CN110203368B

CN110203368B - Straight wing rudder propeller control system

Info

Publication number: CN110203368B
Application number: CN201910448551.7A
Authority: CN
Inventors: 付传东
Original assignee: Wenzhou Jiangnan Marine Electrical Factory
Current assignee: Wenzhou Jiangnan Marine Electrical Factory
Priority date: 2019-05-27
Filing date: 2019-05-27
Publication date: 2020-08-11
Anticipated expiration: 2039-05-27
Also published as: CN110203368A

Abstract

The invention discloses a control system of a straight wing rudder propeller, which comprises a straight wing rudder propeller control plate, a control unit and a control unit, wherein the straight wing rudder propeller control plate is used for receiving a control instruction and outputting a control signal; the left straight wing control box is connected with the straight wing rudder paddle control plate, and outputs a left steering signal and a left propulsion signal after receiving a control signal output by the straight wing rudder paddle control plate; the right straight wing control box is connected with the straight wing rudder paddle control plate, and outputs a right steering signal and a right propulsion signal after receiving the control signal output by the straight wing control plate; the left servo motor is connected with the left straight wing control box and rotates according to a left steering signal, and the left propulsion motor is connected with the left straight wing control box and rotates according to a left propulsion signal; the right servo motor is connected with the right straight wing control box and rotates according to a right steering signal, and the right propulsion motor is connected with the right straight wing control box and rotates according to a right propulsion signal.

Description

Straight wing rudder propeller control system

Technical Field

The invention relates to the technical field of ship propulsion and control, in particular to a control system of a straight wing rudder propeller.

Background

The propulsion device of the existing ship mainly comprises a main machine, a speed reducer (clutch), a shaft system, a propeller and the like, wherein a propeller shaft is arranged in a horizontal state, and effective power sent by the main machine is transmitted to the propeller through the speed reducer and the shaft system, so that the propeller rotates to generate water power to push the ship to advance. Because the propeller rotates in a Y-Z plane (the ship length direction is defined as X, the ship width direction is defined as Y, and the vertical height direction of the ship is defined as Z), the straight path of the propeller is limited by the draught of the ship, and the smaller the straight path of the propeller is, the smaller the thrust generated by rotation is. Therefore, in shallow water, the propeller ship has extremely low propulsion efficiency and inevitably has poor maneuverability.

Disclosure of Invention

Aiming at the defects in the prior art, the invention aims to provide a straight wing rudder propeller control system with good operability.

In order to achieve the purpose, the invention provides the following technical scheme: a control system of a straight wing rudder propeller comprises a straight wing rudder propeller control plate, wherein the straight wing rudder propeller control plate is used for receiving a control instruction and outputting a control signal; the left straight wing control box is connected with the straight wing rudder paddle control plate, and outputs a left steering signal and a left propulsion signal after receiving a control signal output by the straight wing rudder paddle control plate; the right straight wing control box is connected with the straight wing rudder paddle control plate, and outputs a right steering signal and a right propulsion signal after receiving the control signal output by the straight wing control plate; the left servo motor is connected with the left straight wing control box and rotates according to a left steering signal, and the left propulsion motor is connected with the left straight wing control box and rotates according to a left propulsion signal; the right servo motor is connected with the right straight wing control box and rotates according to a right steering signal, and the right propulsion motor is connected with the right straight wing control box and rotates according to a right propulsion signal.

As a further improvement of the invention, the left driving device where the left servo motor and the left propelling motor are located has the same structure as the right driving device where the right servo motor and the right propelling motor are located, and is symmetrically arranged along the center line of the ship.

As a further improvement of the invention, the left driving device is connected with the left straight wing control box, the left driving device comprises a first steering wheel and a plurality of first propulsion gears, the first steering wheel is in linkage connection with the left servo motor, when the left servo motor rotates, the first steering wheel rotates, a plurality of first transmission gears and first rotation gears are circumferentially arranged in the first steering wheel, the first transmission gears and the first rotation gears are connected in a one-to-one correspondence manner, the first propulsion gears are correspondingly arranged on a rotating shaft of the first rotation gear, when the first rotation gear rotates, the first propulsion gears rotate, the first steering wheel is coaxially provided with a first main transmission gear, the first main transmission gear is arranged on the rotating shaft of the left propulsion motor, and the first transmission gears are all meshed with the first main transmission gear.

As a further improvement of the invention, a first lifting adjusting device is arranged on the first steering wheel, the first lifting adjusting device comprises a first lifting motor and a first lifting gear, the first lifting gear is arranged on a rotating shaft of the first lifting motor, a plurality of first sliding grooves distributed along the circumference are arranged on the first steering wheel, the rotating shafts of a plurality of first transmission gears are correspondingly arranged in the first sliding grooves one by one, annular grooves are arranged on the rotating shaft of the first transmission gears at intervals and can be meshed with the first lifting gear, T-shaped first positioning blocks are arranged on the rotating shafts of the first transmission gears, a first roller and a second roller are respectively arranged on the upper side and the lower side of each first positioning block, a first limiting groove is arranged on the wall of each first sliding groove, a first sliding block is connected in a sliding manner in each first sliding groove, and a first limiting block is arranged on each first sliding block, first stopper embedding first spacing inslot, first slider upside is equipped with a plurality of first dogteeth, be equipped with first adjusting device on the first rotation wheel, first adjusting device is including first adjusting motor, first adjusting gear fixes in first adjusting motor's pivot, first adjusting gear can mesh with a plurality of first dogteeth, first spacing inslot is equipped with first spring, first spring one end is inconsistent with first stopper, and the opposite side is inconsistent with the cell wall of first spacing groove.

As a further improvement of the invention, the right driving device is connected with the right straight wing control box, the right driving device comprises a second steering wheel and a plurality of second propulsion gears, the second steering wheel is in linkage connection with the right servo motor, when the right servo motor rotates, the second steering wheel rotates, a plurality of second transmission gears and second rotating gears are circumferentially arranged in the second steering wheel, the plurality of second transmission gears and the second rotating gears are in one-to-one corresponding connection, the plurality of second propulsion gears are installed on rotating shafts of the second rotating gears in one-to-one correspondence, when the second rotating gears rotate, the second propulsion gears rotate, the second steering wheel is coaxially provided with a second main transmission gear, the second main transmission gear is installed on the rotating shaft of the right propulsion motor, and the plurality of second transmission gears are all meshed with the second main transmission gear.

As a further improvement of the invention, a second lifting adjusting device is arranged on the second steering wheel, the second lifting adjusting device comprises a second lifting motor and a second lifting gear, the second lifting gear is arranged on a rotating shaft of the second lifting motor, a plurality of second sliding grooves distributed along the circumference are arranged on the second steering wheel, the rotating shafts of a plurality of second transmission gears are correspondingly arranged in the second sliding grooves one by one, annular grooves are arranged on the rotating shaft of the second transmission gears at intervals and can be meshed with the second lifting gear, T-shaped second positioning blocks are arranged on the rotating shafts of the plurality of second transmission gears, a third roller and a fourth roller are respectively arranged on the upper side and the lower side of each second positioning block, a second limiting groove is arranged on the wall of each second sliding groove, a second sliding block is connected in the second sliding groove in a sliding manner, and a second limiting block is arranged on the second sliding block, the second limiting block is embedded into the second limiting groove, a plurality of second convex teeth are arranged on the upper side of the second sliding block, a second adjusting device is arranged on the second rotating wheel and comprises a second adjusting motor and a second adjusting gear, the second adjusting gear is fixed to a rotating shaft of the second adjusting motor, the second adjusting gear can be meshed with the second convex teeth, a second spring is arranged in the second limiting groove, one end of the second spring is abutted to the second limiting block, and the other end of the second spring is abutted to the groove wall of the second limiting groove.

The ship has the advantages that the left straight wing control box controls the left servo motor and the left propulsion motor to rotate, the right straight wing control box controls the right servo motor and the right propulsion motor to rotate, the two servo motors and the plurality of propulsion motors further improve the controllability of the ship, the left servo motor, the right servo motor, the left propulsion motor and the right propulsion motor can independently adjust the rotating speed and the steering direction, the movement modes are various, the ship can move horizontally and rotate in place, the operation accuracy of the ship is further improved, the ship is suitable for waterways in China, the collision of ships on water is reduced, and the ship reef contact is reduced.

Drawings

FIG. 1 is a block diagram of the present invention;

FIG. 2 is a schematic structural view of the present invention;

FIG. 3 is a schematic structural view of the present invention when all the first and second driving wheels are engaged with the first and second main driving gears;

FIG. 4 is a schematic structural diagram of a portion of the first and second driving wheels and the first/second main driving gear of the present invention when they are dislocated;

FIG. 5 is a schematic top view of the first/second steering wheel, the first/second transmission gear and the first/second rotation gear of the present invention;

FIG. 6 is a schematic view of the first/second chutes of the present invention.

Reference numerals: 1. a straight wing rudder paddle control plate; 11. a left straight wing control box; 12. a right straight wing control box; 111. a left servo motor; 112. a left propulsion motor; 121. a right servo motor; 122. a right propulsion motor; 41. a first steering wheel; 42. a first propulsion slurry; 43. a first drive gear; 44. a first rotating gear; 45. a first main drive gear; 46. a first elevation adjustment device; 461. a first lift motor; 47. a first sliding groove; 471. a first slider; 48. a first positioning block; 481. a first roller; 482. a second roller; 470. a first limit groove; 4711. a first stopper; 49. a first adjusting device; 491. a first adjustment motor; 472. a first spring; 51. a second steering wheel; 52. second propulsion pulp; 53. a second transmission gear; 54. a second rotating gear; 55. a second main drive gear; 56. a second elevation adjustment device; 561. a second lift motor; 57. a second sliding groove; 571. a second slider; 58. a second positioning block; 581. a third roller; 582. a fourth roller; 570. a second limit groove; 5711. a second limiting block; 59. a second adjustment device; 591. a second adjustment motor; 572. a second spring.

Detailed Description

The invention will be further described in detail with reference to the following examples, which are given in the accompanying drawings.

Referring to fig. 1 to 6, a straight wing rudder propeller control system according to the present embodiment includes a straight wing rudder propeller control panel 1, where the straight wing rudder propeller control panel 1 is configured to receive a control instruction and output a control signal; the left straight wing control box 11 is connected with the straight wing rudder paddle control plate 1, and outputs a left steering signal and a left propulsion signal after receiving a control signal output by the straight wing rudder paddle control plate 1; the right straight wing control box 12 is connected with the straight wing rudder paddle control plate 1, receives the control signal output by the straight wing control plate and outputs a right steering signal and a right propulsion signal; the left servo motor 111 is connected with the left straight wing control box 11 and rotates according to a left steering signal, and the left propulsion motor 112 is connected with the left straight wing control box 11 and rotates according to a left propulsion signal; a right servo motor 121, the right servo motor 121 is connected with the right straight wing control box 12 and rotates according to the right steering signal, and a right propulsion motor 122, the right propulsion motor 122 is connected with the right straight wing control box 12 and rotates according to the right propulsion signal.

Through the technical scheme, left servo motor 111 is controlled to left side straight wing control box 11, left propulsion motor 112 is rotatory, right side straight wing control box 12 controls right servo motor 121, right propulsion motor 122 is rotatory, two servo motors and a plurality of propulsion motor further improve the controllability of ship, left side servo motor 111, right side servo motor 121, left propulsion motor 112, right propulsion motor 122 can adjust its rotational speed alone and turn to, the motion is various, enable the ship and control the translation, actions such as original place gyration, and further improve the precision of ship operation, be fit for the china's water route, reduce the ship collision on water, reduce the ship and touch the reef.

As a modified specific embodiment, the left driving device where the left servo motor 111 and the left propulsion motor 112 are located is the same as the right driving device where the right servo motor 121 and the right propulsion motor 122 are located, and is symmetrically arranged along the center line of the ship.

Through the technical scheme, the left driving device and the right driving device which are identical in structure on the two sides guarantee symmetry, operation is convenient and fast, the ship can run according to the idea of the ship length without special adjustment, and operation stability is high.

As a modified embodiment, the left driving device is connected with the left straight wing control box 11, the left driving device comprises a first steering wheel 41 and a plurality of first propelling paddles 42, the first steering wheel 41 is connected with a left servo motor 111 in a linkage manner, when the left servo motor 111 rotates, the first steering wheel 41 rotates, a plurality of first transmission gears 43 and first rotation gears 44 are circumferentially arranged in the first steering wheel 41, the plurality of first transmission gears 43 and the first rotation gears 44 are correspondingly connected one by one, the plurality of first propulsion paddles 42 are correspondingly arranged on a rotating shaft of the first rotation gear 44 one by one, when the first rotating gear 44 rotates, the first propeller 42 rotates, the first steering wheel 41 is coaxially provided with a first main transmission gear 45, the first main transmission gear 45 is installed on the rotating shaft of the left propelling motor 112, and the plurality of first transmission gears 43 are all meshed with the first main transmission gear 45.

Through the technical scheme, when left servo motor 111 is rotatory, it is rotatory to drive first directive wheel 41, when first directive wheel 41 is rotatory, left propulsion motor 112 is rotatory, and then it is rotatory to drive first final drive gear 45, first final drive gear 45 is rotatory to drive a plurality of first drive gears 43 rotatory, the rotatory one-to-one of a plurality of first drive gears 43 drives a plurality of first drive gears 44 rotatory, a plurality of first drive gears 44 are rotatory to drive a plurality of first propulsion thick liquid 42 rotations, and then the promotion ship removes. The left propulsion motor 112 rotates to drive the first propulsion paddles 42 to rotate, and the first transmission gears 43 have the same number of teeth and size and the first rotation gears 44 have the same number of teeth and size. The rotating speed of each first propulsion propeller 42 is guaranteed to be the same, compared with the situation that each first propulsion propeller 42 is installed on the left propulsion motor 112 in a one-to-one correspondence mode, the number of the left propulsion motors 112 is reduced, the cost is reduced, the size of the whole straight wing rudder propeller is reduced, the rotating speed of each first propulsion propeller 42 can be guaranteed to be the same by means of one left propulsion motor 112, control is facilitated, and the propulsion effect is further improved.

As a specific embodiment of improvement, a first lifting adjusting device 46 is disposed on the first steering wheel 41, the first lifting adjusting device 46 includes a first lifting motor 461 and a first lifting gear, the first lifting gear is mounted on a rotating shaft of the first lifting motor 461, a plurality of first sliding grooves 47 distributed circumferentially are disposed on the first steering wheel 41, the rotating shafts of the plurality of first transmission gears 43 are mounted in the first sliding grooves 47 in a one-to-one correspondence manner, annular grooves are spaced on the rotating shaft of the first transmission gear 43 and can be engaged with the first lifting gear, a T-shaped first positioning block 48 is disposed on the rotating shaft of the plurality of first transmission gears 43, a first roller 481 and a second roller 482 are disposed on the upper side and the lower side of the first positioning block 48, a first limiting groove 470 is disposed on a groove wall of the first sliding groove 47, a first slider 471 is slidably connected in the first sliding groove 47, the first slider 471 is provided with a first limiting block 4711, the first limiting block 4711 is embedded in a first limiting groove 470, the upper side of the first slider 471 is provided with a plurality of first convex teeth, the first rotating wheel is provided with a first adjusting device 49, the first adjusting device 49 comprises a first adjusting motor 491 and a first adjusting gear, the first adjusting gear is fixed on the rotating shaft of the first adjusting motor 491, the first adjusting gear can be meshed with the first convex teeth, a first spring 472 is arranged in the first limiting groove 470, one end of the first spring 472 is abutted against the first limiting block 4711, and the other end of the first spring 472 is abutted against the groove wall of the first limiting groove 470.

Through the technical scheme, when a ship needs to be driven with high precision, the left driving device is completely stopped by stopping the left propelling motor 112 and the left servo motor 111, and each time a program controls the left driving device to stop, the vertical directions of the first positioning blocks 48 are all located in the corresponding first sliding grooves 47, the first lifting gear is meshed with the annular groove on the rotating shaft of any one first transmission gear 43, the first adjusting gear is meshed with the first convex tooth on any one first sliding block 471, the first adjusting motor rotates during adjustment, at the moment, the first adjusting gear rotates to drive the first convex tooth meshed with the first adjusting gear to move so as to drive the first sliding block 471 to move, at the moment, the first spring 472 is compressed, then the first lifting motor 461 rotates to drive the first rotating gear 44 meshed with the first lifting gear to ascend until the first transmission gear 43 is disengaged from the first rotating gear 44, at this moment, the first limiting block 4711 is completely located on the first steering wheel 41, then the first adjusting motor 491 rotates reversely to drive the first slider 471 to reset, at this moment, the second roller 482 is abutted to the first slider 471, the height position of the first transmission gear 43 is fixed, then when the left propelling motor 112 rotates, the first propelling gear 42 on the side does not rotate, the rest of the first propelling gears 42 are not affected, the above steps are repeated as required to enable the plurality of first propelling gears 42 to keep not rotating, the precision of the ship is further improved, the first lifting motor 461 and the first adjusting motor 491 are used to adjust the plurality of groups of first transmission gears 43 so as to enable any first propelling gear 42 to work or not work, the material consumption is reduced, energy conservation and environmental protection are achieved, the program can set corresponding angles according to the number of the first propelling gears 42, and the operation is more convenient. When the first transmission gear 43 normally rotates, the first roller 481 rolls over the first slider 471, the vertical height of the first transmission gear 43 is fixed, and the stability of the straight wing rudder propeller is high. During normal rotation, the elastic force of the first spring 472 pushes the groove walls of the first limit block 4711 and the first limit groove 470 to limit the position of the first limit block 4711, so as to limit the horizontal position of the first slider 471, and the first limit block 4711 is abutted against the groove wall of the first slider 471, so as to limit the vertical position of the first slider 471. The first roller 481 and the second roller 482 ensure stability and fluency when the first transmission gear 43 rotates.

When the irrotational first propelling movement 42 is restarted, the left driving device is completely stopped by stopping the left propelling motor 112 and the left servo motor 111, the first adjusting motor rotates, at this time, the first adjusting gear rotates to drive the first convex tooth engaged with the first adjusting gear to move, and further drive the first sliding block 471 to move, at this time, the first spring 472 is compressed, then the first lifting motor 461 reversely rotates to drive the first rotating gear 44 engaged with the first lifting motor to descend until the first driving gear 43 is completely engaged with the first rotating gear 44, at this time, the first positioning block 48 is completely positioned in the first rotating gear 41, then the first adjusting motor 491 reversely rotates to drive the first sliding block 471 to reset, at this time, the first roller 481 abuts against the first sliding block 471, the height position of the first driving gear 43 is fixed, and then when the left propelling motor 112 rotates, the first propelling movement 42 on the side simultaneously.

As a modified embodiment, the right driving device is connected with the right straight wing control box 12, the right driving device comprises a second steering wheel 51 and a plurality of second propelling paddles 52, the second steering wheel 51 is connected with a right servo motor 121 in a linkage way, when the right servo motor 121 rotates, the second steering wheel 51 rotates, a plurality of second transmission gears 53 and second rotating gears 54 are circumferentially arranged in the second steering wheel 51, the plurality of second transmission gears 53 and the second rotating gears 54 are correspondingly connected one by one, the plurality of second propelling paddles 52 are correspondingly arranged on a rotating shaft of the second rotating gears 54 one by one, when the second rotating gear 54 rotates, the second propelling blade 52 rotates, the second steering wheel 51 is coaxially provided with a second main transmission gear 55, the second main transmission gear 55 is installed on the rotating shaft of the right propelling motor 122, and a plurality of second transmission gears 53 are all meshed with the second main transmission gear 55.

Through the technical scheme, when the right servo motor 121 rotates, the second steering wheel 51 is driven to rotate, when the second steering wheel 51 rotates, the right propulsion motor 122 rotates to further drive the second main transmission gear 55 to rotate, the second main transmission gear 55 rotates to drive the plurality of second transmission gears 53 to rotate, the plurality of second transmission gears 53 rotate to drive the plurality of second rotating gears 54 to rotate in a one-to-one correspondence manner, and the plurality of second rotating gears 54 rotate to drive the plurality of second propulsion propellers 52 to rotate, so that the ship is pushed to move. The second propulsion paddles 52 are driven to rotate by the rotation of a right propulsion motor 122, the number of teeth and the size of the second transmission gears 53 are the same, and the number of teeth and the size of the second rotating gears 54 are the same. The rotating speed of each second propulsion propeller 52 is guaranteed to be the same, and compared with the fact that each second propulsion propeller 52 is installed on the right propulsion motor 122 in a one-to-one correspondence mode, the number of the right propulsion motors 122 is reduced, the cost is reduced, the size of the whole straight wing rudder propeller is reduced, the rotating speed of each second propulsion propeller 52 can be guaranteed to be the same by means of one right propulsion motor 122, control is facilitated, and the propulsion effect is further improved.

As an improved specific embodiment, a second lifting adjusting device 56 is disposed on the second steering wheel 51, the second lifting adjusting device 56 includes a second lifting motor 561 and a second lifting gear, the second lifting gear is mounted on a rotating shaft of the second lifting motor 561, a plurality of second sliding grooves 57 distributed along the circumference are disposed on the second steering wheel 51, the rotating shafts of a plurality of second transmission gears 53 are mounted in the second sliding grooves 57 in a one-to-one correspondence manner, annular grooves are disposed at intervals on the rotating shaft of the second transmission gears 53, the annular grooves can be engaged with the second lifting gear, T-shaped second positioning blocks 58 are disposed on the rotating shafts of the plurality of second transmission gears 53, third rollers 581 and fourth rollers 582 are disposed on the upper side and the lower side of the second positioning blocks 58, second limiting grooves 570 are disposed on the walls of the second sliding grooves 57, and second sliding blocks 571 are slidably connected in the second sliding grooves 57, the second slider 571 is provided with a second stopper 5711, the second stopper 5711 is embedded in a second stopper groove 570, the upper side of the second slider 571 is provided with a plurality of second protruding teeth, the second rotating wheel is provided with a second adjusting device 59, the second adjusting device 59 comprises a second adjusting motor 591 and a second adjusting gear, the second adjusting gear is fixed on a rotating shaft of the second adjusting motor 591 and can be meshed with the plurality of second protruding teeth, a second spring 572 is arranged in the second stopper groove 570, one end of the second spring 572 is abutted against the second stopper 5711, and the other end of the second spring 572 is abutted against the groove wall of the second stopper groove 570.

Through the technical scheme, when the ship needs to drive with high precision, the right driving device is completely stopped by stopping the right propelling motor 122 and the right servo motor 121, and when the program controls the right driving device to stop each time, the vertical directions of a plurality of second positioning blocks 58 are all positioned in the corresponding second sliding grooves 57, the second lifting gear is meshed with the annular groove on the rotating shaft of any one second transmission gear 53, the second adjusting gear is meshed with the second convex tooth on any one second sliding block 571, the second adjusting motor rotates during adjustment, the second adjusting gear rotates at the moment to drive the second convex tooth 572 meshed with the second adjusting gear to move so as to drive the second sliding block 571 to move, at the moment, the second spring is compressed, then the second lifting motor 561 rotates to drive the second rotating gear 54 meshed with the second lifting gear to ascend until the second transmission gear 53 is disengaged from the second rotating gear 54, at this time, the second positioning block 58 is completely positioned on the second steering wheel 51, then the second adjusting motor 591 rotates reversely to drive the second slider 571 to reset, at this time, the fourth roller 582 abuts against the second slider 571, the height position of the second transmission gear 53 is fixed, then when the right propelling motor 122 rotates, the second propelling pulp 52 on the side does not rotate, and the rest of the second propelling pulp 52 is not affected, the steps are repeated as required, so that the plurality of second propelling pulps 52 can be kept not rotating, the precision of the ship is further improved, one second lifting motor 561 and one second adjusting motor 591 can be used for adjusting the plurality of groups of second transmission gears 53 to enable any second propelling pulp 52 to work or not work, the material consumption is reduced, energy conservation and environmental protection are achieved, the program can set corresponding angles according to the number of the second propelling pulps 52, and the operation is more convenient. When the second transmission gear 53 normally rotates, the third roller 581 rolls over the second slider 571, the vertical height of the second transmission gear 53 is fixed, and the stability of the straight wing rudder propeller is high. When the second slider 571 rotates normally, the elastic force of the second spring 572 pushes the second stopper 5711 and the groove wall of the second stopper groove 570 to limit the position of the second stopper 5711, so as to limit the horizontal position of the second slider 571, and the second stopper 5711 abuts against the groove wall of the second slider 571, so as to limit the vertical position of the second slider 571. The third roller 581 and the fourth roller 582 ensure stability and fluency when the second transmission gear 53 rotates.

When the non-rotating second propelling slurry 52 is restarted, the right driving device is completely stopped by stopping the right propelling motor 122 and the right servo motor 121, the second adjusting motor rotates, at this time, the second adjusting gear rotates to drive the second convex teeth engaged with the second adjusting gear to move, and further drive the second sliding block 571 to move, at this time, the second spring 572 is compressed, then the second lifting motor 561 rotates reversely to drive the second rotating gear 54 engaged with the second lifting motor 561 to descend until the second transmission gear 53 is completely engaged with the second rotating gear 54, at this time, the second positioning block 58 is completely positioned in the second steering wheel 51, then the second adjusting motor 591 rotates reversely to drive the second sliding block 571 to reset, at this time, the third roller 581 abuts against the second sliding block 571, the height position of the second transmission gear 53 is fixed, and then when the right propelling motor 122 rotates, the second propelling slurry 52 on the side rotates simultaneously.

The left driving device and the right driving device on the left side and the right side can be accurately adjusted, and the accuracy of ship operation is further improved.

The above description is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above embodiments, and all technical solutions belonging to the idea of the present invention belong to the protection scope of the present invention. It should be noted that modifications and embellishments within the scope of the invention may occur to those skilled in the art without departing from the principle of the invention, and are considered to be within the scope of the invention.

Claims

1. The control system of the straight wing rudder propeller is characterized by comprising a straight wing rudder propeller control plate (1), wherein the straight wing rudder propeller control plate (1) is used for receiving a control instruction and outputting a control signal; the left straight wing control box (11) is connected with the straight wing rudder paddle control plate (1), and outputs a left steering signal and a left propulsion signal after receiving a control signal output by the straight wing rudder paddle control plate (1); the right straight wing control box (12), the said right straight wing control box (12) is connected with straight wing rudder paddle control panel (1), output right steering signal, right propulsion signal after receiving the control signal that the straight wing control panel outputs; the left servo motor (111) is connected with the left straight wing control box (11) and rotates according to a left steering signal, and the left propulsion motor (112) is connected with the left straight wing control box (11) and rotates according to a left propulsion signal; the left driving device is connected with the left straight wing control box (11) and comprises a first steering wheel (41) and a plurality of first propulsion paddles (42), the first steering wheel (41) is connected with the left servo motor (111) in a linkage manner, when the left servo motor (111) rotates, the first steering wheel (41) rotates, and a plurality of first transmission gears (43) and a plurality of first rotation gears (44) are circumferentially arranged in the first steering wheel (41), a plurality of first transmission gears (43) and first rotation gear (44) are connected in a one-to-one correspondence manner, a plurality of first propulsion paddles (42) are installed on the rotating shaft of the first rotation gear (44) in a one-to-one correspondence manner, when the first rotation gear (44) rotates, the first propulsion paddles (42) rotate, a first main transmission gear (45) is coaxially arranged on the first rotation wheel (41), the first main transmission gear (45) is installed on the rotating shaft of the left propulsion motor (112), a plurality of first transmission gears (43) are all meshed with the first main transmission gear (45), a first lifting adjusting device (46) is arranged on the first rotation wheel (41), the first lifting adjusting device (46) comprises a first lifting motor (461) and a first lifting gear, the first lifting gear is installed on the rotating shaft of the first lifting motor (461), a plurality of first sliding grooves (47) distributed along the circumference are arranged on the first rotation wheel (41), the rotating shafts of the first transmission gears (43) are correspondingly arranged in the first sliding grooves (47) one by one, annular grooves are formed in the rotating shafts of the first transmission gears (43) at intervals and can be meshed with the first lifting gears, T-shaped first positioning blocks (48) are arranged on the rotating shafts of the first transmission gears (43), first idler wheels (481) and second idler wheels (482) are respectively arranged on the upper sides and the lower sides of the first positioning blocks (48), first limiting grooves (470) are formed in the groove walls of the first sliding grooves (47), first sliding blocks (471) are connected in the first sliding grooves (47) in a sliding mode, first limiting blocks (4711) are arranged on the first sliding blocks (471), the first limiting blocks (4711) are embedded into the first limiting grooves (470), a plurality of first convex teeth are arranged on the upper sides of the first sliding blocks (471), and first adjusting devices (49) are arranged on the first rotating wheels, the first adjusting device (49) comprises a first adjusting motor (491) and a first adjusting gear, the first adjusting gear is fixed on a rotating shaft of the first adjusting motor (491), the first adjusting gear can be meshed with a plurality of first convex teeth, a first spring (472) is arranged in a first limit groove (470), one end of the first spring (472) is abutted against a first limit block (4711), the other side of the first spring is abutted against the groove wall of the first limit groove (470), the right driving device is connected with a right straight wing control box (12), the right driving device comprises a second steering wheel (51) and a plurality of second propelling paddles (52), the second steering wheel (51) is linked with a right servo motor (121), when the right servo motor (121) rotates, the second steering wheel (51) rotates, a plurality of second transmission gears (53) and a second rotating gear (54) are circumferentially arranged in the second steering wheel (51), the plurality of second transmission gears (53) are connected with the second rotating gears (54) in a one-to-one corresponding manner, the plurality of second propulsion paddles (52) are installed on a rotating shaft of the second rotating gears (54) in a one-to-one corresponding manner, when the second rotating gears (54) rotate, the second propulsion paddles (52) rotate, a second main transmission gear (55) is coaxially arranged on the second steering wheel (51), the second main transmission gear (55) is installed on the rotating shaft of the right propulsion motor (122), the plurality of second transmission gears (53) are all meshed with the second main transmission gear (55), a second lifting adjusting device (56) is arranged on the second steering wheel (51), the second lifting adjusting device (56) comprises a second lifting motor (561) and a second lifting gear, the second lifting gear is installed on the rotating shaft of the second lifting motor (561), and a plurality of second sliding grooves (57) distributed along the circumference are arranged on the second steering wheel (51), the rotating shafts of the second transmission gears (53) are correspondingly arranged in a second sliding groove (57) one by one, annular grooves are arranged on the rotating shafts of the second transmission gears (53) at intervals and can be meshed with a second lifting gear, T-shaped second positioning blocks (58) are arranged on the rotating shafts of the second transmission gears (53), a third roller (581) and a fourth roller (582) are respectively arranged on the upper side and the lower side of each second positioning block (58), a second limiting groove (570) is arranged on the groove wall of each second sliding groove (57), a second sliding block (571) is connected in the second sliding groove (57) in a sliding manner, a second limiting block (5711) is arranged on each second sliding block (571), the second limiting block (5711) is embedded into the second limiting groove (570), a plurality of second sliding teeth are arranged on the upper side of each second sliding block (571), and a second adjusting device (59) is arranged on each second rotating cam, the second adjusting device (59) comprises a second adjusting motor (591) and a second adjusting gear, the second adjusting gear is fixed on a rotating shaft of the second adjusting motor (591), the second adjusting gear can be meshed with a plurality of second convex teeth, a second spring (572) is arranged in the second limiting groove (570), one end of the second spring (572) is abutted to the second limiting block (5711), and the other end of the second spring is abutted to the groove wall of the second limiting groove (570).