Sail mechanism and navigation equipment

Abstract

The utility model provides a sail mechanism and navigation equipment. The sail mechanism comprises a sail shaft, a sail connected with the sail shaft, an empennage shaft connected with the sail, an empennage connected with the empennage shaft and an empennage driving piece. The sail can rotate around the sail shaft, the empennage shaft and the sail shaft are arranged at intervals, the empennage can rotate around the empennage shaft, and the empennage driving piece can drive the empennage to rotate around the empennage shaft by a target angle. By the adoption of the technical scheme, when wind comes from the right side of the navigation equipment, the empennage driving piece controls the empennage to rotate by a certain angle clockwise, lift force generated by the empennage enables the sail to deflect at the moment, an included angle is formed between the sail and the wind direction, and the lift force generated by the sail can push the navigation equipment to navigate along the target course at the moment. And the wind from the left side is contrary. When the wind direction changes within a certain range, the deflection angle of the empennage is kept, the sail can be adjusted to the optimal angle in a self-adaptive mode, and sailing power is provided for sailing.

Description

Technical Field

[0001] The utility model relates to the technical field of navigation equipment, and more specifically, to a sail mechanism and navigation equipment. Background Art

[0002] A rigid wing sailboat adjusts the angle between the sail and the wind by rotating the sail shaft through a servo. When the wind angle changes, if the sail angle is not adjusted in time, the speed of the sailboat will be affected. This sail control method refers to the angle of the hull and calculates the angle between the sail and the wind by collecting the angle between the wind and the hull. The calculation is relatively complicated. For example, sensors are required to provide accurate wind direction information and bow direction information, and efficient navigation algorithms are required. However, it is difficult for existing rigid wing sailboats to achieve these. Utility Model Content

[0003] The utility model aims to provide a sail mechanism and a sailing device to solve the technical problem in the prior art that it is difficult to adjust the angle of the sail of a rigid wing-shaped sailboat to adapt to the wind.

[0004] In order to achieve the above purpose, the technical solution adopted by the utility model is:

[0005] In a first aspect, a sail mechanism is provided, comprising:

[0006] A sail shaft, a sail connected to the sail shaft, a tail shaft connected to the sail, a tail connected to the tail shaft, and a tail drive; the sail can rotate around the sail shaft, the tail shaft is spaced apart from the sail shaft, the tail can rotate around the tail shaft, and the tail drive can drive the tail to rotate around the tail shaft to a target angle.

[0007] By adopting the above technical solution, a tail wing is installed on the sail, and the target angle of the tail wing is adjusted by the tail wing drive; when the wind comes from the right side of the sailing device, the tail wing drive controls the tail wing to rotate clockwise by a certain angle. At this time, the lift generated by the tail wing will deflect the sail and form an angle with the wind direction. At this time, the lift generated by the sail can push the sailing device to sail along the target course. The opposite is true for the wind coming from the left side. When the wind direction changes within a certain range, the deflection angle of the tail wing is maintained, and the sail can be adaptively adjusted to the optimal angle to provide sailing power for sailing.

[0008] In one embodiment, the tail wing axis and the sail axis form a preset angle, and the preset angle ranges from 0° to 90°.

[0009] By adopting the above technical solution, it is achieved that the tail wing drives the sail to rotate around the sail axis.

[0010] In one embodiment, the sail mechanism further comprises a tail connector connected to the sail, the length direction of the tail connector being perpendicular to the sail axis, and the tail axis is provided at one end of the tail connector away from the sail, so that the tail is spaced apart from the sail.

[0011] By adopting the above technical solution, the force arm of the tail wing is increased, making it easier for the sail to rotate, which is beneficial for rotating the sail to a suitable angle of attack and improving the power of the sail.

[0012] In one embodiment, the tail wing shaft extends from the tail wing connecting member on both sides in a direction parallel to the sail axis, and a tail wing is respectively provided at both ends of the tail wing shaft.

[0013] By adopting the above technical solution, the balance of the force applied by the tail wing is improved and the possibility of damage to the tail wing connecting parts is reduced.

[0014] In one embodiment, the sail mechanism further comprises a sensor for acquiring incoming wind information, and the tail wing drive is electrically connected to the sensor.

[0015] By adopting the above technical solution, the sail control mechanism is simplified and the adaptive performance of the sail is improved.

[0016] In one embodiment, the sail and the tail fin are wing-shaped.

[0017] By adopting the above technical solution, the power that the sail can provide to the sailing equipment is increased.

[0018] In one embodiment, the tail fin is located on the leeward side of the sail.

[0019] By adopting the above technical solution, the tail wing can assist the leeward end of the sail to rotate to a suitable position when subjected to wind force.

[0020] In one embodiment, the tail driving component includes a motor and a transmission arm, wherein the motor is fixedly connected to the sail, the motor is provided with a power output shaft, the transmission arm is rotatably connected to the tail, and the power output shaft is used to drive the transmission arm to drive the tail to rotate around the tail axis.

[0021] By adopting the above technical solution, the structure of the tail wing driving component is simple and easy to manufacture, which can reduce the manufacturing cost of the sail mechanism.

[0022] In a second aspect, a navigation device is provided, comprising a navigation device body and the above-mentioned sail mechanism, wherein the sail mechanism is arranged on the navigation device body.

[0023] By adopting the above technical solution, the navigation equipment does not need precise navigation algorithms, and semi-automatic sail control is achieved, thereby improving the adaptability of the sail; simplifying the sail control mechanism (tail wing drive component), reducing the weight of the sail mechanism; and reducing the energy consumption of sail control.

[0024] In one embodiment, the sail shaft is arranged perpendicular to the sailing equipment body.

[0025] By adopting the above technical solution, the sail shaft is erected on the main body of the navigation equipment, so that the sail can provide power parallel to the horizontal plane, thereby improving power efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0027] Figure 1 It is a three-dimensional structural diagram of the sail mechanism provided by the embodiment of the utility model.

[0028] Figure 2 This is a top view of the sail mechanism provided by the embodiment of the utility model. Figure 1 .

[0029] Figure 3 This is a top view of the sail mechanism provided by the embodiment of the utility model. Figure 2 .

[0030] Figure 4 This is a top view of the sail mechanism provided by the embodiment of the utility model. Figure 3 .

[0031] Figure 5 This is a top view of the sail mechanism provided by the embodiment of the utility model. Figure 4 .

[0032] Figure 6 yes Figure 1 Magnified view of point “A” in the figure.

[0033] The reference numerals in the figures are:

[0034] 1. Sail shaft; 2. Sail; 3. Tail shaft; 4. Tail; 5. Tail drive; 6. Tail connector; 7. Navigation equipment body;

[0035] 51. Motor; 52. Transmission arm. DETAILED DESCRIPTION

[0036] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0037] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it may be directly located on the other element or indirectly located on the other element. When an element is referred to as being "connected to" another element, it may be directly connected to the other element or indirectly connected to the other element.

[0038] It should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside" and "outside" etc., indicating directions or positional relationships, are based on the directions or positional relationships shown in the accompanying drawings and are only for the convenience of describing the present invention, and do not indicate that a device or element must have a specific direction, be constructed and operated in a specific direction. Therefore, it should not be understood as a limitation on the present invention.

[0039] In addition, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating relative importance or indicating the number of technical features. In the description of the present utility model, the meaning of "multiple" is two or more, unless otherwise clearly and specifically defined. The following is a more detailed description of the specific implementation of the present utility model in conjunction with specific embodiments:

[0040] like Figure 1 As shown, a sail mechanism provided by an embodiment of the utility model is applied to navigation equipment. In this embodiment, the navigation equipment includes but is not limited to manned ships and unmanned ships; the sail mechanism is arranged on the navigation equipment, and the resistance of the navigation equipment is reduced by the sail mechanism, the power of the navigation equipment is improved, and the speed of the navigation equipment is reduced; the sail mechanism provided by this embodiment can improve its ability to adapt to the wind direction, so that the angle of the sail mechanism relative to the wind direction is adjustable, and the speed of the navigation equipment is improved; the following is an explanation through specific implementation methods:

[0041] The sail mechanism of this embodiment includes:

[0042] A sail shaft 1, a sail 2 connected to the sail shaft 1, a tail wing shaft 3 connected to the sail 2, a tail wing 4 connected to the tail wing shaft 3, and a tail wing driving component 5; the sail 2 can rotate around the sail shaft 1, the tail wing shaft 3 is spaced apart from the sail shaft 1, the tail wing 4 can rotate around the tail wing shaft 3, and the tail wing driving component 5 can drive the tail wing 4 to rotate around the tail wing shaft 3 to a target angle.

[0043] Here, it can be understood that the sail shaft 1 refers to a shaft body used to carry and rotate the sail 2; the sail shaft 1 is used to be arranged on the navigation equipment body 7 of the navigation equipment, such as the hull of an unmanned ship, and the sail shaft 1 is generally erected on the hull, that is, the axis of the sail shaft 1 is perpendicular to the surface of the hull, so that when the sail 2 rotates around the sail shaft 1, the power provided by the sail 2 is parallel to the horizontal plane, thereby reducing the loss of the power provided by the sail 2, which is conducive to improving the speed of the navigation equipment;

[0044] Sail 2 refers to a sail-shaped component; Sail 2 can provide power for the navigation device to move forward; in the present embodiment, sail 2 can be an airfoil sail, the cross section of the airfoil sail is similar to the cross section of the wing of an airplane, and common airfoil sails are rectangular sails and triangular sails; the propulsion principle of the airfoil sail navigation device is similar to that of an airplane wing, when the airfoil sail encounters a wind direction that is at a certain angle to its chord, which can be called the angle of attack, the flow velocity on the back of the wing is high, and the flow velocity and pressure on the other side are low. According to Bernoulli's principle, when the airflow bypasses the airfoil sail, the fluid pressure is low where the flow velocity is high, and the pressure is high where the flow velocity is low. Therefore, the upper and lower surfaces of the airfoil sail produce a pressure difference due to the difference in flow velocity, thereby generating power for the navigation device to move forward;

[0045] The tail shaft 3 refers to a shaft body used to carry and rotate the tail 4; the tail shaft 3 is used to be arranged on the sail 2, and the tail shaft 3 is arranged at a distance from the sail shaft 1, so that the power generated by the tail 4 can drive the entire sail 2 to rotate around the sail shaft 1 through the tail shaft 3;

[0046] The tail wing 4 refers to an airfoil component; the tail wing 4 can provide the power for the sail 2 to rotate around the sail axis 1; in the present embodiment, the tail wing 4 can be an airfoil, the same as the sail 2. When the tail wing 4 encounters a wind direction that forms a certain angle with its chord, which can be called the angle of attack, the flow velocity behind the tail wing 4 is large, and the flow velocity and pressure are high on the other side. According to Bernoulli's principle, when the airflow bypasses the tail wing 4, the fluid pressure is small where the flow velocity is large, and the pressure is large where the flow velocity is small. Therefore, the upper and lower surfaces of the tail wing 4 produce a pressure difference due to the difference in flow velocity, thereby generating the power for the sail 2 to rotate around the sail axis 1;

[0047] The tail driving component 5 refers to a driving component for driving the tail 4 to rotate around the tail axis 3; the tail driving component 5 includes but is not limited to a servo, and the tail 4 is driven to rotate by the tail driving component 5, so that the tail 4 can present a certain angle of attack with the wind direction, driving the sail 2 to rotate to a suitable angle, thereby increasing the power that the sail 2 can provide.

[0048] The working principle of the sail mechanism provided in this embodiment is as follows:

[0049] The sail mechanism is erected on the navigation equipment body 7; Figure 2As shown, when the sail mechanism encounters a wind direction from the right side of the target course Y of the sailing equipment, at this time, the sail 2 and the tail wing 4 are perpendicular to the wind direction X, and the wind will generate a deflection force on the entire sail 2, such as Figure 3 As shown, the sail 2 and the tail wing 4 are driven to rotate clockwise around the sail axis 1 to a position parallel to the wind direction X. At the same time, the wind direction X causes the navigation equipment to move in a direction parallel to the wind direction X, that is, the actual heading Z is perpendicular to the target heading Y. At this time, Figure 4 As shown, the tail wing 4 can be deflected clockwise to form a certain angle of attack with the wind direction X, and the tail wing 4 generates a counterclockwise rotation force to drive the sail 2 to rotate counterclockwise around the sail axis 1. At the same time, Figure 5 As shown, the sail 2 forms a certain angle of attack with the wind direction X again, so that the sail 2 generates power perpendicular to the wind direction X, so that the actual heading Z of the sailing equipment is consistent with the target heading Y;

[0050] On the contrary, when the sail mechanism encounters a wind direction X from the left side of the target heading Y of the sailing equipment, at this time, the sail 2 and the tail wing 4 are perpendicular to the wind direction X, and the wind will generate a deflection force on the entire sail 2, driving the sail 2 and the tail wing 4 to rotate counterclockwise around the sail axis 1 to a position parallel to the wind direction X. At the same time, the wind direction X causes the sailing equipment to move in a direction parallel to the wind direction X, that is, the actual heading Z is perpendicular to the target heading Y; at this time, the tail wing 4 can be deflected counterclockwise so that the tail wing 4 forms a certain angle of attack with the wind direction X, and the tail wing 4 generates a clockwise rotational force to drive the sail 2 to rotate clockwise around the sail axis 1. At the same time, the sail 2 forms a certain angle of attack with the wind direction X again. In this way, the sail 2 generates a power perpendicular to the wind direction X, so that the actual heading Z of the sailing equipment is consistent with the target heading Y.

[0051] It needs to be further explained that the tail wing drive 5 can obtain the wind direction X through a sensor, and then adjust the rotation angle of the tail wing 4 around the tail wing axis 3 according to the wind direction X; or, the tail wing drive 5 is input with a control instruction by an operator, and the operator inputs a control instruction based on the wind direction X judged by himself, so that the tail wing drive 5 drives the tail wing 4 to rotate to the target angle.

[0052] By adopting the above technical solution, the tail 4 is installed on the sail 2, and the target angle of the tail 4 is adjusted by the tail driving component 5; when the wind comes from the right side of the sailing device, the tail driving component 5 controls the tail 4 to rotate clockwise by a certain angle, and the lift generated by the tail 4 will deflect the sail 2 and form an angle with the wind direction X. At this time, the lift generated by the sail 2 can push the sailing device to sail along the target heading Y. The opposite is true for the wind coming from the left side. When the wind direction X changes within a certain range, the deflection angle of the tail 4 is maintained, and the sail 2 can be adaptively adjusted to the optimal angle to provide sailing power for sailing.

[0053] In addition, the sail mechanism of this embodiment has the following advantages:

[0054] 1. By rotating the fixed deflection angle given by the tail wing 4, the angle between the sail 2 and the wind is automatically adjusted to a more reasonable range, and the wind blows the sail 2 to naturally deflect to the optimal angle, reducing the difficulty of adjusting the sail mechanism;

[0055] 2. The tail 4 is deflected by a tail driving member 5, eliminating the servo on the sail shaft 1, streamlining the mass of the sail mechanism and improving the loading capacity of the sailing equipment;

[0056] 3. The tail wing driving member 5 is used to add a lever to deflect the sail 2. The tail wing driving member 5 does not need to be moved frequently, thereby reducing the energy consumption of the sailing equipment and extending the flight time of the sailing equipment.

[0057] In one embodiment, the tail wing axis 3 and the sail axis 1 form a preset angle, and the preset angle ranges from 0° to 90°.

[0058] Here, it can be understood that the tail wing axis 3 refers to the axis for the tail wing 4 to rotate; preferably, the tail wing axis 3 is parallel to the sail axis 1, so that the rotation trajectory of the tail wing 4 is parallel to the horizontal plane, the power generated by the tail wing 4 is parallel to the horizontal plane, and the power of the tail wing 4 is perpendicular to the sail axis 1, so that the sail 2 can be driven to rotate around the sail axis 1 to the maximum extent.

[0059] By adopting the above technical solution, it is achieved that the tail wing 4 drives the sail 2 to rotate around the sail axis 1.

[0060] In one embodiment, the sail mechanism further includes a tail connector 6 connected to the sail 2, the length direction of the tail connector 6 is perpendicular to the sail shaft 1, and a tail shaft 3 is provided at one end of the tail connector 6 away from the sail 2, so that the tail 4 is spaced apart from the sail 2.

[0061] Here, it can be understood that the tail wing connector 6 refers to a component used to connect the sail 2 and the tail wing 4; one end of the tail wing connector 6 is connected to the sail 2, and the other end of the tail wing connector 6 is connected to the tail wing 4, and the length direction of the tail wing connector 6 is perpendicular to the sail shaft 1. In this way, the force arm of the power provided by the tail wing 4 is increased, the torque of the sail shaft 1 is increased, and the sail 2 is more easily subjected to force and rotated.

[0062] By adopting the above technical solution, the moment arm of the tail wing 4 is increased, so that the sail 2 is easier to rotate, which is beneficial for rotating the sail 2 to a suitable angle of attack and improving the power of the sail 2.

[0063] In one embodiment, the tail shaft 3 extends from the tail connector 6 to both sides in a direction parallel to the sail shaft 1 , and a tail 4 is respectively provided at both ends of the tail shaft 3 .

[0064] Here, it can be understood that, in the present embodiment, the tail shaft 3 extends from the tail connector 6 toward the upper and lower sides, and a tail 4 is respectively provided at both ends of the tail shaft 3, that is, the two tail wings 4 are respectively provided at the two ends of the tail shaft 3, which improves the balance of the tail 4, so that the power applied to the tail connector 6 by the two tail wings 4 is the same, the tail connector 6 is evenly stressed, and the possibility of damage to itself is reduced.

[0065] By adopting the above technical solution, the balance degree of the force applied by the tail wing 4 is improved, and the possibility of damage to the tail wing connecting member 6 is reduced.

[0066] In one embodiment, the sail mechanism further includes a sensor for acquiring wind information, and the tail wing driving component 5 is electrically connected to the sensor.

[0067] Here, it can be understood that the present embodiment controls the sail 2 through the tail wing 4, and does not directly control the angle of the sail 2; the sensor only needs to identify whether the wind direction X is the left or right side of the sailing device, and correspondingly let the tail wing 4 deflect to the right or left by an angle, and the tail wing 4 will generate a deflection torque, forcing the sail 2 to deflect and form an optimal angle with the wind, pushing the sailing device to sail, and realizing semi-automatic sail control. When the heading or wind direction X changes, the sail 2 can be adaptively adjusted to the optimal angle.

[0068] By adopting the above technical solution, the sail control mechanism is simplified and the adaptive performance of the sail 2 is improved.

[0069] In one embodiment, the sail 2 and the tail fin 4 are wing-shaped.

[0070] Here, it can be understood that the shape of the sail 2 is wing-shaped, that is, the sail 2 is a wing-shaped sail; in order to improve the energy-saving efficiency of the sail 2, better aerodynamic characteristics are mainly obtained by changing the cross-sectional shape of the sail 2. The wing-shaped sail of this embodiment is a rigid wing-shaped sail.

[0071] By adopting the above technical solution, the power that the sail 2 can provide to the sailing equipment is increased.

[0072] In one embodiment, the tail fin 4 is located on the leeward side of the sail 2 .

[0073] Here, it can be understood that the sail 2 has a windward end and a leeward end; in the present embodiment, the windward end of the sail 2 is the larger end of the sail 2, and the leeward end is the smaller end of the sail 2; the tail wing 4 is located on the leeward side of the sail 2, so that the tail wing 4 can assist the leeward end of the sail 2 to rotate to a suitable position when subjected to wind force.

[0074] By adopting the above technical solution, the tail wing 4 can assist the leeward end of the sail 2 to rotate to a suitable position when subjected to wind force.

[0075] like Figure 6 As shown, in one embodiment, the tail driving component 5 includes a motor 51 and a transmission arm 52, the motor 51 is fixedly connected to the sail 2, the motor 51 is provided with a power output shaft, the transmission arm 52 is rotatably connected to the tail 4, and the power output shaft is used to drive the transmission arm 52 to drive the tail 4 to rotate around the tail axis 3.

[0076] Here, it can be understood that the tail wing driving component 5 is a steering gear.

[0077] By adopting the above technical solution, the tail wing driving component 5 has a simple structure and is easy to manufacture, which can reduce the manufacturing cost of the sail mechanism.

[0078] In a second aspect, a sailing device is provided, comprising a sailing device body 7 and the above-mentioned sail mechanism, wherein the sail mechanism is arranged on the sailing device body 7 .

[0079] By adopting the above technical solution, the navigation equipment does not need a precise navigation algorithm, and semi-automatic sail control is achieved, thereby improving the adaptability of the sail 2; simplifying the tail wing drive component 5 of the sail control mechanism, reducing the weight of the sail mechanism; and reducing the energy consumption of sail control.

[0080] In one embodiment, the sail shaft 1 is arranged perpendicular to the sailing equipment body 7 .

[0081] By adopting the above technical solution, the sail shaft 1 is erected on the navigation equipment body 7, so that the sail 2 can provide power parallel to the horizontal plane, thereby improving power efficiency.

[0082] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A sail mechanism, characterized in that: include: A sail shaft (1), a sail (2) connected to the sail shaft (1), a tail shaft (3) connected to the sail (2), a tail (4) connected to the tail shaft (3), and a tail driving component (5); the sail (2) is capable of rotating around the sail shaft (1), the tail shaft (3) is spaced apart from the sail shaft (1), the tail (4) is capable of rotating around the tail shaft (3), and the tail driving component (5) is capable of driving the tail (4) to rotate around the tail shaft (3) to a target angle.

2. The sail mechanism according to claim 1, characterized in that: The tail wing axis (3) and the sail axis (1) form a preset angle, and the preset angle ranges from 0° to 90°.

3. The sail mechanism according to claim 1, characterized in that: The sail mechanism further comprises a tail connecting member (6) connected to the sail (2), the length direction of the tail connecting member (6) being perpendicular to the sail shaft (1), and the tail shaft (3) is arranged at one end of the tail connecting member (6) away from the sail (2), so that the tail (4) and the sail (2) are spaced apart.

4. The sail mechanism according to claim 3, characterized in that: The tail shaft (3) extends from the tail connecting member (6) on both sides in a direction parallel to the sail shaft (1), and a tail (4) is respectively provided at both ends of the tail shaft (3).

5. The sail mechanism according to claim 1, characterized in that: The sail mechanism also includes a sensor for acquiring wind information, and the tail wing driving component (5) is electrically connected to the sensor.

6. The sail mechanism according to any one of claims 1 to 5, characterized in that: The sail (2) and the tail wing (4) are wing-shaped.

7. The sail mechanism according to claim 6, characterized in that: The tail wing (4) is located on the leeward side of the sail (2).

8. The sail mechanism according to any one of claims 1 to 5, characterized in that: The tail driving member (5) comprises a motor (51) and a transmission arm (52), wherein the motor (51) is fixedly connected to the sail (2), the motor (51) is provided with a power output shaft, the transmission arm (52) is rotatably connected to the tail (4), and the power output shaft is used to drive the transmission arm (52) to drive the tail (4) to rotate around the tail shaft (3).

9. A navigation device, characterized in that: It comprises a sailing equipment body (7) and a sail mechanism according to any one of claims 1 to 8, wherein the sail mechanism is arranged on the sailing equipment body (7).

10. The navigation device according to claim 9, characterized in that: The sail shaft (1) is arranged perpendicular to the sailing equipment body (7).

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