rudder control

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 Art

[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. 10.

[0003] Specifically, the steering gear 100 includes a steering gear body 110 and a control device 120. The steering gear body 110 includes a tiller 111 fixed to a steering shaft 200, a ram 112 engaged with the tiller 111, and two cylinders 113 into which both ends of the ram 112 are inserted respectively. Further, the steering gear body 110 includes a hydraulic unit 114 that constitutes a hydraulic circuit together with the cylinders 113. The hydraulic unit 114 includes an electromagnetic switching valve as a hydraulic device that operates according 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

Summary of the Invention

Problems to be Solved by the Invention

[0005] However, in the steering gear 100 shown in FIG. 10, since the control device 120 is arranged at a position separated from the steering gear body 110, 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 capable of shortening the electrical wiring between the steering gear body and the control device.

Means for Solving the Problems

[0007] This disclosure provides a steering gear comprising, in one aspect, 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 mounted on the steering gear body for controlling the at least one hydraulic device.

[0008] In another aspect, this 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 mounted on the hull near the steering gear body for controlling the at least one hydraulic device. [Effects of the Invention]

[0009] According to this disclosure, a steering gear is provided that allows for shorter electrical wiring between the steering gear body and the control device. [Brief explanation of the drawing]

[0010] [Figure 1] This is a plan view of a steering mechanism according to one embodiment. [Figure 2] This is a front view of the steering gear. [Figure 3] This is a hydraulic circuit diagram of the steering gear. [Figure 4] This is an enlarged view of the main part of Figure 1. [Figure 5] This is a front view of the main part mentioned above. [Figure 6] This is a cross-sectional view along the line VI-VI in Figure 5. [Figure 7] This is an enlarged view of the area around the electric motor in Figure 2. [Figure 8] This diagram shows an alternative mounting method for the control device. [Figure 9] Figures 9A and 9B are front and side views, respectively, of the motor area of ​​a modified steering gear. [Figure 10] This is a perspective view of a conventional steering gear. [Modes for carrying out the invention]

[0011] Figures 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 handle 2 fixed to the rudder shaft 15 and two hydraulic actuators that swing the rudder handle 2. One hydraulic actuator includes a first ram 3A and two first cylinders 4A, 4B, while 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 handle 2 includes a cylindrical portion 21 into which the rudder shaft 15 is inserted, and a pair of arm portions 22 projecting in opposite directions from the sides 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 a 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 shaft 15. Pins 31 are provided in the center of the first ram 3A and the second ram 3B, projecting upward and downward, respectively, and these pins 31 engage with the engagement groove 24 of the rudder handle 2 via rollers 32.

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

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

[0017] Furthermore, the steering gear body 11 includes a plurality of hydraulic units 5 that constitute 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, namely a first hydraulic unit 5A, a second hydraulic unit 5B, a third hydraulic unit 5C and a fourth hydraulic unit 5D. The first hydraulic unit 5A and the second hydraulic unit 5B are respectively arranged above the first cylinders 4A, 4B, and the third hydraulic unit 5C and the fourth hydraulic unit 5D are respectively arranged above the second cylinders 4C, 4D.

[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 for storing 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 arranged 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 side opposite to the ram with the tank unit 51 interposed therebetween.

[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 capacity of the corresponding hydraulic pump 61. In this embodiment, each hydraulic pump 61 is a bidirectional tilt 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 also be switched by switching the rotation direction.

[0021] The regulator 53 is a hydraulic device that operates in response to an electrical signal. The configuration of the regulator 53 is publicly known, so its explanation will be omitted. In each of the first to fourth hydraulic units 5A to 5D, the regulator 53 is mounted on one side of the tank unit 51 (in this embodiment, the side facing inward from the steering gear body 11), and the valve unit 52 is mounted on the other side of the tank unit 51 (in this embodiment, the side facing outward from the steering gear body 11).

[0022] As shown in Figure 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 to the first cylinder 4B by a supply / discharge line 63. When the regulator 53 sets the discharge direction of the hydraulic pump 61 to the supply / discharge line 62 side, the hydraulic fluid discharged from the hydraulic pump 61 is supplied to the first cylinder 4A through the supply / discharge line 62, and the hydraulic fluid discharged from the first cylinder 4B is drawn 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 fluid discharged from the hydraulic pump 61 is supplied to the first cylinder 4B through the supply / discharge line 63, and the hydraulic fluid discharged from the first cylinder 4A is drawn into the hydraulic pump 61 through the supply / discharge line 62.

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

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

[0025] The supply and discharge lines 64 and 65 cross the valve unit 52 of the first hydraulic unit 5A. The valve unit 52 includes valves such as relief valves and check valves provided in branch lines branching off from the supply and discharge lines 64 and 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 hydraulic piping 1g which forms part of the supply and discharge line 64 and hydraulic piping 1h which forms 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 to the second cylinder 4C by a supply / discharge line 67. When the regulator 53 sets the discharge direction of the hydraulic pump 61 to the supply / discharge line 66 side, the hydraulic fluid discharged from the hydraulic pump 61 is supplied to the second cylinder 4D through the supply / discharge line 66, and the hydraulic fluid discharged from the second cylinder 4C is drawn 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 fluid discharged from the hydraulic pump 61 is supplied to the second cylinder 4C through the supply / discharge line 67, and the hydraulic fluid discharged from the second cylinder 4D is drawn into the hydraulic pump 61 through the supply / discharge line 66.

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

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

[0029] The supply and discharge lines 68 and 69 cross the valve unit 52 of the third hydraulic unit 5C. The valve unit 52 includes valves such as relief valves and check valves provided in branch lines branching off from the supply and discharge lines 68 and 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 hydraulic piping 1i which constitutes part of the supply and discharge line 68 and hydraulic piping 1j which constitutes part of the supply and discharge line 69.

[0030] Furthermore, in this embodiment, the supply and discharge line 62 and the supply and discharge line 66 are connected by a connecting line 72, and the supply and discharge line 63 and the supply and discharge line 67 are connected by a connecting line 71. Separation valves 73 are provided near the supply and discharge lines 62 and 63 on the connecting lines 71 and 72, and separation valves 74 are provided near the supply and discharge lines 66 and 67 on the connecting lines 71 and 72.

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

[0032] The separation valve 73 is included in the valve unit 52 of the second hydraulic unit 5B, and the separation 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 by hydraulic piping 1e, which forms part of the connecting line 71, and hydraulic piping 1f, which forms part of the connecting line 72.

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

[0034] With respect to the control devices 9A to 9D, the functions of the elements disclosed herein can be performed using circuits or processing circuits, including general-purpose processors, dedicated 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 enumerated functions, or hardware programmed to perform the enumerated functions. The hardware may be hardware disclosed herein, or other known hardware that is programmed or configured to perform the enumerated functions. If the hardware is a processor, which is considered a type of circuit, then 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) functions as a starter for the electric motor 54. However, the starter for each electric motor 54 may be provided independently of the control device 9. In this case, the starter may be attached to the corresponding cylinder (either one of the first cylinders 4A or 4B, or one of the second cylinders 4C or 4D), or it may be attached to the hull (for example, the cylinder mounting base 10).

[0036] The control device 9A, which is attached to the first cylinder 4A, is located on the opposite side of the first ram 3A from the first hydraulic unit 5A. That is, 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, which is attached to the first cylinder 4B, is located on the opposite side of the first ram 3A from the second hydraulic unit 5B. That is, the control device 9B is located behind the electric motor 54 of the second hydraulic unit 5B, facing the electric motor 54 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 second ram 3B from the third hydraulic unit 5C. That is, the control device 9C is located behind the electric motor 54 of the third hydraulic unit 5C, facing the electric motor 54 along the axial direction of the second cylinder 4C.

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

[0040] As shown in Figure 7, the upper surfaces of the rear ends of the first cylinders 4A and 4B and the second cylinders 4C and 4D are provided with control device mounts 41 that form a flat mounting surface. Each of the control devices 9A to 9D (control device 9) is attached to the control device mount 41 via a bracket 91.

[0041] Furthermore, on the upper surfaces of the first cylinders 4A, 4B and the second cylinders 4C, 4D, there are motor mounts 42 that form a flat mounting surface, positioned in front of the control device mount 41. The motor 54 is mounted on this motor mount 42 via a base 43. As shown in Figure 9B, the base 43 includes a base plate 44 and a plurality of blocks 45 provided on the base plate 44.

[0042] Returning to Figure 1, the hydraulic pipes 1e and 1f connecting the valve units 52 of the second hydraulic unit 5B and the fourth hydraulic unit 5D, as described above, are U-shaped in plan view, surrounding the first cylinder 4B and the second cylinder 4D. In other words, among the control devices 9A to 9D, control devices 9B and 9D are located near the hydraulic pipes 1e and 1f, and are positioned inside the hydraulic pipes 1e and 1f. Furthermore, as shown in Figure 2, the hydraulic pipes 1e and 1f are laid below the control devices 9B and 9D, passing through the space facing the backs of the first cylinder 4B and the second cylinder 4D.

[0043] Thus, in this embodiment, the control devices 9B and 9D are positioned inside the hydraulic pipes 1e and 1f, which are laid to pass through the space facing the rear of the first cylinder 4B and the second cylinder 4D. As a result, the space occupied by the control devices 9B and 9D behind the first cylinder 4B and the second cylinder 4D is reduced. Therefore, it is possible to prevent an increase in the overall size of the steering gear.

[0044] Furthermore, the steering gear body 11 is equipped with a rudder angle transmitter 8C that detects the rudder angle, which is the angle of the rudder blade fixed to the rudder shaft 15 with respect to the ship's longitudinal direction, and two stroke sensors 8A and 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 installed on the ship's bridge. The rudder angle transmitter 8C includes a rotation sensor 83, a support column 85 erected on the cylindrical portion 21 of the rudder handle 2, and a link mechanism 84 with a changeable bending angle that connects the rotation sensor 83 and the support column 85, and the rotation angle of the rotation sensor 83 is converted into a rudder angle.

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

[0046] In this embodiment, 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 Figures 4 to 6, a block 33 is provided in the center of the second ram 3B, projecting in the direction opposite to the direction toward the rudder shaft 15. Each of the stroke sensors 8A and 8B includes a detection element 81 attached to the second ram 3B via its block 33, and a linear detector 82 that emits a signal corresponding to the position of the detection element 81. As shown in Figures 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 the electrical wiring between the steering gear body 11 and the control devices 9A to 9D can be shortened.

[0048] Furthermore, 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 the space on the opposite side of the ram from the hydraulic unit 5 can be effectively utilized.

[0049] Furthermore, in this embodiment, since the hydraulic pipes 1e and 1f pass below the control devices 9B and 9D behind the first cylinder 4B and the second cylinder 4D, good access to the control devices 9B and 9D from behind the first cylinder 4B and the second cylinder 4D can be ensured.

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

[0051] (modified version) This disclosure is not limited to the embodiments described above, and various modifications are possible without departing from the gist of this disclosure.

[0052] For example, as shown in Figure 8, vibration-damping material 92 may be interposed between the control device receiver 41 and the bracket 91, which are 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-damping material 92 is, for example, a cushioning sheet. With this configuration, the transmission of vibrations to the control device 9 can be suppressed. Note that the vibration-damping material 92 only needs to be interposed between the control device receiver 41 and the bracket 91, and between the bracket 91 and the control device 9, at least one of the two.

[0053] Furthermore, as shown in Figures 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, for example, a bracket 93 with a horizontal T-shaped cross section, a base plate 44 of the stand 43, and an electric motor support 4 2 The bracket 93 may be attached to the corresponding cylinder (either one of the first cylinders 4A or 4B, or one of the second cylinders 4C or 4D) via the bracket 93. When such a bracket 93 is used, vibration-damping material 92 may be interposed between the base plate 44 of the stand 43 and the bracket 93, and between the bracket 93 and the control device 9, at least one of the two.

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

[0055] Alternatively, the control devices 9A to 9D may be mounted on the hull (for example, the cylinder mounting base 10) near the steering gear body 11. Here, "near the steering gear body 11" refers to the area around the steering gear body 11, enclosed by lines 50 cm away from the contour of the steering gear body 11, in a plan view. In this configuration as well, the electrical wiring between the steering gear body 11 and the control devices 9A to 9D can be shortened, similar to the embodiment described above.

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

[0057] Furthermore, the number of control devices 9 does not necessarily have to be four; it may be one, two, or three. However, the control devices 9From a fail-safe perspective, it is desirable to have multiple controllers. For example, a first control unit comprising controllers 9A and 9B and a second control unit comprising controllers 9C and 9D may be employed, with the first control unit controlling the motors 54 and regulators 53 of the first and second hydraulic units 5A and 5B, and the second control unit controlling the motors 54 and regulators 53 of the third and fourth hydraulic units 5C and 5D. In this case, the first control unit may be attached to one of the first cylinders 4A and 4B, and the second control unit 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; it may be two or three. For example, in the above embodiment, the third hydraulic unit 5C may be omitted.

[0059] The hydraulic equipment that operates in response to the electrical signals contained in the steering gear body 11 does not necessarily have to be a regulator 53. For example, if the hydraulic pump 61 is a fixed-displacement pump that rotates in one direction, the hydraulic equipment that operates in response to the electrical signals may be an electromagnetic switching valve included in the valve unit 52 of the first to fourth hydraulic units 5A to 5D that switches the supply destination of the hydraulic fluid discharged from the hydraulic pump 61. If the hydraulic pump 61 is a fixed-displacement pump, the discharge flow rate of the hydraulic pump 61 may be changed by the rotational speed of the hydraulic pump 61.

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

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

[0062] With the above configuration, since the control device is attached to the steering gear body, the electrical wiring between the steering gear body and the control device can be shortened.

[0063] In a second embodiment, in the first embodiment, 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 handle fixed to the rudder shaft, at least one ram provided with a pin that engages with the rudder handle, at least two cylinders into which both ends of the at least one ram are inserted, and a plurality of hydraulic units that, together with the at least two cylinders, constitute a hydraulic circuit, each having the plurality of hydraulic devices, a plurality of hydraulic pumps, and a plurality of electric motors that drive the plurality of hydraulic pumps, wherein the plurality of hydraulic units are positioned above the at least two cylinders, and the plurality of control devices may be mounted on the at least two cylinders such that they are located on the opposite side of the ram from the plurality of hydraulic units. This configuration allows for effective use of the space on the opposite side of the ram from the hydraulic units.

[0064] In a third aspect, in the second aspect, the at least one ram includes a first ram and a second ram arranged parallel to each other so as to sandwich the rudder shaft, and 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, and below the plurality of control devices, hydraulic piping may be laid to pass through the space facing the backs of the two first cylinders and two adjacent cylinders of the two second cylinders. This configuration ensures good access to the control devices.

[0065] In a fourth embodiment, in the third embodiment, for example, 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 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] In a fifth embodiment, in the fourth embodiment, 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 capacity of each of the four hydraulic pumps.

[0067] In a sixth aspect, in the fifth aspect, the plurality of control devices includes four control devices that control the four regulators, each of which is mounted on the two first cylinders and the two second cylinders, and two of the four control devices located near the hydraulic piping may be positioned inside the hydraulic piping. With this configuration, the space occupied behind the cylinders by the control devices positioned inside the hydraulic piping laid to pass through the space facing the backs of two adjacent cylinders is reduced, thus preventing an increase in the overall size of the steering gear.

[0068] In a seventh aspect, in any of the second to sixth aspects, the steering gear further comprises 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 corresponding to the position of the detection element, wherein 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. With this configuration, the stroke sensor can be used as a follow transmitter for feedback control. Moreover, since the stroke sensor can be attached to the steering gear body, it does not need to be attached to the hull like conventional follow transmitters.

[0069] In an eighth aspect, the 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 mounted on the hull near the steering gear body for controlling the at least one hydraulic device.

[0070] With the above configuration, since the control device is mounted on the hull near the steering gear body, the electrical wiring between the steering gear body and the control device can be shortened.

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

[0072] 1 Steering gear 10 Cylinder mounting base (hull) 11 Steering gear body 15 Rudder axle 1a~1j Hydraulic piping 2 rudder handle 3A 1st Ram 3B 2nd Ram 4A, 4B First Cylinder 4C, 4D Second 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 detection elements 82 Linear detector 9,9A~9D Control Unit 91,93 bracket 92 Vibration isolation material

Claims

1. A Rapson slide type steering gear body including multiple hydraulic components that operate in response to electrical signals, The steering gear body is equipped with a plurality of control devices for controlling the plurality of hydraulic devices, The steering gear body is, The rudder handle is fixed to the rudder shaft, At least one ram provided with a pin that engages with the rudder, At least two cylinders into which both ends of the at least one ram are inserted, A plurality of hydraulic units, each having a plurality of hydraulic devices, a plurality of hydraulic pumps, and a plurality of electric motors for driving the plurality of hydraulic pumps, which together constitute a hydraulic circuit with the at least two cylinders, The plurality of hydraulic units are positioned above the at least two cylinders, The plurality of control devices are mounted on the at least two cylinders so as to be located on the opposite side of the ram from the plurality of hydraulic units. Steering gear.

2. The at least one ram includes a first ram and a second ram arranged parallel to each other so as to sandwich the rudder shaft, 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, The steering gear according to claim 1, wherein below the plurality of control devices, hydraulic piping is laid to pass through the space facing the backs of the two first cylinders and two adjacent cylinders among the two second cylinders.

3. The aforementioned plurality of hydraulic pumps include four hydraulic pumps, The aforementioned plurality of electric motors include four electric motors, The aforementioned plurality of hydraulic units include four hydraulic units, Each of the four hydraulic units comprises the four hydraulic pumps, the four electric motors, and the four valve units, The steering machine according to claim 2, wherein the hydraulic piping connects two of the four valve units to each other.

4. Each of the four hydraulic pumps is a variable displacement pump. The steering gear according to claim 3, wherein the plurality of hydraulic devices include four regulators for changing the capacity of each of the four hydraulic pumps.

5. The plurality of control devices include four control devices that control each of the four regulators, The four control devices are attached to the two first cylinders and the two second cylinders, respectively. The steering machine according to claim 4, wherein two of the four control devices located near the hydraulic piping are positioned inside the hydraulic piping.

6. The system further comprises 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 that emits a signal corresponding to the position of the detection element, The steering machine according to any one of claims 1 to 5, 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 rudder angle.

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