Steering control simulation device

Abstract

The utility model belongs to ship automatic rudder system test and simulation technical field provides a kind of steering control simulation equipment, including control box, the side of control box is equipped with bearing plate, the inside of bearing plate is equipped with horizontal screw rod, the side of bearing plate is equipped with the stepping motor of external power supply and screw rod interconnection, sliding member of sliding connection is equipped on screw rod, vertical linkage rod is equipped on sliding member, rudder blade connecting rod is equipped below linkage rod, feedback linkage assembly is equipped between rudder blade connecting rod and linkage rod, feedback linkage assembly is used to change the linear motion of rudder blade connecting rod into circular motion;The automatic rudder simulation device designed in the utility model can simulate the rotating action of rudder blade connecting rod without real rudder and hydraulic servo system, and is low in cost and safe in operation.

Description

Technical Field

[0001] This utility model belongs to the field of ship automatic steering system testing and simulation technology, specifically a steering control simulation device. Background Technology

[0002] Automatic steering is a device used to control the navigation of ships, including track automatic steering and heading automatic steering. Its performance directly affects the ship's combat and technical performance. Both heading automatic steering and track automatic steering are feedback control systems.

[0003] If the rudder angle feedback loop fails, all automatic control functions of the autopilot will be unusable. Therefore, when the autopilot is moored at the dock, the focus of repair and commissioning is primarily on the rudder angle feedback loop. Since the autopilot is an electromechanical system, repair and commissioning must be carried out only after the hydraulic servo mechanism is ready, and the hydraulic system must be coordinated and tested. This process is time-consuming and labor-intensive, resulting in unnecessary waste of manpower and resources. During navigation support operations, the navigation department needs to coordinate with the electromechanical department, leading to cumbersome work and delays in repair and commissioning. During major repairs, the electromechanical department needs to coordinate with the shipyard; if the hydraulic system engineering is delayed, it will directly reduce the autopilot's commissioning time, causing adverse effects.

[0004] Traditional automatic rudder feedback mechanisms are directly mounted on the servo motor and linked to the actual rudder blade. In laboratory environments, teaching demonstrations, equipment factory testing, or maintenance and debugging, directly using the actual servo motor system is costly, bulky, complex to operate, and poses safety hazards. Utility Model Content

[0005] To address the aforementioned technical problems, this utility model provides a steering control simulation device to solve the problems of complex operation in traditional automatic steering feedback mechanisms in the prior art.

[0006] A steering control simulation device includes a control box, a support plate on one side of the control box, a transverse lead screw inside the support plate, a stepper motor connected to the lead screw via an external power supply on one side of the support plate, a sliding member slidably connected to the lead screw, a vertical linkage rod on the sliding member, a rudder blade connecting rod below the linkage rod, a feedback linkage assembly between the rudder blade connecting rod and the linkage rod, the feedback linkage assembly being used to convert the linear motion of the rudder blade connecting rod into an arc motion, the control box being used to control the simulated motion of the rudder blade connecting rod, and a feedback mechanism being provided behind the support plate, the feedback mechanism having a rotating shaft extending downwards and connected to the tail end of the rudder blade connecting rod.

[0007] Preferably, the control box contains a relay group, one side of which has an electrically connected terminal block, and the other side of which has an electrically connected programmable stepper motor controller. The other side of the programmable stepper motor controller has an electrically connected stepper motor driver. The stepper motor and the stepper motor driver are connected by wires. The control box contains a power module that supplies power to the programmable stepper motor controller and the stepper motor driver. The control box contains a control valve signal group that is electrically connected to the relay group.

[0008] Preferably, mounting plates are symmetrically arranged below the feedback mechanism, and positioning screws are provided on the bottom of the outer walls of the feedback mechanism. The positioning screws are locked to the mounting plates, and the support plate is also fixed to the mounting plates by the positioning screws.

[0009] Preferably, the vertical cross-sectional profile of the bearing plate is concave, the lead screw is installed in the concave opening of the bearing plate, the sliding member consists of a displacement block and a top plate, a ball nut is installed inside the displacement block, the ball nut cooperates with the lead screw, a guide rod parallel to the lead screw is provided at the front and rear of the lead screw, the guide rod passes through the displacement block, the top plate is installed on the top of the displacement block, the linkage rod is installed on the top plate, an adjustment hole is provided on the top of the top plate, and symmetrical adjustment screws that are locked into the displacement block are provided in the adjustment hole.

[0010] Preferably, the bottom of the front end face of the support plate is provided with an identification plate, on which symmetrically distributed numbers are engraved.

[0011] Preferably, the feedback linkage assembly includes a linkage plate, an adjusting rod, a first fisheye connector, a second fisheye connector, a first threaded rod, and a second threaded rod. The bottom of the linkage rod is connected to the linkage plate, and the linkage plate is provided with an second adjusting hole. The adjusting rod is installed in the second adjusting hole. The first fisheye connector is movably connected to the bottom of the adjusting rod through a ball joint. The first threaded rod is horizontally installed on one side of the first fisheye connector.

[0012] Preferably, the second fisheye connector is horizontally installed inside the other end of the first threaded rod, the second threaded rod is vertically installed inside the second fisheye connector, the rudder connecting rod is installed on the second threaded rod, and the first threaded rod and the second threaded rod are provided with fastening nuts.

[0013] Compared with the prior art, the present invention has the following beneficial effects:

[0014] 1. This utility model, through its control box, allows the steering gear to output a control valve signal, which is then connected via a cable to a DC24V relay winding in the control box's relay group. At this point, the relay closes, the stepper motor drives the lead screw to rotate, and the displacement component moves linearly along the lead screw. The linkage rod fixed to the displacement component forms two "L"-shaped structures through a feedback linkage assembly, converting the linear displacement into circular displacement, which in turn drives the rudder connecting rod to rotate. The tail end of the rudder connecting rod extends into the feedback mechanism and connects to the connecting shaft. The rotation of the connecting shaft causes the feedback mechanism to send a feedback signal. When the rudder reaches a specified angle, the automatic steering valve signal disappears, the relay resets, the closing signal disappears, the stepper motor stops, and the feedback mechanism stops at the specified angle, completing one rudder angle control simulation process. This not only replaces expensive hydraulic servo systems and real rudder motors, significantly reducing costs, but also features a modular design, making it easy to assemble, disassemble, adjust, and maintain, suitable for environments such as laboratories and classrooms. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the steering control simulation device of this utility model;

[0016] Figure 2 This is a schematic diagram of the structure of the lead screw and sliding components of this utility model;

[0017] Figure 3 This is a schematic diagram of the structure of the feedback linkage assembly and other components of this utility model;

[0018] Figure 4 This is a schematic diagram of the internal module structure of the control box of this utility model.

[0019] In the picture:

[0020] 1. Control box; 2. Support plate; 3. Lead screw; 4. Stepper motor; 5. Sliding component; 501. Displacement block; 502. Top plate; 6. Linkage rod; 7. Rudder connecting rod; 8. Relay group; 9. Terminal block; 10. Programmable stepper motor controller; 11. Stepper motor driver; 12. Power module; 13. Mounting plate; 14. Positioning screw; 15. Guide rod; 16. Adjustment hole one; 17. Adjustment screw; 18. Identification plate; 19. Linkage plate; 20. Adjustment rod; 21. Fisheye connector one; 22. Fisheye connector two; 23. Threaded rod one; 24. Threaded rod two; 25. Fastening nut; 26. Feedback mechanism; 27. Control valve signal group; 28. Rotary shaft. Detailed Implementation

[0021] The embodiments of this utility model will be described in further detail below with reference to the accompanying drawings and examples. The following examples are for illustrative purposes only and should not be construed as limiting the scope of this utility model.

[0022] As attached Figure 1 To be continued Figure 4 As shown:

[0023] Example 1: This utility model provides a steering control simulation device, including a control box 1. A support plate 2 is provided on one side of the control box 1. A horizontal lead screw 3 is provided inside the support plate 2. A stepper motor 4 connected to the lead screw 3 by an external power supply is provided on one side of the support plate 2. A sliding member 5 is provided on the lead screw 3. A vertical linkage rod 6 is provided on the sliding member 5. A rudder blade connecting rod 7 is provided below the linkage rod 6. A feedback linkage assembly is provided between the rudder blade connecting rod 7 and the linkage rod 6. The feedback linkage assembly is used to change the linear motion of the rudder blade connecting rod 7 into an arc motion. The control box 1 is used to control the simulated motion of the rudder blade connecting rod 7. A feedback mechanism 26 is provided behind the support plate 2. A rotating shaft 28 extending downward and connected to the tail end of the rudder blade connecting rod 7 is provided inside the feedback mechanism 26.

[0024] It should be noted that, through the control box 1, when the steering gear outputs a control valve signal, it is connected to the control winding of a DC24V relay in the relay group 8 of the control box 1 via a cable. At this time, the relay closes, the stepper motor 4 drives the lead screw 3 to rotate, and the displacement component moves linearly on the lead screw 3. The linkage rod 6 fixed on the displacement component forms two "L"-shaped structures through the feedback linkage assembly, which can convert the linear displacement into circular displacement, driving the rudder blade linkage 7 to rotate. The tail end of the rudder blade linkage 7 extends to the bottom of the feedback mechanism 26 and connects with the extended connecting shaft 28. The rotation of the connecting shaft 28 causes the feedback mechanism 26 to send a feedback signal. When it turns to the specified angle, the automatic steering valve signal disappears, the relay resets, the closing signal disappears, the stepper motor 4 stops, and the feedback mechanism stops at the specified angle, completing one rudder angle control simulation process. This not only replaces the expensive hydraulic servo system and real rudder motor, significantly reducing costs, but also features a modular design, making it easy to assemble, disassemble, adjust, and maintain, suitable for environments such as laboratories and classrooms.

[0025] In this embodiment, the control box 1 is equipped with a relay group 8 inside. One side of the relay group 8 is equipped with an electrical connection terminal 9. The other side of the terminal 9 is equipped with an electrical connection programmable stepper motor controller 10. The other side of the programmable stepper motor controller 10 is equipped with an electrical connection stepper motor driver 11. The stepper motor 4 and the stepper motor driver 11 are connected by wires. The control box 1 is equipped with a power module 12 inside, which supplies power to the programmable stepper motor controller 10 and the stepper motor driver 11. The control box 1 is equipped with a control valve signal group 27 that is electrically connected to the relay group 8 outside.

[0026] It should be noted that the relay group 8 is used to receive the steering command signal output by the autopilot, control the operation of the relay group 8, and then control the movement of the simulated rudder link 7.

[0027] In this embodiment, mounting plates 13 are symmetrically arranged below the feedback mechanism 26, and positioning screws 14 are provided on the bottom of the outer walls of the feedback mechanism 26. The positioning screws 14 are locked on the mounting plate 13, and the bearing plate 2 is also fixed on the mounting plate 13 by the positioning screws 14.

[0028] It should be noted that the positioning screws 14 not only fix the feedback mechanism 26, but also facilitate disassembly.

[0029] In this embodiment, the vertical cross-sectional profile of the bearing plate 2 is concave. The lead screw 3 is installed in the concave opening of the bearing plate 2. The sliding member 5 is composed of a displacement block 501 and a top plate 502. A ball nut is installed inside the displacement block 501. The ball nut cooperates with the lead screw 3. A guide rod 15 parallel to the lead screw 3 is provided at the front and rear. The guide rod 15 passes through the displacement block 501. The top plate 502 is installed on the top of the displacement block 501. The linkage rod 6 is installed on the top plate 502. An adjustment hole 16 is provided on the top of the top plate 502. Adjustment screws 17 that are locked into the displacement block 501 are symmetrically provided in the adjustment hole 16.

[0030] It should be noted that the guide rod 15 is fixedly connected to the bearing plate 2 at both ends. The guide rod 15 can improve the stability of the sliding member 5. The sliding member 5 is designed to consist of a displacement block 501 and a top plate 502. An adjustment hole 16 is provided on the top plate 502. The adjustment screw 17 passes through the adjustment hole 16 and is locked into the displacement block 501. The position of the top plate 502 can be adjusted, thereby ultimately controlling the position of the linkage rod 6 and realizing the adjustment of the rudder connecting rod 7 for centering.

[0031] In this embodiment, a label plate 18 is provided at the bottom of the front end face of the support plate 2, and symmetrically distributed numbers are engraved on the label plate 18.

[0032] It should be noted that by setting an indicator plate 18 at the front end of the support plate 2, the current position of the sliding member 5 and the linkage rod 6 can be visually indicated, that is, the simulated rudder angle command position or feedback position.

[0033] In this embodiment, the feedback linkage assembly includes a linkage plate 19, an adjusting rod 20, a first fisheye connector 21, a second fisheye connector 22, a first threaded rod 23, and a second threaded rod 24. The bottom of the linkage rod 6 is connected to the linkage plate 19. The linkage plate 19 is provided with an second adjusting hole. The adjusting rod 20 is installed in the second adjusting hole. The first fisheye connector 21 is movably connected to the bottom of the adjusting rod 20 through a ball joint. The first threaded rod 23 is horizontally installed on one side of the first fisheye connector 21.

[0034] It should be noted that fisheye connector 21 and fisheye connector 22 are connected to adjusting rod 20 and threaded rod 24 by ball joint, forming two "L" shaped structures, which can convert linear displacement into circular displacement, thereby controlling the rotation of rudder connecting rod 7.

[0035] In this embodiment, the second fisheye connector 22 is horizontally installed inside the other end of the first threaded rod 23, the second threaded rod 24 is vertically installed inside the second fisheye connector 22, the rudder connecting rod 7 is installed on the second threaded rod 24, and the first threaded rod 23 and the second threaded rod 24 are provided with fastening nuts 25.

[0036] It should be noted that the distance between fisheye connector 21 and fisheye connector 22 can be adjusted by the threaded rod 23, and the height of the rudder connecting rod 7 can be adjusted by the threaded rod 24, so as to achieve different changes according to different simulation scenarios and improve the flexibility of the device.

[0037] In the above embodiment, during training, the operator issues a steering command (such as left rudder 10°) through the control valve signal group 27. The control valve signal group 27 is electrically connected to the relay group 8. Finally, the command signal is input to the programmable stepper motor controller 10 in the control box 1. The controller calculates the target displacement of the sliding member 5 required to make the rudder connecting rod 7 reach the left 10° position, converts it into the number of steps and direction that the stepper motor 4 needs to run, and sends pulses to the stepper motor driver 11.

[0038] Stepper motor driver 11 drives stepper motor 4 to rotate, stepper motor 4 drives lead screw 3 to rotate, and the rotation of lead screw 3 is converted into precise linear movement of slider 5 to the left through ball nut pair. The movement of slider 5 drives linkage rod 6 to translate to the left.

[0039] Linkage rod 6 pushes fisheye connector 1 21 to the left through linkage plate 19 and adjusting rod 20, and fisheye connector 1 21 drives threaded rod 1 23 and fisheye connector 2 22 to the left.

[0040] Since the fisheye connector 22 is connected to the rudder link 7 via the threaded rod 24, and the rudder link 7 can only rotate around a fixed axis, the leftward translational motion of the fisheye connector 22 is forcibly converted into a counterclockwise circular motion around the rotation axis of the rudder link 7. This motion is transmitted to the rudder link 7 through the threaded rod 24, causing it to rotate counterclockwise around the axis. When the rudder link 7 rotates, since its tail end extends into the feedback mechanism 26, the rudder link 7 is connected to the rotating shaft 28 extending below the feedback mechanism 26, thereby driving the rotating shaft 28 to rotate. The rotation of the rotating shaft 28 drives the feedback mechanism 26 to provide feedback on the signal, ultimately realizing the simulation of left rudder.

[0041] When the operator issues a return or right rudder command, the process is reversed. The linear displacement of the linkage 6 and the deflection angle of the rudder link 7 are established through the geometric relationship of the feedback linkage assembly (mainly the distance from the center of the fisheye connector 21 to the axis of the rudder link 7). By precisely adjusting the lengths of the threaded rod 23 and the threaded rod 24, the rudder angle ratio can be calibrated or changed.

[0042] The embodiments of this utility model are given for the purpose of illustration and description. Although embodiments of this utility model have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the utility model. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of this utility model.

Claims

1. A steering control simulation device, characterized in that, include: A control box (1) is provided with a support plate (2) on one side. A horizontal lead screw (3) is provided inside the support plate (2). A stepper motor (4) connected to the lead screw (3) is provided on one side of the support plate (2). A sliding member (5) is provided on the lead screw (3). A vertical linkage rod (6) is provided on the sliding member (5). A rudder connecting rod (7) is provided below the linkage rod (6). A feedback connecting rod assembly is provided between the rudder connecting rod (7) and the linkage rod (6). The feedback connecting rod assembly is used to change the rudder connecting rod (7) from linear motion to arc motion. The control box (1) is used to control the simulated motion of the rudder connecting rod (7). A feedback mechanism (26) is provided behind the support plate (2). A rotating shaft (28) extends downward and is connected to the tail end of the rudder connecting rod (7) inside the feedback mechanism (26).

2. The steering control simulation device as described in claim 1, characterized in that: The control box (1) is equipped with a relay group (8) inside. One side of the relay group (8) is equipped with an electrical connection terminal (9), and the other side of the terminal (9) is equipped with an electrical connection programmable stepper motor controller (10). The other side of the programmable stepper motor controller (10) is equipped with an electrical connection stepper motor driver (11). The stepper motor (4) and the stepper motor driver (11) are connected by wires. The control box (1) is equipped with a power module (12) inside. The power module (12) supplies power to the programmable stepper motor controller (10) and the stepper motor driver (11). The control box (1) is equipped with a control valve signal group (27) that is electrically connected to the relay group (8) outside.

3. The steering control simulation device as described in claim 1, characterized in that: The feedback mechanism (26) is symmetrically provided with mounting plates (13) below it. The outer walls of the feedback mechanism (26) are provided with positioning screws (14) at the bottom. The positioning screws (14) are locked on the mounting plate (13). The bearing plate (2) is also fixed on the mounting plate (13) by the positioning screws (14).

4. The steering control simulation device as described in claim 1, characterized in that: The vertical cross-sectional profile of the bearing plate (2) is concave. The lead screw (3) is installed in the concave opening of the bearing plate (2). The sliding member (5) consists of a displacement block (501) and a top plate (502). A ball nut is installed inside the displacement block (501). The ball nut cooperates with the lead screw (3). A guide rod (15) parallel to the lead screw (3) is provided at the front and rear. The guide rod (15) passes through the displacement block (501). The top plate (502) is installed on the top of the displacement block (501). The linkage rod (6) is installed on the top plate (502). An adjustment hole (16) is provided on the top of the top plate (502). An adjustment screw (17) is symmetrically provided in the adjustment hole (16) and locked into the displacement block (501).

5. The steering control simulation device as described in claim 4, characterized in that: The front end of the bearing plate (2) is provided with an identification plate (18), on which symmetrically distributed numbers are engraved.

6. The steering control simulation device as described in claim 1, characterized in that: The feedback linkage assembly includes a linkage plate (19), an adjusting rod (20), a fisheye connector one (21), a fisheye connector two (22), a threaded rod one (23) and a threaded rod two (24). The bottom of the linkage rod (6) is connected to the linkage plate (19). The linkage plate (19) is provided with an adjusting hole two. The adjusting rod (20) is installed in the adjusting hole two. The fisheye connector one (21) is movably connected to the bottom of the adjusting rod (20) through a ball joint. The threaded rod one (23) is horizontally installed inside one side of the fisheye connector one (21).

7. The steering control simulation device as described in claim 6, characterized in that: The second fisheye connector (22) is horizontally installed inside the other end of the first threaded rod (23), the second threaded rod (24) is vertically installed inside the second fisheye connector (22), the rudder connecting rod (7) is installed on the second threaded rod (24), and the first threaded rod (23) and the second threaded rod (24) are provided with fastening nuts (25).

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