CN114247116B

CN114247116B - Sail device for sailing athlete to simulate sailing boat training

Info

Publication number: CN114247116B
Application number: CN202111596246.6A
Authority: CN
Inventors: 梁辉; 矫恒安; 陈龙; 王辉; 汪传生
Original assignee: Qingdao University of Science and Technology
Current assignee: Qingdao University of Science and Technology
Priority date: 2021-12-23
Filing date: 2021-12-23
Publication date: 2023-05-19
Anticipated expiration: 2041-12-23
Also published as: CN114247116A

Abstract

The invention discloses a sail device for sailing athlete simulated sailing training, which comprises 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 grooves and is connected with a differential mechanism, and the differential mechanism is used for keeping the upper gear shaft and the lower gear shaft in the differential mechanism to independently rotate or stand still; the angle feedback device is provided with an encoder provided with a synchronizing wheel and a synchronous belt, and the synchronous belt is connected with the synchronizing wheel outside the encoder and a tooth slot 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 output torque of the driving device is respectively transmitted to the mast and the manual loading device through the differential mechanism; the manual loading device provides different pre-applied resistance moments for the system.

Description

Sail device for sailing athlete to simulate sailing boat training

Technical Field

The invention belongs to the field of driving simulation, and particularly relates to a sailing device for simulating sailing training of sailing boat for sailing boat athletes with adjustable damping.

Background

Sailing is a water sport. The athlete operates the equipment such as the sail, the tiller and the like, the sailing boat is driven to advance by using natural wind power, and the influence of wind and waves is fully utilized in the running process. In driving simulation of sailing boat movements, three main aspects are considered, namely control of sails, rudders and 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 hull is changed, the water flow generates a rotating moment on the hull, the sailing boat is turned, and the balance of the sailing boat is kept under the weight distribution action of the stabilizing plate and the athlete; the player can change the windward area and the stressed direction of the sails by pulling the main-turning sailing ropes, and can provide sailing power for sailing of sailboats.

The training of the traditional sailing boat exercise is carried out in water, but the water training has a certain danger and has more severe requirements on the field and weather. The sailing boat is usually modified by a method for driving simulation, and the athlete can practice on land by combining the motion simulation and the vision simulation. Because of the difference between the water and the land environment, the situation that the mast rotates by wind power when an operator does not intervene needs to be considered, and meanwhile, the sails of the simulated driving ship cannot be subjected to force which changes along with the angle of the sails and the magnitude of wind power, so that a player can hardly obtain more real force feedback when operating the sails, and the judgment of the player on the driving state and the driving strategy is affected.

In addition, during the training process using the sails of the real boat, the angle information of the masts cannot be read by the computer to form effective feedback, and the motion and vision simulation system cannot make real-time changes according to the operation of the user, so that the reality of the training of the sailing boat is reduced.

Disclosure of Invention

In order to solve the technical problems, the invention provides a sail device for sailing athlete simulated sailing boat training, which comprises 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 boat mast, the upper part of the mast is connected with the sail, and the mast is nested in one end of the mast sleeve; the outer surface of the mast sleeve is provided with equidistant tooth grooves, and the other end of the mast sleeve is connected with the differential mechanism which is used for enabling an upper gear shaft and a lower gear shaft in the differential mechanism to independently rotate or stand still; the angle feedback device is provided with an encoder provided with a synchronizing wheel and a synchronous belt, the synchronizing wheel is fixed at the output shaft end of the encoder, and the synchronous belt is connected with the synchronizing wheel outside the encoder and a tooth slot on the outer surface of the mast sleeve so as to feed back the current angle information of the mast to the computer system; the driving device provides power for the whole equipment, and output torque of the driving device is respectively transmitted to the mast and the manual loading device through the differential mechanism; the manual loading device provides different pre-applied resistance moments for the system.

Preferably, equidistant tooth grooves are arranged on the outer side of the mast sleeve; 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 synchronous 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 angle information of the rotation 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.

Preferably, the manual loading device comprises a loading shaft, a manual rotary drum, a lifting rotary drum, a loading spring, a fixed threaded drum, a limiting block, a pressure plate and a friction plate, wherein a groove is formed in the manual rotary drum, 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; the circular base at the lower side of the loading shaft is provided with threaded holes, and the circular base at the lower side of the loading shaft and the friction plate 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 lower side of the loading spring through the limiting block, the pressure plate is tightly attached to the friction plate, and the friction plate is fixed to the bottom of the fixed thread 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 coupler; 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 gears distribute 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 mechanism shell is coaxially connected with the driven gear through the upper rolling bearing, so that the resistance in the rotation process of the driven gear is reduced, and the rotation efficiency is improved; the lower rolling bearing is fixed on the bearing base and is used for supporting the driven gear, reducing friction force in the rotation 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 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 a driving gear shaft of the differential mechanism with an output shaft of the servo motor; the servo motor fixing frame is used for fixing the servo motor.

For the prior art, the invention has the following beneficial effects:

the mast imitates the structure of a true mast, so that the motion form of a sailing boat sail can be restored more accurately;

the mast sleeve is connected with a synchronous wheel of the encoder through a synchronous belt, so that angle information of the mast can be transmitted to a computer in real time in an electric signal form, and closed-loop control of the simulation system is realized;

the manual loading device can manually adjust the lifting of the lifting rotary drum to adjust the damping size of the mast, so that an operator can feel more visual force feedback.

The device has the advantages of simple integral structure, more functions and convenient disassembly and assembly, and is particularly suitable for directly reforming a real ship and has strong economical efficiency.

Drawings

FIG. 1 is a perspective view of a sailing device for a sailing athlete to simulate sailing training.

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 device.

Detailed Description

In the description of the present invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, integrally connected, mechanically connected, and electrically connected; can be connected by itself or indirectly through an intermediate medium, and can be that two elements are communicated internally. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art in a specific case.

The invention will be described in detail below with reference to the drawings in connection with embodiments.

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, a sail is connected above the mast 40, and the mast 40 is nested in the mast sleeve 50; the outer surface of the mast sleeve 50 is provided with equidistant tooth grooves and is connected with a gear shaft in the differential 20, and the differential 20 is used for keeping the upper gear shaft and the lower gear shaft in the differential to independently rotate or still; the angle feedback device 10 is provided with an encoder provided with a synchronizing wheel and a synchronous belt, wherein the synchronous belt is connected with the synchronizing wheel outside the encoder and a tooth slot 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 equipment, and the output torque of the driving device is respectively transmitted to the mast 40 and the manual loading device 30 through the gear shafts of the differential 20; the manual loading device 30 provides different pre-load moments for the system.

In one embodiment of the invention, equally spaced slots are provided on the outside of the mast sleeve 50; the mast sleeve 50 is internally provided with a slot for fixing the mast 40 and the upper gear shaft 201 of the differential 20.

In one embodiment of the present invention, the angle feedback device 10 includes an encoder 101, an encoder holder 103, a timing belt 104, and a timing wheel 102; the output shaft of the encoder is provided with a synchronous wheel 102; the synchronizing wheel 102 is meshed with a tooth socket outside the mast sleeve 50 through a synchronizing 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 fixing frame 103 is used to fix the encoder 101.

In one 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 drum 305, a limiting block 306, a pressure plate 307, and a friction plate 308, and a groove is arranged outside the manual drum 302 to facilitate manual rotation; the manual rotary drum 302 and the lifting rotary 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 provided with threads which are matched through a thread pair; a circular base is arranged on the lower side of the loading shaft 301, threaded holes are formed in the base on the lower side of the loading shaft 301 and the friction plate 308, and the circular base and the friction plate are 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, and the manual rotary drum 302 drives the lifting rotary drum 303 to axially move, so that the compression state of the loading spring 304 is changed, and different pre-loading resistance moments are provided for the loading shaft 301; rectangular grooves are formed in two sides of the pressure plate 307, the pressure plate 303 is tightly attached to the friction plate 308 through the limiting block 306 and fixed to the bottom of the loading spring 304, and the friction plate 308 is used for providing damping moment.

In one embodiment of the present invention, differential 20 is comprised 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 drive gear 207, a lower rolling bearing 208, a bearing base 209, 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 coupler 601, and 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 side gear shaft 201 and the lower side gear shaft 204; the differential housing 205 is coaxially connected with the driven gear 203 through an upper rolling bearing 206, so that the resistance in the rotation process of the driven gear 203 is reduced, and the rotation 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 friction force in the motion process of the driven gear 203 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 via the coupling 210.

In one embodiment of the present invention, the driving device 60 includes a servo motor 602, a coupling 601, and a servo motor fixing frame 603, where the coupling 601 is used to connect the driving gear 207 of the differential 20 with the output shaft of the servo motor 602; the servo motor fixing frame 603 is used for fixing the servo motor 602.

In one embodiment of the present invention, a sailing device for sailing athlete simulated sailing training of the present invention, wherein the virtual scene wind power is used to drive the servo motor 602 in the form of an electrical signal during the sailing simulated driving process; the servo motor 602 drives the mast 40 to rotate through the differential 20; the encoder 101 in the angle feedback device sends an electric signal to the computer system according to the rotating angle of the mast 20 to feed back the current mast angle information; the planetary 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 torques borne by the two gear shafts are affected by the respective external loads; the manual drum 302 in the manual loading device 30 is rotated to spirally lift the lifting drum 303, and the compression state of the loading spring 304 is changed, so that different pre-loading resistance moments are provided for the loading shaft 301.

In addition, the computer can change the ship posture in a motion and vision simulation system for simulating sailing ship driving according to the collected electric signals, and the reality and the immersion sense of driving simulation are increased.

In addition, the device has simple integral structure and convenient disassembly and assembly, is particularly suitable for directly reforming a real ship, and has strong economy.

By now it should be appreciated by those skilled in the art that while a number of exemplary embodiments of the invention have been shown and described herein in detail, many other variations or modifications of the invention consistent with the principles of the invention may be directly ascertained or inferred from the present disclosure without departing from the spirit and scope of the invention. Accordingly, the scope of the present invention should be understood and deemed to cover all such other variations or modifications.

Claims

1. The sail device for the sailing boat athlete to simulate the sailing boat 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 boat 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 grooves and is connected with a differential mechanism, and the differential mechanism is used for keeping the upper gear shaft and the lower gear shaft in the differential mechanism to independently rotate or stand still; the angle feedback device is provided with an encoder provided with a synchronizing wheel and a synchronous belt, and the synchronous belt is connected with the synchronizing wheel outside the encoder and a tooth slot 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 output torque of the driving device is respectively transmitted to the mast and the manual loading device through the differential mechanism; the manual loading device provides different pre-loaded resistance moments for the system and comprises a loading shaft, a manual rotating drum, a lifting rotating drum, a loading spring, a fixed threaded drum, a limiting block, a pressure plate and a friction plate, wherein the loading spring is arranged between the pressure plate and the lifting rotating drum and axially moves along with the lifting rotating drum to change the compression state, the manual rotating drum drives the lifting rotating drum to axially move to change the compression state of the loading spring, the pressure plate is tightly attached to the friction plate, and the friction plate provides damping moment;

in the sailing boat driving simulation process, the wind power of the virtual scene drives the driving device in an electric signal form; the driving device drives the mast to rotate through the differential mechanism; the planetary gears in the middle of the differential mechanism distribute the torque from the driving device to an upper gear shaft and a lower gear shaft, and the torques born by the two gear shafts are subjected to respective external loads; the manual rotary drum in the manual loading device is rotated, so that the lifting rotary drum is spirally lifted, the compression state of the loading spring is changed, and different pre-loading resistance moments are provided for the loading shaft;

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 coupler; the driving gear is meshed with the driven gear, the shaft end of the driving gear is connected with the driving device through a coupler, and torque provided by the driving device is transmitted; the planetary gears distribute 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 mechanism shell is connected with the driven gear through the upper rolling bearing, so that the resistance in the rotation process of the driven gear is reduced, and the rotation efficiency is improved; the lower rolling bearing is fixed on the bearing base and is used for supporting the driven gear, reducing friction force in the motion 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;

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 a synchronous wheel; the synchronous wheel is meshed with a tooth socket outside the mast sleeve through a synchronous belt; the encoder is used for converting the angle information of the rotation of the mast into an electric signal and sending the electric signal to the computer; the encoder fixing frame is used for fixing an encoder, and equidistant tooth grooves are formed in the outer side of the mast sleeve; the inside grooving that is equipped with of mast sleeve one end is used for fixed mast.

2. The sail device for sailing athlete simulated sailing training as claimed in claim 1, wherein the manual barrel is 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; threads are arranged on the outer side of the lifting rotary drum and the inner side of the fixed thread drum and are matched through a thread pair; the lower side of the loading shaft is provided with a circular base, the loading shaft base and the friction plate are provided with threaded holes, and the loading shaft base and the friction plate 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 athlete simulated sailing training as claimed in claim 1, wherein the drive means comprises a servo motor, a coupling for connecting the differential drive gear shaft with the output shaft of the servo motor, a servo motor mount; the servo motor fixing frame is used for fixing the servo motor.