Tethered Wing Traction System and Method for Using a Movable Support

Abstract

A mooring wing towing system includes: a towing wing (5), a base platform (3), a mooring mast (4), multiple folding ropes (10A, 10B, 10C), a winding rope (13), a mooring support (12B), a folding support (12C, 12D, 12E), a winding support (12A), and a control module (64). The control module (64) has at least two operating modes: a folding mode, wherein the mooring support (12B) and the folding support (12C, 12D, 12E) are spaced apart from each other; and a winding mode, wherein the winding support (12A) and the mooring support (12B) are spaced apart from each other.

Description

Technical Field

[0001] This invention relates to the field of tethered wing towing systems, which are designed to deploy and fold a towing wing relative to a base platform, the towing wing being designed to generate traction in the presence of wind.

[0002] This type of traction system can deploy a flight tractor wing, which is used to propel vehicles, particularly ships (as the main propulsion or support mechanism), and for power generation or any application that benefits from this traction force. Background Technology

[0003] French patent application FR3082184 describes a tethered wing towing system and a method for deploying and folding the towing wing. The towing wing has folding ropes fixed to its leading edge, and the system has means for pulling at least three folding ropes so that the leading edge abuts against the mast at at least two different heights along the mast.

[0004] This traction system benefits from a more efficient and reliable deployment and folding method. Summary of the Invention

[0005] The purpose of this invention is to improve the existing tethered wing traction system and the related deployment and folding process.

[0006] Therefore, the present invention relates to a tethered wing traction system, comprising:

[0007] A traction wing, designed to generate a traction force under the action of wind, said traction wing having a leading edge and a trailing edge;

[0008] A base platform, wherein the towing wing is connected to the base platform via a towing rope, and the towing wing is designed to unfold and fold relative to the base platform;

[0009] A mooring mast, used for the towing wing and mounted on the base platform;

[0010] Multiple folded ropes, one end of each of the folded ropes being fixed to the leading edge of the traction wing, the ends being spaced apart from each other along the leading edge.

[0011] A winding rope is connected to the trailing edge of the traction wing;

[0012] The tethered wing traction system also has:

[0013] A mooring support, designed to slide along the mooring mast and controlled by a sliding actuator, the mooring support having a coupling interface designed to maintain the leading edge of the traction wing in mooring;

[0014] A folding support, designed to slide along the mooring mast and controlled by a sliding actuator, the folding support having a capture device designed to capture at least one folding rope;

[0015] A winding support, designed to slide along the mooring mast and controlled by a sliding actuator, has a capture device designed to capture the winding rope;

[0016] A control module for controlling the sliding actuator, the control module having at least two operating modes: a folding mode, wherein the mooring support and the folding support move away from each other; and a winding mode, wherein the winding support and the mooring support move away from each other.

[0017] According to another objective, the present invention relates to a method for folding the traction wing of a traction system as described above, the method comprising the following steps:

[0018] Moor the leading edge of the towing wing to the mooring support;

[0019] At least one folded rope is captured by the folding bracket;

[0020] Slide the folding bracket downwards while keeping the mooring bracket fixed in its position on the mooring mast;

[0021] The winding rope is captured by the winding bracket;

[0022] Slide the mooring support downwards while keeping the winding support fixed to the mooring mast.

[0023] According to another objective, the present invention relates to a method for deploying a traction wing of a traction system as described above, the method comprising the following steps:

[0024] Slide the mooring support upward while keeping the winding support fixed on the mooring mast;

[0025] Slide the folding bracket upwards while keeping the mooring bracket fixed to the mooring mast.

[0026] Throughout the text, “one / one support” and “one / or one rope” should be understood as “at least one”.

[0027] In this case, the coupling interface is designed to maintain the mooring of the leading edge of the tractor wing, whether directly moored or indirectly moored via a component.

[0028] The folding and unfolding of the tethering wing, along with the associated processes, utilizes the folding / unfolding and retracting / opening of the tethering wing, which is controlled solely by the translational kinematics of the mooring, folding, and retracting supports.

[0029] Compared to existing technologies, these advanced folding / unfolding and rewinding / opening functions do not require complex devices, which typically provide winches, rewinders, return pulleys, etc. Therefore, apart from the sliding actuator and control module, these functions are fully automated and require no additional components.

[0030] Furthermore, the translational kinematics of the bracket can also be used for storage / release before or after the traction wing is folded and rolled up.

[0031] Therefore, the folding, winding, and possible storage of the traction wing are all interconnected by a set of supports. These functions can be achieved with just a few movable devices (a few ropes, a few transmission devices, and a few movable elements). However, achieving these functions remains quite complex, especially when tension management is imperfect, particularly for neat and repetitive rope winding. Complex rope guiding devices, tensioners, and the like are frequently used.

[0032] However, compared to existing technologies, these operations are accelerated due to the interrelation of functions. It is noteworthy that if the wind speed increases rapidly, the folding of the traction wing is quick and smooth, and the traction wing quickly enters a wind-sheltered state (folded and rolled up).

[0033] According to the present invention, the tethered wing towing system may have the following additional functions, either individually or in combination:

[0034] In the folded mode, the mooring support remains fixed to the mooring mast, and the folding support slides downward.

[0035] In the winding mode, the winding support remains fixed to the mooring mast, and the mooring support slides downward.

[0036] In the winding mode, the winding support slides upward and the mooring support remains fixed on the mooring mast;

[0037] In the rewinding mode, the folding bracket also slides downwards, and the interval between the mooring bracket and the folding frame remains constant;

[0038] The control module also has the following operating modes: an open mode, in which the winding support and the mooring support move closer to each other;

[0039] In this open mode, the retractor remains fixed to the mooring mast, and the mooring support slides upward.

[0040] The control module also has the following operating modes: an unfolding mode, wherein the mooring support and the folding support move closer to each other;

[0041] In the deployed mode, the mooring support remains fixed to the mooring mast, and the folding support slides upward.

[0042] The control module also has the following operating modes: a storage mode, in which the interval between the winding bracket and the mooring bracket remains constant, while the mooring bracket and the folding bracket move closer to each other;

[0043] In the storage mode, the rewind bracket and the mooring bracket slide downward while maintaining a constant interval between them, and the folding bracket slides downward at a slower speed than the mooring bracket.

[0044] In the storage mode, the folding bracket remains fixed in place;

[0045] The control module also has the following operating modes: a release mode, in which the interval between the winding bracket and the mooring bracket remains constant, while the mooring bracket and the folding bracket move away from each other.

[0046] In the release mode, the winding bracket and the mooring bracket slide upward while maintaining a constant interval between them, and the folding bracket slides upward at a slower speed than the mooring bracket.

[0047] The mooring wing towing system has a rope capture device connected to the leading edge of the towing wing and designed to couple to the coupling interface of the mooring support; the winding support is designed to capture the winding rope in the rope capture device, and the folding support is designed to capture at least one folded rope in the rope capture device.

[0048] The system has a mooring rope for mooring the towing wing to the coupling interface of the mooring support, the length of which is controlled by the control module to keep the mooring rope taut during the winding mode and the folding mode.

[0049] The length of the mooring rope is controlled by the control module, so that the mooring rope remains taut during the storage mode;

[0050] The folding bracket has a capturing device designed to slidably capture at least one folding rope;

[0051] The folding support has a capturing device designed to slidably capture at least one closing rope for closing the trailing edge of the traction wing;

[0052] The winding support has a capturing device designed to slidably capture the winding rope;

[0053] The winding bracket is designed to capture the winding rope at a loop that induces traction on the winding rope when it is pulled. Attached Figure Description

[0054] Other features and advantages of the invention will be shown from the following non-limiting description with reference to the accompanying drawings, in which:

[0055] Figure 1 This is a perspective view of the traction system according to the present invention;

[0056] Figure 2 A side view of the traction system is shown.

[0057] Figure 3 show Figure 1 and Figure 2 A front view of the traction wing of the traction system described herein;

[0058] Figure 4 Showing a side view of the traction system during the folding phase of the traction wing;

[0059] Figure 5 This is a partial perspective view of the tractor wing when it is folded.

[0060] Figure 6 A side view of the traction system is shown, with the traction wing folded along the mooring mast;

[0061] Figure 7 This is a perspective view of the towing wing folded along the mooring mast;

[0062] Figure 8 This is an enlarged view of the traction wing, showing the capture device connected to the leading edge of the traction wing;

[0063] Figure 9 This is a side view of the capturing device;

[0064] Figure 10 The capturing device and bracket of the traction system are shown during the step of folding the traction wing;

[0065] Figure 11The capture device and support of the traction system are shown in another step of folding the traction wing;

[0066] Figure 12 , Figure 13 , Figure 14 , Figure 15 , Figure 16 and Figure 17 This is a side view of the traction system and illustrates the sequential steps of the process of folding the traction wing.

[0067] Similar and common elements in different embodiments have the same reference numerals in the drawings. Detailed Implementation

[0068] Figure 1 The diagram illustrates a mooring wing towing system 1 installed on vessel 2, which in this example is an ocean-going cargo ship. Figure 1 (Only the front of the ship is shown in the image).

[0069] In this example, the traction system 1 is mounted on the bow of the vessel 2 and actuated as an auxiliary propulsion device for the vessel, which saves fuel. In this case, the size of the traction system 1 is determined according to the tonnage of the vessel to be towed, and it is designed to automatically deploy and fold.

[0070] In one variant, the traction system 1 can be used in any other application that requires such an automatically foldable and deployable traction system, such as as a main propulsion device for ships, for propelling any other means of transport, for generating electricity, etc.

[0071] The traction system 1 has a base platform 3, which in this example is fixed to the deck of the vessel 2, and a mooring mast 4 is mounted on the base platform, which is configured for the automatic folding and unfolding operation of the system.

[0072] The traction system 1 also includes a traction wing 5, which is designed to generate traction in the presence of wind. In this example, the traction wing 5 is a paraglider-type sail. Alternatively, any other flying device designed to generate traction in the presence of wind can be used, such as a kite, glider, kite-type sail, etc. The traction wing 5 typically has a leading edge 16 exposed to ambient wind and opposing edges referred to as a trailing edge 17.

[0073] The traction wing 5 is connected to a flight trajectory control device 7 via a set of suspension ropes 6, which is designed to act on the suspension ropes 6 to control the flight of the traction wing 5.

[0074] The traction system 1 also includes a towing rope 8 that connects the flight trajectory control device 7 to the base platform 3. The traction force generated by the towing wing 5 is transmitted to the vessel 2 via the towing rope 8 for propulsion, and the size of the towing rope is adjusted accordingly. In the case of towing ocean-going cargo ships, the towing rope may, for example, be a textile cable with a diameter of several centimeters.

[0075] The flight trajectory control device 7 enables manipulation of the flight of the tow wing 5 for orientation and positioning, and may allow the tow wing 5 to trace a flight path, thereby increasing traction on the vessel. Here, the trajectory of the tow wing 5 is controlled by controlling the length of specific movable suspension cables, a classic approach in the field of flight wings. This set of suspension cables 6 specifically includes fixed suspension cables (that is, cables of fixed length between their attachment to the tow wing 5 and their attachment to the flight trajectory control device 7) and movable suspension cables whose lengths can vary. Therefore, the flight trajectory control device 7 is designed to pull specific movable suspension cables and / or release other movable suspension cables, thereby altering the aerodynamic profile of the tow wing 5 to control its lift, trajectory, etc. Modifying the profile of the tow wing to control its trajectory is a conventional method and will not be described in more detail here.

[0076] The traction wing 5 also has a guide rope 9 and multiple folded ropes 10A, 10B, and 10C, which are all fixed to the leading edge 16 through at least one end.

[0077] Figure 2 Is it like this? Figure 1 The traction system 1 shown is a side view during the ship traction phase. Figure 2 The components of the traction system 1 are also schematically illustrated.

[0078] The traction rope 8 is connected to the base platform 3 via a winch 11 controlled by a motor (e.g., an electric motor or a hydraulic motor). The winch 11 is designed to release the traction rope 8 to allow the towing wing 5 to gain height, or conversely, to reel in the traction rope 8 to move the towing wing 5 toward the base platform 3.

[0079] Figure 1 and Figure 2 The diagram illustrates the traction system 1 in a traction configuration, with the traction wing 5 deployed and in flight, and the system contributing to the propulsion of the vessel.

[0080] The traction wing 5 has a winding rope 13, which is divided into multiple ropes (such as...). Figure 2(shown by the dashed line), its end is connected to the trailing edge 17 of the wing 5. The winding rope 13 can be captured at the trailing edge 16 of the traction wing 5, and in order to retract the traction wing 5, the traction on the winding rope 13 causes the wing 5 to be wound up by compression.

[0081] The traction system 1 has supports 12A, 12B, 12C, 12D, and 12E, five supports in this example. These supports are slidably fixed to the mooring mast 4, and each support has an actuator to manage the position of each support along the mooring mast 4. These supports are used to capture and guide the folding ropes 10A, 10B, 10C and the winding rope 13 during the unfolding or folding phases described later.

[0082] The brackets are configured as follows:

[0083] The bracket 12A is a winding bracket and is designed to capture the winding rope 13;

[0084] The support 12B is a mooring support and is designed to ensure the mooring of the leading edge 16 of the towing wing 5;

[0085] The bracket 12C is the first folding bracket and is designed to capture the first pair of folding ropes 10A;

[0086] The bracket 12D is the second folding bracket and is designed to capture the second pair of folding ropes 10B;

[0087] The bracket 12E is the third folding bracket and is designed to capture the third pair of folding ropes 10C.

[0088] In one variation, the traction system 1 has as many supports as are needed to capture the folded or wound rope, the number of which may vary relative to the described example.

[0089] The traction system 1 also includes a control module 64 that controls the movement of the supports 12A, 12B, 12C, 12D, and 12E, as well as the means for each support to capture or rewind the folding rope. This control module 64 is typically implemented using electronic equipment and computer hardware suitable for the application and is programmed specifically to implement the process of deploying and folding the traction wing 5.

[0090] The folded ropes 10A, 10B, and 10C are arranged in pairs, such as... Figure 3 As shown. In this specification, the leading edge 16 of the traction wing 5 is divided into an intermediate region 15 and two side edges 19 extending on either side of the intermediate region 15, the two side edges 19 being between the intermediate region 15 and each side end 18 of the leading edge 16.

[0091] In Figure 3 In the diagram, the front view of the traction wing 5 illustrates the routes of the folded ropes 10A, 10B, and 10C and their arrangement relative to the leading edge 16:

[0092] The first pair of folded ropes 10A has two ropes, each rope having a first end and a second end. The first end is connected to the middle region 15 of the leading edge 16, and the second end is directly connected to the leading edge 16 at a position on a lateral portion 19 of the leading edge 16 and at a certain distance from the middle region 15.

[0093] The second pair of folded ropes 10B has two ropes, each rope having a first end and a second end. The first end is connected to the intermediate region 15, and the second end is directly connected to the leading edge 16 at a lateral portion 19, and in this example, is located approximately in the middle of each lateral portion 19, that is, approximately in the middle of the intermediate region 15 and the lateral end 18.

[0094] The third pair of folded ropes 10C has two ropes, each rope connecting the middle region 15 to a portion of the leading edge 16 located near the side end 18.

[0095] Figure 3 The route of the guide rope 9 between the intermediate region 15 and the flight trajectory control device 7 is also shown.

[0096] Refer again Figure 2 The traction system 1 has a mooring rope 20 wound around a mooring winch 21 mounted on the base platform 3. The mooring rope 20 leaves the winch 21 and is then guided into the mooring support 12B via one or more pulleys (or via a low-friction element, or any other element that allows the mooring rope 20 to slide into the mooring support 12B). The mooring rope 20 then enters a reciprocating member 14, which can slide along the guide rope 9.

[0097] by Figure 1 and Figure 2 Starting with the traction configuration, the traction wing 5 can be folded according to the process described below.

[0098] from Figure 1 and Figure 2 The position is such that the winches 11 and 21 first retract the traction rope 8 and the mooring rope 20, so that the flight trajectory control device 7 stops on the base platform 3. At the same time, as the traction wing 5 descends, the reciprocating component 14 rises along the guide rope 9.

[0099] This operation continues until... Figure 4 The positions, of which:

[0100] The flight trajectory control device 7 is docked on the base platform 3, for example, on a suitable support (not shown);

[0101] The reciprocating member 14 has slid upwards along the entire length of the guide rope 9 to its end located near the intermediate region 15.

[0102] The mooring line 20 enters the mooring support 12B and holds the leading edge 16 against the mooring support 12B by traction. The towing wing 5 is then locked in the mooring position (as described later), the tension on the mooring line 20 is no longer necessary, and the mooring line can be captured.

[0103] To capture the rope (these operations are not necessarily performed in this order):

[0104] The winding bracket 12A captures the winding rope 13;

[0105] The first folding bracket 12C captures the first pair of folding ropes 10A;

[0106] The second folding bracket 12D captures the second pair of folding ropes 10B;

[0107] The third folding bracket 12E captures the third pair of folding ropes 10C.

[0108] The rope is captured by a hook and a capturing device on the support, as shown below.

[0109] The folding supports 12C, 12D, and 12E then begin to descend along the mooring mast 4 by sliding their hooks along the already captured rope.

[0110] Figure 5 This is a perspective view illustrating the lowering operation of the folding support. Then, each of the folding supports 12C, 12D, and 12E gradually brings the folding rope to a configuration in which the rope extends vertically along the mooring mast 4 from the intermediate region 15 (which is moored to the mooring support 12B, which remains fixed in place). This operation allows the lateral portion 19 to return vertically along the mooring mast 4.

[0111] Figure 6 (Side view) and Figure 7 (Perspective view) illustrates the traction wing 5 after the folding operation, that is, when the folding brackets 12C, 12D, and 12E are in their respective lowest positions.

[0112] The towing wing 5 then folds along the mooring mast 4, that is, the two lateral portions 19 of the leading edge 16 extend vertically along the mooring mast, while the middle region 15 remains moored to the mooring support 12B.

[0113] from Figure 6 and Figure 7 At this position, the wing 5 can then be wound up. The winding support 12A (which has already captured the winding rope 13) then slides upward along the mooring mast 4, thereby applying traction to the winding rope 13 and causing the towing wing 5 to be wound up. In this example, winding is accomplished by moving the trailing edge 17 closer to the leading edge 16 through compression.

[0114] refer to Figure 6 Through the interaction of the mooring rope 20, the mooring support 12B, the reciprocating member 14, and the rope capturing device 22, the towing wing 5 is moored on the mooring support 12B.

[0115] Figure 8 yes Figure 3 A detailed view showing the front view of the traction wing 5 and the intermediate region 15, and the folding ropes 10A, 10B, 10C and the winding rope 13 connected to the intermediate region 15 of the leading edge 16 via the rope capture device 22.

[0116] The rope capture device 22 is connected in the intermediate region 15 to the leading edge 16 of the traction wing 15 via a tower 23 (especially in the middle region 15). Figure 12 (See side view). Therefore, the tower 23 is similarly referred to in aviation terminology as an aircraft tower, i.e., an engine tower. The tower 23 is preferably made of ribs of a lightweight and strong material (e.g., carbon fiber composite). The tower 23 is fixed to the rope capture device 22 and to a reinforcement sewn onto the leading edge 16 of the towing wing 5.

[0117] In one variation, the rope-catching device 22 may be connected to the leading edge 16 by any other flexible or rigid device, such as a fabric cord or any other element capable of generating traction on the rope-catching device 22 to drive traction on the leading edge 16.

[0118] The rope-catching device 22 has a body 24 and two fastening arms 25 mounted on the body 24, such that each fastening arm can pivot about a pin 26. Each fastening arm 25 has a first fastening rod 27A, a longer second fastening rod 27B, and a longer third fastening rod 27C (in... Figure 8The fastening rods 27A, 27B, and 27C are visible in the cross-sectional view. This arrangement of juxtaposed fastening rods with increasing or decreasing lengths is referred to as "stepped" in this context.

[0119] In this example, the fastening rods 27A, 27B, and 27C are made of tubes that are press-fitted into holes at the ends of the fastening arms 25.

[0120] The fastening arm can be in a flight position relative to the main body 24. Figure 8 (position) and fastening position ( Figure 13 The fastening rods 27A, 27B, and 27C can be moved between positions where they are substantially vertical (when the towing wing 5 is in its normal mooring position).

[0121] In addition, each fastening arm 25 has a lever 28 that extends beyond the pin 26 and can act on the fastening arm 25 to fold a portion of the fastening arm.

[0122] Each folded rope 10A, 10B, 10D, 10C connecting the intermediate region 15 is connected to the fastening rods 27A, 27B, 27C so as to protrude in the continuous portion of the fastening rod. In other words, the end of the fastening rod is continued by the folded rope.

[0123] In this example, the fastening rod is formed of a tube, and the folded rope is preferably inserted into the tube and passes completely through the tube to the fixing area 29 of the fastening arm 25.

[0124] The pivotal connection between the fastening arm 25 and the main body 24 allows the fastening arm 25 to naturally position itself during the flight of the traction wing 5. Figure 8 As shown in the spaced-out positions, the fastening arm 25 follows the openings indicated by the folded ropes 10A, 10B, 10C, and extends further in a direction connecting to the other end of the leading edge 16. The rope capturing device 22 may also have an elastic element (spring, etc.) that pushes the fastening arm 25 towards... Figure 8 The spaces between the elements.

[0125] The function of the spaced-out position of the fastening arm 25 is to make the automatic fastening of the ropes safer by limiting the risk of entanglement between the fastening arm 25 and the fastening rods 27A, 27B, 27C and other ropes such as the guide rope 9 and the mooring rope 10.

[0126] The reciprocating component 14 is also shown in Figure 8In the cross-sectional view, the reciprocating member 14 has two sliding orifices 32, which are rectangular and have two lateral planes 33. The rectangular shape of the reciprocating member 14 allows the rope capturing device 22 to be guided and angularly oriented around a horizontal axis.

[0127] In this configuration, the guide rope 9 consists of a pair of ropes extending between the main body 24 and the flight trajectory control device 7. In this example, the pair of guide ropes 9 form a loop around the stop 34 of the main body 24.

[0128] Therefore, the guide rope 9 is attached to the intermediate region 15 via the rope capture device 22.

[0129] The mooring rope 20 passes through the reciprocating member 14 and is connected to the body 24. The reciprocating member 14 has a guiding device through which the mooring rope 20 passes, allowing it to slide freely. This guiding device can be of any type, such as a pulley or a low-friction element. The mooring rope 20 thus extends from the mooring support 12B and is guided in the direction of the body 24 to slide through the reciprocating member 14.

[0130] Figure 9 A side view of the rope capture device 22 is shown, facing the interlocking interface 35 fixed to the mooring support 12B (the rest of the mooring support 12B is not shown).

[0131] The interlocking interface 35 has elements for mooring the rope capture device 22 in a predetermined position. In this example, these elements have a notch 39 that complements the notch 40 in the body 24. The reciprocating member 14 is also part of these positioning elements because it is adapted to engage in the indentation 41 in the interlocking interface 35. Furthermore, the notch 40 has a significant advantage in terms of reaction force, because the interaction of the notches 39 and 40 allows for the reaction of all vertical forces applied to the rope capture device 22 during the folding operation, which may be greater than 15 kN.

[0132] The indentation 41 has an inner wall for receiving and positioning the reciprocating member 14. The oval shape of the reciprocating member 14 and the complementary shape of the indentation 41 ensure predetermined positioning when the rope capture device 22 is moored to the interlocking interface 35.

[0133] Figure 9The arrangement of the winding rope 13 is also illustrated. The rope capturing device 22 has a winding rod 42 that projects vertically above the body 24. The winding rope 13 protrudes in a continuation of the winding rope 24. In this example, the winding rope 42 is formed by a tube fitted into the body 24, into which the winding rope enters and its end is secured to the body 24.

[0134] Between its attachment to the winding rope 42 and its path toward the trailing edge 17, the winding rope 13 forms a loop 55 and enters a ring 43 integral with the tube 42. The ring 43 is, for example, a low-friction ring, or may be formed by a tube or pulley. Therefore, traction on the loop 55 results in traction on the winding rope 13, and thus winds up the traction wing 5.

[0135] Furthermore, during the mooring phase of the tow rope, the traction on the mooring rope 20 causes the reciprocating member 14 to rise, and this process ends as the reciprocating member 14 enters the receiving portion 36. The reciprocating member 14 is then fixed in the receiving portion 36 by a dimensional fit, which allows the surfaces of planes 33 and 38 to abut against the inner surface of the receiving portion 36.

[0136] Therefore, the reciprocating member 14 can move between a sliding configuration and a mooring configuration. In the sliding configuration, the reciprocating member 14 slides along the guide rope 9, and in the mooring configuration, the reciprocating member 14 is disposed in its receiving portion 36.

[0137] The reciprocating member 14 entering the receiving portion 36 also activates the lever 28, which causes the fastening arm 25 to close, that is, the fastening arm 25 is moved to a vertical position and held in that position by the presence of the reciprocating member 14.

[0138] The traction on the mooring rope 20 causes the rope capture device 22 to move closer to the interlocking interface 35 until the two elements are coupled.

[0139] Figure 10 The diagram illustrates the rope-catching device 22, which is thus moored on the mooring support 12B. The figure also shows other supports 12A, 12C, 12D, and 12E. Each support can slide along the mooring mast 4 under the control of actuators 64A, 64B, 64C, 64D, and 64E.

[0140] The mooring support 12B has an upper fixing hook 48 and a pair of lower fixing hooks 49, which are movable between a retracted position and a fixed position. In the retracted position, they are spaced apart from the rope capturing device 22, and in the fixed position (e.g., ... Figure 10As shown in the figure, they respectively lock the main body 24 and the fastening arm 25 onto the interlocking interface 35.

[0141] Each of the folding brackets 12C, 12D, and 12E has a pair of capturing hooks 46A, 46B, and 46C, each of which is used to hook a corresponding pair of folding ropes 10A, 10B, and 10C. These hooks 12C, 12D, and 12E are positioned... Figure 10 The retraction position in the middle.

[0142] The winding bracket 12A has a capture hook 47 for actuating the winding rope 13 via the circuit 55. The capture hook 47 also... Figure 10 retract.

[0143] The hooks 46A, 46B, 46C, 47, and 48 are hooks that can pivot in the overall yoke of the corresponding support.

[0144] Figure 10 The illustration shows the supports 12A, 12B, 12C, 12D, and 12E respectively equipped with the sliding actuators 66A, 66B, 66C, 66D, and 66E. Thus, each support has a sliding actuator 66A, 66B, 66C, 66D, and 66E, which is controlled by the control module 64, enabling the management of the sliding of each support along the mooring mast 4 or its holding in a fixed position. In this example, each of these sliding actuators consists of an electric motor connected to a pinion gear that meshes with a fixed rack along the mooring mast. In a variation, these sliding actuators can consist of any device that performs this function, such as a linear motor, an offset rotary motor with chain or belt drive, etc.

[0145] During the folding of the towing wing 5, once the rope capture device 22 is coupled to the interlocking interface 35, the fixing hooks 48 and 49 of the mooring support 12B are activated and oriented toward their fixed positions to secure the rope capture device 22 to the interlocking interface 35, such as... Figure 10 As shown. After this step, the mooring rope 20 is no longer required to maintain mooring.

[0146] The upper fixing hook 48 clamps the upper part of the main body 24, while the lower fixing hook 49 clamps the fastening arm 25 at the fixing area 29, that is, above the fastening rods 27A, 27B, and 27C.

[0147] The hooks 48 and 49 can be actuated in any way, such as by a pivoting device controlled by an electric motor or a remotely controlled magnetic actuation device. In this example, the hooks 48 and 49 are actuated by means of the movement of the winding bracket 12A. Figure 11 The support is shown in a transparent view to make the mechanism visible. The hooks 48 and 49 are each rotatably mounted on the support and actuated by a shaft or pinion. The control shaft 50 allows rotation of the three hooks 48 and 49 to be actuated via the arrangement of the pinions. Therefore, movement of the winding support 12A toward the mooring support 12B drives the hooks 48 and 49 toward their retracted positions, and movement of the winding support 12 away from the mooring support 12 drives the hooks 48 and 49 toward their fixed positions.

[0148] The same type of mechanism allows the take-up hook 47 to be driven toward its capture position by means of a control shaft that interacts with the helical cam, even when the take-up bracket 12A is in continuous motion away from the mooring bracket 12B.

[0149] Using the same method as before, the capturing hooks 46A, 46B, and 46C of the folding supports 12C, 12D, and 12E can also be managed by any means that close them onto the fastening rods 27A, 27B, and 27C. In this example, with the same type of control as described above: having a control shaft, lugs, and a helical cam, the capturing hooks 46A, 46B, and 46C are preferably moved to their capturing positions by moving the respective folding support away from the preceding support.

[0150] Therefore, refer to Figure 10 First, the winding bracket 12A is moved slightly away from the mooring bracket 12B, causing the retaining hooks 48 and 49 to close and the rope capturing device 22 to be secured. Then, the winding bracket 12A remains in this position, and the hooks 47 are in the retracted position.

[0151] Then, the folding supports 12C, 12D, and 12E each begin to descend along the mooring mast 4, moving away from each other, so that the pairs of hooks 46A, 46B, and 46C close above the fastening rods 27A, 27B, and 27C, as... Figure 10 As shown.

[0152] Each hook 46A of the first folding bracket 12C closes on three fastening rods 27A, 27B, and 27C, that is, it closes just above the end of the first fastening rod 27A.

[0153] Each hook 46B of the second folding bracket 12D closes on two fastening rods 27B, 27C, that is, it closes just above the end of the second fastening rod 27B.

[0154] Each hook 46C of the third folding bracket 12E closes only on the third fastening rod 27C, just above the end of the third fastening rod 27C.

[0155] exist Figure 10 In this position, each of the paired folding hooks 46A, 46B, and 46C is located just above the protruding portion of the corresponding folding rope 10A, 10B, and 10C.

[0156] from Figure 10 Starting from the position in the middle, the folding brackets 12C, 12D, and 12E continue to descend, such that:

[0157] The third folded rope 10C is vertically stretched by the capture hook 46C, which descends along the mooring mast 4 by sliding along these folded ropes 10C.

[0158] The second folded rope 10B is stretched vertically by the capture hook 46B, which descends along the mooring mast 4 by sliding along these folded ropes 10B;

[0159] The first folded rope 10A is stretched vertically by the capture hook 46A, which descends along the mooring mast 4 by sliding along these folded ropes 10A, and the folded ropes 10B, 10C were previously moved vertically by the capture hooks 46B, 46C.

[0160] As the support is lowered, the hooks 46A, 46B, and 46C slide on their respective folded ropes, causing the folded ropes to move vertically along the mooring mast 4.

[0161] This descent continued until it reached... Figure 6 and Figure 7 The folding position in the text.

[0162] Once the folded position is reached, the tow wing 5 can be retracted. The tow wing 5 is retracted by moving the mooring support 12B and the retraction support 12A away from each other, which first causes the retraction hook 47 to close on the retraction rod 42 (see...). Figure 10 Then, the continued rise of the winding bracket 12A causes traction on the circuit 55 (in Figure 9 The circuit 55 can be seen in the diagram, but is not shown in other diagrams.

[0163] Now refer to Figure 2 , 4 The cross-sectional view of section 6 summarizes the folding process of the traction wing 5, and refers to... Figures 12 to 17 The cross-sectional view was supplemented.

[0164] from Figure 2 Starting from the flight position, the tow wing 5 is first moored to the mooring support 12B by means of the rope capture device 22, as described above. Figure 4 The diagram illustrates the mooring position of the towing wing 5 after the operation, with the leading edge 16 of the towing wing 5 moored on the mooring support 12B (in this example, the mooring is accomplished via the rope capture device 22).

[0165] The folding brackets 12C, 12D, and 12E then capture the folding ropes 10A, 10B, and 10C using their respective hooks 46A, 46B, and 46C.

[0166] Then, the control module 64 controls the sliding of the folding supports 12C, 12D, and 12E along the mooring mast 4 to reach... Figure 6 The folding position in the text.

[0167] For this purpose, the control module 64 is programmed to include a first operating mode referred to as the "folding mode," in which folding supports 12C, 12D, and 12E are moved away from the mooring support 12B. In this example, the mooring support 12B remains fixed to the mooring mast 4, while the folding supports 12C, 12D, and 12E each descend along the mooring mast 4 to... Figure 6 The folding position is shown.

[0168] The independent control of the support also allows for the performance of additional functions by applying traction to the closed rope (not shown) connected to the trailing edge 17, such as the folding of the windward bag of the traction wing 5 (by closing its trailing edge), which can be optimized and managed by the movement of the support.

[0169] refer to Figures 12 to 17 ,from Figure 6 Starting from the folded position, the traction wing will simultaneously retract and be loaded into the storage container 65.

[0170] Figures 12 to 17 Another detail of the towing system 1 is shown: the mooring mast 4 extends below the base platform 3, and the storage container 65 for the towing wing 5 is positioned at this extension facing the mooring mast 4.

[0171] refer to Figure 12 The winding bracket 12A captures the winding rope 13 at the winding loop 55 by means of its hook 47. It should be noted that in a variation, the winding rope 13 can be captured at any other time besides during winding, particularly... Figure 4 or Figure 6 The position in the middle.

[0172] When the towing wing 5 folds along the mooring mast 4, and once the rewind loop 55 is captured by the rewind bracket 12A, all four brackets of the mooring bracket 12B and the folding brackets 12C, 12D, and 12E will simultaneously translate downwards. In other words, these four brackets 12B, 12C, 12D, and 12E will each slide downwards along the mooring mast 4 while still maintaining their respective spacing from each other.

[0173] For this purpose, the control module 64 is programmed to include a second operating mode referred to as the "rewind mode," in which the mooring support 12B and the rewind support 12A move away from each other. In this example, as the mooring carriage 12B slides downward, the rewind support 12A remains fixed in position on the mooring mast 4. Furthermore, the folding supports 12C, 12D, and 12E also descend along the mooring mast 4 together with the mooring support 12B.

[0174] from Figure 12 Starting from the position in the middle, the control module then switches to a rewind mode. In the rewind mode, the control module 64 is therefore designed to lower the mooring support 12B and at least one folding support, such that the spacing between these supports remains constant.

[0175] The combined descent of the stents 12B, 12C, 12D, and 12E is as follows: Figure 13 As shown. Therefore, the towing wing 5 descends along the mooring mast 4 while remaining folded, that is, maintaining contact with... Figure 6 and Figure 7 The same shape is present. The towing wing 5 maintains this shape while still translating as a whole along the mooring mast 4.

[0176] As the folded tow wing 5 descends, the mooring winch 21 is further controlled by the control module 64 to gradually wind up the mooring line 20. Therefore, the mooring line 20 always has a small amount of tension, ensuring that no unwanted loops are formed over the distance covered by the mooring line 20. This is because initial slack in the mooring line 20 could lead to the risk of it being accidentally locked, for example, around a movable element of the system.

[0177] As the tow wing 5 descends, the control module 64 holds the winding bracket 12A in a fixed position on the mooring mast 4. The movement of the winding bracket 12A and the mooring bracket 12B away from each other causes traction on the winding loop 55. Since the winding bracket 12A has already slidably engaged the winding loop 55 via the hook 47, this movement causes direct traction on the winding rope 13, and thus causes the tow wing 5 to wind up. Therefore, Figure 13The diagram illustrates the winding (via) of the traction wing 5 moving from the trailing edge 17 to the leading edge 16. Figure 13 (The dashed lines in the diagram are shown schematically).

[0178] Figure 14 The illustration depicts the subsequent steps of the descent of the tow wing 5 when the control module 64 is in the retracted mode. The tow wing 5 continues to translate while remaining in its folded position (the relative positions of the mooring bracket 12B and the folding brackets 12C, 12D, and 12E have not changed), while the winding bracket 12A remains fixed in place, and the winding of the tow wing 5 continues.

[0179] Therefore, the wing is rolled up as it descends into the storage container 65, and its descent... Figure 15 The maximum retractable position is shown. At this position, although the tractor is not yet fully loaded, it is folded and fully retracted. Furthermore, it has been partially introduced into the storage container 65, thus subjecting it to less wind-related forces.

[0180] The control module 64 then switches to another operating mode called "storage mode," in which the towing wing is stored in the container 65.

[0181] refer to Figure 16 The folding process continues in this storage mode, wherein:

[0182] All supports are moved downwards until the third folding support 12E reaches its bottom contact position (e.g., Figure 16 (See image). The towing wing 5 thus slides along the mooring mast toward the container 65 while remaining wound up;

[0183] Then, when the mooring support 12B and at least one of the folding supports 12C, 12D, 12E approach each other, the relative interval between the winding support 12A and the mooring carriage 12 remains fixed.

[0184] In this example, the winding support 12A and the mooring support 12B descend together along the mooring mast 4, with the control module 64 maintaining their mutual spacing, while the folding supports 12C, 12D, and 12E move closer to each other. The mooring support 12B thus moves closer to at least one of the folding supports 12A, 12B, or 12C. In practice, in this example, the mooring support 12B and the two first folding supports 12C and 12D move together closer to the third folding support 12E (which remains fixed in its bottom abutment position), and then the second folding support 12D contacts the third folding support 12E (this is...). Figure 16 (The location shown in the diagram).

[0185] Then, the movement continues, causing bracket 12C to move closer to bracket 12D (moving together with the following brackets 12A and 12B while maintaining a constant spacing between them), bracket 12D remaining fixed in a position abutting (or near) bracket 12E. Then, the first folding bracket 12C contacts the second folding bracket 12D, descending to the position where the four brackets 12B, 12C, 12D, and 12E are abutting each other. Figure 17 (The configuration shown in the drawing).

[0186] In one variation, when the mooring support 12B slides downward, all of the folding supports 12C, 12D, and 12E can simultaneously move closer to the mooring support.

[0187] In another variation of the storage mode, the winding bracket 12A and the mooring bracket 12B slide downward while maintaining a constant interval between them, and at least one of the folding brackets 12C, 12D, and 12E slides downward at a slower speed than the mooring bracket.

[0188] Figure 17 The final position of the towing wing 5 stored in the storage container 65 is shown. The mooring support 12B and the folding supports 12C, 12D, 12E are close to each other (or even docked with each other), and the spacing between the winding support 12A and the mooring support 12 remains the same (the winding support 12 slides along the mooring mast together with the mooring support 13B).

[0189] Throughout all the above operations, the mooring rope 20 is maintained at the aforementioned low tension by means of the mooring winch 21. Furthermore, maintaining the interval between the winding support 12A and the mooring support 12B ensures that the sail is kept wound up during storage.

[0190] Therefore, if the sail is to remain rolled up even during storage, the sail can... Figure 17 This position is stored in the storage container 65. In a variation, the take-up bracket 12A can also be moved closer to the mooring bracket 12B during an additional operation, thereby releasing the tension of the towing wing 5 within the storage container 65. In this case, the wing will reopen by raising the take-up bracket 12A before it can be re-deployed.

[0191] Therefore, the operations of folding, rolling up, and storing the traction wing 5 are interconnected via a set of supports 12A, 12B, 12C, 12D, and 12E. Other functions can also be performed by this set of supports, such as closing the trailing edge of the traction wing by traction on the closing rope.

[0192] The process of folding the traction wing 5 is thus completed, and the wing remains stored in its storage container 65 until its next deployment.

[0193] The deployment of the traction wing 5 is achieved through the same operation as described above, but in the reverse order. Therefore, in a manner opposite to the winding mode, folding mode, and storage mode, the control module 64 includes:

[0194] In the release mode, the retracting bracket 12A and the mooring bracket 12B translate upwards along the mooring mast 4 while maintaining a constant distance between them, corresponding to the maximum retraction of the towing wing 5. In this mode, the mooring bracket 12B first moves as far away as possible from the first folding bracket 12C, then the first folding bracket 12C itself slides upwards together with the other two brackets 12A and 12B, and moves as far away as possible from the second folding bracket 12D. Then, the first folding bracket 12D itself slides upwards together with the other three brackets 12A, 12B, and 12C, and moves as far away as possible from the third folding bracket 12E, until... Figure 15 The position. In a variation of the release mode, the winding bracket 12A and the mooring bracket 12B slide upward while maintaining a constant interval between them, and at least one folding bracket 12C, 12D, 12E slides upward at a slower speed than the sliding speed of the mooring carriage;

[0195] Open mode, where, from Figure 15 Starting from the position in the middle, the winding bracket 12A and the mooring bracket 12B move closer to each other. In this example, as the group of brackets 12B, 12C, 12D, and 12E continue to slide upward together to... Figure 12 When in the open position, the winding bracket 12A remains fixed to the mooring mast;

[0196] In the unfolded mode, the mooring support 12B and at least one folding support move closer to each other. In this example, all of the folding supports 12C, 12D, and 12E slide upward along the mooring mast 4, while the retracting support 12A and the mooring support 12B remain fixed in abutting position until... Figure 4 The tow wing 5 is positioned in its deployed position, whereby it is prepared for flight. The leading edge 16 can then be released (by releasing the hooks 48, 19 and the mooring line 20), and the tow wing reaches its flight position.

[0197] Variations of the traction system and related processes can be implemented. It is worth noting that any other means can also be used to capture the winding rope 13 and the folding ropes 10A, 10B, and 10C.

[0198] Similarly, the sliding actuators 66A, 66B, 66C, 66D, and 66E may be separate actuators for each respective support, or shared by a single common actuator associated with a suitable transmission for each support.

[0199] The operation modes of the control module can be selectively implemented in different orders or simultaneously.

[0200] It is worth noting that, from Figure 6 Starting from the folded position, the traction wing 5 is simultaneously wound up and stored in the storage container 65. However, the traction wing can also be wound up first by raising the winding support 12A and keeping the other supports fixed in place. These different kinematic solutions can also be combined.

Claims

1. A tethered wing towing system, comprising: A traction wing (5) is designed to generate a traction force under the action of wind, the traction wing (5) having a leading edge (16) and a trailing edge (17); A base platform (3), the towing wing (5) is connected to the base platform (3) via a towing rope (8), the towing wing (5) is designed to unfold and fold relative to the base platform (3); A mooring mast (4) is provided for the towing wing (5) and is mounted on the base platform (3); Multiple folded ropes (10A, 10B, 10C), one end of each of the folded ropes being fixed to the leading edge (16) of the traction wing (5), the ends being spaced apart from each other along the leading edge (16); A winding rope (13) is connected to the trailing edge (17) of the traction wing (5); The tethered wing traction system is characterized by having: A mooring support (12B) is designed to slide along the mooring mast (4) and is controlled by a sliding actuator (66B). The mooring support (12B) has an interlocking interface (35) designed to hold the leading edge (16) of the traction wing (5) moored. A folding bracket (12C, 12D, 12E) is designed to slide along the mooring mast (4) and is controlled by a sliding actuator (66C, 66D, 66E), the folding bracket (12C, 12D, 12E) having a capture hook (46A, 46B, 46C) designed to capture at least one folding rope (10A, 10B, 10C); A winding support (12A) is designed to slide along the mooring mast (4) and is controlled by a sliding actuator (66A), the winding support (12A) having a winding hook (47) designed to capture the winding rope (13); A control module (64) is used to control the sliding actuators (66A, 66B, 66C, 66D, 66E). The control module (64) has at least two operating modes: a folding mode, in which the mooring support (12B) and the folding support (12C, 12D, 12E) move away from each other; and a winding mode, in which the winding support (12A) and the mooring support (12B) move away from each other.

2. The tethered wing traction system of claim 1, wherein: In the folded mode, the mooring support (12B) remains fixed on the mooring mast (4), and the folding supports (12C, 12D, 12E) slide downward.

3. A tethered wing traction system as claimed in any one of the preceding claims, characterized in that: In the winding mode, the winding bracket (12A) remains fixed on the mooring mast (4), and the mooring bracket (12B) slides downward.

4. The tethered wing traction system of any one of claims 1 and 2, wherein: In the winding mode, the winding bracket (12A) slides upward and the mooring bracket (12B) remains fixed on the mooring mast (4).

5. The tethered wing traction system of claim 4, wherein: In the winding mode, the folding supports (12C, 12D, 12E) also slide downwards, and the interval between the mooring support (12B) and the folding supports (12C, 12D, 12E) remains constant.

6. The tethered wing traction system of claim 1, wherein: The control module (64) also has the following operating modes: an open mode in which the winding bracket (12A) and the mooring bracket (12B) move closer to each other.

7. The tethered wing towing system as described in claim 6, characterized in that: In this open mode, the retractor (12A) remains fixed on the mooring mast (4), and the mooring support (12B) slides upward.

8. The tethered wing towing system as described in claim 1, characterized in that: The control module (64) also has the following operating modes: an unfolding mode, wherein the mooring support (12B) and the folding support (12C, 12D, 12E) move closer to each other.

9. The tethered wing towing system as described in claim 8, characterized in that: In the deployed mode, the mooring support (12B) remains fixed on the mooring mast (4), and the folding supports (12C, 12D, 12E) slide upward.

10. The tethered wing traction system as described in claim 1, characterized in that: The control module (64) also has the following operating modes: a storage mode in which the interval between the winding bracket (12A) and the mooring bracket (12B) remains constant, while the mooring bracket (12B) and the folding brackets (12C, 12D, 12E) move closer to each other.

11. The tethered wing traction system as described in claim 10, characterized in that: In the storage mode, the rewind bracket (12A) and the mooring bracket (12B) slide downward while maintaining a constant interval between them, and the folding brackets (12C, 12D, 12E) slide downward at a slower speed than the mooring bracket (12B).

12. The tethered wing traction system as described in claim 10, characterized in that: In the storage mode, the folding brackets (12C, 12D, 12E) remain fixed in place.

13. The tethered wing towing system as described in claim 10, characterized in that: The control module (64) also has the following operating modes: a release mode in which the interval between the winding bracket (12A) and the mooring bracket (12B) remains constant, while the mooring bracket (12B) and the folding brackets (12C, 12D, 12E) move away from each other.

14. The tethered wing traction system as described in claim 13, characterized in that: In the release mode, the winding bracket (12A) and the mooring bracket (12B) slide upward while maintaining a constant interval between them, and the folding brackets (12C, 12D, 12E) slide upward at a slower speed than the sliding speed of the mooring bracket (12B).

15. The tethered wing towing system as described in claim 1, characterized in that: The mooring wing towing system has a rope capture device (22) connected to the leading edge (16) of the towing wing (5) and designed to couple to the interlocking interface (35) of the mooring support (12B). The winding support (12A) is designed to capture the winding rope (13) in the rope capture device (22), and the folding supports (12C, 12D, 12E) are designed to capture at least one folded rope (10A, 10B, 10C) in the rope capture device (22).

16. The tethered wing towing system as described in claim 1, characterized in that: The mooring wing towing system has a mooring rope (20) for mooring the towing wing (5) to the interlocking interface (35) of the mooring support (12B), the length of the mooring rope (20) being controlled by the control module (64) so ​​that the mooring rope (20) remains taut during the winding mode and the folding mode.

17. The tethered wing towing system as described in any one of claims 10 to 14, characterized in that: The mooring wing towing system has a mooring rope (20) for mooring the towing wing (5) to the interlocking interface (35) of the mooring support (12B). The length of the mooring rope (20) is controlled by the control module (64) so ​​that the mooring rope (20) remains taut during the winding mode and the folding mode. The length of the mooring rope (20) is also controlled by the control module (64) so ​​that the mooring rope (20) remains taut during the storage mode.

18. A method for folding the traction wing of the traction system according to any one of claims 1 to 17, characterized in that: The method includes the following steps: The leading edge (16) of the towing wing (5) is moored to the mooring support (12B); At least one folded rope (10A, 10B, 10C) is captured by the folding brackets (12C, 12D, 12E); Slide the folding brackets (12C, 12D, 12E) downwards while keeping the mooring bracket (12B) fixed on the mooring mast (4); The winding rope (13) is captured by the winding bracket (12A); Slide the mooring support (12B) downward while keeping the winding support (12A) fixed on the mooring mast (4).

19. A method for deploying the traction wing of the traction system according to any one of claims 1 to 17, characterized in that: The method includes the following steps: Slide the mooring support (12B) upward while keeping the winding support (12A) fixed on the mooring mast (4); Slide the folding brackets (12C, 12D, 12E) upward while keeping the mooring bracket (12B) fixed on the mooring mast (4).

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