CN110155292B - Electric steering driving device and electric steering system of marine propeller - Google Patents
Electric steering driving device and electric steering system of marine propeller Download PDFInfo
- Publication number
- CN110155292B CN110155292B CN201910440848.9A CN201910440848A CN110155292B CN 110155292 B CN110155292 B CN 110155292B CN 201910440848 A CN201910440848 A CN 201910440848A CN 110155292 B CN110155292 B CN 110155292B
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- Prior art keywords
- motor
- steering
- screw rod
- controller
- electric steering
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H20/00—Outboard propulsion units, e.g. outboard motors or Z-drives; Arrangements thereof on vessels
- B63H20/08—Means enabling movement of the position of the propulsion element, e.g. for trim, tilt or steering; Control of trim or tilt
- B63H20/12—Means enabling steering
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H20/00—Outboard propulsion units, e.g. outboard motors or Z-drives; Arrangements thereof on vessels
- B63H20/007—Trolling propulsion units
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H25/00—Steering; Slowing-down otherwise than by use of propulsive elements; Dynamic anchoring, i.e. positioning vessels by means of main or auxiliary propulsive elements
- B63H25/06—Steering by rudders
- B63H25/08—Steering gear
- B63H25/14—Steering gear power assisted; power driven, i.e. using steering engine
- B63H25/18—Transmitting of movement of initiating means to steering engine
- B63H25/20—Transmitting of movement of initiating means to steering engine by mechanical means
Abstract
The invention belongs to the technical field of ship steering, and particularly relates to an electric steering driving device and an electric steering system of a ship propeller, wherein the electric steering driving device comprises a steering connecting pipe which is fixed on the ship propeller and arranged along the horizontal direction, and the electric steering driving device is connected with a connecting rod and used for driving the ship propeller to rotate in the vertical direction relative to the steering connecting pipe; the electric steering driving device is characterized by comprising a motor, a motor rotating circle number detection element, a controller, a motor driver, a screw rod and a screw rod nut; an output shaft of the motor is fixedly connected with one end of the screw rod, the screw rod nut is in threaded connection with the outer part of the screw rod, and the screw rod nut is connected with the connecting rod; the motor rotation number detection element and the motor driver are respectively electrically connected with the controller. The electric steering driving device has the advantages of compact structure, small size and convenience in installation and maintenance.
Description
Technical Field
The invention belongs to the technical field of ship steering, and particularly relates to an electric steering driving device and an electric steering system of a ship propeller.
Background
The boat generates propelling power through the propeller, and the driving direction of the boat needs to be adjusted through steering control in the driving process of the boat. Common marine propellers are outboard engines, inboard engines and pod-type propellers. The steering system of the ship propeller at present has three types, namely mechanical wire-drawing steering, hydraulic steering and electronic power-assisted hydraulic steering.
The mechanical wire is pulled to turn, the steering wheel converts the rotary motion into the stretching of a mechanical flexible shaft, and the stretching of the flexible shaft drives an L-shaped connecting rod to pull the marine propeller to turn. However, when the mechanical wire is pulled and steered, a large acting force needs to be applied to the steering wheel during the high-speed running process of the ship, the steering wheel can quickly and automatically return after hands are released, and the mechanical wire is very dangerous under the high-speed condition. The bending radius of the wire-drawing soft shaft cannot be too small, meanwhile, soft shafts with different lengths are required to be matched with ships with different lengths, and operators are required to provide large output torque when the ships run at high speed.
And hydraulic steering is realized, and the steering wheel provides hydraulic oil circuit pressure to drive the oil cylinder to stretch out and draw back so as to realize the steering of the outboard engine. However, the hydraulic steering installation operation is complex, hydraulic oil needs to be injected into a pipeline, a hydraulic system under low temperature always has high failure rate, oil leakage risk and high maintenance cost, and an operator needs to provide large output torque when driving at high speed.
The electronic power-assisted hydraulic steering transmits steering wheel angle signals to the hydraulic pump on the basis of hydraulic steering, and realizes that the hydraulic pump stretches and retracts to drive the outboard motor to steer. The electronic power-assisted hydraulic steering control is accurate and can meet the requirement of high-power control, but the structure is complex, the installation technical requirement is high, the cost is the highest of the three steering modes, and the defects of the hydraulic steering exist.
Disclosure of Invention
The invention aims to solve the technical problems that an existing steering mechanism is large in size, complex in structure, complex in installation, large in load of an operator at high speed, dangerous due to the fact that the steering wheel can be quickly and automatically returned after hands are loosened, and the like, and provides an electric steering driving device and a boat.
In order to solve the above technical problems, in one aspect, an embodiment of the present invention provides an electric steering driving device, where the electric steering driving device is fixed to a steering connection pipe arranged on a marine propeller in a horizontal direction, and the electric steering driving device is connected to a connection rod for driving the marine propeller to rotate in a vertical direction relative to the steering connection pipe; the electric steering driving device is characterized by comprising a motor, a motor rotating circle number detection element, a controller, a motor driver, a screw rod and a screw rod nut; an output shaft of the motor is fixedly connected with one end of the screw rod, the screw rod nut is in threaded connection with the outer part of the screw rod, and the screw rod nut is connected with the connecting rod; the motor rotation number detection element and the motor driver are respectively electrically connected with the controller;
the controller is used for controlling the motor driver to drive the motor to rotate according to a received steering signal from a steering device of an electric steering system of the marine propeller, and the motor rotates to drive a screw rod to rotate so as to enable the screw rod nut to linearly move along the screw rod and drive the connecting rod to move; the motor rotation number detection element is used for detecting the rotation number of the motor and feeding back the rotation number to the controller, and the controller controls the operation of the motor accordingly to enable the screw rod nut to be located in the range between the first position and the second position on the screw rod.
Optionally, the electric steering driving device further comprises a push rod, the screw nut is connected with the connecting rod through the push rod, the screw rod and the screw nut are arranged in the steering connecting pipe and are coaxially arranged with the steering connecting pipe, and the screw nut drives the push rod to move along the screw rod in a linear motion manner so as to drive the connecting rod to move.
Optionally, the electric steering driving device further comprises a supporting sliding sleeve, the push rod is a hollow push rod sleeved on the screw rod and the screw nut, one end of the push rod is fixedly connected with the screw nut, the other end of the push rod is sleeved in the supporting sliding sleeve, the supporting sliding sleeve is fixed in the steering connecting pipe, the push rod is in sliding contact with the inner wall of the supporting sliding sleeve, and the supporting sliding sleeve, the push rod, the screw nut and the steering connecting pipe are coaxially arranged.
Optionally, the electric steering driving device further comprises a joint for connecting the motor and the steering connecting pipe, the lead screw penetrates through the joint, the joint is in a horn cylinder shape, the end with the larger outer diameter of the joint is fixedly connected with the housing of the motor, and the end with the smaller outer diameter of the joint is in threaded connection with the outside of the end of the steering connecting pipe;
the double-row angular contact motor is characterized in that a double-row angular contact bearing and an oil seal are arranged in an inner hole of the joint, an outer ring of the double-row angular contact bearing is in interference fit with an inner hole wall of the joint, an inner ring of the double-row angular contact bearing is sleeved on the screw rod, an outer ring of the oil seal is in interference fit with the inner hole wall of the joint, an inner ring of the oil seal is sleeved on the screw rod, the double-row angular contact bearing is located behind the oil seal, and the oil seal is used.
Optionally, the housing of the motor comprises a front shell and a rear shell, and the front shell, the rear shell and the dynamic seal form a sealed waterproof chamber; the stator assembly and the rotor assembly of the motor are arranged in the front shell, the front shell comprises a cylindrical part and a radial extension part positioned behind the stator assembly and the rotor assembly, the rear shell is fixed at the rear end of the front shell, a cavity is formed among the cylindrical part, the radial extension part and the rear shell, and the controller and the driver are installed behind the radial extension part and are contained in the cavity; and the rear shell is provided with a power line connector and a signal line connector which are respectively used for connecting a power supply or communication.
Optionally, the electric steering driving device further includes a position switch, configured to detect whether the lead screw nut is located at the first position and/or the second position, the position switch is electrically connected to the controller, and the controller controls the operation of the motor according to a switching signal sent by the position switch.
Optionally, the position switch is disposed in the connector, the position switch is electrically connected to the controller through a cable, a cable slot for accommodating the cable is disposed on the front housing, and the cable is electrically connected to the controller after passing through the cable slot.
Optionally, the position switch is a non-contact position switch, and includes one of a reed switch, a hall switch, an ultrasonic switch, and a photoelectric switch.
Optionally, an output shaft of the motor is coaxially arranged with the screw rod, a pin hole is formed in the screw rod, and one end of the screw rod is fixedly connected with the output shaft of the motor through a pin inserted into the pin hole; or one end of the screw rod is connected with an output shaft of the motor through a coupler.
Optionally, the motor is an external rotor motor, and includes a stator and a rotor, the rotor is connected to the lead screw, a through hole is formed in the center of the stator, and one end of the lead screw extends through the through hole and is connected to the support bearing.
Optionally, the electric steering driving device further comprises a current sensor electrically connected to the controller, and the controller controls the motor or the motor driver to stop operating according to the current value exceeding a set threshold.
Optionally, the electric steering driving device further includes a temperature sensor electrically connected to the controller, and the controller controls the motor or the motor driver to stop operating according to the temperature value exceeding a set threshold.
On the other hand, the embodiment of the invention also provides a marine propeller electric steering system which comprises a steering device and the electric steering driving device.
The electric steering driving device and the electric steering system of the marine propeller provided by the embodiment of the invention have the advantages of compact structure, small size and convenience in installation and maintenance, the screw rod is used for converting and providing enough steering torque to drive the boat to steer, and the burden of a steering operator is greatly reduced through electric drive.
Drawings
FIG. 1 is a side view of a boat provided in accordance with an embodiment of the present invention;
FIG. 2 is a top view of a boat provided in accordance with an embodiment of the present invention;
fig. 3 is a schematic connection diagram (perspective view) between an electric steering driving device and a marine propeller of the marine propeller electric power steering system according to an embodiment of the present invention;
fig. 4 is a schematic connection diagram (cross-sectional view) of an electric steering driving device and a marine propeller of the marine propeller electric power steering system according to an embodiment of the present invention;
fig. 5 is a perspective view of an electric steering driving apparatus of a marine propeller electric power steering system according to an embodiment of the present invention;
fig. 6 is an exploded view of an electric steering driving apparatus of a marine propeller electric power steering system according to an embodiment of the present invention;
fig. 7 is a sectional view of an electric steering driving apparatus of a marine propeller electric power steering system according to an embodiment of the present invention;
fig. 8 is a sectional view (enlarged) of a joint position of an electric steering driving apparatus of a marine propeller electric power steering system according to an embodiment of the present invention;
fig. 9 is a perspective view of a steering device of a marine propeller electric power steering system according to an embodiment of the present invention.
Detailed Description
In order to make the technical problems, technical solutions and advantageous effects solved by the present invention more clearly apparent, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
As shown in fig. 1 to 4, an embodiment of the present invention provides a marine propeller electric power steering system, and a boat to which the marine propeller electric power steering system is applied includes a hull 10, a marine propeller 20, and a marine propeller electric power steering system. The marine propeller electric power steering system includes an electric steering drive device 30 and a steering device 40.
The marine propulsor 20 includes a stationary assembly, a link 202, and a rotating assembly 203. The fixing assembly includes a steering connection pipe 201 disposed in a horizontal direction.
The electric steering driving device 30 is fixed to a steering connection pipe 201 arranged on the marine propeller 20 in a horizontal direction, and the electric steering driving device 30 is connected to a link 202 for driving the marine propeller 20 to rotate in a vertical direction with respect to the steering connection pipe 201.
The electric steering driving device 30 comprises a motor 301, a motor rotation number detection element, a controller, a motor driver, a screw rod 302 and a screw rod nut 303; an output shaft of the motor 301 is fixedly connected with one end of the screw rod 302, the screw rod nut 303 is in threaded connection with the outside of the screw rod 302, and the screw rod nut 303 is connected with the connecting rod 202; the motor rotation number detecting element and the motor driver 320 are electrically connected to the controller, respectively.
The motor rotation number detecting element 350 may be a hall sensor or an encoder. The number of rotations and the direction of rotation of the motor 301 can be detected.
The controller is used for controlling the motor driver 320 to drive the motor to rotate according to a received steering signal from the steering device 40 of the electric steering system of the marine propeller, and the motor 301 rotates to drive the screw rod 302 to rotate so as to enable the screw rod nut 303 to linearly move along the screw rod 302 and drive the connecting rod 202 to move; the motor rotation number detecting element is used for detecting the rotation number of the motor 301 and feeding back the rotation number to the controller, and the controller controls the operation of the motor 301 accordingly so that the lead screw nut 303 is located in the range between the first position and the second position on the lead screw 302.
The controller controls the motor 301 to stop operating if it is detected that the feed screw nut 303 is operated to the first position or the second position. The controller also calculates the number of rotation turns of the motor in sampling time according to the number of rotation turns of the motor sent by the motor rotation turn number detection element, and if the number of rotation turns of the motor in sampling time is 0 and the lead screw nut 303 is not located at the first position or the second position, the controller controls the motor 301 to stop running.
As shown in fig. 3, the stationary assembly further includes a clamp 204, and the rotating assembly 203 includes a propeller housing and a propeller 2034. A power device 2035 is arranged in the propeller shell. The power device 2035 is connected with the propeller 2034 and drives the propeller 2034 to rotate; the first end of the link 202 is connected to the propeller housing, the electric steering driving device 30 drives the link 202 to rotate, and the link 202 drives the rotating assembly 203 to rotate to adjust the orientation of the propeller 2034 in the horizontal direction, so as to adjust the propelling direction of the marine propeller.
The power unit 2035 may be mounted on the upper and lower portions of the propeller housing. When the propeller is installed on the upper portion of the propeller housing, a vertical transmission shaft (a propeller main shaft 2032 described below) is provided between the power unit 2035 and the propeller 2034 and then connected to the propeller 2034; when mounted on the lower portion of the propeller housing, the power unit 2035 is coaxially connected to the propeller 2034.
In one embodiment, as shown in fig. 5, the power device 2035 is mounted on an upper portion of a propeller housing, the propeller housing includes an upper housing 2031 and a spindle support housing 2033, the upper housing 2031 is fixed above the spindle support housing 2033, the power device 2035 is mounted in the upper housing 2031, the propeller 2034 is mounted on a rear side of a lower end of the spindle support housing 2033, an upper end of the propeller spindle 2032 is connected to an output shaft of the power device 2035 through a gear box assembly, a lower end of the propeller spindle 2032 is connected to the propeller 2034 through two orthogonally engaged bevel gears, and a vertical propeller spindle 2032 is disposed between the power device 2035 and the propeller 2034, that is, the power device 2035 and the propeller 2034 are connected through the propeller spindle 2032. Thus, the propeller 2034 can be rotated by the rotation of the power unit 2035 to provide propulsive power to the boat. The marine propeller 20 is suspended from the rear of the hull 10 by a clamp 204, the steering connection pipe 201 is horizontally disposed on the clamp 204, the marine propeller electric power steering system is fixed in the steering connection pipe 201, and the electric power steering driving device 30 is fixedly connected to the steering connection pipe 201. One end of the link 202 is hinged to the upper part of the pusher 203 (e.g., by bolts or nuts). Preferably, one end of the link 202 is hinged to the bottom surface of the upper housing 2031.
The power device 2035 may be an electric motor.
In an embodiment, the electric steering driving device 30 further includes a push rod 304, the lead screw nut 303 is connected to the connecting rod 202 through the push rod 304, the lead screw 302 and the lead screw nut 303 are disposed in the steering connecting pipe 201 and are both coaxial with the steering connecting pipe 201, and the lead screw nut 303 drives the push rod 304 to move linearly along the lead screw 302 so as to drive the connecting rod 202 to move.
The electric steering driving device 30 further comprises a supporting sliding sleeve 312, the push rod 304 is a hollow push rod sleeved on the screw rod 302 and the screw nut 303, one end of the push rod 304 is fixedly connected with the screw nut 303, the other end of the push rod is sleeved in the supporting sliding sleeve 312, the supporting sliding sleeve 312 is fixed in the steering connecting pipe 201, the push rod 304 is in sliding contact with the inner wall of the supporting sliding sleeve 312, and the supporting sliding sleeve 312, the push rod 304, the screw rod 302, the screw nut 303 and the steering connecting pipe 201 are coaxially arranged.
The lead screw 302 is parallel to the steering connection pipe 201. The screw rod 302 is parallel to the steering connecting pipe 201, and the first condition is that the screw rod 302 is arranged outside the steering connecting pipe 201 and is parallel to and spaced from the steering connecting pipe 201; secondly, the screw 302 is disposed inside the steering connection pipe 201 and is coaxial with the steering connection pipe 201. In order to reduce the size of the electric power steering system for the marine propeller, it is preferable that the screw shaft 302 be disposed inside the steering connection pipe 201.
The motor rotation number detecting element and the motor driver 320 are electrically connected to the controller, respectively. The controller and motor driver 320 may be integrated on a single circuit board.
Preferably, the controller and motor driver 30, the motor 301, the position switch, the lead screw 302 and the lead screw nut 303 are sequentially arranged along the axial direction of the steering connecting pipe 201 from left to right; or the motor 301, the motor driver 320, the controller, the position switch, the screw 302 and the screw nut 303 are sequentially arranged along the axial direction of the steering connecting pipe 201.
Between the first position and the second position there is a third position in which the angle between the vertical bisecting plane of the marine propeller 20 and the steering connection is 90 °. The electric steering drive device 30 further includes a position switch for detecting the third position. The position switch for detecting the third position may be an angle sensor for detecting a rotation angle of the marine propeller, or may be a photoelectric sensor or an ultrasonic sensor for detecting a neutral position of the marine propeller.
The first position, the second position, and the third position are all located on the lead screw 302.
The stroke range of the push rod 304 is the same as that of the lead screw nut 303, the position of the lead screw nut 303 on the lead screw 302 corresponds to the rotation stroke of the steering device 40 one by one, and the angular position of the steering device 40 corresponds to the only position of the lead screw nut 303 on the lead screw 302.
The motor driver 320 is installed at the rear end of the motor 301. Preferably, the controller and motor driver 320 are integrated within the housing of the motor 301.
The casing of the motor 301 includes a front casing 3011 and a rear casing 3012, the stator assembly and the rotor assembly of the motor 301 are disposed in the front casing 3011, the front casing 3011 includes a cylindrical portion 30111 and a radial extension portion 30112 located behind the stator assembly and the rotor assembly, the rear casing 3012 is fixed at the rear end of the front casing 3011 (the cylindrical portion 30111), a cavity is formed among the cylindrical portion 30111, the radial extension portion 30112 and the rear casing 3012, and the motor driver 320 is installed behind the radial extension portion 3012 and is accommodated in the cavity.
The rear casing 3012 is provided with a power line connector 305 and a signal line connector 306, the motor driver 320 is electrically connected to a power source through the power line connector 305 to supply power to the motor 301 through the power source, and the controller is in communication connection with the steering device 40 through the signal line connector 306.
In one embodiment, the front of the motor 301 forms a chamber in which the motor driver 320 and the first controller 330 are mounted. At this time, the power line connector 305 and the signal line connector 306 are preferably provided on the front case 3011 of the motor 301.
The rear shell 3012 is connected to the front shell 3011 in a sealing manner through a static sealing element, the front shell 3011 is also connected to a joint 307 (shown in fig. 3) described below in a sealing manner, a dynamic sealing element is arranged between the joint 307 and the lead screw 302, and a sealed waterproof chamber is formed among the rear shell 3012, the front shell 3011 and the dynamic sealing element, so that the motor 301, the first controller 330, the motor driver 320 and the position switch are protected by being arranged in a sealed waterproof environment.
As shown in fig. 1 and 2, the power cord connector 305 is electrically connected to the power source 60 through the power cord 50. The signal line connection 306 is in communication with the steering device 40 via the signal line 70, and the first controller 330 is in wired communication with the steering device 40.
The electric steering driving device 30 further comprises a joint 307 for connecting the motor 301 and the steering connecting pipe 201, the lead screw 302 penetrates through the joint 307, the joint 307 is in a horn shape, one end of the joint 307 with a larger outer diameter is fixedly connected with the shell of the motor 301 through a screw, and one end of the joint 307 with a smaller outer diameter is in threaded connection with the outside of one end of the steering connecting pipe 201. Specifically, an inner thread is disposed at the end of the joint 307 with the smaller outer diameter, and an outer thread matched with the inner thread disposed at the end of the steering connection pipe 201 with the smaller outer diameter is disposed at the outer portion of the end.
The joint 307 is in threaded connection with the steering connecting pipe 201, a mounting tool is not needed, the mounting steps are greatly simplified, and the plug and play mode is realized.
A double-row angular contact bearing 308 and an oil seal 309 are arranged in an inner hole of the joint 307, an outer ring of the double-row angular contact bearing 308 is in interference fit with an inner hole wall of the joint 307, an inner ring of the double-row angular contact bearing 308 is sleeved on the screw rod 302, an outer ring of the oil seal 309 is in interference fit with the inner hole wall of the joint 307, an inner ring of the oil seal 309 is sleeved on the screw rod 302, the double-row angular contact bearing 308 is located behind the oil seal 309, and the oil seal 309 is used for sealing the motor 301.
Because the motor driver 320 and the controller are integrated in the shell of the motor 301, the motor 301 is sealed by the oil seal 309, and a waterproof effect can be achieved, so that the motor 301 and other electronic components in the shell are protected.
In other embodiments, the joint 307 may also be fixed using a shaft. The double row angular contact bearing may also be replaced by two angular contact bearings or other bearings or bearing combinations that can withstand bi-directional axial forces.
The electric steering driving device 30 further includes a position switch for detecting whether the lead screw nut 303 is located at the first position and/or the second position, and the controller controls the operation of the motor 301 according to a switching signal sent by the position switch.
One end of the push rod 304 is inserted into the steering connecting pipe 201 in a sliding manner and is sleeved and fixed at the other end of the screw rod 302, and the screw rod nut 303 is fixed on the inner wall of the end part, close to the motor 301, of the push rod 304. The position switch is a hall switch, the hall switch comprises a magnetic sensing element 310 and a magnetic element 311, the magnetic element 311 is fixed on the inner wall of the end part of the push rod 304 close to the motor 301 and is positioned behind the screw rod nut 303, and the magnetic element 311 moves along with the push rod 304. The magnetic element 311 is, for example, a magnet.
The position switch can also be a reed switch, a photoelectric switch, an ultrasonic switch or other non-contact position switches. These switches need to be mounted in the fitting 307 against the moving lead screw nut 303 in order to detect movement of the lead screw nut 303 or movement of the push rod 304.
Because the distance between the magnetic element 311 and the magnetic sensing element 310 is required, the magnetic element 311 must be installed at the initial position (front end) of the push rod 304 for detection. The signal line of the position switch needs to be connected with the controller, and the position switch sends a switch signal to the controller for controlling the start and stop of the motor 301 according to the switch signal.
The position switch is arranged in the joint 307, the position switch is electrically connected with the controller through a cable, a wire slot for accommodating the cable is arranged on the front shell 3011, and the cable is electrically connected with the controller after passing through the wire slot.
Since the position switch detects the movement of the lead screw nut 303, the position switch must be disposed on the side close to the lead screw nut 303 with respect to the motor 301 without being blocked in the middle.
The controller and motor driver 320 may be disposed on a side of the motor 301 adjacent to the lead screw nut 303, or may be disposed on the opposite side of the motor 301.
To facilitate the placement of the power line connection on the motor 301, it is preferred that the motor 301 be located on a side away from the lead screw nut 303, so that the cable between the position switch and the motor driver 310 must pass through the motor 301.
In order to ensure that the same volume of the motor 30 can generate larger torque, the motor 301 is generally configured as an external rotor motor, and includes a stator and a rotor, the rotor is connected to the lead screw 302, the stator is centrally provided with a through hole, and one end of the lead screw 302 extends and penetrates through the through hole to be connected to the support bearing. A case is provided outside the motor 301 or a duct is provided in the center of the stator of the motor 301, and a cable for electrical connection can be attached.
When the distance between the magnet element 311 and the magnetic sensing element 310 is close to a certain threshold value, the state of the position switch changes, the controller controls the motor 301 to stop running, records the number of motor rotation turns output by the motor rotation turn number detection element (an encoder or a Hall sensor) after the motor 301 stops rotating, and calculates the current position of the push rod 304 according to the next rotation direction and number of the motor 301 by taking the number as a reference value.
After the electric power steering system is powered on, the push rod 304 moves towards the motor 301, and when the position switch built in the joint 307 detects that the strength of the magnet 311 mounted on the push rod 304 reaches a certain threshold value in a non-contact detection mode, the controller records the current position as an initialization position. A hall sensor or an encoder is installed in the motor driver 320 for detecting the rotation direction and the number of turns of the motor. The controller stores the theoretical maximum rotation turns of the motor 301, and according to the stroke length L of the screw rod 302, assuming that the feed of the screw rod 302 to the push rod is L per turn of the motor 301, the theoretical maximum rotation turns of the motor 301 which can rotate from the zero point is L/L, the controller acquires the number of positive and negative rotation turns of the motor 301 through the position sensor, and limits the increment of the actual rotation turns relative to the rotation turns of the initialization position not to exceed delta n.
The electric steering driving device 30 further includes a support sliding sleeve 312, one end of the support sliding sleeve 312 is screwed on the steering connection pipe 201, and the push rod 304 is in sliding contact with the inner wall of the support sliding sleeve 312.
The lead screw 302 uses the push rod 304 inner wall as interior direction, and the push rod 304 outer wall forms outer direction with the contact of support sliding sleeve 312, compares current structure of turning to and has better axiality, reduces noise and higher life.
The push rod 304 is provided with a support sliding sleeve 31 for supporting the free end of the push rod 304 to reduce radial run-out.
In one embodiment, the lead screw 302 is integrally formed with the output shaft of the motor 301.
In other embodiments, the output shaft 3013 of the motor 301 is a hollow shaft, the lead screw 302 extends through the output shaft 3013 of the motor 301 along the axial direction, the left and right ends of the motor 301 are supported by the support bearing and the double-row angular contact bearing to support the lead screw 302, which plays a role in increasing the coaxiality of the motor 301 and the lead screw 302, and meanwhile, the double-row angular contact bearing is used to bear the axial force, so that the motor 301 does not need to bear the axial force.
In an embodiment of the marine propeller 20, the link 202 is L-shaped, the link 202 includes a vertical rod section 2021 and a horizontal rod section 2022, one end of the horizontal rod section 2022 is connected to the upper end of the vertical rod section 2021, the other end of the horizontal rod section 2022 is hinged to the rotating assembly 203, and the electric steering driving device 30 is rotatably connected to the lower end of the vertical rod section 2021.
In a specific embodiment, the other end of the horizontal rod section is hinged to the upper part of the thruster housing, and the feed screw nut 303 is connected to the lower end of the vertical rod section 2021 via the push rod 304. The other end of the push rod 304 is provided with a through hole, the lower end of the vertical rod section 2021 is provided with an external thread, and the lower end of the vertical rod section 2021 penetrates through the through hole downwards and is in threaded connection with a nut. In this way, the articulation of the link 202 with the push rod 304 is achieved. Specifically, the horizontal rod section 2022 is hinged to the bottom surface of the upper shell 2031 of the propeller housing, and the rotation axis of the horizontal rod section 2022 is spaced parallel to the central axis of the propeller main shaft 2032, so as to ensure the flexible rotation of the connecting rod 202.
In other embodiments, the first end of the connecting rod connected with the motor driving device is vertically consistent with the second end of the connecting rod connected with the rotating assembly, and the connecting rod can also be a straight rod; in other embodiments, the link may be a rod of other shapes having at least one horizontal rod segment.
When the push rod 304 moves back and forth along the lead screw 302, the push rod can drive the connecting rod 202 to move through the principle of connecting rod crank, and the connecting rod 202 is hinged with the rotating component 203, so that the rotating component 203 can be directly or indirectly pushed to rotate horizontally by an angle. The stroke range of the push rod 304 and the rotation stroke of the steering device 40 are mapped on one ship propeller 20, the mapping relation can be linear or nonlinear, but the angle signals input by the steering device 40 and the position of the push rod 304 can be in one-to-one correspondence, so that the purpose of steering adjustment can be realized. The L-shaped link 202 may rotate the upper housing 2031, the main shaft support housing 2033, and the propeller 2034 of the rotating assembly 203 together, thereby changing the orientation of the marine propeller 20.
As shown in fig. 7, the output shaft 3013 of the motor 301 is coaxially disposed with the lead screw 302, and the output shaft 3013 of the motor 301 and the lead screw 302 are separately disposed.
In other embodiments, the motor 301 and the lead screw 302 may be connected with different shafts. The non-coaxial connection is mainly considered that the mounting place of the marine propeller of a part of the transom is depressed, so that it is required to reduce the overall length dimension of the electric steering drive apparatus 30 after mounting. The length direction dimension of the whole electric steering driving device can be reduced by arranging the shafts in different modes.
Preferably, the output shaft 3013 of the motor 301 is a hollow shaft, one end of the lead screw 302 is inserted into the output shaft 3013 of the motor 301, a pin hole is formed in the lead screw 302, and one end of the lead screw 302 is fixedly connected with the output shaft 3013 of the motor 301 through a pin 313 inserted into the pin hole.
In other embodiments, one end of the lead screw 302 and the output shaft 3013 of the motor 301 may also be connected through a coupling.
In other embodiments, the output shaft 3013 of the motor 301 is integrally disposed with the lead screw 302. In this way, connections can be reduced.
The electric steering driving device 30 further includes a current sensor for measuring a current value of the motor 301 or the motor driver 320, the current sensor is electrically connected to the controller, and the controller controls the motor 301 or the motor driver 320 to stop operating according to the current value exceeding a set threshold.
The current sensor may be a hall current sensor, or may be a current detection circuit, which is used to detect the operating current of the motor 301. If the operating current of the motor 301 exceeds the rated operating current thereof by a certain range, the motor may be abnormal or locked, so as to control the motor 301 to stop operating to protect the electric steering driving device 30.
The electric steering driving device 30 further includes a temperature sensor for measuring a temperature value of the motor 301 or the motor driver 320, the temperature sensor is electrically connected to the controller, and the controller controls the motor 301 or the motor driver 320 to stop operating according to the temperature value exceeding a set threshold value.
As shown in fig. 1 and 9, the steering device 400 includes a steering base 401, a steering wheel 402, a steering shaft, a planetary reducer, and an angle detection mechanism; the input end of the planetary reducer is connected with the steering shaft, and the angle detection mechanism is used for detecting the rotation angle of the output end of the planetary reducer.
The steering device 40 is configured to send a steering signal to the electric steering driving device 30 based on an operation of a user.
The steering signal includes a direction (counterclockwise or clockwise) measured by a position sensor in the steering device 40 and an angle signal (angle magnitude), and the direction is calculated and judged by a controller of the steering device 40 according to the angle signals.
The user turns the steering wheel 402 to rotate the steering shaft and the planetary reduction gear together, the position sensor 410 sends the detected angle signal (analog quantity) of the planetary reduction gear to the controller of the steering device 40, the controller 420 of the steering device 40 performs analog-to-digital conversion on the signal, and converts the signal into a digital signal (steering signal), and then sends the steering signal to the controller of the electric steering driving device 30 through wireless communication or wired transmission, and the electric steering driving device 30 drives the motor 301 to rotate according to the steering signal, thereby adjusting the propulsion direction of the marine propeller 20. The electric steering driving device 30 is powered by a power supply of the marine propeller 20 or an external power supply, and the steering device 40 may be powered by a built-in power supply or may be powered by a cable from the electric steering driving device 30.
When the marine propeller 20 is an electric marine propeller, the power supply 60 of the marine propeller 20 is generally used for power supply.
In other alternatives, the steering device 40 of the above-described structure may be replaced with a key handle similar to a game handle, i.e., clockwise/counterclockwise steering and increase and decrease of the steering angle may be performed by the keys on the handle.
The electric steering system of the marine propeller and the boat provided by the embodiment of the invention have the advantages of compact structure, small size and convenience in installation and maintenance, the screw rod is used for converting and providing enough steering torque to drive the boat to steer, and the burden of a steering operator is greatly reduced through electric drive.
The electric steering driving device and the steering device are not directly and mechanically connected, so that the mounting position of the steering device can be very flexible, and the whole electric steering system of the marine propeller has the advantages of small volume, simple structure and simple and quick mounting.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (13)
1. The electric steering driving device is fixed on a steering connecting pipe arranged on a marine propeller along the horizontal direction, and is connected with a connecting rod to drive the marine propeller to rotate in the vertical direction relative to the steering connecting pipe; the electric steering driving device is characterized by comprising a motor, a motor rotating circle number detection element, a controller, a motor driver, a screw rod and a screw rod nut; an output shaft of the motor is fixedly connected with one end of the screw rod, the screw rod nut is in threaded connection with the outer part of the screw rod, and the screw rod nut is connected with the connecting rod; the motor rotation number detection element and the motor driver are respectively electrically connected with the controller;
the controller is used for controlling the motor driver to drive the motor to rotate according to a received steering signal from a steering device of an electric steering system of the marine propeller, and the motor rotates to drive a screw rod to rotate so as to enable the screw rod nut to linearly move along the screw rod and drive the connecting rod to move; the motor rotation number detection element is used for detecting the rotation number of the motor and feeding back the rotation number to the controller, and the controller controls the operation of the motor accordingly to enable the screw rod nut to be located in the range between the first position and the second position on the screw rod.
2. The electric steering driving device according to claim 1, further comprising a push rod, wherein the lead screw nut is connected to the connecting rod through the push rod, the lead screw and the lead screw nut are disposed in the steering connecting tube and are both disposed coaxially with the steering connecting tube, and the lead screw nut drives the push rod to move linearly along the lead screw so as to drive the connecting rod to move.
3. The electric steering driving device according to claim 2, further comprising a supporting sliding sleeve, wherein the push rod is a hollow push rod sleeved on the lead screw and the lead screw nut, one end of the push rod is fixedly connected with the lead screw nut, the other end of the push rod is sleeved in the supporting sliding sleeve, the supporting sliding sleeve is fixed in the steering connecting pipe, the push rod is in sliding contact with the inner wall of the supporting sliding sleeve, and the supporting sliding sleeve, the push rod, the lead screw nut and the steering connecting pipe are coaxially arranged.
4. The electric steering driving device according to claim 1, further comprising a joint for connecting the motor and the steering connecting pipe, wherein the screw rod passes through the joint, a dynamic sealing member is disposed between the joint and the screw rod, the joint is in a horn cylinder shape, one end of the joint with a larger outer diameter is fixedly connected with a housing of the motor, and one end of the joint with a smaller outer diameter is screwed outside one end of the steering connecting pipe;
the double-row angular contact motor is characterized in that a double-row angular contact bearing and an oil seal are arranged in an inner hole of the joint, an outer ring of the double-row angular contact bearing is in interference fit with an inner hole wall of the joint, an inner ring of the double-row angular contact bearing is sleeved on the screw rod, an outer ring of the oil seal is in interference fit with the inner hole wall of the joint, an inner ring of the oil seal is sleeved on the screw rod, the double-row angular contact bearing is located behind the oil seal, and the oil seal is used.
5. The electric steering drive of claim 4, wherein the housing of the electric motor comprises a front shell and a rear shell, the front shell, rear shell and dynamic seal forming a sealed waterproof chamber; the stator assembly and the rotor assembly of the motor are arranged in the front shell, the front shell comprises a cylindrical part and a radial extension part positioned behind the stator assembly and the rotor assembly, the rear shell is fixed at the rear end of the front shell, a cavity is formed among the cylindrical part, the radial extension part and the rear shell, and the controller and the driver are installed behind the radial extension part and are contained in the cavity; and the rear shell is provided with a power line connector and a signal line connector which are respectively used for connecting a power supply or communication.
6. The electric steering drive according to claim 5, further comprising a position switch for detecting whether the feed screw nut is located at the first position and/or the second position, the position switch being electrically connected to the controller, the controller controlling the operation of the motor according to a switching signal sent from the position switch.
7. The electric steering drive according to claim 6, wherein the position switch is disposed in the joint, the position switch is electrically connected to the controller via a cable, a slot for accommodating the cable is disposed in the front housing, and the cable is electrically connected to the controller after passing through the slot.
8. The electric steering drive according to claim 6, wherein the position switch is a non-contact position switch including one of a reed switch, a hall switch, an ultrasonic switch, and a photoelectric switch.
9. The electric steering drive according to claim 1, wherein the output shaft of the motor is coaxially disposed with the lead screw, the lead screw is provided with a pin hole, and one end of the lead screw is fixedly connected with the output shaft of the motor by a pin inserted into the pin hole; or one end of the screw rod is connected with an output shaft of the motor through a coupler.
10. The electric steering driving device according to claim 1, wherein the motor is an external rotor motor, and comprises a stator and a rotor, the rotor is connected to the lead screw, a through hole is formed in the center of the stator, and one end of the lead screw extends through the through hole and is connected to the support bearing.
11. The electric steering drive according to any one of claims 1 to 10, further comprising a current sensor electrically connected to the controller, wherein the controller controls the motor or the motor driver to stop operating in response to a value of the current exceeding a set threshold value.
12. The electric steering drive according to any one of claims 1 to 10, further comprising a temperature sensor electrically connected to the controller, wherein the controller controls the motor or the motor driver to stop operating in response to a temperature value exceeding a set threshold value.
13. An electric power steering system for a marine propeller, comprising a steering device and the electric power steering drive device according to any one of claims 1 to 11.
Priority Applications (4)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910440848.9A CN110155292B (en) | 2019-05-24 | 2019-05-24 | Electric steering driving device and electric steering system of marine propeller |
| PCT/CN2020/091963 WO2020238814A1 (en) | 2019-05-24 | 2020-05-23 | Electric steering system for ship propulsion apparatus and method thereof |
| US17/611,651 US20220194538A1 (en) | 2019-05-24 | 2020-05-23 | Electric steering system for ship propulsion apparatus and method thereof |
| EP20814345.3A EP3976464A4 (en) | 2019-05-24 | 2020-05-23 | Electric steering system for ship propulsion apparatus and method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910440848.9A CN110155292B (en) | 2019-05-24 | 2019-05-24 | Electric steering driving device and electric steering system of marine propeller |
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| Publication Number | Publication Date |
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| CN110155292A CN110155292A (en) | 2019-08-23 |
| CN110155292B true CN110155292B (en) | 2020-04-10 |
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| CN201910440848.9A Active CN110155292B (en) | 2019-05-24 | 2019-05-24 | Electric steering driving device and electric steering system of marine propeller |
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Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP3976464A4 (en) * | 2019-05-24 | 2023-08-30 | Guangdong Epropulsion Technology Limited | Electric steering system for ship propulsion apparatus and method thereof |
| WO2024036642A1 (en) * | 2022-08-19 | 2024-02-22 | 广东逸动科技有限公司 | Outboard, ship, control method and computer-readable storage medium |
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