Separable wing sail structure for unmanned sailboat

Abstract

The separable wing sail structure comprises a mast, a main sail, an auxiliary sail, a fixing shaft, a linear driving mechanism and a servo motor, the main sail and the auxiliary sail are vertically arranged, the auxiliary sail is located behind the main sail, and the main sail and the auxiliary sail are combined to form a wing-shaped plate. The fixing shaft is vertically arranged on the front side of the auxiliary sail, the servo motor is installed on the inner side of the fixing shaft, and an output shaft of the servo motor drives the auxiliary sail to horizontally rotate relative to the fixing shaft. The linear driving mechanism is arranged in the main sail, the execution end of the linear driving mechanism penetrates out of the rear side wall of the main sail and is connected with the fixing shaft, and the linear driving mechanism drives the auxiliary sail to be close to or away from the rear side of the main sail through the fixing shaft. The main sail and the auxiliary sail are separated, rotation torque generated by the main sail is effectively reduced, stability of a ship body is enhanced, flexible adjustment of the auxiliary sail is combined, control performance is optimized, adaptability of the ship in a complex wind field is improved, fine adjustment can be carried out according to different sailing conditions, and overall sailing efficiency and stability are improved.

Description

Technical Field

[0001] This utility model relates to the field of unmanned sailboat technology, specifically to a detachable wing sail structure for unmanned sailboats. Background Technology

[0002] Unmanned sailboats are autonomous maritime vehicles powered by clean energy sources such as wind and solar power. Through autonomous or remote control systems, combined with advanced navigation technology and wind energy utilization mechanisms, they can complete navigation tasks without human intervention and are widely used in environmental monitoring, marine exploration, and other fields. The overall structure of an unmanned sailboat typically includes a hull, wing sail, keel, rudder, sensing system, and control system. The wing sail, as the main power system, is usually an integrated design. Its basic structure includes the mainsail and supporting structure. The mainsail generates lift through wind power, propelling the hull forward. The wing sail's working principle is based on aerodynamics; the shape and angle of the mainsail determine the relative interaction between the wind and the sail surface, thus generating a suitable driving force for navigation. When the wind blows the wing sail, airflow over the sail surface generates lift to propel the unmanned sailboat forward, similar to the principle of an airplane wing. The sail's angle and shape can be adjusted via the rudder or electric control system to optimize wind power utilization and maintain course stability.

[0003] Existing wing sails offer certain advantages in unmanned sailing applications, especially in stable wind conditions, effectively providing propulsion and maintaining course. Wing sails are designed based on aerodynamic principles, optimizing wind power utilization by adjusting the sail angle to ensure stable navigation of the unmanned sailboat along a predetermined route. Furthermore, the wing sail system has a relatively simple structure, reducing system complexity and maintenance costs. However, due to the complexity of the marine environment, existing technologies also have some limitations.

[0004] First, in situations with significant wind speed variations or complex wind fields, the wingsail's adjustment capabilities are limited, potentially failing to respond promptly to changes in wind force and leading to instability. Especially in strong winds, the wingsail may generate excessive rotational torque, affecting the boat's stability and maneuverability. Second, existing integrated wingsails lack sufficient flexibility during adjustment, unable to make precise adjustments based on real-time environmental changes. While some directional control can be achieved through the rudder system, optimal sailing performance remains difficult to achieve under complex airflow conditions. Therefore, although existing wingsail technology performs well under certain conditions, there is still room for further optimization in more complex and variable sailing environments. Utility Model Content

[0005] To address the shortcomings of the existing technology, the purpose of this invention is to propose a detachable wing sail structure for unmanned sailboats, which solves the problem that the wing sail's adjustment capability is limited when encountering large wind speed changes or complex wind fields, making it unable to respond to wind changes in a timely manner, resulting in unstable navigation and an inability to make fine adjustments according to real-time environmental changes.

[0006] To achieve the above objectives, the technical solution adopted by this utility model is as follows:

[0007] A detachable wing-sail structure for unmanned sailboats includes a mast, a mainsail, a secondary sail, a fixed shaft, a linear drive mechanism, and a servo motor. Both the mainsail and the secondary sail are arranged vertically, with the secondary sail located behind the mainsail. The mainsail and the secondary sail are combined to form an airfoil.

[0008] The mast is vertically installed inside the mainsail, with its lower end extending out from the bottom of the mainsail and connected to the hull of the unmanned sailboat.

[0009] A fixed shaft is vertically arranged on the front side of the auxiliary sail. The upper and lower parts of the auxiliary sail are hinged to the fixed shaft. The servo motor is installed inside the fixed shaft, and its output shaft drives the auxiliary sail to rotate horizontally relative to the fixed shaft.

[0010] The linear drive mechanism is located inside the mainsail, with its actuator protruding through the rear sidewall of the mainsail and connected to a fixed shaft. The linear drive mechanism drives the auxiliary sail to move closer to or away from the rear side of the mainsail via the fixed shaft.

[0011] Furthermore, the mainsail is a hollow rectangular plate with the leading edge of an airfoil on its front side and the rear sidewall of the mainsail being an inwardly concave first arc surface.

[0012] The mainsail has a first wing rib, a second wing rib, and a third wing rib inside. All wing ribs are arranged sequentially from top to bottom at intervals and are fixedly connected to the inner wall of the mainsail as a whole. The upper middle part of the mast is fixedly connected to the first wing rib, the second wing rib, and the third wing rib.

[0013] Furthermore, the auxiliary sail is a hollow strip-shaped plate, the rear end of the auxiliary sail is the trailing edge of the airfoil, the front sidewall of the auxiliary sail has an inwardly concave second arc surface, the cross-section of the fixed shaft is circular, and its circumferential sidewall matches the front sidewall of the auxiliary sail.

[0014] Furthermore, the upper and lower ends of the front end of the auxiliary sail are respectively provided with an upper hinge and a lower hinge, and the fixed shaft is located between the upper hinge and the lower hinge, with its lower end rotatably connected to the upper hinge.

[0015] The servo motor is embedded in the upper end of the fixed shaft, and its output shaft passes through the inner side of the upper hinge and is connected to the upper hinge via a flat key.

[0016] Furthermore, the linear drive mechanism includes an electric push rod and a guide rod. The electric push rod is mounted on the second wing rib, and its actuating end extends through the rear sidewall of the mainsail and is fixedly connected to the fixed shaft.

[0017] There are two guide rods, which are arranged in parallel and are longitudinally slidably connected to the first wing rib and the third wing rib respectively. The rear end of each guide rod extends through the rear side wall of the mainsail and is fixedly connected to the fixed shaft. In the working state, the electric push rod drives the fixed shaft to move back and forth relative to the mainsail.

[0018] Furthermore, the guide rod is a square tube with a slide rail integrally formed at its bottom. The surfaces of the first rib and the third rib are provided with guide grooves that match the slide rail. The slide rail is located in the corresponding guide groove and slides in cooperation with the inner wall of the guide groove.

[0019] The rear sidewall of the mainsail has two square openings that correspond one-to-one with the positions of the guide rods, and the outer wall of each guide rod slides into the sidewall of the square opening.

[0020] By adopting the above technical solution, the beneficial technical effects of this utility model are:

[0021] 1. This utility model adopts a separate design for the mainsail and auxiliary sail, allowing them to be adjusted independently. This enables more flexible response to changes in wind speed and direction, optimizing wind power utilization. When wind speed changes significantly or complex wind fields are encountered, controlling the separation of the auxiliary sail from the mainsail effectively reduces the rotational torque generated by wind forces and automatically balances the power output of the hull, significantly improving stability during navigation. Especially in complex wind fields and unstable weather conditions, it avoids the poor stability of unmanned sailboats caused by the untimely adjustment of integrated wing sails when dealing with changing wind forces.

[0022] 2. This invention combines an adjustable relative rotation mechanism between the auxiliary sail and the main sail, allowing the angle of the auxiliary sail to be adjusted in real time according to actual needs to counteract the unbalanced force generated by the main sail, thereby precisely controlling the course. Compared with the single control method in the prior art, it improves the control precision and the flexibility of course adjustment. Especially in strong winds or complex airflow environments, it can ensure that the unmanned sailboat always maintains the ideal course, greatly enhancing the stability and response speed of navigation.

[0023] 3. This utility model has better adaptability. Under conditions of large wind speed fluctuations and unstable airflow, it can achieve fine adjustment of sail configuration through the separate design. Whether in weak wind area or strong wind area, the design of the detachable structure allows the two parts of the sail to be optimized according to different sailing conditions, thereby maximizing wind power utilization efficiency and improving the sailing efficiency and stability of the sailboat in complex marine environment. It not only enhances the adaptability of unmanned sailboat in changing environment, but also improves the overall sailing performance, enabling it to perform well in a wider range of application scenarios. Attached Figure Description

[0024] Figure 1 This is a schematic diagram of a detachable wing sail structure for an unmanned sailboat according to the present invention.

[0025] Figure 2 This is a diagram showing the usage state of a detachable wing sail structure for an unmanned sailboat according to this utility model.

[0026] Figure 3 This is a cross-sectional view of a detachable wing sail structure for an unmanned sailboat according to the present invention.

[0027] Figure 4 This is a top view of the detachable wing sail structure for unmanned sailboats according to this utility model, in its usage state.

[0028] Figure 5 This is a three-dimensional structural diagram of the main sail of this utility model.

[0029] Figure 6 This is a cross-sectional view of the main sail of this utility model.

[0030] Figure 7 This is a schematic diagram of the combination of the main sail, fixed shaft and linear drive mechanism of this utility model.

[0031] Figure 8 This is a three-dimensional structural diagram of the auxiliary sail of this utility model.

[0032] Figure 9 This is a schematic diagram of the assembly of the auxiliary sail, fixed shaft, and linear drive mechanism of this utility model. Detailed Implementation

[0033] The present invention will now be described in detail with reference to the accompanying drawings:

[0034] Combination Figures 1 to 9A detachable wing-sail structure for unmanned sailboats includes a mast 1, a mainsail 2, a secondary sail 3, a fixed shaft 4, a linear drive mechanism, and a servo motor 5. Both the mainsail 2 and the secondary sail 3 are vertically arranged, with the secondary sail 3 located behind the mainsail 2. The mainsail 2 and the secondary sail 3 together form an airfoil. The mainsail 2 is a hollow rectangular plate, with its front side forming the leading edge of the airfoil. The rear sidewall of the mainsail 2 is an inwardly concave first arcuate surface 21, which extends to both the upper and lower ends of the mainsail 2.

[0035] The mast 1 is vertically installed inside the mainsail 2, with its lower end extending through the bottom of the mainsail 2 and connected to the hull of the unmanned sailboat. A rotating device inside the unmanned sailboat is fixedly connected to the lower end of the mast 1. The rotating device uses existing technology to drive the mast 1 to rotate the mainsail 2 around the axis of the mast 1, adjusting the angle of the mainsail 2 according to the wind direction.

[0036] The upper and lower ends of the mainsail 2 are both closed structures. The interior of the mainsail 2 is provided with a first wing 22, a second wing 23 and a third wing 24. The first wing 22, the second wing 23 and the third wing 24 are arranged in sequence from top to bottom at intervals. The outer edge of each wing 2 is fixedly connected to the inner wall of the mainsail 2 as a whole. The middle and upper part of the mast 1 passes through each wing 2 and is fixedly connected to the first wing 22, the second wing 23 and the third wing 24 respectively.

[0037] The auxiliary sail 3 is a hollow strip-shaped plate, with its rear end being the trailing edge of an airfoil. The front sidewall of the auxiliary sail 3 has an inwardly recessed second arc surface 31. The fixed shaft 4 is a straight rod with a circular cross-section, and its circumferential sidewall matches the second arc surface 31 on the front side of the auxiliary sail 3.

[0038] The auxiliary sail 3 has an upper hinge portion 32 and a lower hinge portion 33 at its upper and lower ends, respectively. The upper hinge portion 32 and the lower hinge portion 33 are located above and below the second arc surface 31, respectively, and are integral with the auxiliary sail 3. The front sides of the upper hinge portion 32 and the lower hinge portion 33 are both arc-shaped surfaces that match the first arc surface 21. The fixed shaft 4 is located between the upper hinge portion 32 and the lower hinge portion 33, and its lower end is rotatably connected to the upper hinge portion 32.

[0039] The fixed shaft 4 is vertically arranged on the front side of the auxiliary sail 3. The upper and lower parts of the auxiliary sail 3 are hinged to the fixed shaft 4. The servo motor 5 is installed on the inner side of the fixed shaft 4, and its output shaft drives the auxiliary sail 3 to rotate horizontally relative to the fixed shaft 4.

[0040] Specifically, a vertically arranged pin is located above the lower hinge portion 33. The lower end of the pin is fixedly connected to the upper surface of the lower hinge portion 33, and the upper end passes through the lower part of the fixed shaft 4. The fixed shaft 4 and the pin are coaxially arranged and rotatably engaged. A cavity is formed at the upper end of the fixed shaft 4, and the servo motor 5 is fixedly installed in the cavity at the upper end of the fixed shaft 4. The output shaft of the servo motor 5 is coaxially arranged with the pin and passes through the inner side of the upper hinge portion 32, and is connected to the upper hinge portion 32 by a flat key. The servo motor 5 is powered by the power system of the unmanned sailboat, and its signal terminal is communicatively connected to the control system of the unmanned sailboat. The angle adjustment of the auxiliary sail 2 is controlled according to the instructions of the unmanned sailboat control system.

[0041] In operation, the servo motor 5 drives the auxiliary sail 3 to rotate around the axis of the fixed shaft 4, adjusting the angle of the auxiliary sail 3 relative to the main sail 2, changing the angle of attack of the auxiliary sail 2 so that it generates a compensating torque at the center of gravity of the unmanned sailboat, so as to balance the rotational torque brought by the main sail 1, reduce the bow roll amplitude of the unmanned sailboat, reduce the vibration frequency, thereby ensuring that the unmanned sailboat maintains balance, enhances the course stability, and improves the hull's anti-capsulation ability.

[0042] The linear drive mechanism is located inside the main sail 2. Its actuator extends through the rear side wall of the main sail 2 and is connected to the fixed shaft 4. The linear drive mechanism drives the auxiliary sail 3 to close or separate from the main sail 2 through the fixed shaft 4. When the main sail 3 and auxiliary sail 6 are in the closed state, the front sides of the upper hinge 32 and the lower hinge 33 are in contact with the first arc surface 21 on the rear side of the main sail 2. The two sides of the front end of the auxiliary sail 3 smoothly transition with the two sides of the rear end of the main sail 2, forming an integrated wing-sail structure, maintaining a compact and streamlined shape, effectively reducing the drag coefficient, thereby improving sailing efficiency and speed.

[0043] Specifically, the linear drive mechanism includes an electric push rod 61 and a guide rod 62. The electric push rod 61 is fixedly installed on the second wing rib 23, and its actuating end extends through the rear side wall of the main sail 2 and is fixedly connected to the fixed shaft 4. The electric push rod 61 is powered by the power system of the unmanned sailboat, and its signal end is communicatively connected to the control system of the unmanned sailboat.

[0044] There are two guide rods 62, which are arranged in parallel and are longitudinally slidably connected to the first wing rib 22 and the third wing rib 24 respectively. The rear end of each guide rod 62 extends out of the rear side wall of the main sail 2 and is fixedly connected to the fixed shaft 4. In the working state, the electric push rod 61 drives the fixed shaft 4 to move back and forth relative to the main sail 2.

[0045] The guide rod 62 is a square tube, and its bottom has an integral slide rail 621. The surfaces of the first wing rib 22 and the third wing rib 24 are each provided with a guide groove 25 that matches the slide rail 621. The slide rail 621 is located within the corresponding guide groove 25 and slides in contact with the inner wall of the guide groove 25. The rear sidewall of the main sail 2 has two square openings 211 that correspond one-to-one with the positions of the guide rods 62. The outer wall of each guide rod 62 slides in contact with the sidewall of the square opening 211.

[0046] When sea conditions are rough, such as large wind speed variations and strong winds, the fixed shaft 4 is moved laterally by the electric push rod 61, causing the auxiliary sail 3 to move laterally rearward relative to the main sail 2. This separates the auxiliary sail 3 from the main sail 2, creating a gap between them to reduce the effective working area of ​​the wing sail. Simultaneously, the rotation of the output shaft of the servo motor 5 controls the deflection of the auxiliary sail 3 relative to the main sail 2 at a certain angle. By changing the angle of attack of the auxiliary sail 3, a compensating torque is generated at the center of gravity of the unmanned sailboat to balance the rotational torque brought by the main sail 2. This reduces the bow roll amplitude and vibration frequency of the unmanned sailboat, thereby ensuring its balance, enhancing directional stability, and improving its anti-capsulation capability.

[0047] The parts not mentioned in this utility model can be achieved by adopting or referencing existing technologies.

[0048] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0049] In the description of this utility model, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0050] Of course, the above description is not intended to limit the present utility model, and the present utility model is not limited to the examples given above. Any changes, modifications, additions or substitutions made by those skilled in the art within the scope of the present utility model should also fall within the protection scope of the present utility model.

Claims

1. A detachable wing sail structure for an unmanned sailboat, characterized by, The utility model provides a kind of unmanned sailboat, including mast, main sail, jib, fixed shaft, linear drive mechanism and servo motor, the main sail and jib are vertically arranged, jib is located in the rear of the main sail, and main sail and jib combination constitute airfoil plate; The mast is vertically arranged in the inside of main sail, and its lower end is out of the bottom of the main sail and connected with the hull of the unmanned sailboat; The fixed shaft is vertically arranged in the front side of the jib, and the upper and lower parts of the jib are hinged with the fixed shaft, and the servo motor is installed in the inside of the fixed shaft, and its output shaft drives the jib to rotate horizontally relative to the fixed shaft; The linear drive mechanism is arranged in the inside of the main sail, and its execution end is out of the rear wall of the main sail and connected with the fixed shaft, and the linear drive mechanism drives the jib to approach or move away from the rear wall of the main sail through the fixed shaft.

2. A detachable wing sail structure for an unmanned sailboat according to claim 1, characterized in that, The main sail is a hollow rectangular plate body, and its front side is the leading edge of the airfoil plate, and the rear wall of the main sail is a first circular arc surface concave inward; The inside of the main sail is provided with a first wing rib, a second wing rib and a third wing rib, all the wing ribs are arranged in sequence and spaced from top to bottom, and are fixedly connected with the inner wall of the main sail as a whole, and the middle and upper parts of the mast are fixedly connected with the first wing rib, the second wing rib and the third wing rib.

3. A detachable wing sail structure for an unmanned sailboat according to claim 1, wherein, The jib is a hollow strip plate body, and its rear end is the trailing edge of the airfoil plate, and the front wall of the jib has a second circular arc surface concave inward, and the cross section of the fixed shaft is circular, and its circumferential wall matches the front wall of the jib.

4. A detachable wing sail structure for an unmanned sailboat according to claim 3, wherein, The front end upper end and lower end of the jib are respectively provided with an upper hinge part and a lower hinge part, and the fixed shaft is located between the upper hinge part and the lower hinge part, and its lower end is rotatably connected with the upper hinge part; The servo motor is installed in the upper end of the fixed shaft in an embedded manner, and its output shaft is arranged in the inside of the upper hinge part and connected with the upper hinge part through a key.

5. A detachable wing sail structure for an unmanned sailboat according to claim 2, wherein, The linear drive mechanism includes an electric push rod and a guide rod, the electric push rod is installed on the second wing rib, and its execution end is out of the rear wall of the main sail and connected with the fixed shaft; The guide rod has two, and the two guide rods are arranged in parallel and longitudinally slidably connected with the first wing rib and the third wing rib respectively, and the rear end of each guide rod is out of the rear wall of the main sail and connected with the fixed shaft, and in working state, the electric push rod drives the fixed shaft to move forward and backward relative to the main sail.

6. A detachable wing sail structure for an unmanned sailboat according to claim 5, wherein, The guide rod is a square tube, and its bottom has a slide rail integrated therewith, the surfaces of the first wing rib and the third wing rib are provided with guide grooves matched with the slide rail, and the slide rail is located in the corresponding guide groove and slidably matched with the inner wall of the guide groove; Two square openings corresponding to the positions of the guide rods are formed in the rear wall of the main sail, and the outer wall of each guide rod is slidably matched with the side wall of the square opening.

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