Steering gear

Abstract

To provide a steering device capable of downsizing a steering angle detection mechanism.SOLUTION: A steering device 1 includes: a steering lever 3 fixed to a steering shaft 2; and at least one hydraulic actuator 4. The hydraulic actuator 4 includes: a ram 41 provided with a pin 43 for engaging with the steering lever 3; and a pair of cylinders 42 into which both end units of the ram 41 are respectively inserted. Furthermore, the steering device 1 includes: a rotor arranged on the side of the steering shaft 2 or the steering lever 3 and capable of rotating around the rotational shaft which is in parallel to an axial direction of the steering shaft 2; a rotating sensor for detecting a rotation angle of the rotor; and a connecting rod for connecting a link unit provided on the steering shaft 2 or the steering lever 3 and the rotor. The connecting rod is slidable with the rotating body or stretchable.SELECTED DRAWING: Figure 1

Description

[Technical Field]

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

[0002] Conventionally, ships have been equipped with steering gears that operate rudder blades by hydraulic pressure. For example, Patent Document 1 discloses a Rapson slide type steering gear 100 as shown in FIG.

[0003] Specifically, the steering gear 100 includes a tiller 120 fixed to a rudder stock 110 to which a rudder blade is attached, and a hydraulic actuator 130 that swings the tiller 120. The hydraulic actuator 130 includes a ram 131 extending in a direction perpendicular to the axial direction of the rudder stock 110, and a pair of cylinders 132 into which both ends of the ram 131 are inserted. A pin 133 that engages with the tiller 120 is provided in the center of the ram 131.

[0004] Furthermore, the steering gear 100 includes a rudder angle detector 160 that detects the rudder angle, which is the angle of the rudder blade relative to the longitudinal direction of the ship. A lever 150 extends from the rudder angle detector 160, and the tip of this lever 150 is connected to a link part 121 provided on the upper surface of the tiller 120 by a connecting rod 140. The line segment connecting the center of the rudder stock 110 and the link part 121 and the lever 150 are always kept parallel to each other, so that the rudder angle is detected as the swing angle of the lever 150. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] Japanese Patent Application Publication No. 3-99997 Summary of the Invention [Problem to be solved by the invention]

[0006] However, in a rudder angle detection mechanism in which the lever 150 swings at the same angle as the tiller 120 as described above, the movable range of the connecting rod 140 and the lever 150 is large, making it difficult to reduce the size of the rudder angle detection mechanism.

[0007] Therefore, an object of the present disclosure is to provide a steering gear that allows for a reduction in the size of the steering angle detection mechanism. [Means for solving the problem]

[0008] The present disclosure provides a steering gear comprising a tiller fixed to a rudder stock, a ram provided with a pin that engages with the tiller, and at least one hydraulic actuator including a pair of cylinders into which both ends of the ram are inserted, a rotating body arranged on the side of the rudder stock or the tiller and rotatable around a rotation axis parallel to the axial direction of the rudder stock, a rotation sensor that detects the rotation angle of the rotating body, and a connecting rod that connects a link portion provided on the rudder stock or the tiller to the rotating body, wherein the connecting rod is slidable relative to the rotating body or is extendable and retractable. [Effects of the Invention]

[0009] According to the present disclosure, a steering gear capable of reducing the size of a steering angle detection mechanism is provided. [Brief explanation of the drawings]

[0010] [Figure 1] FIG. 1 is a schematic configuration diagram of a steering gear according to an embodiment. [Figure 2] FIG. 2 is a side view of the steering gear shown in FIG. 1, with the hydraulic circuit omitted. [Figure 3] FIG. 2 is a plan view of the main part of the steering gear shown in FIG. 1, showing a state in which the tiller is located in a neutral position. [Figure 4] 2 is a plan view of the main part of the steering gear shown in FIG. 1, showing a state in which the tiller has swung from the neutral position. [Figure 5] FIG. 2 is a block diagram showing the electrical equipment of the steering gear shown in FIG. [Figure 6] FIG. 10 is a plan view of the main part of the steering gear of the first modified example, showing the state where the tiller is located in the neutral position. [Figure 7] FIG. 10 is a plan view of the main part of the steering gear of the first modified example, showing the state where the tiller is located in the neutral position. [Figure 8] FIG. 10 is a perspective view of a main part of a steering gear according to a second modified example. [Figure 9] FIG. 1 is a schematic diagram of a conventional steering gear. DETAILED DESCRIPTION OF THE INVENTION

[0011] 1 and 2 show a Rapson slide type steering gear 1 according to one embodiment. This steering gear 1 includes a tiller 3 fixed to a rudder stock 2 to which a rudder blade is attached, and two hydraulic actuators 4 for swinging the tiller 3. The hydraulic actuators 4 are arranged parallel to each other so as to sandwich the rudder stock 2. However, the number of hydraulic actuators 4 may be one. In general, the axial direction of the rudder stock 2 is vertical, and the axial direction of the hydraulic actuators 4 is in the direction of the ship's width.

[0012] Each hydraulic actuator 4 includes a ram 41 extending in a direction perpendicular to the axial direction of the rudder stock 2, and a pair of cylinders 42 into which both ends of the ram 41 are inserted. A pin 43 that engages with the tiller 3 is provided in the center of the ram 41. A roller 44 is attached to the pin 43.

[0013] The tiller 3 includes a cylindrical portion 31 into which the rudder stock 2 is inserted, and a pair of arm portions 32 protruding in opposite directions from the side of the cylindrical portion 31. Each arm portion 32 includes a pair of clamping plates 33 facing each other in the vertical direction, and a ram 41 of the hydraulic actuator 4 is clamped between these clamping plates 33. An engagement groove 34 is formed at the tip of each clamping plate 33, and a pin 43 engages with this engagement groove 34 via a roller 44.

[0014] A hydraulic circuit 5A is connected to the pair of cylinders 42 of one hydraulic actuator 4, and a hydraulic circuit 5B is connected to the pair of cylinders 42 of the other hydraulic actuator 4. Note that the hydraulic circuits 5A and 5B are omitted in Fig. 2 to simplify the drawing.

[0015] Each of the hydraulic circuits 5A, 5B supplies hydraulic fluid to one of the cylinders 42 and recovers hydraulic fluid from the other cylinder 42. The hydraulic fluid is typically oil. In this embodiment, each of the hydraulic circuits 5A, 5B is a closed circuit including a hydraulic pump 51 that rotates in one direction and a directional control valve 53. However, each of the hydraulic circuits 5A, 5B may also be a closed circuit including a hydraulic pump 51 that rotates in both directions and does not include a directional control valve. Alternatively, each of the hydraulic circuits 5A, 5B may be an open circuit in which the hydraulic pump 51 draws hydraulic fluid from a tank and discharges hydraulic fluid from the cylinders 42 to the tank.

[0016] The hydraulic pump 51 is driven by an electric motor 52. The electric motor 52 and the above-mentioned directional control valve 53 are controlled by a controller 9 shown in Fig. 5. A steering signal is input to the controller 9, and the controller 9 controls the electric motor 52 and the directional control valve 53 in response to the steering signal.

[0017] With respect to the controller 9 and the computing unit 62 described below, the functions of the elements disclosed herein can be performed using circuits or processing circuits, including general-purpose processors, special-purpose processors, integrated circuits, application-specific integrated circuits (ASICs), 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 circuitry. 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. 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 processor.

[0018] 1 and 2, the steering gear 1 further includes two rudder angle detection mechanisms 6. Each rudder angle detection mechanism 6 detects the rudder angle, which is the angle of the rudder blade relative to the longitudinal direction of the ship. As shown in Fig. 3, each rudder angle detection mechanism 6 includes a link part 60 provided on the side of the cylindrical part 31 of the tiller 3, a rotor 8 arranged on the side of the tiller 3, and a connecting rod 7 connecting the link part 60 and the rotor 8. Furthermore, the rudder angle detection mechanism 6 includes a rotation sensor 61 and a calculator 62 shown in Fig. 5.

[0019] The link part 60 is provided in a position where, when the rudder angle is zero degrees, in other words, when the line connecting the center of the pin 43 and the center of the rudder stock 2 is perpendicular to the axial direction of the hydraulic actuator 4, the line connecting the center of the link part 60 and the center of the rudder stock 2 is parallel to the axial direction of the hydraulic actuator 4. The link part 60 is connected to the tip of the connecting rod 7 via a pin, which allows the connecting rod 7 to swing horizontally with the pin as a fulcrum.

[0020] The cylinders 42 of both hydraulic actuators 4 are connected by a connecting body 11. A rod-shaped support 12 is provided in the center of the connecting body 11 so as to protrude toward the center of the tiller 3. The rotating body 8 is attached to the connecting body 11 via the support 12. The rotating body 8 is rotatable around a rotation axis 80 that is parallel to the axial direction of the rudder stock 2.

[0021] More specifically, the rotating body 8 includes a base 81 rotatably supported by the support 12, and a cylindrical portion 82 fixed to the base 81. The connecting rod 7 is inserted into this cylindrical portion 82, whereby the connecting rod 7 is slidably supported by the rotating body 8.

[0022] With this configuration, when the tiller 3 is swung by the hydraulic actuator 4 as shown in FIG. 4, the connecting rod 7 is pulled out of the cylindrical portion 82 of the rotor 8 and swung around the rotor 8 as a fulcrum.

[0023] The rotation sensor 61 is attached to the support 12 (not shown in FIGS. 3 and 4 ) and detects the rotation angle of the rotating body 8. The calculator 62 converts the rotation angle of the rotating body 8 detected by the rotation sensor 61 into a steering angle. The calculator 62 may be incorporated into the controller 9.

[0024] As described above, in the steering gear 1 of this embodiment, the movable range of the connecting rod 7 is a range of a substantial triangle with the rotor 8 as the vertex. Therefore, compared to a conventional steering angle detection mechanism that uses a connecting rod and a lever, the movable range of the connecting rod 7 is smaller, and accordingly the steering angle detection mechanism 6 can be made smaller.

[0025] In addition, in this embodiment, the rotating body 8 is attached to the connecting body 11 via the support 12, so the connecting body 11, which is normally used when two hydraulic actuators 4 are used, can be used as an attachment member for the rotating body 8.

[0026] (Variation) 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.

[0027] For example, in the above embodiment, the link part 60 is provided on the side surface of the cylindrical part 31 of the tiller 3, but the link part 60 may also be provided on the upper or lower surface of the cylindrical part 31 of the tiller 3 or on the upper or lower surface of the arm part 32. In this case, however, it is necessary to determine the installation position of the rotor 8 and the like taking into consideration the height of the tiller. In contrast, if the link part 60 is provided on the side surface of the cylindrical part 31 of the tiller 3 (or on the side surface of the arm part 32), as in the above embodiment, there are fewer restrictions on the installation position of the rotor 8 and the like.

[0028] Alternatively, the link part 60 may be provided on the rudder stock 2 instead of the tiller 3. In this case, the rotor 8 does not have to be arranged on the side of the tiller 3, as long as it is arranged on the side of the rudder stock 2. For example, the rotor may be arranged below the tiller 3.

[0029] If the link part 60 is provided on the rudder stock 2, the steering gear 1 cannot be shipped from the manufacturing factory of the steering gear 1 with the connecting rod 7 installed. On the other hand, if the link part 60 is provided on the tiller 3, the steering gear 1 can be shipped from the manufacturing factory with the connecting rod 7 installed.

[0030] Furthermore, in the above embodiment, the connecting rod 7 was slidable relative to the rotor 8. However, as shown in FIGS. 6 and 7, it is also possible to employ a steering angle detection mechanism 6A including an extendable connecting rod 7A. In the illustrated example, the connecting rod 7A includes a sleeve 71 connected to the link portion 60 via a pin, and a rod 72 fixed to the rotor 8A and fitted into the sleeve 71. The rotor 8A is supported by a support 12 so as to be rotatable around a rotation axis 80. However, the rod 72 may be connected to the link portion 60 via a pin, and the sleeve 71 may be fixed to the rotor 8A.

[0031] Furthermore, even if the connecting rod 7 is slidable relative to the rotor 8, the structures of the connecting rod 7 and the rotor 8 can be modified as appropriate. For example, a steering angle detection mechanism 6B including a connecting rod 7B and a rotor 8B as shown in FIG. 8 may be employed. Specifically, the connecting rod 7B has a groove-like shape that opens downward. The rotor 8B includes a base 83 that is rotatably supported around a rotation axis 80 by a support 12 (not shown in FIG. 8), a roller 85 that engages with the connecting rod 7B, and a holder 84 that rotatably holds the roller 85 on the base 83.

[0032] Furthermore, when there is one hydraulic actuator 4, a support for rotatably supporting the rotating body 8 (or 8A or 8B) may be attached directly to the hull.

[0033] (summary) The present disclosure provides a steering gear comprising a tiller fixed to a rudder stock, a ram provided with a pin that engages with the tiller, and at least one hydraulic actuator including a pair of cylinders into which both ends of the ram are inserted, a rotating body arranged on the side of the rudder stock or the tiller and rotatable around a rotation axis parallel to the axial direction of the rudder stock, a rotation sensor that detects the rotation angle of the rotating body, and a connecting rod that connects a link portion provided on the rudder stock or the tiller to the rotating body, wherein the connecting rod is slidable relative to the rotating body or is extendable and retractable.

[0034] According to the above configuration, the movable range of the connecting rod is a substantially triangular range with the rotor as the vertex, which allows the steering angle detection mechanism to be made smaller.

[0035] The link portion may be provided on the tiller. If the link portion is provided on the rudder stock, the steering gear cannot be shipped from the manufacturing factory with the connecting rod installed. On the other hand, if the link portion is provided on the tiller, the steering gear can be shipped from the manufacturing factory with the connecting rod installed.

[0036] The link part may be provided on the side of the tiller. If the link part is provided on the top surface of the tiller, the installation position of the rotor etc. must be determined taking into account the height of the tiller. In contrast, if the ring part is provided on the side of the tiller, there are fewer restrictions on the installation position of the rotor etc.

[0037] The at least one hydraulic actuator may include two hydraulic actuators arranged parallel to each other so as to sandwich the rudder stock, and the steering gear may further include a connector connecting one of the pair of cylinders in the two hydraulic actuators, and the rotating body may be attached to the connector. According to this configuration, a connector that is normally used when two hydraulic actuators are used can be used as a mounting member for the rotating body.

[0038] For example, the steering gear may further include a calculator that converts the rotation angle of the rotor detected by the rotation sensor into a steering angle. [Explanation of symbols]

[0039] 1 Steering gear 11 Connectors 2 rudder axle 3 Rudder handle 4 hydraulic cylinders 41 Ram 42 cylinders 43 pin 6,6A,6B Steering angle detection mechanism 60 Link section 61 Rotation Sensor 62 Arithmetic unit 7,7A,7B connecting rod 8, 8A, 8B Rotating body 80 Rotation axis

Claims

1. a tiller fixed to the rudder stock; at least one hydraulic actuator including a ram provided with a pin that engages with the tiller, and a pair of cylinders into which both ends of the ram are inserted; a rotor arranged on the side of the rudder stock or the tiller and rotatable about a rotation axis parallel to the axial direction of the rudder stock; a rotation sensor for detecting a rotation angle of the rotating body; a connecting rod that connects a link portion provided on the rudder stock or the tiller to the rotor, The steering gear, wherein the connecting rod is slidable with respect to the rotating body or is extendable and retractable.

2. The steering gear according to claim 1 , wherein the link portion is provided on the tiller.

3. The steering gear according to claim 2, wherein the link portion is provided on a side surface of the tiller.

4. the at least one hydraulic actuator includes two hydraulic actuators arranged parallel to each other so as to sandwich the rudder stock, a connector that connects one of the pair of cylinders in the two hydraulic actuators to the other, The steering gear according to any one of claims 1 to 3, wherein the rotating body is attached to the connecting body.

5. The steering gear according to any one of claims 1 to 4, further comprising a calculator that converts the rotation angle of the rotating body detected by the rotation sensor into a steering angle.

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