Steering machine

Abstract

To provide a steering machine capable of shortening electric wiring in between a steering machine body and a controller.SOLUTION: A steering machine 1 includes: a steering machine body 11 of a Rapson-slide type including at least one hydraulic apparatus actuated according to electrical signals; and at least one controller 9 for controlling at least one hydraulic apparatus attached to the steering machine body 11. For example, the steering machine body 11 includes: a steering lever 2 fixed to a steering shaft 15; rams 3A, 3B engaged with the steering lever 2, and cylinders 4A to 4D into which both ends of the rams 3A, 3B are respectively inserted; and a plurality of hydraulic units 5 composing a hydraulic circuit along with the cylinders 4A to 4D, wherein the controllers 9 are respectively attached to the cylinders 4A to 4D.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present disclosure relates to a steering gear. [Background technology]

[0002] Conventionally, a steering gear including a Rapson slide type steering gear body has been known. For example, Patent Document 1 discloses a steering gear 100 as shown in FIG.

[0003] Specifically, the steering gear 100 includes a steering gear main body 110 and a control device 120. The steering gear main body 110 includes a rudder 111 fixed to a rudder stock 200, a ram 112 engaging with the rudder 111, and two cylinders 113 into which both ends of the ram 112 are inserted. Furthermore, the steering gear main body 110 includes a hydraulic unit 114 which, together with the cylinders 113, constitutes a hydraulic circuit. The hydraulic unit 114 includes an electromagnetic switching valve as a hydraulic device that operates in response to an electric signal, and this electromagnetic switching valve is controlled by the control device 120. The control device 120 is connected to an operating device 130. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2016-147550 A Summary of the Invention [Problem to be solved by the invention]

[0005] However, in the steering gear 100 shown in FIG. 10, the control device 120 is disposed at a position away from the steering gear body 110, so the electrical wiring between the steering gear body 110 and the control device 120 becomes relatively long.

[0006] Therefore, an object of the present disclosure is to provide a steering gear that can shorten the electrical wiring between the steering gear main body and the control device. [Means for solving the problem]

[0007] From one aspect, the present disclosure provides a steering gear comprising a Rapson slide type steering gear body including at least one hydraulic device that operates in response to an electrical signal, and at least one control device attached to the steering gear body for controlling the at least one hydraulic device.

[0008] From another aspect, the present disclosure provides a steering gear comprising a Rapson slide type steering gear body including at least one hydraulic device that operates in response to an electric signal, and at least one control device attached to the hull in the vicinity of the steering gear body for controlling the at least one hydraulic device. Effect of the Invention

[0009] According to the present disclosure, a steering gear is provided that can shorten the electrical wiring between the steering gear body and the control device. [Brief description of the drawings]

[0010] [Figure 1] FIG. 2 is a plan view of a steering gear according to one embodiment. [Diagram 2] FIG. [Diagram 3] FIG. 2 is a hydraulic circuit diagram of the steering machine. [Figure 4] FIG. 2 is an enlarged view of a main part of FIG. [Diagram 5] FIG. [Figure 6] FIG. 6 is a cross-sectional view taken along line VI-VI in FIG. 5. [Figure 7] FIG. 3 is an enlarged view of the electric motor and its surroundings in FIG. 2. [Figure 8] FIG. 13 is a diagram showing another method of mounting the control device. [Figure 9] 9A and 9B are a front view and a side view, respectively, of the electric motor and its surroundings of a steering machine according to a modified example. [Figure 10] FIG. 1 is a perspective view of a conventional steering gear. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0011] 1 to 3 show a steering gear 1 according to one embodiment. This steering gear 1 includes a Rapson slide type steering gear body 11 and at least one control device 9 attached to the steering gear body 11. In this embodiment, four control devices 9A to 9D are attached to the steering gear body 11.

[0012] In this embodiment, the steering gear body 11 includes a rudder 2 fixed to a rudder stock 15, and two hydraulic actuators for rocking the rudder 2. One hydraulic actuator includes a first ram 3A and two first cylinders 4A, 4B, and the other hydraulic actuator includes a second ram 3B and two second cylinders 4C, 4D. However, the steering gear body 11 may include only one hydraulic actuator.

[0013] The rudder 2 includes a cylindrical portion 21 into which the rudder stock 15 is inserted, and a pair of arm portions 22 protruding in opposite directions from the side surfaces of the cylindrical portion 21. Each arm portion 22 includes a pair of opposing walls 23 that face each other in the vertical direction with the corresponding ram (first ram 3A or second ram 3B) in between, and engagement grooves 24 are formed at the tips of these opposing walls 23.

[0014] The first ram 3A and the second ram 3B are arranged parallel to each other so as to sandwich the rudder stock 15. The first ram 3A and the second ram 3B are provided at the center with pins 31 protruding upward and downward, and these pins 31 engage with the engagement groove 24 of the rudder 2 via rollers 32.

[0015] Both ends of the first ram 3A are inserted into the first cylinders 4A and 4B, respectively, and both ends of the second ram 3B are inserted into the second cylinders 4C and 4D, respectively. For ease of explanation, the direction toward the ram for each cylinder will be referred to as the front and the opposite direction as the rear.

[0016] The front parts of the adjacent first cylinder 4A and second cylinder 4C are connected by a connecting plate 13, and the front parts of the adjacent first cylinder 4B and second cylinder 4D are connected by a connecting plate 12. The first cylinders 4A, 4B and the second cylinders 4C, 4D are placed on a cylinder installation stand 10, which is part of the hull, and fixed to the cylinder installation stand 10 with bolts and nuts.

[0017] Furthermore, the steering gear body 11 includes a plurality of hydraulic units 5 which configure a hydraulic circuit together with the first cylinders 4A, 4B and the second cylinders 4C, 4D. In this embodiment, the steering gear body 11 includes four hydraulic units, a first hydraulic unit 5A, a second hydraulic unit 5B, a third hydraulic unit 5C, and a fourth hydraulic unit 5D, and the first hydraulic unit 5A and the second hydraulic unit 5B are disposed above the first cylinders 4A, 4B, respectively, and the third hydraulic unit 5C and the fourth hydraulic unit 5D are disposed above the second cylinders 4C, 4D, respectively.

[0018] Each of the first to fourth hydraulic units 5A to 5D includes a tank unit 51, a valve unit 52, and an electric motor 54. The tank unit 51 includes a tank that stores hydraulic oil, and a hydraulic pump 61 arranged in the tank. The electric motor 54 drives the corresponding hydraulic pump 61.

[0019] The tank unit 51 has a substantially rectangular parallelepiped shape. The tank unit 51 and the electric motor 54 are attached to a corresponding cylinder (one of the first cylinders 4A, 4B or one of the second cylinders 4C, 4D) in a state of being aligned in the axial direction of the cylinder. The tank unit 51 is located near the corresponding ram (the first ram 3A or the second ram 3B), and the electric motor 54 is located on the opposite side of the tank unit 51 to the ram.

[0020] In this embodiment, each hydraulic pump 61 is a variable displacement pump, and each of the first to fourth hydraulic units 5A to 5D includes a regulator 53 that changes the displacement of the corresponding hydraulic pump 61. Also, in this embodiment, each hydraulic pump 61 is a bi-directional pump, and the discharge direction of the hydraulic pump 61 can be switched by the regulator 53 while the rotation direction remains in one direction. However, the discharge direction of each hydraulic pump 61 may be switched by switching the rotation direction.

[0021] The regulator 53 is a hydraulic device that operates in response to an electric signal. Note that the configuration of the regulator 53 is publicly known, and therefore a description thereof will be omitted. In each of the first to fourth hydraulic units 5A to 5D, the regulator 53 is attached to one side surface of the tank unit 51 (in this embodiment, the side surface facing the inside of the steering gear body 11), and the valve unit 52 is attached to the other side surface of the tank unit 51 (in this embodiment, the side surface facing the outside of the steering gear body 11).

[0022] 3, the hydraulic pump 61 of the second hydraulic unit 5B is connected to the first cylinder 4A by a supply / discharge line 62 and is connected to the first cylinder 4B by a supply / discharge line 63. When the discharge direction of the hydraulic pump 61 is set to the supply / discharge line 62 side by the regulator 53, the hydraulic oil discharged from the hydraulic pump 61 is supplied to the first cylinder 4A through the supply / discharge line 62, and the hydraulic oil discharged from the first cylinder 4B is sucked into the hydraulic pump 61 through the supply / discharge line 63. Conversely, when the discharge direction of the hydraulic pump 61 is set to the supply / discharge line 63 side, the hydraulic oil discharged from the hydraulic pump 61 is supplied to the first cylinder 4B through the supply / discharge line 63, and the hydraulic oil discharged from the first cylinder 4A is sucked into the hydraulic pump 61 through the supply / discharge line 62.

[0023] The supply and discharge lines 62, 63 cross the valve unit 52 of the second hydraulic unit 5B. The valve unit 52 includes valves such as a relief valve and a check valve provided in a branch path branching off from the supply and discharge lines 62, 63. The valve unit 52 of the second hydraulic unit 5B is connected to the first cylinder 4A by a hydraulic pipe 1a constituting a part of the supply and discharge line 62, and is connected to the first cylinder 4B by a hydraulic pipe 1b constituting a part of the supply and discharge line 63.

[0024] The hydraulic pump 61 of the first hydraulic unit 5A is connected to a supply / discharge line 62 by a supply / discharge line 64, and is also connected to a supply / discharge line 63 by a supply / discharge line 65. When the discharge direction of the hydraulic pump 61 is set to the supply / discharge line 64 side by the regulator 53, the hydraulic oil discharged from the hydraulic pump 61 is supplied to the first cylinder 4A through the supply / discharge lines 64, 62, and the hydraulic oil discharged from the first cylinder 4B is sucked into the hydraulic pump 61 through the supply / discharge lines 63, 65. Conversely, when the discharge direction of the hydraulic pump 61 is set to the supply / discharge line 65 side, the hydraulic oil discharged from the hydraulic pump 61 is supplied to the first cylinder 4B through the supply / discharge lines 65, 63, and the hydraulic oil discharged from the first cylinder 4A is sucked into the hydraulic pump 61 through the supply / discharge lines 62, 64.

[0025] The supply and discharge lines 64, 65 cross the valve unit 52 of the first hydraulic unit 5A. The valve unit 52 includes valves such as a relief valve and a check valve provided in a branch path branching off from the supply and discharge lines 64, 65. The valve unit 52 of the first hydraulic unit 5A is connected to the valve unit 52 of the second hydraulic unit 5B by a hydraulic pipe 1g constituting a part of the supply and discharge line 64 and a hydraulic pipe 1h constituting a part of the supply and discharge line 65.

[0026] The hydraulic pump 61 of the fourth hydraulic unit 5D is connected to the second cylinder 4D by a supply / discharge line 66 and is connected to the second cylinder 4C by a supply / discharge line 67. When the discharge direction of the hydraulic pump 61 is set to the supply / discharge line 66 side by the regulator 53, the hydraulic oil discharged from the hydraulic pump 61 is supplied to the second cylinder 4D through the supply / discharge line 66, and the hydraulic oil discharged from the second cylinder 4C is sucked into the hydraulic pump 61 through the supply / discharge line 67. Conversely, when the discharge direction of the hydraulic pump 61 is set to the supply / discharge line 67 side, the hydraulic oil discharged from the hydraulic pump 61 is supplied to the second cylinder 4C through the supply / discharge line 67, and the hydraulic oil discharged from the second cylinder 4D is sucked into the hydraulic pump 61 through the supply / discharge line 66.

[0027] The supply and discharge lines 66, 67 cross the valve unit 52 of the fourth hydraulic unit 5D. The valve unit 52 includes valves such as a relief valve and a check valve provided in a branch path branching off from the supply and discharge lines 66, 67. The valve unit 52 of the fourth hydraulic unit 5D is connected to the second cylinder 4D by a hydraulic pipe 1d constituting a part of the supply and discharge line 66, and is connected to the second cylinder 4C by a hydraulic pipe 1c constituting a part of the supply and discharge line 67.

[0028] The hydraulic pump 61 of the third hydraulic unit 5C is connected to a supply / discharge line 66 via a supply / discharge line 68, and is also connected to a supply / discharge line 67 via a supply / discharge line 69. When the discharge direction of the hydraulic pump 61 is set to the supply / discharge line 68 side by the regulator 53, the hydraulic oil discharged from the hydraulic pump 61 is supplied to the second cylinder 4D through the supply / discharge lines 68, 66, and the hydraulic oil discharged from the second cylinder 4C is sucked into the hydraulic pump 61 through the supply / discharge lines 67, 69. Conversely, when the discharge direction of the hydraulic pump 61 is set to the supply / discharge line 69 side, the hydraulic oil discharged from the hydraulic pump 61 is supplied to the second cylinder 4C through the supply / discharge lines 69, 67, and the hydraulic oil discharged from the second cylinder 4D is sucked into the hydraulic pump 61 through the supply / discharge lines 66, 68.

[0029] The supply and discharge lines 68, 69 cross the valve unit 52 of the third hydraulic unit 5C. The valve unit 52 includes valves such as a relief valve and a check valve provided in a branch path branching off from the supply and discharge lines 68, 69. The valve unit 52 of the third hydraulic unit 5C is connected to the valve unit 52 of the fourth hydraulic unit 5D by a hydraulic pipe 1i constituting a part of the supply and discharge line 68 and a hydraulic pipe 1j constituting a part of the supply and discharge line 69.

[0030] Furthermore, in this embodiment, the supply / discharge line 62 and the supply / discharge line 66 are connected by a connecting line 72, and the supply / discharge line 63 and the supply / discharge line 67 are connected by a connecting line 71. An isolation valve 73 is provided on the connecting lines 71 and 72 near the supply / discharge lines 62 and 63, and an isolation valve 74 is provided on the connecting lines 71 and 72 near the supply / discharge lines 66 and 67.

[0031] The separation valves 73, 74 are normally positioned at a communicating position that communicates the supply and discharge lines 62, 66 with each other through the connecting line 72 and communicates the supply and discharge lines 63, 67 with each other through the connecting line 71. On the other hand, when an abnormality occurs in one or both of the first cylinders 4A, 4B, the separation valve 74 is switched to a blocking position that blocks the ends of the connecting lines 71, 72 on the supply and discharge lines 66, 67 side, and the first cylinders 4A, 4B are separated from the hydraulic circuit. Conversely, when an abnormality occurs in one or both of the second cylinders 4C, 4D, the separation valve 73 is switched to a blocking position that blocks the ends of the connecting lines 71, 72 on the supply and discharge lines 62, 63 side, and the second cylinders 4C, 4D are separated from the hydraulic circuit.

[0032] The isolation valve 73 is included in the valve unit 52 of the second hydraulic unit 5B, and the isolation valve 74 is included in the valve unit 52 of the fourth hydraulic unit 5D. The valve units 52 of the second hydraulic unit 5B and the fourth hydraulic unit 5D are connected to each other by hydraulic piping 1e constituting a part of the connecting line 71 and hydraulic piping 1f constituting a part of the connecting line 72.

[0033] A control device 9A for controlling the electric motor 54 and regulator 53 of the first hydraulic unit 5A is attached to the first cylinder 4A, and a control device 9B for controlling the electric motor 54 and regulator 53 of the second hydraulic unit 5B is attached to the first cylinder 4B. A control device 9C for controlling the electric motor 54 and regulator 53 of the third hydraulic unit 5C is attached to the second cylinder 4C, and a control device 9D for controlling the electric motor 54 and regulator 53 of the fourth hydraulic unit 5D is attached to the second cylinder 4D. Each of the control devices 9A to 9D is connected to the corresponding electric motor 54 and regulator 53 by electrical wiring. A steering angle command is input to the control devices 9A to 9D from the operating device, and the control devices 9A to 9D control the electric motor 54 and regulator 53 based on the steering angle command.

[0034] With respect to the control devices 9A-9D, the functions of the elements disclosed herein can be performed using circuits or processing circuits, including general purpose processors, special purpose processors, integrated circuits, ASICs (Application Specific Integrated Circuits), conventional circuits, and / or combinations thereof, configured or programmed to perform the disclosed functions. A processor is considered a processing circuit or circuit because it includes transistors and other circuits. In this disclosure, a circuit, unit, or means is hardware that performs the recited functions or hardware that is programmed to perform the recited functions. The hardware may be hardware disclosed herein or other known hardware that is programmed or configured to perform the recited functions. In the case where the hardware is a processor, which is considered a type of circuit, the circuit, means, or unit is a combination of hardware and software, and the software is used to configure the hardware and / or the processor.

[0035] In this embodiment, each of the control devices 9A to 9D (control device 9) has the function of a starter for the electric motor 54. However, the starter for each electric motor 54 may be provided independently from the control device 9. In this case, the starter may be attached to the corresponding cylinder (one of the first cylinders 4A, 4B or one of the second cylinders 4C, 4D) or may be attached to the hull (for example, the cylinder installation base 10).

[0036] The control device 9A attached to the first cylinder 4A is located on the opposite side of the first hydraulic unit 5A from the first ram 3A. In other words, the control device 9A is located behind the electric motor 54 so as to face the electric motor 54 of the first hydraulic unit 5A along the axial direction of the first cylinder 4A.

[0037] The control device 9B attached to the first cylinder 4B is located on the opposite side of the second hydraulic unit 5B from the first ram 3A. In other words, the control device 9B is located behind the electric motor 54 so as to face the electric motor 54 of the second hydraulic unit 5B along the axial direction of the first cylinder 4B.

[0038] The control device 9C attached to the second cylinder 4C is located on the opposite side of the third hydraulic unit 5C from the second ram 3B. In other words, the control device 9C is located behind the electric motor 54 so as to face the electric motor 54 of the third hydraulic unit 5C along the axial direction of the second cylinder 4C.

[0039] The control device 9D attached to the second cylinder 4D is located on the opposite side of the fourth hydraulic unit 5D from the second ram 3B. That is, the control device 9D is located behind the electric motor 54 so as to face the electric motor 54 of the fourth hydraulic unit 5D along the axial direction of the second cylinder 4D.

[0040] 7, a control device receiver 41 forming a flat support surface is provided on the upper surface of each of the rear ends of the first cylinders 4A, 4B and the second cylinders 4C, 4D. Each of the control devices 9A to 9D (control devices 9) is attached to the control device receiver 41 via a bracket 91.

[0041] Further, an electric motor receiver 42 forming a flat mounting surface is provided on the upper surface of each of the first cylinders 4A, 4B and the second cylinders 4C, 4D, forward of the control device receiver 41. An electric motor 54 is attached to this electric motor receiver 42 via a platform 43. As shown in Fig. 9B, the platform 43 includes a base plate 44 and a plurality of blocks 45 provided on the base plate 44.

[0042] Returning to Fig. 1, the hydraulic pipes 1e and 1f connecting the valve units 52 of the second hydraulic unit 5B and the fourth hydraulic unit 5D described above are U-shaped in plan view so as to surround the first cylinder 4B and the second cylinder 4D. That is, among the control devices 9A to 9D, the control devices 9B and 9D are located near the hydraulic pipes 1e and 1f, and the control devices 9B and 9D are arranged inside the hydraulic pipes 1e and 1f. Also, as shown in Fig. 2, the hydraulic pipes 1e and 1f are laid below the control devices 9B and 9D so as to pass through a space facing the backs of the first cylinder 4B and the second cylinder 4D.

[0043] In this manner, in this embodiment, the control devices 9B, 9D are disposed inside the hydraulic pipes 1e, 1f laid so as to pass through the space facing the back faces of the first cylinder 4B and the second cylinder 4D, so that the space occupied by the control devices 9B, 9D behind the first cylinder 4B and the second cylinder 4D is reduced, thereby preventing the steering gear from becoming larger overall.

[0044] Furthermore, the steering gear body 11 is fitted with a rudder angle transmitter 8C that detects the rudder angle, which is the angle of the rudder blade fixed to the rudder stock 15 with respect to the ship's longitudinal direction, and two stroke sensors 8A, 8B that detect the stroke of the second ram 3B. The rudder angle transmitter 8C outputs the detected rudder angle to a rudder angle meter provided on the bridge of the hull. The rudder angle transmitter 8C includes a rotation sensor 83, a support post 85 erected on the cylindrical part 21 of the rudder 2, and a link mechanism 84 that connects the rotation sensor 83 and the support post 85 and has a variable bending angle, and the rotation angle of the rotation sensor 83 is converted into a rudder angle.

[0045] The stroke sensors 8A and 8B are used as follow-up transmitters for feedback control. In this embodiment, the stroke sensor 8A is connected to the control device 9C by electrical wiring, and the stroke sensor 8B is connected to the control device 9D by electrical wiring. The control device 9C converts the stroke of the second ram 3B detected by the stroke sensor 8A into a steering angle, and the control device 9C converts the stroke of the second ram 3B detected by the stroke sensor 8A into a steering angle. However, only one stroke sensor may be provided and connected to both the control devices 9C and 9D.

[0046] In this embodiment, the stroke sensors 8A and 8B are arranged vertically on the side of the second ram 3B (outside the steering gear body 11 in this embodiment). As shown in Figs. 4 to 6, a block 33 is provided at the center of the second ram 3B, protruding in the opposite direction to the direction toward the rudder stock 15. Each of the stroke sensors 8A and 8B includes a detection element 81 attached to the second ram 3B via the block 33, and a linear detector 82 that transmits a signal according to the position of the detection element 81. As shown in Figs. 1 and 2, the linear detector 82 extends across the second cylinders 4C and 4D, and both ends of the linear detector 82 are attached to the second cylinders 4C and 4D via supports 40 provided on the second cylinders 4C and 4D.

[0047] As described above, in the steering gear 1 of this embodiment, the control devices 9A to 9D are attached to the steering gear body 11, so that the electrical wiring between the steering gear body 11 and the control devices 9A to 9D can be shortened.

[0048] Moreover, in this embodiment, each of the control devices 9A to 9D (control device 9) is located on the opposite side of the ram (first ram 3A or second ram 3B) from the corresponding hydraulic unit 5, so that the space on the opposite side of the ram from the hydraulic unit 5 can be effectively utilized.

[0049] In addition, in this embodiment, hydraulic piping 1e, 1f passes below the control devices 9B, 9D behind the first cylinder 4B and the second cylinder 4D, ensuring good access to the control devices 9B, 9D from behind the first cylinder 4B and the second cylinder 4D.

[0050] Furthermore, in this embodiment, the stroke sensors 8A, 8B can be used as a tracking transmitter for feedback control. Moreover, since the stroke sensors 8A, 8B can be attached to the steering gear body 11, there is no need to attach them to the hull as with conventional tracking transmitters.

[0051] (Modification) The present disclosure is not limited to the above-described embodiments, and various modifications are possible without departing from the gist of the present disclosure.

[0052] For example, as shown in Fig. 8, vibration-proofing material 92 may be interposed both between the control device receiver 41 and bracket 91 provided on each of the first cylinders 4A, 4B and the second cylinders 4C, 4D, and between the bracket 91 and the control device 9 (each of the control devices 9A to 9D). The vibration-proofing material 92 is, for example, a sheet having cushioning properties. With this configuration, it is possible to suppress the transmission of vibration to the control device 9. Note that it is sufficient that the vibration-proofing material 92 is interposed at least either between the control device receiver 41 and bracket 91 or between the bracket 91 and the control device 9.

[0053] 9A and 9B, each of the control devices 9A to 9D (control device 9) may be located to the side of the electric motor 54. In this case, the control device 9 may be attached to a corresponding cylinder (one of the first cylinders 4A and 4B or one of the second cylinders 4C and 4D) via, for example, a bracket 93 having a horizontal T-shaped cross section, a base plate 44 of the stand 43, and the electric motor support 42. When such a bracket 93 is used, a vibration-proof material 92 may be interposed at least either between the base plate 44 of the stand 43 and the bracket 93, or between the bracket 93 and the control device 9.

[0054] Furthermore, the control devices 9A to 9D do not necessarily have to be attached to the first cylinders 4A, 4B and the second cylinders C, 4D, but may be attached to the tank unit 51 or the valve unit 52 of the first to fourth hydraulic units 5A to 5D.

[0055] Alternatively, the control devices 9A to 9D may be attached to the hull (for example, the cylinder installation base 10) in the vicinity of the steering gear body 11. Here, "in the vicinity of the steering gear body 11" refers to an area surrounded by a line 50 cm away from the outline of the steering gear body 11 in a plan view. With this configuration, as in the above embodiment, the electrical wiring between the steering gear body 11 and the control devices 9A to 9D can be shortened.

[0056] For example, when each of the control devices 9A to 9D (control device 9) is attached to the hull via a bracket, vibration-proof material 92 may be interposed at least one between the hull and the bracket and between the bracket and the control device 9.

[0057] The number of the control devices 9 does not necessarily have to be four, and may be one, two, or three. However, it is preferable that the number of the control devices 4 is more than one from the viewpoint of fail-safe. For example, a first control device in which the control devices 9A and 9B are integrated, and a second control device in which the control devices 9C and 9D are integrated may be adopted, and the first control device may control the electric motor 54 and the regulator 53 of the first and second hydraulic units 5A and 5B, and the second control device may control the electric motor 54 and the regulator 53 of the third and fourth hydraulic units 5C and 5D. In this case, the first control device may be attached to one of the first cylinders 4A and 4B, and the second control device may be attached to one of the second cylinders 4C and 4D.

[0058] Furthermore, the number of hydraulic units does not necessarily have to be four, and may be two or three. For example, in the above embodiment, the third hydraulic unit 5C may be omitted.

[0059] The hydraulic device operated in response to an electric signal included in the steering gear body 11 does not necessarily have to be the regulator 53. For example, when the hydraulic pump 61 is a fixed displacement pump that rotates in one direction, the hydraulic device operated in response to an electric signal may be an electromagnetic switching valve that switches the supply destination of the hydraulic oil discharged from the hydraulic pump 61 and is included in the valve units 52 of the first to fourth hydraulic units 5A to 5D. When the hydraulic pump 61 is a fixed displacement pump, the discharge flow rate of the hydraulic pump 61 may be changed by the rotation speed of the hydraulic pump 61.

[0060] Depending on the configuration of the steering gear body 11, the number of hydraulic devices that operate in response to the electrical signals included in the steering gear body 11 may be one, or may be three, five or more.

[0061] (summary) As a first aspect, the present disclosure provides a steering gear comprising: a Rapson slide type steering gear body including at least one hydraulic device that operates in response to an electrical signal; and at least one control device attached to the steering gear body for controlling the at least one hydraulic device.

[0062] According to the above configuration, since the control device is attached to the steering gear body, it is possible to shorten the electrical wiring between the steering gear body and the control device.

[0063] As a second aspect, in the first aspect, the at least one hydraulic device includes a plurality of hydraulic devices, the at least one control device includes a plurality of control devices, the steering gear body includes a rudder fixed to a rudder stock, at least one ram provided with a pin engaging with the rudder, at least two cylinders into which both ends of the at least one ram are inserted, and a plurality of hydraulic units each having the plurality of hydraulic devices, a plurality of hydraulic pumps, and a plurality of electric motors driving the plurality of hydraulic pumps, which constitute a hydraulic circuit together with the at least two cylinders, the plurality of hydraulic units being disposed above the at least two cylinders, and the plurality of control devices may be attached to the at least two cylinders so as to be located on the opposite side of the ram with respect to the plurality of hydraulic units. With this configuration, the space on the opposite side of the ram with respect to the hydraulic units can be effectively utilized.

[0064] As a third aspect, in the second aspect, the at least one ram may include a first ram and a second ram arranged parallel to each other so as to sandwich the rudder stock, the at least two cylinders may include two first cylinders into which both ends of the first ram are inserted, and two second cylinders into which both ends of the second ram are inserted, and hydraulic piping may be laid below the control devices so as to pass through a space facing the back faces of two adjacent cylinders of the two first cylinders and the two second cylinders. With this configuration, good accessibility to the control devices can be ensured.

[0065] As a fourth aspect, in the third aspect, for example, the plurality of hydraulic pumps may include four hydraulic pumps, the plurality of electric motors may include four electric motors, the plurality of hydraulic units may include four hydraulic units, the four hydraulic units each having the four hydraulic pumps, the four electric motors and four valve units, and the hydraulic piping may connect two of the four valve units to each other.

[0066] As a fifth aspect, in the fourth aspect, for example, each of the four hydraulic pumps may be a variable displacement pump, and the plurality of hydraulic devices may include four regulators that change the displacement of each of the four hydraulic pumps.

[0067] As a sixth aspect, in the fifth aspect, the plurality of control devices may include four control devices each controlling the four regulators, the four control devices being attached to the two first cylinders and the two second cylinders, respectively, and two of the four control devices located near the hydraulic piping may be arranged inside the hydraulic piping. According to this configuration, the control devices arranged inside the hydraulic piping laid so as to pass through a space facing the back faces of two adjacent cylinders occupy less space behind the cylinders, thereby preventing the steering gear from becoming larger overall.

[0068] As a seventh aspect, in any one of the second to sixth aspects, the steering gear further includes at least one stroke sensor including a detection element attached to the at least one ram for detecting the stroke of the at least one ram, and a linear detector extending across the at least two cylinders for transmitting a signal according to the position of the detection element, and at least two of the plurality of control devices may convert the stroke of the at least one ram detected by the at least one stroke sensor into a rudder angle. According to this configuration, the stroke sensor can be used as a tracking transmitter for feedback control. Moreover, since the stroke sensor can be attached to the steering gear body, it is not necessary to attach it to the hull as in the case of conventional tracking transmitters.

[0069] In an eighth aspect, from another aspect, the present disclosure provides a steering gear comprising a Rapson slide type steering gear body including at least one hydraulic device that operates in response to an electrical signal, and at least one control device attached to the hull in the vicinity of the steering gear body for controlling the at least one hydraulic device.

[0070] According to the above configuration, since the control device is attached to the hull in the vicinity of the steering gear body, it is possible to shorten the electrical wiring between the steering gear body and the control device.

[0071] As a ninth aspect, in any one of the first to eighth aspects, the at least one control device may be attached to the steering gear body or the hull via a bracket, and a vibration-proof material may be interposed at least one between the steering gear body or the hull and the bracket, and between the bracket and the at least one control device. With this configuration, it is possible to suppress the transmission of vibration to the control device. [Explanation of symbols]

[0072] 1 Steering gear 10 Cylinder installation stand (hull) 11 Steering gear body 15 Rudder axle 1a~1j Hydraulic piping 2 rudder handle 3A First Ram 3B 2nd Ram 4A, 4B First cylinder 4C, 4D 2nd cylinder 5,5A~5D Hydraulic Unit 51 Tank Unit 52 Valve unit 53 Regulator (hydraulic equipment) 54 Electric motor 61 Hydraulic Pump 8A, 8B Stroke sensor 81 Detector element 82 Linear Detector 9,9A~9D Control device 91,93 Bracket 92 Vibration isolation material

Claims

1. A Rapson slide type steering gear body including at least one hydraulic device that operates in response to an electrical signal; At least one control device attached to the steering gear body and controlling the at least one hydraulic device; A steering gear.

2. the at least one hydraulic machine includes a plurality of hydraulic machines; the at least one controller includes a plurality of controllers; The steering gear body includes: a rudder fixed to the rudder stock; at least one ram provided with a pin for engagement with said tiller; at least two cylinders into which both ends of the at least one ram are inserted; a plurality of hydraulic units each including the plurality of hydraulic devices, a plurality of hydraulic pumps, and a plurality of electric motors that drive the plurality of hydraulic pumps, which configure a hydraulic circuit together with the at least two cylinders; The plurality of hydraulic units are disposed above the at least two cylinders, The steering gear according to claim 1 , wherein the plurality of control devices are attached to the at least two cylinders so as to be located on an opposite side of the plurality of hydraulic units from the ram.

3. The at least one ram includes a first ram and a second ram arranged parallel to each other so as to sandwich the rudder stock, The at least two cylinders include two first cylinders into which both ends of the first ram are inserted, and two second cylinders into which both ends of the second ram are inserted, 3. The steering gear according to claim 2, wherein hydraulic piping is laid below the plurality of control devices so as to pass through a space facing rear surfaces of two adjacent cylinders of the two first cylinders and the two second cylinders.

4. the plurality of hydraulic pumps includes four hydraulic pumps; the plurality of electric motors includes four electric motors; the plurality of hydraulic units includes four hydraulic units; The four hydraulic units each include the four hydraulic pumps, the four electric motors, and four valve units; The steering gear according to claim 3 , wherein the hydraulic piping connects two of the four valve units together.

5. Each of the four hydraulic pumps is a variable displacement pump; The steering gear according to claim 4 , wherein the plurality of hydraulic devices includes four regulators that change the displacements of the four hydraulic pumps, respectively.

6. the plurality of control devices include four control devices each controlling the four regulators, The four control devices are respectively attached to the two first cylinders and the two second cylinders; The steering gear according to claim 5 , wherein two of the four control devices located near the hydraulic piping are disposed inward of the hydraulic piping.

7. at least one stroke sensor including a sensing element attached to the at least one ram for sensing a stroke of the at least one ram, and a linear detector extending across the at least two cylinders for generating a signal responsive to a position of the sensing element; The steering gear according to any one of claims 2 to 6, wherein at least two of the plurality of control devices convert the stroke of the at least one ram detected by the at least one stroke sensor into a steering angle.

8. A Rapson slide type steering gear body including at least one hydraulic device that operates in response to an electrical signal; At least one control device that controls the at least one hydraulic device and is attached to the hull in the vicinity of the steering gear body; A steering gear.

9. The at least one control device is attached to the steering gear body or the hull via a bracket, 9. The steering gear according to claim 1, wherein a vibration-proof material is provided at least one between the steering gear body or the hull and the bracket, and between the bracket and the at least one control device.

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