WO2010052777A1 - Ship steering device - Google Patents
Ship steering device Download PDFInfo
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- WO2010052777A1 WO2010052777A1 PCT/JP2008/070191 JP2008070191W WO2010052777A1 WO 2010052777 A1 WO2010052777 A1 WO 2010052777A1 JP 2008070191 W JP2008070191 W JP 2008070191W WO 2010052777 A1 WO2010052777 A1 WO 2010052777A1
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- Prior art keywords
- hydraulic
- pump
- oil
- steering
- pressure
- Prior art date
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H25/00—Steering; Slowing-down otherwise than by use of propulsive elements; Dynamic anchoring, i.e. positioning vessels by means of main or auxiliary propulsive elements
- B63H25/06—Steering by rudders
- B63H25/08—Steering gear
- B63H25/14—Steering gear power assisted; power driven, i.e. using steering engine
- B63H25/26—Steering engines
- B63H25/28—Steering engines of fluid type
- B63H25/30—Steering engines of fluid type hydraulic
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
- F15B2211/205—Systems with pumps
- F15B2211/2053—Type of pump
- F15B2211/20546—Type of pump variable capacity
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
- F15B2211/205—Systems with pumps
- F15B2211/20576—Systems with pumps with multiple pumps
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/70—Output members, e.g. hydraulic motors or cylinders or control therefor
- F15B2211/71—Multiple output members, e.g. multiple hydraulic motors or cylinders
- F15B2211/7107—Multiple output members, e.g. multiple hydraulic motors or cylinders the output members being mechanically linked
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/70—Output members, e.g. hydraulic motors or cylinders or control therefor
- F15B2211/71—Multiple output members, e.g. multiple hydraulic motors or cylinders
- F15B2211/7114—Multiple output members, e.g. multiple hydraulic motors or cylinders with direct connection between the chambers of different actuators
- F15B2211/7128—Multiple output members, e.g. multiple hydraulic motors or cylinders with direct connection between the chambers of different actuators the chambers being connected in parallel
Definitions
- the present invention relates to a steering machine that is mounted on a traveling body such as a ship and performs steering.
- a steering machine that performs such steering includes a hydraulic system that generates hydraulic pressure using a hydraulic pump driven by an electric motor, and controls the hydraulic pressure acting on the hydraulic cylinder to operate the steering plate.
- the steering machine 10 includes a rudder shaft 11 that protrudes downward from the bottom of the stern side of the ship 1 and is rotatably supported by the ship 1.
- a rudder plate 12 is fixed to the rudder shaft 11 at an underwater position and rotates integrally.
- symbol 2 in a figure is a screw which gives a propulsive force to the ship 1.
- the steering machine 10 described above includes a drive mechanism actuator that rotates the rudder shaft 11 to steer the rudder plate 12 in a desired direction.
- this drive mechanism for example, an electro-hydraulic system configured as in the conventional example shown in FIG. 5 is known.
- the rudder shaft 11 is rotated via a chiller 13.
- the chiller 13 is fixed to the rudder shaft 11 at the center, and four hydraulic cylinders 21 (both ends are connected to a closed-circuit hydraulic system (hydraulic system) 20 at both ends are denoted by reference numerals only when necessary. 21A, 21B, 21C, and 21D).
- one end side of the chiller 13 is connected to the first ram 22A operated by the pair of hydraulic cylinders 21A and 21B, and the other end side of the chiller 13 is connected to the second ram 22B operated by the pair of hydraulic cylinders 21C and 21D. Since they are connected, for example, by supplying oil to the pair of hydraulic cylinders 21A and 21D, the chiller 13 and the rudder shaft 11 can be rotated in the clockwise direction. Further, by supplying oil to the other pair of hydraulic cylinders 21B and 21C, the chiller 13 and the rudder shaft 11 can be rotated in the counterclockwise direction.
- the hydraulic cylinder 21 described above is connected to a main hydraulic pump 23 such as a swash plate pump via an oil pipe 24.
- a main hydraulic pump 23 such as a swash plate pump
- the main hydraulic pump 23 adjusts the angle of the swash plate to suck the oil in the anti-load side cylinder, pressurize it to a predetermined pressure, and supply it to the load side cylinder.
- the steering angle is maintained at a specific angle, the oil flowing through the hydraulic system 20 is locked by setting the angle of the swash plate to the neutral position so that the amount of oil passing through the main hydraulic pump 23 is zero, and the steering plate Can be stopped.
- a boost pump 26 is connected to the oil pipe 24 via a check valve 25.
- the boost pump 26 has a function of sucking oil from an oil tank (not shown) and supplying it to the oil pipe 24 with a predetermined pressure.
- the boost pump 26 is affected by the water flow acting on the steering plate 12 and the like. Even when the load on the hydraulic system fluctuates rapidly, the hydraulic pressure in the hydraulic system 20 is maintained at a predetermined value or higher so that no negative pressure is generated in the hydraulic system 20.
- a steering device including an accumulator is disclosed as an oil supply source of an auxiliary control device that enables control when a main control device fails.
- the accumulator is arranged on the upstream side of a switching valve for steering by switching the oil flow on a hydraulic system including a constant flow type hydraulic pump.
- a steering device including an accumulator is disclosed as an oil supply source for a temporary rapid operation.
- the accumulator in this case is also arranged on the upstream side of the switching valve on the hydraulic system including the constant flow type hydraulic pump.
- Patent Document 3 JP 54-142799 A JP-A-1-195180 Japanese Patent Laid-Open No. 60-12395
- the above-described electrohydraulic steering machine employs a closed circuit hydraulic system that uses a swash plate pump or the like as a main hydraulic pump, and a boost pump is used to prevent negative pressure in the hydraulic circuit during steering. Provided.
- margins such as steering force given to the hydraulic system of the steering machine tend to be suppressed. For this reason, depending on the state of the load, the replenishment amount of the oil that can be supplied from the boost pump becomes insufficient, and a region in which a negative pressure is generated in the hydraulic circuit may be generated.
- FIG. 6 is a diagram showing an example of the steering plate torque on the vertical axis with the horizontal axis as the steering angle, and in any steering direction of P / S, as shown by hatching in the figure, in a region where the steering angle is small.
- Rudder plate torque in the direction opposite to the steering direction is generated.
- the rudder torque in the direction opposite to the steering direction may not occur at all, or may occur up to a relatively large rudder angle range, depending on the design of the rudder plate.
- the hydraulic cylinder which should drive the ram with the hydraulic pressure corresponding to the load, is actually pulled by the ram by the load that the rudder plate tries to rotate.
- the hydraulic pressure in the hydraulic cylinder may become negative.
- FIG. 7 there may be a time zone T in which a negative pressure region is formed due to a shortage of hydraulic oil amount in the hydraulic circuit. During this time, it is considered that cavitation occurs in the main hydraulic pump due to a decrease in hydraulic pressure, which causes problems such as noise. In this time zone T, the steering plate torque toward the desired steering direction cannot be obtained.
- the capacity of the boost pump 26 may be increased to prevent the formation of the negative pressure region.
- increasing the capacity of the boost pump 26 is not preferable because there is a problem of increasing the power consumption and the amount of heat generated by the pump operation.
- the present invention has been made in view of the above circumstances, and its object is to prevent cavitation of the main hydraulic pump due to the negative pressure region in the hydraulic circuit and to generate abnormal noise associated with this cavitation.
- the object is to provide a steering machine that prevents it.
- a steering mechanism that rotates a rudder shaft that is rotatably supported by a traveling body and a rudder plate that is fixed to the rudder shaft and rotates integrally therewith, and a drive mechanism that rotates the rudder shaft.
- a main hydraulic pump having a hydraulic actuator connected to the hydraulic system, wherein the hydraulic system is variable in the direction of suction / discharge of oil and a discharge flow rate; a boost pump that maintains a predetermined pressure in the hydraulic system; and the hydraulic system And a hydraulic storage means for preventing cavitation of the main hydraulic pump accompanying the formation of the negative pressure region.
- Such a steering machine includes a main hydraulic pump in which the hydraulic system can vary the oil suction / discharge direction and the discharge flow rate, a boost pump that maintains a predetermined pressure in the hydraulic system, and a negative pressure in the hydraulic system.
- Hydraulic storage means for preventing cavitation of the main hydraulic pump accompanying the region formation, so that when the oil pressure in the oil system drops, oil is replenished from the boost pump to the hydraulic system, and further the oil from the boost pump When replenishment becomes insufficient, oil is replenished from the hydraulic storage means to prevent the formation of a negative pressure region in the hydraulic system, and the occurrence of abnormal noise due to cavitation caused by this can be prevented. it can.
- the hydraulic storage means is preferably one or a plurality of accumulators.
- the boost pump is preferably operable independently of the main hydraulic pump, and is intermittently operated so as to maintain the hydraulic pressure in the vicinity of the accumulator within a predetermined range.
- FIG. 1 It is a lineblock diagram showing one embodiment of a steering gear concerning the present invention. It is a figure explaining the effect
- An electro-hydraulic steering gear 10A shown in FIG. 1 is provided on a rudder shaft 11 and a rudder shaft 11 that are rotatably supported by the traveling body when the traveling body such as a ship changes a traveling direction.
- This is a steering device used when driving the steering plate 12 (see FIG. 4) that is fixed and rotates integrally.
- the steering machine 10A includes four hydraulic cylinders 21 (21A, 21B, 21C, and 21D when distinction is required) connected to the hydraulic system 20A as actuators of a drive mechanism that rotates the rudder shaft 11.
- the actuator is not limited to a hydraulic cylinder, and may be a rotary vane or the like.
- symbol 13 in a figure is a chiller which rotates the rudder axis
- the hydraulic system 20A described above includes a main hydraulic pump 23 that makes the oil suction / discharge direction and discharge flow rate variable, a boost pump 26 that maintains the inside of the hydraulic system 20A at a predetermined pressure, and a negative pressure region in the hydraulic system 20A.
- a main hydraulic pump 23 that makes the oil suction / discharge direction and discharge flow rate variable
- a boost pump 26 that maintains the inside of the hydraulic system 20A at a predetermined pressure
- a negative pressure region in the hydraulic system 20A One or a plurality of accumulators 30 provided as hydraulic storage means for preventing cavitation of the main hydraulic pump 20A accompanying the formation are provided.
- a swash plate pump which is a kind of variable displacement pump, is used, but an oblique shaft pump may be used as a pump having the same function.
- the main hydraulic pump (swash plate pump) 23 is connected to the output shaft of the main motor 28 and adjusts the inclination angle of the swash plate, thereby changing the oil discharge direction and the discharge flow rate.
- the illustrated main hydraulic pump 23 has two ports 23a and 23b, and one of these ports 23a and 23b is a discharge side and the other is a suction side according to the angle at which the swash plate is inclined. .
- one port 23 a is connected to the hydraulic cylinders 21 A and 21 D via the oil pipe 24, and the other port 23 b is connected to the hydraulic cylinders 21 B and 21 C via the oil pipe 24.
- the main hydraulic pump 23 is a pump that is always operated to supply hydraulic pressure when the steering gear 10A is effective.
- the boost pump 26 is a hydraulic pump that is driven coaxially with the main hydraulic pump 23 using the main electric motor 28 as a drive source. Therefore, the boost pump 26 is always operated together with the main hydraulic pump 23 when steering by the steering machine 10A is effective.
- the oil discharged from the boost pump 26 is connected to the oil pipe 24 via the boost oil pipe 24a.
- the connection position of the boost oil pipe 24a is on the downstream side of the main hydraulic pump 23 having a function of switching the oil flow direction, and further, the oil pipe 24 connecting the port 23a and the hydraulic cylinders 21A and 21D and the other port 23b. Are branched and connected to an oil pipe 24 that connects the hydraulic cylinders 21B and 21C.
- the boost oil pipe 24a is provided with an accumulator 30 such as a prada type as a hydraulic pressure storage means.
- a total of three check valves 25a, 25b, and 25c are provided in the boost oil piping 24a on the upstream side and the downstream side of the accumulator 30, and all of the check valves are connected from the main hydraulic pump 23 to the boost pump 26 and The flow in the direction toward the accumulator 30 is prevented. Further, in the accumulator 30, the internal hydraulic pressure is maintained at a predetermined set pressure Pa by the operation of the boost pump 26. For example, as shown in FIG.
- the set pressure Pa is a positive pressure lower than the in-circuit oil pressure Pm obtained in the hydraulic system 20A such as the cylinder 21 and the oil pipe 24 by the operation of the main hydraulic pump 23 (0 ⁇ Pa ⁇ Pm).
- the accumulator 30 what is necessary is just to ensure the capacity
- the main hydraulic pump 23 and the boost pump 28 are always operated by the main motor 28 during normal ship navigation.
- the steering machine 10A is in a state where steering is effective because the hydraulic system 20A secures the in-circuit hydraulic pressure Pm, and the accumulator 30 maintains the set pressure Pa.
- the first ram 22A is moved in the right direction by the hydraulic pressure acting on the cylinder 21.
- the second ram 22B moves to the left in the drawing, steering is performed to rotate the chiller 13 and the rudder shaft 11 counterclockwise.
- the oil discharged from the boost pump 26 and the accumulator 30 are stored via the check valves 25b and 25c.
- the oil thus supplied is supplied from the boost oil pipe 24 a to the cylinder 21 through the oil pipe 24. Therefore, the oil supply capacity of the boost pump 26 and the accumulator 30 is added to the oil supply capacity of the main hydraulic pump 23, and the effective amount of oil in the hydraulic system 20A increases.
- the check valve 25 a of the boost oil pipe 24 a prevents the high pressure on the main hydraulic pump 23 side from acting on the boost pump 30.
- the hydraulic system 20A is supplied with oil from the boost pump 26 and the accumulator 30, so the hydraulic pressure in the hydraulic system 20A does not drop below the accumulator set pressure Pa.
- a sufficient amount of oil can be replenished from the accumulator 30 serving as a hydraulic pressure storage means, so a negative pressure region is formed in the hydraulic system 20A.
- the occurrence of cavitation in the main hydraulic pump 23 can be prevented.
- the capacity of the boost pump 26 can be minimized. The downsizing of the boost pump 26 can reduce the power consumption of the main motor 28 and further reduce the amount of heat generated by the pump operation.
- the boost pump 26 ⁇ / b> A can be operated independently of the main hydraulic pump 23. That is, the boost pump 26A uses the dedicated auxiliary electric motor 28A as a drive source, and the control unit 40 operates intermittently so as to maintain the accumulator 30 and the hydraulic pressure in the vicinity thereof within a predetermined range.
- the predetermined range for maintaining the hydraulic pressure is determined based on the set pressure Pa. Then, by inputting the detection value of the pressure sensor 41 installed in the boost oil pipe 24a 'to the control unit 40, the control unit 40 starts the operation of the boost pump 26A with the lower limit pressure within a predetermined range, Operation control for stopping the operation of the boost pump 26A at the upper limit pressure is performed. Specifically, for example, when the predetermined range of hydraulic pressure is “Pa + ⁇ ”, the operation of the boost pump 26A is started at the set pressure Pa that is the lower limit pressure of the predetermined range, and boosted at “Pa + ⁇ ” that is the upper limit pressure of the predetermined range. The operation of the pump 26A is stopped.
- the boost pump 26A can be operated only when necessary to maintain the accumulator 30 at a desired pressure, so that the power consumption of the auxiliary electric motor 28A and the amount of heat generated by the pump operation can be suppressed.
- the predetermined range in this case is not limited to “Pa + ⁇ ” described above, and may be “Pa ⁇ ⁇ ”, for example.
- the steering machine 10A since the hydraulic storage means such as the accumulator 30 that prevents cavitation of the main hydraulic pump 23 associated with the formation of the negative pressure regions in the hydraulic systems 20A and 20B is provided, the steering machine 10A is provided with oil. When the hydraulic pressure in the system is reduced, it is possible to prevent the negative pressure region from being formed in the hydraulic system 20A by replenishing oil from the hydraulic storage means. As a result, the formation of negative pressure regions in the hydraulic circuits 20A and 20B of the steering machine 10A can prevent cavitation from occurring in the main hydraulic pump 23, and can also prevent the generation of abnormal noise associated with this cavitation. .
- the steering machine 10A provided with a hydraulic pressure storage means such as the accumulator 30 can minimize the capacity of the boost pumps 26 and 26A. As a result, it is possible to reduce the power consumption and the amount of heat generated by the operation. . Further, if the accumulator 30 is used as the hydraulic pressure storage means and the hydraulic pressure is maintained within a predetermined range around the accumulator 30, an intermittent operation in which the boost pump 26A capable of independent operation is operated only when necessary is performed. Compared with the boost pump 26 that operates continuously, power consumption and heat generation can be reduced. In addition, this invention is not limited to embodiment mentioned above, In the range which does not deviate from the summary, it can change suitably.
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Abstract
Description
舵取機10は、たとえば図4に示すように、船舶1の船尾側となる船底から下方に突出し、船舶1に回動可能に支持された舵軸11を備えている。この舵軸11には、水中位置に舵板12が固定されて一体に回動する。なお、図中の符号2は、船舶1に推進力を与えるスクリューである。 4 and 5 show a conventional configuration example of a steering machine adopting an electrohydraulic system.
For example, as shown in FIG. 4, the
図示の駆動機構において、舵軸11の回動は、チラー13を介して行われる。チラー13は、中心部が舵軸11に固定されるとともに、両端部近傍が閉回路の油圧系統(油圧システム)20に接続されている4本の油圧シリンダ21(必要な場合にのみ、符号を21A,21B,21C,21Dと区別する)と連動するように構成されている。すなわち、チラー13の一端部側が一対の油圧シリンダ21A,21Bにより動作する第1ラム22Aに連結され、かつ、チラー13の他端部側が一対の油圧シリンダ21C,21Dにより動作する第2ラム22Bに連結されているので、たとえば一対の油圧シリンダ21A,21Dに油を供給することにより、チラー13及び舵軸11を時計回りの方向に回転させることができる。また、他の一対の油圧シリンダ21B,21Cに油を供給することにより、チラー13及び舵軸11を反時計回りの方向に回転させることができる。 The
In the illustrated drive mechanism, the
また、油配管24には、逆止弁25を介してブーストポンプ26が接続されている。このブーストポンプ26は、図示しない油タンクの油を吸い込んで所定の圧力で油配管24に供給する機能を有しており、たとえば舵板12に作用する水流等の影響を受けて舵取機10の負荷が急激に変動する場合であっても、油圧系統20内の油圧を所定値以上に保つことにより、油圧系統20内に負圧を生じさせないように設けられている。 The hydraulic cylinder 21 described above is connected to a main
A
また、船舶においては、一時的な急速操作に備えた油供給源として、アキュムレータを備えた操舵装置が開示されている。この場合のアキュムレータも、定流量型の油圧ポンプを備えている油圧系統上において、切替弁の上流側に配設されている。(たとえば、特許文献3参照)
Further, in a marine vessel, a steering device including an accumulator is disclosed as an oil supply source for a temporary rapid operation. The accumulator in this case is also arranged on the upstream side of the switching valve on the hydraulic system including the constant flow type hydraulic pump. (For example, see Patent Document 3)
しかし、近年の船舶においては、舵取機の油圧系統に与えられる操舵力等の余裕代が抑制される傾向にある。このため、負荷の状況によっては、ブーストポンプから供給可能な油の補給量が不十分となり、油圧回路内に負圧となる領域を生じることがある。 The above-described electrohydraulic steering machine employs a closed circuit hydraulic system that uses a swash plate pump or the like as a main hydraulic pump, and a boost pump is used to prevent negative pressure in the hydraulic circuit during steering. Provided.
However, in recent ships, margins such as steering force given to the hydraulic system of the steering machine tend to be suppressed. For this reason, depending on the state of the load, the replenishment amount of the oil that can be supplied from the boost pump becomes insufficient, and a region in which a negative pressure is generated in the hydraulic circuit may be generated.
その結果として、図7に示すように、油圧回路内には油圧油量の不足による負圧領域を形成する時間帯Tが生じることがありえる。この間、油圧低下に起因して主油圧ポンプにキャビテーションが発生し、ノイズ等の不具合の原因となることが考えられる。この時間帯Tでは所望の操舵方向に向けた舵板トルクが得られない状況となる。 FIG. 6 is a diagram showing an example of the steering plate torque on the vertical axis with the horizontal axis as the steering angle, and in any steering direction of P / S, as shown by hatching in the figure, in a region where the steering angle is small. Rudder plate torque in the direction opposite to the steering direction is generated. The rudder torque in the direction opposite to the steering direction may not occur at all, or may occur up to a relatively large rudder angle range, depending on the design of the rudder plate. When the rudder plate torque is applied to the steering gear, the hydraulic cylinder, which should drive the ram with the hydraulic pressure corresponding to the load, is actually pulled by the ram by the load that the rudder plate tries to rotate. As a result, the hydraulic pressure in the hydraulic cylinder may become negative.
As a result, as shown in FIG. 7, there may be a time zone T in which a negative pressure region is formed due to a shortage of hydraulic oil amount in the hydraulic circuit. During this time, it is considered that cavitation occurs in the main hydraulic pump due to a decrease in hydraulic pressure, which causes problems such as noise. In this time zone T, the steering plate torque toward the desired steering direction cannot be obtained.
上述した主油圧ポンプのキャビテーションを防ぐ方法として、たとえばブーストポンプ26の容量を大きくして負圧領域の形成を防止してもよい。しかし、ブーストポンプ26の容量を大きくすると、ポンプ運転に伴う消費動力や発熱量を増大させるという問題があるため好ましくない。 Formation of such a negative pressure region causes cavitation in the main
As a method for preventing the cavitation of the main hydraulic pump described above, for example, the capacity of the
本発明は、上記の事情に鑑みてなされたものであり、その目的とするところは、油圧回路内の負圧領域に起因する主油圧ポンプのキャビテーションを防止し、このキャビテーションに伴う異音発生を防止した舵取機を提供することにある。 From such a background, it is desired to develop a steering gear that can prevent cavitation of the main hydraulic pump due to the occurrence of a negative pressure region in the hydraulic circuit and can prevent the generation of noise caused by the cavitation.
The present invention has been made in view of the above circumstances, and its object is to prevent cavitation of the main hydraulic pump due to the negative pressure region in the hydraulic circuit and to generate abnormal noise associated with this cavitation. The object is to provide a steering machine that prevents it.
航走体に回動可能に支持されている舵軸と、該舵軸に固定されて一体に回動する舵板とを回動させる舵取機において、前記舵軸を回動させる駆動機構が油圧系統に接続された油圧アクチュエータを備え、前記油圧系統が、油の吸入/吐出方向及び吐出流量を可変とする主油圧ポンプと、油圧系統内を所定の圧力に維持するブーストポンプと、油圧系統内の負圧領域形成に伴う前記主油圧ポンプのキャビテーションを防止する油圧貯蔵手段とを備えている舵取機を考案した。 The present invention employs the following means in order to solve the above problems.
A steering mechanism that rotates a rudder shaft that is rotatably supported by a traveling body and a rudder plate that is fixed to the rudder shaft and rotates integrally therewith, and a drive mechanism that rotates the rudder shaft. A main hydraulic pump having a hydraulic actuator connected to the hydraulic system, wherein the hydraulic system is variable in the direction of suction / discharge of oil and a discharge flow rate; a boost pump that maintains a predetermined pressure in the hydraulic system; and the hydraulic system And a hydraulic storage means for preventing cavitation of the main hydraulic pump accompanying the formation of the negative pressure region.
また、油圧貯蔵手段から油を補充することができる構成としたことにより、発生頻度の低い急激な油系統内油圧低下に備えて、過度に大きなブーストポンプを設置する必要がなくなり、ブーストポンプの容量を最小限に抑えることができて、通常運転中の消費動力や発熱量の発生を抑制することができる。 Such a steering machine includes a main hydraulic pump in which the hydraulic system can vary the oil suction / discharge direction and the discharge flow rate, a boost pump that maintains a predetermined pressure in the hydraulic system, and a negative pressure in the hydraulic system. Hydraulic storage means for preventing cavitation of the main hydraulic pump accompanying the region formation, so that when the oil pressure in the oil system drops, oil is replenished from the boost pump to the hydraulic system, and further the oil from the boost pump When replenishment becomes insufficient, oil is replenished from the hydraulic storage means to prevent the formation of a negative pressure region in the hydraulic system, and the occurrence of abnormal noise due to cavitation caused by this can be prevented. it can.
In addition, since the oil can be replenished from the hydraulic storage means, it is not necessary to install an excessively large boost pump in preparation for a sudden drop in the oil pressure in the oil system that occurs less frequently. Can be suppressed to a minimum, and power consumption and heat generation during normal operation can be suppressed.
10,10A 舵取機
11 舵軸
12 舵板
13 チラー
20,20A,20B 油圧系統(油圧システム)
21 油圧シリンダ
22A 第1ラム
22B 第2ラム
23 主油圧ポンプ
24 油配管
24a,24a′ ブースト油配管
25 逆止弁
26,26A ブーストポンプ
30 アキュムレータ(油圧貯蔵手段)
40 制御部
41 圧力センサ DESCRIPTION OF
21
40
図1に示す電動油圧方式の舵取機10Aは、船舶等の航走体が進行方向を変化させる場合に、航走体に回動可能に支持されている舵軸11と、舵軸11に固定されて一体に回動する舵板12(図4参照)を駆動する際に使用される操舵装置である。この舵取り機10Aは、舵軸11を回動させる駆動機構のアクチュエータとして油圧系統20Aに接続された4本の油圧シリンダ21(区別を必要とする場合には、21A,21B,21C,21D)を備えているが、アクチュエータとしては油圧シリンダに限らず、ロータリーベーン等であってもよい。
なお、図中の符号13は、油圧シリンダ21に連動して舵軸11を回動させるチラーである。 An embodiment of a steering machine according to the present invention will be described with reference to the drawings.
An electro-
In addition, the code |
図示の主油圧ポンプ23は二つのポート23a,23bを有しており、これらのポート23a,23bは、斜板を傾斜させる角度に応じていずれか一方が吐出側となり、他方が吸入側となる。図示の構成例では、一方のポート23aが油配管24を介して油圧シリンダ21A,21Dに接続され、他方のポート23bが油配管24を介して油圧シリンダ21B,21Cに接続されている。なお、主油圧ポンプ23は、舵取機10Aの有効時に常時運転されて油圧を供給するポンプである。 As the main
The illustrated main
ブーストポンプ26から吐出された油は、ブースト油配管24aを介して油配管24に接続されている。ブースト油配管24aの接続位置は、油の流れ方向を切替える機能を有する主油圧ポンプ23の下流側とされ、さらに、ポート23aと油圧シリンダ21A,21Dとを接続する油配管24及び他方のポート23bと油圧シリンダ21B,21Cとを接続する油配管24に分岐して接続されている。 The
The oil discharged from the
また、アキュムレータ30は、ブーストポンプ26の運転により内部の油圧が所定の設定圧力Paを維持している。この設定圧力Paは、たとえば図2に示すように、主油圧ポンプ23の運転によりシリンダ21や油配管24等の油圧系統20A内で得られる回路内油圧Pmよりも低い正圧となる(0<Pa<Pm)。
なお、アキュムレータ30については、舵取機10Aの諸条件を考慮して設定圧力Paを定め、かつ、十分な量の油を貯蔵できる容量を確保すればよい。 The
Further, in the
In addition, about the
また、主油圧ポンプ23の斜板角度を調整し、ポート23a,23bの吐出側及び吸入側を反対にして運転すれば、シリンダ21に作用する油圧により、第1ラム22Aが紙面右方向へ移動するとともに第2ラム22Bが紙面左方向へ移動するので、チラー13及び舵軸11を反時計回りに回転させる操舵が行われる。 In such a steerable state, when the operation of the main
Further, if the swash plate angle of the main
しかし、舵板12の舵角-舵板トルク特性により操舵方向と逆向きの舵板トルクを生じた場合や、航行中の舵板12が海域の潮流等から大きな外力を受けた場合のように、油圧シリンダ21に対して油の供給及び補充が追いつかない状況では、たとえば図2の二点鎖線に示すように、油圧系統20A内の油圧が低下し回路内油圧Paを維持できなくなる。 In the steerable state described above, since the
However, as in the case where a rudder plate torque in the direction opposite to the steering direction is generated due to the rudder angle-steer plate torque characteristic of the
なお、ブースト油配管24aの逆止弁25aは、主油圧ポンプ23側の高圧がブーストポンプ30に作用することを防止している。 In such a case, when the hydraulic pressure in the
The
また、上述したアキュムレータ30から十分な量の油を補充できるので、ブーストポンプ26の容量を最小限に抑えることができる。ブーストポンプ26の小型化は、主電動機28の消費電力を低減し、さらに、ポンプ運転に伴う発熱量を低減することができる。 Thus, if a sufficient amount of oil is replenished from the
In addition, since a sufficient amount of oil can be replenished from the
この変形例では、ブーストポンプ26Aが主油圧ポンプ23から独立して運転可能とされる。すなわち、ブーストポンプ26Aは専用の補助電動機28Aを駆動源とし、アキュムレータ30及びその近傍の油圧を所定の範囲内に維持するように、制御部40が断続運転するものである。 Subsequently, a modified example of the
In this modification, the
なお、この場合の所定範囲については、上述した「Pa+α」に限定されることはなく、たとえば「Pa±α」としてもよい。 If such intermittent operation is performed, the
The predetermined range in this case is not limited to “Pa + α” described above, and may be “Pa ± α”, for example.
また、油圧貯蔵手段をアキュムレータ30とし、アキュムレータ30の周辺において油圧が所定範囲内に維持されるようにするため、独立運転可能なブーストポンプ26Aを必要時のみ運転する断続運転を行うようにすれば、連続運転するブーストポンプ26と比較して消費動力や発熱量を低減することができる。
なお、本発明は上述した実施形態に限定されることはなく、その要旨を逸脱しない範囲内において適宜変更することができる。
The
Further, if the
In addition, this invention is not limited to embodiment mentioned above, In the range which does not deviate from the summary, it can change suitably.
Claims (3)
- 航走体に回動可能に支持されている舵軸と、該舵軸に固定されて一体に回動する舵板とを回動させる舵取機において、前記舵軸を回動させる駆動機構が油圧系統に接続された油圧アクチュエータを備え、前記油圧系統が、油の吸入/吐出方向及び吐出流量を可変とする主油圧ポンプと、油圧系統内を所定の圧力に維持するブーストポンプと、油圧系統内の負圧領域形成に伴う前記主油圧ポンプのキャビテーションを防止する油圧貯蔵手段とを備えている舵取機。 A steering mechanism that rotates a rudder shaft that is rotatably supported by a traveling body and a rudder plate that is fixed to the rudder shaft and rotates integrally therewith, and a drive mechanism that rotates the rudder shaft. A main hydraulic pump having a hydraulic actuator connected to the hydraulic system, wherein the hydraulic system is variable in the direction of suction / discharge of oil and a discharge flow rate; a boost pump that maintains a predetermined pressure in the hydraulic system; and the hydraulic system And a hydraulic storage means for preventing cavitation of the main hydraulic pump associated with the formation of the negative pressure region.
- 前記油圧貯蔵手段が1台または複数台のアキュムレータである請求項1に記載の舵取機。 The steering machine according to claim 1, wherein the hydraulic storage means is one or a plurality of accumulators.
- 前記ブーストポンプは、前記主油圧ポンプから独立して運転可能とされ、前記アキュムレータ近傍の油圧を所定の範囲内に維持するよう断続運転する請求項1または2に記載の舵取機。
3. The steering machine according to claim 1, wherein the boost pump is operable independently of the main hydraulic pump and operates intermittently so as to maintain a hydraulic pressure in the vicinity of the accumulator within a predetermined range.
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
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CN200880130050.4A CN102076557B (en) | 2008-11-06 | 2008-11-06 | Ship steering device |
JP2010536613A JP5232870B2 (en) | 2008-11-06 | 2008-11-06 | Steering machine |
KR1020107028618A KR101334523B1 (en) | 2008-11-06 | 2008-11-06 | Ship steering device |
PCT/JP2008/070191 WO2010052777A1 (en) | 2008-11-06 | 2008-11-06 | Ship steering device |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
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PCT/JP2008/070191 WO2010052777A1 (en) | 2008-11-06 | 2008-11-06 | Ship steering device |
Publications (1)
Publication Number | Publication Date |
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WO2010052777A1 true WO2010052777A1 (en) | 2010-05-14 |
Family
ID=42152593
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
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PCT/JP2008/070191 WO2010052777A1 (en) | 2008-11-06 | 2008-11-06 | Ship steering device |
Country Status (4)
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JP (1) | JP5232870B2 (en) |
KR (1) | KR101334523B1 (en) |
CN (1) | CN102076557B (en) |
WO (1) | WO2010052777A1 (en) |
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WO2012090375A1 (en) * | 2010-12-27 | 2012-07-05 | 川崎重工業株式会社 | Ship steering gear and ship steering method |
JP2012210847A (en) * | 2011-03-30 | 2012-11-01 | Mitsubishi Heavy Ind Ltd | Vessel steering device and control method thereof |
WO2013073442A1 (en) * | 2011-11-18 | 2013-05-23 | 三菱重工業株式会社 | Steering device |
WO2013080768A1 (en) * | 2011-11-28 | 2013-06-06 | 三菱重工業株式会社 | Electric steering apparatus |
WO2014061776A1 (en) * | 2012-10-18 | 2014-04-24 | 三菱重工業株式会社 | Steering gear and ship provided therewith |
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JP2015085751A (en) * | 2013-10-29 | 2015-05-07 | 三菱重工業株式会社 | Steering gear, steering gear control method, and program |
JP2018513951A (en) * | 2015-03-13 | 2018-05-31 | ビ−エイイ− システムズ パブリック リミテッド カンパニ−BAE SYSTEMS plc | Hydraulic system |
JP2020121594A (en) * | 2019-01-29 | 2020-08-13 | 川崎重工業株式会社 | Steering gear for vessel |
JP2021020495A (en) * | 2019-07-25 | 2021-02-18 | 株式会社 商船三井 | Steering machine for vessel |
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JP2014080155A (en) * | 2012-10-18 | 2014-05-08 | Mitsubishi Heavy Ind Ltd | Steering device and ship including the same |
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JP2020121594A (en) * | 2019-01-29 | 2020-08-13 | 川崎重工業株式会社 | Steering gear for vessel |
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JP2021020495A (en) * | 2019-07-25 | 2021-02-18 | 株式会社 商船三井 | Steering machine for vessel |
JP7423213B2 (en) | 2019-07-25 | 2024-01-29 | 株式会社 商船三井 | Marine steering gear |
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Also Published As
Publication number | Publication date |
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KR101334523B1 (en) | 2013-11-28 |
KR20110009258A (en) | 2011-01-27 |
JPWO2010052777A1 (en) | 2012-03-29 |
JP5232870B2 (en) | 2013-07-10 |
CN102076557A (en) | 2011-05-25 |
CN102076557B (en) | 2014-05-28 |
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