CN114247116A - Sail device for sailing athlete simulation sailing training - Google Patents
Sail device for sailing athlete simulation sailing training Download PDFInfo
- Publication number
- CN114247116A CN114247116A CN202111596246.6A CN202111596246A CN114247116A CN 114247116 A CN114247116 A CN 114247116A CN 202111596246 A CN202111596246 A CN 202111596246A CN 114247116 A CN114247116 A CN 114247116A
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- mast
- sailing
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- encoder
- manual
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- 238000004088 simulation Methods 0.000 title claims abstract description 15
- 230000001360 synchronised effect Effects 0.000 claims abstract description 25
- 230000007246 mechanism Effects 0.000 claims abstract description 12
- 210000003781 tooth socket Anatomy 0.000 claims abstract description 10
- 238000005096 rolling process Methods 0.000 claims description 12
- 238000000034 method Methods 0.000 claims description 9
- 230000008569 process Effects 0.000 claims description 8
- 230000008878 coupling Effects 0.000 claims description 7
- 238000010168 coupling process Methods 0.000 claims description 7
- 238000005859 coupling reaction Methods 0.000 claims description 7
- 230000006835 compression Effects 0.000 claims description 4
- 238000007906 compression Methods 0.000 claims description 4
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 5
- 230000008859 change Effects 0.000 description 4
- 238000013016 damping Methods 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000001131 transforming effect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000007654 immersion Methods 0.000 description 1
- 230000000087 stabilizing effect Effects 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
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Classifications
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B69/00—Training appliances or apparatus for special sports
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B71/00—Games or sports accessories not covered in groups A63B1/00 - A63B69/00
- A63B71/06—Indicating or scoring devices for games or players, or for other sports activities
- A63B71/0619—Displays, user interfaces and indicating devices, specially adapted for sport equipment, e.g. display mounted on treadmills
- A63B71/0622—Visual, audio or audio-visual systems for entertaining, instructing or motivating the user
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- Engineering & Computer Science (AREA)
- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Physical Education & Sports Medicine (AREA)
- Multimedia (AREA)
- Human Computer Interaction (AREA)
- Transmission Devices (AREA)
Abstract
The invention discloses a sail device for sailing athlete simulation sailing training, which comprises a mast, a mast sleeve, an angle feedback device, a driving device, a differential and a manual loading device, wherein the mast is a common sailing mast, the upper part of the mast is connected with a sail, and the mast is nested in the mast sleeve; the outer surface of the mast sleeve is provided with equidistant tooth sockets and is connected with a differential mechanism, and the differential mechanism is used for keeping an upper gear shaft and a lower gear shaft inside the differential mechanism to independently rotate or stand still; the angle feedback device is provided with an encoder provided with a synchronous wheel and a synchronous belt, and the synchronous belt is connected with the synchronous wheel outside the encoder and a tooth socket on the outer surface of the mast sleeve so as to feed back the current angle information of the mast to the system; the driving device provides power for the whole equipment, and the output torque of the driving device is transmitted to the mast and the manual loading device through the differential mechanism respectively; the manual loading device provides different pre-applied torques for the system.
Description
Technical Field
The invention belongs to the field of driving simulation, and particularly relates to a sail device for simulating sailing training of sailing athletes with adjustable damping.
Background
Sailing is a water sport. The sportsman operates the sail, the tiller and other equipment, and the sailing boat is driven forward by natural wind power, so that the influence of wind and waves is fully utilized in the driving process. In the driving simulation of sailing ship movements, three aspects are mainly considered, namely the control of the sails, the rudders and the weight distribution, respectively. The athlete controls the operating rod to enable the operating rod to be connected with the rudder stock to rotate, so that the included angle between the rudder blade and the main axis of the ship body is changed, water flow generates rotating moment on the ship body, the sailing ship is enabled to turn, and the balance of the sailing ship is kept under the weight distribution action of the direction stabilizing plate and the athlete per se; the sportsman can change the windward area and the stressed direction of the sail by pulling the main entangled sail rope, so as to provide sailing power for sailing.
The training of traditional sailing boat sports is carried out in water, but the training on water has certain danger and has more severe requirements on the field and the weather. The method for simulating the driving of the sailing boat generally comprises the steps of transforming a real sailing boat, and combining motion simulation and visual simulation to enable athletes to practice on the land. Due to the difference between the water environment and the land environment, the condition that the mast is rotated by wind power when an operator does not intervene needs to be considered, and the force that the sail of the simulated driving ship cannot be changed along with the sail angle and the wind power is also considered, so that an athlete hardly obtains real force feedback when operating the sail, and the judgment of the athlete on the driving state and the driving strategy is influenced.
In addition, in the training process using sails of real ships, the angle information of the mast cannot be read by a computer to form effective feedback, and the motion and view simulation system cannot change in real time according to the operation of a user, so that the reality of sailing ship training is reduced.
Disclosure of Invention
In order to solve the technical problems, when sailing ship driving simulation is carried out, a sail outputs corresponding torque according to the size and the direction of wind power in a virtual environment, the sail can give corresponding force feedback to an operator according to the action of the operator, and the angle information of the mast is guaranteed to be sent to a computer system in real time; the outer surface of the mast sleeve is provided with equidistant tooth sockets, the other end of the mast sleeve is connected with the differential, and the differential is used for keeping an upper gear shaft and a lower gear shaft in the differential to independently rotate or stand still; the angle feedback device is provided with an encoder provided with a synchronous wheel and a synchronous belt, the synchronous wheel is fixed at the output shaft end of the encoder, and the synchronous belt is connected with the synchronous wheel outside the encoder and a tooth socket on the outer surface of the mast sleeve so as to feed back the current angle information of the mast to a computer system; the driving device provides power for the whole equipment, and the output torque of the driving device is transmitted to the mast and the manual loading device through the differential mechanism respectively; the manual loading device provides different pre-applied torques for the system.
Preferably, the outer side of the mast sleeve is provided with equally spaced tooth grooves; and a cutting groove is formed in the mast sleeve and used for connecting the mast and the differential mechanism.
Preferably, the angle feedback device comprises an encoder, an encoder fixing frame, a synchronous wheel and a synchronous belt; the output shaft of the encoder is provided with the synchronizing wheel; the synchronous wheel is meshed with a tooth socket outside the mast sleeve through the synchronous belt; the encoder is used for converting the rotating angle information of the mast into an electric signal and sending the electric signal to a computer; the encoder fixing frame is used for fixing the encoder.
Preferably, the manual loading device comprises a loading shaft, a manual rotating cylinder, a lifting rotating cylinder, a loading spring, a fixed threaded cylinder, a limiting block, a pressure plate and a friction plate, wherein a groove is formed in the manual rotating cylinder, so that manual rotation is facilitated; the manual rotary drum and the lifting rotary drum are provided with threaded holes and are fixed together through bolts; threads are arranged on the outer side of the lifting rotary drum and the inner side of the fixed thread cylinder and are matched through a thread pair; a circular base is arranged on the lower side of the loading shaft, and threaded holes are formed in the circular base on the lower side of the loading shaft and the friction plate and are fixed through bolts; the loading spring is arranged between the pressure plate and the lifting rotary drum and changes a compression state along with the axial movement of the lifting rotary drum; rectangular grooves are formed in two sides of the pressure plate, the pressure plate is fixed to the lower side of the loading spring through the limiting blocks, the pressure plate is tightly attached to the friction plate, and the friction plate is fixed to the bottom of the fixed threaded cylinder.
Preferably, the differential consists of an upper gear shaft, a planetary gear, a driven gear, a lower gear shaft, a differential shell, an upper rolling bearing, a driving gear, a lower rolling bearing, a bearing base and a coupling; the driving gear is meshed with the driven gear in an external meshing mode, and the shaft end of the driving gear is connected with the driving device through a coupler to transmit torque provided by the driving device; the planetary gear distributes the torque provided by the driving device to the upper gear shaft and the lower gear shaft; the upper gear shaft is connected with the mast sleeve; the differential shell is coaxially connected with the driven gear through the upper rolling bearing, so that the resistance of the driven gear in the rotating process is reduced, and the rotating efficiency is improved; the lower rolling bearing is fixed on the bearing base and used for supporting the driven gear, reducing the friction force in the rotation process of the driven gear and ensuring the rotation precision of the driven gear; and the lower gear shaft is connected with a loading shaft of the manual loader through the coupler.
Preferably, the driving device comprises a servo motor, a coupler and a servo motor fixing frame, wherein the coupler is used for connecting the driving gear shaft of the differential mechanism and the output shaft of the servo motor; the servo motor fixing frame is used for fixing the servo motor.
Compared with the prior art, the invention has the following beneficial effects:
the mast simulates the mast structure of a real ship, so that the motion form of a sail of a sailing ship can be accurately restored;
the mast sleeve is connected with a synchronizing wheel of the encoder through a synchronizing belt, so that the angle information of the mast can be sent to a computer in an electric signal form in real time, and closed-loop control of a simulation system is realized;
the manual loading device can manually adjust the lifting of the lifting rotary drum to adjust the damping of the mast, so that an operator can feel more intuitive force feedback.
The device has the advantages of simple overall structure, more functions, convenience in disassembly and assembly, and strong economical efficiency, and is particularly suitable for direct transformation of a real ship.
Drawings
Fig. 1 is a perspective view of a sail device for simulating sailing training of sailing athletes.
Figure 2 is a cross-sectional view of the lower end of the mast.
FIG. 3 is a partial cross-sectional view of the differential.
Fig. 4 is a partial cross-sectional view of the manual loading unit.
Detailed Description
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, and may for example be fixedly connected, detachably connected, or integrally connected, mechanically or electrically connected; the two components can be connected with each other, or indirectly connected with each other through an intermediate medium, or the two components are communicated with each other. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art through specific situations.
The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.
As shown in fig. 1 to 4, the invention provides a sail device for sailing athlete simulated sailing training, which comprises an angle feedback device 10, a differential 20, a manual loading device 30, a mast 40, a mast sleeve 50 and a driving device 60, wherein the mast 40 is a common sailing mast, the upper part of the mast is connected with a sail, and the mast 40 is nested in the mast sleeve 50; the outer surface of the mast sleeve 50 is provided with equidistant tooth sockets and is connected with a gear shaft in the differential 20, and the differential 20 is used for keeping an upper gear shaft and a lower gear shaft in the differential to independently rotate or stand still; the angle feedback device 10 is provided with an encoder provided with a synchronous wheel and a synchronous belt, and the synchronous belt is connected with the synchronous wheel outside the encoder and a tooth socket on the outer surface of the mast sleeve so as to feed back the current angle information of the mast 40 to the system; the driving device 60 provides power for the whole set of equipment, and the output torque of the driving device is transmitted to the mast 40 and the manual loading device 30 through the gear shaft of the differential 20; the manual loading device 30 provides different pre-applied torques to the system.
In one embodiment of the invention, equally spaced tooth slots are provided on the outside of the mast sleeve 50; the mast sleeve 50 is provided with a slot therein for securing the mast 40 and the upper pinion shaft 201 of the differential 20.
In one embodiment of the present invention, the angle feedback device 10 includes an encoder 101, an encoder fixing frame 103, a synchronous belt 104, and a synchronous wheel 102; a synchronizing wheel 102 is arranged on an output shaft of the encoder; the synchronous wheel 102 is meshed with a tooth groove outside the mast sleeve 50 through a synchronous belt 104; the encoder 101 is used for converting the angle information of the mast 40 into an electric signal and sending the electric signal to the computer system; the encoder holder 103 is used to hold the encoder 101.
In a specific embodiment of the present invention, the manual loading device 30 includes a loading shaft 301, a manual drum 302, a lifting drum 303, a loading spring 304, a fixed threaded cylinder 305, a limiting block 306, a pressure plate 307, and a friction plate 308, wherein the manual drum 302 is externally provided with a groove to facilitate manual rotation; the manual rotating drum 302 and the lifting rotating drum 303 are provided with threaded holes and are fixed together through bolts; the outer side of the lifting rotary drum 303 and the inner side of the fixed thread cylinder 305 are both provided with threads which are matched through a thread pair; a round base is arranged at the lower side of the loading shaft 301, and a threaded hole is formed in the base at the lower side of the loading shaft 301 and the friction plate 308 and fixed together through bolts; the loading spring 304 is arranged between the pressure plate 307 and the lifting rotary drum 303, the manual rotary drum 302 is manually rotated, the manual rotary drum 302 drives the lifting rotary drum 303 to axially move, and therefore the compression state of the loading spring 304 is changed, and different pre-loaded resisting moments are provided for the loading shaft 301; rectangular grooves are formed in two sides of the pressure plate 307, the pressure plate is fixed to the bottom of the loading spring 304 through a limiting block 306, the pressure plate 303 is tightly attached to the friction plate 308, and the friction plate 308 is used for providing damping moment.
In one embodiment of the present invention, the differential 20 is composed of an upper gear shaft 201, a planetary gear 202, a driven gear 203, a lower gear shaft 204, a differential housing 205, an upper rolling bearing 206, a driving gear 207, a lower rolling bearing 208, a bearing base 209, and a coupling 210; the driving gear 207 is meshed with the driven gear 203, the shaft end of the driving gear 207 is connected with the driving device 60 through a coupling 601, and the torque provided by the driving device 60 is transmitted; the planetary gear 202 distributes the torque provided by the driving device 60 to the upper gear shaft 201 and the lower gear shaft 204; the differential housing 205 is coaxially connected with the driven gear 203 through the upper rolling bearing 206, so that the resistance of the driven gear 203 in the rotating process is reduced, and the rotating efficiency is improved; the upper gear shaft 201 is connected with the mast sleeve 50; the lower rolling bearing 208 is fixed on the bearing base 209 and is used for supporting the driven gear 203, reducing the friction force in the movement process and ensuring the rotation precision of the driven gear 203; the lower gear shaft 204 is connected to the loading shaft 301 of the manual loading device 30 through the coupling 210.
In an embodiment of the present invention, the driving device 60 includes a servo motor 602, a coupling 601, and a servo motor fixing frame 603, wherein the coupling 601 is used for connecting the driving gear 207 of the differential 20 and an output shaft of the servo motor 602; the servo motor holder 603 is used for holding the servo motor 602.
In one embodiment of the invention, the sail device for sailing athlete simulated sailing training is characterized in that during sailing simulated driving, the wind power of a virtual scene drives a servo motor 602 in the form of an electric signal; the servo motor 602 drives the mast 40 to rotate through the differential 20; an encoder 101 in the angle feedback device sends an electric signal to the computer system according to the rotation angle of the mast 20 to feed back the current mast angle information; the planet gear 202 in the middle of the differential 20 distributes the torque from the servo motor shaft to the upper gear shaft 201 and the lower gear shaft 204, and the torque borne by the two gear shafts is affected by the respective external loads; rotating the manual drum 302 in the manual loading device 30 causes the lifting drum 303 to spirally lift and change the compression state of the loading spring 304, thereby providing different pre-resisting torques to the loading shaft 301.
In addition, the computer can change the ship posture in a motion and view simulation system for simulating sailing ship driving according to the acquired electric signals, so that the reality and immersion feeling of driving simulation are improved.
In addition, the device has simple integral structure and convenient assembly and disassembly, is particularly suitable for directly transforming a real ship, and has strong economical efficiency.
Thus, it should be appreciated by those skilled in the art that while a number of exemplary embodiments of the invention have been illustrated and described in detail herein, many other variations or modifications consistent with the principles of the invention may be directly determined or derived from the disclosure of the present invention without departing from the spirit and scope of the invention. Accordingly, the scope of the invention should be understood and interpreted to cover all such other variations or modifications.
Claims (5)
1. A sail device for sailing athlete simulation sailing training is characterized by comprising a mast, a mast sleeve, an angle feedback device, a driving device, a differential mechanism and a manual loading device, wherein the mast is a common sailing mast, the upper part of the mast is connected with a sail, and the mast is nested in the mast sleeve; the outer surface of the mast sleeve is provided with equidistant tooth sockets and is connected with a differential mechanism, and the differential mechanism is used for keeping an upper gear shaft and a lower gear shaft inside the differential mechanism to independently rotate or stand still; the angle feedback device is provided with an encoder provided with a synchronous wheel and a synchronous belt, and the synchronous belt is connected with the synchronous wheel outside the encoder and a tooth socket on the outer surface of the mast sleeve so as to feed back the current angle information of the mast to the system; the driving device provides power for the whole equipment, and the output torque of the driving device is transmitted to the mast and the manual loading device through the differential mechanism respectively; the manual loading device provides different pre-applied torques for the system.
2. The sail device for sailing carrier simulation for sailing carrier training of sailing athletes as claimed in claim 1, wherein the manual loading device comprises a loading shaft, a manual revolving drum, a lifting revolving drum, a loading spring, a fixed threaded drum, a limiting block, a pressure plate and a friction plate, and the manual revolving drum is externally provided with a groove for facilitating manual rotation; the manual rotary drum and the lifting rotary drum are provided with threaded holes and are fixed through bolts; the outer side of the lifting rotary drum and the inner side of the fixed thread drum are both provided with threads which are matched through a thread pair; a round base is arranged at the lower side of the loading shaft, and threaded holes are formed in the base of the loading shaft and the friction plate and are fixed through bolts; the loading spring is arranged between the pressure plate and the lifting rotary drum and changes the compression state along with the axial movement of the lifting rotary drum; rectangular grooves are formed in two sides of the pressure plate, the pressure plate is fixed to the bottom of the loading spring through a limiting block, and the pressure plate is tightly attached to the friction plate.
3. The sail device for sailing carrier simulation sailing training of sailing athletes as claimed in claim 1, wherein the differential is composed of an upper gear shaft, a planetary gear, a driven gear, a lower gear shaft, a differential housing, an upper rolling bearing, a driving gear, a lower rolling bearing, a bearing base, and a coupling; the driving gear is meshed with the driven gear, and the shaft end of the driving gear is connected with the driving device through a coupler to transmit torque provided by the driving device; the planetary gear distributes the torque provided by the driving device to the upper gear shaft and the lower gear shaft; the upper gear shaft is connected with the mast sleeve; the differential shell is connected with the driven gear through the upper rolling bearing, so that the resistance of the driven gear in the rotating process is reduced, and the rotating efficiency is improved; the lower rolling bearing is fixed on the bearing base and used for supporting the driven gear, reducing the friction force in the movement process of the driven gear and ensuring the rotation precision of the driven gear; the lower gear shaft is connected with a loading shaft of the manual loader through a coupler.
4. The sail device for sailor athlete simulated sailboat training according to claim 1, wherein the angle feedback device includes an encoder, an encoder mount, a synchronizing wheel, a synchronizing belt; a synchronizing wheel is arranged on an output shaft of the encoder; the synchronizing wheel is meshed with a tooth socket outside the mast sleeve through a synchronizing belt; the encoder is used for converting the rotating angle information of the mast into an electric signal and sending the electric signal to the computer; the encoder fixing frame is used for fixing the encoder. The outer side of the mast sleeve is provided with tooth grooves with equal intervals; a cutting groove is formed in one end of the mast sleeve and used for fixing the mast.
5. The sail device for sailing carrier simulated sailing training of sailing athletes as claimed in claim 1, wherein the driving device comprises a servo motor, a coupler, and a servo motor fixing frame, the coupler is used for connecting a differential driving gear shaft with an output shaft of the servo motor; the servo motor fixing frame is used for fixing the servo motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111596246.6A CN114247116B (en) | 2021-12-23 | 2021-12-23 | Sail device for sailing athlete to simulate sailing boat training |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111596246.6A CN114247116B (en) | 2021-12-23 | 2021-12-23 | Sail device for sailing athlete to simulate sailing boat training |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114247116A true CN114247116A (en) | 2022-03-29 |
| CN114247116B CN114247116B (en) | 2023-05-19 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202111596246.6A Active CN114247116B (en) | 2021-12-23 | 2021-12-23 | Sail device for sailing athlete to simulate sailing boat training |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3457783A (en) * | 1966-05-19 | 1969-07-29 | T P I Ltd | Training devices |
| GB1201901A (en) * | 1966-05-19 | 1970-08-12 | T P I Ltd | Sailing simulators |
| CN110465060A (en) * | 2018-03-27 | 2019-11-19 | 中国海洋大学 | A kind of control method of sailing Actual Simulation platform |
| CN112598955A (en) * | 2020-12-18 | 2021-04-02 | 山东交通学院 | OP-level sailing ship simulation training platform and control method thereof |
| CN113506488A (en) * | 2021-06-30 | 2021-10-15 | 青岛科技大学 | A simulation rudder device for sailing ship driving training |
-
2021
- 2021-12-23 CN CN202111596246.6A patent/CN114247116B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3457783A (en) * | 1966-05-19 | 1969-07-29 | T P I Ltd | Training devices |
| GB1201901A (en) * | 1966-05-19 | 1970-08-12 | T P I Ltd | Sailing simulators |
| CN110465060A (en) * | 2018-03-27 | 2019-11-19 | 中国海洋大学 | A kind of control method of sailing Actual Simulation platform |
| CN112598955A (en) * | 2020-12-18 | 2021-04-02 | 山东交通学院 | OP-level sailing ship simulation training platform and control method thereof |
| CN113506488A (en) * | 2021-06-30 | 2021-10-15 | 青岛科技大学 | A simulation rudder device for sailing ship driving training |
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| Publication number | Publication date |
|---|---|
| CN114247116B (en) | 2023-05-19 |
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