JP2011246052A - Outdrive device and steering system for the outdrive device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a technology capable of automatically setting the steering angle of an outdrive device at a steering center, when the steering angle of the outdrive device becomes unknown.SOLUTION: A steering system 100 for outdrive devices includes: a hydraulic steering actuator 20 which turns the outdrive device 10 by sliding of a piston provided inside a cylinder sleeve; a spool valve 30 for switching the sliding direction of the piston by changing the flow direction of hydraulic oil of the hydraulic actuator 20 for steering; and a controller 40 for changing the flow direction of the hydraulic oil by transmitting a control signal to the spool valve 30. The steering system includes a piston detection sensor 27 for detecting a piston which is positioned when the steering angle of the outdrive device 10 becomes the steering center. The controller 40 controls the spool valve 30 on the basis of an electric signal from the piston detection sensor 27 and sets the steering angle of the outdrive device 10 to the steering center.

Description

  The present invention relates to a technology of a steering system for an outdrive device.

  2. Description of the Related Art Conventionally, an inboard / outboard motor (an inboard engine / outboard drive) that arranges an engine inside a hull and transmits power to an outdrive device arranged outside the hull is known. The outdrive device is a propulsion device that propels the hull by rotating a screw propeller, and is also a rudder device that turns the hull by rotating with respect to the traveling direction of the hull.

  Such an outdrive device is freely rotated by a steering hydraulic actuator provided in the outdrive device (see, for example, Patent Document 1). The rotation angle of the outdrive device, that is, the rudder angle is grasped based on the detection result of a stroke sensor or the like attached to the steering hydraulic actuator.

  However, in a configuration in which the rudder angle is grasped using a stroke sensor or the like, for example, when the stroke sensor fails and the rudder angle cannot be grasped, it is impossible to operate the boat. Therefore, there has been a demand for a technique that can automatically set the rudder angle of the outdrive device to the rudder center when the rudder angle of the outdrive device becomes unknown for some reason.

JP-A-1-285486

  The present invention has been made to solve such a problem, and provides a technique capable of automatically setting the rudder angle of the outdrive device to the rudder center when the rudder angle of the outdrive device becomes unknown. The purpose is that.

  The problem to be solved by the present invention is as described above. Next, means for solving the problem will be described.

That is, in claim 1, a steering hydraulic actuator that rotates the outdrive device by sliding a piston provided in the cylinder sleeve;
A spool valve that changes a flow direction of hydraulic oil of the steering hydraulic actuator and switches a sliding direction of the piston;
A control device that transmits a control signal to the spool valve to change the flow direction of hydraulic oil, and a steering system for an outdrive device,
Comprising a piston detection sensor that can detect the piston located when the rudder angle of the outdrive device is the rudder center;
The control device controls the spool valve based on an electric signal from the piston detection sensor, thereby setting the rudder angle of the outdrive device to the rudder center.

  According to a second aspect of the present invention, in the steering system for an outdrive device according to the first aspect, a second piston detection sensor is provided at one end in the sliding range of the piston.

  According to a third aspect of the present invention, in the steering system for an outdrive device according to the first aspect, a second piston detection sensor is provided at one end in the sliding range of the piston, and a third piston detection sensor is provided at the other end. It is supposed to be provided.

  As effects of the present invention, the following effects can be obtained.

  According to the first aspect of the present invention, the stop position of the piston can be controlled based on the electric signal from the piston detection sensor. Thereby, the rudder angle of the outdrive device can be accurately set at the rudder center.

  According to invention of Claim 2, it can detect that a piston exists in the one end part in the sliding range of this piston. Thereby, the rudder angle of the outdrive device can be quickly set to the rudder center.

  According to the third aspect of the present invention, even if the piston located when the rudder angle of the outdrive device becomes the rudder center cannot be detected for some reason, it can be detected again. Become. As a result, the rudder angle of the outdrive device can be reliably set at the rudder center.

The figure which shows the whole structure of the steering system for out-drive apparatuses. The figure which shows the structure of an outdrive apparatus. 1 is a diagram illustrating a configuration of a steering hydraulic actuator. FIG. The other figure which shows the structure of the hydraulic actuator for steering. The figure which shows the structure of a spool valve. The figure which shows the control flow of the steering system for outdrive apparatuses which concerns on 1st embodiment of this invention. The figure which shows the control flow of the steering system for outdrive apparatuses which concerns on 2nd embodiment of this invention. The figure which shows the control flow of the steering system for outdrive apparatuses which concerns on 3rd embodiment of this invention.

  First, the overall configuration of the outdrive device steering system 100 will be described with reference to FIGS. 1 to 5. FIG. 1 shows an outdrive device steering system 100 in a so-called biaxial propulsion system that includes two outdrive devices 10. However, for example, a uniaxial propulsion system may be used. It is not limited.

  The outdrive device steering system 100 is a control system that rotates the outdrive device 10 in accordance with the operation of the steering handle 2. The outdrive device steering system 100 mainly includes an outdrive device 10, a steering hydraulic actuator 20, a spool valve 30, and a control device 40.

  The outdrive device 10 is a propulsion device that propels the hull 1 by rotating the screw propeller 15. The outdrive device 10 is also a rudder device that turns the hull 1 by turning with respect to the traveling direction of the hull 1. As shown in FIG. 2, the outdrive device 10 mainly includes an input shaft 11, a switching clutch 12, a drive shaft 13, an output shaft 14, and a screw propeller 15.

  The input shaft 11 is a rotating shaft that transmits the rotational power of the engine 3 transmitted through the universal joint 4 to the switching clutch 12. One end portion of the input shaft 11 is connected to the universal joint 4 attached to the output shaft of the engine 3, and the other end portion is connected to the switching clutch 12 disposed in the upper housing 10 </ b> U.

  The switching clutch 12 is a rotational direction switching device that can switch the rotational power of the engine 3 transmitted via the input shaft 11 or the like to the forward rotation direction or the reverse rotation direction. The switching clutch 12 has a forward rotating bevel gear connected to an inner drum provided with a disk plate and a reverse rotating bevel gear, and presses the pressure plate of the outer drum connected to the input shaft 11 against any disk plate. The direction of rotation is switched depending on the situation.

  The drive shaft 13 is a rotating shaft that transmits the rotational power of the engine 3 transmitted through the switching clutch 12 and the like to the output shaft 14. The bevel gear provided at one end of the drive shaft 13 meshes with the forward rotation bevel gear and the reverse rotation bevel gear provided in the switching clutch 12, and the bevel gear provided at the other end of the lower housing 10R. It meshes with the bevel gear of the output shaft 14 arranged inside.

  The output shaft 14 is a rotating shaft that transmits the rotational power of the engine 3 transmitted through the drive shaft 13 and the like to the screw propeller 15. The bevel gear provided at one end of the output shaft 14 meshes with the bevel gear of the drive shaft 13 as described above, and a screw propeller 15 is attached to the other end.

  The screw propeller 15 generates propulsive force by rotating. The screw propeller 15 is driven by the rotational power of the engine 3 transmitted through the output shaft 14 and the like, and a plurality of blades 15a arranged around the rotational shaft generate a propulsive force by removing surrounding water.

  The outdrive device 10 is supported by a gimbal housing 5 attached to a stern board (transom board) of the hull 1. Specifically, the outdrive device 10 is supported by the gimbal housing 5 so that the gimbal ring 16 of the outdrive device 10 is substantially perpendicular to the water line wl. The gimbal ring 16 is a substantially cylindrical rotation shaft attached to the outdrive device 10, and the outdrive device 10 can rotate about the gimbal ring 16.

  A steering arm 17 extending to the inside of the hull 1 is attached to the upper end portion of the gimbal ring 16. Then, the steering arm 17 rotates the outdrive device 10 around the gimbal ring 16. The steering arm 17 is driven by a steering hydraulic actuator 20 that is interlocked according to the operation of the steering handle 2.

  The steering hydraulic actuator 20 is a hydraulic device that drives the steering arm 17 of the outdrive device 10 to rotate the outdrive device 10. As shown in FIG. 3, the steering hydraulic actuator 20 mainly includes a cylinder sleeve 21, a piston 22, a rod 23, a first cylinder cap 24, a second cylinder cap 25, a stroke sensor 26, and a piston detection. Sensor 27. The steering hydraulic actuator 20 according to the present embodiment is a so-called single rod type hydraulic actuator, but may be a double rod type as shown in FIG.

  The cylinder sleeve 21 is a substantially circular tube-like member in which the piston 22 is slidably provided. Both end portions of the cylinder sleeve 21 are provided with flange portions 21b projecting in the circumferential direction, and bolt portions for fixing the first cylinder cap 24 or the second cylinder cap 25 to the flange portion 21b. Is provided.

  The piston 22 is a substantially cylindrical member that slides inside the cylinder sleeve 21 by receiving hydraulic pressure. The piston 22 is provided with a through hole 22h coaxially with the central axis of the piston 22, and a rod 23 is inserted into the through hole 22h. In addition, ring grooves 22g and 22g are provided in parallel in the circumferential direction on the outer peripheral surface of the piston 22, and seal rings 221 and 221 are provided around the ring grooves 22g and 22g. Further, a permanent magnet 222 is attached as a magnetic member between the seal rings 221 and 221 and on the outer peripheral surface of the piston 22.

  The rod 23 is a substantially cylindrical member that transmits the sliding movement of the piston 22 to the steering arm 17. One end portion of the rod 23 is provided with a reduced diameter portion 23ta in which the outer diameter of the rod 23 is reduced. The rod 23 is fixed to the piston 22 by being screwed with a nut 231 in a state where the reduced diameter portion 23 ta is inserted into the through hole 22 h of the piston 22. Further, the other end portion of the rod 23 is provided with a reduced diameter portion 23tb obtained by reducing the outer diameter of the rod 23. The rod 23 is fixed to the clevis 18 by a nut 232 being screwed in a state where the reduced diameter portion 23 tb is inserted into the through hole 18 h of the clevis 18. The clevis 18 is a connecting member that connects the rod 23 and the steering arm 17.

  The first cylinder cap 24 is a lid member that seals one end of the cylinder sleeve 21. The first cylinder cap 24 is provided with a first oil passage 24p that communicates with a first oil chamber Oc1 constituted by a cylinder sleeve 21 and a piston 22. In addition, a ring groove 24g is provided in the circumferential direction on the circumferential wall surface inserted into the cylinder sleeve 21, and a seal ring 241 is provided around the circumferential wall surface. Thereby, the first oil chamber Oc1 constitutes a pressure chamber that can withstand a predetermined oil pressure.

  The second cylinder cap 25 is a bearing member that seals the other end of the cylinder sleeve 21 and slidably supports the rod 23. The second cylinder cap 25 is provided with a second oil passage 25p communicating with the second oil chamber Oc2 constituted by the cylinder sleeve 21 and the piston 22. Further, a ring groove 25ga is provided in the circumferential direction on the peripheral wall surface inserted into the cylinder sleeve 21, and a seal ring 251 is provided around the ring wall. Further, the second cylinder cap 25 is provided with a through hole 25h coaxially with the central axis of the cylinder sleeve 21, and the rod 23 is slidably inserted into the through hole 25h. A ring groove 25gb is provided in the circumferential direction on the inner peripheral surface of the through hole 25h, and a seal ring 252 is fitted in the ring groove 25gb. Thus, the second oil chamber Oc2 constitutes a pressure-resistant chamber that can withstand a predetermined oil pressure.

  The stroke sensor 26 is a magnetic sensor that detects a permanent magnet 222 attached to the piston 22. The stroke sensor 26 is attached to the outer peripheral surface of the cylinder sleeve 21 so as to be parallel to the sliding direction of the piston 22 at least within a range in which the piston 22 can slide. Thereby, the control apparatus 40 can grasp | ascertain the position of the piston 22, and can grasp | ascertain the steering angle of the outdrive apparatus 10 by extension.

  The piston detection sensor 27 is a magnetic sensor that detects a permanent magnet 222 attached to the piston 22. The piston detection sensor 27 is attached to a location where the piston 22 located when the rudder angle of the outdrive device 10 becomes the rudder center can be detected. Thereby, the control apparatus 40 can confirm that the piston 22 exists in the position where the rudder angle of the outdrive apparatus 10 becomes a rudder center.

  The stroke sensor 26 and the piston detection sensor 27 are mainly composed of so-called Hall elements that convert an output voltage in accordance with a change in magnetic flux density. The Hall element detects the strength of the magnetic field from the potential difference (Hall voltage) caused by the Lorentz force by utilizing the Lorentz force acting on the electrons due to the interaction between the magnetic field and the current. In the present embodiment, the Hall element is used as the main component of the magnetic sensor, but a magnetic resistance element whose electric resistance value changes according to the strength of the magnetic field may be used. However, the present invention is not limited to this.

  The spool valve 30 is a switching valve that switches the sliding direction of the piston 22 by changing the flow direction of the hydraulic oil. As shown in FIG. 5, the spool valve 30 mainly includes a valve body 31, a spool shaft 32, and an electric actuator 33.

  The valve body 31 is a substantially circular tube-like member in which a spool shaft 32 is slidably provided. The valve body 31 is provided with a barrel hole 31h in which a spool shaft 32 is provided, and the barrel hole 31h is connected to a supply / discharge port 31pa connected to the oil passages 24p and 25p of the steering hydraulic actuator 20. -31 pb is provided. The barrel hole 31h is provided with a pump port 31pp that communicates with the hydraulic oil pump 50 and a return port 31rp that communicates with the hydraulic oil tank 60. Furthermore, the valve body 31 is provided with an oil passage 31ol that connects the supply / discharge port 31pb and the return port 31rp on condition that the spool shaft 32 is in a predetermined position.

  The spool shaft 32 is a substantially cylindrical member that slides inside the cylinder sleeve 21 by the electric actuator 33. The spool shaft 32 is provided with reduced-diameter portions 32ta, 32tb, and 32tc that reduce the outer diameter of the spool shaft 32, and when the spool shaft 32 slides, the ports 31pa, 31pb, 31pp, and 31rp are provided. Communicate or block between each other.

  The electric actuator 33 is a power source that drives the spool shaft 32 by a control signal from the control device 40. The electric actuator 33 in the present embodiment is a double-action variable electromagnetic actuator, and drives the spool shaft 32 by utilizing the fact that the movable iron core is attracted to the magnetized electromagnetic coil.

  The control device 40 creates a control signal based on electrical signals from the steering handle 2, the piston detection sensor 27, and the like, and transmits the created control signal to the electric actuator 33 of the spool valve 30 and the like. In addition, the control device 40 generates a control signal based on information from a global positioning system (GPS), and can transmit the generated control signal to the electric actuator 33 and the like. In other words, the control device 40 enables so-called automatic navigation in which the navigation route is automatically calculated by calculating the route from its own position and the set destination, in addition to the boat operation manually performed by the operator.

  The control mode of the steering system 100 for an outdrive device according to the first embodiment of the present invention will be described below. FIG. 6 shows a control flow of the outdrive device steering system 100.

  The control device 40 starts the control described below when it is determined that the steering angle of the outdrive device 10 has become unknown for some reason, such as a failure of the stroke sensor 26 attached to the steering hydraulic actuator 20.

  First, in step S101, the control device 40 determines in what state the permission / non-permission switch for determining whether or not to execute this control is present. That is, the control device 40 determines whether or not the rudder angle of the outdrive device 10 is automatically set to the rudder center when the rudder angle of the outdrive device 10 becomes unknown.

  When the control device 40 determines that the permission switch is in the on state, i.e., performs control with the rudder angle of the outdrive device 10 as the rudder center, the control device 40 proceeds to step S102 and the permission switch is in the off state. That is, when it is determined not to perform control with the rudder angle of the outdrive device 10 as the rudder center, the control is terminated.

  In step S102, the control device 40 slides the spool shaft 32 to a predetermined position by transmitting a control signal to the electric actuator 33 of the spool valve 30 (see FIG. 5B). As a result, the piston 22 of the steering hydraulic actuator 20 slides in the direction of the arrow L shown in FIGS.

  Specifically, the control device 40 causes the supply / discharge port 31pa and the pump port 31pp to communicate with each other by sliding the spool shaft 32, and the supply / discharge port 31pb and the return port 31rp to communicate (see FIG. 5B). . Thus, the hydraulic oil pumped from the hydraulic oil pump 50 is supplied to the first oil chamber Oc1 through the first oil passage 24p, and the hydraulic oil in the second oil chamber Oc2 passes through the second oil passage 25p. And returned to the hydraulic oil tank 60. By doing so, the hydraulic pressure applied to the first oil chamber Oc1 is higher than the hydraulic pressure applied to the second oil chamber Oc2, and the piston 22 separating the first oil chamber Oc1 and the second oil chamber Oc2 It slides to the Oc2 side.

  In step S <b> 103, the control device 40 starts counting up a timer built in the control device 40. Thereby, the control apparatus 40 can grasp | ascertain the elapsed time after transmitting a control signal in step S102, and makes it possible to estimate the position of the piston 22.

  In step S104, the control device 40 determines whether or not an elapsed time since the transmission of the control signal in step S102 or step S115 described later has exceeded a predetermined time. The predetermined time is equal to half of the required time when the piston 22 slides from one end to the other end in the sliding range of the piston 22.

  Then, the control device 40 determines that there is a possibility that the elapsed time since the transmission of the control signal in step S102 does not exceed the predetermined time, that is, the piston 22 has not reached one end in the sliding range. When the process proceeds to step S105, when it is determined that the elapsed time since the transmission of the control signal in step S102 has exceeded a predetermined time, that is, the piston 22 has reached one end in the sliding range. The process proceeds to step S115.

  In step S115, the control device 40 slides the spool shaft 32 to a predetermined position by transmitting a control signal to the electric actuator 33 of the spool valve 30 (see FIG. 5C). As a result, the piston 22 of the steering hydraulic actuator 20 slides in the direction of the arrow R shown in FIGS.

  Specifically, the control device 40 causes the supply / discharge port 31pa and the return port 31rp to communicate with each other by sliding the spool shaft 32, and allows the supply / discharge port 31pb and the pump port 31pp to communicate (see FIG. 5C). . Thus, the hydraulic oil pumped from the hydraulic oil pump 50 is supplied to the second oil chamber Oc2 through the second oil passage 25p, and the hydraulic oil in the first oil chamber Oc1 passes through the first oil passage 24p. And returned to the hydraulic oil tank 60. By doing so, the hydraulic pressure applied to the second oil chamber Oc2 becomes higher than the hydraulic pressure applied to the first oil chamber Oc1, and the piston 22 separating the second oil chamber Oc2 and the first oil chamber Oc1 It slides to the Oc1 side.

  In step S116, the control device 40 starts counting up a timer built in the control device 40. Thereby, the control apparatus 40 can grasp | ascertain the elapsed time after transmitting a control signal in step S115, and makes it possible to estimate the position of the piston 22.

  In step S <b> 105, the control device 40 determines whether or not the piston detection sensor 27 has detected the piston 22. Specifically, it is determined whether the piston detection sensor 27, which is a magnetic sensor, has detected the permanent magnet 222 attached to the piston 22. As described above, the piston detection sensor 27 is attached to a location where the piston 22 located when the rudder angle of the outdrive device 10 becomes the rudder center can be detected.

  The control device 40 proceeds to step S106 when the piston detection sensor 27 detects the piston 22, that is, when it is determined that the piston 22 is at a position where the rudder angle of the outdrive device 10 is the rudder center. When the detection sensor 27 cannot detect the piston 22, that is, when it is determined that the piston 22 is not in a position where the rudder angle of the outdrive device 10 is set to the rudder center, the process returns to step S104.

  In step S106, the control device 40 slides the spool shaft 32 to a predetermined position by transmitting a control signal to the electric actuator 33 of the spool valve 30 (see FIG. 5A). As a result, the piston 22 of the steering hydraulic actuator 20 stops at a position where the rudder angle of the outdrive device 10 becomes the rudder center.

  More specifically, the control device 40 causes the ports 31pa, 31pb, 31pp, and 31rp to be blocked by sliding the spool shaft 32 (see FIG. 5A). As a result, the hydraulic oil pumped from the hydraulic oil pump 50 is not supplied to the first oil chamber Oc1 and the second oil chamber Oc2, and the hydraulic oil in each of the oil chambers Oc1 and Oc2 is not returned to the hydraulic oil tank 60. By doing so, the piston 22 that separates the first oil chamber Oc1 and the second oil chamber Oc2 stops at a position where the rudder angle of the outdrive device 10 becomes the rudder center.

  With such a configuration, since the stop position of the piston 22 can be controlled based on the electrical signal from the piston detection sensor 27, the rudder angle of the outdrive device 10 can be accurately set to the rudder center.

  In this embodiment, the piston 22 is slid toward the second oil chamber Oc2 in step S102 (see arrow L in FIGS. 3 and 4), and the piston 22 is moved to the first oil chamber Oc1 in step S115. Although it slides to the side (see arrow R in FIGS. 3 and 4), it may slide in the opposite direction, and the sliding direction of the piston 22 is not limited.

  Next, the control mode of the steering system 200 for an outdrive device according to the second embodiment of the present invention will be described. FIG. 7 shows a control flow of the steering system 200 for an outdrive device. Note that the present embodiment is different from the steering system 100 for an outdrive device according to the first embodiment in that a second piston detection sensor 28 is provided in addition to the piston detection sensor 27. The second piston detection sensor 28 is provided at one end (maximum stroke position) in the sliding range of the piston 22.

  The control device 40 starts the control described below when it is determined that the steering angle of the outdrive device 10 has become unknown for some reason, such as a failure of the stroke sensor 26 attached to the steering hydraulic actuator 20.

  First, in step S201, the control device 40 determines in what state the permission / non-permission switch for determining whether or not to execute this control is present. That is, the control device 40 determines whether or not the rudder angle of the outdrive device 10 is automatically set to the rudder center when the rudder angle of the outdrive device 10 becomes unknown.

  When the control device 40 determines that the permission switch is in the on state, i.e., performs control with the rudder angle of the outdrive device 10 as the rudder center, the control device 40 proceeds to step S202 and the permission switch is in the off state. That is, when it is determined not to perform control with the rudder angle of the outdrive device 10 as the rudder center, the control is terminated.

  In step S202, the control device 40 slides the spool shaft 32 to a predetermined position by transmitting a control signal to the electric actuator 33 of the spool valve 30 (see FIG. 5B). As a result, the piston 22 of the steering hydraulic actuator 20 slides in the direction of the arrow L shown in FIGS.

  Specifically, the control device 40 causes the supply / discharge port 31pa and the pump port 31pp to communicate with each other by sliding the spool shaft 32, and the supply / discharge port 31pb and the return port 31rp to communicate (see FIG. 5B). . Thus, the hydraulic oil pumped from the hydraulic oil pump 50 is supplied to the first oil chamber Oc1 through the first oil passage 24p, and the hydraulic oil in the second oil chamber Oc2 passes through the second oil passage 25p. And returned to the hydraulic oil tank 60. By doing so, the hydraulic pressure applied to the first oil chamber Oc1 is higher than the hydraulic pressure applied to the second oil chamber Oc2, and the piston 22 separating the first oil chamber Oc1 and the second oil chamber Oc2 It slides to the Oc2 side.

  In step S203, the control device 40 determines whether or not the piston detection sensor 28 has detected the piston 22. Specifically, it is determined whether or not the piston detection sensor 28 that is a magnetic sensor has detected the permanent magnet 222 attached to the piston 22. As described above, the piston detection sensor 28 is provided at one end (maximum stroke position) in the sliding range of the piston 22.

  The control device 40 proceeds to step S214 when the piston detection sensor 28 detects the piston 22, that is, when it is determined that the piston 22 is at one end (maximum stroke position) in the sliding range of the piston 22. When the piston detection sensor 28 cannot detect the piston 22, that is, when it is determined that the piston 22 is not at one end (maximum stroke position) in the sliding range of the piston 22, the process proceeds to step S204.

  In step S214, the control device 40 slides the spool shaft 32 to a predetermined position by transmitting a control signal to the electric actuator 33 of the spool valve 30 (see FIG. 5C). As a result, the piston 22 of the steering hydraulic actuator 20 slides in the direction of the arrow R shown in FIGS.

  Specifically, the control device 40 causes the supply / discharge port 31pa and the return port 31rp to communicate with each other by sliding the spool shaft 32, and allows the supply / discharge port 31pb and the pump port 31pp to communicate (see FIG. 5C). . Thus, the hydraulic oil pumped from the hydraulic oil pump 50 is supplied to the second oil chamber Oc2 through the second oil passage 25p, and the hydraulic oil in the first oil chamber Oc1 passes through the first oil passage 24p. And returned to the hydraulic oil tank 60. By doing so, the hydraulic pressure applied to the second oil chamber Oc2 becomes higher than the hydraulic pressure applied to the first oil chamber Oc1, and the piston 22 separating the second oil chamber Oc2 and the first oil chamber Oc1 It slides to the Oc1 side.

  In step S204, the control device 40 determines whether or not the piston detection sensor 27 has detected the piston 22. Specifically, it is determined whether the piston detection sensor 27, which is a magnetic sensor, has detected the permanent magnet 222 attached to the piston 22. In addition, the piston detection sensor 27 is the place which can detect about the piston 22 located when the rudder angle of the outdrive apparatus 10 turns into the rudder center similarly to the steering system 100 for outdrive apparatuses which concerns on 1st embodiment. Has been placed.

  The control device 40 proceeds to step S205 when the piston detection sensor 27 detects the piston 22, that is, when it is determined that the piston 22 is in a position where the rudder angle of the outdrive device 10 is the rudder center, the process proceeds to step S205. When the detection sensor 27 cannot detect the piston 22, that is, when it is determined that the piston 22 is not in a position where the rudder angle of the outdrive device 10 is set to the rudder center, the process returns to step S203.

  In step S205, the control device 40 slides the spool shaft 32 to a predetermined position by transmitting a control signal to the electric actuator 33 of the spool valve 30 (see FIG. 5A). As a result, the piston 22 of the steering hydraulic actuator 20 stops at a position where the rudder angle of the outdrive device 10 becomes the rudder center.

  More specifically, the control device 40 causes the ports 31pa, 31pb, 31pp, and 31rp to be blocked by sliding the spool shaft 32 (see FIG. 5A). As a result, the hydraulic oil pumped from the hydraulic oil pump 50 is not supplied to the first oil chamber Oc1 and the second oil chamber Oc2, and the hydraulic oil in each of the oil chambers Oc1 and Oc2 is not returned to the hydraulic oil tank 60. By doing so, the piston 22 that separates the first oil chamber Oc1 and the second oil chamber Oc2 stops at a position where the rudder angle of the outdrive device 10 becomes the rudder center.

  With such a configuration, since it can be detected that the piston 22 is at one end (maximum stroke position) in the sliding range of the piston 22, the rudder angle of the outdrive device 10 can be quickly set to the rudder center. It is.

  In this embodiment, the piston 22 is slid toward the second oil chamber Oc2 in step S202 (see arrow L in FIGS. 3 and 4), and the piston 22 is moved to the first oil chamber Oc1 in step S214. Although it slides to the side (see arrow R in FIGS. 3 and 4), it may slide in the opposite direction, and the sliding direction of the piston 22 is not limited. However, it should be noted that the attachment position of the piston detection sensor 28 at this time needs to be the other end in the sliding range of the piston 22.

  Next, a control mode of the outdrive device steering system 300 according to the third embodiment of the present invention will be described. FIG. 8 shows a control flow of the outdrive device steering system 300. The embodiment differs from the steering system 100 for an outdrive device according to the first embodiment in that a second piston detection sensor 28 and a third piston detection sensor 29 are provided in addition to the piston detection sensor 27. To do. The second piston detection sensor 28 is provided at one end (maximum stroke position) in the sliding range of the piston 22, and the third piston detection sensor 29 is the other end (stroke) in the sliding range of the piston 22. (Minimum position).

  The control device 40 starts the control described below when it is determined that the steering angle of the outdrive device 10 has become unknown for some reason, such as a failure of the stroke sensor 26 attached to the steering hydraulic actuator 20.

  First, in step S301, the control device 40 determines in what state the permission / non-permission switch for determining whether or not to execute this control is present. That is, the control device 40 determines whether or not the rudder angle of the outdrive device 10 is automatically set to the rudder center when the rudder angle of the outdrive device 10 becomes unknown.

  Then, when the control device 40 determines that the permission switch is in the on state, i.e., performs control with the rudder angle of the outdrive device 10 as the rudder center, the control device 40 proceeds to step S302 and the permission switch is in the off state. That is, when it is determined not to perform control with the rudder angle of the outdrive device 10 as the rudder center, the control is terminated.

  In step S302, the control device 40 slides the spool shaft 32 to a predetermined position by transmitting a control signal to the electric actuator 33 of the spool valve 30 (see FIG. 5B). As a result, the piston 22 of the steering hydraulic actuator 20 slides in the direction of the arrow L shown in FIGS.

  Specifically, the control device 40 causes the supply / discharge port 31pa and the pump port 31pp to communicate with each other by sliding the spool shaft 32, and the supply / discharge port 31pb and the return port 31rp to communicate (see FIG. 5B). . Thus, the hydraulic oil pumped from the hydraulic oil pump 50 is supplied to the first oil chamber Oc1 through the first oil passage 24p, and the hydraulic oil in the second oil chamber Oc2 passes through the second oil passage 25p. And returned to the hydraulic oil tank 60. By doing so, the hydraulic pressure applied to the first oil chamber Oc1 is higher than the hydraulic pressure applied to the second oil chamber Oc2, and the piston 22 separating the first oil chamber Oc1 and the second oil chamber Oc2 It slides to the Oc2 side.

  In step S303, the control device 40 determines whether or not the piston detection sensor 28 has detected the piston 22. Specifically, it is determined whether or not the piston detection sensor 28 that is a magnetic sensor has detected the permanent magnet 222 attached to the piston 22. As described above, the piston detection sensor 28 is provided at one end (maximum stroke position) in the sliding range of the piston 22.

  Then, when the control device 40 determines that the piston detection sensor 28 has detected the piston 22, that is, the piston 22 is at one end (maximum stroke position) in the sliding range of the piston 22, the control device 40 proceeds to step S314. When the piston detection sensor 28 cannot detect the piston 22, that is, when it is determined that the piston 22 is not at one end (maximum stroke position) in the sliding range of the piston 22, the process proceeds to step S304.

  In step S314, the control device 40 slides the spool shaft 32 to a predetermined position by transmitting a control signal to the electric actuator 33 of the spool valve 30 (see FIG. 5C). As a result, the piston 22 of the steering hydraulic actuator 20 slides in the direction of the arrow R shown in FIGS.

  Specifically, the control device 40 causes the supply / discharge port 31pa and the return port 31rp to communicate with each other by sliding the spool shaft 32, and allows the supply / discharge port 31pb and the pump port 31pp to communicate (see FIG. 5C). . Thus, the hydraulic oil pumped from the hydraulic oil pump 50 is supplied to the second oil chamber Oc2 through the second oil passage 25p, and the hydraulic oil in the first oil chamber Oc1 passes through the first oil passage 24p. And returned to the hydraulic oil tank 60. By doing so, the hydraulic pressure applied to the second oil chamber Oc2 becomes higher than the hydraulic pressure applied to the first oil chamber Oc1, and the piston 22 separating the second oil chamber Oc2 and the first oil chamber Oc1 It slides to the Oc1 side.

  In step S304, the control device 40 determines whether or not the piston detection sensor 29 has detected the piston 22. Specifically, it is determined whether or not the piston detection sensor 29, which is a magnetic sensor, has detected the permanent magnet 222 attached to the piston 22. As described above, the piston detection sensor 29 is provided at the other end (minimum stroke position) in the sliding range of the piston 22.

  Then, when the control device 40 determines that the piston detection sensor 29 detects the piston 22, that is, the piston 22 is at the other end (stroke minimum position) in the sliding range of the piston 22, the process proceeds to step S315. When the piston detection sensor 29 cannot detect the piston 22, that is, when it is determined that the piston 22 is not at the other end (stroke minimum position) in the sliding range of the piston 22, the process proceeds to step S305.

  In step S315, the control device 40 slides the spool shaft 32 to a predetermined position by transmitting a control signal to the electric actuator 33 of the spool valve 30 (see FIG. 5B). As a result, the piston 22 of the steering hydraulic actuator 20 slides in the direction of the arrow L shown in FIGS.

  Specifically, the control device 40 causes the supply / discharge port 31pa and the pump port 31pp to communicate with each other by sliding the spool shaft 32, and the supply / discharge port 31pb and the return port 31rp to communicate (see FIG. 5B). . Thus, the hydraulic oil pumped from the hydraulic oil pump 50 is supplied to the first oil chamber Oc1 through the first oil passage 24p, and the hydraulic oil in the second oil chamber Oc2 passes through the second oil passage 25p. And returned to the hydraulic oil tank 60. By doing so, the hydraulic pressure applied to the first oil chamber Oc1 is higher than the hydraulic pressure applied to the second oil chamber Oc2, and the piston 22 separating the first oil chamber Oc1 and the second oil chamber Oc2 It slides to the Oc2 side.

  In step S305, the control device 40 determines whether or not the piston detection sensor 27 has detected the piston 22. Specifically, it is determined whether the piston detection sensor 27, which is a magnetic sensor, has detected the permanent magnet 222 attached to the piston 22. In addition, the piston detection sensor 27 is the place which can detect about the piston 22 located when the rudder angle of the outdrive apparatus 10 turns into the rudder center similarly to the steering system 100 for outdrive apparatuses which concerns on 1st embodiment. Has been placed.

  When the piston detection sensor 27 detects the piston 22, that is, when it is determined that the piston 22 is at a position where the rudder angle of the outdrive device 10 is the rudder center, the control device 40 proceeds to step S306, and the piston When the detection sensor 27 cannot detect the piston 22, that is, when it is determined that the piston 22 is not at a position where the rudder angle of the outdrive device 10 is set to the rudder center, the process returns to step S303.

  In step S306, the control device 40 slides the spool shaft 32 to a predetermined position by transmitting a control signal to the electric actuator 33 of the spool valve 30 (see FIG. 5A). As a result, the piston 22 of the steering hydraulic actuator 20 stops at a position where the rudder angle of the outdrive device 10 becomes the rudder center.

  More specifically, the control device 40 causes the ports 31pa, 31pb, 31pp, and 31rp to be blocked by sliding the spool shaft 32 (see FIG. 5A). As a result, the hydraulic oil pumped from the hydraulic oil pump 50 is not supplied to the first oil chamber Oc1 and the second oil chamber Oc2, and the hydraulic oil in each of the oil chambers Oc1 and Oc2 is not returned to the hydraulic oil tank 60. By doing so, the piston 22 that separates the first oil chamber Oc1 and the second oil chamber Oc2 stops at a position where the rudder angle of the outdrive device 10 becomes the rudder center.

  With such a configuration, even if the piston 22 positioned when the rudder angle of the outdrive device 10 becomes the rudder center cannot be detected for some reason, the detection can be performed again. It is possible to reliably set the rudder angle of the device 10 to the rudder center.

  In this embodiment, the piston 22 is slid toward the second oil chamber Oc2 in step S302 (see arrow L in FIGS. 3 and 4), and the piston 22 is moved to the first oil chamber Oc1 in step S314. It is assumed that the piston 22 slides to the second oil chamber Oc2 side in step S315 (see arrow L in FIGS. 3 and 4). ), And may slide in opposite directions, and the sliding direction of the piston 22 is not limited.

2 Steering handle 10 Outdrive device 15 Screw propeller 17 Steering arm 20 Steering hydraulic actuator 27 Piston detection sensor 30 Spool valve 40 Control device 50 Hydraulic oil pump 60 Hydraulic oil tank 100 Steering system for outdrive device

Claims (3)

A steering hydraulic actuator for rotating the outdrive device by sliding a piston provided in the cylinder sleeve;
A spool valve that changes a flow direction of hydraulic oil of the steering hydraulic actuator and switches a sliding direction of the piston;
A control device that transmits a control signal to the spool valve to change the flow direction of hydraulic oil, and a steering system for an outdrive device,
Comprising a piston detection sensor that can detect the piston located when the rudder angle of the outdrive device is the rudder center;
A steering system for an outdrive device, wherein the control device controls the spool valve on the basis of an electric signal from the piston detection sensor so that a rudder angle of the outdrive device is set to a rudder center. .   2. The steering system for an outdrive device according to claim 1, wherein a second piston detection sensor is provided at one end in a sliding range of the piston.   The steering for an outdrive device according to claim 1, wherein a second piston detection sensor is provided at one end in the sliding range of the piston, and a third piston detection sensor is provided at the other end. system.

Images