WO2013080768A1

WO2013080768A1 - Electric steering apparatus

Info

Publication number: WO2013080768A1
Application number: PCT/JP2012/078964
Authority: WO
Inventors: 正義矢野; 石崎　達也; 陽秋山
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: JP2013112089A; JP5822684B2

Abstract

A rudder shaft (12) is fitted with arms (18) consisting of arm portions (18a, 18b) protruding in two different directions, and the arm portions (18a, 18b) are fitted at the end with moving pulley groups (38, 40) each group consisting of four moving pulleys freely rotatably fitted on fixing shafts (20a, 20b). Fixed pulley groups (44, 48) are disposed opposite the moving pulley groups (38, 40), each group consisting of three fixed pulleys, with a steel wire (28) alternately wound around the moving pulleys and the fixed pulleys. The steel wire (28) is moved in a direction of one arrow (a) or another arrow (b) by a drum (26) connected to an output shaft (24a) of an electric motor (24) to rotate the arms (18). The moving pulley groups and the fixed pulley groups form a speed reduction mechanism.

Description

Electric steering device

The present invention relates to an electric steering apparatus that eliminates oil leakage by being driven not by hydraulic drive but by an electric motor.

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 a rudder shaft inside a housing surrounding the rudder shaft, and a plurality of partitions separated by a movable vane between the housing and the rudder shaft. The working chamber is formed. The hydraulic oil is supplied to one of the plurality of working chambers to rotate the rudder shaft.

Further, Patent Document 3 discloses an electric steering device that does not use hydraulic oil. This steering device is configured such that 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, a pinion is engaged with the large gear, and the pinion is rotated by an electric motor. ing.

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

Both Raphson slide type and rotary vane type are driven by hydraulic pressure and have a risk of oil leakage into the ship. In addition, these hydraulic steering devices need to generate a large torque of 400 to 600 t · m, so it is necessary to provide a large structure above the rudder shaft, and a large installation space is required above the rudder shaft. To do. Moreover, it is necessary to frequently perform maintenance and inspection of the seal portion that seals the hydraulic oil.

The electric steering device disclosed in Patent Document 3 requires a large structure such as a reduction gear made of a large-diameter gear on the upper portion of the rudder shaft, and a large installation space on the upper portion of the rudder shaft as in the hydraulic type. Need. In addition, a large-capacity electric motor is required, and the power cost is high, so that it is not easy to put it into practical use at present. In addition, there is a problem that centering of the large-diameter gear and the pinion that drives it is not easy.

In view of the problems of the prior art, the present invention avoids the risk of oil leakage into the ship by making the steering device electric rather than hydraulically driven, and simplifies the structure of the upper portion of the rudder shaft. It aims at facilitating installation, installation and maintenance of the drive unit.

In order to achieve such an object, the electric steering apparatus of the present invention is provided in two arms projecting in directions different from each other with a crossing angle with respect to the rudder shaft, and in the respective tip regions of these two arms. A movable pulley, a power transmission line wound around the movable pulley and having both ends connected to a fixed portion or both ends coupled to each other to form an endless shape, and an electric motor that causes the power transmission line to travel in both forward and reverse directions The power transmission cable is traveled by the electric motor, and the arm is moved in the turning direction of the rudder shaft by the movement of the movable pulley accompanying the travel of the power transmission cable.

When the electric motor is operated and the power transmission line travels in one direction, a force for moving the two arms in the turning direction of the rudder shaft is applied, and the rudder shaft can be turned. The electric motor is a motor that can rotate in both forward and reverse directions, or in the case of a unidirectional rotating motor, an electric circuit that can rotate in both forward and reverse directions is provided. Alternatively, two electric motors that rotate in opposite directions may be provided. As the power transmission line, for example, a chain or a toothed belt is used that can sufficiently transmit the rotational force of the output shaft of the electric motor and can travel with the rotational force.

With the above configuration, the rudder shaft is driven by an electric motor and no hydraulic oil is used, so the risk of oil leakage can be avoided. Further, since the electric motor can be installed separately from the rudder shaft and its peripheral part, the rudder shaft can be easily attached and a large installation space is not required above the rudder shaft. Furthermore, since equipment that requires maintenance and inspection, such as an electric motor, a moving pulley, and a power transmission line, can be reduced in size, maintenance and inspection are facilitated.

In this invention, in addition to the said structure, the fixed pulley provided facing the dynamic pulley is provided, and a power transmission line is wound around a dynamic pulley and a fixed pulley. A speed reduction mechanism can be configured by winding the power transmission line around the moving pulley and the fixed pulley. By this deceleration mechanism, the moving speed of the arm becomes smaller than the feed amount (or feed speed) of the power transmission line, and the required torque of the electric motor can be reduced accordingly. Therefore, the electric motor can be reduced in size. In addition, it is necessary to install a fixed pulley apart from the moving amount of an arm with respect to a moving pulley.

In the present invention, a moving pulley group in which a plurality of moving pulleys are rotatably mounted on a single fixed shaft is provided in the tip region of the two arms, and the plurality of fixed pulleys rotate on a single fixed shaft. A fixed pulley group that is movably mounted is provided at a position facing the dynamic pulley group, and a power transmission cable is alternately wound around the movable pulley constituting the dynamic pulley group and the fixed pulley constituting the fixed pulley group. Good. By adopting such a reduction mechanism, the reduction effect can be further improved, and the required torque of the electric motor can be greatly reduced by that amount.

In the present invention, the electric motor may be arranged on the floor surface in a region surrounded by two arms. Accordingly, since the electric motor can be installed separately from the rudder shaft and its peripheral portion, the rudder shaft can be easily attached and a large installation space is not required in the upper portion of the rudder shaft.

In the present invention, the electric motor may be fixed to the two arms, and the power transmission line may be caused to travel by rotating the moving pulley with the electric motor. By attaching the electric motor to the arm, it is not necessary to secure an installation space for the electric motor around the rudder shaft. Further, since the moving pulley is directly driven by the electric motor, the power transmission line can be reliably fed.

In the present invention, in addition to the above configuration, a plurality of moving pulleys are mounted on a rotating shaft connected to the output shaft of the electric motor, and at least one of the plurality of moving pulleys is fixed to the rotating shaft. A group of moving pulleys, in which other moving pulleys are movably mounted on the rotation shaft, are provided at the tip regions of the two arms, and a plurality of fixed pulleys are rotatably mounted on a single fixed shaft. It is preferable that the fixed pulley group formed is provided at a position facing the moving pulley group, and the power transmission cable is alternately wound around the moving pulley constituting the moving pulley group and the fixed pulley constituting the fixed pulley group. In such a configuration, the required torque of the electric motor can be greatly reduced and the electric motor can be reduced in size by configuring the speed reduction mechanism with the moving pulley group, the fixed pulley group, and the fixed pulley group.

In addition, by rotating only one moving pulley with an electric motor and forcing other moving pulleys to not rotate with an electric motor but following the feed of the power transmission line, sagging or overloading of the power transmission line is caused. The power transmission line can be smoothly fed without generating a heavy load.

According to the present invention, the electric motor is used as the rudder shaft driving means, and the driving force of the electric motor is transmitted to the arm fixed to the rudder shaft via the power transmission line and the moving pulley. This can be avoided, and the structure at the top of the rudder shaft can be simplified and the cost can be reduced. In addition, since equipment requiring maintenance inspection is reduced in size, maintenance inspection becomes easy.

It is a perspective view of the electric steering device which concerns on 1st Embodiment of this invention apparatus. It is the perspective view which looked at the electric steering device of 1st Embodiment from another direction. It is a perspective view of the electric steering device which concerns on 2nd Embodiment of this invention apparatus. It is a perspective view of the electric steering device which concerns on 3rd Embodiment of this invention apparatus. It is a perspective view of the electric steering device which concerns on 4th Embodiment of this invention apparatus. It is a perspective view of the electric steering device which concerns on 5th Embodiment of this invention apparatus.

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)
An electric steering apparatus 10A according to a first embodiment of the present invention will be described with reference to FIGS. The rudder shaft 12 disposed in the vertical direction at the rear of the hull is supported by a bearing 14 provided on the hull bulkhead so as to be able to turn. The tip of the rudder shaft 12 protrudes outside the hull, and a rudder 16 is attached to the tip. Fixed to the rudder shaft 12 is an arm 18 made up of

arm portions

18a and 18b projecting in two directions from the rudder shaft 12 so as to have a crossing angle substantially perpendicular to each other in the hull. The

arm portions

18a and 18b are configured in two upper and lower stages, and the fixed

shafts

20a and 20b are installed between the upper and lower arm portions at the tips of these arm portions, and the

movable pulleys

22a and 22b can rotate on the fixed

shafts

20a and 20b, respectively. Are loosely fitted.

The electric motor 24 is arranged in a region surrounded by the

arm parts

18a and 18b, and the electric motor 24 is fixed to the floor 25 of the hull. The electric motor 24 is configured to be rotatable in both forward and reverse directions. A drum 26 is attached to the output shaft 24 a of the electric motor 24. A steel wire 28 is wound around the moving

pulleys

22a and 22b and the drum 26, and

concave grooves

23a and 23b for receiving the steel wire 28 are provided on the outer ring end surfaces of the moving

pulleys

22a and 22b. The steel wire 28 is wound around the moving

pulleys

22a and 22b in a region excluding the moving direction of the arm 18. As a result, the

movable pulleys

22 a and 22 b can move in the moving direction of the arm 18 by the traveling of the steel wire 28. Both ends of the steel wire 28 are fixed to the floor surface 25 with

fasteners

30 and 32 in the vicinity of both sides of the electric motor 24.

Guide rollers

34 and 36 are provided on both sides of the drum 26. The

guide rollers

34 and 36 secure the winding angle of the steel wire 28 with respect to the drum 26, increase the frictional force between the steel wire 28 and the drum 26, and allow the steel wire 28 to travel by rotating the drum 26.

In such a configuration, the electric motor 24 is driven using electric power in the ship. As a result, the steel wire 28 travels in the direction of arrow a or arrow b. For example, when the steel wire 28 travels in the direction of arrow a, the rudder shaft 22 turns and the rudder 16 is steered by the moving pulley 22a moving to the electric motor 24 side.

According to this embodiment, since the rudder shaft 12 is driven by the electric motor 24 and hydraulic fluid is not used, the risk of oil leakage can be avoided. Moreover, since the electric motor 24 can be installed separately from the rudder shaft 12, it is not necessary to provide a large structure on the upper portion of the rudder shaft. Therefore, the rudder shaft 12 can be easily attached. Furthermore, since equipment that requires maintenance and inspection, such as an electric motor, a moving pulley, and a power transmission line, can be reduced in size, maintenance and inspection are facilitated. Further, by fixing both ends of the steel wire 28 to the floor surface 25, the arm 18 can be reliably moved by the traveling of the steel wire 28.

Note that both ends of the steel wire 28 may be joined to form an endless shape. In this case, the frictional force between the steel wire 28 and the moving

pulleys

22a and 22b is increased, or the steel wire 28 and the outer end surfaces of the moving

pulleys

22a and 22b are configured to be able to be locked to each other. It is necessary to prevent slippage between the

pulleys

22a and 22b. For example, by using a gear on the pulley and combining it with a toothed belt, a structure in which no slip occurs is obtained. Moreover, the driving torque of the electric motor 24 can be reduced by combining the moving pulley and the fixed pulley and increasing the number of the moving pulleys. The amount of movement of the steel wire 28 can be adjusted by controlling the rotational speed of the electric motor 24.

(Embodiment 2)
Next, an electric steering apparatus 10B according to a second embodiment of the present invention will be described with reference to FIG. In the electric steering device 10B, four movable pulleys 38a to 38d constituting the movable pulley group 38 are loosely fitted to a fixed shaft 20a installed between arm portions 18a so as to be rotatable with a slight space therebetween. ing. In addition, a fixed shaft 42 is erected on the floor 25 at a position on the left side of the electric motor 24 and facing the movable pulley group 38. On the fixed shaft 42, three fixed pulleys 44a to 44c constituting the fixed pulley group 44 are loosely fitted so as to be rotatable with a slight space therebetween.

Similarly, four movable pulleys 40a to 40d constituting the movable pulley group 40 are loosely fitted on the fixed shaft 20b installed between the arm portions 18b so as to be rotatable with a slight space therebetween. . A fixed shaft 46 is erected on the floor 25 at a position on the right side of the electric motor 24 and facing the movable pulley group 40. Three fixed pulleys 48a to 48c constituting a fixed pulley group 48 are loosely fitted on the fixed shaft 46 so as to be rotatable with a slight space therebetween.

The steel wires 28 are wound around the arm pulleys 18a and 18b alternately around the moving pulley and the fixed pulley forming the fixed pulley group in turn from the top to the moving pulley and the fixed pulley. ing. The moving pulley group and the fixed pulley group are separated from each other by a distance that allows the maximum amount of movement of the

arm portions

18a and 18b. Other configurations are the same as those in the first embodiment, and the same members are denoted by the same reference numerals.

In the present embodiment, the moving pulley group 38 and the fixed pulley group 44, and the moving pulley group 40 and the fixed pulley group 48 constitute a deceleration mechanism, respectively. Thereby, when the electric motor 24 is driven, the rotation speed of the arm 18 can be reduced with respect to the feed amount (or feed speed) of the steel wire 28 as compared with the first embodiment. Conversely, the required torque of the electric motor 24 can be reduced by the amount of deceleration. Therefore, the electric motor 24 can be reduced in size compared with the first embodiment.

In addition, you may make it a movable pulley group or a fixed pulley group couple | bond each pulley with respect to a fixed axis | shaft. In this case, since the feed amount (or feed speed) of the steel wire 28 is different for each pulley, it is necessary to set the outer diameter according to the feed amount (or feed speed) for each pulley. Further, the speed reduction mechanism can be configured even when the number of the movable pulleys of the

movable pulley groups

38 and 40 is two and the number of the fixed pulleys of the fixed

pulley groups

44 and 48 is one.

(Embodiment 3)
Next, an electric steering apparatus 10C according to a third embodiment of the present invention will be described with reference to FIG. The electric steering device 10C has a configuration in which the fixed

pulley groups

44 and 48 of the second embodiment are integrated into one fixed pulley group. The fixed pulley group 52 includes a fixed shaft 50 erected on the floor 25 on the rear side of the electric motor 24, and six fixed pulleys 52a to 52f that are mounted in a loosely-fitted state with a slight gap therebetween. Consists of.

Bogies

54a and 54b are provided at the lower ends of the

movable pulley groups

38 and 40. These carriages support the weight of the

movable pulley group

38 or 40 and facilitate the movement of the movable pulley groups.

Further, a guide roller 56 is provided on the rear side of the fixed pulley group 52. The steel wire 54 is endless. As shown in FIG. 4, the steel wire 54 is wound around the moving pulley and the fixed pulley alternately in turn downward from the upper moving pulley and the fixed pulley. In the fixed pulley group 52, the steel wire 54 is wound around the moving

pulley group

38 or 40 every other stage. Between the moving

pulleys

38 d and 40 d located at the lower ends of the moving

pulley groups

38 and 40, the steel wire 54 is guided by a guide roller 56 provided on the floor 25 on the rear side of the fixed pulley group 52.

According to this embodiment, since the fixed pulley group is integrated into one fixed pulley group 52, the installation space of the fixed pulley group can be reduced. Further, since the

carriages

54a and 54b are provided at the lower ends of the

movable pulley groups

38 and 40, the movable pulley group can be smoothly moved while supporting the weight of the movable pulley group.

(Embodiment 4)
Next, an electric steering apparatus 10D according to a fourth embodiment of the present invention will be described with reference to FIG. The electric steering device 10D is provided with

electric motors

58a and 58b on the upper surfaces of the distal end regions of the

arm portions

18a and 18b, respectively, with respect to the configuration of the first embodiment. The

output shafts

60a and 60b of the

electric motors

58a and 58b are coupled to the fixed

shafts

20a and 20b of the

movable pulleys

22a and 22b, respectively. Other configurations are the same as those of the first embodiment.

According to this embodiment, since the

movable pulleys

22a and 22b are rotated by the

electric motors

58a and 58b, the steel wire 28 can be surely traveled and the arm 18 can be rotated. Further, since the

electric motors

58a and 58b are provided on the upper surface of the arm 18, an installation space on the floor surface 25 can be eliminated.

(Embodiment 5)
Next, an electric steering apparatus 10E according to a fifth embodiment of the present invention will be described with reference to FIG. The electric steering device 10E is obtained by incorporating the speed reduction mechanism of the third embodiment, that is, the moving

pulley groups

38 and 40 and the fixed pulley group 52 into the configuration of the fourth embodiment. That is, the

output shafts

60a and 60b of the

electric motors

58a and 58b are coupled to the fixed

shafts

20a and 20b. Furthermore, the moving

pulleys

38a and 40a at the upper ends of the moving

pulley groups

38 and 40 are fixed to the fixed

shafts

20a and 20b, and the other moving pulleys are mounted on the fixed

shafts

20a and 20b in a loosely fitted state.

In this embodiment, the operational effects of both the third embodiment and the fourth embodiment can be obtained. That is, the installation space around the rudder shaft can be greatly reduced by integrating the fixed pulley group into one and providing the

electric motors

58a and 58b in the

arm portions

18a and 18b. Further, since the

carriages

54a and 54b are provided at the lower ends of the

movable pulley groups

38 and 40, the movable pulley group can be smoothly moved while supporting the weight of the movable pulley group by these carriages.

According to the present invention, it is possible to avoid the risk of oil leakage into the ship by making the steering device electric, simplify the structure of the upper part of the rudder shaft, reduce costs, and facilitate maintenance and inspection. it can.

Claims

Two arms projecting in different directions with crossing angles with respect to the rudder axis;
A movable pulley provided at each tip region of the two arms;
A power transmission line wound around the pulley and having both ends connected to a fixed part or both ends coupled together to form an endless shape;
An electric motor that travels the power transmission line in both forward and reverse directions,
An electric steering apparatus configured to travel the power transmission line with the electric motor and move the arm in a turning direction of a rudder shaft by movement of the movable pulley accompanying the travel of the power transmission line. .
A fixed pulley provided facing the movable pulley;
The electric steering apparatus according to claim 1, wherein the power transmission line is wound around the movable pulley and the fixed pulley.
A moving pulley group in which a plurality of moving pulleys are rotatably mounted on a single fixed shaft is provided at the tip region of the two arms, and a plurality of fixed pulleys can be rotated on a single fixed shaft. The mounted fixed pulley group is provided at a position facing the movable pulley group,
3. The electric steering apparatus according to claim 2, wherein the power transmission line is wound alternately around a moving pulley constituting the moving pulley group and a fixed pulley constituting the fixed pulley group.
The electric steering apparatus according to claim 1, wherein the electric motor is arranged on a floor surface in a region surrounded by the two arms.
The electric motor is fixed to the two arms, respectively, and the power transmission line is caused to travel by rotating the movable pulley with the electric motor. Electric steering device.
A plurality of moving pulleys are mounted on a rotating shaft connected to the output shaft of the electric motor, at least one of the plurality of moving pulleys is fixed to the rotating shaft, and the other moving pulley is connected to the rotating shaft. A group of movable pulleys that are movably mounted on the moving shaft is provided in the tip region of the two arms,
A fixed pulley group in which a plurality of fixed pulleys are rotatably mounted on a single fixed shaft is provided at a position facing the movable pulley group,
6. The electric steering apparatus according to claim 5, wherein the power transmission line is alternately wound around a moving pulley constituting the moving pulley group and a fixed pulley constituting the fixed pulley group.