JP2020125091A - Steering device and sailing body - Google Patents

Abstract

To provide a steering device capable of carrying out smoother steering.SOLUTION: A steering device 10 includes: a steering shaft 11 supported by a sailing body to be capable of rotation around an axial line O; a rudder plate 12 integrally fixed to the steering shaft 11; a coupling rod 74 coupled to the rudder plate 12 for rotating the rudder plate 12 around the axial line O by applying torque to the rudder plate 12 by moving back and forth; and a linear motion mechanism 7 provided in a pressure proof structure W of the sailing body having a motor for having the coupling rod 74 back and forth by being driven.SELECTED DRAWING: Figure 2

Description

The present invention relates to a steering device and a vehicle.

A traveling body such as a ship changes its traveling direction by changing the direction of a rudder blade with a steering device provided at the rear. As a specific example of this type of steering device, the one described in Patent Document 1 below is known. The steering device according to Patent Document 1 includes a hydraulic actuator that rotates a chiller integrally provided with a rudder blade around a rudder shaft. The hydraulic actuator has a hydraulic cylinder that pushes a chiller, a hydraulic pump that generates hydraulic pressure, and a swash plate pump that changes the supply state of hydraulic pressure to each hydraulic cylinder. It is said that by changing the posture of the swash plate in the swash plate pump, the operation of the hydraulic cylinder is controlled, and the rotation direction and angle of the chiller can be controlled.

Japanese Patent No. 5232870

However, in the steering device described in Patent Document 1, steering is performed by directly operating the rudder blade (chiller) by the hydraulic pressure generated by the hydraulic cylinder. Therefore, depending on the hydraulic pressure supply state, the rudder blade is suddenly pushed by the hydraulic cylinder. As a result, the attitude of the rudder blade may suddenly change, which may affect the running of the vehicle.

The present invention has been made to solve the above problems, and an object of the present invention is to provide a steering device capable of performing a smoother steering operation, and a navigation body including the steering device.

The running body according to one aspect of the present invention is a rudder shaft rotatably supported on the running body around an axis, a rudder plate integrally fixed to the rudder shaft, and a rudder plate, The connecting rod is provided inside the pressure-resistant structure of the navigation body and is driven to move the connecting rod forward and backward by providing a torque to the rudder plate by moving it forward and backward to rotate the rudder plate around the axis. And a direct-acting mechanism having an electric motor.

According to the above configuration, torque is applied to the rudder blade by advancing and retracting the connecting rod by the linear motion mechanism, and this torque causes the rudder blade to rotate around the axis. Further, the linear motion mechanism advances and retracts the connecting rod by the electric motor. Therefore, as compared with a configuration in which the rudder blade is directly rotated by hydraulic pressure, for example, the acceleration when the rudder blade starts to rotate and when the rudder blade ends to rotate becomes smaller. This can reduce the possibility that the rudder blade will rotate rapidly. That is, the rudder blade can be rotated more smoothly.

In the above-mentioned navigation vehicle, the linear motion mechanism is connected to the electric motor, and has a feed screw portion rotatable about its own central axis, a nut that advances and retreats by engaging with the feed screw portion, and the nut and the connection. And a bracket for connecting to the rod.

According to the above configuration, the nut and the connecting rod are connected by the bracket, and the nut moves forward and backward by the rotation of the feed screw. Thereby, the connecting rod can be moved back and forth more gently and smoothly. In particular, as compared with a configuration in which the rudder blade is directly rotated by hydraulic pressure, for example, the acceleration when the rudder blade starts to rotate and when the rudder blade ends to rotate becomes smaller. This can reduce the possibility that the rudder blade will rotate rapidly. That is, the rudder blade can be rotated more smoothly.

The above-mentioned navigation body has a stator and a mover that covers the outside of the stator and can move back and forth with respect to the stator by electromagnetic induction, and one end of the mover is connected to the connecting rod. It may have been done.

According to the above configuration, one end of the mover is connected to the connecting rod, and the mover is movable back and forth with respect to the stator by electromagnetic induction. Accordingly, the connecting rod can be smoothly moved back and forth as the mover is moved back and forth. In particular, as compared with a configuration in which the rudder blade is directly rotated by hydraulic pressure, for example, the acceleration when the rudder blade starts to rotate and when the rudder blade ends to rotate becomes smaller. This can reduce the possibility that the rudder blade will rotate rapidly. That is, the rudder blade can be rotated more smoothly.

In the above-mentioned watercraft, the pressure-resistant structure includes a pressure-resistant structure body and a pressure-resistant container that covers an outer surface of the pressure-resistant structure body and that forms a housing space for housing the linear motion mechanism with the outer surface. You may.

According to the above configuration, the linear motion mechanism is housed in the housing space of the pressure resistant container. Therefore, the space in the pressure resistant structure can be reduced as compared with the case where the linear motion mechanism is provided in the pressure resistant structure body.

In the above-mentioned navigation vehicle, the linear motion mechanism is connected to a cylinder in which a first space and a second space are formed, and the connecting rod, and slides in the cylinder to cause the first space and the first space to move. A cylinder unit having a piston that changes the volume of the two spaces; and a supply unit that is driven by the electric motor to selectively supply the working fluid to the first space and the second space. Good.

According to the above configuration, by driving the supply unit with the electric motor, the working fluid is selectively supplied to the first space and the second space of the cylinder unit. As a result, the piston slides in the cylinder, and the volumes of the first space and the second space change. As a result, the connecting rod connected to the piston moves back and forth. Since the supply unit is driven by the electric motor, the supply of the working fluid to the first space and the second space is performed gently and smoothly. Therefore, as compared with a configuration in which the rudder blade is directly rotated by hydraulic pressure, for example, the acceleration when the rudder blade starts to rotate and when the rudder blade ends to rotate becomes smaller. This can reduce the possibility that the rudder blade will rotate rapidly. That is, the rudder blade can be rotated more smoothly.

In the above-mentioned watercraft, the pressure-resistant structure includes a pressure-resistant structure body, and a pressure-resistant container that covers an outer surface of the pressure-resistant structure body and forms a housing space for housing the cylinder unit between the outer surface and the pressure-resistant container. May be.

According to the above configuration, the cylinder unit is housed in the housing space of the pressure resistant container. Therefore, the space in the pressure resistant structure can be reduced as compared with the case where the cylinder unit is provided in the pressure resistant structure body.

A traveling body according to one aspect of the present invention includes a traveling body main body, and the steering device according to any one of the above aspects, which is provided in the traveling body main body.

According to the above configuration, it is possible to realize a running body including a steering device capable of smoothly steering.

ADVANTAGE OF THE INVENTION According to this invention, the steering device which can carry out steering more smoothly and a navigation body provided with this can be provided.

FIG. 1 is a perspective view showing a configuration of a rear portion of a watercraft according to a first embodiment of the present invention. FIG. 3 is a cross-sectional view of the steering device according to the first embodiment of the present invention as seen from the axial direction. It is sectional drawing which looked at the steering device which concerns on 2nd embodiment of this invention from the axial direction. It is sectional drawing which looked at the steering device which concerns on 3rd embodiment of this invention from the axial direction. It is sectional drawing which looked at the steering device which concerns on 4th embodiment of this invention from the axial direction. It is sectional drawing which shows the modification of the steering device which concerns on 4th embodiment of this invention. It is sectional drawing which shows the other modification of the steering device which concerns on 4th embodiment of this invention.

[First embodiment]
A first embodiment of the present invention will be described with reference to FIGS. 1 and 2. The vehicle 1 according to this embodiment includes a vehicle body 2, a propulsion device 3, and a steering device 10. The propulsion device 3 is, for example, a propeller 4 and is provided in the rear portion 2b of the navigation body 2. The propeller 4 has a propeller shaft 4s extending from the rear portion 2b and a plurality of blades 4w provided at the end of the propeller shaft 4s. The propeller shaft 4s rotates about its own central axis by a drive source (not shown) provided in the navigation body 2. Propulsive force is applied to the running body 2 by the four wings 4w turning as the propeller shaft 4s rotates.

The steering device 10 is provided at the rear portion 2b of the navigation body 2 and further behind the propeller 4. As shown in FIG. 1 and FIG. 2, the steering device 10 includes a rudder shaft 11 rotatably supported by the running body 2, a rudder plate 12 provided integrally with the rudder shaft 11, and a rudder plate 12. A connecting rod 74 that applies torque to the rod, a push rod 5 that connects the connecting rod 74 and the rudder blade 12, a guide cylinder 20, a brake unit 6 that brakes the connecting rod 74, and a linear motion mechanism that advances and retracts the connecting rod 74. 7 and.

The rudder shaft 11 penetrates the inside and outside of the running body 2 and has one end rotatably supported inside the running body 2 about the axis O. The rudder shaft 11 extends from the navigation body 2 into the water, and its tip is integrally fixed to the rudder blade 12.

The rudder blade 12 has a spindle shape when viewed from the direction of the axis O, the front end is curved in a curved shape, and the rear end is sharpened rearward. One end of the push rod 5 is rotatably connected to the front end of the rudder blade 12. The push rod 5 is provided to apply the torque of the linear motion mechanism 7 transmitted by the connecting rod 74 described later to the rudder blade 12. Although not shown in detail, it is also possible to adopt a configuration in which the push rod 5 applies a torque to the rudder blade 12 via a member called a chiller that is attached to the rudder blade 12.

The other end of the push rod 5 is connected to the guide cylinder 20. The guide cylinder 20 has a cylindrical guide cylinder main body 21 and a guide piece 22 that advances and retracts in the guide cylinder main body 21. The other end of the push rod 5 is rotatably connected to one end of the guide piece 22. One end of a connecting rod 74 is connected to the other end of the guide piece 22. When the connecting rod 74 moves back and forth, the guide piece 22 slides in the guide tube main body 21, and accordingly, the push rod 5 rotates with respect to the guide piece 22, while the connecting rod 74 moves forward and backward on the rudder blade 12. Transmit movement.

The connecting rod 74 penetrates the inside and outside of the wall portion (pressure resistant structure W) of the navigation body 2 via the seal member S. The seal member S is provided to prevent water from entering around the connecting rod 74. As described above, one end of the connecting rod 74 is connected to the guide piece 22 of the guide cylinder 20. On the other hand, the brake unit 6 is provided on the other end side of the connecting rod 74. The brake unit 6 has a brake cylinder 61, a brake piston 62, and an electromagnetic proportional valve 63.

The brake cylinder 61 has a tubular shape that surrounds the connecting rod 74 from the outside. The brake piston 62 is integrally fixed to the connecting rod 74. The brake piston 62 is movable inside the brake cylinder 61 in the direction in which the connecting rod 74 extends. Two spaces are formed in the brake cylinder 61 on both sides of the brake piston 62 in the advancing and retracting direction. These spaces are connected by a flow path 64 via an electromagnetic proportional valve 63 (proportional control electromagnetic valve). The electromagnetic proportional valve 63 can autonomously control the opening such that the flow rate (or pressure) of the fluid flowing in the flow path 64 becomes a predetermined constant value. This prevents the brake piston 62 and the connecting rod 74 from rapidly moving back and forth.

The direct acting mechanism 7 is connected to the end of the connecting rod 74 on the other side of the brake unit 6 via a coupling C. The linear motion mechanism 7 is a device for moving the connecting rod 74 forward and backward. The linear motion mechanism 7 includes an electric motor 71 (motor), a feed screw portion 72, and a bracket 73. The feed screw portion 72 has a rod shape extending in the same direction as the connecting rod, and a male screw is cut on the outer peripheral surface thereof. More specifically, a ball screw, a trapezoidal screw, and a roller screw are preferably used as the feed screw portion 72. The feed screw portion 72 is connected to the electric motor 71 via the coupling C. That is, by driving the electric motor 71, the feed screw portion 72 rotates about its own central axis. As the electric motor 71, a motor whose rotation speed and rotation speed can be controlled from the outside is preferably used. Further, the electric motor 71 can generate a braking force for braking the rotation based on the electromagnetic force. Specifically, as the electric motor 71, a servo motor or a stepping motor is preferably used.

The bracket 73 has a bracket body 73B connected to the connecting rod 74 via the coupling C, and a nut 73N that meshes with the feed screw portion 72. When the feed screw portion 72 is rotated by the electric motor 71, the nut 73N and the bracket body 73B move forward and backward along the feed screw portion 72. The forward/backward movement of the bracket 73 is transmitted to the connecting rod 74. The forward/backward movement of the connecting rod 74 is transmitted to the rudder blade 12 via the brake unit 6 and the guide cylinder 20 described above, and the torque around the rudder shaft 11 is applied to the rudder blade 12.

Here, in the conventional steering apparatus, the push rod 5 is directly operated by the hydraulic pressure generated by the hydraulic cylinder. However, in this configuration, the rudder blade 12 suddenly rotates due to the hydraulic pressure depending on the hydraulic pressure supply state. As a result, the attitude of the rudder blade 12 may suddenly change, which may affect the running of the running body 1. On the other hand, in the present embodiment, a torque is applied to the rudder blade 12 by advancing and retracting the connecting rod 74 by the linear motion mechanism 7, and the torque causes the rudder blade 12 to rotate around the axis O. Further, the linear motion mechanism 7 advances and retracts the connecting rod 74 by the electric motor 71. Therefore, as compared with a configuration in which the rudder blade 12 is directly rotated by hydraulic pressure (that is, a configuration in which hydraulic pressure is generated by increasing or decreasing the amount of hydraulic oil by a pump), when the rudder blade 12 starts rotating and The acceleration at the end is reduced. This can reduce the possibility that the rudder blade 12 suddenly rotates. That is, the rudder blade 12 can be rotated more smoothly.

Furthermore, according to the above configuration, the nut 73N and the connecting rod 74 are connected by the bracket 73, and the nut 73N advances and retreats as the feed screw portion 72 rotates. As a result, the connecting rod 74 can be moved back and forth more gently and smoothly.

The first embodiment of the present invention has been described above. Note that various changes and modifications can be made to the above configuration without departing from the gist of the present invention. For example, in the above embodiment, the configuration in which the brake unit 6 is provided in the middle of the connecting rod 74 has been described. However, when the braking force (brake capacity) generated by the electric motor 71 itself is sufficiently large, it is possible to adopt a configuration without the brake unit 6.

[Second embodiment]
Next, a second embodiment of the present invention will be described with reference to FIG. The same components as those in the first embodiment are designated by the same reference numerals, and detailed description thereof will be omitted. As shown in FIG. 3, in this embodiment, the structure of the linear motion mechanism 7B is different from that of the first embodiment. The linear motion mechanism 7B has a linear motor 75 driven by electromagnetic induction (electromagnetic force). The linear motor 75 includes a stator 75a, a mover 75b slidable with respect to the stator 75a, a guide 76 integrally attached to the mover 75b, a brake 77, and a rail 78 for guiding the guide 76. , And a connecting portion 79 that connects the mover 75b and the connecting rod 74.

The stator 75a has a rod shape integrally formed of a permanent magnet including a ferrite magnet and a neodymium magnet. The stator 75a is fixed to the inside of the running body 2 by a fixing means (not shown). The mover 75b has a tubular shape that covers the outside of the stator 75a. The mover 75b is a coil formed by winding a wire. Therefore, when a current is passed through the mover 75b, a force due to electromagnetic induction is generated between the stator 75a and the mover 75b. Due to this force, the mover 75b can move back and forth with respect to the stator 75a in the direction in which the stator 75a extends (that is, in the direction in which the connecting rod 74 extends). One end of the mover 75b is connected to the connecting rod 74 via the connecting portion 79. A plurality of guides 76 and a brake 77 are provided on the outer peripheral surface of the mover 75b. The guide 76 is slidably supported along a rail 78 provided outside the mover 75b. The rail 78 extends in the same direction as the connecting rod 74. The brake 77 suppresses the sudden movement of the connecting rod 74 by braking the mover 75b.

According to the above configuration, one end of the mover 75b is connected to the connecting rod 74, and the mover 75b is slidable with respect to the stator 75a by electromagnetic induction. Accordingly, the connecting rod 74 can be smoothly advanced and retracted as the mover 75b slides. In particular, when the rudder blade 12 starts to rotate and when compared with the configuration in which the rudder blade 12 is directly rotated by hydraulic pressure (that is, the hydraulic pressure is generated by increasing/decreasing the amount of hydraulic oil by a pump), The acceleration at the end is reduced. This can reduce the possibility that the rudder blade 12 suddenly rotates. That is, the rudder blade 12 can be rotated more smoothly.

The second embodiment of the present invention has been described above. Note that various changes and modifications can be made to the above configuration without departing from the gist of the present invention. For example, in the above embodiment, the configuration in which the brake unit 6 is provided midway in the connecting rod 74 has been described. However, when the braking force (brake capacity) generated by the linear motor 75 itself is sufficiently large, it is possible to adopt a configuration without the brake unit 6.

[Third embodiment]
Subsequently, a third embodiment of the present invention will be described with reference to FIG. The same components as those in the above-described embodiments are designated by the same reference numerals, and detailed description thereof will be omitted. As shown in FIG. 4, in the present embodiment, the structure of the linear motion mechanism 7C is different from that in each of the above embodiments. The linear motion mechanism 7C includes a first cylinder unit 6B that moves the connecting rod 74 forward and backward by hydraulic pressure, and a supply unit 8 that adjusts the amount of working fluid (oil) supplied to the first cylinder unit 6B. There is.

The first cylinder unit 6B has a cylindrical first cylinder 61B (cylinder) and a first piston 62B (piston) that slides in the first cylinder 61B. The first piston 62B is fixed to the connecting rod 74. The inside of the first cylinder 61B is divided into two spaces by the first piston 62B. A space inside the first cylinder 61B closer to the connecting rod 74 than the first piston 62B is a first space V1. A space on the opposite side of the first space V1 with the first piston 62B interposed therebetween is a second space V2.

The supply unit 8 adjusts the amount of working fluid (oil) flowing into the above-mentioned first space V1 and second space V2. The supply unit 8 has a second cylinder unit 9A and a drive unit 9B that drives the second cylinder unit 9A. The second cylinder unit 9A includes a cylinder rod 91, a cylindrical second cylinder 92 into which the cylinder rod 91 is inserted, and a second piston 93 provided at a midway position of the cylinder rod 91. The inside of the second cylinder 92 is divided into two spaces by the second piston 93. The space on one side of the second piston 93 inside the second cylinder 92 is a first space V1'. The space on the other side of the second piston 93 is a second space V2'. The first space V1' communicates with the first space V1 of the first cylinder unit 6B by the first flow path P1. The second space V2′ communicates with the second space V2 of the first cylinder unit 6B by the second flow path P2.

The cylinder rod 91 is driven by the drive unit 9B so as to be able to move forward and backward in the direction in which the cylinder rod 91 extends. The drive unit 9B is provided integrally with the electric motor 81, the feed screw portion 82 that rotates by the electric motor 81, the nut 83 that meshes with the feed screw portion 82, and the nut 83, and connects the cylinder rod 91 and the nut 83. And a portion 84. As the feed screw portion 82, a ball screw, a trapezoidal screw, or a roller screw is preferably used as in the first embodiment. As the electric motor 81, a motor that can control the rotation speed and the rotation speed from the outside is preferably used. Further, the electric motor 81 can generate a braking force for braking the rotation based on the electromagnetic force. Specifically, as the electric motor 81, a servo motor or a stepping motor is preferably used.

By driving the electric motor 81, the feed screw portion 82 rotates. With the rotation of the feed screw portion 82, the nut 83 and the connecting portion 84 advance and retreat in the extending direction of the feed screw portion 82. As a result, the cylinder rod 91 and the second piston 93 connected to the connecting portion 84 advance and retreat inside the second cylinder 92. As a result, the volumes of the first space V1′ and the second space V2′ in the second cylinder 92 change, respectively. When the second piston 93 moves to the first space V1′ side (that is, when the volume of the first first space V1′ changes in the direction of decreasing volume), the working fluid in the first space V1′ becomes It flows into the first space V1 of one cylinder unit 6B. As a result, the first piston 62B of the first cylinder unit 6B is displaced in the direction in which the volume of the first space V1 increases. At the same time, the working fluid in the second space V2 of the first cylinder unit 6B flows into the second space V2' of the second cylinder unit 9A. As a result, a torque around the rudder shaft 11 is applied to the rudder blade 12, and the rudder blade 12 rotates about the axis O.

As described above, according to the configuration of the present embodiment, by driving the supply unit 8 with the electric motor 81 of the drive unit 9B, the first cylinder unit 6B is selectively operated in the first space V1 and the second space V2. Fluid is supplied. As a result, the first piston 62B slides in the first cylinder 61B, and the volumes of the first space V1 and the second space V2 change. As a result, the connecting rod 74 connected to the first piston 62B moves back and forth. Since the supply unit 8 is driven by the electric motor 81, the supply of the working fluid to the first space V1 and the second space V2 is performed gently and smoothly. Therefore, as compared with a configuration in which the rudder blade 12 is directly rotated by hydraulic pressure (that is, a configuration in which hydraulic pressure is generated by increasing or decreasing the amount of hydraulic oil by a pump), when the rudder blade 12 starts rotating and The acceleration at the end is reduced. This can reduce the possibility that the rudder blade 12 suddenly rotates. That is, the rudder blade 12 can be rotated more smoothly.

The third embodiment of the present invention has been described above. Note that various changes and modifications can be made to the above configuration without departing from the gist of the present invention. For example, in addition to the configuration of the above embodiment, it is possible to provide the brake unit 6 described in the first and second embodiments.

[Fourth Embodiment]
Next, a fourth embodiment of the present invention will be described with reference to FIG. The same components as those in the above-described embodiments are designated by the same reference numerals, and detailed description thereof will be omitted. In this embodiment, the linear motion mechanism 7D is housed in the housing space R formed by the pressure resistant container Wb. The pressure-resistant container Wb is a part of the pressure-resistant structure W, and is fixed to the outer surface of the pressure-resistant structure body Wa that forms the outer shell of the navigation body 2. The linear motion mechanism 7D has the same configuration as that described in the first embodiment. That is, the linear motion mechanism 7D has an electric motor 71, a feed screw portion 72 to which a rotational force is applied by the electric motor 71 via the coupling C, and a bracket 73 that advances and retreats in a state of being meshed with the feed screw portion 72. ing. The bracket 73 has a nut 73N that meshes with the feed screw portion 72, and a bracket body 73B that is integrally provided with the nut 73N and that is connected to the connecting rod 74.

According to the above configuration, the linear motion mechanism 7D is housed in the housing space R formed by the pressure resistant container Wb. Therefore, as compared with the case where the linear motion mechanism 7D is provided in the pressure resistant structure body Wa, the space in the pressure resistant structure W can be reduced.

The fourth embodiment of the present invention has been described above. Note that various changes and modifications can be made to the above configuration without departing from the gist of the present invention. For example, as shown in FIG. 6, it is possible to adopt a configuration in which the linear motion mechanism 7E using the linear motor 75 described in the second embodiment is housed in the housing space R of the pressure resistant container Wb. Further, as shown in FIG. 7, in the structure described in the third embodiment, only the first cylinder unit 6B is arranged outside the pressure-resistant structure body Wa, and the supply unit 8 is arranged inside the pressure-resistant structure body Wa. It is also possible to adopt a configuration that does.

Further, the shape of the bracket 73 shown in FIG. 5 can be applied to the above-described first embodiment.

1 Navigation body 2 Navigation body 2b Rear part 3 Propulsion device 4 Propeller 4s Propeller shaft 4w Wing 10 Steering device 11 Rudder shaft 12 Steering plate 20 Guide cylinder 21 Guide cylinder body 22 Guide piece 5 Push rod 6 Brake unit 6B First cylinder Unit 61 Brake cylinder 61B First cylinder (cylinder)
62 Brake piston 62B First piston (piston)
63 Electromagnetic proportional valve 64 Flow paths 7, 7B, 7C, 7D, 7E, 7F Direct acting mechanism 71 Electric motor 72 Feed screw part 73 Bracket 73B Bracket body 73N Nut 74 Connecting rod 75 Linear motor 75a Stator 75b Mover 76 Guide 77 Brakes 78 Rail 79 Connection part 8 Supply unit 81 Electric motor 82 Feed screw part 83 Nut 84 Connection part 9A Second cylinder unit 91 Cylinder rod 92 Second cylinder 93 Second piston 9B Drive part C Coupling O Axis R Storage space S Seal member V1 , V1′ First space V2, V2′ Second space W Pressure-resistant structure Wa Pressure-resistant structure body Wb Pressure-resistant container

Claims (7)

A rudder shaft supported by the navigation body so as to be rotatable around the axis,
A rudder plate integrally fixed to the rudder shaft,
A connecting rod that is connected to the rudder blade and applies a torque to the rudder blade by moving back and forth to rotate the rudder blade around the axis.
A linear motion mechanism provided in the pressure-resistant structure of the navigation body, having a motor for moving the connecting rod forward and backward when driven,
A steering device including. The linear motion mechanism is
A feed screw portion connected to the electric motor and rotatable about its own central axis,
A nut that advances and retreats by meshing with the feed screw portion,
A bracket connecting the nut and the connecting rod,
The steering apparatus according to claim 1, further comprising: The electric motor is
With the stator,
A mover that covers the outside of the stator and is movable back and forth with respect to the stator by electromagnetic induction,
Have
The steering apparatus according to claim 1, wherein one end of the mover is connected to the connecting rod. The pressure resistant structure is
Withstand pressure structure body,
A pressure-resistant container that covers the outer surface of the pressure-resistant structure body and forms a housing space for housing the linear motion mechanism between the outer surface and the outer surface;
The steering apparatus according to any one of claims 1 to 3, further comprising: The linear motion mechanism is
A cylinder unit having a cylinder in which a first space and a second space are formed, and a piston that is connected to the connecting rod and that changes the volumes of the first space and the second space by sliding in the cylinder. When,
By being driven by the electric motor, a supply unit that selectively supplies a working fluid to the first space and the second space,
The steering apparatus according to any one of claims 1 to 3, further comprising: The pressure resistant structure is
Withstand pressure structure body,
A pressure-resistant container that covers the outer surface of the pressure-resistant structure body and forms a housing space for housing the cylinder unit between the outer surface and the outer surface;
The steering apparatus according to claim 5, further comprising: The body of the vessel,
The steering device according to any one of claims 1 to 6, which is provided on the main body of the navigation body.
A flying body equipped with.

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