CN109080807B

CN109080807B - Unmanned ship sail

Info

Publication number: CN109080807B
Application number: CN201810813341.9A
Authority: CN
Inventors: 易宏; 王鸿东; 梁晓锋; 黄一; 郭永晋
Original assignee: Shanghai Jiaotong University
Current assignee: Shanghai Jiaotong University
Priority date: 2018-07-23
Filing date: 2018-07-23
Publication date: 2020-06-26
Anticipated expiration: 2038-07-23
Also published as: CN109080807A

Abstract

The invention provides an unmanned boat sail which comprises a top sensor mounting platform (1), a wingsail assembly (2), a hollow mast (3), a sail rotating mechanism (4), a base (5) and a sail retracting mechanism, and is characterized in that the wingsail assembly (2) comprises a sail cloth, an upper framework (21), a plurality of middle frameworks (22) and a lower framework (23) which are sequentially sleeved on the mast (3) from top to bottom, the sail rotating mechanism (4) comprises a motor (41), a hollow inner shaft (44), a bearing (45) and an outer shaft (46) sleeved outside the inner shaft (44), and the sail retracting mechanism comprises a winch (61), a base retracting pulley (62), two sail top retracting pulleys (63) and a steel wire rope (64). The unmanned boat sail integrates the sail rotating function, the sail lifting function and the sensor installation, and has the characteristics of simple structure, good controllability and high reliability of the whole mechanism.

Description

Unmanned ship sail

Technical Field

The invention belongs to the technical field of sail navigation assistance, and particularly relates to an unmanned boat sail.

Background

The sail can provide wind energy for the boat as capacity, and the wind energy has many advantages as clean and green energy. However, for unmanned boats appearing in recent years, if wind energy is simply used as capacity, the unmanned boats cannot be guaranteed to have long voyage, and the wind energy is generally used as effective supplement of solar energy or fossil energy. At present, some manufacturers in the world develop green ships with sails and using wind energy as sailing power for supplement, but for unmanned ships, the unmanned ships need to sail for a long time on the sea, and the sails are also in an unmanned maintenance state for a long time, so that the reliability of the sail structures and the reliability of sail rotating and lifting mechanisms are high, and the unmanned ships are convenient to control by a control system. The prior art does not inquire a sail suitable for an unmanned boat.

Disclosure of Invention

The invention aims to provide an unmanned boat sail which integrates a sail rotating function, a sail lifting function and sensor installation and installation, and has the characteristics of simple structure, good controllability and high reliability of the whole mechanism.

The invention relates to a specific technical scheme of an unmanned boat sail, which comprises a top sensor mounting platform, a wing sail assembly, a hollow mast, a sail rotating mechanism, a base and a sail retracting mechanism, and is characterized in that,

the sail assembly comprises a canvas, an upper framework, a plurality of middle frameworks and a lower framework, wherein the upper framework, the middle frameworks and the lower framework are sequentially sleeved on the mast from top to bottom, the lower framework is fixedly arranged at the lower part of the mast, the upper framework and the middle frameworks can move up and down along the mast, the canvas is sewn on the upper framework, the middle frameworks and the lower framework, when the upper framework is pulled to the top of the mast, the whole canvas is supported by the upper framework, the middle frameworks and the lower framework to form the sail with smooth appearance,

the top sensor mounting platform comprises a plurality of small columns and a platform top plate, the small columns are uniformly and fixedly mounted on the edge of the upper end surface of the mast, the length direction of the small columns is parallel to the mast, the platform top plate is fixedly mounted at the top ends of the small columns,

the base comprises an upper base plate and a lower base plate, a gap is arranged between the upper base plate and the lower base plate, the lower base plate is fixedly arranged on the ship structure,

the sail rotating mechanism comprises a motor, a hollow inner shaft, a bearing and an outer shaft sleeved outside the inner shaft, the bottom end of the mast is fixedly installed on a connecting flange at the upper end of the outer shaft, the central lines of the outer shafts are collinear, the bearing and the inner shaft are fixedly installed, the motor is used for driving the outer shaft to rotate, the inner shaft is fixedly installed on the upper surface of an upper base plate of the base, an opening is formed in the upper base plate, and the position of the opening corresponds to the through hole of the hollow inner shaft,

the sail retracting mechanism comprises a winch, a base retracting pulley, two sail top retracting pulleys and a steel wire rope, wherein the base retracting pulley is arranged under the base, the two sail top retracting pulleys are arranged on the lower surface of a platform top plate of the top sensor mounting platform side by side, one end of the steel wire rope is connected to the winch, the other end of the steel wire rope penetrates through a gap between an upper base plate and a lower base plate, the steel wire rope is divided into two steel wire ropes after passing through a rope pulley of the base retracting pulley, the two steel wire ropes respectively pass through a hollow inner shaft and a mast and then pass through gaps between the platform top plate of the top sensor mounting platform and the top end of the mast, and the two steel wire ropes are respectively connected to an upper framework.

Furthermore, the mast is divided into an upper wing sail section and a lower transition section, steps are arranged between the wing sail section and the transition section, 5 middle frameworks are arranged, the upper framework and the middle framework are sleeved on the wing sail section, and the lower framework is fixed on the steps between the wing sail section and the transition section.

Furthermore, the two sides of the wingsail section of the mast are provided with guide rails from top to bottom, the upper framework comprises an upper framework body, a plurality of guide rail pulley seats and guide rail pulleys arranged on the guide rail pulley seats, the symmetrical center of the upper framework body is provided with an opening sleeved on the mast, and the guide rail pulleys are arranged at the opening of the upper framework body and can slide in a matching manner with the guide rails on the two sides of the wingsail section.

Furthermore, the sail rotating mechanism further comprises a speed reducer, a pinion, a gear wheel and a hollow base pillar, wherein the pinion is mounted on an output shaft of the speed reducer, the gear wheel is meshed with the pinion, the gear wheel is fixed with an outer shaft, the rotation axis of the gear wheel is collinear, an output shaft of the motor is connected with an input shaft of the speed reducer, the inner shaft is fixedly mounted on the upper surface of an upper base plate of the base through the base pillar, and the bearing is a tapered roller bearing.

The unmanned boat sail has the beneficial effects that 1) the unmanned boat sail adopts a wing sail shape, so that the windward angle and the feedback of a sail operating system can be accurately established, and the unmanned boat control system can be conveniently controlled; 2) the sail retracting mechanism is simple in structure, the telescopic wing sail canvas and the framework are hoisted from the top by adopting a steel wire rope, and the steel wire rope penetrates through the hollow mast, so that the sail retracting mechanism is safe, reliable, corrosion-resistant and attractive and elegant; 3) the upper framework and the middle framework adopt pulleys to be matched with the tracks on the masts to slide, so that the wing sails can smoothly lift and slide and can not rotate relative to the masts; 4) the sail rotating mechanism adopts a structure that the mast is arranged on an outer shaft, the outer shaft rotates around the inner shaft, and the inner shaft is inserted into a hollow outer shaft, so that the mast is higher in stability; 5) the sail rotating mechanism is arranged between an inner shaft and an outer shaft by adopting a tapered roller bearing, so that the sail rotating mechanism not only can bear radial load, but also can enable the outer shaft to rotate more freely; 6) the main parts of the whole sail rotating mechanism, the winch of the sail deploying and retracting mechanism and the like are arranged on the structure in the lower cabin of the upper deck of the unmanned ship, so that the equipment is not influenced by the environment, the service life is prolonged, and the reliability is improved; 7) the mounting base is provided with a hollow channel and can be used for threading a steel wire rope of the sail retracting mechanism, so that the sail has a compact and attractive integral structure; 8) the top end of the mast is provided with a sensor mounting platform, so that not only can sensors such as collision avoidance radars and the like be mounted, but also the steel wire strength of the sail deploying and retracting mechanism can be led out from the gap, and a lighting and indicating lamp mounting seat can be mounted on the sensor mounting platform.

Drawings

Fig. 1 is a schematic perspective view of an unmanned boat sail of the present invention;

FIG. 2 is a front view of a wing sail assembly of the unmanned boat sail of the present invention;

FIG. 3 is a cross-sectional view A-A of FIG. 2;

FIG. 4 is a cross-sectional view taken along line B-B of FIG. 2;

FIG. 5 is an enlarged view of C in FIG. 2;

FIG. 6 is an enlarged view D of FIG. 3;

FIG. 7 is a cross-sectional view of the base and the sail-turning mechanism of the unmanned boat sail of the present invention;

FIG. 8 is a schematic structural view of the relationship between the sail deploying and retracting mechanism and the wing sail assembly of the unmanned boat sail of the present invention;

wherein the content of the first and second substances,

the top sensor mounting platform 1 is mounted on the roof,

the wing sail assembly 2, the upper frame 21, the middle frame 22, the lower frame 23, the upper frame body 211, the frame pulley seat 212, the frame pulley 213,

the mast 3 is provided with a front part and a rear part,

the sail rotating mechanism 4, the motor 41, the reducer 42, the pinion 43, the inner shaft 44, the bearing 45, the outer shaft 46, the bull gear 47, the base pillar 48,

the base plate (5) is provided with a base,

the device comprises a winch 61, a base retracting pulley 62, a sail top retracting pulley 63 and a steel wire rope 64.

Detailed Description

The following describes the present invention with reference to the attached drawings.

As shown in fig. 1-6, the unmanned boat sail of the present invention comprises a top sensor mounting platform 1, a wing sail assembly 2, a hollow mast 3, a sail turning mechanism 4, a base 5, and a sail deploying and retracting mechanism.

The wingsail assembly 2 comprises a canvas, an upper framework 21, a plurality of middle frameworks 22 and a lower framework 23, wherein the upper framework 21, the middle frameworks 22 and the lower framework 23 are sequentially sleeved on the mast 3 from top to bottom, the lower framework 23 is fixedly installed at the lower part of the mast 3, the upper framework 21 and the middle framework 22 can move up and down along the mast 3, the canvas is sewn on the upper framework 21, the middle framework 22 and the lower framework 23, and when the upper framework 21 is pulled to the top of the mast 3, the whole canvas is supported by the upper framework 21, the middle framework 22 and the lower framework 23 to form the wingsail with smooth appearance. The mast 3 is divided into an upper wing sail section and a lower transition section, steps are arranged between the wing sail sections, 5 middle frameworks 22 are arranged, the upper framework 21 and the middle framework 22 are sleeved on the wing sail sections, and the lower framework 23 is fixed on the steps between the wing sail sections and the transition sections. The wing sail section both sides of mast 3 have from last guide rail down, last skeleton 21 include last skeleton body 211, a plurality of guide rail pulley seat 212 and install guide rail pulley 213 on guide rail pulley seat 212, last skeleton body 211 symmetry center department have the trompil of cover on mast 3, guide rail pulley 213 install the trompil department at last skeleton body 211, can slide with the guide rail cooperation of wing sail section both sides. A guide rail pulley type sliding connection structure can be adopted between the intermediate framework 22 and the wing sail section of the mast 3, and other sliding connection structures can also be adopted. The top of the mast 3 is also provided with a buffer spring which prevents the top structure of the mast 3 from being hit when the steel wire rope 64 pulls the upper framework 21 to rise to the highest position. A tension sensor is arranged at the joint of the steel wire rope 64 of the windlass 61 of the sail deploying and retracting mechanism, and when the tension of the steel wire rope 64 continuously rises to exceed a certain threshold value, the windlass 61 stops rotating.

The top sensor mounting platform 1 comprises 4 small columns and a platform top plate, the small columns are uniformly and fixedly mounted on the edge of the upper end face of the mast 3, the length direction of the small columns is parallel to the mast 3, and the platform top plate is fixedly mounted at the top ends of the small columns.

The base 5 comprises an upper base plate and a lower base plate, a gap is reserved between the upper base plate and the lower base plate, and the lower base plate is fixedly installed on the ship body structure.

The sail rotating mechanism 4 comprises a motor 41, a speed reducer 42, a pinion 43, a hollow inner shaft 44, a bearing 45, an outer shaft 46 sleeved outside the inner shaft 44, a large gear 47 and a hollow base support 48, wherein the bottom end of the mast 3 is provided with a mounting flange fixedly mounted on a connecting flange at the upper end of the outer shaft 46, the rotating axis of the outer shaft 46 is collinear with the central line of the mast 3, the outer ring and the inner ring of the bearing 45 are fixedly mounted with the outer shaft 46 and the inner shaft 44 respectively, the motor 41 is used for driving the outer shaft 46 to rotate, the inner shaft 44 is fixedly mounted on the upper surface of an upper base plate of the base 5, and the lower part of the inner shaft 44 is provided with a ring-shaped boss for mounting the inner. The upper base plate has an opening therein at a location corresponding to the through hole of the hollow inner shaft 44. The pinion 43 is mounted on the output shaft of the reducer 42, the bull gear 47 is meshed with the pinion 43, the bull gear 47 is fixed with the outer shaft 46, the rotation axes of the bull gear 47 and the outer shaft 46 are collinear, the output shaft of the motor 41 is connected with the shaft input shaft of the reducer 42, the inner shaft 44 is fixedly mounted on the upper surface of the upper base plate of the base 5 through a base support 48, and the bearing 45 is a tapered roller bearing. The reducer 42 is a worm reducer, and an encoder is mounted on an output shaft thereof.

The sail retracting mechanism comprises a winch 61, a base retracting pulley 62, two sail top retracting pulleys 63 and a steel wire rope 64, wherein the base retracting pulley 62 is installed on the upper surface of a lower base plate of a base 5 and is positioned right below an inner shaft 44, the two sail top retracting pulleys 63 are installed on the lower surface of a platform top plate of the top sensor installation platform 1 side by side, one end of the steel wire rope 64 is connected to the winch 61, the other end of the steel wire rope passes through a gap between the upper base plate and the lower base plate and is divided into two parts after passing through a rope pulley of the base retracting pulley 62, and the two steel wire ropes 64 pass through a hollow inner shaft 44 and a mast 3 and then respectively pass through the two sail top retracting pulleys 63 and penetrate out of a gap between the platform top plate of the top sensor installation platform 1 and the top end of the mast 3 and are respectively connected to an. When the sail is lifted, the winch 61 pulls the steel wire rope 64 to guide and pull up the upper framework 21 through the base retractable pulley 62 and the two sail top retractable pulleys 63, when the upper framework 21 touches a buffer spring arranged at the top of the mast 3, the stress of the steel wire rope 64 is increased, the tension sensor reaches a certain threshold value, and the winch 64 stops; when the sail falls, the winch 64 rotates reversely, the upper framework 21 slides downwards by means of gravity, the sail falls to the lowest point, the stress of the steel wire rope 64 is reduced, the tension sensor reaches a certain threshold value, and the winch 64 stops.

Claims

1. An unmanned boat sail comprises a top sensor mounting platform (1), a wing sail component (2), a hollow mast (3), a sail rotating mechanism (4), a base (5) and a sail retracting mechanism, and is characterized in that,

the sail assembly (2) comprises a canvas, an upper framework (21), a plurality of middle frameworks (22) and a lower framework (23), wherein the upper framework (21), the middle frameworks (22) and the lower framework (23) are sequentially sleeved on the mast (3) from top to bottom, the lower framework (23) is fixedly installed at the lower part of the mast (3), the upper framework (21) and the middle framework (22) can move up and down along the mast (3), the canvas is sewn on the upper framework (21), the middle framework (22) and the lower framework (23), when the upper framework (21) is pulled to the top of the mast (3), the whole canvas is supported by the upper framework (21), the middle framework (22) and the lower framework (23) to form the sail with smooth appearance,

the top sensor mounting platform (1) comprises a plurality of small columns and a platform top plate, the small columns are uniformly and fixedly mounted on the edge of the upper end surface of the mast (3), the length direction of the small columns is parallel to the mast (3), the platform top plate is fixedly mounted at the top ends of the small columns,

the base (5) comprises an upper base plate and a lower base plate, a gap is arranged between the upper base plate and the lower base plate, the lower base plate is fixedly arranged on the ship structure,

the sail rotating mechanism (4) comprises a motor (41), a hollow inner shaft (44), a bearing (45) and an outer shaft (46) sleeved outside the inner shaft (44), the bottom end of the mast (3) is fixedly installed on a connecting flange at the upper end of the outer shaft (46), the rotating axis of the outer shaft (46) is collinear with the central line of the mast (3), the outer ring and the inner ring of the bearing (45) are fixedly installed with the outer shaft (46) and the inner shaft (44) respectively, the motor (41) is used for driving the outer shaft (46) to rotate, the inner shaft (44) is fixedly installed on the upper surface of an upper base plate of the base (5), the upper base plate is provided with an opening, and the opening corresponds to a through hole of the hollow inner shaft (44),

the sail retracting mechanism comprises a winch (61), a base retracting pulley (62), two sail top retracting pulleys (63) and a steel wire rope (64), wherein the base retracting pulley (62) is installed on the upper surface of a base plate of a base (5) and is positioned under an inner shaft (44), the two sail top retracting pulleys (63) are installed on the lower surface of a platform top plate of the top sensor installation platform (1) side by side, one end of the steel wire rope (64) is connected to the winch (61), the other end of the steel wire rope passes through a gap between the upper base plate and the lower base plate, the steel wire rope is divided into two parts after passing through a rope pulley of the base retracting pulley (62), the two steel wire ropes (64) pass through the hollow inner shaft (44) and the mast (3) and then respectively pass through the two sail top retracting pulleys (63) and penetrate out from a gap between the platform top plate of the top sensor installation platform (1) and the top end of the mast (3, are respectively connected to the upper framework (21).

2. An unmanned boat sail according to claim 1, wherein the mast (3) is divided into an upper wing sail section and a lower transition section, steps are provided between the wing sail section and the transition section, 5 middle frames (22) are provided, the upper frame (21) and the middle frame (22) are sleeved on the wing sail section, and the lower frame (23) is fixed on the steps between the wing sail section and the transition section.

3. The unmanned boat sail of claim 2, wherein the two sides of the wingsail section of the mast (3) are provided with guide rails from top to bottom, the upper frame (21) comprises an upper frame body (211), a plurality of guide rail pulley seats (212) and guide rail pulleys (213) installed on the guide rail pulley seats (212), the symmetrical center of the upper frame body (211) is provided with an opening sleeved on the mast (3), and the guide rail pulleys (213) are installed at the opening of the upper frame body (211) and can slide in cooperation with the guide rails at the two sides of the wingsail section.

4. An unmanned boat sail according to claim 1, wherein the sail mechanism (4) further comprises a reducer (42), a pinion (43), a bull gear (47) and a hollow base post (48), the pinion (43) is mounted on an output shaft of the reducer (42), the bull gear (47) is engaged with the pinion (43), the bull gear (47) is fixed to an outer shaft (46) and has a rotation axis collinear with the outer shaft, an output shaft of the motor (41) is connected to an input shaft of the reducer (42), the inner shaft (44) is fixedly mounted on an upper surface of an upper base plate of the base (5) through the base post (48), and the bearing (45) is a tapered roller bearing.