CN117794813A

CN117794813A - Outboard motor, ship, control method, and computer-readable storage medium

Info

Publication number: CN117794813A
Application number: CN202280053414.3A
Authority: CN
Inventors: 王海洋; 刘岳峰; 胡浩; 李军; 王勇
Original assignee: Guangdong ePropulsion Technology Co Ltd
Current assignee: Guangdong ePropulsion Technology Co Ltd
Priority date: 2022-08-19
Filing date: 2022-08-19
Publication date: 2024-03-29
Also published as: WO2024036642A1

Abstract

The application relates to the field of ships, and aims to solve the problem that an outboard motor occupies cabin space when the outboard motor is tilted in the prior art, and provides the outboard motor, a ship, a control method and a computer readable storage medium. The outboard motor comprises an outboard motor body, a clamp and a driving part. The outer machine body comprises a first part and a second part, and the second part is connected with the first part along a first direction; the clamp is used for being installed on the hull; the driving part is connected to the clamp, the driving part is in transmission connection with the outer machine body and can drive the outer machine body to move, the movement comprises the movement of the first part and the movement of the second part, the movement of the first part at least has a component in a first direction, and the component of the movement of the second part in a second direction is zero, wherein the second direction is perpendicular to the first direction. The beneficial effects of this application are that can avoid taking the hull space when realizing the perk.

Description

Outboard motor, ship, control method, and computer-readable storage medium

Technical Field

The present application relates to the field of ships, and in particular, to an outboard motor, a ship, a control method, and a computer-readable storage medium.

Background

The known ship tilting device is characterized in that the tail screw propeller of the ship tilting device is exposed out of the water surface by tilting the outboard motor to a certain angle in the cabin direction, so that the purpose of tilting out of the water is achieved, but the mode occupies the space of the cabin, so that the movable space of the cabin is reduced, and the ship tilting device is inconvenient for users to use.

Disclosure of Invention

The application provides an outboard motor, a ship, a control method and a computer readable storage medium.

The embodiment of the application provides an outboard motor, including:

an outer machine body including a first portion and a second portion, the second portion and the first portion being connected in a first direction;

the clamp is used for being mounted on the hull;

a driving part connected to the clamp; the driving part is in transmission connection with the outer machine main body and can drive the outer machine main body to move relative to the clamp, the movement comprises movement of the first part and movement of the second part, the movement of the first part at least has a component in a first direction, and the component of the movement of the second part in a second direction is zero, wherein the second direction is perpendicular to the first direction.

When the outboard engine in this application embodiment uses, the motion that drive portion drove outboard engine main part can first part take place the displacement and realize raising in first direction, and the second part can not follow the second direction displacement simultaneously, can not occupy the space of hull along the second direction promptly.

The embodiment of the application provides a ship, which comprises a ship body and the outboard motor; the outboard motor is mounted to the hull by a clamp, and the first portion is positioned on the leeside of the hull and the second portion is positioned on the water side of the hull.

The embodiment of the application provides a ship control method, which is based on the outboard motor, and comprises the following steps:

the warp rising component value of the first part in the first direction is controlled by the driving part, wherein the warp rising component value is adapted to the draft of the vessel.

The embodiment of the application provides a computer readable storage medium, which comprises a stored program for executing the ship control method.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following description will briefly describe the drawings in the embodiments, it being understood that the following drawings only illustrate some embodiments of the present application and should not be considered as limiting the scope, and that other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

Fig. 1 is a schematic structural view of a ship according to an embodiment of the present application;

FIG. 2 is a schematic view of a movement mode of the outer machine body of FIG. 1;

FIG. 3 is a schematic view of the structure of an outboard motor in the first exemplary embodiment of the present application;

FIG. 4 is a schematic structural view of an outboard motor in a second exemplary embodiment of the application;

FIG. 5 is a schematic view of the structure of an outboard motor in a third exemplary embodiment of the application;

FIG. 6 is a schematic view of another transmission mechanism employed by the outboard motor of this embodiment;

fig. 7 is a schematic structural view of an outboard motor in a fourth exemplary embodiment of the application;

fig. 8 is a schematic structural view of an outboard motor in a fifth exemplary embodiment of the present application;

fig. 9 is a schematic view of another transmission mechanism used in the outboard motor of this embodiment.

Description of main reference numerals:

ship 300

Hull 310 of a ship

Outboard motor 100

Outer machine body 10

Head 11

Operating lever 11a

Housing 11b

An inner space 11c

Connecting shaft 12

First shaft section 12a

Second shaft section 12b

First rack 12m

Propeller assembly 13

First motor 13a

Propeller 13b

Transmission structures 13c,13d

Controller 14

First connecting shaft 15

Second connecting shaft 16

Rotating shaft member 17

Clamp 20

Mounting bracket 21

Second rack 22

Lifting table 23

Linear guide 24

Drive section 30

Second motor 31

The fixing portion 31a

Output shaft 31b

Transmission mechanism 32

Worm 32a

Worm gear 32b

Gear 32d

First gear 32e

Second gear 32f

Self-locking structure 32p

Raising controller 301

Matching hole K1

Surface of water P1

Section P2

First part S1

Second part S2

First vector Y1

First direction component Y11

Second direction component Y12

Second vector Y2

Component Y21

First direction Z

Second direction X

Axis of rotation Z1

Detailed Description

The following description of the technical solutions in the embodiments of the present application will be made clearly and completely with reference to the drawings in the embodiments of the present application, and it is apparent that the described embodiments are only some embodiments of the present application, not all embodiments.

It will be understood that when an element is referred to as being "fixed to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. When an element is referred to as being "disposed on" another element, it can be directly on the other element or intervening elements may also be present. The terms "vertical," "horizontal," "left," "right," and the like are used herein for illustrative purposes only.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein in the description of the application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. The term "or/and" as used herein includes any and all combinations of one or more of the associated listed items.

Some embodiments of the present application are described in detail. The following embodiments and features of the embodiments may be combined with each other without collision.

Examples

Referring to fig. 1, the present embodiment provides a ship 300 including a hull 310 and an outboard motor 100.

Hull 310 may have a structure of greater buoyancy to float vessel 300 entirely to water surface P1. The hull 310 may be used to carry people or items. The draft H of the hull 310 varies with the load.

The outboard motor 100 is mounted to the hull 310 for providing power to propel the watercraft 300.

In the present embodiment, the outboard motor 100 includes an outboard motor body 10, a clamp 20, and a drive portion 30.

Wherein the clamp 20 is adapted to be mounted to the hull 310. The clamp 20 is fixedly mounted to the stern of the hull 310 by fasteners (not shown), such as bolts. The outer machine body 10 is movably mounted to the clamp 20 and can partially extend below the water surface P1 and interact with water to push the ship 300 to move on the water surface P1. The driving part 30 is connected to the clamp 20 and is in transmission connection with the outer machine body 10, and is used for driving the whole or part of the outer machine body 10 to move relative to the clamp.

The driving part 30 drives the outer machine body 10 to move, so as to realize tilting of the outer machine body 10, so as to change the posture of the outer machine body 10 and further change the pushing direction of the outer machine body 10.

The outer machine body 10 includes a first portion S1 and a second portion S2, the second portion S2 and the first portion S1 being connected in a first direction Z. In the illustrated state, the first direction Z is along the gravity direction, i.e. perpendicular to the water surface P1, the first portion S1 is located below the second portion S2, and enters below the water surface P1 when needed, for acting with water to provide the propulsion force, for example by providing a propeller 13b on the first portion S1 for interaction with water. It should be understood that the first direction Z is only used as a reference direction, and is not used as a limiting direction of the structure of the outboard motor body 10, and in a certain working state of the outboard motor 100, there will be a state as shown in the figure, that is, in other working states of the outboard motor 100, the first direction Z will also be inclined with respect to the water surface P1.

The movement of the driving part 30 to drive the outer machine body 10 includes the movement of the first part S1 and the movement of the second part S2. Wherein the movement of the first part S1 has at least a component in a first direction Z and the component of the movement of the second part S2 in a second direction X, which is perpendicular to the first direction Z, is directed in the forward and backward direction of the vessel 300 in parallel to the water surface P1 in the illustrated state.

Referring to fig. 2 in conjunction, for convenience of description, the motion of the first portion S1 is represented by a first vector Y1, and the motion of the second portion S2 is represented by a second vector Y2.

The movement of the first part S1 has a first direction component Y11 in the first direction Z, the first direction component Y11 being the component of the first vector Y1 in the first direction Z, the movement of the first part S1 has a second direction component Y12 in the second direction X, the second direction component Y12 being the component of the first vector Y1 in the second direction X. As described above, the movement of the first portion S1 has the first direction component Y11, i.e., the first direction component Y11 is not zero, indicating that the driving portion 30 has the capability of moving the first portion S1 in the first direction Z; the second direction component Y12 may be zero or not, which is not limited. When the second direction component Y12 is zero, the movement mode of the first portion S1 driven by the driving portion 30 is a movement mode moving along the first direction Z, which may be represented as a vertical lifting movement mode; when the second direction component Y12 is non-zero, the movement of the first portion S1 is in the form of a combination of the first direction component Y11 and the second direction component Y12, possibly representing a rotational movement of the first portion S1 in a longitudinal plane defined by the first direction Z and the second direction X.

The component of the movement of the second portion S2 in the second direction X is zero, i.e. the second vector Y2 is equal to its component Y21 in the first direction Z. When the value of the component Y21 of the movement of the second portion S2 in the first direction Z is also zero, the second portion S2 remains stationary relative to the hull 310 and the driving portion 30 does not drive its movement relative to the hull 310; when the value of the component Y21 of the movement of the second portion S2 in the first direction Z is not zero, the second portion S2 moves in the first direction Z under the driving action of the driving portion 30.

Some exemplary implementations are given below.

Referring to fig. 3, the outboard motor body 10 of the outboard motor 100 provided in this embodiment includes a nose 11, a connecting shaft 12, and a propeller assembly 13.

When the outboard motor 100 is operated in the illustrated state, the connecting shaft 12 extends along the first direction Z, and in this embodiment, a section of the connecting shaft 12 near the propeller assembly 13 is defined as a first shaft section 12a, and a section near the nose 11 is defined as a second shaft section 12b. For example, a section P2 perpendicular to the first direction Z is defined, the first shaft section 12a is a portion of the connecting shaft 12 located on a side of the section P2 close to the propeller assembly 13, and the second shaft section 12b is a portion of the connecting shaft 12 located on a side of the section P2 close to the nose 11. The position of the cross section P2 may be set as needed. In this embodiment, the first shaft section 12a and the second shaft section 12b may be a complete shaft, or may be two shafts fixedly connected by a connecting member, which may be a screw, a pin, a bolt, or other devices, and is not limited herein, and it is only necessary to keep the relative positions of the first shaft section 12a and the second shaft section 12b unchanged under the driving of the driving portion 30. In this embodiment, the portion of the connecting shaft 12 near the nose 11 (i.e., the second shaft section 12 b) and the nose 11 form the aforementioned second portion S2, and the portion of the connecting shaft 12 near the propeller assembly 13 (i.e., the first shaft section 12 a) and the propeller assembly 13 form the aforementioned first portion S1. In this embodiment, therefore, the first portion S1 and the second portion S2 are fixedly connected to each other by the first shaft section 12a and the second shaft section 12b being integral.

In this embodiment, the handpiece 11 and the propeller assembly 13 are respectively connected to both axial ends of the connecting shaft 12.

The handpiece 11 includes a housing 11b, and the inner space 11c of the housing 11b may be used to house other structures, such as a controller 14 for controlling the operation of each motor, which will be described later, a bracket for fixing the controller 14, and a wire harness for electrically connecting the controller 14, and the structural device housed inside the housing 11b is not limited to the portion described in the present embodiment.

The propeller assembly 13 is located at the end of the connecting shaft 12 remote from the nose 11, is connected to the first shaft section 12a, and is capable of being positioned under water when the outboard motor 100 is in a marine position for propelling the hull 310 (see fig. 1) for interacting with water to produce propulsion. For example, in the present embodiment, the propeller assembly 13 is configured to obtain propulsion force, and includes a first motor 13a and a propeller 13b, where the first motor 13a is disposed on the first portion S1, such as on the lower end of the first shaft section 12 a. The first motor 13a is in transmission connection with the propeller 13b and can drive the propeller 13b to rotate so as to act with water to generate driving force.

In the present embodiment, the first motor 13a may be a single-stator motor, a double-stator motor (a motor having two stators, one or two rotors), or other types of motors (such as a reduction motor with a built-in speed reducer).

In the present embodiment, the propeller 13b may be a counter-rotating propeller, a ducted propeller, or another type of propeller.

It will be appreciated that the first portion S1 is fixedly connected to the second portion S2. The driving part 30 drives the connecting shaft 12 to move along the first direction Z, so that the first part S1 and the second part S2 synchronously move along the first direction Z, and further the propeller assembly 13 is driven to move along the first direction Z. In one state, the connection shaft 12 moves the propeller assembly 13 in the first direction Z to sink under water so that the outboard motor 100 can push the hull 310 to navigate. In another state, the connection shaft 12 drives the propeller assembly 13 to move in the first direction Z to be separated from the water surface, so that the outboard motor 100 stops pushing the hull 310, the hull 310 can be in a berthing state, and the propeller assembly 13 is prevented from contacting with water, thereby prolonging the service life of the propeller assembly 13. Since the nose 11 moves only in the first direction Z, the nose 11 does not get close to the hull 310 side, i.e. the nose 11 does not encroach on the space of the hull 310, so that the hull 310 can obtain more space for use and the ship experience is improved.

Referring to fig. 4, in another embodiment, the first motor 13a may be further disposed at a middle position in the longitudinal direction of the connection shaft 12, and power may be transmitted to the propeller 13b through a transmission structure 13c (e.g., a bevel gear set, a belt transmission mechanism, a chain transmission mechanism, etc.) connected between the first motor 13a and the propeller 13b. When the connecting shaft 12 is a hollow shaft, the transmission structure 13c may occupy the space in the connecting shaft 12.

The handpiece 11 is positioned above the connecting shaft 12 and connected to the second shaft section 12b. The nose 11 may be positioned above the hull 310 to facilitate handling by an operator on the vessel. Optionally, an operation rod 11a is arranged on the machine head 11, so that an operator can assist in supporting the outer machine body 10 when the outer machine body 10 moves.

It is to be understood that the intermediate position of the first motor 13a in the connecting shaft 12 is not limited to the illustrated state, for example, the output shaft of the first motor 13a is disposed in the first direction Z. The connecting shaft 12 is provided with a central cavity, and the first motor 13a is accommodated in the central cavity. In the embodiment of the present application, the structural form of the connection shaft 12 is not limited to the illustrated form, but a frame capable of supporting a motor, a driver, a propeller, and the like may be equivalent to the connection shaft 12 of the embodiment of the present application.

Referring to fig. 5, in another embodiment, a first motor 13a for driving a propeller 13b may also be provided at the handpiece 11. In order to achieve a transmission, a transmission structure 13d may be provided on the connecting shaft 12, and the first motor 13a is connected to the propeller 13b in a transmission manner via the transmission structure 13d for transmitting the rotational torque of the first motor 13a to the propeller 13b. The specific structure of the transmission structure 13d may be set according to needs, for example, a gear transmission, a belt transmission, a worm gear transmission or any other suitable transmission manner, which is not limited herein.

In this embodiment, the outboard motor 100 may further include a controller 14, where the controller 14 is electrically connected to the first motor 13a for controlling the operation of the first motor 13a, such as controlling the operation speed, the rotation direction, and the like. The controller 14 may be provided to the handpiece 11 or the second shaft section 12b to facilitate maintenance or adjustment.

In the case where the controller 14 and the first motor 13a are separately located at different positions of the connection shaft 12, communication between the controller 14 and the first motor 13a may be through short-range wireless communication (e.g., bluetooth) or wired communication. When wired communication is adopted, the connecting shaft 12 can be provided as a hollow shaft or a communication channel can be provided to realize wiring.

In this embodiment, the connecting shaft 12 is slidably engaged with the jig 20 along the first direction Z. For example, in the present embodiment, the clamp 20 is provided with a fitting hole K1 penetrating along the first direction Z, the linear guide 24 is provided inside the fitting hole K1, and the connecting shaft 12 passes through the fitting hole K1 and is slidably fitted to the linear guide 24. The linear guide 24 may be a roller linear guide, a cylindrical linear guide, a ball linear guide, or other structure capable of guiding linear sliding.

In some embodiments, the linear guide 24 is a ball linear guide, at this time, the connecting shaft 12 can also rotate relative to the clamp 20, so as to achieve steering of the ship 300, and at this time, the first portion S1 and the second portion S2 of the outer machine body 10 can integrally rotate relative to the rotation axis Z1 parallel to the first direction Z, so as to change the direction of the driving force of the propeller assembly 13.

In other embodiments, the linear guide 24 may be omitted, with the relative sliding engagement being achieved directly through the axial bore engagement between the connecting shaft 12 and the mating bore K1 and the relative rotation being selectively achieved.

As described above, the driving part 30 in the present embodiment is mounted on the fixture 20 and is drivingly connected to the outer machine body 10 for driving the whole or part of the outer machine body 10 to move.

For example, as shown in fig. 3, the driving portion 30 includes a second motor 31 and a transmission mechanism 32.

The second motor 31 includes a fixed portion 31a and an output shaft 31b, the fixed portion 31a being mounted on the jig 20, the output shaft 31b being capable of being driven to rotate to output rotational torque when the second motor 31 is energized. The transmission mechanism 32 is used for transmitting the rotation torque output by the output shaft 31b to the outer machine body 10, and is used for driving the outer machine body 10 to lift along the first direction Z. That is, in the movement of the external unit body 10 of the present embodiment, the first portion S1 and the second portion S2 move synchronously in the first direction Z, which is represented by the first vector Y1 and the second vector Y2 being equal and the components in the first direction Z, that is, the components in the second direction X of the first vector Y1 and the second vector Y2 being zero, being equal.

In this embodiment, various possible transmission mechanisms 32 may be employed to achieve the transmission of the output torque of the second motor 31.

For example, the first rack 12m is connected to the connecting shaft 12, and the first rack 12m extends in the first direction Z. The length of the first rack gear 12m may be determined according to the height required to be lifted and lowered by the outer machine body 10. The second motor 31 is mounted on the fixture 20 and is connected to the first rack 12m through a transmission mechanism 32 in a transmission manner, and is used for driving the first rack 12m and the connecting shaft 12 to move along the first direction, so that the connecting shaft 12 can drive the whole outer machine body 10 to move along the first direction Z.

The driving part 30 further comprises a tilting controller 301, the tilting controller 301 may be fixed with the second motor 31, i.e. the tilting controller 301 may be fixed to the fixture 20 and electrically connected to the second motor 31. The warp lifting controller 301 is configured to receive a control instruction of the controller 14, and control the rotation speed and the acceleration of the second motor 31 based on the control instruction of the controller 14, so that the second motor 31 can drive and output a target rotation torque according to the input rotation speed and acceleration, and the first portion S1 moves to a target position according to the target rotation torque output by the second motor 31.

In some embodiments, the transmission mechanism 32 may include a worm 32a and a worm wheel 32b that mesh, and the output shaft 31b of the second motor 31 is connected to the worm 32a. The worm 32a is disposed coaxially with the output shaft 31 b. The worm 32a is driven to rotate so as to drive the worm wheel 32b to rotate, and the worm wheel 32b can be directly meshed with the first rack 12m or meshed with the rack through other gear pieces coaxially connected. In this way, the rotation of the output shaft 31b of the second motor 31 drives the outer machine body 10 to move along the first direction Z through the meshing engagement of the worm 32a, the worm wheel 32b and the first rack 12 m. Wherein the worm gear 32b is rotatably mounted to a mounting bracket 21 on the clamp 20. It is to be understood that the layout of the second motor 31 on the jig 20 is not limited to the illustrated form, and as an alternative, for example, the output shaft 31b of the second motor 31 may be disposed in parallel with the connection shaft.

Referring to fig. 6, in another embodiment, the transmission 32 may also be implemented using a meshing gear 32d or set of gears (the set of gears being an assembly of a plurality of meshing gears 32 d), the gear 32d or set of gears being connected to the second motor 31 and meshing with the first rack 12 m. The gears 32d may be spur gears, bevel gears, or other types of gears or combinations. When the transmission mechanism 32 employs a separate gear 32d, the second motor 31 may be configured to have a larger torque to provide a larger output force to drive the movement of the outer machine body 10.

In some embodiments, the driving portion 30 further includes a self-locking structure 32p (see fig. 5), where the self-locking structure 32p connects the second motor 31 and the transmission mechanism 32, and is used to lock the transmission mechanism 32 to transmit torque to the outer machine body 10 after the second motor 31 outputs the target torque, so as to enable the outer machine body 10 to lift up to a certain height position and be able to be kept at that position. The self-locking structure 32p may be implemented by an electromagnetic clutch, a hydraulic clutch, an electromagnetic brake, a mechanical locking device, etc., or by the second motor 31 with a self-locking function.

When a worm gear having a self-locking function is used as the transmission mechanism 32, an additional self-locking structure 32p may not be provided.

The first rack 12m in this embodiment may extend circumferentially of the connecting shaft 12 over an angle, such as 60 degrees, to allow the connecting shaft 12 to rotate circumferentially of the clamp 20 to steer the vessel 300 in some embodiments while still maintaining the meshing engagement between the first rack 12m and the gear train 32.

In this embodiment, the driving portion 30 drives the whole of the outboard motor body 10 to lift along the first direction Z (gravity direction) without displacement along the second direction X (horizontal direction), so that the problem that the outboard motor occupies the space of the ship body due to the way of whole inclination of the outboard motor in the prior art is avoided (for example, some outboard motors occupy the space of the ship body due to whole deflection and tilting, when the upper part of the outboard motor is inclined to one side of the ship body), and the outboard motor is prevented from compressing the space of the ship body or interfering with the seats or other structures in the ship. Meanwhile, the outboard motor 100 in the present embodiment can adapt to different boat forms by adjusting the initial position of the outboard motor body 10 in the first direction Z for different sizes of the transom heights. In addition, this structure facilitates the adjustment of the draft of the propeller 13b according to the draft (reaction load condition) of the hull 310 so that the propeller 13b is positioned at the optimum pushing position when the ship 300 is operated.

When the ship 300 is moored or not used for a long time, the outer machine body 10 can be lifted, the outer machine body 10 is separated from the water surface P1, and corrosion or collision damage of the underwater part of the outer machine body 10 can be reduced.

Fig. 7 shows another exemplary implementation of the outboard motor 100 in this embodiment, the outboard motor 100 being further designed based on the outboard motor 100 shown in fig. 3.

Referring to fig. 7 in combination, the outboard motor 100 further includes the following structure on the basis of the structure shown in fig. 3:

the fixture 20 is fixedly provided with a second rack 22, the second rack 22 and the first rack 12m are arranged in parallel at intervals, and tooth surfaces are opposite along a second direction X. The second rack 22 is connected to the transmission mechanism 32, and the second motor 31 is capable of moving in opposite directions with respect to the second rack 22 and the first rack 12m, respectively. Optionally, the outboard motor 100 further includes a lifting platform 23, the lifting platform 23 is mounted on the fixture 20 and is capable of lifting along the first direction Z, and the lifting platform 23 is fixedly connected to the second motor 31 for supporting the second motor 31 when the second motor 31 stops operating.

In the case where the transmission mechanism 32 includes the worm wheel 32b and the worm 32a, the worm wheel 32b or a gear coaxially disposed thereof may be disposed between the first rack 12m and the second rack 22, and both sides of the worm wheel 32b are respectively engaged with the first rack 12m and the second rack 22.

In this embodiment, the driving of the second motor 31 can drive the first rack 12m and the second rack 22 to move in opposite directions relative to the worm gear 32b in synchronization with each other, that is, the first rack 12m moves at a speed twice as fast as the torque of the worm gear 32b relative to the second rack 22, so that the outer machine body 10 has the effects of increasing the lifting speed and enlarging the stroke.

Fig. 8 shows another exemplary implementation of the outboard motor 100 in this embodiment.

Referring to fig. 8, an outboard motor body 10 of an outboard motor 100 in the present embodiment includes a nose 11, a first coupling shaft 15, a second coupling shaft 16, and a propeller assembly 13. In this embodiment, the structure of the head 11 can be described with reference to the embodiment shown in fig. 3. The propeller assembly 13 may employ the previously described embodiment shown in fig. 3 or 4.

The second coupling shaft 16 is coupled to the clamp 20 and extends in the first direction Z. The second coupling 16 is connected to the clamp 20 by means such as bearings, suspensions, brackets, etc. The second connecting shaft 16 has no motion component in the second direction X, i.e., the length direction of the second connecting shaft 16 is always maintained in the first direction Z.

In other embodiments, the second shaft 16 may be configured to rotatably mate with the fixture 20 along an axis thereof, such that rotation of the second shaft 16 causes the first shaft 15 and the propeller assembly 13 coupled thereto to swing laterally (i.e., in a direction perpendicular to the first direction Z and the second direction X) to adjust the steering navigation of the vessel 300. One end of the first connecting shaft 15 is rotatably connected to the second connecting shaft 16, and the other end of the first connecting shaft is provided with the propeller assembly 13, and the first connecting shaft 15 and the propeller assembly 13 form a first part S1. The handpiece 11 is connected to the end of the second coupling 16 remote from the first coupling 15, the handpiece 11 and the second coupling 16 constituting the second section S2. The driving portion 30 is in driving connection with the first portion S1 (e.g. connected to the first connecting shaft 15) and is configured to drive the first portion S1 to rotate relative to the second portion S2.

In this embodiment, the movement of the first part S1 has a first direction component Y11 in the first direction Z and a second direction component Y12 in the second direction X, and the component of the movement of the second part S2 in the first direction Z is zero and the component in the second direction X is also zero. That is, the second portion S2 is fixedly disposed with respect to the clamp 20, and an end of the first portion S1 adjacent to the second portion S2 is rotatably connected to an end of the second portion S2 adjacent to the first portion S1. The end of the first portion S1 remote from the second portion S2 is provided with a propeller assembly 13, the propeller assembly 13 being adapted to obtain propulsion. The driving portion 30 is drivingly connected to the first portion S1 for driving the first portion S1 to rotate relative to the second portion S2.

In this embodiment, the driving portion 30 includes a second motor 31 and a transmission mechanism 32. The second motor 31 is mounted on the fixture 20 and is connected to the first connecting shaft 15 by a transmission mechanism 32, so as to drive the first connecting shaft 15 to rotate relative to the second connecting shaft 16. Alternatively, the first connecting shaft 15 is rotatably connected to the second connecting shaft 16 through a rotating shaft member 17, the transmission mechanism 32 includes a worm wheel 32b and a worm 32a engaged with each other, the worm 32a is connected to the second motor 31, and the worm wheel 32b is connected to the rotating shaft member 17. The axis of the rotary shaft member 17 is perpendicular to the first direction Z.

In addition to worm and gear mechanisms, the transmission mechanism 32 may also employ planetary gears, other embodiments set forth in the respective embodiments corresponding to fig. 3-7, such as gears or gear sets, belt transmission mechanisms, and the like.

For example, as shown in fig. 9, the transmission mechanism 32 includes a first gear 32e and a second gear 32f that are meshed, the first gear 32e being connected to the second motor 31, and the second gear 32f being connected to the rotating shaft member 17. In this way, the output torque of the second motor 31 can be transmitted to the rotating shaft member 17 through the first gear 32e and the second gear 32f, so that the rotating shaft member 17 drives the first portion S1 to rotate to realize tilting.

Similarly, in the present embodiment, the driving portion 30 may also be provided with a self-locking structure 32p, and the self-locking structure 32p connects the second motor 31 and the transmission mechanism 32 for locking the transmission mechanism 32 to transmit torque to the first portion S1 after the second motor 31 outputs the target torque. The self-locking structure 32p may be realized in the manner mentioned in the corresponding embodiment of fig. 3.

The outboard motor 100 in this embodiment realizes the tilting of the outboard motor body 10 by the way that the driving portion 30 drives a part (the second portion S2) of the outboard motor body 10 to rotate, avoids the problem that the outboard motor occupies the space of the hull in the way that the outboard motor is inclined integrally in the prior art, avoids the interference collision between the outboard motor and the movable space in the ship or with the seats or other structures in the ship, and only the way of tilting the second portion S2 instead of the whole tilting requires less power, and can realize the tilting by the driving portion 30 with smaller power or size, thereby saving the cost. In addition, according to the embodiment, aiming at some user field requirements, when the ship is driven, under the conditions of different speeds, the weight of the ship body 310 and the weight balance, the included angle between the axis of the propeller 13b of the outboard motor 100 and the horizontal direction can be conveniently adjusted according to the driving condition, so that the outboard motor 100 can exert more excellent propulsion efficiency.

When the ship 300 is moored or not used for a long time, the second part S2 can be tilted to separate the outer machine body 10 from the water surface P1, so that corrosion or collision damage of the underwater part of the outer machine body 10 can be reduced.

In summary, in the present application, by providing "an outboard motor includes an outboard motor body, a clamp, and a driving portion, the outboard motor body includes a first portion and a second portion, the second portion and the first portion are connected in a first direction; the clamp is used for being installed on the hull; the driving part is in transmission connection with the outboard motor main body and can drive the outboard motor main body to move, the movement comprises the movement of the first part and the movement of the second part, the movement of the first part has a component in the first direction, the component of the movement of the second part in the second direction is zero, wherein the second direction is perpendicular to the first direction ", so that the outboard motor 100 can conveniently realize the tilting of the outboard motor main body 10, the problem that the outboard motor 100 occupies the space of the ship body 310 in a manner of integrally tilting the outboard motor 100 in the prior art is avoided, and the outboard motor has higher practicability.

The embodiment of the present application also provides a ship control method, based on the outboard motor 100, the ship control method includes:

acquiring an obstacle distance and a safety threshold; the barrier can be a water bottom or reef and other objects; the safety threshold can be set according to the needs, such as 30cm; the method for obtaining the obstacle may be to provide a sensor on the ship 300, and obtain the distance between the obstacle and the ship through the sensor;

resolving the obstacle distance and a safety threshold value, and outputting the tilting motion quantity; in this embodiment, the controller 14 may perform the calculation, for example, pre-store a safety threshold in the controller 14, and enable the controller 14 to be communicatively connected to the sensor to obtain the distance measured by the sensor, and calculate the difference between the distance and the safety threshold, to be used as the amount of tilting motion;

the motion position of the first portion S1 is obtained, gesture adjustment processing is performed on the motion position of the first portion S1 and the tilting motion amount, a tilting control instruction is output, the tilting control instruction is used for instructing the driving portion 30 to control the first portion S1 to move to a target position, for example, the tilting controller 301 receives a control instruction of the controller 14, and controls the rotation speed and the acceleration of the second motor 31 based on the control instruction of the controller 14, so that the second motor 31 drives and outputs a target rotation torque according to the input rotation speed and acceleration, and then the first portion S1 and the second portion S2 integrally or independently tilt to a position where an actual distance is greater than or equal to a safety threshold according to the target rotation torque output by the second motor 31.

For the embodiment shown in fig. 3 to 7, the tilting control instruction includes an overall tilting instruction, where the overall tilting instruction is used to instruct the driving portion 30 to drive the first portion S1 and the second portion S2 to move integrally to the target position along the first direction Z.

For the embodiment shown in fig. 8-9, the tilting control command includes a partial tilting command, where the partial tilting command is used to instruct the driving portion 30 to drive the first portion S1 to move along the first direction Z and the second direction X to move to the target position, for example, to rotate the first portion S1 to the target position relative to the second portion S2.

The embodiment of the application also provides a computer readable storage medium, which includes a stored program that executes the ship control method described above. The readable storage medium may be provided to the aforementioned controller 14.

The above embodiments are only for illustrating the technical solution of the present application and not for limiting, and although the present application has been described in detail with reference to the above preferred embodiments, it should be understood by those skilled in the art that the technical solution of the present application may be modified or substituted without departing from the spirit and scope of the technical solution of the present application.

Claims

An outboard motor, comprising:

an outer machine body including a first portion and a second portion, the second portion and the first portion being connected in a first direction;

the clamp is used for being mounted on the hull;

a driving part connected to the clamp; the driving part is in transmission connection with the outer machine main body and is used for driving the outer machine main body to move relative to the clamp, the movement comprises movement of the first part and movement of the second part, the movement of the first part at least has a component in a first direction, and the component of the movement of the second part in a second direction is zero, wherein the second direction is perpendicular to the first direction.
The outboard motor of claim 1, wherein:

the component of the motion of the first portion in the second direction is zero and the component of the motion of the second portion in the first direction is equal to the component of the motion of the first portion in the first direction.
The outboard motor of claim 2, wherein:

the first portion and the second portion are fixedly connected to each other.
An outboard motor as claimed in claim 3, wherein:

the outer machine main body comprises a machine head, a connecting shaft and a propeller assembly;

the connecting shaft extends along the first direction, and the machine head and the propeller assembly are respectively connected to two axial ends of the connecting shaft; the part, close to the machine head, of the connecting shaft and the machine head form the second part, the part, close to the propeller assembly, of the connecting shaft and the propeller assembly form the first part, and the propeller assembly is used for acquiring propelling force;

the connecting shaft is slidably engaged with the jig in a first direction.
The outboard motor of claim 4, wherein:

the connecting shaft is connected with a first rack, and the first rack extends along the first direction;

the driving part comprises a second motor and a transmission mechanism;

the second motor is arranged on the clamp, is connected with the first rack in a transmission mode through the transmission mechanism and is used for driving the first rack and the connecting shaft to move along the first direction.
The outboard motor of claim 5, wherein:

the transmission mechanism comprises a worm and a worm wheel which are meshed, the worm is connected to the second motor, and the worm wheel is meshed with the first rack.
The outboard motor of claim 5, wherein:

the transmission mechanism comprises a gear or a gear set, and the gear or the gear set is connected with the second motor and meshed with the first rack.
The outboard motor of claim 5, wherein:

the driving part further comprises a self-locking structure, wherein the self-locking structure is connected with the second motor and the transmission mechanism and is used for locking the transmission mechanism to transmit torque to the outer machine main body after the second motor outputs target torque.
The outboard motor of any one of claims 5-8, wherein:

the fixture is fixedly provided with a second rack, the second rack and the first rack are arranged in parallel at intervals, and tooth surfaces are opposite along a second direction;

the second rack is connected with the transmission mechanism; the second motor can move reversely relative to the second rack and the first rack respectively.
The outboard motor of claim 9, wherein:

the outboard motor further comprises a lifting platform which is arranged on the clamp and can lift along a first direction, and the lifting platform is fixedly connected with the second motor and used for supporting the second motor when the second motor stops running.
The outboard motor of claim 4, wherein:

the fixture is provided with a matching hole penetrating along a first direction, a linear guide rail is arranged on the inner side of the matching hole, and the connecting shaft penetrates through the matching hole and is slidably matched with the linear guide rail.
The outboard motor of claim 4, wherein:

the aircraft nose is equipped with first motor, the screw subassembly is equipped with the screw, outer machine main part still including install in the drive component of connecting axle, drive component with first motor with the screw is connected, is used for with the rotation moment of torsion of first motor is transmitted to the screw.
The outboard motor of claim 1, wherein:

the motion of the first portion has a component in a first direction and a component in a second direction, the component of the motion of the second portion in the first direction being zero.
The outboard motor of claim 13, wherein:

the second part is fixedly arranged relative to the clamp in a first direction;

one end of the first part, which is close to the second part, is rotatably connected with one end of the second part, which is close to the first part;

one end of the first part, which is far away from the second part, is provided with a propeller assembly, and the propeller assembly is used for acquiring propulsion;

the driving part is in transmission connection with the first part and is used for driving the first part to rotate relative to the second part.
The outboard motor of claim 14, wherein:

the outer machine main body comprises a machine head, a first connecting shaft, a second connecting shaft and the propeller assembly;

the second connecting shaft is fixedly arranged relative to the clamp and extends along a first direction;

one end of the first connecting shaft is rotatably connected with the second connecting shaft, the other end of the first connecting shaft is provided with the propeller assembly, and the first connecting shaft and the propeller assembly form the first part;

the machine head is connected to one end of the second connecting shaft far away from the first connecting shaft, and the machine head and the second connecting shaft form the second part.
The outboard motor of claim 15, wherein:

the driving part comprises a second motor and a transmission mechanism;

the second motor is arranged on the clamp, is connected to the first connecting shaft through transmission of the transmission mechanism and is used for driving the first connecting shaft to rotate relative to the second connecting shaft.
The outboard motor of claim 16, wherein:

the first connecting shaft is rotationally connected with the second connecting shaft through a rotating shaft piece;

the transmission mechanism comprises a worm wheel and a worm which are meshed, the worm is connected with the second motor, and the worm wheel is connected with the rotating shaft piece.
The outboard motor of claim 16, wherein:

the first connecting shaft is rotationally connected with the second connecting shaft through a rotating shaft piece; the transmission mechanism comprises a first gear and a second gear which are meshed, the first gear is connected with the second motor, and the second gear is connected with the rotating shaft piece.
The outboard motor of claim 16, wherein:

the driving part further comprises a self-locking structure;

the self-locking structure is connected with the second motor and the transmission mechanism and is used for locking the transmission mechanism to transmit torque to the first part after the second motor outputs target torque.
The outboard motor of claim 15, wherein:

the aircraft nose is equipped with first motor, the screw subassembly is equipped with the screw, outer machine main part still including install in first connecting axle and second connecting axle's drive component, drive component with first motor with the screw is connected, is used for with the rotation moment of torsion of first motor is transmitted to the screw.
The outboard motor of claim 12 or 20, wherein:

the second part is provided with a controller, and the controller is electrically connected with the first motor and used for controlling the first motor to operate.
The outboard motor of claim 4 or 15, wherein:

the machine head is provided with an operating rod.
The outboard motor of claim 1, wherein:

the second part is rotatably connected with the clamp, the second part can drive the first part to rotate relative to the clamp, and the rotation axis of the second part is parallel to the first direction.
A marine vessel, comprising:

a hull;

the outboard motor of any one of claims 1-23; the outboard motor is mounted to the hull by the clamp, and the first portion is positioned on the leeside of the hull and the second portion is positioned on the water side of the hull.
A ship control method for controlling the outboard motor of any one of claims 1 to 23, the ship control method comprising:

acquiring an obstacle distance and a safety threshold;

resolving the obstacle distance and a safety threshold value, and outputting the tilting motion quantity;

the method comprises the steps of obtaining a movement position of a first part, carrying out posture adjustment processing on the movement position of the first part and the lifting movement amount, and outputting a lifting control instruction, wherein the lifting control instruction is used for indicating the driving part to control the first part to move to a target position.
The ship control method according to claim 25, characterized in that:

the warping control instruction comprises an integral warping instruction, and the integral warping instruction is used for indicating the driving part to drive the first part and the second part to integrally move to a target position along a first direction.
The ship control method according to claim 25, characterized in that:

the tilting control instruction comprises a part tilting instruction, and the part tilting instruction is used for indicating the driving part to drive the first part to move along the first direction and the second direction to move to the target position.
A computer-readable storage medium including a stored program, characterized in that the program performs the ship control method of any one of claims 25 to 27.