WO2014054725A1 - 舵取機及びこれを備えた船舶 - Google Patents

舵取機及びこれを備えた船舶 Download PDF

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Publication number
WO2014054725A1
WO2014054725A1 PCT/JP2013/076924 JP2013076924W WO2014054725A1 WO 2014054725 A1 WO2014054725 A1 WO 2014054725A1 JP 2013076924 W JP2013076924 W JP 2013076924W WO 2014054725 A1 WO2014054725 A1 WO 2014054725A1
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WO
WIPO (PCT)
Prior art keywords
gear
shaft
rudder
fixed
carrier
Prior art date
Application number
PCT/JP2013/076924
Other languages
English (en)
French (fr)
Japanese (ja)
Inventor
久保田　満繁
鍵本　良実
陽 秋山
Original Assignee
三菱重工業株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 三菱重工業株式会社 filed Critical 三菱重工業株式会社
Priority to CN201380039053.8A priority Critical patent/CN104487341B/zh
Priority to KR1020157001568A priority patent/KR101757992B1/ko
Publication of WO2014054725A1 publication Critical patent/WO2014054725A1/ja

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Classifications

    • 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
    • B63H25/18—Transmitting of movement of initiating means to steering engine
    • B63H25/20—Transmitting of movement of initiating means to steering engine by mechanical means
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T1/00—Arrangements of braking elements, i.e. of those parts where braking effect occurs specially for vehicles
    • B60T1/02—Arrangements of braking elements, i.e. of those parts where braking effect occurs specially for vehicles acting by retarding wheels
    • B60T1/06—Arrangements of braking elements, i.e. of those parts where braking effect occurs specially for vehicles acting by retarding wheels acting otherwise than on tread, e.g. employing rim, drum, disc, or transmission or on double wheels
    • B60T1/062—Arrangements of braking elements, i.e. of those parts where braking effect occurs specially for vehicles acting by retarding wheels acting otherwise than on tread, e.g. employing rim, drum, disc, or transmission or on double wheels acting on transmission parts
    • 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
    • B63H25/34—Transmitting of movement of engine to rudder, e.g. using quadrants, brakes
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D55/00—Brakes with substantially-radial braking surfaces pressed together in axial direction, e.g. disc brakes
    • F16D55/02—Brakes with substantially-radial braking surfaces pressed together in axial direction, e.g. disc brakes with axially-movable discs or pads pressed against axially-located rotating members
    • F16D55/22—Brakes with substantially-radial braking surfaces pressed together in axial direction, e.g. disc brakes with axially-movable discs or pads pressed against axially-located rotating members by clamping an axially-located rotating disc between movable braking members, e.g. movable brake discs or brake pads
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D63/00—Brakes not otherwise provided for; Brakes combining more than one of the types of groups F16D49/00 - F16D61/00
    • F16D63/002—Brakes with direct electrical or electro-magnetic actuation
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D65/00—Parts or details
    • F16D65/02—Braking members; Mounting thereof
    • F16D65/12—Discs; Drums for disc brakes
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H1/00—Toothed gearings for conveying rotary motion
    • F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital motion
    • F16H2001/289—Toothed gearings for conveying rotary motion with gears having orbital motion comprising two or more coaxial and identical sets of orbital gears, e.g. for distributing torque between the coaxial sets

Definitions

  • the present invention relates to a steering machine and a ship equipped with the steering machine.
  • hydraulic steering machines such as a Rapson slide type steering machine are known as steering machines for operating a ship's rudder.
  • the hydraulic steering machine has the advantage that it can give a large rotational force to the rudder shaft connected to the rudder, but the disadvantage is that the energy efficiency deteriorates in terms of converting electric power into hydraulic pressure using an electric motor or the like. There is.
  • the hydraulic steering machine has a drawback that hydraulic oil may leak out and cause marine pollution.
  • Patent Document 1 discloses a gear-type steering machine that rotates a gear provided on a turning ring fixed to a steering shaft of a ship via a pinion attached to an electric motor.
  • the steering machine disclosed in Patent Document 1 has the following problems, for example.
  • the steering machine disclosed in Patent Document 1 includes a mechanism that rotates the rudder shaft, but does not include a mechanism that brakes the rudder shaft, and therefore cannot sufficiently brake the rotation of the rudder shaft.
  • a gear-type steering gear has a backlash (play between teeth), so that the rotational position of the rudder shaft and the rotational position of the rudder connected to it are accurately positioned. It is difficult to fix to.
  • the rotational position of the rudder shaft and the rotational position of the rudder connected thereto may change.
  • the present invention has been made in view of such circumstances, and provides a steering gear capable of braking the rotation of the rudder shaft and appropriately fixing the rotational position of the rudder shaft, and a ship equipped with the steering gear.
  • the purpose is to do.
  • a steering machine is a steering machine for driving a ship's rudder via a rudder shaft connected to the rudder, the rudder shaft gear fixed to the end of the rudder shaft, and the rudder
  • a driving gear that transmits driving force to the shaft gear and rotates the rudder shaft, a driving source that drives the driving gear, and the rotation of the rudder shaft are braked, and the rotational position of the rudder shaft is fixed at a predetermined position.
  • a braking unit is a steering machine for driving a ship's rudder via a rudder shaft connected to the rudder, the rudder shaft gear fixed to the end of the rudder shaft, and the rudder
  • the driving force of the driving source is transmitted from the driving gear to the rudder shaft gear, and the rudder shaft rotates.
  • the brake unit for braking the rotation of the rudder shaft and fixing the rotation position of the rudder shaft to a predetermined position is provided, the rudder capable of braking the rotation of the rudder shaft and appropriately fixing the rotation position of the rudder shaft.
  • a take-up machine and a ship equipped with the same can be provided.
  • the drive source is an electric motor
  • the braking unit is an electromagnetic brake connected to a rotating shaft of the electric motor.
  • the steering machine is provided with the same axis as the rudder shaft, and is fixed to an end portion of a fixed shaft fixed to the hull side, and the fixed shaft.
  • a carrier having a carrier gear provided on the outer periphery thereof, and a brake disk connected to the carrier, wherein the driving gear transmits a driving force to the carrier gear,
  • the driving force is transmitted to the rudder shaft gear, the braking unit brakes the rotation of the carrier via the brake disk, and the rotational position of the rudder shaft is It is fixed at a predetermined position.
  • the rotation of the carrier to which the driving force of the driving source is transmitted is braked by the braking unit via the brake disc connected to the carrier, and further the driving force is transmitted via the carrier. Is also braked.
  • the rotational position of the rudder shaft can be fixed at a predetermined position.
  • the steering machine of the 3rd aspect of this invention is equipped with the control part which controls the rotation range of the said rudder axle by abutting against the regulation member fixed to the said rudder axle, and being fixed to the hull side. And By doing in this way, even if it is a case where rotation of a rudder axis cannot be appropriately braked by a brake part for some reason, the rotation range of a rudder axis can be controlled appropriately.
  • the carrier has a plurality of planetary shafts, and each of the plurality of planetary shafts meshes with the fixed shaft gear, and the rudder shaft gear.
  • the meshing pitch circle radius of the rudder shaft gear that meshes with the second planetary gear that meshes with the second planetary gear is different from the meshing pitch circle radius of the fixed shaft gear that meshes with the first planetary gear. It may be configured.
  • the driving force of the driving source is transmitted from the driving gear to the carrier gear, and the driving force is transmitted from the second planetary gear supported by the plurality of planetary shafts of the carrier to the rudder shaft gear.
  • each gear is reduced in size, As a result, a steering machine is reduced in size.
  • the meshing pitch circle radius of the rudder shaft gear with which the second planetary gear meshes and the meshing pitch circle radius of the fixed shaft gear with which the first planetary gear meshes are different, the fixed shaft according to the rotation of the carrier around the fixed shaft. The rudder shaft rotates relative to the rotation. In this way, the drive source transmits the driving force to the rudder shaft via the two-stage gear, and the rudder shaft rotates relative to the fixed shaft, so the steering machine drives the rudder with a high reduction ratio. Can be provided.
  • the rudder shaft gear, the fixed shaft gear, the first planetary gear, and the second planetary gear module are equal, and the total number of teeth of the fixed shaft gear and the first planetary gear is:
  • the total number of teeth of the rudder shaft gear and the second planetary gear may be made equal.
  • a plurality of the drive sources may be provided, and each of the plurality of drive sources may transmit a driving force to the carrier gear via the drive gear.
  • the ship according to the present invention is characterized by including the above-described steering machine.
  • a steering gear capable of braking the rotation of the rudder shaft and appropriately fixing the rotation position of the rudder shaft, and a ship equipped with the steering gear.
  • FIG. 2 is a cross-sectional view taken along line AA of the steering machine shown in FIG. 1.
  • FIG. 2 is a cross-sectional view of the steering machine shown in FIG. It is the elements on larger scale of the rudder shaft gear of a 1st embodiment, and the 2nd planetary gear. It is the elements on larger scale of the fixed shaft gear of a 1st embodiment, and the 1st planetary gear.
  • It is CC sectional view taken on the line of the steering machine shown by FIG. It is detail drawing of the drive device and electromagnetic brake of 1st Embodiment.
  • FIG. 1 is a partial vertical cross-sectional view of a steering machine 100 according to the first embodiment.
  • FIG. 2 is a cross-sectional view taken along line AA of the steering machine 100 shown in FIG.
  • FIG. 3 is a cross-sectional view of the steering machine 100 shown in FIG.
  • the steering machine 100 of this embodiment is an apparatus which drives the rudder (not shown) of a ship via the rudder axis
  • the steering machine 100 includes a rudder shaft 1, a rudder shaft gear 2, a fixed shaft 3, a fixed shaft gear 4, a carrier 5, and a drive device 6.
  • the ship of this embodiment obtains a propulsive force and propels it with the screw driven by an internal combustion engine (not shown).
  • the steering machine 100 is being fixed to the hull, By operating the rudder with the steering machine 100, the advancing direction of a ship can be controlled arbitrarily.
  • the rudder shaft 1 is a cylindrical member disposed along the central axis X in the vertical direction, and a rudder is connected to the lower end portion.
  • a rudder shaft gear 2 is fixed to the upper end portion of the rudder shaft 1.
  • the rudder shaft gear 2 is fastened to the rudder shaft 1 by, for example, a bolt or the like, and when the rudder shaft gear 2 rotates, the rudder shaft 1 fixed to the rudder shaft gear 2 also rotates. Therefore, as the rudder shaft gear 2 rotates, the rudder connected to the rudder shaft 1 rotates about the central axis X.
  • the fixed shaft 3 is a cylindrical member provided with the same axis as the rudder shaft 1, and the lower end portion is fixed to a seat 7 on the hull side by a fastening member such as a bolt.
  • a fixed shaft gear 4 is fixed to an upper end portion of the fixed shaft 3 by a fastening member such as a bolt.
  • the inner diameter of the fixed shaft 3 is larger than the outer diameter of the rudder shaft 1.
  • a bearing pad 40 that supports a load in the axial direction of the rudder shaft 1 is disposed.
  • the bearing pad 40 is fixed to the upper surface of the outer peripheral end portion of the fixed shaft gear 4 and is in contact with the lower surface of the outer peripheral end portion of the rudder shaft gear 2.
  • the inner surface of the inner ring of the carrier bearing 8 that supports the load of the carrier 5 is fitted to the outer surface of the fixed shaft 3 in a press-fit state. Further, the inner surface of the annular member 9 is fitted into the outer surface of the fixed shaft 3 in a press-fit state, and the annular member 9 is disposed below the carrier bearing 8. The lower end of the annular member 9 is supported by the seat 7, and the upper end of the annular member 9 is in contact with the lower surface of the inner ring of the carrier bearing 8.
  • the outer ring outer surface of the carrier bearing 8 is fitted in a stepped portion 5 a provided in the carrier 5 in a press-fitted state.
  • the carrier bearing 8 is a rolling bearing, and as described above, the inner surface of the inner ring is fitted into the outer surface of the fixed shaft 3 in a press-fit state. Therefore, the carrier 5 is rotatably installed around the fixed shaft 3.
  • the load of the carrier 5 is applied to the upper surface of the outer ring of the carrier bearing 8 through the step portion 5a.
  • the load of the carrier 5 applied to the upper surface of the outer ring of the carrier bearing 8 is transmitted to the annular member 9 via the lower surface of the inner ring of the carrier bearing 8.
  • the carrier bearing 8 has a function of supporting the load of the carrier 5 and installing the carrier 5 around the fixed shaft 3 so as to be rotatable.
  • the carrier 5 is a member having a circular cross-sectional shape in the central axis X direction, and is installed around the fixed shaft 3 so as to be rotatable.
  • the carrier 5 is provided with a carrier gear 5b on the outer circumferential surface on the radially outer side of the stepped portion 5a.
  • the carrier gear 5 b is provided by processing the outer peripheral surface of the carrier 5.
  • the carrier gear 5b is engaged with a drive gear 6c connected to a drive source 6a via a drive shaft 6b.
  • the drive source 6a is composed of an electric motor 6d and a speed reducer 6e, and the rotational force (driving force) of the rotating shaft of the electric motor 6d is transmitted to the speed reducer 6e via the coupling 6f.
  • the speed reducer 6e decelerates the rotational force of the rotating shaft of the electric motor 6d via a pair of bevel gears 6g and 6h, transmits the reduced rotational force to the driving shaft 6b, and rotates the driving gear 6c via the driving shaft 6b.
  • the driving gear 6 c transmits driving force to the carrier gear 5 b and rotates the carrier 5 around the fixed shaft 3.
  • the driving source 6a drives the driving gear 6c to transmit the driving force to the carrier gear 5b.
  • the drive source 6a is installed on a seat 7 on which the fixed shaft 3 is installed.
  • the electromagnetic brake 70 is connected to the rotating shaft of the electric motor 6d through a coupling 72, and the rotation of the electric motor 6d is braked by the electromagnetic brake 70.
  • the electromagnetic brake 70 is a device that brakes the rotating shaft of the electric motor 6d with electromagnetic force generated by energizing an exciting coil (not shown) and holds the rotating shaft at a predetermined rotating position.
  • the energization state of the exciting coil is switched by a control command from a control unit (not shown).
  • an electromagnetic actuation type electromagnetic brake that operates (braking) by energizing the excitation coil is used as the electromagnetic brake 70.
  • the electromagnetic brake 70 operates (braking).
  • a non-excited operation type electromagnetic brake may be used.
  • the steering machine 100 of this embodiment includes a drive device 60.
  • the driving device 60 transmits the driving force of the driving source 60a to the carrier gear 5b by the driving gear 60c connected via the driving shaft 60b.
  • the configuration of the driving device 60 is the same as the configuration of the driving device 6, and a description thereof will be omitted.
  • an electromagnetic brake 71 is connected to the rotating shaft of the electric motor 60d (not shown) via a coupling 73, and the rotation of the electric motor 60d (not shown) is braked by the electromagnetic brake 71.
  • the electromagnetic brake 71 is assumed to have the same configuration as the electromagnetic brake 70 described above, and a description thereof will be omitted.
  • two drive devices are provided, but only one of the drive devices may be provided.
  • the carrier 5 has four planetary shafts 30a, 30b, 30c, and 30d. Since FIG. 1 is a partial longitudinal sectional view of the steering gear 100, the planetary shaft 30a and the planetary shaft 30b are shown.
  • the planetary shaft 30a is a shaft-like member whose upper end and lower end are fixed to the carrier 5, respectively.
  • the planetary shaft 30a is provided with two rolling bearings (not shown) in which the inner ring is fitted in a press-fit state, and the planetary gear 10a and the planetary gear 20a are fitted in the outer ring of the two rolling bearings in a press-fit state. Yes.
  • the planetary shaft 30a rotatably supports the planetary gear 10a (first planetary gear) that meshes with the fixed shaft gear 4 and the planetary gear 20a (second planetary gear) that meshes with the rudder shaft gear 2. .
  • the planetary shaft 30b rotatably supports the planetary gear 10b and the planetary gear 20b.
  • the planetary shaft 30c (not shown) rotatably supports the planetary gear 10c (not shown) and the planetary gear 20c (not shown).
  • the planetary shaft 30d (not shown) rotatably supports the planetary gear 10d (not shown) and the planetary gear 20d (not shown).
  • the planetary gears 10 a to 10 d (first planetary gear) are engaged with the fixed shaft gear 4, and the planetary gears 20 a to 20 d (second planetary gear) are engaged with the rudder shaft gear 2.
  • FIG. 2 is a cross-sectional view taken along line AA of the steering machine 100 shown in FIG.
  • the planetary gears 20a to 20d (second planetary gears) mesh with the rudder shaft gear 2 at intervals of 90 ° at four positions in the circumferential direction of the rudder shaft gear 2.
  • the carrier 5 rotates around the fixed shaft 3
  • the planetary gears 20a to 20d rotate with respect to the fixed shaft 3 while maintaining an interval of 90 °.
  • FIG. 3 is a cross-sectional view of the steering machine 100 shown in FIG.
  • the planetary gears 10a to 10d (first planetary gears) mesh with the fixed shaft gear 4 at intervals of 90 ° at four positions in the circumferential direction of the fixed shaft gear 4.
  • the carrier 5 rotates around the fixed shaft 3
  • the planetary gears 10a to 10d rotate with respect to the fixed shaft 3 while maintaining an interval of 90 °.
  • the speed ratio (reduction ratio) of the driving force transmitted from the drive gear 6c to the rudder shaft gear 2 in the present embodiment will be described.
  • the module of the fixed shaft gear 4 and the module of the planetary gears 10a to 10d when the fixed shaft gear 4 meshes with the planetary gears 10a to 10d are assumed to be equal.
  • the module of the rudder shaft gear 2 and the module of the planetary gears 20a to 20d are the same.
  • the module means a value obtained by dividing the pitch circle diameter by the number of teeth.
  • the steering machine 100 of the present embodiment satisfies the following conditional expression.
  • i0 (Zb ⁇ Zd) / (Za ⁇ Zd) (1)
  • i1 (1-i0) / i0 (2)
  • i2 Zf / Ze (3)
  • i3 i1 ⁇ i2 (4)
  • Za + Zb Zc + Zd (5)
  • Za number of teeth of the fixed shaft gear 4
  • Zb number of teeth of the planetary gears 10a to 10d
  • Zc number of teeth of the planetary gears 20a to 20d
  • Zd number of teeth of the rudder shaft gear 2
  • Ze drive gear 6c
  • Zf number of teeth of carrier gear 5b
  • i1 speed ratio (reduction ratio) of carrier 5 and rudder shaft 1
  • i2 speed ratio (reduction ratio) of drive gear 6c and carrier 5
  • i3 drive gear 6c
  • the reduction ratio between the drive gear 6c and the rudder shaft 1 includes the number of teeth Za of the fixed shaft gear 4, the number of teeth Zb of the planetary gears 10a to 10d, and the number of teeth Zc of the planetary gears 20a to 20d.
  • the number of teeth Zd of the rudder shaft gear 2, the number of teeth Ze of the drive gear 6c, and the number of teeth Zf of the carrier gear 5b are determined.
  • the planetary gears 10a to 10d have the same number of teeth, and Zb represents the same number of teeth.
  • the number of teeth of the planetary gears 20a to 20d is the same, and Zc is the same number of teeth.
  • the rudder shaft 1 and the fixed shaft 3 are provided with the same axis, and the planetary gear 10 (10a to 10d) and the planetary gear 20 (20a to 20d) are connected to the planetary shaft 30 (30a to 30d). It is a condition that makes it possible to be supported. By satisfying such a condition, the distance between the rudder shaft 1 and the planetary shaft 30 and the distance between the fixed shaft 3 and the planetary shaft 30 can be made equal.
  • Conditional expressions (6) and (7) are conditions for rotating the rudder shaft 1 relative to the fixed shaft 3 as the carrier 5 rotates around the fixed shaft 3.
  • conditional expressions (6) and (7) are not satisfied, the number of teeth Za of the fixed shaft gear 4 and the number of teeth Zd of the rudder shaft gear 2 are equal, and the number of teeth Zb of the planetary gear 10 and the number of teeth of the planetary gear 20 The numbers Zc are equal.
  • the planetary gear 20 rotates in the circumferential direction around the rudder shaft gear 2, but the rudder shaft gear 2 does not rotate relative to the fixed shaft gear 4 and remains stationary.
  • conditional expressions (6) and (7) the rudder shaft 1 can be rotated relative to the fixed shaft 3 as the carrier 5 rotates about the fixed shaft 3.
  • the module of the fixed shaft gear 4 and the module of the planetary gears 10a to 10d when the fixed shaft gear 4 meshes with the planetary gears 10a to 10d are described as being the same. Further, the description has been made assuming that the module of the rudder shaft gear 2 and the module of the planetary gears 20a to 20d are equal when the rudder shaft gear 2 meshes with the planetary gears 20a to 20d. However, the present embodiment is applicable even when these modules are different.
  • the steering machine 100 in this case satisfies the following conditional expressions (8) to (10) instead of the conditional expressions (5) to (7) described above.
  • r1 + r2 r4 + r5 (8) r1 ⁇ r3 (9) r2 ⁇ r4 (10) 4 and 5, r1: distance from the center O1 of the rudder gear 2 to the meshing point P1, r2: distance from the center O2 of the planetary gears 20a to 20d to the meshing point P1, r3: fixed The distance from the center O3 of the shaft gear 4 to the meshing point P2, r4: the distance from the center O4 of the planetary gears 10a to 10d to the meshing point P2.
  • the rudder shaft 1 and the fixed shaft 3 are provided with the same axis, and the planetary gear 10 (10a to 10d) and the planetary gear 20 (20a to 20d) are connected to the planetary shaft 30 (30a to 30d). It is a condition that makes it possible to be supported. By satisfying such a condition, the distance between the rudder shaft 1 and the planetary shaft 30 and the distance between the fixed shaft 3 and the planetary shaft 30 can be made equal.
  • Conditional expression (9) indicates that the meshing pitch circle radius r1 of the rudder shaft gear 2 with which the planetary gear 20 (20a to 20d) meshes and the meshing pitch circle radius r3 of the fixed shaft gear 4 with which the planetary gear 10 (10a to 10d) meshes. Is a conditional expression indicating that is different.
  • Conditional expression (10) indicates that the meshing pitch circle radius r2 of the planetary gear 20 (20a to 20d) with which the rudder shaft gear 2 meshes and the meshing pitch circle radius of the planetary gear 10 (10a to 10d) with which the fixed shaft gear 4 meshes. It is a conditional expression which shows that r4 differs.
  • Conditional expressions (9) and (10) are conditions for rotating the rudder shaft 1 relative to the fixed shaft 3 as the carrier 5 rotates around the fixed shaft 3.
  • the distance r1 from the center O1 of the rudder shaft gear 2 to the meshing point P1 is equal to the distance r3 from the center O3 of the fixed shaft gear 4 to the meshing point P2, and the planetary gear 20a.
  • the distance r2 from the center O2 to the meshing point P1 is equal to the distance r4 from the center O4 of the planetary gear 10a to the meshing point P2.
  • the planetary gear 20 rotates in the circumferential direction around the rudder shaft gear 2, but the rudder shaft gear 2 does not rotate relative to the fixed shaft gear 4 and remains stationary.
  • conditional expressions (9) and (10) the rudder shaft 1 can be rotated relative to the fixed shaft 3 as the carrier 5 rotates about the fixed shaft 3.
  • FIG. 6 is a cross-sectional view of the steering machine 100 shown in FIG.
  • the stopper 80 (80 a, 80 b) is a member having a substantially circular shape in sectional view fixed to the rudder shaft 1, and extends in a direction orthogonal to the central axis X of the rudder shaft 1.
  • a regulating member 90 (90a, 90b) is fixed to a pedestal 95 on the hull side.
  • the restricting member 90a is fixed at a position where it abuts against the stopper 80a when the rudder shaft 1 rotates a predetermined angle ⁇ clockwise from the reference position.
  • the regulating member 90b is fixed at a position where it abuts against the stopper 80b when the rudder shaft 1 rotates a predetermined angle ⁇ counterclockwise from the reference position.
  • the stopper 80 (regulator) is fixed to the rudder shaft 1 and abutted against the regulating member 90 fixed to the hull side, so that the rotation range of the rudder shaft 1 is a predetermined rotation range ( ⁇ ⁇ ° to + ⁇ °).
  • the predetermined rotation range can be set as appropriate according to the type and performance of the ship. For example, a range of ⁇ 35 ° to + 35 ° may be set with respect to the reference position.
  • the driving force of the driving sources 6a and 60a is transmitted from the driving gears 6c and 60c to the rudder shaft gear 2, and the rudder shaft 1 rotates.
  • the electromagnetic brakes 70 and 71 which brake the rotation of the rudder shaft 1 and fix the rotation position of the rudder shaft 1 at a predetermined position are provided, the rotation of the rudder shaft 1 is braked and the rotation position of the rudder shaft 1 is appropriately set. It is possible to provide a steering gear 100 that can be fixed and a ship equipped with the steering gear.
  • the drive sources 6a and 60a are the electric motors 6d and 60d
  • the braking unit is the electromagnetic brakes 70 and 71 connected to the electric motors 6d and 60d.
  • the steering machine of the present embodiment is fixed to the rudder axle 1 and stoppers 80a and 80b (regulators) for restricting the rotation range of the rudder axle 1 by abutting against restriction members 90a and 90b fixed to the hull side. ).
  • each of the plurality of drive sources 6a and 60a transmits the driving force to the carrier gear 5b via the drive gear 6c.
  • the driving force transmitted to the carrier 5 is enhanced, and even when a certain driving source fails, the driving force can be transmitted to the carrier 5 using another driving source.
  • FIG. 9 is a cross-sectional view taken along the line CC of the steering machine 100 ′ shown in FIG.
  • the stopper 81 is a member having a substantially circular cross-sectional view fixed to the rudder shaft 1, and extends in a direction perpendicular to the central axis X of the rudder shaft 1.
  • a regulating member 91 (91a, 91b) is fixed to a pedestal 95 on the hull side.
  • the restricting member 91a is fixed at a position where it comes into contact with the stopper 81 when the rudder shaft 1 rotates a predetermined angle ⁇ clockwise from the reference position.
  • the restricting member 91b is fixed at a position where it comes into contact with the stopper 81 when the rudder shaft 1 rotates a predetermined angle ⁇ counterclockwise from the reference position.
  • the stopper 81 (regulator) is fixed to the rudder shaft 1 and abuts against the regulating members 91a and 91b fixed to the hull-side seat 95 so that the rotation range of the rudder shaft 1 is relative to the reference position. It is restricted to a predetermined rotation range ( ⁇ ° to + ⁇ °).
  • the predetermined rotation range can be set as appropriate according to the type and performance of the ship. For example, a range of ⁇ 35 ° to + 35 ° may be set with respect to the reference position.
  • FIG. 10 is a partial longitudinal sectional view of the steering machine 200 according to the second embodiment.
  • FIG. 11 is a diagram illustrating a brake disk and a brake device according to the second embodiment.
  • the steering machine 100 according to the first embodiment brakes the rotation of the rudder shaft 1 by electromagnetic brakes 70 and 71 connected to the rotation shafts of the electric motors 6d and 60d as drive sources.
  • the steering machine 200 according to the second embodiment brakes the rotation of the rudder shaft 1 by the brake disk 75 and the brake device (braking device) 210 connected to the carrier 5.
  • the second embodiment is a modification of the first embodiment. Except for the case specifically described below, the other configurations are the same as those of the first embodiment, and thus the description thereof will be omitted.
  • the brake disc 75 is a member having a substantially constant thickness and an annular shape in plan view.
  • the brake disc 75 is made of metal, for example, and is connected to the carrier 5 by a bolt 79.
  • bolts 79 a and 79 b are shown, but it is assumed that other bolts are arranged at a plurality of locations in the circumferential direction of the carrier 5.
  • the brake caliper 76 a is disposed so as to sandwich the outer periphery of the brake disc 75.
  • the brake caliper 76a is provided with a pair of caliper pistons 77a and 77b.
  • Brake pads 78a and 78b are disposed at the tips of the caliper pistons 77a and 77b, respectively.
  • the caliper pistons 77a and 77b push the brake pads 78a and 78b against the brake disc 75 in response to a braking instruction from a control unit (not shown).
  • the brake disc 75 sandwiched between the brake pads 78a and 78b is braked by the frictional force generated between the brake pads 78a and 78b, and weakens the rotational force of the carrier 5 connected to the brake disc 75.
  • the carrier 5 whose rotational force is weakened by braking by the brake device 210 is finally stopped and fixed at a predetermined position. Further, since the carrier 5 transmits driving force to the rudder shaft 1 via the planetary gear 20a, when the rotation of the carrier 5 stops, the rotational position of the rudder shaft is fixed at a predetermined position.
  • FIG. 10 shows only the brake device 210a, but as shown in FIG. 11, it is arranged at a plurality of locations in the circumferential direction of the brake disc 75.
  • FIG. 11 shows an example in which three brake devices 210 a, 210 b, and 210 c are arranged at three locations in the circumferential direction of the brake disc 75.
  • the brake device is not limited to three locations, and may be arranged at any location.
  • the brake devices 210a, 210b, and 210c shown in FIG. 11 are fixed to the hull side, and the positions of the brake devices 210a, 210b, and 210c remain fixed even when the carrier 5 rotates.
  • the configurations of the brake devices 210b and 210c are the same as the configuration of the brake device 210a, and a description thereof will be omitted.
  • the rotation of the carrier 5 to which the driving force of the driving sources 6a and 60a is transmitted is transmitted to the brake device (braking) via the brake disk 75 connected to the carrier 5.
  • Part) 210a and the rotation of the rudder shaft 1 to which the driving force is transmitted via the carrier 5 is also braked.
  • the rotation position of the rudder shaft 1 can be fixed to a predetermined position.
  • FIG. 12 is a partial longitudinal sectional view of the steering gear 300 according to the third embodiment.
  • the steering machine 200 according to the second embodiment brakes one brake disk 75 connected to the carrier 5 by the brake devices 210a, 210b, and 210c.
  • the steering machine 300 according to the third embodiment brakes the plurality of brake disks 85a and 85b connected to the carrier 5 by the plurality of brake disks 88a, 88b and 88c fixed to the brake caliper 86a.
  • the third embodiment is a modification of the second embodiment. Except for the case specifically described below, the other configurations are the same as those of the first embodiment and the second embodiment. Is omitted.
  • the brake discs 85a and 85b shown in FIG. 12 are members having a substantially constant thickness and an annular shape in plan view.
  • the brake discs 85a and 85b are made of metal, for example, and are connected to the carrier 5 by bolts (not shown).
  • the brake caliper 86a is disposed so as to sandwich the outer periphery of the brake disks 85a and 85b.
  • the brake caliper 76a is provided with a pair of caliper pistons 87a and 87b.
  • a plurality of brake disks 85a and 85b are arranged between the plurality of brake disks 88a, 88b and 88c.
  • the upper surface of the brake disc 88a faces the tip surface of the caliper piston 87a, and the lower surface of the brake disc 88b faces the tip surface of the caliper piston 87b.
  • the caliper piston 87a pushes its tip end surface against the upper surface of the brake disc 88a in response to a braking instruction from a control unit (not shown). Further, the caliper piston 87b pushes the tip end surface thereof against the lower surface of the brake disc 88c in response to a braking instruction from a control unit (not shown).
  • the distance between the brake discs 88a, 88b, 88c and the brake discs 85a, 85b is narrowed as the tip surfaces of the caliper pistons 87a, 87b are pushed out.
  • the rotational force of the carrier 5 connected to the brake disks 85a and 85b is weakened, and the carrier 5 is braked.
  • the carrier 5 whose rotational force is weakened by braking by the brake device 310a finally stops rotating and is fixed at a predetermined position. Further, since the carrier 5 transmits the driving force to the rudder shaft 1 via the planetary gear 20a, the rotation position of the rudder shaft 1 is fixed at a predetermined position when the rotation of the carrier 5 is stopped.
  • FIG. 10 shows only the brake device 210a, but it is arranged at a plurality of locations in the circumferential direction of the brake disc 75.
  • the brake devices may be disposed at three locations, but may be disposed at any location, not limited to three locations.
  • the brake device 310a is fixed to the hull side, and the position of the brake device 310a remains fixed even when the carrier 5 rotates.
  • the rotation of the carrier 5 to which the driving force of the driving sources 6a and 60a is transmitted is transmitted to the brake device (braking) via the brake disk 75 connected to the carrier 5.
  • the brake device (braking) via the brake disk 75 connected to the carrier 5.
  • Part) 310a, and the rotation of the rudder shaft 1 to which the driving force is transmitted via the carrier 5 is also braked.
  • the rotation position of the rudder shaft 1 can be fixed to a predetermined position.
  • electromagnetic brakes 70 and 71 are used as a braking unit that brakes the rotation of the rudder shaft 1.
  • the brake devices 210 and 310 are used as a braking unit that brakes the rotation of the rudder shaft 1.
  • either one of the electromagnetic brake and the brake device is used, but these may be used in combination.
  • a method of pushing out the piston by air pressure, hydraulic pressure, water pressure or the like may be adopted.
  • a piston may be pushed out by a biasing force of a spring and a biasing force of the spring may be limited using an electromagnetic clutch.
  • the biasing force of the spring is released when the voltage is supplied to the electromagnetic clutch, even if the power supply is interrupted for some reason, the piston is pushed out by the biasing force of the spring, and the rudder shaft
  • the rotational position of can be fixed. That is, it is possible to appropriately prevent the ship from becoming uncontrollable when the direction of the rudder is not determined when the power supply is cut off.
  • the steering machine of this embodiment may be provided with a sensor such as an encoder that can detect the rotational position of the rudder shaft.
  • a sensor such as an encoder that can detect the rotational position of the rudder shaft.
  • the steering machine drives drive gears 6c and 60c connected to drive shafts 6b and 60b from drive sources 6a and 60a, and further drives the rudder shaft gear 2 via the carrier 5 and the planetary gear 20.
  • the drive gears 6c, 60c connected to the drive shafts 6b, 60b from the drive sources 6a, 60a and the rudder shaft gear 2 connected to the drive shafts 6b, 60b are engaged to steer the driving force of the drive sources 6a, 60a. You may make it transmit to the axis

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Ocean & Marine Engineering (AREA)
  • Transportation (AREA)
  • Retarders (AREA)
  • Braking Arrangements (AREA)
PCT/JP2013/076924 2012-10-03 2013-10-03 舵取機及びこれを備えた船舶 WO2014054725A1 (ja)

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CN201380039053.8A CN104487341B (zh) 2012-10-03 2013-10-03 操舵机及具备该操舵机的船舶
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JP5916582B2 (ja) * 2012-10-18 2016-05-11 三菱重工業株式会社 舵取機及びこれを備えた船舶
JP5826164B2 (ja) * 2012-12-28 2015-12-02 三菱重工業株式会社 舵取り機
KR101784751B1 (ko) * 2015-09-10 2017-10-12 훌루테크 주식회사 조타 장치의 잠김된 구동기 확인 방법 및 이를 이용한 조타기 운항 방법과 구동기 잠김 해소 방법
CN105673732B (zh) * 2016-04-15 2018-05-15 中国中元国际工程有限公司 双动摩擦制动装置
CN106763515B (zh) * 2016-12-31 2020-03-27 深圳市优必选科技有限公司 一种舵机
CN109591996A (zh) * 2017-09-30 2019-04-09 西门子公司 转舵控制装置、方法及转舵系统
CN108528673B (zh) * 2018-04-03 2019-12-31 武汉船用机械有限责任公司 一种全回转舵桨的转舵机构及其控制方法
KR102400973B1 (ko) * 2021-05-20 2022-05-20 권오완 링기어 없는 자동체결 기능을 갖는 감속장치
CN115158627B (zh) * 2022-07-06 2024-02-13 中国舰船研究设计中心 一种回转式摆动缸耦合电动的舵驱动机构
JP2024034869A (ja) * 2022-09-01 2024-03-13 大将 石村 ディスクブレーキのキャリパに設けられたシリンダからピストンを取り出すための方法及び装置

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KR20150021125A (ko) 2015-02-27
CN107054606A (zh) 2017-08-18
CN104487341B (zh) 2017-03-08
CN104487341A (zh) 2015-04-01
CN107054606B (zh) 2018-12-04
JP2014073728A (ja) 2014-04-24
KR101757992B1 (ko) 2017-07-13
JP6004876B2 (ja) 2016-10-12

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