JP6405568B2 - Ship - Google Patents

Description

  The present invention relates to a ship steering technique.

  Conventionally, inboard motors (inboard drives) are well known as ship propulsion systems. The inboard drive is a propulsion system in which the engine and switching clutch are arranged in the center of the ship, the propeller shaft is extended toward the stern, the propeller is placed underwater from the bottom of the ship, and the rudder is placed behind the propeller. It is. A side thruster is known as a power unit that moves the hull in the lateral direction. Further, among the side thrusters, a bow thruster provided at the bow is also known (for example, Patent Document 1).

  When the two-board / two-board inboard drive type ship is laterally moved by the bow thruster, it is moved by the bow thruster with the same rotational moment acting on the hull so that the hull does not rotate. In order to equalize the rotational moment acting on the hull, when the port propeller was rotated forward, the starboard propeller was reversely rotated to prevent the hull from rotating.

  However, the control of the steering angle of the rudder when the inboard drive type ship moves laterally by a bow thruster with the same rotational moment has not been disclosed. Further, inboard drive type ships are required to reduce the resistance to the hull when laterally moving by a bow thruster with the same rotational moment.

JP 2004-42688 A

  The problem to be solved by the present invention is to provide a ship capable of reducing resistance to the hull during lateral movement by an inboard drive type bow thruster.

  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 the claim 1, is maneuvering by the joystick lever, on ships comprising a pair of left and right propeller, a pair of right and left steering provided behind the propeller, and bow thruster to move the hull laterally, the And a control means for controlling the driving of the propulsion propeller, the rudder angle of the rudder, and the driving of the bow thruster, and when the control means moves laterally in one direction by the bow thruster. The one-side propulsion propeller is rotated forward, the other propulsion propeller opposite to the one-direction side is rotated in a direction opposite to the one-direction propulsion propeller, and the pair of left and right rudder Is steered to the maximum steering angle toward the other direction opposite to the one direction .

  According to the ship of the present invention, resistance to the hull can be reduced during lateral movement by an inboard drive type bow thruster.

The schematic diagram which shows the structure of a ship. The flowchart which shows the flow of lateral movement control. The schematic diagram which shows the effect | action of lateral movement control.

  The structure of the ship 100 is demonstrated using FIG. In FIG. 1, the hull 10 is shown in a transparent manner for easy understanding. Moreover, below, the front-back, left-right direction is prescribed | regulated by making the bow direction of the ship 100 into the front. Furthermore, in FIG. 1, the electric signal lines are represented by broken lines.

  The ship 100 is an embodiment according to the ship of the present invention. The ship 100 according to the present embodiment is a 2-axis 2-axis inboard motor (inboard drive).

  The inboard drive means that the engine 21 and the switching clutch 22 are arranged in the center of the hull 10, the propeller shaft 23 is extended toward the stern, the propeller 24 is arranged underwater from the bottom of the ship, and the rudder 32 is propelled. It is a propulsion system that is placed behind the propeller.

  The two-board 2-axis inboard drive is a configuration in which inboard drives are arranged on the port side and the starboard side of the hull 10, respectively. Hereinafter, only one inboard drive will be described.

  The ship 100 includes a hull 10, an engine 21, a switching clutch 22, a propeller propeller 24, a rudder 32, a bow thruster 41, and a boat maneuvering device S.

  The engine 21 rotates a propeller 24 provided on the port (or starboard). The engines 20 are respectively arranged on the port side (or starboard side) of the center portion of the hull 10. A switching clutch 22 is connected to the output shaft of the engine 20.

  The engine 21 is provided with an engine control unit (hereinafter, ECU) 51. The ECU 51 performs overall control of the engine 21. The ECU 51 is connected to a controller 50 described later.

  The switching clutch 22 switches the power transmitted from the output shaft of the engine 20 in the forward rotation direction or the reverse rotation direction and outputs it. The output shaft of the engine 21 is connected to the input side of the switching clutch 22. A propeller shaft 23 is connected to the output side of the switching clutch 22.

  The operation of the switching clutch 22 is controlled by a hydraulic circuit (not shown). The hydraulic circuit is provided with a plurality of solenoid valves (not shown) that perform circuit switching or direction control. The solenoid valve is connected to a controller 50 described later. In FIG. 1, the switching clutch 22 is connected to the controller 50 for easy understanding.

  The propeller shaft 23 transmits the power of the engine 21 to the propeller 24. The propeller shaft 23 is provided so as to penetrate the port bottom (or starboard bottom) of the hull 10 and reach the outside of the ship.

  The propeller propeller 24 generates thrust in the front-rear direction. The propeller propeller 24 is connected to the propeller propeller shaft 23, respectively. The propeller propeller 24 is rotationally driven by the power of the engine 21 transmitted through the propeller propeller shaft 23. A plurality of blades are disposed around the rotation axis of the propeller 24. The blade generates thrust by draining the surrounding water.

  The rudder 32 freely determines the traveling direction of the ship 100. Each rudder 32 is provided behind the propeller 24 and on the port side (or starboard side) of the stern. The rudder 32 is configured to be rotatable and is supported by a hydraulic cylinder 31 for rotation.

  The operation of the hydraulic cylinder 31 is controlled by a hydraulic circuit (not shown). The hydraulic circuit is provided with a plurality of solenoid valves (not shown) that perform circuit switching or direction control. The solenoid valve is connected to a controller 50 described later. In FIG. 1, the hydraulic cylinder 31 is connected to the controller 50 for easy understanding.

  The bow thruster 41 moves the hull 10 in the lateral direction. The bow thruster 41 is configured by providing propulsion propellers in a tunnel penetrating the left and right sides of the hull 10. The bow raster 41 is rotationally driven by a drive motor 42. The drive motor 42 is connected to the controller 50.

  The boat maneuvering device S includes a controller 50 as control means, a joystick lever 54, an accelerator lever 55, and a steering handle 56.

  The controller 50 performs overall control of the ship 100. The controller 50 has a function of performing lateral movement control S100 described later.

  The controller 50 is connected to ECUs 51, 51, switching clutches 22, 22, hydraulic cylinders 31, 31, drive motor 42, joystick lever 54, accelerator lever 55, and steering handle 56.

  The joystick lever 54 generates a signal for moving the ship 100 in an arbitrary direction. The joystick lever 54 is configured to be able to tilt at an arbitrary angle in an arbitrary direction. The joystick lever 54 is configured to generate a signal regarding the rotational speed of the engine 21 and the switching state of the switching clutch 22 according to the operation mode and the operation amount.

  The accelerator lever 55 generates a signal regarding the rotational speed and the rotational direction of the port (or starboard) propulsion propeller 24. The accelerator lever 55 includes a lever corresponding to the port propulsion propeller 24 and a lever corresponding to the rod propulsion propeller 24. The steering handle 56 generates a signal regarding the amount of rotation of the rudder 32.

  The flow of the lateral movement control S100 will be described with reference to FIG. In FIG. 2, the flow of the lateral movement control S100 is represented by a flowchart.

  The lateral movement control S100 is marine vessel maneuvering control that moves the hull 10 to the side when the ship 100 berths or leaves, for example. The lateral movement control S100 is performed when the joystick lever 54 is tilted right or left.

  In step S110, the controller 50 generates a signal for moving the ship 100 in the right direction because the joystick lever 54 is tilted in the right direction.

  In step S120, the controller 50 switches the starboard switching clutch 22 to the forward rotation side (the rotational direction in which the hull 10 moves forward) in order to equalize the rotational moment acting around the center of gravity of the hull 10 so that the hull 10 does not rotate. . In step S130, the controller 50 switches the port side switching clutch 22 to the reverse rotation side (the rotation direction in which the hull 10 moves backward).

  In order to prevent the hull 10 from rotating, when the rotation moment acting around the center of gravity of the hull 10 is made equal, one propulsion propeller 24 moves to the other so as to cancel the rotation moment of the hull 10 by the bow thruster 41. What is necessary is just to reversely rotate with respect to the propeller propeller 24.

  In step S140, the controller 50 turns the rudder 32/32 leftward so as to have the maximum steering angle (the maximum angle for steering leftward). In step S150, the controller 50 drives the bow raster 41 to move the hull 10 to the right.

  The operation of the lateral movement control S100 will be described with reference to FIG. In addition, in FIG. 3, the effect | action of lateral movement control S100 is typically represented by planar view. FIG. 3 shows a case where the hull 10 is moved in the right direction.

  In the lateral movement control S100, the starboard propeller 24 is rotated forward, the port propeller 24 is reversely rotated, and the rotational moment acting around the center of gravity of the hull 10 becomes equal, so that the hull 10 does not rotate. The

  Further, in the lateral movement control S100, the rudder 32/32 is steered to the maximum angle in the left direction, and the bow raster 41 is driven to move in the right direction. At this time, in the hull 10, the water resistance with respect to the right direction decreases, so that the hull 10 can smoothly move to the right direction.

  In this embodiment, the case where the hull 10 is moved rightward with respect to the action of the lateral movement control S100 is shown. However, similarly, when the hull 10 is moved in the left direction, the hull 10 can smoothly move in the left direction because the resistance of water in the left direction decreases.

  The effect of the ship 100 will be described. According to the ship 100, the resistance to the hull 10 can be reduced during lateral movement by the in-board drive type bow thruster 41.

  That is, according to the lateral movement control S100 of the ship 100, when the bow thruster 41 is driven to move in one direction, the resistance of water in one direction is reduced by turning the rudder 32/32 in the other direction, It can move smoothly in one direction.

DESCRIPTION OF SYMBOLS 10 Hull 21 Engine 22 Switching clutch 24 Propeller propeller 31 Hydraulic cylinder 32 Rudder 41 Bow thruster 50 Controller 54 Joystick lever 100 Ship

Claims (1)

A marine vessel operated by a joystick lever, comprising a pair of left and right propulsion propellers, a pair of left and right rudders provided behind the propulsion propellers, and a bow thruster that moves the hull laterally ,
A control means for controlling the driving of the propulsion propeller, the rudder angle of the rudder, and the driving of the bow thruster;
The control means includes
When laterally moving in one direction by the bow thruster,
The forward propeller on the one-direction side is rotated forward, the propeller on the other direction opposite to the one-direction side is rotated in a direction opposite to the rotation of the propeller on the one-direction side, and
Steering the pair of left and right rudder toward the other direction side opposite to the one direction side so as to have a maximum steering angle,
Ship.

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