Hydrofoil structure and watercraft

Abstract

The application provides a hydrofoil structure and a water surface carrier, the hydrofoil structure comprising a hydrofoil assembly, a mast fixedly connected with a lower end of the hydrofoil assembly, the hydrofoil assembly comprising a hydrofoil body and an aileron rotationally connected with the hydrofoil body, a steering engine being arranged in the hydrofoil body to drive the aileron to rotate, the length direction of a steering engine shaft of the steering engine and the length direction of a rotating shaft of the aileron both extend along the span direction of the hydrofoil body, and both are distributed along the chord direction of the hydrofoil body, a transmission mechanism being arranged between the steering engine shaft and the rotating shaft, the transmission mechanism being located outside the wing tip of the hydrofoil body, precise control being realized through the understeering engine, the load bearing and stress receiving capacity being good, and the optimization of fluid performance being considered.

Description

Technical Field

[0001] This invention relates to the field of water sports, and more specifically, to a hydrofoil structure and a water surface vehicle. Background Technology

[0002] A hydrofoil is a waterborne vehicle equipped with hydrofoils. As the hydrofoil accelerates, the hydrofoils gain sufficient lift in the water to lift the hydrofoil and lift it off the water surface. In order to adjust the pitch and roll attitude of the hydrofoil during navigation, existing technologies include ailerons that can deflect relative to the main lift surface, or the entire hydrofoil (fully movable) that can deflect relative to the mast. By deflecting the entire hydrofoil or part of its surface, the lift direction of the hydrofoil is adjusted, thereby achieving the adjustment of the pitch and roll attitude of the hydrofoil.

[0003] In the prior art regarding mechanisms for adjusting the lift direction of a hydrofoil, application number: In the international applications PCT / IB2023 / 056922 and PCT / NO2024 / 050242, the former proposes a scheme where the servo motor is mounted on top (located above the water surface to reduce underwater components and thus lower water resistance) and drives the ailerons to deflect along the axis of rotation via a tie rod in the mast. The latter, on the other hand, drives the hydrofoil to deflect via a rope and pulley. The disadvantage of both schemes is that the tie rod or rope may deform during operation, especially for larger hydrofoil vehicles with longer masts, resulting in greater deformation and thus lower adjustment precision for the hydrofoil. Alternatively, more expensive materials may be needed to manufacture the tie rod or rope to improve the control precision of the hydrofoil.

[0004] Patent application number US18 / 888128 proposes a scheme to drive the ailerons by an actuator. This aileron adjustment scheme, similar to that of an aircraft, can design the actuator to have a fluid shape, but it still generates greater water resistance in water compared to a smooth hydrofoil surface.

[0005] Patent application CN202311353560.0 proposes a design with ailerons at both ends of a hydrofoil, driven by a pivot shaft in the hydrofoil. This design has limited load-bearing capacity and is only suitable for lightweight hydrofoil vehicles.

[0006] Furthermore, for heavy-duty hydrofoil vehicles, due to the need to withstand enormous hydrodynamic torque (lift difference, drag difference), the long coaxial drive shaft will experience significant torsional deformation under torque, leading to aileron control lag and slower response, and in severe cases, insufficient control precision. Moreover, as a cantilever beam structure, the long shaft will be subjected to bending moments from the aileron hydrodynamic forces, resulting in bending deflection. This repeated bending and torsional load will cause the root of the shaft to become a stress concentration point, which is highly susceptible to fatigue fracture under long-term heavy loads and alternating hydrodynamic forces.

[0007] Therefore, it is necessary to improve the existing structure to overcome the above-mentioned defects. Summary of the Invention

[0008] The main purpose of this application is to provide a hydrofoil structure and water surface vehicle with a servo motor mounted under the device for precise control, which has good load-bearing capacity and optimizes fluid performance.

[0009] To achieve the above objectives, in a first aspect, this application provides a hydrofoil structure, including a hydrofoil assembly and a mast whose lower end is fixedly connected to the hydrofoil assembly. The hydrofoil assembly includes a hydrofoil body and an aileron rotatably connected to the hydrofoil body. A servo motor for driving the aileron to rotate is disposed within the hydrofoil body. The length directions of both the servo motor shaft and the rotation shaft of the aileron extend along the span direction of the hydrofoil body, and both are distributed along the chord direction of the hydrofoil body. A transmission mechanism is disposed between the servo motor shaft and the rotation shaft, and the transmission mechanism is located outside the wingtip of the hydrofoil body.

[0010] Optionally, a wingtip is fixedly provided at the wingtip of the hydrofoil body, the wingtip having a cavity, and the transmission mechanism being located within the cavity.

[0011] Optionally, the servo motor is cylindrical, and its outer diameter is smaller than the thickness of the hydrofoil body.

[0012] Optionally, the servo motor includes a controller, a motor, and a reduction gear connected to the motor, with the servo motor shaft connected to the reduction gear.

[0013] Optionally, the reduction mechanism is a planetary gear reduction mechanism.

[0014] Optionally, the servo shaft is connected to an angle detection unit, which is electrically connected to the controller.

[0015] Optionally, the aileron is connected to the hydrofoil body via a circular flange or bearing coaxial with the rotation axis.

[0016] Optionally, the transmission mechanism includes a first swing arm with one end fixedly connected to the servo shaft, a second swing arm with one end fixedly connected to the rotating shaft, and a connecting rod rotatably connected to the other ends of the first swing arm and the second swing arm respectively.

[0017] Optionally, the length of the first swing arm is less than the length of the second swing arm.

[0018] Optionally, the mast is provided with fins, which are located near the connection between the mast and the hydrofoil body.

[0019] Optionally, the hydrofoil structure is a single-mast T-shaped hydrofoil structure or a twin-mast hydrofoil structure.

[0020] Optionally, the ailerons are two in number and symmetrically arranged on both sides of the hydrofoil body.

[0021] Optionally, the aileron is disposed on the trailing edge side of the hydrofoil body.

[0022] To achieve the above objectives, in a second aspect, this application provides a water surface vehicle including the aforementioned hydrofoil structure.

[0023] The hydrofoil structure and water surface vehicle provided by this invention have the following advantages compared with the prior art: the servo motor used to control the rotation of the aileron is placed at the bottom, thereby avoiding the decrease in control accuracy caused by the deformation of the lever or cable. In addition, the servo motor is set in the hydrofoil body, avoiding the large drag generated by the servo motor during hydrofoil operation. Furthermore, the servo motor shaft and the aileron shaft are distributed along the chord direction of the hydrofoil, that is, they are set in a close manner. The distance between the drive mechanism and the aileron is extremely short, the transmission chain is short, there is almost no torsional and bending deformation, the control response is fast and the accuracy is high, which fully meets the high torque transmission requirements under heavy load conditions. Attached Figure Description

[0024] The accompanying drawings, which form part of this application, are used to provide a further understanding of the application and to make other features, objects, and advantages of the application more apparent. The illustrative embodiments and descriptions of this application are used to explain the application and do not constitute an undue limitation of the application. In the drawings: Figure 1 This is an axonometric view of the hydrofoil structure; Figure 2 This is a cross-sectional view of the hydrofoil structure (hiding the transmission structure). Figure 3 This is a cross-sectional view of the hydrofoil structure; Figure 4 This is a top view of the hydrofoil structure; Figure 5 This is a schematic diagram of a hydrofoil structure. Figure 1 ; Figure 6This is a schematic diagram of a hydrofoil structure. Figure 2 ; Figure 7 This is a schematic diagram of a servo motor.

[0025] The components are: 1. mast; 2. hydrofoil body; 3. aileron; 4. servo shaft; 5. rotating shaft; 6. controller; 7. motor; 8. reduction gear; 9. first swing arm; 10. second swing arm; 11. connecting rod; 12. winglet; 13. fin; 14. controller. Detailed Implementation

[0026] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort should fall within the scope of protection of the present application.

[0027] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate for the embodiments of this application described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0028] In this application, the terms "upper," "lower," "left," "right," "front," "rear," "top," "bottom," "inner," "outer," "middle," "vertical," "horizontal," "lateral," and "longitudinal" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. These terms are primarily for the purpose of better describing this application and its embodiments, and are not intended to limit the indicated device, element, or component to having a specific orientation, or to be constructed and operated in a specific orientation.

[0029] Furthermore, in addition to indicating location or positional relationship, some of the aforementioned terms may also have other meanings. For example, the term "above" may also be used in some cases to indicate a certain dependency or connection relationship. Those skilled in the art can understand the specific meaning of these terms in this application based on the specific circumstances.

[0030] In addition, the term "multiple" should mean two or more.

[0031] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. This application will now be described in detail with reference to the accompanying drawings and embodiments.

[0032] like Figures 1-7 As shown, a hydrofoil structure includes a hydrofoil assembly and a mast 1 whose lower end is fixedly connected to the hydrofoil assembly. The hydrofoil assembly includes a hydrofoil body 2 that provides the main lift and an aileron 3 that is rotatably connected to the hydrofoil body 2. The aileron 3 has a rotation axis 5. The aileron 3 is connected to the hydrofoil body 2 through a circular flange or bearing coaxial with the rotation axis 5, so that the aileron 3 can deflect relative to the main wing surface along the rotation axis 5. A servo motor that drives the aileron 3 to rotate is provided inside the hydrofoil body 2. The length directions of both the servo motor shaft 4 and the rotation axis 5 of the aileron 3 extend along the span direction of the hydrofoil body 2, and both are distributed along the chord direction of the hydrofoil body 2. Since the servo motor and the aileron 3 are arranged along the chord direction of the hydrofoil body 2, the distance between the servo motor and the aileron 3 is relatively small, and the control error caused by material deformation of the transmission structure is small. A transmission mechanism is provided between the servo motor shaft 4 and the rotation axis 5. The transmission mechanism is located outside the wingtip of the hydrofoil body 2.

[0033] The straight-line distance from the leading edge to the trailing edge of the hydrofoil is the chord length. The distance from the upper edge to the lower edge of the hydrofoil, which is perpendicular to the chord length, is the thickness of the hydrofoil. The distance between the wingtips on both sides of the hydrofoil is the span of the hydrofoil.

[0034] The hydrofoil structure can be a T-shaped hydrofoil with a single mast 1, or it can be as follows: Figure 1 The hydrofoil structure shown is a twin-mast structure, and the twin masts 1 can be installed on both sides of a hydrofoil vehicle, such as a hydrofoil boat.

[0035] like Figure 1 The ailerons 3 shown are two in number and symmetrically arranged on both sides of the hydrofoil body 2. The ailerons 3 are located on the trailing edge side of the hydrofoil body 2. The position of the rear aileron 3 is closer to the pressure center of the hydrofoil. When generating control torque, the required deflection angle is smaller, and the hydrodynamic drag and impact load are also smaller.

[0036] like Figure 4 As shown, the servo is cylindrical and its outer diameter is smaller than the thickness of the hydrofoil body 2, so the servo can be set in the hydrofoil along the hydrofoil's span direction.

[0037] like Figure 7As shown, the servo motor includes a controller 6, a motor 7, and a reduction mechanism 8 connected to the motor 7. The servo motor shaft 4 is connected to the reduction mechanism 8. The reduction mechanism 8 can be a reduction gear, preferably a planetary gear reduction mechanism 8.

[0038] To further improve control accuracy and resolve the rotation angle error of the servo shaft 4 caused by the reduction gear structure, an angle detection unit is installed at the servo shaft 4 to detect the angular position of the servo shaft 4. When controlling the servo to drive the aileron 3, the controller 6 stops the motor 7 from rotating when the servo shaft 4 rotates to the predetermined angular position. This method is more accurate than controlling the servo to drive the aileron 3 by detecting the angular position of the motor 7 rotor.

[0039] like Figure 3 , Figure 5 , Figure 6 As shown, the transmission mechanism includes a first swing arm 9 fixedly connected at one end to the servo shaft 4, a second swing arm 10 fixedly connected at one end to the rotating shaft 5, and a connecting rod 11 rotatably connected to the other ends of the first swing arm 9 and the second swing arm 10, respectively. This amplifies the torque of the servo driving the aileron 3, making it easier for the servo to drive the aileron 3. The first swing arm 9 and the second swing arm 10 have appropriate lengths. The second swing arm 10 is longer than the first swing arm 9. The extension of the first swing arm 9 and the second swing arm 10 may cause them to extend beyond the hydrofoil's edge. In this case, to ensure the hydrofoil's hydrodynamic performance, a winglet 12 is fixedly provided at the wingtip of the hydrofoil body 2, such as... Figure 6 As shown, the winglet 12 has a cavity, and the transmission mechanism is located within the cavity. The winglet or wingtip 12 is a hydrofoil with a raised wingtip tip. To ensure the hydrofoil's hydrodynamic performance, the winglet 12 has a thickness, allowing for a waterproof, sealed space within it. The servo and aileron 3 are located near the winglet 12, with the servo shaft 4 and rotation shaft 5 extending into the sealed space. The first swing arm 9, the second swing arm 10, and the connecting rod 11 are located within this sealed space. This design makes it easier for the servo to drive the aileron 3. Simultaneously, because the servo has a reduction mechanism 8, it is difficult for the aileron 3 to reverse-drive the servo. Furthermore, the winglet 12 reduces the formation of wingtip vortices, lowers the hydrofoil's induced drag, and improves energy efficiency.

[0040] like Figure 5 , Figure 6 As shown, the mast 1 is provided with fins 13. The fins 13 are located near the connection between the mast 1 and the hydrofoil body 2. The function of the fins 13 is to reduce the flow velocity of the fluid on the upper surface of the hydrofoil at the connection between the mast 1 and the hydrofoil, thereby further reducing drag.

[0041] (No illustration shown) The present invention also provides a water surface vehicle including the above-described hydrofoil structure.

[0042] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A hydrofoil structure, characterized in that, The device includes a hydrofoil assembly and a mast whose lower end is fixedly connected to the hydrofoil assembly. The hydrofoil assembly includes a hydrofoil body and an aileron rotatably connected to the hydrofoil body. A servo motor for driving the aileron to rotate is disposed within the hydrofoil body. The length directions of both the servo motor shaft and the rotation shaft of the aileron extend along the span direction of the hydrofoil body and are distributed along the chord direction of the hydrofoil body. A transmission mechanism is disposed between the servo motor shaft and the rotation shaft, and the transmission mechanism is located outside the wingtip of the hydrofoil body.

2. The hydrofoil structure as described in claim 1, characterized in that: A wingtip winglet is fixedly provided at the wingtip of the hydrofoil body. The wingtip winglet has a cavity, and the transmission mechanism is located inside the cavity.

3. A hydrofoil structure as described in claim 1, characterized in that: The servo is cylindrical, and its outer diameter is smaller than the thickness of the hydrofoil body.

4. A hydrofoil structure as described in claim 1, characterized in that: The servo motor includes a controller, a motor, and a reduction gear connected to the motor, with the servo motor shaft connected to the reduction gear.

5. A hydrofoil structure as described in claim 4, characterized in that: The reduction mechanism is a planetary gear reduction mechanism.

6. A hydrofoil structure as described in claim 4, characterized in that: The servo shaft is connected to an angle detection unit, which is electrically connected to the controller.

7. A hydrofoil structure as described in claim 1, characterized in that: The aileron is connected to the hydrofoil body via a circular flange or bearing coaxial with the rotation axis.

8. A hydrofoil structure as described in claim 1, characterized in that: The transmission mechanism includes a first swing arm with one end fixedly connected to the servo shaft, a second swing arm with one end fixedly connected to the rotating shaft, and connecting rods rotatably connected to the other ends of the first swing arm and the second swing arm, respectively.

9. A hydrofoil structure as described in claim 8, characterized in that: The length of the first swing arm is less than the length of the second swing arm.

10. A hydrofoil structure as described in claim 1, characterized in that: The mast is equipped with fins, which are located near the connection between the mast and the hydrofoil body.

11. A hydrofoil structure as described in claim 1, characterized in that: The hydrofoil structure is either a single-mast T-shaped hydrofoil or a twin-mast hydrofoil.

12. A hydrofoil structure as described in claim 1, characterized in that: The ailerons are two in number and symmetrically arranged on both sides of the hydrofoil body.

13. A hydrofoil structure as described in claim 12, characterized in that: The aileron is located on the trailing edge side of the hydrofoil body.

14. A water surface vehicle, characterized in that: Includes the hydrofoil structure as described in any one of claims 1-13.

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