom plate and multiple bolts connecting the top plate and the bottom plate, the top plate is fixed to the lower end of the servo electric cylinder, and the lower end of the bottom plate is connected to the upper end of the straight cylindrical universal ball pulley.

[0012] The advantages and positive effects of this utility model are as follows:

[0013] The all-electric control power drive actuation device proposed in this utility model is a combination of a direct-drive parallel swing cylinder drive scheme and a roller support structure scheme; it can significantly improve the system operating efficiency, reduce noise, and quickly disconnect the actuation cylinder drive unit when it fails, without affecting the continued operation of the remaining normal actuation units, thereby improving the reliability of continuous system operation. Attached Figure Description

[0014] Figure 1 This is an overall structural diagram of the high-efficiency, high-reliability, low-noise, all-electric control power drive actuation device for ships of this utility model;

[0015] Figure 2 This is a cross-sectional view of the structure and components of the servo electric cylinder in this utility model. Figure 1 ;

[0016] Figure 3 This is a cross-sectional view of the structure and components of the servo electric cylinder in this utility model. Figure 2 ;

[0017] Figure 4 This is a schematic diagram of the quick disengagement of the faulty actuator cylinder of this utility model;

[0018] In the diagram: 1. Thruster handle; 2. Central shaft; 3. Servo electric cylinder; 3-1. Pin hole end; 3-2. Linear displacement sensor; 3-3. Planetary screw; 3-4. Push rod; 3-5. Cylinder barrel; 3-6. Planetary nut; 3-7. Bearing housing; 3-8. Direct drive torque motor; 3-9. Motor encoder; 3-10. Tail hinge seat; 3-11. Thrust self-aligning roller bearing; 3-12. Screw front support; 3-13. Push rod front support; 3-14. Limit switch; 4. Base; 5. Mounting base; 6. Roller support structure; 6-1. Straight cylindrical universal ball pulley; 7. Front pin; 8. Rear pin. Detailed Implementation

[0019] The structure of this utility model will be further described below with reference to the accompanying drawings and embodiments. It should be noted that these embodiments are descriptive and not limiting.

[0020] Please refer to the following: A highly efficient, reliable, low-noise, all-electrically controlled power drive actuator for ships. Figures 1-4The invention comprises two servo electric cylinders 3, a rudder 1, a roller support structure 6, a base 4, and a mounting base 5. The rudder 1 has a shaft hole in its center and a pin hole at each end. A central rotating shaft 2 is fixedly inserted into the shaft hole of the rudder 1, and the lower end of the central rotating shaft is connected to a bearing hole at the front end of the mounting base via a bearing. A front pin 7 is inserted into each pin hole at both ends of the rudder 1. The two servo electric cylinders are arranged in parallel. The heads (pin hole ends) of each servo electric cylinder are rotatably connected to the two front pins on the rudder 1 via radial spherical bearings, and the tails of each servo electric cylinder are rotatably connected to the rear pins 8 fixed at the front end of the base via radial spherical bearings. The bottom of the servo electric cylinders is supported by two sets of roller support structures. During system operation, as the servo electric cylinders swing, the roller support structures perform small-angle rolling motion on the mounting base.

[0021] Servo electric cylinder structure and composition as follows Figure 2 and Figure 3 As shown, the device mainly consists of a direct-drive torque motor 3-8, a tail hinge seat 3-10, a planetary roller screw pair (including a planetary screw 3-3 and a planetary nut 3-6), a thrust self-aligning roller bearing 3-11, a screw front support 3-12, a bearing housing 3-7, a cylinder 3-5, a push rod 3-4, a push rod front support 3-13, a motor encoder 3-9, a linear displacement sensor 3-2, a limit switch 3-14, and a pin hole end 3-1. The front end of the tail hinge seat is fixedly connected to the rear end of the bearing housing, forming a motor mounting cavity inside, where the direct-drive torque motor is fixed. The motor encoder is installed at the rear end of the motor rotor. The connection and operation of the servo electric cylinder components are as follows: When the direct-drive torque motor is powered on, its rotor's front end center has an internal spline, which engages with the external spline on the planetary screw, transmitting rotational motion to the planetary screw. The planetary screw rotates, and the planetary nut it engages with converts the rotational motion into linear motion. The front and rear ends of the planetary screw are supported by a screw front end support and a thrust self-aligning roller bearing, respectively. The push rod is supported by a push rod support assembly. The planetary nut and push rod are connected by screws, thus transmitting the linear motion of the planetary nut to the push rod. The push rod is threaded to the pin hole end, which is connected to the rudder handle via a pin, thereby driving the rudder handle in reciprocating motion. The rear end of the cylinder barrel is fixedly connected to the front end of the bearing housing. An anti-rotation key slides with the internal keyway on the cylinder barrel and is fixed to the outer wall of the push rod to prevent the push rod from spinning. A motor encoder is installed at the rear end of the rotor of the direct-drive torque motor to detect the motor's rotation angle. One end of the linear displacement sensor is installed on the cylinder barrel, and the other end is installed on the front end of the push rod. It moves linearly with the push rod to detect the stroke position of the servo electric cylinder. The limit switch is installed on the cylinder barrel to detect the stroke limit position of the servo electric cylinder. When the effective stroke is exceeded, the servo electric cylinder is triggered to generate a positioning signal.

[0022] The lead screw front support is a bearing, with the inner ring of the bearing having an interference fit with the front end of the lead screw, and the outer ring of the bearing having sliding contact with the inner wall of the push rod.

[0023] The aforementioned push rod front end support is a support sleeve, which is fixedly inserted into the cylinder front end by an interference fit, and the inner wall of the support sleeve slides in contact with the outer wall of the push rod.

[0024] The roller-type support structure mainly consists of a straight-tube universal ball pulley 6-1 and a support structure, where the straight-tube universal ball pulley can slide freely in any direction. The height of the support structure can be manually adjusted vertically. The support structure can take the form of a top plate, a bottom plate, and multiple bolts connecting the top and bottom plates. The top plate is fixed to the lower end of the servo electric cylinder by welding or other methods. The lower end of the bottom plate connects to the upper end of the straight-tube universal ball pulley. The height of the support structure is adjusted by adjusting the relative distance between the top and bottom plates. The roller-type support structure is arranged below the cylinder and motor housing, sliding back and forth as the servo electric cylinder swings, supporting the weight of the entire servo electric cylinder, ensuring it only generates thrust in the horizontal direction without any off-center load, thus reducing noise during system operation. When a servo electric cylinder malfunctions, after removing the pins at both ends, the faulty servo electric cylinder can be quickly detached via the roller support structure. Figure 4 As shown, this ensures that the remaining parts can still function normally.

[0025] An encoder is installed on the central shaft of the aforementioned rudder handle, which can be used to measure the rudder angle in real time.

[0026] This device can achieve three working modes: the first working mode: the dual-actuator synchronous drive working mode; the second working mode: the single-actuator drive working while the other actuator passively follows; and the third working mode: the single-actuator drive working while the other actuator is fault-cleared.

[0027] For medium to heavy load conditions exceeding half load, a dual-actuator synchronous drive mode is adopted. One servo electric cylinder generates thrust, and the other electric cylinder generates pull. The two cylinders share the load equally and work together to generate steering torque. The advantage of this mode is that it has a large steering torque, can cope with heavy loads and large impact loads, and has high steering efficiency under medium to high load conditions.

[0028] For 1) low-to-medium load conditions (below half load), 2) low-noise steering conditions, and 3) situations where one servo electric cylinder malfunctions but can still drive in reverse, a single-actuator cylinder drives while the other passively follows. One cylinder operates normally, generating thrust torque, while the other cylinder stops and passively follows the movement. The advantage of this mode is that it maintains high operating efficiency and low steering noise under low-to-medium load conditions.

[0029] When a servo electric cylinder malfunctions (such as a stuck leadscrew) and cannot reverse drive, a single-actuated cylinder drive mode with the other cylinder fault isolated is adopted. The operator manually removes the pins at both ends of the faulty servo electric cylinder, and the faulty part is quickly disconnected from the system through the roller support structure, allowing the normally functioning servo electric cylinder to complete the steering function.

[0030] Although embodiments and drawings of the present invention have been disclosed for illustrative purposes, those skilled in the art will understand that various substitutions, variations and modifications are possible without departing from the spirit and scope of the present invention and the appended claims. Therefore, the scope of the present invention is not limited to the contents disclosed in the embodiments and drawings.

Claims

1. A highly efficient, highly reliable, low-noise, all-electrically controlled power drive actuation device for ships, characterized in that: The system includes two servo electric cylinders, a rudder handle, roller-type support structures, a base, and a mounting base. The rudder handle has a shaft hole in the middle and a pin hole at each end. A central rotating shaft is fixedly inserted into the shaft hole of the rudder handle, and the lower end of the central rotating shaft is connected to a bearing hole at the front end of the mounting base via a bearing. A front pin is inserted into each of the pin holes at both ends of the rudder handle. The two servo electric cylinders are arranged in parallel. The front ends of each servo electric cylinder are rotatably connected to the two front pins via radial spherical bearings, and the rear ends of each servo electric cylinder are rotatably connected to a rear pin fixed to the front end of the base via radial spherical bearings. The lower end of the base is fixedly connected to the upper rear end of the mounting base. Two sets of roller-type support structures are connected to the bottom of the servo electric cylinders, and these two sets of roller-type support structures are in rolling contact with the upper end of the mounting base.

2. The high-efficiency, high-reliability, low-noise, all-electric control power drive actuation device for ships according to claim 1, characterized in that: The servo electric cylinder includes a direct-drive torque motor, a tail joint, a planetary roller screw pair consisting of a planetary screw and a planetary nut, a thrust self-aligning roller bearing, a screw front support, a bearing housing, a cylinder, a push rod, a push rod support assembly, and a pin hole end. The front end of the tail joint is fixedly connected to the rear end of the bearing housing, forming a motor mounting cavity. The direct-drive torque motor is fixed inside the motor mounting cavity, and two sets of thrust self-aligning roller bearings are installed inside the bearing housing. The front and rear ends of the planetary screw are respectively supported on the screw front support and the thrust self-aligning roller bearing, and the rear end of the planetary screw is drivenly connected to the front end of the rotor of the direct-drive torque motor. The front end of the planetary nut is fixedly connected to the rear end of the push rod, and the push rod is supported on the push rod support assembly. The rear end of the cylinder is fixedly connected to the front end of the bearing housing, and an anti-rotation key is fixed on the outer wall of the push rod, which slides in engagement with the inner keyway on the cylinder. The front end of the push rod is fixedly connected to the rear end of the pin hole end, and the front end of the pin hole end is connected to the rudder through a front pin shaft.

3. The high-efficiency, high-reliability, low-noise, all-electric control power drive actuation device for ships according to claim 1, characterized in that: The servo electric cylinder also includes a motor encoder, a linear displacement sensor, and a limit switch; the motor encoder is installed at the rear end of the rotor of the direct-drive torque motor, one end of the linear displacement sensor is installed on the cylinder barrel, and the other end is installed on the front end of the push rod, moving linearly with the push rod, and the limit switch is installed on the cylinder barrel.

4. The high-efficiency, high-reliability, low-noise, all-electric control power drive actuation device for ships according to claim 1, characterized in that: An encoder for real-time measurement of rudder angle is mounted on the central shaft.

5. The high-efficiency, high-reliability, low-noise, all-electric control power drive actuation device for ships according to claim 1, characterized in that: The roller-type support structure consists of a straight cylindrical universal ball pulley and a support structure. The support structure is composed of a top plate, a bottom plate, and multiple bolts connecting the top plate and the bottom plate. The top plate is fixed to the lower end of the servo electric cylinder, and the lower end of the bottom plate is connected to the upper end of the straight cylindrical universal ball pulley.

Images