CN218198790U

CN218198790U - Outboard engine direction automatic control actuating mechanism and unmanned ship

Info

Publication number: CN218198790U
Application number: CN202222488470.XU
Authority: CN
Inventors: 李晓宇; 赵一鉴
Original assignee: Zhidao Innovation Tianjin Technology Co ltd
Current assignee: Zhidao Innovation Tianjin Technology Co ltd
Priority date: 2022-09-20
Filing date: 2022-09-20
Publication date: 2023-01-03
Anticipated expiration: 2032-09-20

Abstract

The application belongs to the technical field of boat design, and particularly relates to an outboard engine direction automatic control actuating mechanism and an unmanned boat. The actuating mechanism comprises a coupler (22), an encoder (23), a speed reducer (24) and a motor (25), an output shaft of the motor (25) is connected with the speed reducer (24), an output shaft of the speed reducer (24) is connected with a gear rudder disc (21) of a direction system through the coupler (22), the coupler (22) is provided with a first external gear, an input shaft of the encoder (23) is provided with a second external gear which is meshed with the first external gear, and the encoder is used for recording a rotation angle of the coupler (22) and feeding back the rotation angle to an upper computer; the motor (25) is controlled by a motor control system, and the outboard engine direction automatic control actuating mechanism controls the outboard engine (13) to rotate through the direction system (12). The gear that this application structure is reliable, and the shaft coupling links to each other with the encoder has the speed reduction ratio, has improved the angle precision who obtains.

Description

Outboard engine direction automatic control actuating mechanism and unmanned ship

Technical Field

The application belongs to the technical field of boat design, and particularly relates to an outboard engine direction automatic control actuating mechanism and an unmanned boat.

Background

At present, a boat generally drives a steering wheel through a driver, and then drives an outboard engine to rotate through a direction system, so that the boat is driven to deflect.

The outboard engine is a detachable power device which is hung on a stern board of a boat and can push the boat and the boat to sail, and is also called as an outboard engine, a boat operating machine and a hanging machine. On a manned ship, the direction of an outboard engine is generally controlled by a rudder, and the rudder is connected to a manned front steering wheel through a flexible shaft or a hydraulic oil pipe. On the unmanned ship, the outboard engine's direction needs to be controlled by unmanned automatic control system, among the prior art, unmanned aerial vehicle automatic control system is through direct drive outboard engine, and this embodiment drives the rotation effect of outboard engine and is less than ideal, and the leading cause lies in the atress condition of outboard engine is more complicated, and unmanned aerial vehicle automatic control system drives power and applys the effect and receives the countermeasures, consequently is necessary to design a new outboard engine direction automatic control actuating mechanism of a section to drive the outboard engine.

SUMMERY OF THE UTILITY MODEL

In order to solve at least one of the above technical problems, a first aspect of the present application provides an outboard engine direction automatic control actuator, which mainly includes a coupler, an encoder, a speed reducer and a motor, wherein an output shaft of the motor is connected with the speed reducer, an output shaft of the speed reducer is connected with a gear rudder disc of a direction system through the coupler, the coupler is provided with a first external gear, an input shaft of the encoder is provided with a second external gear meshed with the first external gear, and the encoder is used for recording a rotation angle of the coupler and feeding back the rotation angle to an upper computer;

wherein the motor is configured to be controlled by a motor control system, and the outboard motor direction automatic control actuating mechanism controls the rotation of the outboard motor through a direction system with a gear steering wheel.

Preferably, still include the mount, the mount encloses into installation space through a plurality of stands, motor and speed reducer are fixed the latter half of installation space, the shaft coupling is fixed the first half of installation space to have the protrusion installation space's output shaft is connected with the input shaft of the gear steering wheel of setting above the mount.

Preferably, the motor, the speed reducer and the coupling are concentrically connected in the fixing frame.

Preferably, the fixing frame further includes an upper base plate, a middle plate, and an upper base plate that are penetrated and fixed by the pillar, the speed reducer and the encoder are fixed to a bottom surface of the middle plate, an output shaft of the encoder penetrates the middle plate, the second external gear is installed above the middle plate, and the first external gear of the coupling and the second external gear of the encoder are engaged above the middle plate.

Preferably, the encoder is an absolute encoder.

Preferably, the motor is a direct current motor.

The application second aspect provides an unmanned ship, include as above outboard engine direction automatic control actuating mechanism, outboard engine direction automatic control actuating mechanism passes through the rotation of directional system control outboard engine, the outboard engine is installed at unmanned ship rear end, through rotary drive unmanned ship deflects.

Preferably, the steering system comprises a power transmission device and a power application device, the outboard engine direction automatic control actuator drives a gear rudder disc to rotate, the gear rudder disc transmits driving force to the power application device through the power transmission device, and the power application device drives the outboard engine to rotate.

Preferably, the power transmission device comprises a flexible shaft or a hydraulic oil pipe.

Preferably, the power applying means comprises a push rod or a hydraulic rudder.

This application has reused the supporting direction system of traditional manned ship control outboard engine direction, makes its input cost reduction that manned ship changed unmanned ship, and the structure is reliable. The gear that shaft coupling and encoder link to each other has the speed reduction ratio, improves the angle precision who obtains.

Drawings

Fig. 1 is a front view of an actuator according to a preferred embodiment of the outboard motor direction automatic control actuator of the present application.

Fig. 2 is a perspective view of the actuator of the embodiment of fig. 1 of the present application.

Fig. 3 is a schematic view of the structure of the unmanned boat of the present application.

The system comprises a 10-unmanned boat, a 12-direction system, a 13-outboard engine, a 20-outboard engine direction automatic control actuating mechanism, a 21-gear rudder disk, a 22-coupler, a 23-encoder, a 24-speed reducer, a 25-motor and a 26-fixing frame.

Detailed Description

In order to make the implementation objects, technical solutions and advantages of the present application clearer, the technical solutions in the embodiments of the present application will be described in more detail below with reference to the accompanying drawings in the embodiments of the present application. In the drawings, the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The described embodiments are some, but not all embodiments of the present application. The embodiments described below with reference to the drawings are exemplary and intended to be used for explaining the present application, and should not be construed as limiting the present application. All other embodiments obtained by a person of ordinary skill in the art without any inventive work based on the embodiments in the present application are within the scope of protection of the present application. Embodiments of the present application will be described in detail below with reference to the drawings.

A first aspect of the application provides an outboard engine direction automatic control actuating mechanism, as shown in fig. 1 and fig. 2, which mainly comprises a coupler 22, an encoder 23, a speed reducer 24 and a motor 25, wherein an output shaft of the motor 25 is connected with the speed reducer 24, an output shaft of the speed reducer 24 is connected with a gear rudder disc 21 of a direction system through the coupler 22, the coupler 22 is provided with a first external gear, an input shaft of the encoder 23 is provided with a second external gear meshed with the first external gear, and the encoder is used for recording a rotation angle of the coupler 22 and feeding back the rotation angle to an upper computer;

the motor 25 is configured to be controlled by a motor control system, and the outboard motor direction automatic control actuator controls the rotation of the outboard motor 13 through the direction system 12 with the gear rudder plate 21.

The outboard engine direction automatic control actuating mechanism has replaced the effect of manned ship steering wheel, and controlling means should provide more than the steering wheel and rotate required moment of torsion, and this moment of torsion size is about 8Nm. The coupling 22 is used as an intermediate structural member to connect an output shaft of the speed reducer 24 and an input shaft of the gear rudder plate 21, and transmits the torque of the motor 25, so that the gear rudder plate 21 rotates to drive the flexible shaft and the push rod connected with the flexible shaft. Meanwhile, the encoder 23 is driven to rotate through a gear on the coupler 22, the rotation angle is recorded, and the rotation angle is fed back to the upper computer. The gear that shaft coupling and encoder link to each other has the reduction ratio, improves the angle precision who obtains.

In some optional embodiments, the device further comprises a fixing frame 26, the fixing frame 26 encloses an installation space through a plurality of columns, the motor 25 and the speed reducer 24 are fixed on the lower half portion of the installation space, the coupler is fixed on the upper half portion of the installation space, and has an output shaft protruding out of the installation space and connected with an input shaft of the gear tiller 21 arranged above the fixing frame 26.

In some alternative embodiments, the motor 25, the reducer 24, and the coupling 22 are concentrically coupled within the mount 26.

In some optional embodiments, the fixing frame 26 further includes an upper base plate, an intermediate plate, and an upper base plate, the speed reducer 24 and the encoder 23 are fixed on a bottom surface of the intermediate plate, the output shaft of the encoder 23 passes through the intermediate plate, and the second external gear is mounted above the intermediate plate, and the first external gear of the coupling 22 and the second external gear of the encoder 23 are engaged above the intermediate plate.

In some alternative embodiments, the encoder 23 is an absolute encoder. The application adopts an absolute encoder, each position corresponds to an angle, and the absolute encoder is unique, anti-interference and free from power failure memory.

In some alternative embodiments, the motor 25 is a dc motor.

The second aspect of the present application provides an unmanned boat, as shown in fig. 3, including outboard engine direction automatic control actuating mechanism 20 as described above, outboard engine direction automatic control actuating mechanism 20 controls outboard engine 13 to rotate through directional system 12, outboard engine 13 is installed at the rear end of unmanned boat, and through rotary drive unmanned boat deflects.

In some alternative embodiments, the steering system includes a power transmission device and a power application device, the outboard engine steering actuator 20 drives the gear tiller 21 to rotate, and the gear tiller 21 transmits a driving force to the power application device through the power transmission device, and the outboard engine 13 is driven to rotate by the power application device.

In some alternative embodiments, the power transfer device includes a flexible shaft or hydraulic tubing.

In some alternative embodiments, the power application device comprises a push rod or a hydraulic rudder.

The above description is only for the specific embodiments of the present application, but the scope of the present application is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present application should be covered within the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims

1. The outboard engine direction automatic control actuating mechanism is characterized by comprising a coupler (22), an encoder (23), a speed reducer (24) and a motor (25), wherein an output shaft of the motor (25) is connected with the speed reducer (24), an output shaft of the speed reducer (24) is connected with a gear rudder disc (21) of a direction system through the coupler (22), the coupler (22) is provided with a first external gear, an input shaft of the encoder (23) is provided with a second external gear meshed with the first external gear, and the encoder is used for recording a rotation angle of the coupler (22) and feeding back the rotation angle to an upper computer;

wherein the motor (25) is configured to be controlled by a motor control system, and the outboard motor direction automatic control actuating mechanism controls the outboard motor (13) to rotate through a direction system (12) with a gear steering wheel (21);

the outboard engine direction automatic control actuating mechanism further comprises a fixing frame (26), the fixing frame (26) forms an installation space through a plurality of upright posts in a surrounding mode, the motor (25) and the speed reducer (24) are fixed to the lower half portion of the installation space, the coupler is fixed to the upper half portion of the installation space, is provided with an output shaft protruding out of the installation space, and is connected with an input shaft of a gear steering wheel (21) arranged above the fixing frame (26);

the fixing frame (26) further comprises an upper bottom plate, a middle plate and an upper bottom plate, the middle plate and the upper bottom plate are penetrated and fixed by the upright column, the speed reducer (24) and the encoder (23) are fixed to the bottom surface of the middle plate, an output shaft of the encoder (23) penetrates through the middle plate, the second external gear is installed above the middle plate, and the first external gear of the coupler (22) is meshed with the second external gear of the encoder (23) above the middle plate.

2. The outboard engine directional automatic control actuator of claim 1, wherein the motor (25), the speed reducer (24) and the coupling (22) are concentrically connected within a mount (26).

3. The outboard motor direction automatic control actuator of claim 1, wherein said encoder (23) is an absolute encoder.

4. The outboard motor direction automatic control actuator of claim 1, wherein said motor (25) is a dc motor.

5. An unmanned ship, characterized in that, comprises an outboard engine direction automatic control actuator (20) according to any one of claims 1 to 4, the outboard engine direction automatic control actuator (20) controls an outboard engine (13) to rotate through a direction system (12), the outboard engine (13) is installed at the rear end of the unmanned ship, and the unmanned ship is driven to deflect through rotation.

6. The unmanned ship as claimed in claim 5, wherein the steering system comprises a power transmission device and a power application device, the outboard motor direction automatic control actuator (20) drives the gear tiller (21) to rotate, the gear tiller (21) transmits a driving force to the power application device through the power transmission device, and the outboard motor (13) is driven to rotate by the power application device.

7. The unmanned boat of claim 6, wherein the power transmission comprises a flexible shaft or hydraulic tubing.

8. The unmanned boat of claim 6, wherein the power application device comprises a push rod or a hydraulic rudder.