CN114590389B - Control switching method of rudder angle control mode switching device - Google Patents

Control switching method of rudder angle control mode switching device Download PDF

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Publication number
CN114590389B
CN114590389B CN202210099663.8A CN202210099663A CN114590389B CN 114590389 B CN114590389 B CN 114590389B CN 202210099663 A CN202210099663 A CN 202210099663A CN 114590389 B CN114590389 B CN 114590389B
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shaft
manual
automatic
wheel
switching
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CN114590389A (en
Inventor
连雪海
吴富民
徐浩
罗新林
王旭
林乐毅
魏文炫
张建
欧阳春
唐文献
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China E Tech Ningbo Maritime Electronics Research Institute Co ltd
Jiangsu University of Science and Technology
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China E Tech Ningbo Maritime Electronics Research Institute Co ltd
Jiangsu University of Science and Technology
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Publication of CN114590389A publication Critical patent/CN114590389A/en
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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
    • B63H25/02—Initiating means for steering, for slowing down, otherwise than by use of propulsive elements, or for dynamic anchoring
    • B63H25/04—Initiating means for steering, for slowing down, otherwise than by use of propulsive elements, or for dynamic anchoring automatic, e.g. reacting to compass
    • 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
    • B63H25/02—Initiating means for steering, for slowing down, otherwise than by use of propulsive elements, or for dynamic anchoring
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T50/00—Aeronautics or air transport
    • Y02T50/40—Weight reduction

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  • Chemical & Material Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Combustion & Propulsion (AREA)
  • Mechanical Engineering (AREA)
  • Ocean & Marine Engineering (AREA)
  • Control Of Position Or Direction (AREA)

Abstract

The invention discloses a rudder angle control mode conversion device, which realizes the automatic switching of rudder angle manual and automatic control modes by controlling a manual-automatic switching wheel to ensure that a main shaft is respectively connected with a manual shaft and an automatic shaft in a switching way; in addition, through location electromagnetism round pin and location pit, locking electromagnetism round pin locking structure, make under electric fault or the power failure condition, align the connecting spline of manual axle and manual auto-change over wheel fast, the seat of switching simultaneously can freely remove, can make the manual work switch stable high-efficient. The invention also discloses a control and switching method of the switching device.

Description

Control switching method of rudder angle control mode switching device
Technical Field
The invention relates to the technical field of ship machinery, in particular to a control switching method of a rudder angle control mode switching device.
Background
At present, a ship steering mostly adopts a manual reversing rudder, namely, a main engine is provided with a pump or a motor is provided with a pump to generate high-pressure oil, the high-pressure oil is conveyed to a cab from an engine room through an oil pipe, a rudder hand operates a rudder wheel to drive a full-hydraulic steering gear to rotate left and right, and the high-pressure oil is controlled to be conveyed to a left cylinder or a right cylinder, so that the left steering and the right steering of the ship are controlled. With the progress of the technology, a large number of ships need to be provided with an automatic rudder system, so that the oil and the labor are saved, and the special application occasions such as trawl operation and the like can be met.
The traditional steering system is added with an automatic steering system in two ways, one way is that the electromagnetic valve reversing loop and the automatic steering system are added, the system controls the on-off of the electromagnetic valve to realize the left-right reversing of the steering engine, but the method needs to modify a hydraulic oil pipe, so the engineering quantity is large and the cost is high; and the other is to add a connector and an automatic steering system, and the connector can realize quick switching between manual steering and automatic steering.
In the patent of 'an automatic steering connector' (zl201820202706. X), a steering valve and a central coaxial steering rod assembly which drive a hydraulic steering gear to rotate are respectively connected with a steering wheel and a driving wheel of a driving device through a manual operation switching rod control switching mechanism, so that the switching between manual steering and automatic steering can be realized.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: the control and switching method of the rudder angle control mode switching device is fast and stable in switching and not prone to being stuck.
In order to solve the technical problems, the technical scheme adopted by the invention is as follows: a control and switching method of a rudder angle control mode switching device comprises a box body, a rudder wheel shaft is rotatably arranged in the box body in a penetrating mode, a rudder wheel is arranged at one end, penetrating out of the box body, of the rudder wheel shaft, one end, located in the box body, of the rudder wheel shaft is connected with a manual shaft rotatably arranged in the box body through a hand wheel coupling, the other end of the manual shaft is connected with a main shaft rotatably arranged in the box body through a manual end bearing, and the main shaft penetrates through a hollow automatic shaft rotatably arranged in the box body and is rotatably connected with the automatic shaft through an automatic end bearing; the main shaft can drive the commutator to rotate by rotating, so as to realize rudder angle control; an automatic shaft chain wheel is arranged on the periphery of the automatic shaft; a chain wheel automatic shaft chain wheel matched with the automatic shaft chain wheel is rotatably arranged in the box body and is connected with the chain wheel through a chain, and the shaft end of the chain wheel shaft of the chain wheel is connected with a driving motor main shaft arranged on the outer side of the box body through a chain wheel coupling; the main shaft is provided with a manual-automatic switching wheel, the main shaft is connected with the manual-automatic switching wheel in a sliding manner through a guide key, the guide key is arranged in a guide key groove which is arranged on the main shaft along the axial direction and is matched with the guide key groove on an inner hole of the manual-automatic switching wheel, and the manual-automatic switching wheel can slide along the main shaft;
when the manual-automatic switching wheel slides to the automatic shaft, the automatic end spline is matched with the automatic shaft spline groove, the automatic shaft rotation drives the main shaft to rotate, and further drives the commutator main shaft to rotate, so that rudder angle control is realized;
the automatic manual-automatic switching device is characterized in that a guide rail arranged along the length direction of a main shaft is arranged in a box body, a sliding block is arranged on the guide rail, a pushing cylinder for driving the sliding block to slide is arranged in the box body, a switching seat is arranged on the sliding block, a support is arranged on the side wall of the switching seat, a driving wheel is rotatably arranged on the support, two convex limiting rings are respectively arranged on the two side edges of the periphery of the driving wheel, and the edge of the manual-automatic switching wheel is positioned between the two limiting rings on the driving wheel; the top and the side of the switching seat are respectively provided with a locking electromagnetic pin, the locking electromagnetic pin is matched with a corresponding locking groove arranged on the output shaft of the push cylinder in an extending state, the sliding of the switching seat can be realized by the extension and contraction of the output shaft of the push cylinder, and the switching seat can freely slide in a retracting state of the locking electromagnetic pin;
the automatic shaft is provided with an automatic shaft hollow motor with an encoder, and the automatic shaft hollow motor can drive the automatic shaft to rotate and read the angle of the automatic shaft or brake and hold the automatic shaft tightly; the manual shaft hollow motor and the automatic shaft hollow motor only work in the automatic switching process;
a connecting core rod is movably embedded in the main shaft, at least one connecting pin is arranged on the periphery of the connecting core rod, the connecting pin penetrates through a connecting pin through hole formed in the main shaft, the end part of the connecting pin is inserted into a corresponding connecting pin mounting hole in the manual-automatic switching wheel, and the connecting core rod moves to drive the manual-automatic switching wheel to move;
the end face of the connecting core rod is provided with a clamping pit which is clamped with one end of a connecting rod movably arranged in the manual shaft and the main shaft in a penetrating way, the other end of the connecting rod penetrating out of the manual shaft is connected with the pull ring, and when the pull ring is pulled, the connecting core rod drives the manual-automatic switching wheel to move to slide to one side of the manual shaft so as to realize manual switching;
when the head of the positioning electromagnetic pin is sunk into the positioning pit, a manual end spline on the manual-automatic switching wheel is aligned with a manual shaft spline groove on the manual shaft, the steering wheel stops rotating, and a pull ring is pulled outwards to drive the main shaft and the manual-automatic switching wheel on the main shaft to slide to one side of the manual shaft;
the control and switching method is as follows: the initial state of the rudder angle control mode conversion device is an automatic control state or a manual control state, namely the main shaft is connected with an automatic shaft or a manual shaft; in the working process, the manual shaft hollow motor and the automatic shaft hollow motor respectively read and record the rotation angle alpha of the manual shaft 1 And the current rotation angle alpha of the automatic shaft 2 Meanwhile, the positioning electromagnetic pin retracts, and the locking electromagnetic pin extends out; when the rudder control adopts a manual control mode, the main shaft and the manual-automatic switching wheel are positioned on one side of the manual shaft, and a crew drives the manual shaft, the manual-automatic switching wheel and the main shaft to rotate by operating the steering wheel to drive the shaft of the commutator to rotate so as to realize rudder angle control; at this time, the handThe hollow motor of the moving shaft does not work, and only the real-time angle alpha of the manual shaft is read 1 The automatic shaft hollow motor locks the automatic shaft and records the current angle alpha of the automatic shaft 2 The driving motor does not work;
when the manual control mode is switched to the automatic control mode, the automatic shaft hollow motor drives the automatic shaft to rotate, so that the automatic shaft rotates by an angle alpha 2 ＝α 1 At the moment, an automatic end spline on the manual-automatic switching wheel is aligned with an automatic shaft spline groove on the automatic shaft, the push cylinder extends out to drive the driving wheel to move, the manual-automatic switching wheel is slid to one side of the automatic shaft, so that the automatic end spline is matched with the automatic shaft spline groove, and at the moment, the driving motor can drive the chain wheel and the automatic shaft to rotate so as to drive the main shaft to rotate and realize rudder angle control; at the moment, the rudder angle is in an automatic control state, the manual shaft is locked by the manual shaft hollow motor, and the current angle alpha of the manual shaft is recorded 1 When the automatic shaft hollow motor does not work, only the real-time angle alpha of the automatic shaft is read 2 ；
When the automatic control state is switched to the manual control state, the manual shaft hollow motor drives the manual shaft to rotate, so that the manual shaft rotates by an angle alpha 1 ＝α 2 And at the moment, a manual end spline on the manual-automatic switching wheel is aligned with a manual shaft spline groove on the manual shaft, the push cylinder retracts to drive the driving wheel to move, the manual-automatic switching wheel is slid to one side of the manual shaft, so that the manual end spline is matched with the manual shaft spline groove, and the manual shaft and the main shaft can be driven to rotate by controlling the rotation of the steering wheel, so that the steering angle control is realized.
Preferably, a plurality of uniformly distributed connecting pins are arranged on the periphery of the connecting core rod.
As a preferable scheme, a bearing with a seat for supporting a rudder wheel shaft is arranged in the box body; a bearing with a seat and a bearing with a seat for supporting the manual shaft are arranged in the box body; a bearing with a seat and a bearing with a seat for supporting the automatic shaft are arranged in the box body; the box body is internally provided with a bearing with a seat for supporting the chain wheel.
As a preferred scheme, when an electrical fault or power loss occurs, a manual method is adopted to realize emergency switching of a rudder angle control mode from automatic control to a manual control mode, which specifically comprises the following steps:
when an electrical fault or power failure occurs, the positioning electromagnetic pin extends out, and the locking electromagnetic pin retracts, so that the switching seat can freely slide, and the positioning electromagnetic pin is tightly attached to the plane of the positioning pit of the manual-automatic switching wheel; the steering wheel is rotated to drive the manual shaft and the positioning electromagnetic pin on the manual shaft to rotate, when the head of the positioning electromagnetic pin is sunk into the positioning pit, the manual end spline on the manual-automatic switching wheel is aligned with the manual shaft spline groove on the manual shaft, the steering wheel is stopped to rotate, the pull ring is pulled outwards, and the main shaft and the manual-automatic switching wheel on the main shaft can be driven to slide to one side of the manual shaft, so that manual quick switching is realized;
when the electrical fault is relieved or electrified again, the positioning electromagnetic pin retracts, the locking electromagnetic pin extends out, the push cylinder is controlled to stretch the output shaft, and the rudder angle control mode conversion device can enter a normal working state after the locking electromagnetic pin is aligned with the locking groove.
The invention has the beneficial effects that:
(1) The automatic switching between the manual rudder angle control mode and the automatic rudder angle control mode is realized by automatically controlling the manual-automatic switching wheel to ensure that the main shaft is respectively connected with the manual shaft and the automatic shaft in a switching way, and meanwhile, the quick alignment of the connecting splines is realized by controlling the angles of the manual shaft and the automatic shaft in the working process, so that the locking in the switching process is avoided;
(2) Through location electromagnetism round pin and location pit, locking electromagnetism round pin locking structure, make under electrical fault or the power failure condition, align the connecting spline of manual axis and manual auto-change over wheel fast, but the while switching seat free movement can make the manual work switch stable high-efficient.
Drawings
FIG. 1 is an overall view of the connector of the present invention;
FIG. 2 is a top view of the connector of the present invention;
FIG. 3 isbase:Sub>A cross-sectional view ofbase:Sub>A connector A-A of the present invention;
FIG. 4 is a cross-sectional view of a connector B-B of the present invention;
FIG. 5 is a view of the manual shaft configuration of the present invention;
FIG. 6 is a structural diagram of the manual/automatic switching wheel of the present invention;
FIG. 7 is a view of the automatic spindle of the present invention;
FIG. 8 is a view of the spindle of the present invention;
fig. 9 is a structural view of the connecting core rod of the present invention.
In the figure: 1-a steering wheel; 2-a pull ring; 3-a rudder wheel shaft; 4-a box body; 5-a hand wheel coupling; 6-a pedestal bearing; 7-manual shaft hollow motor; 8-a pedestal bearing; 9-positioning the electromagnetic pin; 10-a manual shaft; 101-mounting ears; 102-manual shaft spline grooves; 11-a manual-automatic switching wheel; 111-positioning pits; 112-a guide keyway; 113-connecting pin mounting holes; 114-manual end splines; 115-self-terminating splines; 12-a pedestal bearing; 13-automatic shaft hollow motor; 14-automatic shaft; 141-automatic shaft sprocket; 142-automatic shaft spline grooves; 15-a pedestal bearing; 16-automatic shaft coupling; 17-a commutator; 19-pushing the cylinder; 191-a locking groove; 20-a guide rail; 21-a slide block; 22-a support; 23-locking the electromagnetic pin; 24-driving wheels; 25-a switching seat; 27-a sprocket; 28-pedestal bearing; 29-sprocket coupling; 30-a drive motor; 31-connecting the core rod; 311-connecting pin; 312-snap-fit dimples; 32-a connecting rod; 33-a main shaft; 331-a guide keyway; 332-connecting pin vias; 34-a guide key; 35-manual end bearing; 36-automatic end bearing; 37-pedestal bearing.
Detailed Description
Specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings.
As shown in fig. 1-9, in a rudder angle control mode switching device, a rudder wheel 1 is connected with a rudder wheel shaft 3, the rudder wheel shaft 3 passes through a box 4 and a bearing with a seat 37, the bearing with a seat 37 is fixedly connected with the box 4, the rudder wheel shaft 3 is connected with a manual shaft 10 through a hand wheel coupling 5, the manual shaft 10 is supported by a bearing with a seat 6 and a bearing with a seat 8, the bearing with a seat 6 and the bearing with a seat 8 are fixedly connected with the box 4, and the rotation of the rudder wheel 1 can drive the manual shaft 10 to rotate;
the main shaft 33 is rotatably connected with the manual shaft 10 through a manual end bearing 35, the main shaft 33 is rotatably connected with the automatic shaft 14 through an automatic end bearing 36, the automatic shaft 14 is supported by a bearing 12 with a seat and a bearing 15 with a seat, the bearing 12 with a seat and the bearing 15 with a seat are fixedly connected with the box body 4, and the manual shaft 10, the main shaft 33 and the automatic shaft 14 can independently rotate and do not influence each other at the moment;
the tail end of the main shaft 33 is connected with a shaft of the commutator 17 through an automatic shaft coupler 16, the commutator 17 is fixedly connected with the box body 4, and the main shaft 33 rotates to drive the commutator 17 to rotate so as to realize rudder angle control;
an automatic shaft chain wheel 141 is arranged on the automatic shaft 14, the automatic shaft chain wheel 141 is connected with a chain wheel 27 through a chain, the chain wheel 27 is supported by a bearing 28 with a seat, the bearing 28 with the seat is fixedly connected with the box body 4, the chain wheel 27 is connected with a main shaft of a driving motor 30 through a chain wheel coupling 29, and the driving motor 30 can drive the chain wheel 27 to rotate so as to drive the automatic shaft 14 to rotate;
the manual-automatic switching wheel 11 is arranged on the main shaft 33, the main shaft 33 is connected with the manual-automatic switching wheel in a sliding mode through the guide key 34, the guide key 34 is arranged on the guide key slot 331 in the main shaft 33 and matched with the guide key slot 112 in the inner hole of the manual-automatic switching wheel 11, and the manual-automatic switching wheel 11 can slide along the main shaft 33;
the manual end spline 114 and the automatic end spline 115 are respectively arranged at two axial ends of the manual-automatic switching wheel 11, the manual shaft spline 102 is arranged in an inner hole of the manual shaft 10, the automatic shaft spline 142 is arranged in an inner hole of the automatic shaft 14, when the manual-automatic switching wheel 11 slides to the manual shaft 10, the manual end spline 114 is matched with the manual shaft spline 102, the manual shaft 10 rotates to drive the main shaft 33 to rotate, the commutator main shaft is driven to rotate, and the rudder angle control is realized, when the manual-automatic switching wheel 11 slides to the automatic shaft 14, the automatic end spline 115 is matched with the automatic shaft spline 142, the automatic shaft 14 rotates to drive the main shaft 33 to rotate, the commutator main shaft is driven to rotate, and the rudder angle control is realized;
in order to realize the automatic sliding of the manual-automatic switching wheel 11, the manual-automatic switching wheel 11 is limited by a driving wheel 24 and a flange arranged on the driving wheel 24, the driving wheel 24 is fixed on a switching seat 25 through a support 22, the switching seat 25 is arranged on a sliding block 21, the sliding block 21 can slide along a guide rail 20, the switching seat 25 is connected with an output shaft of a push cylinder 19, and the switching seat 25 can be driven by the push cylinder 19 to slide; the driving wheel 24 slides to drive the manual-automatic switching wheel 11 to slide along the main shaft 33, so that automatic switching of the manual-automatic switching wheel 11 is realized;
the top and the side of the switching seat 25 are provided with locking electromagnetic pins 23, the locking electromagnetic pins 23 are matched with the locking grooves 191 on the output shaft of the push cylinder 19 in the extending state, the sliding of the switching seat 25 can be realized by the extension and contraction of the output shaft of the push cylinder 19, and the switching seat 25 can freely slide in the retracting state of the locking electromagnetic pins 23;
the manual shaft 10 is provided with a manual shaft hollow motor 7, the manual shaft hollow motor 7 is provided with an encoder, the manual shaft hollow motor 7 can drive the manual shaft to rotate, and the functions of reading the angle of the manual shaft and braking and holding tightly can be achieved; an automatic hollow shaft motor 13 is arranged on the automatic shaft 14, the automatic hollow shaft motor 13 is provided with an encoder, the automatic hollow shaft 13 can drive the automatic shaft 13 to rotate, and the functions of reading the angle of the manual shaft and braking and holding can also be realized; the manual shaft hollow motor 7 and the automatic shaft hollow motor 13 only work in the automatic switching process, and at the moment, the manual shaft 10 or the automatic shaft 14 is not connected with the main shaft 33 and is in an idle state, so that the torque for driving the manual shaft hollow motor to rotate is small, and the low-torque hollow motor can be used for avoiding waste;
the connecting core rod 31 is arranged in the main shaft 33, the connecting core rod 31 is provided with a plurality of uniformly distributed connecting pins 311, when the connecting core rod is assembled, the connecting pins 311 are arranged on the connecting core rod 31 through the connecting pin mounting holes 113, the connecting pins 311 penetrate through the connecting pin through holes 332 and are inserted into the connecting pin mounting holes 113 on the manual-automatic switching wheel 11, and the connecting core rod 31 can drive the manual-automatic switching wheel 11 to move when moving;
the connecting core rod 31 is provided with a clamping pit 312, the clamping pit 312 is hinged with one end of the connecting rod 32, the other end of the connecting rod 32 is connected with the pull ring 2, and when the pull ring 2 is pulled, the connecting core rod 31 can drive the manual-automatic switching wheel 11 to move and slide towards one side of the manual shaft 10, so that manual switching is realized;
the manual-automatic switching wheel 11 is provided with a plurality of uniformly distributed positioning pits 111 on one side facing the manual shaft 10, the manual shaft 10 is provided with a plurality of uniformly distributed mounting lugs 101, the mounting lugs 101 are provided with positioning electromagnetic pins 9, the positioning electromagnetic pins 9 can be tightly attached to the plane of the positioning pits 111 of the manual-automatic switching wheel 11 in the extending state, the manual shaft 10 can be driven to rotate by rotating the steering wheel 1 with the positioning electromagnetic pins 9 thereon, when the heads of the positioning electromagnetic pins 9 sink into the positioning pits 111, at this time, the manual end spline 114 on the manual-automatic switching wheel 11 is aligned with the manual shaft spline groove 102 on the manual shaft 10, the steering wheel 1 stops rotating, the main shaft 33 and the manual-automatic switching wheel 11 thereon can be driven to slide to one side of the manual shaft 10 by pulling the pull ring 2 outwards, and the switching and the dead state can not occur.
The control and switching method of the rudder angle control mode switching device comprises the following specific steps:
the initial state of the connector is an automatic control state or a manual control state, namely the main shaft 33 is connected with the automatic shaft 14 or the manual shaft 10; during the working process, the manual shaft hollow motor 7 and the automatic shaft hollow motor 13 respectively read and record the rotation angle alpha of the manual shaft 10 1 And the current angle of rotation alpha of the automatic shaft 14 2 Meanwhile, the positioning electromagnetic pin 9 retracts, and the locking electromagnetic pin 23 extends;
when the rudder control adopts a manual control mode, the main shaft 33 and the manual-automatic switching wheel 11 are positioned at one side of the manual shaft 10, and a shipman drives the manual shaft 10, the manual-automatic switching wheel 11 and the main shaft 33 to rotate by operating the rudder wheel 1 to drive the main shaft of the commutator 17 to rotate so as to realize rudder angle control; at this time, the manual shaft hollow motor 7 does not work, and the real-time angle alpha of the manual shaft 10 is read only 1 The automatic shaft hollow motor 13 locks the automatic shaft 14 and records the current angle alpha of the automatic shaft 14 2 The driving motor 30 does not operate;
when the manual control mode is switched to the automatic control mode, the automatic shaft hollow motor 13 drives the automatic shaft 14 to rotate, so that the automatic shaft 14 rotates by an angle alpha 2 ＝α 1 At this time, the automatic end spline 115 on the manual-automatic switching wheel 11 is aligned with the automatic shaft spline groove 142 on the automatic shaft 14, the push cylinder 19 extends out to drive the driving wheel 24 to move, the manual-automatic switching wheel 11 slides to one side of the automatic shaft 14, so that the automatic end spline 115 is matched with the automatic shaft spline groove 142, and at this time, the driving motor 30 can drive the chain wheel 27 and the automatic shaft 14 to rotate, further drive the main shaft 33 to rotate, and control of the rudder angle is realized;
at the moment, the rudder angle is in an automatic control state, the manual shaft is locked by the manual shaft hollow motor 7, and the current angle alpha of the manual shaft is recorded 1 When the automatic shaft hollow motor 13 does not work, the real-time angle alpha of the automatic shaft 14 is read only 2 ；
When the automatic control state is switched to the manual control state, the manual shaft hollow motor 7 drives the manual shaft 10 to rotate, so that the manual shaft 10 rotates by an angle alpha 1 ＝α 2 When the manual end spline 114 on the manual-automatic switching wheel 11 is aligned with the manual shaft spline groove 102 on the manual shaft 10, the cylinder is pushedThe driving wheel 19 retracts to drive the driving wheel 24 to move, the manual-automatic switching wheel 11 slides to one side of the manual shaft 10, the manual end spline 114 is matched with the manual shaft spline groove 102, and the manual shaft 10 and the main shaft 33 can be driven to rotate by controlling the rotation of the steering wheel 1 at the moment, so that the steering angle control is realized;
the method is a method for automatically switching the rudder angle control mode from manual control or automatic control under normal conditions, when an electrical fault or power loss occurs, the rudder angle control mode needs to be switched from the automatic control to the manual control mode emergently, and at the moment, the manual control mode can be adopted for switching, and the method is concretely as follows.
When an electrical fault or power failure occurs, the positioning electromagnetic pin 9 extends out, the locking electromagnetic pin 23 retracts, at this time, the switching seat 25 can slide freely, the positioning electromagnetic pin 9 is attached to the plane of the positioning concave pit 111 of the manual-automatic switching wheel 11, the steering wheel 1 is rotated to drive the manual shaft 10 to rotate with the positioning electromagnetic pin 9 thereon, when the head of the positioning electromagnetic pin 9 is sunk into the positioning concave pit 111, at this time, the manual end spline 114 on the manual-automatic switching wheel 11 is aligned with the manual shaft spline groove 102 on the manual shaft 10, the steering wheel 1 is stopped to rotate, the pull ring 2 is pulled outwards, the main shaft 33 and the manual-automatic switching wheel 11 thereon can be driven to slide to one side of the manual shaft 10, manual quick switching is realized, and the switching clamping situation is avoided;
when the electrical fault is relieved or the power is supplied again, the positioning electromagnetic pin 9 retracts, and the locking electromagnetic pin 23 extends, but because the position of the switching seat 25 is changed, the extending end of the locking electromagnetic pin 23 is not aligned with the locking groove 191 on the push cylinder 19, so that the push cylinder 19 needs to be controlled to extend and retract the output shaft, and the locking electromagnetic pin 23 can enter a normal working state after being aligned with the locking groove 191.
The foregoing embodiments are illustrative only of the principles and utilities of the present invention, as well as some embodiments, and are not intended to limit the invention; it should be noted that various changes and modifications can be made by those skilled in the art without departing from the inventive concept, and these changes and modifications fall within the scope of the invention.

Claims (4)

1. A control and switching method of a rudder angle control mode switching device comprises a box body, a rudder wheel shaft is rotatably arranged in the box body in a penetrating mode, a rudder wheel is arranged at one end, penetrating out of the box body, of the rudder wheel shaft, one end, located in the box body, of the rudder wheel shaft is connected with a manual shaft rotatably arranged in the box body through a hand wheel coupling, the other end of the manual shaft is connected with a main shaft rotatably arranged in the box body through a manual end bearing, and the main shaft penetrates through a hollow automatic shaft rotatably arranged in the box body and is rotatably connected with the automatic shaft through an automatic end bearing; the main shaft can drive the commutator to rotate by rotating, so as to realize rudder angle control; an automatic shaft chain wheel is arranged on the periphery of the automatic shaft; a chain wheel automatic shaft chain wheel matched with the automatic shaft chain wheel is rotatably arranged in the box body and is connected with the chain wheel through a chain, and the shaft end of the chain wheel shaft is connected with a driving motor main shaft arranged outside the box body through a chain wheel coupling; the main shaft is provided with a manual-automatic switching wheel, the main shaft is connected with the manual-automatic switching wheel in a sliding manner through a guide key, the guide key is arranged in a guide key groove arranged on the main shaft along the axial direction and matched with the guide key groove on an inner hole of the manual-automatic switching wheel, and the manual-automatic switching wheel can slide along the main shaft;
the manual-automatic switching wheel is provided with a manual end spline and an automatic end spline at two ends of the axial direction respectively, a manual shaft inner hole is provided with a manual shaft spline groove, an automatic shaft inner hole is provided with an automatic shaft spline groove, when the manual-automatic switching wheel slides to the manual shaft, the manual end spline is matched with the manual shaft spline groove, the manual shaft rotation drives the main shaft to rotate at the moment, and further drives the commutator main shaft to rotate, so that rudder angle control is realized, when the manual-automatic switching wheel slides to the automatic shaft, the automatic end spline is matched with the automatic shaft spline groove, the automatic shaft rotation drives the main shaft to rotate at the moment, and further drives the commutator main shaft to rotate, so that rudder angle control is realized;
the automatic manual-automatic switching device is characterized in that a guide rail arranged along the length direction of a main shaft is arranged in a box body, a sliding block is arranged on the guide rail, a pushing cylinder for driving the sliding block to slide is arranged in the box body, a switching seat is arranged on the sliding block, a support is arranged on the side wall of the switching seat, a driving wheel is rotatably arranged on the support, two convex limiting rings are respectively arranged on the two side edges of the periphery of the driving wheel, and the edge of the manual-automatic switching wheel is positioned between the two limiting rings on the driving wheel; the top and the side of the switching seat are respectively provided with a locking electromagnetic pin, the locking electromagnetic pin is matched with a corresponding locking groove arranged on the output shaft of the push cylinder in an extending state, the sliding of the switching seat can be realized by the extension and contraction of the output shaft of the push cylinder, and the switching seat can freely slide in a retracting state of the locking electromagnetic pin;
the automatic shaft is provided with an automatic shaft hollow motor with an encoder, and the automatic shaft hollow motor can drive the automatic shaft to rotate and read the angle of the automatic shaft or brake and hold the automatic shaft tightly; the manual shaft hollow motor and the automatic shaft hollow motor only work in the automatic switching process;
a connecting core rod is movably embedded in the main shaft, at least one connecting pin is arranged on the periphery of the connecting core rod, the connecting pin penetrates through a connecting pin through hole formed in the main shaft, the end part of the connecting pin is inserted into a corresponding connecting pin mounting hole in the manual-automatic switching wheel, and the connecting core rod moves to drive the manual-automatic switching wheel to move;
the end face of the connecting core rod is provided with a clamping pit which is clamped with one end of a connecting rod movably arranged in the manual shaft and the main shaft in a penetrating way, the other end of the connecting rod penetrating out of the manual shaft is connected with the pull ring, and when the pull ring is pulled, the connecting core rod drives the manual-automatic switching wheel to move to slide to one side of the manual shaft so as to realize manual switching;
the manual-automatic switching wheel is characterized in that a plurality of uniformly distributed positioning pits are formed in one side, facing the manual shaft, of the manual shaft, a plurality of uniformly distributed mounting lugs are arranged on the periphery of the manual shaft, positioning electromagnetic pins are mounted on the mounting lugs, the positioning electromagnetic pins are tightly attached to the plane of the positioning pits of the manual-automatic switching wheel in an extending state, the steering wheel is rotated to drive the manual shaft to rotate with the positioning electromagnetic pins on the manual shaft, when the heads of the positioning electromagnetic pins are sunk into the positioning pits, a manual end spline on the manual-automatic switching wheel is aligned with a manual shaft spline groove on the manual shaft, the steering wheel is stopped to rotate at the moment, and a pull ring is pulled outwards to drive the main shaft and the manual-automatic switching wheel on the main shaft to slide to one side of the manual shaft;
the control and switching method is as follows: the initial state of the rudder angle control mode conversion device is an automatic control state or a manual control state, namely the main shaft is connected with an automatic shaft or a manual shaft; in the working process, the manual shaft hollow motorAnd the automatic shaft hollow motor respectively reads and records the rotation angle alpha of the manual shaft 1 And the current rotation angle alpha of the automatic shaft 2 Meanwhile, the positioning electromagnetic pin retracts, and the locking electromagnetic pin extends out; when the rudder control adopts a manual control mode, the main shaft and the manual-automatic switching wheel are positioned at one side of the manual shaft, and a crew drives the manual shaft, the manual-automatic switching wheel and the main shaft to rotate by operating the rudder wheel to drive the shaft of the commutator to rotate so as to realize rudder angle control; at the moment, the manual shaft hollow motor does not work, and only the real-time angle alpha of the manual shaft is read 1 The automatic shaft hollow motor locks the automatic shaft and records the current angle alpha of the automatic shaft 2 The driving motor does not work;
when the manual control mode is switched to the automatic control mode, the automatic shaft hollow motor drives the automatic shaft to rotate, so that the automatic shaft rotates by an angle alpha 2 ＝α 1 At the moment, an automatic end spline on the manual-automatic switching wheel is aligned with an automatic shaft spline groove on the automatic shaft, the push cylinder extends out to drive the driving wheel to move, the manual-automatic switching wheel is slid to one side of the automatic shaft, so that the automatic end spline is matched with the automatic shaft spline groove, and at the moment, the driving motor can drive the chain wheel and the automatic shaft to rotate so as to drive the main shaft to rotate and realize rudder angle control; at the moment, the rudder angle is in an automatic control state, the manual shaft is locked by the manual shaft hollow motor, and the current angle alpha of the manual shaft is recorded 1 When the automatic shaft hollow motor does not work, only the real-time angle alpha of the automatic shaft is read 2 ；
When the automatic control state is switched to the manual control state, the manual shaft hollow motor drives the manual shaft to rotate, so that the manual shaft rotates by an angle alpha 1 ＝α 2 And at the moment, the manual end spline on the manual-automatic switching wheel is aligned with the manual shaft spline groove on the manual shaft, the push cylinder retracts to drive the driving wheel to move, the manual-automatic switching wheel is slid to one side of the manual shaft, so that the manual end spline is matched with the manual shaft spline groove, and the manual shaft and the main shaft can be driven to rotate by controlling the rotation of the steering wheel to realize steering angle control.
2. A control and switching method of a rudder angle control mode switching device according to claim 1, characterized in that: and a plurality of uniformly distributed connecting pins are arranged on the periphery of the connecting core rod.
3. A control and switching method of a rudder angle control mode switching device according to claim 1, characterized in that: a bearing with a seat for supporting a rudder wheel shaft is arranged in the box body; a bearing with a seat and a bearing with a seat for supporting the manual shaft are arranged in the box body; a bearing with a seat and a bearing with a seat for supporting the automatic shaft are arranged in the box body; the box body is internally provided with a bearing with a seat for supporting the chain wheel.
4. A control and switching method of a rudder angle control mode switching device according to any one of claims 1 to 3, characterized in that: when an electrical fault or power loss occurs, the rudder angle control mode is switched from the automatic control mode to the manual control mode by a manual method, specifically as follows:
when an electrical fault or power failure occurs, the positioning electromagnetic pin extends out, and the locking electromagnetic pin retracts, so that the switching seat can freely slide, and the positioning electromagnetic pin is tightly attached to the plane of the positioning pit of the manual-automatic switching wheel; the steering wheel is rotated to drive the manual shaft and the positioning electromagnetic pin on the manual shaft to rotate, when the head of the positioning electromagnetic pin is sunk into the positioning pit, the manual end spline on the manual-automatic switching wheel is aligned with the manual shaft spline groove on the manual shaft, the steering wheel is stopped to rotate, the pull ring is pulled outwards, and the main shaft and the manual-automatic switching wheel on the main shaft can be driven to slide to one side of the manual shaft, so that manual quick switching is realized;
when the electrical fault is relieved or the power is supplied again, the positioning electromagnetic pin retracts, the locking electromagnetic pin extends out, the telescopic output shaft of the push cylinder is controlled, and the rudder angle control mode conversion device can enter a normal working state after the locking electromagnetic pin is aligned with the locking groove.
CN202210099663.8A 2022-01-27 2022-01-27 Control switching method of rudder angle control mode switching device Active CN114590389B (en)

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB9514822D0 (en) * 1995-07-19 1995-09-20 Morse Controls Boat steering drive systems
CN105129065B (en) * 2015-08-12 2017-10-20 中电科（宁波）海洋电子研究院有限公司 Automatic rudder system based on electronic steering wheel
CN107140170B (en) * 2017-05-10 2023-08-25 中电科（宁波）海洋电子研究院有限公司 Steering device
CN207809753U (en) * 2018-02-06 2018-09-04 南京海善达信息科技有限公司 A kind of autopilot connector
CN211618054U (en) * 2019-12-31 2020-10-02 南京海善达信息科技有限公司 External disconnect-type autopilot connector
CN111099007A (en) * 2019-12-31 2020-05-05 南京海善达信息科技有限公司 External autopilot connector
CN211196578U (en) * 2019-12-31 2020-08-07 南京海善达信息科技有限公司 External integral type autopilot connector
CN214493316U (en) * 2021-03-09 2021-10-26 南京海善达信息科技有限公司 Manual-automatic integrated steering device and ship

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