Vessel steering device and power assisted device

Abstract

To provide a power assisted device capable of being attached afterwards and / or a vessel steering device attached with the power assisted device.SOLUTION: A vessel steering device 20 includes a steering 21 supported to be capable of being rotated to a hull 11, a helm mechanism 90 for converting rotational operation to a linear motion for adjusting the advancing direction of the hull 11, and a power-assisted device 30 for assisting in the rotational operation of the steering 21. The power-assisted device 30 includes: a coupling shaft unit 32 capable of transmitting steering torque of the steering 21 to a helm shaft unit 91a; an electric motor 70 for generating torque by being energized; a reduction gear 80 for transmitting the torque generated by the electric motor 70 to the coupling shaft unit 32 by decelerating it; and a controller 36 for controlling the power motor 70 so that a prescribed torque is generated based on the size of the torque generated by rotation of the steering 21.SELECTED DRAWING: Figure 3

Description

[Technical field]

[0001] The present invention relates to a boat steering device and an electric assist device. [Background technology]

[0002]

[0003] Many ships are equipped with a ship steering device for steering the traveling direction of the hull. Patent Document 1 discloses a prior art ship steering device.

[0003] A vessel steering device as disclosed in Patent Document 1 has a steering wheel, a helm mechanism for adjusting the direction of travel of the vessel in response to rotation of the steering wheel, and an electric assist device capable of generating torque in response to rotation of the steering wheel.

[0004] By having an electric assist device, it is possible to improve operability by reducing the force required for steering, eliminating the need for slight steering operation when driving straight, and equalizing the force required for left and right turning. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] JP 2005-231383 A Summary of the Invention [Problem to be solved by the invention]

[0006] For example, it is conceivable to replace a boat steering device that does not have an electric assist device in order to apply torque from an electric motor. In this case, replacing the boat steering device increases costs, so it is preferable if only the electric assist device can be installed later.

[0007] An object of the present invention is to provide an electric assist device that can be retrofitted and / or a boat steering device to which this electric assist device is attached. [Means for solving the problem]

[0008] The present disclosure will be described below.

[0009] According to the present disclosure, there is provided a ship steering device comprising: a steering wheel rotatably supported on a hull; a helm mechanism for converting a rotational operation of the steering wheel into linear motion and adjusting the direction of travel of the hull; and an electric assist device capable of generating torque according to an amount of rotation of the steering wheel, wherein the electric assist device is connectable to the helm mechanism and comprises a connecting shaft portion connected to a helm shaft portion which is a rotating shaft of the helm mechanism; an electric motor which generates torque when current is applied and transmits the generated torque to the connecting shaft portion; and a control device which controls the electric motor to generate a predetermined torque based on the magnitude of torque generated by the rotation of the steering wheel. Effect of the Invention

[0010] According to the present invention, it is possible to provide an electric assist device that can be installed later, and / or a boat steering device to which this electric assist device is installed. [Brief description of the drawings]

[0011] [Figure 1] 1 is a plan view of a ship on which a ship steering device according to an embodiment is mounted. FIG. [Diagram 2] FIG. 2 is a block diagram of the vessel steering device shown in FIG. 1. [Diagram 3] 2 is a cross-sectional view of a main part of the vessel steering device shown in FIG. 1 taken along an axis. [Figure 4] FIG. 4 is an enlarged view of a main part of FIG. [Diagram 5] 5 is a cross-sectional view taken along line 5-5 of FIG. 4. [Figure 6]Figure 6A is a diagram showing the ship steering device before the electric assist device is attached, Figure 6B is a diagram explaining the removal process for removing the ship steering device shown in Figure 6A, Figure 6C is a diagram explaining the assist device attachment process for attaching the electric assist device to the hull, Figure 6D is a diagram explaining a stay for attaching the helm mechanism to the hull, Figure 6E is a diagram explaining the helm mechanism connection process for attaching the helm mechanism to the hull and connecting it to the electric assist device, and Figure 6F is a diagram explaining the steering connection process for connecting the steering to the electric assist device. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0012] An embodiment of the present invention will be described below with reference to the attached drawings. In the description, left and right refer to left and right with respect to the crew of the ship, and front and rear refer to front and rear with respect to the traveling direction of the ship. In the drawings, Fr indicates front, Rr indicates rear, Le indicates left as seen by the crew, Ri indicates right as seen by the crew, Up indicates up, and Dn indicates down. The embodiment shown in the attached drawings is one example of the present invention, and the present invention is not limited to this embodiment.

[0013] <Example> Please refer to Figure 1. A boat 10 is configured such that a crew member operates a boat steering device 20 (hereinafter referred to as "steering device 20") provided on a hull 11 to change the direction of an outboard motor 13 attached to the rear of the hull 11 and adjust the direction of travel of the hull 11.

[0014] Well-known types may be used for the hull 11 and the outboard motor 13. In particular, the outboard motor 13 may be selected from those using an internal combustion engine, those using an electric motor, those using both, etc. The steering device 20 will be described in detail below.

[0015] Please refer to Figures 2 and 3. The steering device 20 has a steering wheel 21 rotatably mounted on the hull 11, an electric assist device 30 (hereinafter referred to as the "assist device 30") that assists in the rotation operation of the steering wheel 21, a helm mechanism 90 that converts torque generated by the steering wheel 21 and the assist device 30 into linear motion, and a battery 24 that can supply electricity to the assist device 30.

[0016] The battery 24 does not necessarily have to be provided only for the purpose of supplying electricity to the assist device 30. It is also possible to use a battery that is already provided in the boat 10 for another purpose.

[0017] The steering device 20 is such that the steering wheel 21 is directly connected to the helm mechanism 90, and the assist device 30 can be added later. In other words, the steering wheel 21 and the helm mechanism 90 can be conventionally known.

[0018] Please refer to Fig. 3 in particular. The steering wheel 21 has a steering shaft 21a as a rotating shaft provided on an axis CL, a wheel 21b which is a wheel-shaped member fixed to one end of the steering shaft 21a and which is turned by the driver, and a retaining member 21c which prevents the wheel 21b from coming off the steering shaft 21a.

[0019] The other end of the steering shaft portion 21a is configured with a female spline. However, the other end of the steering shaft portion 21a may be configured with a male spline.

[0020] Please refer to Fig. 4. The assist device 30 has a housing 50 fixed to the hull 11, a connecting shaft 32 rotatably supported by the housing 50 and connecting the steering 21 and the helm mechanism 90, an electric motor 70 provided on the outer periphery of the connecting shaft 32 and capable of generating torque to assist the rotational operation of the steering 21, a reducer 80 that reduces the torque generated by the electric motor 70 and transmits it to the connecting shaft 32, a torque sensor 35 provided along the outer periphery of the steering shaft 21a and detects the rotational torque of the steering shaft 21a, and a control device 36 that applies electricity to the electric motor 70 based on information from the torque sensor 35 and the like.

[0021] When the steering shaft portion 21a is not connected to the connecting shaft portion 32, a steer-by-wire type steering device can also be used.

[0022] 2, the assist device 30 further includes a position sensor 41 capable of detecting the position of the boat 10, an automatic driving switch 42 for switching on and off an automatic driving mode for performing automatic driving, a reaction force application switch 43 for switching on and off a reaction force application mode for generating a reaction force against the rotation operation of the steering wheel 21, and an angle sensor 45 provided integrally with the motor 70.

[0023] Please refer to Fig. 4. The housing 50 has a cylindrical housing bottom 51 with a bottom, a portion of which is inserted into the hull 11, a housing lid 52 provided to close one end of the housing bottom 51, a substantially cylindrical housing tubular portion 53 attached to the housing lid 52, and a sensor holder 54 that closes one end of the housing tubular portion 53 and holds the torque sensor 35.

[0024] The housing bottom 51 is provided with a seal 61 that prevents dust from entering the inside of the housing 50, and bearings 62 and 67 that rotatably support the connecting shaft 32.

[0025] The housing lid portion 52 is provided with a bearing 63 which, together with the bearing 62, rotatably supports the connecting shaft portion 32.

[0026] The housing tubular portion 53 is fastened to the housing lid portion 52 via fastening members 57 .

[0027] The sensor holding portion 54 is provided with bearings 64, 65 that rotatably hold the steering shaft 21a. The bearings 64, 65 are provided to sandwich the torque sensor 35. A seal 66 that prevents dust from entering the housing 50 is provided at an end of the sensor holding portion 54.

[0028] The connecting shaft portion 32 has a steering connecting portion 32a formed with a male spline so as to mesh with the steering shaft portion 21a, and a helm connecting portion 32b formed with a female spline so as to mesh with the helm mechanism 90.

[0029] The steering connector 32a may be formed with a female spline depending on the shape of the end of the steering shaft 21a. Similarly, the helm connector 32b may be formed with a male spline depending on the shape of the helm shaft 91a.

[0030] The bearings 62 to 65 and 67 are, for example, radial ball bearings.

[0031] Also refer to Fig. 5. For example, a coreless motor can be used as the electric motor 70. The electric motor 70 is provided outside the housing bottom 51 and is fastened to the housing bottom 51. The tip of the rotating shaft 70a of the electric motor 70 is formed into a female spline shape and is connected to a reducer 80. The amount of electricity supplied to the electric motor 70 is controlled by the control device 36.

[0032] The reducer 80 is a worm gear reducer and is housed in the housing bottom 51. The reducer 80 includes a worm 81 that is connected to the rotating shaft 70a of the electric motor 70 and is rotatable together with the rotating shaft 70a, and a worm wheel 84 that meshes with the worm 81 and is provided on the connecting shaft portion 32.

[0033] The worm 81 is rotatably supported by bearings 86 and 87 fixed to the housing bottom 51. In addition, an end of the worm 81 is formed into a male spline shape and is connected to a rotating shaft 70a of the electric motor 70.

[0034] When the electric motor 70 is energized and the rotating shaft 70a rotates, the worm 81 rotates together with the rotating shaft 70a. As the worm 81 rotates, the worm wheel 84 meshing with the worm 81 rotates about the axis line CL. Because the worm wheel 84 is fixed to the connecting shaft portion 32, the torque of the worm wheel 84 is transmitted to the connecting shaft portion 32. In other words, the torque generated by the electric motor 70 is transmitted to the connecting shaft portion 32 after being decelerated.

[0035] The torque sensor 35 may be, for example, a magnetostrictive torque sensor.

[0036] The control device 36 is configured, for example, by a printed circuit board housed and fixed in the cylindrical housing portion 53. The control device 36 includes, for example, a CPU, a ROM in which programs executed by the CPU and various data are stored, a RAM used as a working memory for the CPU, and an EEPROM which is a non-volatile memory.

[0037] Please refer to Fig. 2. A GPS (Global Positioning System) can be used as the position sensor 41. Position information detected by the position sensor 41 is transmitted as an electric signal to the control device 36. The control device 36 can also calculate the speed of the ship 10 from the amount of change in the position information.

[0038] The automatic driving switch 42 may also be provided with a canceling function that switches the automatic driving mode off when the steering wheel 21 is operated while the automatic driving mode is on.

[0039] When the automatic driving switch 42 is turned on to set the automatic driving mode, the assist device 30 can make the vessel go straight. For example, waves may apply a lateral force to the hull 11 relative to the traveling direction. The control device 36 detects, based on information from the position sensor 41, that the traveling direction of the vessel 10 deviates from the initially set straight traveling direction, and operates the electric motor 70 to return the vessel 10 to the initially set straight traveling direction. Alternatively, the control device 36 can operate the electric motor 70 to move the vessel 10 toward a predetermined location.

[0040] When the reaction force application mode is on, the control device 36 can change the output of the electric motor 70 so that the reaction force applied to the steering wheel 21 increases as the speed increases and decreases as the speed decreases. In addition, due to the influence of the helm mechanism 90, the force required for operating the steering wheel 21 may differ between clockwise and counterclockwise when rotating the steering wheel 21. When the reaction force mode is on, the control device 36 can change the output of the electric motor 70 so that the force required for operating the steering wheel 21 becomes equal between clockwise and counterclockwise. By adjusting the reaction force according to the speed and / or the reaction force according to the rotation direction of the steering wheel 21, the feeling when steering can be improved. In addition, when the person steering releases his / her hands from the steering wheel 21 and sets the steering wheel 21 in a free state, the control device 36 adjusts the assist torque in the clockwise and counterclockwise directions so that the steering wheel 21 returns to the center of the rotation range. This improves the feeling when the person steering.

[0041] It is also possible to provide a canceling function that switches the reaction force application mode to off when the automatic operation switch 42 is turned on while the reaction force application switch 43 is on.

[0042] The information detected by the angle sensor 45 is sent to the control device 36 and can be converted into information on the direction (angle) in which the hull 11 (see FIG. 1) is facing.

[0043] The control device 36 controls the amount of electricity supplied to the electric motor 70 based on information on the steering state of the steering wheel 21 received from the torque sensor 35, position information of the ship 10 from the position sensor 41 (information on the ship's speed calculated from changes in position information), on / off information of the automatic driving mode from the automatic driving switch 42, on / off information of the reaction force application mode from the reaction force application switch 43, and information detected by the angle sensor 45.

[0044] Please refer to Fig. 1. A conventional helm mechanism can be used as the helm mechanism 90. The helm mechanism 90 has a hydraulic helm 91 that is connected to the assist device 30 and sends oil in response to the torque of the connecting shaft portion 32 (see Fig. 4), two hoses 92, 93 through which the oil sent from the hydraulic helm 91 flows, a cylindrical cylinder 94 to which the ends of the hoses 92, 93 are connected and into which the sent oil flows, a piston rod 96 that extends from a piston built into the cylinder 94, and a rod-shaped link 97 that connects the piston rod 96 to the outboard motor 13 and can change the orientation of the outboard motor 13.

[0045] When the steering wheel 21 is rotated in one direction, the hydraulic helm 91 is actuated in response to the rotation of the connecting shaft 32 (see FIG. 4). When the hydraulic helm 91 is actuated, a flow of oil is generated in one hose 92 from the hydraulic helm 91 to a cylinder 94. When oil flows into the cylinder 94, a piston in the cylinder 94 is displaced left and right, and together with this, a piston rod 96 is also displaced left and right. The displacement of the piston rod 96 displaces a link 97, which changes the orientation of the outboard motor 13 and changes the traveling direction of the hull 11. At this time, a flow of oil is generated in the other hose 93 from the cylinder 94 to the hydraulic helm 91. When the steering wheel 21 is rotated in the opposite direction to the one direction, a flow of oil is generated in the other hose 93 from the hydraulic helm 91 to the cylinder 94, and the outboard motor 13 can be displaced in the opposite direction.

[0046] Please refer to Figure 4. The hydraulic helm 91 has a helm shaft 91a which is a rotating shaft. A tapered section is formed at the tip of the helm shaft 91a so that it tapers toward the tip, and a half-moon shaped key is fitted into a groove formed in this tapered section. An adapter 98 is attached to the outer periphery of the tapered section. The adapter 98 has a groove formed on its inner periphery, into which the half-moon shaped key fits to regulate the relative rotation between the adapter and the helm shaft 91a, and the outer periphery is formed in a male spline shape. The helm shaft 91a is connected to the connecting shaft 32 via the adapter 98.

[0047] When the other end of the steering shaft 21a is formed with a male spline, the tip of the helm shaft 91a is formed with a female spline. In this case, the male and female splines at both ends of the connecting shaft 32 are also reversed.

[0048] Regarding the steering device 20 described above, an example of a mounting method for retrofitting the assist device 30 when the steering 21 is directly connected to the helm mechanism 90 will be described.

[0049] Please refer to Fig. 6A. Fig. 6A shows the steering device 20A in a state before the assist device 30 (see Fig. 6C) is attached. In order to attach the steering device 20 (see Fig. 6F) including the assist device 30 to the hull 11, first, the steering 21 (see Fig. 6F) and the helm mechanism 90 are removed from the hull 11 (removal process).

[0050] Fig. 6B shows the hull 11 with the steering 21 and helm mechanism 90 removed. Next, as shown in Fig. 6C, the assist device 30 is attached to the hull 11 (assist device attaching step).

[0051] Next, a stay 99 is attached to the hydraulic helm 91, and as shown in Fig. 6E, the helm mechanism 90 is connected to the assist device 30 and the stay 99 is fixed to the hull 11 (helm mechanism connecting step). Then, as shown in Fig. 6F, the wheel 21b is attached to the steering shaft portion 21a, thereby connecting the steering 21 to the assist device 30 (steering connecting step). This allows the assist device 30 to be retrofitted to the steering device 20.

[0052] The steering device 20 described above will be summarized below.

[0053] Referring to Figure 1, the steering device 20 has a steering wheel 21 rotatably mounted on the hull 11, a helm mechanism 90 that converts the rotation of the steering wheel 21 into linear motion and adjusts the direction of travel of the hull 11, and an assist device 30 that can generate torque according to the amount of rotation of the steering wheel 21.

[0054] Please refer to Fig. 4. The assist device 30 is connectable to the helm mechanism 90 and includes a connecting shaft 32 connected to a helm shaft 91a which is the rotating shaft of the helm mechanism 90, an electric motor 70 which generates torque when energized and transmits the generated torque to the connecting shaft 32, and a control device 36 which controls the electric motor 70 so as to generate a predetermined torque based on the magnitude of the torque generated by the rotation of the steering wheel 21.

[0055] The assist device 30 has a connecting shaft 32 that is connected to the helm shaft 91a, and transmits torque generated by the electric motor 70 to the helm mechanism 90 via this connecting shaft 32. Because it has the connecting shaft 32, the assist device 30 can be connected as a retrofit to a steering device 20A (see FIG. 6A) that does not originally have the assist device 30. In other words, it is possible to provide an electric assist device 30 that can be attached later, and a steering device 10 to which this electric assist device 30 is attached. Also, by retrofitting the electric assist device 30, it is possible to improve the feeling when steering the steering wheel 21.

[0056] Secondly, the connecting shaft portion 32 of the first steering device 20 has a steering coupling portion 32a that is coupled to the steering shaft portion 21a that is the rotation shaft of the steering 21. By having the steering coupling portion 32a that is coupled to the steering shaft portion 21a, the steering shaft portion 21a can be easily coupled to the electric assist device 30.

[0057] Thirdly, in the second steering device 20, the steering coupling portion 32a is provided between the helm mechanism 90 and the steering 21. The entire steering device 10 can be arranged in a part of the hull 11 in a compact manner.

[0058] Fourth, any of the first to third steering devices 20 further includes a reducer 80 that reduces the torque generated by the electric motor 70 and transmits it to the connecting shaft portion 32. The reducer 80 is a worm gear reducer, and includes a worm 81 that rotates as the rotating shaft 70a (see FIG. 5) of the electric motor 70 rotates, and a worm wheel 84 that is coaxially provided on the connecting shaft portion 32 and meshes with the worm 81 to transmit torque to the connecting shaft portion 32. By using a worm gear reducer for the reducer 80, a large reduction ratio can be obtained in one stage, and a compact yet high-output electric assist device 30 can be provided.

[0059] Fifth, any of the first to fourth steering devices 20 further includes a housing 50 that houses the electric motor 70, the reduction gear 80, and the control device 36 and is attachable to the hull 11. Because the electric motor 70, the reduction gear 80, and the control device 36 are housed in a single housing 50, the installation work for retrofitting the electric assist device 30 can be completed in one go, improving workability.

[0060] See Fig. 2. Sixth, any of the first to fifth steering devices 20 further includes a position sensor 41 capable of detecting the position of the hull 11 (see Fig. 1), and the control device 36 controls the output of the electric motor 70 based on the position information received by the position sensor 41. This enables automatic steering of the vessel 10.

[0061] It should be noted that, in a state where no torque is applied to the steering wheel 21, the control device 36 can also control the electric motor 70 so that the steering wheel 21 returns to a predetermined position. That is, how the electric motor 70 is controlled by the control device 36 is not limited to the example described in the embodiment. That is, as long as the functions and effects of the present invention are achieved, the present invention is not limited to the embodiment. [Explanation of symbols]

[0062] 11...hull, 20...ship steering device, 21...steering, 21a...steering shaft portion, 30...electrically-assisted device, 32...connecting shaft portion, 32a...steering coupling portion, 36...control device, 41...position sensor, 50...housing, 70...electric motor, 80...reduction gear, 81...worm, 84...worm wheel, 90...helm mechanism, 91a...helm shaft portion

Claims

1. A steering wheel rotatably mounted on the hull; a helm mechanism for converting the rotational operation of the steering into linear motion and adjusting the direction of travel of the hull; an electric assist device capable of generating torque in accordance with an amount of rotation of the steering wheel, The electric assist device is connectable to the helm mechanism, A connecting shaft portion connected to a helm shaft portion which is a rotation shaft of the helm mechanism; an electric motor that generates torque when energized and transmits the generated torque to the connecting shaft portion; A boat steering device comprising: a control device that controls the electric motor so as to generate a predetermined torque based on the magnitude of the torque generated by rotating the steering wheel.

2. 2. The vessel steering device according to claim 1, wherein the connecting shaft portion has a steering coupling portion connected to a steering shaft portion that is a rotation shaft of the steering.

3. 3. The vessel steering apparatus according to claim 2, wherein the steering coupling is between the helm mechanism and the steering.

4. a reducer that reduces the torque generated by the electric motor and transmits the reduced torque to the connecting shaft portion, The reducer is a worm gear reducer, a worm that rotates as a rotary shaft of the electric motor rotates; 2. A vessel steering device according to claim 1, further comprising: a worm wheel that is coaxially provided with the connecting shaft portion and that meshes with the worm to transmit torque to the connecting shaft portion.

5. The vessel steering device according to claim 1 , further comprising a housing that houses the electric motor, the reduction gear, and the control device and is mountable to the hull.

6. Further comprising a position sensor capable of detecting the position of the hull, The boat steering device according to claim 1 , wherein the control device controls an output of the electric motor based on the position information received by the position sensor.

7. The steering mechanism is connectable to a helm mechanism for adjusting the direction of travel of the hull, and is capable of generating torque in accordance with the amount of steering rotation. A connecting shaft portion capable of transmitting torque to a helm shaft portion which is a rotating shaft of the helm mechanism; an electric motor that generates torque when energized and transmits the torque to the connecting shaft; and a control device that controls the electric motor so as to generate a predetermined torque based on the magnitude of the torque generated by the rotation of the steering wheel.

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