JP6224937B2 - Steering device abnormality detection device and steering device with abnormality detection device - Google Patents

Description

  The present invention relates to an abnormality detection device for a steering device that can detect the presence or absence of an abnormality in a hydraulic system that controls, for example, a steering gear of a marine steering device, and a steering device with an abnormality detection device.

  An example of a conventional marine steering system will be described with reference to FIGS. 7 (a), (b), and (c). The marine vessel steering apparatus 1 shown in FIG. 7A is capable of controlling the steering machine 4 by operating the first and second hydraulic systems 2 and 3 in parallel. A rudder plate (not shown) is provided on the rudder shaft 6 to which the turning arm 5 of the steering gear 4 is attached. As shown in FIG. 7B, the rudder plate driving unit 7 swings the turning arm 5. Thus, the rudder angle can be changed.

  In this marine steering system 1, the steering angle can be changed by the steering person by steering a steering unit (not shown). When the steering unit is steered, the spools of the first and second switching valves 8 and 9 are moved from the neutral position shown in FIG. 7A to FIG. 7 based on the command turning signal output from the steering unit. It switches to the 1st switching position shown to (b), and the pressure oil discharged from the 1st and 2nd hydraulic pumps 10 and 11 is supplied to the 1st cylinder 7a of the steering plate drive part 7. FIG. Accordingly, the ram 12 of the steering plate driving unit 7 can be set so as to move leftward in FIG. 7B and swing the steering plate in a desired direction so as to have a desired steering angle.

  However, according to the marine vessel steering apparatus 1, as shown in FIG. 7C, the first switching valve 8 is switched to the first switching position based on the command turning signal, but the second switching valve 9 May not be switched to the first switching position corresponding to the command steering signal, but may remain in the second switching position, for example, before this switching operation. One of the causes is, for example, that foreign matter is mixed in the second switching valve 9 and the movement of the spool is obstructed. If it will be in such a state, as shown in FIG.7 (c), operation of the steering machine 4 will become impossible and it will be in the dangerous state which the hydrolock phenomenon generate | occur | produced.

  Therefore, a hydrolock detection device for a steering machine for detecting the occurrence of the hydrolock phenomenon has been proposed (see Patent Document 1).

  In the hydrolock detection device, when the steering unit outputs a command turning signal during parallel operation of the first and second hydraulic systems, the electromagnetic coils of the first and second electromagnetic valves of each system are excited. At this time, for example, when the second switching valve of the second hydraulic system fails and the spool remains in the neutral position, the second magnetic sensor does not operate and is OFF. At this time, the abnormality determination circuit determines that a hydrolock phenomenon has occurred in the first and second hydraulic systems because the second magnetic sensor is OFF while the command signal for the second solenoid valve is ON. Then turn on the alarm lamp. When the warning lamp is lit, the steering wheel can operate the motor stop switch to stop the electric motor of the second hydraulic system and continue the steering control by the independent operation in the other normal first hydraulic system.

JP-A-9-76997

  However, the hydrolock detection device disclosed in the above-mentioned patent document 1 is steered by switching the direction of the pressure oil discharged from the first and second constant displacement hydraulic pumps with the first and second switching valves. It is applied to a steering device that steers the machine, but is not intended to be applied to a steering device that steers the steering machine by changing the tilt angle of the variable displacement hydraulic pump. Development of an abnormality detection device that can be applied to the latter steering device is desired.

  The reason is that the steering device using the first and second switching valves requires the first and second switching valves having a large capacity capable of operating the rudder plate drive unit. This is because there is a problem that the space increases.

  The present invention has been made to solve the above-described problems, and can be applied to a steering device that changes the tilt angle of a variable displacement hydraulic pump to steer a steering gear. An object of the present invention is to provide a device abnormality detection device and a steering device with the abnormality detection device.

  The abnormality detection device for a steering device according to the present invention moves a servo piston via a servo switching valve in response to a command steering signal from a steering unit, and determines a tilt angle of a variable displacement hydraulic pump connected to the servo piston. In the abnormality detection device for a steering device that changes and steers the steerer, the movement direction and presence / absence of movement of the servo piston, the inclination direction and presence / absence of inclination of the variable displacement hydraulic pump, or the servo switching The operation detection unit that detects the movement direction of the valve spool and the presence or absence of movement and outputs an operation detection signal is compared with whether or not the command steering signal and the operation detection signal have a predetermined correspondence relationship. And an abnormality determining unit that determines whether the movement of the servo piston, the tilting of the variable displacement hydraulic pump, or the movement of the spool of the servo switching valve has been performed normally. It is intended.

  According to the abnormality detection device for a steering device according to the present invention, the motion detection unit includes the movement direction and presence / absence of movement of the servo piston, the inclination direction and presence / absence of the inclination of the variable displacement hydraulic pump, or the spool of the servo switching valve. The movement detection signal and the presence / absence of movement can be detected and an operation detection signal can be output. Then, the abnormality determination unit compares whether the command steering signal and the operation detection signal have a predetermined correspondence relationship, and moves the servo piston, tilts the variable displacement hydraulic pump, or switches the servo. It can be determined whether or not the valve spool has been moved normally.

  In the abnormality detection device for a steering apparatus according to the present invention, when the abnormality determination unit determines that the command steering signal and the motion detection signal are not in a predetermined correspondence relationship, a signal that outputs an abnormality signal to that effect An output unit may be provided.

  In this way, when the abnormality determination unit determines that the command steering signal and the motion detection signal do not have a predetermined correspondence, the signal output unit can output an abnormality signal to that effect. This abnormal signal allows the steering wheel to accurately recognize the abnormality of the steering device, so check the servo piston, hydraulic pump, servo switching valve, etc. related to the cause of the abnormality and repair the abnormal part. can do. In addition, the steering device to which the abnormality detection device is applied can be configured so that the appropriate action is automatically taken for the abnormality.

  In the abnormality detection device for a steering device according to the present invention, the servo piston, the variable displacement hydraulic pump, or the spool is provided with a detected portion that is detected by the motion detection portion, and the motion detection portion is It may be provided on the fixed side.

  In this case, the motion detecting unit detects the detected portion, thereby moving the servo piston in the moving direction and the presence / absence of the movement, the tilting direction and the presence / absence of the tilting of the variable displacement hydraulic pump, or the spool. An operation detection signal indicating the moving direction and the presence or absence of movement can be output. As a result, it is possible to provide an abnormality detection device for a steering device that has a simple structure and is unlikely to cause a failure.

  In the abnormality detection device for a steering device according to the present invention, when the servo piston, the variable displacement hydraulic pump, or the spool is in a neutral position, the operation detection unit outputs the operation detection signal indicating that fact. The movement direction of the servo piston or the spool and the presence or absence of movement, or the tilt direction of the variable displacement hydraulic pump and the presence or absence of the tilt, with reference to the motion detection signal indicating that the neutral position is output. The motion detection signal to be expressed may be output to the abnormality determination unit.

  In this way, when the servo piston, the variable displacement hydraulic pump, or the spool is in the neutral position, the operation detection unit can output an operation detection signal to that effect to the abnormality determination unit. As a result, when the motion detection unit detects the detected portion next, the movement direction and the presence or absence of movement of the servo piston or the spool with respect to the neutral position, or the tilt direction and tilt of the variable displacement hydraulic pump It is possible to output an operation detection signal indicating the presence or absence of the error to the abnormality determination unit. Therefore, the abnormality determination unit recognizes whether an abnormality has occurred when the command steering signal from the steering unit attempts to move or tilt the servo piston, variable displacement hydraulic pump, or spool. can do. This information can be used to investigate the cause of the failure.

  In the abnormality detection device for a steering device according to the present invention, the detected portion is, in order along the moving direction or the tilting direction of the servo piston, the variable displacement hydraulic pump, or the spool, an intermediate diameter portion, A small-diameter portion and a large-diameter portion, and the motion detection unit outputs the motion detection signal corresponding to the medium-diameter portion, the small-diameter portion, and the large-diameter portion, and detects the small-diameter portion. In addition, the motion detection signal indicating that the vehicle is in the neutral position may be output.

  Thus, since the detected part is formed as a medium diameter part, a small diameter part, and a large diameter part, the gap sensor as the motion detection part detects the medium diameter part, the small diameter part, and the large diameter part. In addition, an operation detection signal corresponding to the detected part to be detected can be output.

  A steering apparatus with an abnormality detection device according to the present invention includes two systems of first and second hydraulic systems that control the steering machine in parallel operation, or one hydraulic system that controls the steering machine, Each of the first and second hydraulic systems or one hydraulic system is provided with an abnormality detection device for a steering apparatus according to the present invention.

  According to the steering apparatus with an abnormality detection device according to the present invention, the steering system can be controlled by operating the two first and second hydraulic systems in parallel, and the steering system can be operated by operating the one hydraulic system. The machine can be controlled. The abnormality detection devices for the first and second steering devices provided in the first and second hydraulic systems and the abnormality detection device for the steering device provided in one hydraulic system are the same as described above. Act on.

  And the abnormality detection apparatus of a 1st and 2nd steering apparatus can determine the presence or absence of abnormality of the 1st and 2nd hydraulic system corresponding to each. This makes it possible to determine whether or not the hydrolock phenomenon has occurred due to any abnormality occurring in one or both of the first and second hydraulic systems.

  In the steering apparatus with an abnormality detection device according to the present invention, when one of the two abnormality determination units is determined to be abnormal, use of the first or second hydraulic system determined to be abnormal And a hydraulic system setting unit that controls the steering machine using the second or first hydraulic system that is not determined to be abnormal.

  In this way, when one of the two abnormality determination units is abnormal and it is determined that the hydrolock phenomenon has occurred, the hydraulic system setting unit determines whether the abnormality is the first or second. The use of the hydraulic system is stopped, and the steering gear can be controlled using the second or first hydraulic system that is not determined to be abnormal. As a result, the steering person can continue to use the steering device for steering.

  According to the abnormality detection device for a steering device and the steering device with an abnormality detection device according to the present invention, it can be applied to a steering device that changes the tilt angle of a variable displacement hydraulic pump to turn a steering gear. Such a type of steering device does not require a hydraulic switching valve for operating the steering plate drive provided in the steering gear, and can reduce the cost and installation space accordingly. It is. Therefore, the present invention can increase the use of the steering device of this type, and its utility value is high.

1 is a hydraulic circuit diagram of a steering device with an abnormality detection device according to a first embodiment of the present invention. It is a block diagram of the same steering apparatus shown in FIG. It is the elements on larger scale which show the servo piston and the operation | movement detection part of the same steering apparatus shown in FIG. It is a block diagram of the same steering device concerning a 2nd embodiment of the same invention. It is a figure which shows the operation state of the same steering apparatus shown in FIG. 4, (a) is a circuit diagram which shows the normal state which is driving | operation of steering, (b) is a circuit which shows the state which hydrolock generate | occur | produced FIG. It is a block diagram of the steering device concerning other embodiments of the invention. It is a figure which shows the operation state of the conventional steering apparatus, (a) is a circuit diagram which shows the state which has the 1st and 2nd switching valve in the neutral position, and has stopped the driving | operation of steering, (b) The circuit diagram which shows the normal state which the 1st and 2nd switching valve exists in the 1st switching position, and is performing the steering | stirring driving | operation, (c) is a circuit diagram which shows the state which hydrolock generate | occur | produced.

  Hereinafter, a first embodiment of an abnormality detection device for a steering device and a steering device with an abnormality detection device according to the present invention will be described with reference to FIGS.

  The steering device 16 with an abnormality detection device shown in FIG. 1 moves the servo piston 38 via a servo switching valve 56 by a command turning signal SS from the steering unit 51 (see FIG. 2), and is connected to the servo piston 38. The steering machine 57 is steered by changing the tilt angle of the steering hydraulic pump 32 (variable displacement hydraulic pump).

  As shown in FIG. 1, the steering device 16 includes a steering machine 57. The steering machine 57 includes a rudder handle 17 that is rotatably attached to the stern of a ship, and a rudder plate 18 is fixed to the rudder handle 17 via a rudder shaft 17a. Further, one end portion of the turning arm 19 is fixed to the rudder handle 17, and a receiving portion 20 formed from a substantially U-shaped concave portion is provided at the other end portion of the turning arm 19.

The steering device 16 includes a steering plate drive unit 21 for driving the steering handle 17 to rotate. The steering plate drive unit 21 includes a pair of first and second cylinder mechanisms 22 and 23 and a ram 24 that constitutes an output unit of the first and second cylinder mechanisms 22 and 23. The first and second cylinder mechanisms 22 and 23 have first and second cylinders 25 and 26 disposed so as to face each other, and one end portion of the ram 24 is inserted into one first cylinder 25, and The other end of the ram 24 is inserted into the other second cylinder 26. As a result, the ram 24 can be moved in the left-right direction in FIG. 1. A ram pin 27 is provided at the center in the axial direction of the ram 24, and the ram pin 27 is attached to the receiving portion 20 of the turning arm 19. Accordingly, when the ram 24 is moved in the direction indicated by the arrow 28 (rightward in FIG. 1), the ram pin 27 is moved together with the ram 24, whereby the turning arm 19, the steering handle 17, the rudder shaft 17a, and the rudder plate 18 are integrated. Is rotated counterclockwise as indicated by an arrow 29. On the contrary, when the ram 24 moves in the direction indicated by the arrow 30 (leftward in FIG. 1), the ram pin 27 is moved along with this, thereby turning the arm 19, the steering handle 17, the rudder shaft 17a, and the rudder. The plate 18 is integrally rotated in the clockwise direction indicated by the arrow 31.

  As shown in FIG. 1, the steering device 16 includes a steering hydraulic pump 32 for driving the steering plate driving unit 21 (first and second cylinder mechanisms 22 and 23). The steering hydraulic pump 32 is, for example, a variable displacement type, both-tilt type inclined shaft type hydraulic pump.

  As shown in FIG. 1, the steering hydraulic pump 32 is provided with a tilt angle control device 34 for controlling the tilt angle of the cylinder block 33 (italic body), and this tilt angle control device 34. Is provided with an auxiliary hydraulic pump 35. The steering hydraulic pump 32 and the auxiliary hydraulic pump 35 are rotationally driven by driving units 36 and 37 such as an electric motor. Therefore, when each drive part 36 and 37 act | operates, the steering hydraulic pump 32 and the auxiliary | assistant hydraulic pump 35 which are connected with each will rotate in a predetermined direction.

  As shown in FIG. 1, the tilt angle control device 34 includes a servo piston 38 connected to a cylinder block 33 (an italic body) of the steering hydraulic pump 32. The tilt angle of the cylinder block 33 can be changed by moving the servo piston 38 back and forth in the left-right direction in FIG. 1. When the tilt angle of the cylinder block 33 is changed, the pressure of the steering hydraulic pump 32 is changed. The oil discharge flow rate and the discharge direction can be changed. When the discharge flow rate and the discharge direction of the pressure oil from the steering hydraulic pump 32 are changed, the steering plate 18 can be rotated at a desired direction and speed by the steering plate drive unit 21.

  The tilt angle control device 34 includes a servo switching valve 56 inside a casing (not shown). The servo switching valve 56 has a sleeve 39, and a spool 40 is built in the sleeve 39. The spool 40 is moved back and forth in the left-right direction in FIG. 1 by a control motor 41 such as a torque motor.

  Further, as shown in FIG. 1, the sleeve 39 is formed with an input port 42, a tank port 43, an A port 44, and a B port 45. The input port 42 is connected to the discharge port of the auxiliary hydraulic pump 35, and the tank port 43 is connected to the tank 46. The A port 44 is connected to a rod chamber 48 formed in the cylinder portion 47 that accommodates the servo piston 38, and the B port 45 is connected to a head chamber 49 formed in the cylinder portion 47.

  Further, the sleeve 39 and the servo piston 38 are fixedly coupled to each other by a feedback lever 50. Accordingly, when the servo piston 38 moves by a predetermined distance X in the left-right direction in FIG. 1, the sleeve 39 moves by a predetermined distance Y in the same direction as the servo piston 38.

  According to the tilt angle control device 34 configured as described above, the pressure oil supplied to the input port 42 (pressure oil discharged from the auxiliary hydraulic pump 35) is supplied to the A port 44, or the A port 44 and the B port 45. In addition, by guiding the pressure oil to the servo piston 38, the servo piston 38 is moved back and forth.

  That is, according to the tilt angle control device 34, as shown in FIG. 1, for example, when the control motor 41 is in the neutral position and the spool 40 is also in the neutral position, the servo piston 38 and the sleeve 39 are shown in FIG. Is held in the neutral position shown.

  When the control motor 41 is driven by a predetermined angle in a predetermined direction and the spool 40 moves rightward (or leftward) from the position shown in FIG. 1 by a predetermined distance, the pressure oil discharged from the auxiliary hydraulic pump 35 is discharged. The fluid flows into the rod chamber 48 (or the rod chamber 48 and the head chamber 49) of the cylinder portion 47, and the hydraulic oil in the head chamber 49 (or the rod chamber 48) is returned to the tank 46. At this time, the servo piston 38 and the sleeve 39 coupled thereto move in the same right direction (or left direction) as the spool 40. When the servo piston 38 and the sleeve 39 move in the same right direction (or left direction) as the spool 40, the positional relationship between the sleeve 39 and the spool 40 returns to the neutral state shown in FIG. The movement in the (or left direction) stops and is held at that position.

  As described above, when the control motor 41 shown in FIG. 1 is driven by a predetermined angle in a predetermined direction, the servo piston 38 can be moved back and forth by a desired distance in the left-right direction. The tilt angle of the cylinder block 33 (italic body) of the steering hydraulic pump 32 can be changed by a desired angle. Thereby, the steering plate drive part 21 can rotate the steering plate 18 by a desired angle at a desired direction and speed.

  That is, for example, when the steering wheel operates a steered wheel (not shown) of the steering unit 51 so that a desired steering angle is obtained, the tilt angle control device 34 shown in FIG. The rudder plate 18 can be rotated so as to have a desired rudder angle. Although not shown in the figure, when the rudder plate 18 reaches a desired rudder angle, the rudder angle detection unit (not shown) detects the rudder angle of the rudder plate 18 and the rudder angle detection unit detects the rudder angle detection signal. Is output. The steering angle detection signal is input to the control motor 41, and the spool 40, sleeve 39, and servo piston 38 are automatically returned to the neutral position shown in FIG. ) Is set within a predetermined angle range (dead zone angle range) close to or equal to zero degrees.

  Thus, when the tilt angle of the cylinder block 33 is set within a predetermined dead zone angle range, the flow rate of the pressure oil discharged from the steering hydraulic pump 32 and supplied to the steering plate drive unit 21 is set to a predetermined allowable level. It can be limited within the flow range. Thus, the rudder plate 18 can be held at a desired rudder angle or a rudder angle close to that within an allowable angle range.

  Next, the abnormality detection device 55 for the steering device will be described. The abnormality detection device 55 includes an operation detection unit 52, an abnormality determination unit (not shown), and a signal output unit 53.

  The motion detection unit 52 shown in FIG. 1 detects the movement direction of the servo piston 38 and the presence or absence of movement and outputs a motion detection signal DS, and is a gap sensor, for example, provided on the fixed side.

  The abnormality determination unit compares the command turning signal SS output from the steering unit 51 with the motion detection signal DS output from the motion detection unit 52 to determine whether or not there is a predetermined correspondence relationship. It is determined whether or not the movement of 38 has been performed normally.

  The abnormality determination unit is provided in a control unit (central processing unit), and a steering unit 51, an operation detection unit 52, a signal output unit 53, and the like are electrically connected to the control unit. When the steering wheel operates a steered wheel (not shown) of the steering unit 51 so that a desired steering angle is obtained, the steering unit 51 performs command steering according to the operation direction, the operation speed, and the operation amount. The signal SS is output, and the command turning signal SS is input to the control unit.

  The signal output unit 53 outputs an abnormal signal to that effect when the abnormality determining unit determines that the command steering signal SS and the operation detection signal DS are not in a predetermined correspondence relationship. For example, an abnormality can be displayed on the display unit by this abnormality signal, or an alarm sound can be output to the speaker.

  Next, an example of a method in which the motion detection unit 52 shown in FIG. 1 detects the movement direction of the servo piston 38 and the presence or absence of movement and outputs the motion detection signal DS will be described.

  As shown in FIG. 3, the servo piston 38 is provided with a first detected portion 58, a second detected portion 59, and a third detected portion 60, and these first to third detected portions 58, 59. , 60 are arranged with respect to the servo piston 38 in that order along the moving direction (the direction of the right arrow shown in FIG. 1). And the 1st to-be-detected part 58 is a medium diameter part, the diameter is D1, and the space | interval of the outer peripheral surface of a medium diameter part and the operation | movement detection part 52 is S1. The second detected portion 59 is a small-diameter portion, the diameter thereof is D2, and the distance between the outer peripheral surface of the small-diameter portion and the motion detection portion 52 is S2. The third detected portion 60 is a large-diameter portion, the diameter thereof is D3, and the distance between the outer peripheral surface of the large-diameter portion and the motion detection portion 52 is S3. There is a relationship of D2 <D1 <D3 and S3 <S1 <S2.

  3 is, for example, a gap sensor provided on the fixed side, and is detected when the first, second, or third detected portions 58, 59, 60 are detected. An operation detection signal DS corresponding to the detected part can be output.

  That is, when the motion detection unit 52 detects the second detected portion 59 (small diameter portion) shown in FIG. 1, the neutral motion detection signal DS (the motion detection unit 52 and the small diameter) that the servo piston 38 is in the neutral position is detected. A signal corresponding to the interval S2 with the outer surface of the part). Thus, when the servo piston 38 is in the neutral position, the tilt angle of the cylinder block 33 (slanted body) of the steering hydraulic pump 32 is zero, and no pressure oil is discharged from the steering hydraulic pump 32. It is. Therefore, the steering plate 18 is held in a state of being stopped at a straight position, and the control unit of the steering device 16 can recognize this state.

  When the motion detector 52 detects the first detected part 58 (medium diameter part), the servo piston 38 shown in FIG. 1 moves to the right in FIG. 3 from the position with reference to the neutral position. It is possible to output a right motion detection signal DS (a signal corresponding to the interval S1 between the motion detector 52 and the outer surface of the medium diameter portion). At this time, the tilt angle of the cylinder block 33 (slanted body) of the steering hydraulic pump 32 tilts from zero degree to a predetermined direction, the ram of the steering gear 57 moves in the predetermined direction, and the steering plate rotates in the predetermined direction. To do. And the control part of the steering device 16 can recognize this state.

  When the motion detection unit 52 detects the third detected portion 60 (large diameter portion), the motion indicating that the servo piston 38 shown in FIG. 1 has moved to the left from the neutral position. A detection signal DS (a signal corresponding to the interval S3 between the motion detection unit 52 and the outer surface of the large diameter portion) can be output. At this time, the tilt angle of the cylinder block 33 (italic body) of the steering hydraulic pump 32 tilts from zero degree to the direction opposite to the predetermined direction, and the ram of the steering gear 57 also moves in the direction opposite to the predetermined direction. The rudder plate rotates in a direction opposite to the predetermined direction. And the control part of the steering device 16 can recognize this state.

  As described above, the control unit of the steering device 16 can recognize the movement direction of the servo piston 38 and the presence / absence of the movement with reference to the neutral position (the second detected portion 59), and further detects the operation. The movement direction of the servo piston 38 and the presence or absence of the movement can be recognized with reference to each position where the part 52 detects the first or third detected part 58 or 60.

  Therefore, in any state where the steering wheel is steered by the steering wheel, when the motion detection unit 52 detects the first, second, or third detection target 58, 59, 60, the control unit With reference to the position of the servo piston 38 before the movement, the movement direction and the presence / absence of the movement can be recognized.

  Next, the operation of the abnormality detection device 55 for the steering device configured as described above and the steering device 16 with the abnormality detection device will be described. According to the steering device 16 with the abnormality detection device, when the motion detection unit 52 detects the first, second, or third detected portions 58, 59, 60, the movement direction of the servo piston 38 and the presence or absence of movement. And the operation detection signal DS can be output. Then, the abnormality determination unit determines whether or not the servo piston 38 has been moved normally by comparing whether or not the command steering signal SS and the motion detection signal DS are in a predetermined correspondence relationship. be able to.

  When the abnormality determination unit determines that the command steering signal SS and the operation detection signal DS are not in a predetermined correspondence relationship, the signal output unit 53 can output an abnormality signal to that effect.

  For example, while the command steering signal SS is the right command steering signal SS for moving the servo piston 38 from the neutral position to the right in FIG. 1, the servo piston 38 is in the neutral position, and the motion detection unit 52 When the motion detection signal DS output is the neutral position motion detection signal DS, the abnormality determination unit determines that the two do not match and does not correspond to a predetermined relationship, and the signal output unit 53 detects that there is an abnormality. A signal can be output.

  By this abnormality signal, the steering wheel can accurately recognize the abnormality of the steering device 16, and can inspect the servo piston 38 related to the cause of the abnormality to repair the abnormal part. In addition, the steering device 16 to which the abnormality detection device 55 is applied can be configured so that the steering device 16 automatically performs an appropriate measure against the abnormality.

  Further, as shown in FIG. 1, the steering device 16 with the abnormality detection device is a steering device that turns the steering gear 57 by changing the tilt angle of the variable displacement hydraulic pump (steering hydraulic pump 32). Can be applied to. Such a type of steering device 16 does not require a hydraulic switching valve for operating the steering plate drive unit 21 provided in the steering gear 57, thereby reducing the cost and installation space. It is something that can be done. Therefore, the steering device 16 shown in FIG. 1 can increase the use of the steering device of this type, and its utility value is high.

  Further, as shown in FIG. 1, when the motion detector 52 detects the first, second, or third detected portions 58, 59, 60, the movement direction of the servo piston 38 in the left and right directions in FIG. Since the motion detection signal DS indicating the presence / absence of movement can be output, it is possible to provide an abnormality detection device 55 for a steering device that has a simple structure and is unlikely to cause a failure.

  As shown in FIG. 1, when the servo piston 38 is in the neutral position, the motion detection unit 52 detects the second detected portion 59 and outputs a motion detection signal DS to that effect to the abnormality determination unit. be able to. As a result, when the motion detection unit 52 detects the first or third detected portions 58 and 60, the movement direction of the servo piston 38 and the presence / absence of movement are output to the abnormality determination unit with the neutral position as a reference. be able to. Therefore, the abnormality determination unit can recognize whether an abnormality has occurred when the command steering signal SS from the steering unit 51 attempts to move the servo piston 38 in any direction. This information can be used to investigate the cause of the failure.

  Next, a second embodiment of the abnormality detection device for a steering device and the steering device with an abnormality detection device according to the present invention will be described with reference to FIG. The difference between the steering device 61 with the abnormality detection device of the second embodiment shown in FIG. 4 and the steering device 16 with the abnormality detection device of the first embodiment shown in FIG. 2 is different from the first embodiment shown in FIG. In the second embodiment shown in FIG. 4, the steering machine 57 is controlled by the first hydraulic system 62 with two systems. , 62 to control. Other than that, since it is an equivalent structure and acts similarly, an equivalent part is shown with the same drawing code | symbol and those description is abbreviate | omitted.

  The steering device 61 with the abnormality detection device of the second embodiment shown in FIG. 4 includes two systems of first and second hydraulic systems 62 and 62 that control the steering machine 57 by parallel operation. The first hydraulic system 62 is provided with a first steering device abnormality detection device 55 (first abnormality detection device), and the second hydraulic system 62 has a second steering device abnormality detection device 55 (second abnormality). An abnormality detection device) is provided.

  And this steering device 61 with an abnormality detection apparatus is provided with the hydraulic system setting part which is not shown in figure. When the hydraulic system setting unit determines that one of the first abnormality determination unit of the first abnormality detection device 55 and the second abnormality determination unit of the second abnormality detection device 55 is abnormal, the abnormality is set. The use of the first or second hydraulic system 62 determined to be stopped is stopped, and the steering gear 57 is controlled using the second or first hydraulic system 62 that is not determined to be abnormal.

  According to the steering device 61 with the abnormality detection device shown in FIG. 4, the steering gear 57 can be controlled by operating the two first and second hydraulic systems 62 and 62 in parallel. The first and second abnormality detection devices 55 provided in the first and second hydraulic systems 62 operate in the same manner as the abnormality detection device 55 of the steering device shown in FIGS. 1 and 2.

  And the 1st and 2nd abnormality detection apparatuses 55 and 55 can determine the presence or absence of abnormality of the 1st and 2nd hydraulic system 62 and 62 corresponding to each. As a result, it is possible to determine whether or not the hydrolock phenomenon has occurred due to any abnormality occurring in one or both of the first and second hydraulic systems 62 and 62.

  Then, when it is determined that either one of the two abnormality determination units is abnormal and the hydrolock phenomenon has occurred, the hydraulic system setting unit determines that the first or second hydraulic system 62 is determined to have the abnormality. The steering gear 57 can be controlled using the second or first hydraulic system 62 that is not determined to be abnormal. Thus, the steering person can continue to use the steering device 61 for steering.

  Next, the operation of the steering device 61 shown in FIG. 4 will be described with reference to FIGS. FIG. 5A is a circuit diagram showing a state in which the steering operation is performed, and FIG. 5B is a circuit diagram showing a state in which a hydro lock is generated.

  FIG. 5A shows the steering device shown in FIG. 4 in which the steering wheel 51 is steered by the steering wheel 51. Based on the command turning signal SS output from the steering wheel 51, the first and second tilts are performed. The angle control device controls to change the tilt angle of each cylinder block 33 (italic body) of the first and second steering hydraulic pumps 32, 32 by a desired angle. Thus, the pressure oil discharged from the first and second steering hydraulic pumps 32, 32 is supplied to the second cylinder 26 of the steering plate drive unit 21, and the ram 24 of the steering plate drive unit 21 is shown in FIG. In this case, the rudder plate 18 can be set to a desired rudder angle by moving the rudder plate 18 in a desired direction.

  In FIG. 5B, the left first steering hydraulic pump 32 is changed to the corresponding tilt angle based on the command steering signal SS, but the right second steering hydraulic pump 32 The tilt angle corresponding to the rudder signal SS is not changed, and is in a state before steering by the steering wheel. As one of the causes, for example, the movement of the second servo piston 38 is hindered due to foreign matters. If it will be in such a state, as shown in FIG.5 (b), operation of the steering machine 57 will become impossible (hydro lock phenomenon generation | occurrence | production state).

  According to the steering device 61 shown in FIG. 4, the steering device 61 can be continuously used and steered as described above.

  However, in the above embodiment, as shown in FIG. 3, the servo piston 38 is provided with three first to third detected portions 58, 59, 60, and these first to third detected portions 58, 59, 60 are provided. However, instead of this, one detected portion (for example, a convex portion) is provided in the servo piston 38, and this detected portion is moved in the moving direction of the servo piston 38. The movement direction of the servo piston 38, the presence / absence of movement, and the neutral position may be detected by two first and second motion detection units provided on both sides of the detected part. Furthermore, the movement direction of the servo piston 38, the presence / absence of movement, and the neutral position may be detected by one motion detection unit provided on one side of one detected part.

  In the above embodiment, as shown in FIG. 3, the servo piston 38 is provided with the first to third detected portions 58, 59, 60, and the first to third detected portions 58, 59, 60 are operated. Although the example detected by the detection unit 52 has been shown, instead of this, as shown in FIG. 6, the first to third detected portions 58, 59, 60 are provided in the italic body of the steering hydraulic pump 32, and these first You may make it the 1st-3rd to-be-detected part 58,59,60 detect by the operation | movement detection part 52. FIG. Further, as shown in FIG. 6, the first to third detected portions 58, 59, 60 are provided on the spool of the servo switching valve 56, and these first to third detected portions 58, 59, 60 are provided as motion detecting portions. 52 may be detected.

  Further, as described above, the three first to third detected portions 58, 59, 60 are provided in the italic body of the steering hydraulic pump 32 or the spool of the servo switching valve 56, and these first to third detected portions are provided. Although the example which detects 58, 59, 60 by one motion detection part 52 was shown, it replaces with this and provides one to-be-detected part (for example, convex part) in italics or a spool, and this to-be-detected part is shown in italics It is a position along the inclination direction or the movement direction of the spool, and the two first and second motion detection units provided on both sides of the detected part, the inclination direction or movement direction of the slant body or the spool, the presence or absence of inclination or movement, The neutral position may be detected. Furthermore, it is also possible to detect the inclination direction or movement direction of the slant body or spool, the presence or absence of inclination or movement, and the neutral position by one motion detection section provided on one side of one detection target section. .

Furthermore, in the said embodiment, although the gap sensor was used as an operation | movement detection part, you may use detectors other than this. For example, a detector that outputs an operation detection signal corresponding to the amount of displacement of the detected part, such as an operating transformer, may be used, or a detector that is switched on and off by the displacement of the detected part is used. In the above embodiment, as shown in FIG. 1, the motion detection unit 52 detects the first to third detected portions 58, 59, 60 and outputs the motion detection signal DS. However, instead of this, for example, a pressure sensor is used as an operation detection unit, and this operation detection unit detects the oil pressure in the rod chamber 48 and the head chamber 49 of the cylinder unit 47 of the servo piston 38 and outputs an operation detection signal DS. It is good also as composition to do. Even in this case, it is possible to detect the tilt direction of the steering hydraulic pump 32 and the presence or absence of the tilt.

  As described above, the abnormality detection device for a steering device and the steering device with an abnormality detection device according to the present invention are applied to a steering device that turns a steering gear by changing the tilt angle of a variable displacement hydraulic pump. It is suitable for application to such an abnormality detection device for a steering device, a steering device with an abnormality detection device, and the like.

16 Steering device with abnormality detection device 17 Steering handle 17a Rudder shaft 18 Rudder plate 19 Turning arm 20 Receiving portion 21 Rudder plate driving portion 22 First cylinder mechanism 23 Second cylinder mechanism 24 Ram 25 First cylinder 26 Second cylinder 27 Rampin 28 29, 30, 31 Arrow 32 Steering hydraulic pump 34 Tilt angle control device 35 Auxiliary hydraulic pump 36, 37 Drive unit 38 Servo piston 39 Sleeve 40 Spool 41 Control motor 42 Input port 43 Tank port 44 A port 45 B port 46 Tank 47 Cylinder section 48 Rod chamber 49 Head chamber 50 Feedback lever 51 Steering section 52 Operation detecting section 53 Signal output section 55 Abnormality detecting apparatus for steering apparatus 56 Servo switching valve 57 Steering machine 58 First detected section 59 Second detected section Part 60 Third detected part 61 Abnormality detection Location with steering device 62 the hydraulic system, the first and second hydraulic system SS command steering signal DS operation detection signal

Claims (7)

A steering device that moves a servo piston via a servo switching valve in response to a command steering signal from a steering unit, changes the tilt angle of a variable displacement hydraulic pump connected to the servo piston, and steers the steering gear In the abnormality detection device of
A motion detection unit that detects a movement direction of the servo piston and the presence or absence of movement, or a tilt direction and a tilt presence or absence of the variable displacement hydraulic pump, and outputs a motion detection signal;
Compared whether the command steering signal and the motion detection signal have a predetermined correspondence relationship, whether the servo piston has moved normally or the variable displacement hydraulic pump has been tilted normally. An abnormality detection device for a steering apparatus, comprising: an abnormality determination unit that determines whether or not.   2. A signal output unit that outputs an abnormality signal to that effect when the abnormality determination unit determines that the command turning signal and the motion detection signal do not have a predetermined correspondence relationship. An abnormality detection device for a steering device according to claim 1. The servo piston or the variable displacement hydraulic pump is provided with a detected part that is detected by the motion detecting part,
The abnormality detection device for a steering apparatus according to claim 1, wherein the motion detection unit is provided on a fixed side portion.   When the servo piston or the variable displacement hydraulic pump is in a neutral position, the operation detection unit outputs the operation detection signal indicating that, and outputs the operation detection signal indicating that it is in the neutral position. As a reference, the movement detection signal indicating the moving direction and the presence or absence of movement of the servo piston, or the tilting direction and the presence or absence of the tilt of the variable displacement hydraulic pump is output to the abnormality determining unit. The abnormality detection device for a steering device according to claim 3. A steering device that moves a servo piston via a servo switching valve in response to a command steering signal from a steering unit, changes the tilt angle of a variable displacement hydraulic pump connected to the servo piston, and steers the steering gear In the abnormality detection device of
An operation detection signal is detected by detecting the moving direction and the presence or absence of movement of the servo piston, the tilting direction and the presence or absence of the tilting of the variable displacement hydraulic pump, or the moving direction and the presence or absence of movement of the spool of the servo switching valve. An output motion detection unit;
Comparing whether the command steering signal and the operation detection signal are in a predetermined correspondence relationship, the movement of the servo piston, the tilt of the variable displacement hydraulic pump, or the servo switching valve An abnormality determination unit that determines whether or not the spool has been moved normally,
The servo piston, the variable displacement hydraulic pump, or the spool is provided with a detected portion that is detected by the motion detecting portion,
The detected portion has a medium diameter portion, a small diameter portion, and a large diameter portion in order along the moving direction or the tilting direction of the servo piston, the variable displacement hydraulic pump, or the spool.
The motion detection unit is provided on a fixed side portion and outputs the motion detection signal corresponding to the medium diameter portion, the small diameter portion, and the large diameter portion, and when the small diameter portion is detected, the servo piston The variable displacement hydraulic pump or the operation detection signal indicating that the spool is in a neutral position is output, and the servo piston or the spool is moved with reference to the operation detection signal indicating that the spool is in a neutral position. An abnormality detection device for a steering apparatus, wherein the operation detection signal indicating a direction and presence / absence of movement, or a tilt direction of the variable displacement hydraulic pump and presence / absence of tilt is output to the abnormality determination unit. Two systems of first and second hydraulic systems for controlling the steering machine in parallel operation, or one hydraulic system for controlling the steering machine,
Each of the first and second hydraulic systems, or one hydraulic system, is provided with the abnormality detection device for a steering device according to any one of claims 1 to 5. Steering device with abnormality detection device. When it is determined that one of the two abnormality determination units is abnormal, the use of the first or second hydraulic system determined to be abnormal is stopped, and the first is not determined to be abnormal. The steering apparatus with an abnormality detection device according to claim 6, further comprising a hydraulic system setting unit that controls the steering machine using the second hydraulic system or the first hydraulic system.

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