External rudder device for sailing boat driving simulation training

Abstract

The invention discloses a rudder simulation device for sailing boat simulation training, which comprises a rudder, a clamping device a, a rudder angle identification device, a rudder plate, a clamping device b, a resistance feedback adjustment device connecting plate, a stern plate and a rudder resistance feedback adjustment device, and is characterized in that the rudder is composed of rudders with real sizes, so that the authenticity of simulation is ensured; the whole device and a stern board are clamped and fixed through the clamping device a and the clamping device b, the original sailing boat structure is prevented from being damaged, and the completeness of the sailing boat is kept. The rudder angle recognition device comprises a synchronous wheel, a synchronous belt and an encoder and is used for outputting a rudder rotation angle to the computer; the resistance feedback adjusting device connecting plate is used for connecting the rudder resistance feedback adjusting device with the clamping device a and the clamping device b, is provided with a length-adjustable structure and can be adjusted and fixed according to different rudders; the rudder resistance feedback adjusting device comprises a resistance generating device and a resistance adjusting device, wherein the resistance adjusting device mainly comprises a transmission device and a speed reducer device; the technical problems that in the prior art, angle information of a rudder cannot be read by a computer to form effective feedback, and a motion and visual simulation system cannot make real-time feedback change according to sailing operation of a user are solved, the device can be rapidly installed and detached, operation is simple, and the system is convenient to use. The integrity of original sailing boat equipment is kept, the requirements for portability and installability are met, and the economical efficiency is high.

Description

Technical Field

[0001] The invention relates to the field of driving simulation, and in particular to an external rudder device used for sailboat driving simulation training. Background Art

[0002] At present, sailing is a water sport. Athletes operate equipment such as sails and tillers to use natural wind to move the sailboat forward. In the process of sailing, they make full use of the influence of wind and waves. When simulating the driving of a sailboat, three aspects are mainly considered, namely, the control of the sail, rudder and weight distribution. Athletes change the windward area and direction of the sail by pulling the sail rope to provide sailing power for the sailboat, and maintain the balance of the sailboat under the action of the stabilizer and the athlete's own weight distribution. The rudder of a small sailboat is generally arranged at the stern, and there is a tiller and an operating rod connected to the rudder stock, in which the rudder blade is a wing-shaped or flat plate structure with a small aspect ratio. The force of water flow on the rudder blade can be divided into rudder resistance along the direction of fluid flow and rudder lift perpendicular to the direction of fluid flow. The athlete rotates the rudder stock through the operating rod, changes the angle between the rudder blade and the main axis of the hull, changes the rudder lift and rudder resistance, and the rudder lift produces a steering torque on the midship to turn the sailboat.

[0003] Traditional sailing training is conducted in water, but water training is somewhat dangerous and has strict requirements on venues and weather. For sailing driving simulation, the method generally used is to modify real sailboats, combine them with sports visual simulation, and let athletes practice on land. Due to the difference between the water and land environments, the rudder blades of the simulated driving boat will not be subjected to forces that change with the rudder blade angle and water flow, making it difficult for athletes to obtain more realistic force feedback when operating the rudder, affecting the athletes' judgment of their own driving status and driving strategies.

[0004] Chinese patent CN202110737036.8 discloses a simulated rudder device for sailboat driving training, including a fixed plate, a variable damping device, an operating link, a driving device, a tensioning device, and an electrical signal feedback device. The fixed plate is arranged at the stern of a sailboat for simulated driving, and a variable damping device is arranged on the surface of the fixed plate. The variable damping device includes a spiral slide drum and a simulated rudder shaft. The spiral slide drum is used to change the resistance torque of the simulated rudder shaft; the operating link is arranged at the upper end of the simulated rudder shaft, and is used to rotate the simulated rudder shaft and transmit the resistance torque of the simulated rudder shaft to the operator; the driving device is used to drive the spiral slide drum and convert the electrical signal into the angle of the spiral slide drum; the tensioning device is used to ensure that there is sufficient friction between the synchronous belt and the spiral slide drum; the electrical signal feedback device is used to convert the angle information of the simulated rudder shaft and the extreme position information of the spiral slide drum into electrical signals. However, in the prior art, when using the rudder of a real ship for training, the angle information of the rudder cannot be read by the computer to form effective feedback, and the motion and visual simulation system cannot make real-time feedback changes according to the user's sailing operation, thereby failing to truly simulate the effect of sailing training. The existing simulation device requires corresponding modifications to the sailboat hull, which destroys the integrity of the sailboat, is cumbersome to operate, lacks portability, and has poor economy. Summary of the invention

[0005] In view of this, the present invention proposes an external rudder device for sailboat driving simulation training to address the above-mentioned problems. When conducting sailboat driving simulation training, the device can more realistically restore the simulation effect of the rudder, send the changes in the rudder angle to the computer system in real time, form a good feedback mechanism with the motion and vision system, and maintain the overall integrity of the original sailboat structure, meeting the requirements of portability and installability.

[0006] The present invention is implemented by the following technical solutions:

[0007] A rudder simulation device for sailboat simulation training, comprising a rudder, a clamping device a, a rudder angle identification device, a rudder rudder plate, a clamping device b, a resistance feedback adjustment device connecting plate, a stern plate, and a rudder resistance feedback adjustment device, wherein the rudder is composed of a real-size rudder to ensure the authenticity of the simulation;

[0008] The clamping device a and the clamping device b clamp and fix the entire device to the stern plate to avoid damaging the original sailboat structure and maintain the integrity of the sailboat; the rudder angle identification device includes a synchronous wheel, a synchronous belt and an encoder, which are used to output the rudder rotation angle to a computer; the resistance feedback adjustment device connecting plate is used to connect the rudder resistance feedback adjustment device and the clamping device a and the clamping device b, and is provided with an adjustable length structure, which can be adjusted and fixed according to different rudders; the rudder resistance feedback adjustment device includes a resistance generating device and a resistance adjusting device, wherein the resistance adjusting device mainly includes two parts: a transmission device and a reducer device.

[0009] Preferably, the rudder comprises an operating link, an elastic short rope, a tiller handle, a rudder fixing block spring, a rudder fixing block, a rudder plate, and a rudder plate connecting piece; the operating link is connected to the tiller handle by an elastic short rope, and a space of a certain width is opened at the tail of the tiller handle for connecting and fixing the upper side of the rudder plate; the rudder fixing block spring is located between the rudder fixing block and the stern plate, with two on the upper and lower sides, and the pressure is adjusted according to the tightness of the screws to limit the rotation of the rudder fixing block, and holes are opened on the upper sides of both ends, and the holes close to the stern plate are connected to the original fixing device holes at the stern by bolts; the rudder plate connecting piece is fixedly connected to the rudder plate by screws.

[0010] Preferably, the clamping device a or the clamping device b comprises a fixing spring, a positioning bolt, a positioning block, a rubber gasket, a bolt hole, and a fixing bolt; the fixing spring and the positioning bolt form pressure in opposite directions, so that the upper and lower ends of the positioning block can move forward and backward synchronously, and when the fixing bolt is twisted outward, the positioning block can be brought back to the initial position under the action of the spring; three holes are provided on the front side of the clamping block, the middle hole is used for the fixing bolt, and a corresponding thread is provided on the inner wall, and the holes on both sides are used for the positioning bolts, and two rubber gaskets are provided inside the rear side of the clamping block, which correspond to the two ends of the positioning block respectively, so as to increase friction and improve the clamping effect, and corresponding bolt holes are provided on the bottom side of the clamping block for connecting the resistance feedback adjustment device connecting plate or the encoder fixing plate; the fixing bolt is meshed with the thread in the middle hole on the front side of the clamping block; a space corresponding to the clamping block is provided on one side of the positioning block, wherein the holes on both sides are provided with threads, which mesh with the threads of the positioning bolt, and the middle hole corresponds to the fixing bolt.

[0011] Preferably, the rudder angle identification device includes an encoder fixing plate, a synchronous wheel, an encoder, and a synchronous belt; the encoder fixing plate is used to connect the clamping device a or the clamping device b with the encoder; the synchronous wheel is used to synchronize the angle change information of the rudder; and the encoder is used to convert the rudder angle information into an electrical signal.

[0012] Preferably, the rudder resistance feedback adjustment device comprises a lower connecting plate, a stepping motor, a reducer, a bolt hole, a synchronous belt, a synchronous shaft, a synchronous wheel, a spiral spring, a gear guide rail, a limit block, a reduction gear, and a synchronous gear; the lower connecting plate is used to connect the rudder resistance adjustment feedback adjustment device; the stepping motor adjusts the damping size by rotating a certain angle; the reducer is used to increase the output torque size and stroke length of the stepping motor; the bolt hole is used to connect the lower connecting plate to the housing of the rudder resistance feedback adjustment device through bolts; the synchronous belt is used to synchronize the damping condition; the synchronous shaft is used to fix with the rudder plate connecting piece Welding is performed for synchronous rotation, and the lower side of the synchronous shaft is inserted into the hole on the other side of the rudder fixing block. A synchronous wheel is installed at the end of the synchronous shaft on the upper side, and two synchronous wheels are installed on the synchronous shaft on the lower side; the synchronous wheel is used to synchronize the resistance feedback; the spiral spring reciprocates the gear guide rail through compression and tension; the gear guide rail is used to convert the change of the rudder angle into a linear change; the limit block is used for tensile protection of the spring limit position and to prevent equipment collision damage; the reduction gear is used to increase the output torque and stroke length of the stepper motor; the synchronous gear serves as a medium for converting the rotation of the rudder into linear motion.

[0013] Preferably, the resistance feedback adjustment device connecting plate includes bolt holes, fixing bolts, adjustment rails, and an upper connecting plate; the bolt holes are used to correspond to the bottom holes of the clamping device a / clamping device b; the fixing bolts are used to fix the upper connecting plate and the lower connecting plate in the rudder resistance feedback adjustment device; the adjustment rails are used to adjust the vertical spacing of the connecting plates by adjusting the positions of the fixing bolts; the upper connecting plate is used to connect the lower connecting plate with the clamping device a / clamping device b.

[0014] The technical solution of the present invention has at least the following advantages and beneficial effects:

[0015] 1. The operating connecting rod and rudder plate of the present invention are both based on the facilities on real physical sailboats, which can truly restore the sailboat rudder operation method; based on the encoder hardware device, the rudder angle signal is read, and the rudder angle change can be sent to the computer in real time in the form of electrical signals, realizing the closed loop of the simulation system;

[0016] The rudder resistance feedback adjustment device can simulate the resistance of water flow to the rudder equipment when a physical sailboat is sailing on the water, realize resistance feedback, and can adjust the resistance of the rudder according to different ocean environments and water flow rates.

[0017] 2. The entire device of the present invention is based on the original real sailboat, which further improves the authenticity of the simulation; the device is a physical external device, can be quickly installed and disassembled, is easy to operate, maintains the integrity of the original sailboat equipment and meets the requirements of portability and installability, and has strong economy. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a schematic diagram of the overall structure of an external driving training rudder simulation device capable of adjusting resistance and providing feedback according to the present invention;

[0019] Figure 2 It is a schematic diagram of the rudder connection structure of the present invention;

[0020] FIG3( a ) is a schematic cross-sectional view of the structure of the clamping device of the present invention;

[0021] FIG3( b ) is a schematic diagram of the overall structure of the clamping device of the present invention;

[0022] Figure 4 It is a schematic diagram of the structure of the rudder angle identification device of the present invention;

[0023] Figure 5 It is a schematic diagram of the structure of the connection plate of the resistance feedback adjustment device of the present invention;

[0024] FIG6( a ) is a schematic diagram of the external structure of the rudder resistance feedback adjustment device of the present invention;

[0025] FIG. 6( b ) is a schematic diagram of the internal structure of the rudder resistance feedback adjustment device of the present invention.

[0026] The names of the parts corresponding to the reference numerals are as follows:

[0027] 1. Rudder; 2. Clamping device a; 3. Rudder angle identification device; 4. Clamping device b; 5. Resistance feedback adjustment device connecting plate; 6. Stern plate; 7. Rudder resistance feedback adjustment device; 8. Sailboat hull;

[0028] 101. operating link; 102. elastic short rope; 103. tiller; 104. rudder fixing block spring; 105. rudder fixing block; 106. rudder plate; 107. rudder plate connecting piece;

[0029] 201. fixing spring; 202. positioning bolt; 203. clamping block; 204. rubber gasket; 205. bolt hole; 206. fixing bolt; 207. positioning block;

[0030] 301. Encoder fixing plate; 302. Synchronous wheel; 303. Encoder; 304. Synchronous belt; 305. Synchronous wheel;

[0031] 501. Bolt hole; 502. Fixing bolt; 503. Adjustment track; 504. Upper connecting plate;

[0032] 701. Lower connecting plate; 702. Stepper motor; 703. Speed ​​reducer; 704. Bolt hole; 705. Synchronous belt; 706. Synchronous shaft; 707. Synchronous wheel; 708. Coil spring; 709. Gear rail; 710. Limit block; 711. Speed ​​reduction gear; 712. Synchronous gear; 713. Guide rail rack; 714. Guide rail rack; DETAILED DESCRIPTION

[0033] The present invention is described below in conjunction with the accompanying drawings and specific embodiments.

[0034] To make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be described clearly and completely in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them.

[0035] Therefore, the following detailed description of the embodiments of the present invention is not intended to limit the scope of the invention claimed for protection, but merely represents some embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0036] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0037] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", "back" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, or the positions or positional relationships in which the product of the invention is usually placed when in use. Such terms are only used to facilitate the description of the present invention and simplify the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore cannot be understood as limiting the present invention.

[0038] It should also be noted that in the description of the present invention, unless otherwise clearly specified and limited, the terms "set", "install", "connect", and "connect" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For those skilled in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0039] like Figure 1-6, as a preferred embodiment of the present invention, this embodiment proposes an external driving training rudder simulation device capable of adjusting resistance and providing feedback, including a rudder simulation device for sailboat simulation training;

[0040] The rudder simulation device for sailboat simulation training comprises a rudder 1, a clamping device a2, a rudder angle recognition device 3, a clamping device b4, a resistance feedback adjustment device connecting plate 5, a stern plate 6, and a rudder resistance feedback adjustment device 7. The clamping device a2 and the clamping device b4 are respectively arranged on both sides of the upper end of the stern plate 6, the rudder 1 is located in the middle of the stern plate 6, the rudder angle recognition device 3 is connected to the clamping device a2 by bolts, the rudder resistance feedback adjustment device 7 is respectively connected and fixed to the clamping device b4 by the resistance feedback adjustment device connecting plate 5, and the stern plate 6 is the stern plate of a sailboat in reality.

[0041] like Figure 2 As shown, as a preferred embodiment of the present invention, the rudder 1 includes an operating link 101, an elastic short rope 102, a tiller 103, a rudder fixing block spring 104, a rudder fixing block 105, a rudder plate 106, and a rudder plate connecting piece 107; the operating link 101 is connected to the tiller 103 through the elastic short rope 102, and the elastic short rope 102 has a rebound characteristic, the other end of the tiller 103 is connected to the upper end of the rudder plate 106 through bolts, a rudder fixing block spring 104 is arranged between the rudder fixing block 105 and the stern plate 6, which is used to limit the rotational movement of the rudder fixing block 105, the rudder fixing block 105 is connected to the rudder plate connecting piece 107 through bolts through a synchronous shaft 706, and the rudder plate connecting piece 107 is connected to the side of the rudder plate 106 through bolts.

[0042] As shown in Figure 3, as a preferred embodiment of the present invention, the clamping device a2 / clamping device b4 includes a fixing spring 201, a positioning bolt 202, a clamping block 203, a rubber gasket 204, a bolt hole 205, a fixing bolt 206, and a positioning block 207; the fixing spring 201 is combined with the positioning bolt 202 to provide elastic force for the positioning bolt 202, the positioning bolt 202 is connected to the positioning block 207, and is used to apply elastic force to the positioning block 207 to drive it to return to its initial position, a rubber gasket 205 is arranged on the inner side of the clamping block 203 to increase friction and improve the clamping effect, a bolt hole 205 is opened on the front part of the lower side of the clamping block 203, which is used to connect the rudder angle identification device 3 and the resistance feedback adjustment device connecting plate 5, and three holes are opened on the front side of the clamping block 203, which are applied to two positioning bolts 202 and the fixing bolt 206, and the fixing bolt 206 is used to provide clamping pressure.

[0043] like Figure 4As shown, as a preferred embodiment of the present invention, the rudder angle recognition device 3 includes an encoder fixing plate 301, a synchronous wheel 302, an encoder 303, a synchronous belt 304, and a synchronous wheel 305; one end of the encoder fixing plate 301 is connected to the bolt hole position 205 of the clamping device a2, and the other end is connected to the encoder 303. The synchronous wheel 302 is installed on the input shaft of the encoder 303 for synchronizing the rotation angle information of the rudder. The synchronous belt 304 is respectively connected to the synchronous wheel 302 and the upper synchronous wheel 305 for synchronizing the angle change information of the rudder plate 106 to the encoder 303.

[0044] like Figure 5 As shown, as a preferred embodiment of the present invention, the resistance feedback adjustment device connecting plate 5 includes a bolt hole 501, a fixing bolt 502, an adjustment track 503, and an upper connecting plate 504; the bolt hole 501 cooperates with the bolt hole 205 in the clamping device a2 and the clamping device b4, and the fixing bolt 502 adjusts the length of the upper and lower connecting plates along the adjustment track 503. The upper connecting plate 504 and the lower connecting plate 701 are fixed by the fixing bolt 502 for connecting the rudder resistance feedback adjustment device 7 and the clamping device b4.

[0045] As shown in FIG6 , as a preferred embodiment of the present invention, the rudder resistance feedback adjustment device 7 includes a lower connecting plate 701, a stepping motor 702, a reducer 703, a bolt hole 704, a synchronous belt 705, a synchronous shaft 706, a synchronous wheel 707, a spiral spring 708, a gear guide rail 709, a limit block 710, a reduction gear 711, and a synchronous gear 712; a bolt hole 704 is provided at the bottom of the lower connecting plate 701 for connecting with the outer shell of the entire rudder resistance feedback adjustment device 7, and the upper end is connected to the resistance feedback adjustment device connecting plate 5 for adjusting the distance, the output shaft of the stepping motor 702 is connected to the reducer 703 for increasing the motor output torque and the stroke length, and the synchronous shaft 706 is respectively arranged A synchronous wheel 305 is installed. The synchronous wheel 305 located at the lower side and the middle is connected to one end of the synchronous belt 705, and the other end is respectively connected to the upper and lower synchronous wheels 707. A synchronous gear 712 is installed between the upper and lower synchronous wheels 707. The synchronous gear 712 is engaged with the teeth on both sides of the outer wall. When the synchronous gear 712 rotates, it drives the gear guide rail 709 to produce displacement, thereby compressing or stretching the spiral spring 708 to achieve resistance feedback. The limit block 710 is used to limit the displacement of the gear guide rail 709. When the environment in the simulation scene changes, the reduction gear 711 is rotated by the stepping motor 702 to rotate the corresponding angle, and the reduction gear 711 is engaged with the inner wall teeth, thereby adjusting the gear guide rail 709 to achieve the adjustment of the damping size.

[0046] As a preferred embodiment of the present invention, a method for operating an external rudder device for sailboat driving simulation training comprises the following steps:

[0047] (1) First, the clamping device 2 and the clamping device 4 in the device are installed on the upper rear side of the sailboat hull 8 according to the corresponding empty spaces, and the stern plate 6 is made to be close to the rear side of the sailboat hull 8. The positioning block 207 is adjusted by twisting the fixing bolt 206 to squeeze the stern plate 6. The same steps are performed to operate the clamping device 4, so that the entire device is fixed to the sailboat hull 8.

[0048] (2) The operator first controls the swing of the operating link 101 by using his arm. The operating link 101 drives the swing of the tiller handle 103 through the elasticity of the elastic short rope 102, thereby rotating the ship board 106. The rotation signal of the rudder board 106 is transmitted to the synchronous shaft 706 through the rudder board connector 107. The synchronous wheel 305 located on the upper side of the synchronous shaft 706 then transmits the rotation signal to the synchronous wheel 302 through the synchronous belt 304. The synchronous wheel 302 is coaxially connected to the encoder 303, and the rotation signal is transmitted to the computer through the encoder 303 to be converted into an electrical signal, thereby realizing the reading of the rudder angle signal.

[0049] (3) During the sailing simulation, similar to (2), the operator manipulates the rudder plate 106 to perform the reversing operation. The synchronous shaft 706 of the rudder plate 106 and the rudder plate connecting member 107 is connected to the synchronous wheel 707 of the resistance feedback adjustment device 7 through the synchronous belt 705. The synchronous gear 712 coaxially connected to the synchronous wheel 707 and the guide rack 713 of the resistance feedback adjustment device 7 drive the helical spring 708 to stretch and compress, thereby realizing resistance feedback. When the simulation environment changes, the computer transmits a signal to the stepping motor 702 in the resistance feedback adjustment device 7 to rotate the corresponding angle to drive the gear guide 714 to adjust the stretching and compression degree of the helical spring 708, thereby realizing the adjustment of the damping size. The output shaft of the stepper motor 702 is connected to the reducer 703 to increase the output torque and stroke length of the stepper motor 702. The reduction gear 711 at the end of the reducer 703 is connected to the coil spring 708 in the resistance feedback adjustment device 7 through the guide rack 714 to control the expansion and contraction amount of the coil spring 708 in the resistance feedback adjustment device 7 to control the output torque thereof.

[0050] The above embodiments are only used to illustrate and not to limit the technical solutions of the present invention. Any modification or partial replacement that does not deviate from the spirit of the present invention should be included in the scope of the claims of the present invention.

Claims

1. An external rudder device for sailboat driving simulation training, characterized in that: The invention comprises a rudder (1), a clamping device a (2), a rudder angle identification device (3), a clamping device b (4), a resistance feedback adjustment device connecting plate (5), a stern plate (6), and a rudder resistance feedback adjustment device (7). The clamping device a (2) and the clamping device b (4) are respectively arranged on both sides of the upper end of the stern plate (6). The rudder (1) is located in the middle of the stern plate (6). The rudder angle identification device (3) is connected to the clamping device a (2) by bolts. The rudder resistance feedback adjustment device (7) is respectively connected and fixed to the clamping device b (4) by the resistance feedback adjustment device connecting plate (5). The stern plate (6) is the stern plate of a sailboat in reality.

2. The external rudder device for sailboat driving simulation training according to claim 1, characterized in that: The rudder (1) comprises an operating connecting rod (101), an elastic short rope (102), a tiller (103), a rudder fixing block spring (104), a rudder fixing block (105), a rudder plate (106), and a rudder plate connecting piece (107); The operating link (101) is connected to the tiller (103) via an elastic short rope (102), the elastic short rope (102) having a rebound characteristic, the other end of the tiller (103) is connected to the upper end of the rudder plate (106) via a bolt, a rudder fixing block spring (104) is provided between the rudder fixing block (105) and the stern plate (6) for limiting the rotational movement of the rudder fixing block (105), the rudder fixing block (105) is connected to the rudder plate connecting member (107) via a synchronous shaft (706) via bolts, and the rudder plate connecting member (107) is connected to the side of the rudder plate (106) via bolts.

3. The external rudder device for sailboat driving simulation training according to claim 1, characterized in that: The clamping device a (2) or the clamping device b (4) comprises a fixing spring (201), a positioning bolt (202), a clamping block (203), a rubber gasket (204), a bolt hole (205), a fixing bolt (206), and a positioning block (207); The fixing spring (201) is combined with the positioning bolt (202) to provide elastic force for the positioning bolt (202). The positioning bolt (202) is connected to the positioning block (207) to apply elastic force to the positioning block (207) to drive it to return to its initial position. A rubber gasket (205) is arranged on the inner side of the clamping block (203) to increase friction and improve the clamping effect. A bolt hole (205) is opened on the front of the lower side of the clamping block (203) to connect the rudder angle recognition device (3) and the resistance feedback adjustment device connecting plate (5). Three holes are opened on the front side of the clamping block (203). Decibels are applied to the two positioning bolts (202) and the fixing bolt (206). The fixing bolt (206) is used to provide clamping pressure.

4. The external rudder device for sailboat driving simulation training according to claim 1, characterized in that: The rudder angle recognition device (3) comprises an encoder fixing plate (301), a synchronous wheel (302), an encoder (303), a synchronous belt (304), and a synchronous wheel (305); one end of the encoder fixing plate (301) is connected to a bolt hole (205) of a clamping device a (2), and the other end is connected to the encoder (303); a synchronous wheel (302) is mounted on the input shaft of the encoder (303) for synchronizing the rotation angle information of the rudder; the synchronous belt (304) is respectively connected to the synchronous wheel (302) and the upper synchronous wheel (305) for synchronizing the angle change information of the rudder plate (106) to the encoder (303).

5. The external rudder device for sailboat driving simulation training according to claim 1, characterized in that: The resistance feedback adjustment device connecting plate (5) comprises a bolt hole (501), a fixing bolt (502), an adjustment track (503), and an upper connecting plate (504); the bolt hole (501) cooperates with the bolt hole (205) in the clamping device a (2) and the clamping device b (4); the fixing bolt (502) adjusts the length of the upper and lower connecting plates along the adjustment track (503); the upper connecting plate (504) and the lower connecting plate (701) are fixed by the fixing bolt (502) for connecting the rudder resistance feedback adjustment device (7) and the clamping device b (4).

6. The external rudder device for sailboat driving simulation training according to claim 1, characterized in that: The rudder resistance feedback adjustment device (7) comprises a lower connecting plate (701), a stepping motor (702), a reducer (703), bolt holes (704), a synchronous belt (705), a synchronous shaft (706), a synchronous wheel (707), a spiral spring (708), a gear guide rail (709), a limit block (710), a reduction gear (711), a synchronous gear (712), a guide rail rack (713), and a guide rail rack (714); The bottom of the lower connecting plate (701) is provided with bolt holes (704) for connecting with the housing of the entire rudder resistance feedback adjustment device (7). The upper end is connected with the resistance feedback adjustment device connecting plate (5) for adjusting the distance. The output shaft of the stepping motor (702) is connected with the reducer (703) for increasing the output torque and stroke length of the motor. The synchronous shaft (706) is respectively equipped with synchronous wheels (305). The synchronous wheels (305) located at the lower side and the middle are connected with one end of the synchronous belt (705), and the other end is respectively connected with the upper and lower synchronous wheels (707). The upper and lower synchronous wheels (707) are connected with each other. A synchronous gear (712) is installed between the two guide rails (709) and the gears (712) mesh with the teeth on both sides of the outer wall. When the synchronous gear (712) rotates, it drives the gear guide rail (709) to generate displacement, thereby compressing or stretching the coil spring (708) to achieve resistance feedback. The limit block (710) is used to limit the displacement of the gear guide rail (709). When the environment in the simulation scene changes, the stepper motor (702) rotates to rotate the reduction gear (711) to a corresponding angle, and the reduction gear (711) meshes with the teeth on the inner wall, thereby adjusting the gear guide rail (709) to achieve the adjustment of the damping size.

7. The method for operating an external rudder device for sailboat driving simulation training according to any one of claims 1 to 6, characterized in that: The following steps are involved: 1) First, the clamping device (2) and the clamping device (4) in the device are installed at the upper rear side of the sailboat hull (8) according to the corresponding empty spaces, and the stern plate (6) is closely attached to the rear side of the sailboat hull (8), and the positioning block (207) is adjusted by twisting the fixing bolt (206) to squeeze the stern plate (6), and the clamping device (4) is operated by the same steps, so that the entire device is fixed to the sailboat hull (8); 2) The operator first controls the swing of the operating link (101) by means of the arm, and the operating link (101) drives the swing of the tiller (103) through the elasticity of the elastic short rope (102), thereby rotating the ship board (106), and the rotation signal of the rudder board (106) is transmitted to the synchronous shaft (706) through the rudder board connecting member (107), and the synchronous wheel (305) located on the upper side of the synchronous shaft (706) then transmits the rotation signal to the synchronous wheel (302) through the synchronous belt (304), and the synchronous wheel (302) is coaxially connected with the encoder (303), and the rotation signal is transmitted to the computer through the encoder (303) and converted into an electrical signal, so as to realize the reading of the rudder angle signal; 3) During the sailing motion simulation, similar to step 2), the operator manipulates the rudder plate (106) to perform a reversing operation, and the rudder plate (106) and the rudder plate connecting member (107) are connected to the synchronizing wheel (707) of the resistance feedback adjustment device (7) through a synchronizing belt (705), and the synchronizing gear (712) coaxially connected to the synchronizing wheel (707) and the movement of the guide rack (713) of the resistance feedback adjustment device (7) drive the helical spring (708) to stretch and compress, thereby realizing resistance feedback; When the simulation environment changes, the computer transmits a signal to the stepping motor (702) in the resistance feedback adjustment device (7), which rotates the corresponding angle to drive the gear guide rail (714) to adjust the extension and compression degree of the spiral spring (708), thereby adjusting the damping size; The output shaft of the stepper motor (702) is connected to a reducer (703) to increase the output torque and stroke length of the stepper motor (702); a reduction gear (711) at the end of the reducer (703) is connected to a coil spring (708) in a resistance feedback adjustment device (7) through a guide rail rack (714) to control the expansion and contraction amount of the coil spring (708) in the resistance feedback adjustment device (7) to control the output torque.

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