WO2013080767A1

WO2013080767A1 - Energy storage type steering apparatus

Info

Publication number: WO2013080767A1
Application number: PCT/JP2012/078962
Authority: WO
Inventors: 陽秋山; 芳孝 ▲濱▼本; 石崎　達也; 修司土橋
Original assignee: 三菱重工業株式会社
Priority date: 2011-11-28
Filing date: 2012-11-08
Publication date: 2013-06-06
Also published as: JP2013112090A

Abstract

An oil pump (28) is operated full-time to suction hydraulic oil (o) from an oil tank (24), and accumulation is performed so that the hydraulic oil (o) becomes pressurized in an accumulator (30). During steering, the hydraulic oil (o) is supplied from the accumulator (30) to an oil chamber (22a or 22b) through a switching valve (36), and a steering shaft (12) is turned. Instead of directly turning the steering shaft (12) by using the oil pump (28), the steering shaft (12) is turned by using the high-pressure hydraulic oil (o) accumulated in the accumulator (30) so that the oil pump (28) may be capacity-saving and reduced in size. Therefore, a steering shaft driving device may be space-saving, energy-saving, and cost-saving.

Description

Energy storage type steering device

The present invention relates to an energy storage type steering apparatus that can drive a rudder shaft with a small-capacity driving device by accumulating rudder shaft rotation energy.

The conventional marine steering system is mainly driven by a hydraulic actuator and is classified into two types: a Raphson slide type and a rotary vane type. As disclosed in Patent Document 1, the Raphson slide type turns a rudder shaft by driving a hydraulic actuator connected to a chiller that turns the rudder shaft. As disclosed in Patent Document 2, the rotary vane type includes a movable vane integrated with the rudder shaft in a housing surrounding the rudder shaft, and a plurality of the vanes partitioned by the movable vane between the housing and the rudder shaft. A working chamber is formed. The working oil is supplied to one of the plurality of working chambers to rotate the rotor.

Hydraulic type has a risk of oil leakage into the ship. Therefore, in recent years, from the viewpoint of environmental considerations, there is an increasing need for an electric steering device that does not use hydraulic oil. Patent Document 3 proposes an electric steering device. In this steering device, a turning ring is mounted on an upper portion of a rudder shaft, an outer ring of the turning ring is formed as a large gear, two pinions are meshed with the large gear, and the two pinions are opposite to each other. The motor is configured to rotate selectively with an electric motor that rotates at a constant speed.

International Publication WO2010 / 052777A1 JP 2011-73526 A JP 2007-8189 A

The steering device needs to generate a large torque of 400 to 600 t · m. Therefore, the electric steering apparatus needs to include a large-capacity electric motor and a large speed reducer, and a large structure needs to be provided on the top of the rudder shaft. Therefore, from the viewpoint of cost and installation space, it is currently difficult to put into practical use.

SUMMARY OF THE INVENTION The present invention has been made in view of the above-described problems of the prior art, and aims to reduce the capacity and size of the steering shaft drive device of the steering device, and to realize space saving, energy saving, and cost reduction of the steering device. .

In order to achieve such an object, an energy storage type steering device of the present invention is stored in a power generation device that generates rudder shaft rotation energy, an energy storage device that stores rudder shaft rotation energy, and an energy storage device. By switching the turning direction of the rudder shaft rotation energy transmitted from the power transmission device to the rudder shaft with respect to the rudder shaft. And a switching device for switching the turning direction.

In the above configuration, the power generation device is operated, the power generated by the power generation device is stored in the energy storage device, and the rudder shaft is turned by the stored rudder shaft rotation energy. Since the steering device only turns at a small steering angle 10 or more times per hour, the required work amount is small when time averaged. Therefore, in the present invention, sufficient rudder shaft rotation energy can be accumulated by always operating a small-sized and small-sized power generation device. As a result, the power generation device can be reduced in size, thereby enabling space saving, energy saving, and cost reduction of the rudder shaft drive device.

In the present invention, the power generation device is a pump that sucks the working fluid and discharges it at a high pressure, the energy storage device is an accumulator that receives the working fluid discharged from the pump and stores it in a pressurized state, and the power transmission device is The fluid pressure actuator is connected to the rudder shaft and rotates the rudder shaft, and the switching device may be a switching valve for switching the supply / discharge direction of the working fluid supply / discharge path connecting the accumulator and the fluid pressure actuator. Since the working fluid is accumulated in the accumulator by operating the pump for a long time, it is not necessary to increase the capacity of the pump. Therefore, the pump can be reduced in size, and the rudder shaft drive device can be made space-saving, energy-saving and cost-effective. As the working fluid, working oil such as lubricating oil or inert gas such as air can be used.

In the present invention, the power generation device is an electric motor, the energy storage device is a spring device that is connected to the output shaft of the electric motor and stores the steering shaft turning energy by the rotation of the electric motor, and the power transmission device is A large-diameter gear coupled to the upper end of the rudder shaft, and a pinion that meshes with the large-diameter gear, is connected to the spring device, and is rotated by the reaction force of the spring device, and the switching device includes the spring device and the pinion. 2 sets of rudder shaft drive devices with such a configuration are provided, one rudder shaft drive device turns the rudder shaft in the forward direction, and the other rudder shaft drive device reverses the rudder shaft. It is good to be comprised so that it may turn to.

In the above configuration, the electric motor is rotated, and the rudder shaft rotation energy is accumulated as strain energy in the spring device. The strain energy accumulated in the spring device is released as a reaction force of the spring device during steering, rotates the pinion through the clutch, and rotates the large-diameter gear through the pinion. Even if the drive speed of the electric motor is low, a sufficient amount of strain energy can be accumulated in the spring device by always operating the electric motor. Therefore, the steering shaft can be steered by a small electric motor that is sufficiently decelerated. Therefore, space saving, energy saving and cost reduction of the rudder shaft drive device can be achieved.

The steering device of the present invention can be used as a main drive device or an auxiliary drive device for a rudder shaft. Since the steering device of the present invention does not take a large installation space, even when used as an auxiliary, a sufficient installation space can be secured.

According to the present invention, instead of directly driving the rudder shaft by the power generation device, the generated rudder shaft rotation energy is stored in the energy storage device, and when the rudder shaft is steered, the accumulated energy is used. Since the rudder shaft is turned, the rudder shaft can be steered with a small-capacity and small-sized power generation device. Therefore, space saving, energy saving, and cost reduction of the rudder shaft drive mechanism are possible.

It is a lineblock diagram of the hydraulic steering device concerning a 1st embodiment of the present invention device. It is a perspective view of the electric steering device which concerns on 2nd Embodiment of this invention apparatus. It is a graph which shows the operation procedure of the said 2nd Embodiment. It is a block diagram of the electrically driven steering apparatus which concerns on 3rd Embodiment using this invention apparatus as an auxiliary | assistant apparatus. It is a block diagram of the electrically driven steering apparatus which concerns on 4th Embodiment using this invention apparatus as an auxiliary | assistant apparatus. It is a block diagram of the electrically driven steering apparatus which concerns on the modification of 4th Embodiment.

Hereinafter, the present invention will be described in detail using embodiments shown in the drawings. However, the dimensions, materials, shapes, relative arrangements, and the like of the component parts described in this embodiment are not intended to limit the scope of the present invention to that unless otherwise specified.

(Embodiment 1)
A hydraulic marine vessel steering apparatus 10A according to a first embodiment of the present invention apparatus will be described with reference to FIG. The rudder shaft 12 is turned by a hydraulic actuator 16 via a turning drive chiller 14. The hydraulic actuator 16 includes a ram 18 and

cylinders

20 a and 20 b provided at both ends of the ram 18. The

cylinders

20a and 20b

form oil chambers

22a and 22b between the ram 18 and the

cylinders

20a and 20b. An oil tank 24 is provided in the vicinity of the rudder shaft 12, and

oil passages

26 a and 26 b that connect the oil tank 24 and the

oil chambers

22 a and 22 b of the hydraulic actuator 16 are provided.

The oil passage 26 a is provided with an oil pump 28 that draws the hydraulic oil o from the oil tank 24 and discharges it at a high pressure. An accumulator 30 is provided on the downstream side of the oil pump 28, and the hydraulic oil o discharged from the oil pump 28 is supplied into the accumulator 30 at a high pressure. By supplying the hydraulic oil o at a high pressure, the internal air of the accumulator 30 is pressurized to become pressurized air a, and a pressurized air region is formed above the liquid level of the hydraulic oil o. A check valve 32 is provided upstream of the accumulator 30 to prevent the hydraulic oil o from flowing back to the oil pump 28 side. A pressure sensor 34 is provided in the downstream oil passage 26a of the accumulator 30 to monitor the pressure in the accumulator 30 so as not to exceed an allowable value. On the downstream side of the pressure sensor 34, a switching valve 36 that sends hydraulic oil to the

oil chamber

22a or 22b is provided.

In such a configuration, the oil pump 28 is operated, the hydraulic oil o is supplied into the accumulator 30, and the hydraulic oil o is accumulated in the accumulator 30 in a high pressure state. When the pressure in the accumulator 30 reaches the set pressure, the oil pump 28 is stopped. When the rudder shaft 12 is steered, the operating oil o accumulated in the accumulator 30 is sent to the

oil chamber

22a or 22b by the switching valve 36, the ram 18 is moved in the arrow a direction or the arrow b direction, and the rudder shaft 12 is moved to the arrow a. Turn in the direction or arrow b direction. For example, by sending the hydraulic oil to the oil chamber 22a, the ram 18 is moved in the arrow b direction, and the rudder shaft 12 is turned in the arrow b direction. At the same time, the hydraulic oil in the oil chamber 22b returns to the oil tank 24 through the oil passage 26b. When the detection value of the pressure sensor 34 falls below the set value, the oil pump 28 is operated to supply the hydraulic oil o into the accumulator 30, and the pressure in the accumulator 30 is returned to the set value.

According to the present embodiment, the oil pump 28 is not used for directly driving the rudder shaft 12, but is used for accumulating hydraulic oil in the accumulator 30 in a pressurized state. There is no need to make it bigger. Therefore, the oil pump 28 can be reduced in size. Further, the pressure in the accumulator 30 is monitored by the pressure sensor 34. When the pressure in the accumulator 30 reaches a set value, the oil pump 28 is stopped. As a result, the oil pump 28 is not operated excessively and energy saving is possible. Thereby, space saving, energy saving, and cost reduction of the rudder shaft drive device can be achieved.

(Embodiment 2)
Next, an electric steering apparatus 10B according to a second embodiment of the present invention apparatus will be described with reference to FIGS. In FIG. 2, a large diameter gear 38 is integrally attached to the upper end of the rudder shaft 12, and rudder shaft driving devices 40 </ b> A and 40 </ b> B are provided on both sides of the large diameter gear 38. The rudder

shaft drive devices

40A and 40B have substantially the same configuration. First, the configuration will be described using the rudder shaft drive device 40A as an example. An electric motor 42a is provided at the upper end, and an output shaft 44a of the electric motor 42a rotates clockwise and is connected to an end portion located on the center side of the helical spring 46a. The other end 48a located on the outer peripheral side of the helical spring 46a is connected to a disk 50a provided below the helical spring 46a.

A shaft 52a is fixed to the center of the lower surface of the disk 50a, and the shaft 52a is connected to the clutch 54a. The shaft 52a and the shaft 56a connected to the lower portion of the clutch 54a are connected to each other or released from the connected state by the clutch 54a. The shaft 56a is coupled to the pinion 60a, and the pinion 60a meshes with the large-diameter gear 38. A brake 60a is provided outside the disk 50a to stop the rotation of the disk 50a when the rudder shaft 12 is not turned.

The electric motor 42a rotates clockwise in the direction of the arrow and winds the center side end of the helical spring 46a. As a result, the rudder axle rotation energy as the reaction force of the helical spring 46a is accumulated in the helical spring 46a. When the set amount of rudder shaft rotation energy is accumulated, the electric motor 42a is stopped. When steering is necessary, the brake 60a is released, and the shaft 52a and the shaft 56a are connected by the clutch 54a. As a result, the disk 50a rotates to the left by the reaction force of the helical spring 46a, and the rotation of the disk 50a is transmitted to the pinion 58a via the clutch 54a, thereby rotating the pinion 58a to the left. The pinion 58a rotates in the left direction (arrow c direction), thereby rotating the large diameter gear 38 in the right direction.

The rudder shaft drive device 40B has the same configuration as the rudder shaft drive device 40A. The output shaft 44b of the electric motor 42b is connected to the center side end of the helical spring 46b. The electric motor 42b rotates counterclockwise in the direction of the arrow, and accumulates rudder shaft rotation energy in the helical spring 46b. The outer peripheral side end of the helical spring 46b is connected to the disk 50b. When steering is necessary, the brake force of the brake 60b on the disk 50b is released, and the shaft 52b and the shaft 56b are connected by the clutch 54b. As a result, the disk 50b rotates to the right by the reaction force of the helical spring 46b, and the rotation of the disk 50b is transmitted to the pinion 58b via the clutch 54b to rotate the pinion 58b to the right (arrow d direction). . As the pinion 58b rotates to the right, the large diameter gear 38 is rotated to the left.

Thus, in this embodiment, the role is shared so that the rudder shaft 12 is rotated to the right by the rudder shaft drive device 40A and the rudder shaft 12 is rotated to the left by the rudder shaft drive device 40B.

Fig. 3 shows the operation procedure. When the rudder shaft 12 is rotated clockwise, the brake force of the brake 60a against the disk 50a is released and the clutch 54a is connected. Conversely, the brake force of the brake 60b against the disk 50b is maintained, and the clutch 54b is released (not connected). When the rudder shaft 12 is rotated counterclockwise, the brake force of the brake 60a against the disk 50a is maintained, and the clutch 54a is released (not connected). Conversely, the brake 60b is released and the clutch 54b is connected. When the rudder shaft 12 is fixed without steering, the brake force of the

brakes

60a and 60b against the

disks

50a and 50b is maintained, and the

clutches

54a and 54b are connected.

Since the steering shaft 12 is steered ten times an hour and only steered at a small steering angle, the required work of the

electric motors

42a and 42b is small when averaged over time. Further, since the rudder shaft 12 is not directly driven by the

electric motors

42a and 42b, the

electric motors

42a and 42b do not require a large capacity. According to this embodiment, since the

electric motors

42a and 42b are always operated, the steering shaft rotation energy can be sufficiently accumulated in the

helical springs

46a and 46b, so that the capacity of the

electric motors

42a and 42b can be reduced. Therefore, the

electric motors

42a and 42b can be reduced in size, and accordingly, space saving, energy saving and cost reduction of the rudder shaft drive device can be achieved. Moreover, since the rotational speed of the

electric motors

42a and 42b may be slow, even a small electric motor that is sufficiently decelerated can be used.

In the present embodiment, any of the

electric motors

42a and 42b and the

helical springs

46a and 46b, the

disks

50a and 50b and the

clutches

54a and 54b, and the

clutches

54a and 54b and the

pinions

58a and 58b are used. In addition, a reduction gear may be additionally provided.

(Embodiment 3)
Next, an electric steering device 10C according to a third embodiment using the device of the present invention as an auxiliary device will be described with reference to FIG. In the electric steering device 10 </ b> C, a turning drive chiller 14 is provided integrally with the rudder shaft 12 at the upper end of the rudder shaft 12, and a large-diameter gear 38 is provided integrally with the rudder shaft 12 below the chiller 14.

Pinions

62 a and 62 b that mesh with the large-diameter gear 38 are provided on both sides of the large-diameter gear 38. The

pinions

62a and 62b are connected to the output shafts of the

electric motors

64a and 64b disposed below the pinions, and are rotated by the electric motors. The pinion 64a and the pinion 64b rotate in opposite directions, and share the role of rotating the large-diameter gear 38 clockwise with one pinion and rotating the large-diameter gear 38 counterclockwise with the other pinion.

The large-diameter gear 38 is provided with an air-driven brake 66 that stops the movement of the large-diameter gear 38 when the steering of the rudder shaft 12 is stopped. The large-diameter gear 38, the

pinions

62a and 62b, the

electric motors

64a and 64b, and the like constitute a main drive device that drives the rudder shaft 12. In addition, an auxiliary drive device 70 is provided as a device for driving the rudder shaft 12 in an auxiliary manner. Hereinafter, the configuration of the auxiliary drive device 70 will be described. The piston 74 of the air cylinder 72 is connected to the chiller 14 via a connecting rod 76, and the chiller 14 can be turned in both the left and right directions by the reciprocating motion of the piston 74.

The

air passages

78 a and 78 b are connected to the left and right air chambers of the air cylinder 72. An inlet air pump 80 for the air passage 78a is provided. The air pump 80 takes in air from the air intake 82 and discharges pressurized air to the air passage 78a. The accumulator 84 takes in and accumulates the pressurized air a. The pressure of the accumulator 84 is monitored by a pressure sensor 86 provided in the air passage 78a in the vicinity of the accumulator, and when it reaches a set value, the air pump 80 is stopped. A check valve 88 is provided between the air pump 80 and the accumulator 84, and the check valve 88 prevents the pressurized air from flowing back to the air pump 80.

A switching valve 90 is provided in the

air passages

78 a and 78 b, and the pressurized air a supplied from the air passage 78 a by the switching valve 90 is switched and supplied to either the left or right air chamber of the air cylinder 72. Along with the supply of the pressurized air a, the air discharged from either the left or right air chamber of the air cylinder 72 passes through the air passage 78b and is discharged to the outside through the air discharge port 92. The driving device of the air pump 80 is connected to the driving device 96 of the marine vessel propulsion device 94 via the rotational force transmitting device 98. As a result, the rotation of the propelling device 94 is transmitted to the air pump 80 and is driven by utilizing the rotation. Further, the air drive brake 66 can also accumulate air using the rotation of the propelling device 94 and exert a braking force with the accumulated pressurized air.

In such a configuration, the main rudder shaft 12 is steered by using a main drive device including the large-diameter gear 38 and

pinions

62a and 62b,

electric motors

64a and 64b, and the like. The auxiliary drive device 70 is used to assist the braking force when the

electric motors

64a and 64b constituting the main drive device are output or when the rudder shaft is stopped. That is, it is operated to assist the load torque of the main drive device at the start of steering, or assist the braking force acting on the rudder shaft 12 when the steering angle is fixed. Thereby, since the required torque of the

electric motors

64a and 64b can be reduced, the

electric motors

64a and 64b can be reduced in capacity and size.

In the present embodiment, the large diameter gear 38 and the brake desk may be used together. This can reduce equipment costs.

(Embodiment 4)
Next, an electric steering device 10D according to a fourth embodiment using the device of the present invention as an auxiliary device will be described with reference to FIG. The electric steering device 10D is provided with a ball screw 100. The ball screw 100 meshes with a nut (not shown) provided on the chiller 14, and rotates to enable the chiller 14 to turn left and right. A gear 102 is attached to the tip of the ball screw 100, and the gear 102 meshes with a gear 106 attached to the output shaft 104 a of the electric motor 104. When the electric motor 104 is operated, the ball screw 100 is rotated via the

gears

106 and 102. As the ball screw 100 rotates, the chiller 14 rotates clockwise or counterclockwise. The electric motor 104 uses a bidirectionally rotating electric motor. The rudder shaft drive mechanism configured as described above is used as the main drive device.

The rudder shaft 12 is provided with a brake desk 108 and an air drive brake 66 as brake devices for stopping the turning of the rudder shaft 12. In addition to the main drive device, an auxiliary drive device 70 is provided. The auxiliary drive device 70 has the same configuration as the auxiliary drive device 70 used in the third embodiment. The piston 74 of the air cylinder 72 is connected to the chiller 14 via a connecting rod 76. As in the third embodiment, the auxiliary drive device 70 is used to assist the braking force when the main drive device is output or when the rudder shaft is stopped.

That is, it is operated to assist the load torque of the electric motor 104 at the start of steering or assist the braking force when the steering angle is fixed. As a result, the required torque of the electric motor 104 can be reduced, so that the capacity and size of the electric motor 104 can be reduced.

Next, a modification of the fourth embodiment will be described with reference to FIG. This electric steering device 10D ′ is provided with a pad-type air-driven brake 110 instead of the brake device including the brake desk 108 and the air-driven brake 66, as compared with the configuration of the fourth embodiment. The air-driven brake 110 can accumulate air using the rotation of the propulsion device, and can exert a braking force with the accumulated pressurized air. Other configurations are the same as those of the fourth embodiment. The effect of this modification is the same as 4th Embodiment.

According to the present invention, the rudder shaft drive device of the steering device can be reduced in capacity and size, and the rudder shaft drive device can be reduced in space, energy saving and cost.

Claims

A power generator for generating rudder shaft rotation energy;
An energy storage device for storing the rudder shaft rotation energy;
A power transmission device that transmits the rudder shaft rotation energy stored in the energy storage device to the rudder shaft according to the steering amount;
An energy storage type steering apparatus comprising: a switching device that switches a turning direction of the rudder shaft rotation energy transmitted from the power transmission device to the rudder shaft with respect to the rudder shaft, and switches the turning direction of the rudder shaft. .
The power generation device is a pump that sucks a working fluid and discharges it at a high pressure;
The energy storage device is an accumulator that receives the working fluid discharged from the pump and stores it in a pressurized state;
The power transmission device is a fluid pressure actuator connected to the rudder shaft and rotating the rudder shaft;
The energy storage type steering apparatus according to claim 1, wherein the switching device is a switching valve that switches a supply / discharge direction of a working fluid supply / discharge path connecting the accumulator and the fluid pressure actuator.
The energy storage type steering apparatus according to claim 2, wherein the working fluid is hydraulic oil or inert gas.
The power generation device is an electric motor;
The energy storage device is a spring device that is connected to the output shaft of the electric motor and stores the rudder shaft rotation energy by the rotation of the electric motor,
The power transmission device is composed of a large-diameter gear coupled to the upper end of the rudder shaft, a pinion meshing with the large-diameter gear, coupled to the spring device, and rotated by a reaction force of the spring device,
The switching device is a clutch that connects or disconnects the spring device and the pinion;
Two sets of the rudder shaft drive device having the above-described configuration are provided, and the rudder shaft is turned in the forward direction by one rudder shaft drive device, and the rudder shaft is turned in the reverse direction by the other rudder shaft drive device. The energy storage type steering apparatus according to claim 1.
The energy storage type steering device according to any one of claims 1 to 4, wherein the energy storage type steering device is provided as an auxiliary power device for driving a steering shaft.