CN115556911A - A mechanical stop device for a large rudder angle rudder used in ships - Google Patents

Abstract

This application discloses a mechanical stop device for large rudder angle rudders used in the field of ship rudders. The structural design of the stop mechanism of the plate, in actual use, when the push rudder mechanism is out of control, the stop disc rotates with the rudder shaft, so that the sliding column is relatively displaced from the arc groove to the slope groove, so that the sliding column rises to drive the lever rod to The swivel seat rotates for the rotation point, and the guide column at the other end of the lever moves down, and then uses the transmission of the transmission arm to push the stop block and get close to the second friction plate of the stop disc. On the one hand, the sliding post and the slope groove The sides of the stop plate are combined to realize the preliminary stop of the stop disc. On the other hand, the stop of the stop disc is realized by using the combination of the first friction plate and the second friction plate, so as to achieve the purpose of protecting the ship. The present invention adopts Purely mechanical structure design, safe, reliable and timely operation, has market prospects and is suitable for popularization and application.

Description

A mechanical stop device for large rudder angle rudders used in ships

technical field

The present application relates to the field of ship rudders, in particular to a mechanical stop device for large rudder angle rudders for ships.

Background technique

The main steering gear of a ship refers to the machinery, rudder steering mechanism, power equipment of the steering gear and its ancillary equipment required for driving the ship to make the rudder move under normal navigation conditions, and the parts that apply torque to the rudder stock (such as Tiller and rudder fan), the main steering gear can steer the rudder from 35 degrees on one side to 35 degrees on the other side at the maximum sailing draft and maximum service forward speed of the ship, and turn the rudder from 35 degrees on one side under the same conditions The time required to turn from 35 degrees on the other side to 30 degrees on the other side does not exceed 28S. When the ship is moving in a curve, the rudder is affected by the rectification effect of the hull. In fact, due to the influence of the hull on the water flow near the stern, the water flow tends to flow along the length of the ship, so the actual drift angle at the axis of the rudder stock is smaller than the geometric drift angle of the hull at the stern rudder. The effective angle of attack is always less than the steering angle. However, in the Z-shape test, when the reverse steering makes the ship get rid of the slewing state, the effective attack angle of the rudder will be greater than the rudder turning angle.

In order to better cooperate with bow and side thrust, the present invention increases side thrust and increases the maximum rudder angle from 35 degrees to 45 degrees in the original design, thereby greatly improving the slewing performance and swaying ability of the ship.

As for the power steering gear, in addition to installing a limit switch or similar equipment to limit the maximum steering angle, a mechanical stop device should also be provided so that the steering angle can be limited when the limit switch fails. The maximum steering angle is 1.5 to 2 degrees larger.

For this reason we propose a kind of mechanical stopping device of large rudder angle rudder for ships to solve the above problems.

Contents of the invention

The purpose of this application is to design a mechanical stop device, which can automatically and timely stop the rudder pushing process beyond the limit after the rudder pushing mechanism of the large rudder angle rudder fails, so as to achieve the purpose of ship navigation safety. There is a technology to provide a mechanical stop device for a large rudder angle rudder for ships, which includes a stop mechanism and a rudder pushing mechanism arranged on the top of the rudder in sequence from bottom to top, and the rudder is fixed in the ship's steering engine compartment through the rudder frame , the rudder shaft of the rudder is rotatably connected in the rudder frame;

The stop mechanism consists of lower bases installed symmetrically in the ship's steering gear compartment. Rotating seats are fixed on opposite sides of the two lower bases. A lever is connected to the rotating seat through the rotation of the rotating shaft. The lever is far away from the lower One end of the base is fixed with a sliding column, the other end of the lever is fixed with a guide column, and the lower base is provided with a guide hole matching the guide column, and a return spring is clamped between the guide column and the guide hole. There is a stop block on the top of the stop block, and right-angle connecting rods are symmetrically fixed on both sides of the stop block. The power arm has an L-shaped structure, one end of the transmission force arm is rotatably connected to one end of the lever rod provided with a guide column, and the other end of the transmission force arm is rotatably connected to the side of the stopper away from the lower base;

The rudder shaft is fixed with a stop plate between the two lower bases. The bottom of the stop plate is provided with a second friction plate. The second friction plate has a conical structure as a whole. For the first friction plate, the top of the stop disc is provided with an arc groove matching the sliding post, and both sides of the arc groove are provided with slope grooves to gradually reduce the depth of the arc groove.

Optionally, the rudder pushing mechanism includes an upper base fixed on the top of the lower base, the two upper bases are arranged symmetrically, two sets of fork-type hydraulic rods are fixed between the two upper bases, and the rudder shaft There is a push rudder seat fixed between them, and both sides of the push rudder seat are provided with a push rudder groove matching the output end of the fork-type hydraulic rod. block, the limit block is provided with a socket hole matching the output end of the fork-type hydraulic rod, and the limit block is socketed through the socket hole and fixed on the output end of the fork-type hydraulic rod.

Optionally, a locking hydraulic rod is fixed on the top of the limit block, and the output end of the locking hydraulic rod passes through the limit block and extends into the sleeve hole. The output end of the rod matches the butt hole.

Optionally, a distance sensor is fixed on one side of the upper base, and the detection end of the distance sensor is set opposite to the top of the guide column. The distance sensor is used to detect the downward movement distance of the guide column, and feedback when the maximum downward distance is detected To the control unit that controls the locking hydraulic rod to retract the locking hydraulic rod.

Optionally, the return spring is a high-strength anti-fatigue spring structure, and the return spring has the elastic force to drive the guide column to move up and away from the lower base. touch.

Optionally, the arc of the arc groove is 90 degrees, and the slope groove is an arc extension groove of the arc groove on the horizontal plane. The total arc of the slope groove and the arc groove is 94 degrees, that is, the slope grooves on both sides of the arc groove The arc of is two degrees.

Optionally, the rudder pushing mechanism pushes the rudder to rotate 45 degrees to port and 45 degrees to starboard.

Optionally, the connection between the stop disc and the rudder shaft is strengthened through spokes, and the spokes are in a cross-shaped structure.

Optionally, multiple layers of corresponding stiffener plates are provided between the upper base and the lower base, and the upper base and the lower base are welded and fixed to the hull structure of the ship's steering gear compartment.

Optionally, a wear-resistant liner is welded and fixed between the outer wall of the sliding post and the groove wall of the arc-shaped groove, and the bottom of the sliding post is rotatably connected to the steel ball structure.

Compared with the prior art, the advantages of the present application are:

(1) The present invention is equipped with a lower base, a swivel seat, a lever rod, a sliding column, a guide column, a return spring, a transmission arm, a stop block, a first friction plate, a right-angle connecting rod, a stop disc, and an arc. The structural design of the stopping mechanism of the shaped groove, the second friction plate, and the slope groove. In actual use, when the rudder pushing mechanism is out of control and pushes the rudder to rotate to the limit angle, the stopping disc rotates with the rudder shaft, so that the sliding column is rotated by The arc-shaped groove is relatively displaced to the slope groove, so that the sliding column rises with the decrease of the depth of the slope groove, and then drives the lever to rotate with the rotating seat as the rotation point, and the guide column at the other end of the lever overcomes the elastic force of the return spring Move down, and then use the transmission of the transmission arm to push the stop block and get close to the second friction plate of the stop disc. When the sliding column moves up to the limit position, on the one hand, the sliding column and the side of the slope groove are matched to realize The preliminary stop of the stop disc, on the other hand, uses the combination of the first friction plate and the second friction plate to realize the stop operation of the stop disc, so that when the limit switch of the push rudder mechanism fails, the simple The mechanical structure performs reliable and safe stopping to achieve the purpose of protecting the ship. The invention adopts a purely mechanical structure design, which is safe, reliable and timely in operation, has market prospects, and is suitable for popularization and application.

(2) Through the design of the locking hydraulic lever with a distance sensor, when the stop mechanism triggers the stop plate to stop the rudder, the guide post on the lever rod overcomes the elastic force of the return spring and moves down, and the distance sensor detects When the guide column moves down to the maximum distance, that is, when the rudder overruns the maximum node, the control unit of the locking hydraulic rod receives the feedback signal from the distance sensor, so that the locking hydraulic rod retracts, and its output end is separated from the docking hole, and then The limit block is unlocked, and the limit block slides freely on the output end of the fork-type hydraulic rod, so that the out-of-control output end of the fork-type hydraulic rod will no longer push the push rudder seat, so as to protect the push rudder mechanism from not moving. It will be damaged by overload, so as to reduce the safety of the overall mechanism of the rudder.

(3) Through the radian design of the slope groove and the arc groove, the rudder pushing mechanism has a larger rudder steering range. , still pushing the rudder. At this time, the sliding column is located at the connection node between the slope groove and the arc groove. During the continuous pushing process of the rudder mechanism out of control, the sliding column is guided by the slope groove to move up, within the range of two degrees. , can trigger the stop mechanism in time. On the one hand, the stop mechanism can be used to stop the rudder, and on the other hand, the limit of the slope groove and the sliding column can be used to limit the rudder steering angle, which effectively improves the timeliness and effectiveness of the stop.

(4) Through the structural design of the spokes and ribs, the structural strength of the stop plate, upper base, and lower base is effectively improved. During the high-strength stop process, it is not easy to deform and effectively improves the stop life. , Through the design of the sliding column with steel ball structure and wear-resistant liner, the sliding column is not easy to wear during operation, and the sliding friction is effectively reduced, so that the smooth operation of the sliding column is improved.

Description of drawings

Fig. 1 is the front structure schematic diagram of the present application;

Fig. 2 is the bottom surface structure schematic diagram of the present application;

Fig. 3 is the sectional structure schematic diagram of the present application;

Fig. 4 is the schematic diagram of the enlarged structure of part A in Fig. 3;

Fig. 5 is the schematic diagram of the explosion structure of the present application;

Fig. 6 is the schematic diagram of the explosive structure of the rudder pushing mechanism proposed in the present application;

Fig. 7 is a structural schematic diagram of the stop disc proposed in the present application;

Fig. 8 is a structural schematic diagram of the stop mechanism proposed in this application;

Fig. 9 is a schematic diagram of the exploded structure of the stopping mechanism proposed in this application;

FIG. 10 is a comparative schematic diagram of the structure of the stopping mechanism proposed in this application when it is stopped.

Explanation of symbols in the figure:

Rudder 1, rudder frame 11, rudder shaft 12, rudder pushing mechanism 2, upper base 21, distance sensor 22, fork type hydraulic rod 23, rudder pushing seat 24, rudder pushing groove 241, limit groove 242, limit Block 25, socket hole 251, locking hydraulic lever 26, stop mechanism 3, lower base 31, swivel seat 311, lever bar 32, sliding post 321, guide post 322, return spring 323, transmission force arm 33, The stop block 34 , the first friction plate 341 , the right-angle connecting rod 342 , the stop disc 35 , the arc groove 351 , the second friction plate 352 , the slope groove 353 , and the spokes 354 .

detailed description

The technical solutions in the embodiments of the application will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the application. Obviously, the described embodiments are only some of the embodiments of the application, not all of them. Based on The embodiments in the present application and all other embodiments obtained by persons of ordinary skill in the art without creative efforts belong to the protection scope of the present application.

Example 1:

This application discloses a mechanical stop device for a large rudder angle rudder for ships, please refer to Figure 1-10, which includes a stop mechanism 3 and a rudder pushing mechanism 2 arranged sequentially on the top of the rudder 1 from bottom to top, the rudder 1 The rudder shaft 12 of the rudder 1 is rotatably connected in the rudder frame 11 through the rudder frame 11 fixed in the ship's steering gear compartment;

The stop mechanism 3 includes lower bases 31 symmetrically installed in the steering gear compartment of the ship. The opposite sides of the two lower bases 31 are fixed with a rotating seat 311, and the rotating seat 311 is connected with a lever 32 through a rotating shaft. One end of the lever-shaped bar 32 away from the lower base 31 is fixed with a sliding column 321, and the other end of the lever-shaped bar 32 is fixed with a guide column 322, and the lower base 31 is provided with a guide hole matched with the guide column 322, and the guide column 322 and the guide hole are clipped with back-moving spring 323, and the top of lever bar 32 is provided with stop block 34, and the both sides of stop block 34 are symmetrically fixed with right-angled connecting rod 342, and the top of right-angled connecting rod 342 all passes rotating shaft and The swivel base 311 is rotatably connected, and a transmission arm 33 is arranged between the stop block 34 and the lever 32. The transmission arm 33 is in an L-shaped structure, and one end of the transmission arm 33 and the lever 32 are provided with an end of a guide post 322. Rotationally connected, the other end of the transmission arm 33 is rotationally connected to the side of the stop block 34 away from the lower base 31;

The rudder shaft 12 is fixed with a stop disc 35 between the two lower bases 31, the bottom of the stop disc 35 is provided with a second friction plate 352, the second friction plate 352 has a conical structure as a whole, and the stop block 34 is provided with For the first friction plate 341 that matches the second friction plate 352, the top of the stop disc 35 is provided with an arc-shaped groove 351 that matches the sliding column 321, and both sides of the arc-shaped groove 351 are provided with a groove that makes the arc-shaped groove 351 Deep tapering ramp groove 353.

The present invention is equipped with a lower base 31, a swivel seat 311, a lever 32, a sliding column 321, a guide column 322, a return spring 323, a transmission arm 33, a stop block 34, a first friction plate 341, and a right-angle connecting rod. 342. The structural design of the stop mechanism 3 of the stop disc 35, the arc groove 351, the second friction plate 352, and the slope groove 353, in actual use, when the rudder pushing mechanism 2 loses control and pushes the rudder 1 to rotate to the limit angle , the stop plate 35 rotates with the rudder shaft 12, so that the sliding column 321 is relatively displaced from the arc groove 351 to the slope groove 353, so that the sliding column 321 rises following the reduction of the groove depth of the slope groove 353, and then drives the lever 32 Rotate with the rotating base 311 as the rotating point, the guide column 322 at the other end of the lever 32 overcomes the elastic force of the return spring 323 and moves down, and then utilizes the transmission of the transmission arm 33 to push the stop block 34 close to the stop disc 35 The second friction plate 352, when the sliding column 321 moves up to the limit position, on the one hand, the sliding column 321 and the side of the slope groove 353 abut to realize the preliminary stop of the stop disc 35; on the other hand, the first friction The combination of the plate 341 and the second friction plate 352 realizes the stop operation of the stop plate 35, so that when the limit switch of the rudder pushing mechanism 2 fails, the simple mechanical structure can be used to stop reliably and safely, so as to achieve protection The purpose of the ship, the present invention adopts a purely mechanical structure design, safe, reliable and timely operation, has a market prospect, and is suitable for popularization and application.

It should be noted that please refer to Figure 3-6, the rudder pushing mechanism 2 includes an upper base 21 fixed on the top of the lower base 31, the two upper bases 21 are arranged symmetrically, and two sets of forks are fixed between the two upper bases 21 type hydraulic rod 23, the rudder shaft 12 is fixed with a push rudder seat 24 between two upper bases 21, and both sides of the push rudder seat 24 are provided with a push rudder groove 241 matched with the output end of the fork type hydraulic rod 23, Push the rudder groove 241 and be provided with the limit groove 242 that penetrates, and the limit groove 242 is provided with the limit block 25, and the limit block 25 is provided with the socket hole 251 that matches with the output end of the fork-type hydraulic rod 23, and the limit The block 25 is socketed through the socket hole 251 and fixed on the output end of the fork type hydraulic rod 23 .

Specifically, please refer to Figure 4-6. A locking hydraulic rod 26 is fixed on the top of the limit block 25. The output end of the lock hydraulic rod 26 passes through the limit block 25 and extends into the socket hole 251. The output end of the rod 23 is provided with a docking hole matching the output end of the locking hydraulic rod 26, and a distance sensor 22 is fixed on one side of the upper base 21, and the detection end of the distance sensor 22 is set opposite to the top of the guide column 322. The distance sensor 22 is used to detect the downward movement distance of the guide column 322 , and feeds back to the control unit controlling the locking hydraulic rod 26 when detecting the maximum downward moving distance, so that it retracts the locking hydraulic rod 26 .

Through the design of the locking hydraulic lever 26 with the distance sensor 22, when the stop mechanism 3 triggers the stop disk 35 of the stop rudder 1, the guide column 322 on the lever 32 overcomes the elastic force of the return spring 323 and moves down, Now the distance sensor 22 detects that the guide column 322 moves down to the maximum distance, that is, when the rudder 1 overruns the maximum node, the control unit of the locking hydraulic lever 26 receives the feedback signal from the distance sensor 22, so that the locking hydraulic lever 26 returns to the maximum distance. shrink, its output end is separated from the docking hole, and then the limit block 25 is unlocked, and the limit block 25 freely slides on the output end of the fork-type hydraulic rod 23, so that the output end of the out-of-control fork-type hydraulic rod 23 is running. Pushing the rudder seat 24 is no longer promoted, so as to protect the rudder pushing mechanism 2 from being overloaded and damaged, so as to reduce the safety of the overall mechanism of the rudder 1.

Specifically, the return spring 323 is a high-strength anti-fatigue spring structure. The return spring 323 has an elastic force that drives the guide column 322 to move upward and away from the lower base 31. When the guide column 322 moves up to the maximum distance, the bottom of the sliding column 321 and the arc The bottom of the groove 351 is in contact with each other.

Specifically, the arc of the arc groove 351 is ninety degrees, the slope groove 353 is an arc extension groove of the arc groove 351 on the horizontal plane, and the total arc of the slope groove 353 and the arc groove 351 is ninety-four degrees, that is, the arc groove The radian of the slope groove 353 on both sides of the 351 is two degrees, and the rudder pushing mechanism 2 pushes the rudder 1 to rotate within a range of 45 degrees on the port side and 45 degrees on the starboard side.

Through the radian design of the slope groove 353 and the arc groove 351, the rudder pushing mechanism 2 has a larger rudder steering range. When the rudder is at an angle, the rudder is still pushed. At this time, the sliding column 321 is located at the connection node between the slope groove 353 and the arc groove 351. During the continuous pushing process of the rudder pushing mechanism 2 out of control, the sliding column 321 is guided by the slope groove 353. In the range of two degrees, the stop mechanism 3 can be triggered in time. On the one hand, the stop mechanism 3 can be used to stop the rudder 1, and on the other hand, the limit of the slope groove 353 and the sliding column 321 can be used to limit the steering angle. , effectively improving the timeliness and effectiveness of the stop.

Specifically, please refer to Figure 4-10, the connection between the stop disc 35 and the rudder shaft 12 is strengthened through the spokes 354, the spokes 354 are in a cross-shaped structure, and there are multiple layers of corresponding reinforcement between the upper base 21 and the lower base 31. The ribs, the upper base 21 and the lower base 31 are welded and fixed with the hull structure of the ship steering gear compartment, and the outer wall of the sliding column 321 and the groove wall of the arc groove 351 are welded and fixed with wear-resistant liners. The bottom rotates to connect the steel ball structure.

Through the structural design of the spoke 354 and the rib plate, the structural strength of the stop plate 35, the upper base 21, and the lower base 31 are effectively improved. During the high-strength stop process, deformation is not easy to occur, and the stop is effectively improved. Life, through the design of the sliding column 321 with steel ball structure and wear-resistant liner, the sliding column 321 is not easy to wear during operation, and the sliding friction force is effectively reduced, so that the smooth operation of the sliding column 321 is improved.

The above is only a preferred embodiment of the present application, but the scope of protection of the present application is not limited thereto. Anyone familiar with the technical field within the technical scope disclosed in this application, according to the technical solutions of this application Equivalent replacements or changes thereof shall fall within the scope of protection of the present application.

Claims (10)

1. A mechanical stopping device of a large rudder angle rudder for a ship comprises a stopping mechanism (3) and a rudder pushing mechanism (2) which are sequentially arranged at the top of a rudder (1) from bottom to top, and is characterized in that the rudder (1) is fixed in a cabin of a ship rudder through a rudder frame (11), and a rudder shaft (12) of the rudder (1) is rotationally connected in the rudder frame (11);

the locking mechanism (3) comprises lower bases (31) symmetrically installed in a cabin of a ship rudder machine, rotary seats (311) are fixed on two opposite sides of the lower bases (31), a lever-type rod (32) is rotatably connected in each rotary seat (311) through a rotary shaft, a sliding column (321) is fixed at one end, far away from the lower base (31), of each lever-type rod (32), a guide column (322) is fixed at the other end of each lever-type rod (32), guide holes matched with the guide columns (322) are formed in the lower bases (31), a reset spring (323) is clamped between each guide column (322) and each guide hole, a locking block (34) is arranged at the top of each lever-type rod (32), right-angle connecting rods (342) are symmetrically fixed on two sides of each locking block (34), the tops of the right-angle connecting rods (342) are rotatably connected with the rotary seats (311) through rotary shafts, a power transmission arm (33) is arranged between each locking block (34) and each lever-type rod (32), each power transmission arm (33) is of an L-type structure, and one side of each locking block (33) is connected with one end of each guide column (31), and the other side of each lever-type rod (32) is connected with the corresponding rotation of each power transmission arm (33);

the rudder shaft (12) is fixed with a stopper disc (35) between two lower bases (31), the bottom of the stopper disc (35) is provided with a second friction plate (352), the second friction plate (352) is integrally conical, a first friction plate (341) matched with the second friction plate (352) is arranged on the stopper block (34), the top of the stopper disc (35) is provided with an arc-shaped groove (351) matched with a sliding column (321), and the two sides of the arc-shaped groove (351) are provided with slope grooves (353) enabling the groove depth of the arc-shaped groove (351) to be gradually reduced.

2. The mechanical stopping device of the large rudder angle rudder for the ship according to claim 1, wherein the rudder pushing mechanism (2) comprises an upper base (21) fixed at the top of a lower base (31), two upper bases (21) are symmetrically arranged, two groups of shifting fork type hydraulic rods (23) are fixed between the upper bases (21), the rudder shaft (12) is fixed with a rudder pushing base (24) between the two upper bases (21), both sides of the rudder pushing base (24) are provided with rudder pushing grooves (241) matched with the output ends of the shifting fork type hydraulic rods (23), the rudder pushing grooves (241) are provided with penetrating limiting grooves (242), limiting blocks (25) are arranged in the limiting grooves (242), the limiting blocks (25) are provided with sleeve holes (251) matched with the output ends of the shifting fork type hydraulic rods (23), and the limiting blocks (25) are sleeved through the sleeve holes (251) and fixed at the output ends of the shifting fork type hydraulic rods (23).

3. The mechanical stopping device of a large rudder angle rudder for ships according to claim 2, wherein a locking hydraulic rod (26) is fixed on the top of the limiting block (25), the output end of the locking hydraulic rod (26) passes through the limiting block (25) and extends into the sleeving hole (251), and the output end of the shifting fork type hydraulic rod (23) is provided with a butt hole matched with the output end of the locking hydraulic rod (26).

4. The mechanical stopping device of the marine rudder angle rudder is characterized in that a distance sensor (22) is fixed on one side of the upper base (21), the detection end of the distance sensor (22) is opposite to the top of the guide post (322), and the distance sensor (22) is used for detecting the downward movement distance of the guide post (322) and feeding back the detected downward movement distance to a control unit for controlling the locking hydraulic rod (26) to retract the locking hydraulic rod (26).

5. Mechanical stop device of a large rudder angle rudder for ships according to claim 1, characterized in that the return spring (323) is a high-strength fatigue-resistant spring structure, the return spring (323) has a spring force that drives the guide post (322) to move up and away from the lower base (31), and when the guide post (322) moves up to the maximum distance, the bottom of the slide post (321) is in contact with the bottom of the arc-shaped groove (351).

6. The mechanical stopping device of a marine rudder angle rudder according to claim 1, wherein the arc degree of the arc-shaped groove (351) is ninety degrees, the slope groove (353) is an arc extending groove of the arc-shaped groove (351) in the horizontal plane, and the total arc degree of the slope groove (353) and the arc-shaped groove (351) is ninety-four degrees, that is, the arc degree of the slope groove (353) at both sides of the arc-shaped groove (351) is two degrees.

7. The mechanical stopping device of a marine rudder horn according to claim 1, wherein the rudder pushing mechanism (2) pushes the rudder (1) to rotate in the ranges of forty-five degrees port and forty-five degrees starboard.

8. Mechanical stop device of a rudder angle rudder for ships according to claim 1, characterized in that the stop disk (35) is connected to the rudder shaft (12) by a reinforced spoke (354), the spoke (354) being of a cross-shaped structure.

9. The mechanical stopping device of the marine rudder angle rudder according to claim 2, wherein a plurality of layers of corresponding reinforcing rib plates are arranged between the upper base (21) and the lower base (31), and the upper base (21) and the lower base (31) are welded and fixed with a hull structure of a rudder cabin of a ship.

10. The mechanical stopping device of the marine rudder angle rudder according to claim 1, wherein wear-resistant liners are welded and fixed between the outer wall of the sliding column (321) and the wall of the arc-shaped groove (351), and the bottom of the sliding column (321) is rotatably connected with a steel ball structure.

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