Unmanned sailboat rigid wing sail self-balancing rotating sail system

Abstract

The present application belongs to the technical field of unmanned sailboat, and particularly relates to a rigid wing sail self-balancing turning sail system of unmanned sailboat, which comprises a main sail skeleton, a main sail shell, a turning sail control box, a tail wing connecting rod assembly, a tail wing main body, a steering engine and a tail wing rope driving assembly. The driving end of the steering engine is controlled to move, and the tail wing main body is driven to rotate through the tail wing rope driving assembly, so as to adjust the deflection angle of the tail wing main body relative to the main sail as a whole, adjust the included angle (attack angle) between the main sail as a whole and the wind, and make the main sail as a whole reach a predetermined attack angle and keep a stable balance state. The mast of the main sail as a whole can rotate freely around the unmanned sailboat body, realizes the rotation decoupling of the rigid wing sail and the ship body, the bow shaking movement of the unmanned sailboat does not affect the attack angle of the rigid wing sail, the tail wing can be regarded as the air rudder of the main sail by adjusting the attack angle of the main sail through the tail wing, and the method makes the main sail attack angle adjustment more efficient and rapid, and reduces the adjustment power consumption.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of unmanned sailboats, in particular to a self-balancing turning sail system of a rigid wing sail of an unmanned sailboat. BACKGROUND

[0002] An unmanned sailboat is a kind of marine robot that can realize long-range ocean observation. It obtains driving force and system required power through wind sails and solar panels, realizes energy self-sufficiency, and can sail for a long time.

[0003] A rigid wing sail is a new type of wind sail of an unmanned sailboat, which is similar in structure to an airplane wing. When the unmanned sailboat sails, the lift and drag generated by the wind acting on the rigid wing sail can be decomposed into the driving force of the unmanned sailboat. When the unmanned sailboat sails, the best wind-angled of the wing sail is determined according to the wind direction and the sailing direction information of the ship, and the wing sail is controlled to rotate to maintain the best wind-angled.

[0004] The adjustment of the turning angle of the rigid wing sail is particularly crucial for maintaining the best wind-angled and obtaining the best sailing driving force. The traditional method is to install a driving motor in the cabin of the unmanned sailboat, and connect the driving motor and the mast of the rigid wing sail through a transmission system, but this method has the problems of high power consumption and slow angle adjustment. Moreover, due to the existence of the transmission system, there is a strong coupling effect between the wing sail and the hull, and the yaw of the hull will also cause the change of the wind-angled of the wing sail, which increases the complexity of the control of the wind-angled of the wing sail. SUMMARY

[0005] In view of the above problems, the purpose of the present application is to provide a self-balancing turning sail system of a rigid wing sail of an unmanned sailboat.

[0006] The purpose of the present application is achieved by the following technical solutions:

[0007] The self-balancing turning sail system of the rigid wing sail of the unmanned sailboat comprises a main sail skeleton, a main sail shell, a turning sail control box, a tail wing connecting rod assembly, a tail wing main body, a rudder, and a tail wing rope drive assembly.

[0008] The main sail shell is installed on the outer side of the main sail skeleton, and the outer contour size of the main sail shell is larger than the outer contour size of the tail wing main body.

[0009] The tail wing connecting rod assembly is arranged at the top end of the main sail skeleton, the length direction of the tail wing connecting rod assembly as a whole is parallel to the horizontal plane, the front end and the rear end of the tail wing connecting rod assembly as a whole pass through the main sail shell, the tail wing main body is rotatably installed at the rear end of the tail wing connecting rod assembly as a whole, the rotation axis of the tail wing main body relative to the tail wing connecting rod assembly is perpendicular to the horizontal plane, the rudder is arranged on the tail wing connecting rod assembly, and the driving end of the rudder drives the tail wing main body to rotate through the tail wing rope drive assembly.

[0010] The sail control box comprises a box body, a transmission shaft and an encoder, the box body is arranged on the hull of the unmanned sailboat and located at the lower side of the main sail shell, the transmission shaft is rotatably arranged in the box body, the top end of the transmission shaft is connected with the bottom of the main sail framework and rotates together with the main sail framework, and the encoder is arranged in the interior of the box body and used for detecting the rotation angle of the transmission shaft.

[0011] The tail wing connecting rod assembly comprises a front counterweight rod, a center counterweight sleeve and a rear hollow rod, the center counterweight sleeve is connected with the top end of the main sail framework through a center bearing rod, the front and rear ends of the center counterweight sleeve respectively extend out of the main sail shell, the front end of the center counterweight sleeve is connected with the rear end of the front counterweight rod, the rear end of the center counterweight sleeve is connected with the rear hollow rod, the front end of the front counterweight rod serves as the front end of the tail wing connecting rod assembly as a whole, the rear end of the rear hollow rod serves as the rear end of the tail wing connecting rod assembly as a whole and is rotatably connected with the tail wing body through a tail wing adapter and a tail wing rotating shaft.

[0012] The front end of the front counterweight rod is provided with a plurality of front counterweight blocks.

[0013] The front end of the center counterweight sleeve is provided with a fixing bolt A for fixedly connecting the rear end of the front counterweight rod, the rear end of the front counterweight rod is provided with a plurality of adjusting through holes A along the length direction of the front counterweight rod, the rear end of the front counterweight rod is inserted into the front end of the center counterweight sleeve, and the overall length of the center counterweight sleeve and the front counterweight rod after being connected is adjusted by making the fixing bolt A pass through different adjusting through holes A.

[0014] The rear end of the center counterweight sleeve is provided with a fixing bolt B for fixedly connecting the front end of the rear hollow rod, the front end of the rear hollow rod is provided with a plurality of adjusting through holes B along the length direction of the rear hollow rod, the front end of the rear hollow rod is inserted into the rear end of the center counterweight sleeve, and the overall length of the center counterweight sleeve and the rear hollow rod after being connected is adjusted by making the fixing bolt B pass through different adjusting through holes B.

[0015] The rudder cabin is mounted on the rear hollow rod, and the rudder is arranged in the rudder cabin; the tail wing rope driving assembly comprises an extension rod, a rotating arm, a pulling rope connecting seat and a pulling rope, one end of the extension rod is connected with a driving shaft of the rudder, the other end of the extension rod extends to the inside of the rear hollow rod and is connected with the middle part of the rotating arm, the pulling rope connecting seat is fixedly connected on the tail wing body, the left and right ends of the pulling rope connecting seat are respectively located on the left and right sides of the length direction of the tail wing connecting rod assembly as a whole, the left end of the pulling rope connecting seat is connected with one end of a first pulling rope, the other end of the first pulling rope is connected with one end of the rotating arm, the right end of the pulling rope connecting seat is connected with one end of a second pulling rope, and the other end of the second pulling rope is connected with the other end of the rotating arm.

[0016] The left and right ends of the pulling rope connecting seat are respectively provided with a pulling rope tensioner for connecting the corresponding pulling rope, each pulling rope tensioner comprises a tensioner base, a tensioning sliding block, a tensioning screw rod and a wire pressing plate, the tensioner base of each pulling rope tensioner is fixed on the pulling rope connecting seat, the tensioning sliding block of each pulling rope tensioner is slidingly connected in the tensioner base of the same pulling rope tensioner, the tensioning screw rod of each pulling rope tensioner is rotatably installed on the tensioner base of the same pulling rope tensioner and is connected with the tensioning sliding block of the same pulling rope tensioner through threads, and the wire pressing plate of each pulling rope tensioner is fixed on the tensioning sliding block of the same pulling rope tensioner and jointly presses one end of the corresponding pulling rope with the tensioning sliding block.

[0017] The tail wing adapter is fixedly connected to the rear end of the rear hollow rod, and the tail wing rotating shaft is arranged on the tail wing adapter; the tail wing body comprises a tail wing framework, a tail wing shell and a rotating shaft sleeve, the rotating shaft sleeve is installed on the tail wing framework, the tail wing shell is fixedly connected with the tail wing framework and covers the whole of the tail wing framework and the tail wing shell, and the rotating shaft sleeve is arranged outside the tail wing rotating shaft and is rotatably connected with the tail wing rotating shaft.

[0018] The rotating sail control box further comprises a box upper cover, a box bottom cover, a lower support, a side support seat, a lower mounting plate, a lower bearing seat, a bearing A, an upper clamp, an upper bearing seat, a bearing B and a rotor protection shell.

[0019] The upper and lower ends of the box are both open, the box upper cover is fixedly connected with the upper end of the box and is used for covering the upper end opening of the box, the box bottom cover is fixedly connected with the lower end of the box and is used for covering the lower end opening of the box, and the box bottom cover is directly fixedly connected with the unmanned sailboat body.

[0020] The lower support, side support seat, lower mounting plate, lower bearing seat, bearing A, upper clamping piece, upper bearing seat, bearing B and rotor protection shell are located in the inner cavity of the box body, the upper surface of the box body bottom cover is provided with a plurality of lower supports, the side support seat is provided with two, the two side support seats are located on the outer side of the transmission shaft respectively, the whole formed by the two side support seats is fixedly connected with each lower support respectively, the lower mounting plate is installed between the two side support seats, the lower bearing seat is installed in the middle part of the lower mounting plate, the bearing A is arranged in the lower bearing seat and is rotationally connected with the transmission shaft, the upper clamping piece is also provided with two, each upper clamping piece is fixedly connected with the upper end of the two side support seats respectively, the upper bearing seat clamping interface is formed between the whole formed by the two upper clamping pieces, the upper bearing seat is installed at the upper bearing seat clamping interface, the bearing B is arranged in the upper bearing seat and is rotationally connected with the transmission shaft, the stator of the encoder is fixed to the lower side of the upper bearing seat, the rotor of the encoder is fixed to the rotor protection shell, and the rotor protection shell is fixed with the transmission shaft.

[0021] A hand hole is formed on the box body bottom cover corresponding to the inner cavity of the box body, and a hand hole cover is installed at the hand hole.

[0022] The transmission shaft is of a hollow structure, a flange part is arranged on the outer peripheral surface of the transmission shaft between the bearing A and the bearing B and extends outwardly, the flange part is used for being fixed with the rotor protection shell through bolts, a transmission shaft sleeve is sleeved on the outer periphery of the transmission shaft between the flange part and the bearing A, and the transmission shaft sleeve and the transmission shaft are connected through a key;

[0023] A conductive slip ring is further arranged in the inner cavity of the rudder control box, the stator of the conductive slip ring is fixed to the lower mounting plate, the rotor of the conductive slip ring is fixedly connected with the transmission shaft sleeve, the rotor of the conductive slip ring is used for connecting the rudder power supply wire for supplying power to the rudder, and the transmission shaft sleeve and the transmission shaft are correspondingly provided with a threading hole through which the rudder power supply wire passes.

[0024] The advantages and positive effects of the application are as follows:

[0025] 1. The application drives the driving end of the rudder, drives the tail wing main body to rotate through the tail wing rope driving assembly, adjusts the deflection angle of the tail wing main body relative to the whole main sail, drives the whole main sail to rotate through the moment of the tail wing main body on the whole main sail, adjusts the included angle (attack angle) between the whole main sail and the wind, and ends the adjustment of the heading when the whole main sail reaches the predetermined attack angle and keeps a stable and balanced state.

[0026] 2. In the rigid wing sail self-balancing turning sail system of the present application, the mast of the main sail as a whole can rotate freely around the unmanned sailboat body, realizing the rotation decoupling of the rigid wing sail and the body, the bow shaking movement of the unmanned sailboat will not affect the attack angle of the rigid wing sail, the rigid wing sail can automatically maintain the attack angle in the wind, and the windward angle control of the rigid wing sail is easier.

[0027] 3. In the present application, the motor torque required for adjusting the tail wing body is smaller than that required for adjusting the deflection of the main sail as a whole, which can effectively reduce the control power consumption. BRIEF DESCRIPTION OF DRAWINGS

[0028] Figure 1 is a schematic diagram of the sectional structure of the whole of the present application;

[0029] Figure 2 is a schematic diagram of the split structure of the whole of the present application;

[0030] Figure 3 is a schematic diagram of the split structure of the main sail skeleton and the main sail shell of the present application;

[0031] Figure 4 is a schematic diagram of the whole structure of the tail wing connecting rod assembly of the present application;

[0032] Figure 5 is a schematic diagram of the split structure of the tail wing connecting rod assembly of the present application;

[0033] Figure 6 is a schematic diagram of the split structure of the front weight rod, front weight block, etc. of the present application;

[0034] Figure 7 is a schematic diagram of the split structure of the rear hollow rod, rudder cabin, tail wing body, etc. of the present application;

[0035] Figure 8 is a schematic diagram of the split structure of the rudder and the rudder cabin, etc. of the present application;

[0036] Figure 9 is a schematic diagram of the sectional structure of the rudder cabin of the present application;

[0037] Figure 10 is a schematic diagram of the split structure of the tail wing body and the tail wing adapter, etc. of the present application;

[0038] Figure 11 is a schematic diagram of the sectional structure of the tail wing body of the present application;

[0039] Figure 12 is a schematic diagram of the split structure of the pull rope tensioner of the present application;

[0040] Figure 13 is a schematic diagram of the setting structure of the transmission shaft and the main sail skeleton base of the present application;

[0041] Figure 14 Fig. 1 is a schematic diagram of the overall structure of the sail control box of the present application;

[0042] Figure 15 Fig. 2 is a schematic diagram of the external structure of the sail control box of the present application;

[0043] Figure 16 Fig. 3 is a schematic diagram of the internal structure of the sail control box of the present application;

[0044] Figure 17 Fig. 4 is a schematic diagram of the cross-sectional structure of the sail control box of the present application.

[0045] Fig. 1 is a schematic diagram of the overall structure of the sail control box of the present application;

[0046] 3 is the sail control box, 301 is the box body, 302 is the transmission shaft, 303 is the encoder, 304 is the box upper cover, 305 is the box bottom cover, 3051 is the hand hole, 306 is the lower support, 307 is the side support seat, 308 is the lower mounting plate, 309 is the lower bearing seat, 310 is the bearing A, 311 is the upper clamp, 312 is the upper bearing seat, 313 is the bearing B, 314 is the rotor protection shell, 315 is the hand hole cover, 316 is the transmission shaft sleeve, 317 is the key, 318 is the conductive slip ring, 319 is the outer support sleeve, 320 is the watertight connector B;

[0047] 4 is the tail wing connecting rod assembly, 401 is the front counterweight rod, 402 is the center counterweight sleeve, 403 is the rear hollow rod, 404 is the tail wing adapter, 405 is the tail wing rotating shaft, 406 is the front counterweight block, 407 is the counterweight block adapter;

[0048] 5 is the tail wing body, 501 is the tail wing skeleton, 502 is the tail wing shell, 503 is the rotating shaft sleeve;

[0049] 6 is the rudder;

[0050] 7 is the tail wing rope drive assembly, 701 is the extension rod, 702 is the rotating arm, 703 is the pull rope connecting seat, 704 is the pull rope tensioner, 7041 is the tensioner base, 7042 is the tensioning sliding block, 7043 is the tensioning screw, 7044 is the wire pressing plate, 705 is the pull rope;

[0051] 8 is the center load-bearing rod;

[0052] 9 is the rudder cabin, 901 is the rudder cabin upper cover, 902 is the rudder cabin lower cover, 903 is the watertight connector A, 904 is the bearing C. DETAILED DESCRIPTION

[0053] The following will be described in conjunction with the drawingsFigures 1-17 The application is further described in detail.

[0054] The rigid wing sail self-balancing turning sail system of the unmanned sailboat, as shown in the embodiment, comprises a main sail framework 1, a main sail shell 2, a turning sail control box 3, a tail wing connecting rod assembly 4, a tail wing main body 5, a rudder 6 and a tail wing rope drive assembly 7. Figures 1-17 The main sail shell 2 is installed on the outside of the main sail framework 1, thereby forming the main sail as a whole (i.e. the rigid wing sail). The outer contour of the main sail shell 2 is larger than that of the tail wing main body 5. In the embodiment, the main sail shell 2 is divided into two symmetrical parts and is made of carbon fiber to ensure strength and light weight. The main sail framework 1 is used to support the main sail shell 2. In the embodiment, the main sail framework 1 is made of aluminum alloy material and mainly comprises a main sail framework main body 101 and a main sail framework base 102 connected together, and a part of the main sail framework 1 as a whole is a hollow tubular structure.

[0055] The tail wing connecting rod assembly 4 is arranged at the top end of the main sail framework 1, the length direction of the tail wing connecting rod assembly 4 as a whole is parallel to the horizontal plane, the front end and the rear end of the tail wing connecting rod assembly 4 as a whole respectively pass through the main sail shell 2, the tail wing main body 5 is rotationally installed at the rear end of the tail wing connecting rod assembly 4 as a whole, the rotation axis of the tail wing main body 5 relative to the tail wing connecting rod assembly 4 is perpendicular to the horizontal plane, the rudder 6 is arranged on the tail wing connecting rod assembly 4, and the driving end of the rudder 6 drives the tail wing main body 5 to rotate through the tail wing rope drive assembly 7. In the embodiment, the rudder 6 is a commercially available rudder product with an encoder, which is connected with an external controller to obtain the rotation angle of the driving end of the rudder 6, and the deflection angle of the tail wing main body 5 is further calculated based on the obtained rotation angle of the driving end of the rudder 6.

[0056] The turning sail control box 3 comprises a box body 301, a transmission shaft 302 and an encoder 303. The box body 301 is arranged on the hull of the unmanned sailboat and located at the lower side of the main sail shell 2. The transmission shaft 302 is rotationally installed in the box body 301. The top end of the transmission shaft 302 is connected with the bottom of the main sail framework 1 and rotates together with the main sail framework 1. As shown in the embodiment, the transmission shaft 302 is connected with the main sail framework base 102 through a spline in the embodiment. The encoder 303 is arranged inside the box body 301 and used to detect the rotation angle of the transmission shaft 302, i.e. to obtain the deflection angle of the main sail as a whole relative to the hull of the unmanned sailboat.

[0057] The turning sail control box 3 comprises a box body 301, a transmission shaft 302 and an encoder 303. The box body 301 is arranged on the hull of the unmanned sailboat and located at the lower side of the main sail shell 2. The transmission shaft 302 is rotationally installed in the box body 301. The top end of the transmission shaft 302 is connected with the bottom of the main sail framework 1 and rotates together with the main sail framework 1. As shown in the embodiment, the transmission shaft 302 is connected with the main sail framework base 102 through a spline in the embodiment. The encoder 303 is arranged inside the box body 301 and used to detect the rotation angle of the transmission shaft 302, i.e. to obtain the deflection angle of the main sail as a whole relative to the hull of the unmanned sailboat. Figure 13 Specifically, as shown in the embodiment,

[0058] Figures 4-7 ​As shown, the tail wing connecting rod assembly 4 in the embodiment includes a front counterweight rod 401, a center counterweight sleeve 402, and a rear hollow rod 403. The center counterweight sleeve 402 is connected to the top end of the main mast frame 1 through a center load-bearing rod 8. The front and rear ends of the center counterweight sleeve 402 extend out of the main sail shell 2 respectively. The front end of the center counterweight sleeve 402 is connected to the rear end of the front counterweight rod 401. The rear end of the center counterweight sleeve 402 is connected to the front end of the rear hollow rod 403. The front end of the front counterweight rod 401 serves as the front end of the tail wing connecting rod assembly 4 as a whole. The rear end of the rear hollow rod 403 serves as the rear end of the tail wing connecting rod assembly 4 as a whole and is rotationally connected to the tail wing body 5 through a tail wing adapter 404 and a tail wing rotating shaft 405. In the embodiment, the center counterweight sleeve 402 and the main mast frame 1 are further connected to a plurality of support ribs and support columns. The center counterweight sleeve 402 and the center load-bearing rod 8 can be fixed by means of bolts or welding. The center counterweight sleeve 402 and the center load-bearing rod 8 are further provided with diagonal ribs, thereby enhancing the structural stability between the tail wing connecting rod assembly 4 and the main mast frame 1.

[0059] Specifically, as shown in Figure 6 In the embodiment, the front end of the front counterweight rod 401 is provided with a plurality of front counterweight blocks 406 through a counterweight block adapter 407 and bolts. The front counterweight blocks 406 are made of metal lead. Different numbers of front counterweight blocks 406 can be added to adjust the counterweight mass, so that the whole rotating sail system is located directly above the transmission shaft 302.

[0060] Specifically, as shown in Figures 6-7 In the embodiment, the front end of the center counterweight sleeve 402 is provided with a fixing bolt A for fixing the rear end of the front counterweight rod 401. The rear end of the front counterweight rod 401 is provided with a plurality of adjustment holes A along the length direction of the front counterweight rod 401. The rear end of the front counterweight rod 401 is inserted into the front end of the center counterweight sleeve 402. The overall length of the center counterweight sleeve 402 and the front counterweight rod 401 after being connected is adjusted by making the fixing bolt A pass through different adjustment holes A. The rear end of the center counterweight sleeve 402 is provided with a fixing bolt B for fixing the front end of the rear hollow rod 403. The front end of the rear hollow rod 403 is provided with a plurality of adjustment holes B along the length direction of the rear hollow rod 403. The front end of the rear hollow rod 403 is inserted into the rear end of the center counterweight sleeve 402. The overall length of the center counterweight sleeve 402 and the rear hollow rod 403 after being connected is adjusted by making the fixing bolt B pass through different adjustment holes B. The distance between the tail wing body 5 and the main sail as a whole can be conveniently adjusted according to the use requirements.

[0061] Specifically, as shown in Figures 7-9As shown, the rear hollow rod 403 in the embodiment is provided with a rudder cabin 9, and the rudder 6 is arranged in the rudder cabin 9, which plays a waterproof protection role for the rudder 6. In the embodiment, the rudder cabin 9 is further provided with a rudder cabin mounting opening on the center weight sleeve 402, which is used to mount the rudder cabin 9 on the rear hollow rod 403 penetrating into the center weight sleeve 402. In the embodiment, the rudder cabin 9 is divided into two parts, i.e., a rudder cabin upper cover 901 and a rudder cabin lower cover 902, which are connected together by screws, and the connecting surface between the rudder cabin upper cover 901 and the rudder cabin lower cover 902 is sealed by a sealing ring. The rudder 6 is connected with the rudder cabin lower cover 902 by screws. The rudder cabin upper cover 901 is provided with a watertight connector A 903, which is used for wiring between the rudder 6 and the outside of the rudder cabin 9, so as to supply power to the rudder 6 and provide a control signal.

[0062] In the embodiment, the tail wing rope driving assembly 7 includes an extension rod 701, a rotating arm 702, a pulling rope connecting seat 703, and two pulling ropes 705. One end of the extension rod 701 is connected with the driving shaft of the rudder 6, and the other end of the extension rod 701 extends to the inside of the rear hollow rod 403 and is connected with the middle part of the rotating arm 702. The pulling rope connecting seat 703 is fixedly connected to the tail wing body 5, and the left and right ends of the pulling rope connecting seat 703 are located on the left and right sides of the length direction of the tail wing connecting rod assembly 4 as a whole. The left end of the pulling rope connecting seat 703 is connected with one end of the first pulling rope 705, and the other end of the first pulling rope 705 is connected with one end of the second pulling rope 705. The other end of the second pulling rope 705 is connected with the other end of the rotating arm 702. In the embodiment, the pulling rope 705 is a bicycle brake wire. The rudder 6 is controlled to rotate at the driving end and drive the rotating arm 702 to rotate through the extension rod 701, so as to pull the pulling rope connecting seat 703 through the pulling rope 705, thereby realizing the effect of deflecting the tail wing body 5 around the tail wing rotating shaft 405. The rotating arm 702, the pulling rope connecting seat 703, and the two pulling ropes 705 can approximately form a connecting rod mechanism, so that the deflection angle of the tail wing body 5 can be further calculated by obtaining the rotation angle of the driving end of the rudder 6. In the embodiment, the bottom side of the rudder cabin lower cover 902 is further provided with a bearing C 904, which is a commercially available deep groove ball bearing. The bearing C 904 is rotatably connected with the extension rod 701, so as to ensure the accurate rotation of the extension rod 701. The connecting structure between the extension rod 701 and the rotating arm 702 adopts a square shaft structure for butt joint and is fastened by bolts.

[0063] Specifically, as shown in FIG. 6, the tail wing body 5 is provided with a tail wing rotating shaft 405, and the tail wing connecting rod assembly 4 is arranged around the tail wing rotating shaft 405. The tail wing connecting rod assembly 4 includes a tail wing connecting rod 401 and a tail wing connecting rod 402. The tail wing connecting rod 401 is connected with the tail wing body 5, and the tail wing connecting rod 402 is connected with the tail wing body 5. The tail wing connecting rod 401 and the tail wing connecting rod 402 are connected together by a connecting rod 406. Figure 12As shown, the left and right ends of the pulling rope connecting seat 703 in the embodiment are respectively provided with a pulling rope tensioner 704 for connecting the corresponding pulling rope 705. Each pulling rope tensioner 704 comprises a tensioner base 7041, a tensioning sliding block 7042, a tensioning screw 7043, and a wire pressing plate 7044. The tensioner base 7041 of each pulling rope tensioner 704 is fixed to the pulling rope connecting seat 703. The tensioning sliding block 7042 of each pulling rope tensioner 704 is slidingly connected to the tensioner base 7041 of the same pulling rope tensioner 704. The tensioning screw 7043 of each pulling rope tensioner 704 is rotatably installed on the tensioner base 7041 of the same pulling rope tensioner 704 and is threadedly connected to the tensioning sliding block 7042 of the same pulling rope tensioner 704. The wire pressing plate 7044 of each pulling rope tensioner 704 is fixed to the tensioning sliding block 7042 of the same pulling rope tensioner 704 and presses one end of the corresponding pulling rope 705 together with the tensioning sliding block 7042. In the embodiment, the inner side of the tensioner base 7041 of each pulling rope tensioner 704 is provided with a sliding groove, and the outer side of the tensioning sliding block 7042 of each pulling rope tensioner 704 is provided with a protrusion matching the corresponding sliding groove, so as to realize the limited sliding of the tensioning sliding block 7042 in the tensioner base 7041. By rotating the tensioning screw 7043, the position of the tensioning sliding block 7042 in the tensioner base 7041 is adjusted, so as to tighten the pulling rope 705.

[0064] Specifically, as shown in Figure 7 , Figure 10 and Figure 11 , in the embodiment, the tail wing adapter 404 is fixed to the rear end of the rear hollow rod 403 by means of bolts and welding, and the tail wing rotating shaft 405 is arranged on the tail wing adapter 404. In the embodiment, the upper and lower sides of the rear end of the tail wing adapter 404 are each provided with one tail wing rotating shaft 405.

[0065] In the embodiment, the tail wing main body 5 comprises a tail wing framework 501, a tail wing shell 502, and a rotating shaft sleeve 503. The rotating shaft sleeve 503 is installed on the tail wing framework 501. The tail wing shell 502 is fixed to the tail wing framework 501 and covers the whole structure formed by the tail wing framework 501 and the tail wing shell 502. The rotating shaft sleeve 503 is sleeved outside the tail wing rotating shaft 405 and is rotatably connected to the tail wing rotating shaft 405. The pulling rope connecting seat 703 is installed in the middle of the tail wing framework 501. In the embodiment, the tail wing shell 502 is also made of carbon fiber, and the tail wing framework 501 is a metal framework structure. The structure of the tail wing framework 501 itself is of the prior art. In the embodiment, the rotating shaft sleeve 503 also has two corresponding tail wing rotating shafts 405. Each rotating shaft sleeve 503 is rotatably connected to a corresponding tail wing rotating shaft 405 through a deep groove ball bearing.

[0066] Specifically, as shown in Figures 14-17 The turning sail control box 3 in the embodiment further includes an upper box cover 304, a lower box cover 305, a lower support 306, a side support seat 307, a lower mounting plate 308, a lower bearing seat 309, a bearing A 310, an upper clamping piece 311, an upper bearing seat 312, a bearing B 313, and a rotor protection shell 314.

[0067] The upper and lower ends of the box 301 are both open, the upper box cover 304 is fixed to the upper end of the box 301 by bolts and is used to cover the upper end opening of the box 301, and the lower box cover 305 is fixed to the lower end of the box 301 by bolts and is used to cover the lower end opening of the box 301. The lower box cover 305 is directly fixed to the hull of the unmanned sailboat. The box 301, the upper box cover 304, and the lower box cover 305 together protect the internal structure of the turning sail control box 3 from water. As shown in Figure 2 Figure 3 and Figure 14 As shown in the embodiment, the upper box cover 304 is further provided with an outer support seat 103 and an outer support sleeve 319 to fully support the main sail.

[0068] The lower support 306, the side support seat 307, the lower mounting plate 308, the lower bearing seat 309, the bearing A 310, the upper clamping piece 311, the upper bearing seat 312, the bearing B 313, and the rotor protection shell 314 are all located in the inner cavity of the box 301. The upper surface of the lower box cover 305 is provided with two lower supports 306, and the side support seat 307 is provided with two side support seats 307, which are respectively located on the outer side of the transmission shaft 302. The two side support seats 307 are connected to each lower support 306 by bolts. The lower mounting plate 308 is installed between the two side support seats 307 by bolts. The lower mounting plate 308 is provided with a lower bearing seat 309 in the middle. The bearing A 310 is arranged in the lower bearing seat 309 and is connected to the transmission shaft 302. The upper clamping piece 311 is also provided with two upper clamping pieces 311, each of which is fixed to the upper end of the two side support seats 307 by bolts. The two upper clamping pieces 311 form an upper bearing seat clamping interface between them. The upper bearing seat 312 is installed at the upper bearing seat clamping interface. The bearing B 313 is arranged in the upper bearing seat 312 and is connected to the transmission shaft 302. In the embodiment, the bearing A 310 and the bearing B 313 are two angular contact bearings used in pairs to stabilize the rotation of the transmission shaft 302. The stator of the encoder 303 is fixed to the lower side of the upper bearing seat 312 by bolts. The rotor of the encoder 303 is fixed to the rotor protection shell 314 by bolts. The rotor protection shell 314 is fixed to the transmission shaft 302 by bolts.

[0069] Specifically, as shown in Figure 16 and Figure 17 ​As shown, a hand hole 3051 is formed on the bottom cover 305 of the box body 301 in the embodiment, which corresponds to the lower bearing seat 309 in the inner cavity of the box body 301, and a hand hole cover 315 is installed at the hand hole 3051. The hand hole 3051 is provided to facilitate the installation and maintenance of the internal structure of the box body 301. The hand hole cover 315 is used to close the hand hole 3051 in normal times.

[0070] Specifically, as shown in the drawings, Figure 16 and Figure 17 As shown, the inside of the transmission shaft 302 in the embodiment is a hollow structure, a flange part is provided on the outer periphery of the transmission shaft 302 between the bearing A 310 and the bearing B 313 and extends outwardly, which is used to be fixed with the rotor protection shell 314 through bolts, the transmission shaft 302 between the flange part and the bearing A 310 is sleeved with a transmission shaft sleeve 316, the transmission shaft sleeve 316 and the transmission shaft 302 are connected through a key 317; a conductive slip ring 318 is also provided in the inner cavity of the box body 301 of the rudder control box 3, the stator of the conductive slip ring 318 is fixed on the lower mounting plate 308 through bolts, the rotor of the conductive slip ring 318 is fixedly connected with the transmission shaft sleeve 316 through bolts, the rotor of the conductive slip ring 318 is used to connect the rudder machine power supply wire for supplying power to the rudder machine 6, the transmission shaft sleeve 316 and the transmission shaft 302 are provided with a threading hole corresponding to the rudder machine power supply wire, and a threading hole is also formed on one of the side support seats 307. The conductive slip ring 318 and the encoder 303 in the embodiment are all commercially available products. Since the transmission shaft sleeve 316, the transmission shaft 302 and the rotor of the conductive slip ring 318 can rotate together, the conductive slip ring 318 is provided to facilitate the power supply to the rudder machine 6, and is not affected by the rotation of the main mast frame 1. In the embodiment, the watertight plug B 320 is also provided on the upper cover 304 of the box body, and is used to connect with the electrical elements such as the conductive slip ring 318 and the encoder 303 in the inner cavity of the box body 301, to ensure stable power supply and communication.

[0071] Working principle:

[0072] The unmanned sailboat rigid wing sail self-balancing turning sail system can obtain the deflection angle of the main sail body relative to the unmanned sailboat hull. By controlling the driving end of the rudder 6 to act, and by the tail wing rope drive assembly 7 driving the tail wing body 5 to rotate, the deflection angle of the tail wing body 5 relative to the main sail body is adjusted, the angle between the main sail body and the wind (the attack angle) is adjusted, that is, the tail wing body 5 can be regarded as the air rudder of the main sail body. According to the principle of moment balance, when the tail wing body 5 is deflected to a certain angle, the aerodynamic moment around the mast generated by the wind acting on the main sail body is equal to the moment around the mast generated by the tail wing body 5, the main sail body can reach the predetermined attack angle and keep stable balance state. Compared with the size of the outer contour of the main sail shell 2 (that is, the size of the outer contour of the main sail body), the size of the outer contour of the tail wing body 5 is smaller, and the motor torque required to adjust the deflection of the tail wing body 5 is also smaller, effectively reducing the control power consumption. The rigid wing sail self-balancing turning sail system realizes the rotation decoupling of the rigid wing sail and the hull, and does not need to drive the main sail body to rotate when the bow of the hull shakes. When the wind speed is constant, the attack angle of the self-balancing wing sail is only related to the deflection angle of the tail wing, so it is not necessary to adjust the deflection angle of the tail wing body 5 when facing frequent wind direction fluctuations, and the rigid wing sail can automatically maintain the attack angle in the wind.

Claims

1. A rigid wing sail self-balancing sail system for unmanned sailboats, characterized in that: Includes mainsail frame (1), mainsail shell (2), sail control box (3), tail fin connecting rod assembly (4), tail fin body (5), servo motor (6), and tail fin rope drive assembly (7); The mainsail shell (2) is installed on the outside of the mainsail frame (1), and the outer contour of the mainsail shell (2) is larger than the outer contour of the tail fin body (5). The tail fin connecting rod assembly (4) is located at the top of the main sail frame (1). The length direction of the tail fin connecting rod assembly (4) is parallel to the horizontal plane. The front end and rear end of the tail fin connecting rod assembly (4) extend out of the main sail shell (2) respectively. The tail fin body (5) is rotatably mounted on the rear end of the tail fin connecting rod assembly (4). The rotation axis of the tail fin body (5) relative to the tail fin connecting rod assembly (4) is perpendicular to the horizontal plane. The servo motor (6) is located on the tail fin connecting rod assembly (4). The drive end of the servo motor (6) drives the tail fin body (5) to rotate through the tail fin rope drive assembly (7). The sail control box (3) includes a box body (301), a drive shaft (302), and an encoder (303). The box body (301) is installed on the hull of the unmanned sailboat and located on the lower side of the main sail shell (2). The drive shaft (302) is rotatably installed in the box body (301). The top end of the drive shaft (302) is connected to the bottom of the main sail frame (1) and rotates together with the main sail frame (1). The encoder (303) is installed inside the box body (301) and is used to detect the rotation angle of the drive shaft (302). The tail fin connecting rod assembly (4) includes a front counterweight rod (401), a center counterweight sleeve (402), and a rear hollow rod (403). The center counterweight sleeve (402) is connected to the top of the main sail frame (1) through a center load-bearing rod (8). The front and rear ends of the center counterweight sleeve (402) extend out of the main sail shell (2). The front end of the center counterweight sleeve (402) is connected to the rear end of the front counterweight rod (401), and the rear end of the center counterweight sleeve (402) is connected to the rear hollow rod (403). The front end of the front counterweight rod (401) serves as the front end of the tail fin connecting rod assembly (4), and the rear end of the rear hollow rod (403) serves as the rear end of the tail fin connecting rod assembly (4) and is rotatably connected to the tail fin body (5) through a tail fin adapter (404) and a tail fin rotation shaft (405).

2. The self-balancing sail system for rigid wing sails of an unmanned sailboat according to claim 1, characterized in that: The front end of the front counterweight bar (401) is provided with several front counterweight blocks (406).

3. The self-balancing sail system for rigid wing sails of an unmanned sailboat according to claim 1, characterized in that: The front end of the central counterweight sleeve (402) is provided with a fixing bolt A for fixing the rear end of the front counterweight rod (401). The rear end of the front counterweight rod (401) is provided with a plurality of adjustment through holes A along the length direction of the front counterweight rod (401). The rear end of the front counterweight rod (401) passes through the front end of the central counterweight sleeve (402). By allowing the fixing bolt A to pass through different adjustment through holes A, the overall length of the central counterweight sleeve (402) and the front counterweight rod (401) after connection can be adjusted. The rear end of the central counterweight sleeve (402) is provided with a fixing bolt B for fixing the front end of the rear hollow rod (403). The front end of the rear hollow rod (403) has several adjustment through holes B along the length direction of the rear hollow rod (403). The front end of the rear hollow rod (403) is inserted from the rear end of the central counterweight sleeve (402). By allowing the fixing bolt B to pass through different adjustment through holes B, the overall length of the central counterweight sleeve (402) and the rear hollow rod (403) after connection can be adjusted.

4. The self-balancing sail system for rigid wing sails of an unmanned sailboat according to claim 1, characterized in that: A servo housing (9) is mounted on the rear hollow rod (403), and the servo (6) is located inside the servo housing (9). The tail fin rope drive assembly (7) includes an extension rod (701), a rotating arm (702), a pull rope connector (703), and a pull rope (705). One end of the extension rod (701) is connected to the drive shaft of the servo (6), and the other end of the extension rod (701) extends into the interior of the rear hollow rod (403) and is connected to the middle of the rotating arm (702). The pull rope connector (703) is fixed to the... On the tail wing body (5), the left and right ends of the pull rope connector (703) are respectively located on the left and right sides of the overall length direction of the tail wing connecting rod assembly (4). The left end of the pull rope connector (703) is connected to one end of the first pull rope (705), and the other end of the first pull rope (705) is connected to one end of the rotating arm (702). The right end of the pull rope connector (703) is connected to one end of the second pull rope (705), and the other end of the second pull rope (705) is connected to the other end of the rotating arm (702).

5. The self-balancing sail system for rigid wing sails of an unmanned sailboat according to claim 4, characterized in that: The left and right ends of the pull rope connector (703) are respectively provided with pull rope tensioners (704) for connecting the corresponding pull ropes (705). Each pull rope tensioner (704) includes a tensioner base (7041), a tensioning slider (7042), a tensioning screw (7043), and a pressure plate (7044). The tensioner base (7041) of each pull rope tensioner (704) is fixed on the pull rope connector (703), and the tensioning slider (7042) of each pull rope tensioner (704) is slidably connected to the same pull rope tensioner. In the tensioner base (7041) of the tensioner (704), the tensioning screw (7043) of each of the tensioning rope tensioners (704) is rotatably mounted on the tensioner base (7041) of the same tensioning rope tensioner (704) and is connected to the tensioning slider (7042) of the same tensioning rope tensioner (704) by a thread. The pressure plate (7044) of each of the tensioning rope tensioners (704) is fixed on the tensioning slider (7042) of the same tensioning rope tensioner (704) and together with the tensioning slider (7042) presses down one end of the corresponding tensioning rope (705).

6. The self-balancing sail system for rigid wing sails of an unmanned sailboat according to claim 1, characterized in that: The tail wing adapter (404) is fixed to the rear end of the rear hollow rod (403), and the tail wing rotation shaft (405) is disposed on the tail wing adapter (404); the tail wing body (5) includes a tail wing frame (501), a tail wing shell (502) and a rotation shaft sleeve (503). The rotation shaft sleeve (503) is installed on the tail wing frame (501). The tail wing shell (502) is fixed to the tail wing frame (501) and covers the entire structure formed by the tail wing frame (501) and the tail wing shell (502). The rotation shaft sleeve (503) is sleeved on the outside of the tail wing rotation shaft (405) and is rotatably connected to the tail wing rotation shaft (405).

7. The self-balancing sail system for rigid wing sails of an unmanned sailboat according to claim 1, characterized in that: The sail control box (3) also includes a box top cover (304), a box bottom cover (305), a lower bracket (306), a side support seat (307), a lower mounting plate (308), a lower bearing seat (309), a bearing A (310), an upper clamp (311), an upper bearing seat (312), a bearing B (313), and a rotor protective shell (314). The box (301) has openings at both the top and bottom. The box top cover (304) is fixed to the top of the box (301) and is used to cover the top opening of the box (301). The box bottom cover (305) is fixed to the bottom of the box (301) and is used to cover the bottom opening of the box (301). The box bottom cover (305) is directly fixed to the hull of the unmanned sailboat. The lower bracket (306), side support seat (307), lower mounting plate (308), lower bearing seat (309), bearing A (310), upper clamp (311), upper bearing seat (312), bearing B (313), and rotor protective shell (314) are all located in the inner cavity of the housing (301). Several lower brackets (306) are provided on the upper surface of the bottom cover (305) of the housing. There are two side support seats (307). The two side support seats (307) are located on the outer side of the transmission shaft (302). The whole formed by the two side support seats (307) is fixedly connected to each of the lower brackets (306). The lower mounting plate (308) is installed between the two side support seats (307). The lower bearing seat (309) is installed in the middle of the lower mounting plate (308). The bearing A (310) is disposed in the lower bearing seat (309) and rotatably connected to the transmission shaft (302). There are also two upper clamps (311). Each upper clamp (311) is fixedly connected to the upper end of the two side support seats (307). The two upper clamps (311) are connected to form an upper bearing seat interface. The upper bearing seat (312) is installed at the upper bearing seat interface. The bearing B (313) is disposed in the upper bearing seat (312) and rotatably connected to the transmission shaft (302). The stator of the encoder (303) is fixed to the lower side of the upper bearing seat (312). The rotor of the encoder (303) is fixed to the rotor protective shell (314). The rotor protective shell (314) is fixed to the transmission shaft (302).

8. The self-balancing sail system for rigid wing sails of an unmanned sailboat according to claim 7, characterized in that: A hand hole (3051) is provided on the bottom cover (305) of the box body, corresponding to the inner cavity of the box body (301), and a hand hole cover (315) is installed at the hand hole (3051).

9. A rigid wing sail self-balancing sail system for unmanned sailboats according to claim 7, characterized in that: The drive shaft (302) has a hollow interior. A flange is provided on the outer circumference of the drive shaft (302) between the bearing A (310) and the bearing B (313). The flange is used to fix the rotor protective shell (314) with bolts. A drive shaft sleeve (316) is fitted on the outer circumference of the drive shaft (302) between the flange and the bearing A (310). The drive shaft sleeve (316) is connected to the drive shaft (302) by a key (317). The inner cavity of the housing (301) of the sail control box (3) is also provided with a conductive slip ring (318). The stator of the conductive slip ring (318) is fixed on the lower mounting plate (308). The rotor of the conductive slip ring (318) is fixedly connected to the drive shaft sleeve (316). The rotor of the conductive slip ring (318) is used to connect the servo power supply wire that supplies power to the servo (6). The drive shaft sleeve (316) and the drive shaft (302) are respectively provided with wire holes for the servo power supply wire to pass through.

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