32results about How to "Improve sailing stability" patented technology

The invention puts forwards a swimming-walking hybrid bionic blade leg and track combined walking underwater robot and a control method of the swimming-walking hybrid bionic blade leg and track combined walking underwater robot. The swimming-walking hybrid bionic blade leg and track combined walking underwater robot comprises a frame, a floating body module, a hanging bracket, a control sealed cabin, a motion component, a sensing detection component, a visual positioning device and an operation extension module; the floating body module, the hanging bracket, the control sealed cabin, the motion component, the sensing detection component, the visual positioning device and the operation extension module are all mounted on the frame, and the gravity center of the underwater operation robot is located right under the buoyancy center. By adopting the invention, the underwater operation robot can adapt to operation demands for working faces of different categories and different attitudes, and further can adapt to the demands on omnidirectional mobility and obstacle climbing abilities on the different working faces, thereby being capable of providing technical support to various underwater operation tasks completed by the underwater operation robot.

The invention discloses a swimming and walking combined underwater operation robot and a control method thereof. The robot comprises a frame, a floating body module, a hanging bracket, a control sealed cabin, a moving component, a sensing and probing component, a vision localization device and an operation extension module, wherein the floating body module, the hanging bracket, the control sealed cabin, the moving component, the sensing and probing component, the vision localization device and the operation extension module are mounted on the frame; and the gravity center of the robot is positioned below a buoyant center. The swimming and walking combined underwater operation robot can be adapted to the operation demands of different types and different postures of working faces and can also adapted to the demands of omnibearing maneuvering and obstacle crossing ability on different working faces, thus the walking capacity, on the working faces, of the underwater operation robot is improved, and the underwater operation robot can be adapted to the demands of more application sites.

The invention provides a wind wave blocking type hybrid ship which comprises a ship body, a cabin, a water baffle I, a rotating shaft I, a water baffle II and water filter slots, wherein the water baffle I and the water baffle II are connected together through the rotating shaft I; the lower end surface of the water baffle I is connected with the left side of the ship body, and the lower end surface of the water baffle II is connected with the right side of the ship body; the water filter slots are formed in the outer surface of the water baffle II; a manger board is mounted outside the ship body, and is connected with the ship body through the rotating shaft II; a servo motor is mounted in the ship body; the lower end of an adjustment screw rod is assembled in a guide sleeve; the upper end of the adjustments crew rod is connected with the manger board; the upper end of the guide sleeve is mounted in the end surface of the right side of the ship body; the lower end of the guide sleeve is connected with the servo motor. The wind wave blocking type hybrid ship is reasonable in structure, high in wind wave resistance performance, high in sailing stability and high in reliability.

The invention discloses a high-speed and high-sea-condition multi-body unmanned underwater vehicle capable of diving and a control method thereof. The multi-body unmanned underwater vehicle comprisesa main ship body, a plurality of propelling sub-ship bodies, a plurality of side wings, a plurality of horizontal rudders, a tail fin and a communication sub-ship body. The side wings are arranged onthe two sides of the main ship body, one ends of the side wings are connected with the main ship body, the other ends of the side wings are connected with one sides of the propelling sub-ship bodies,the other sides of the propelling sub-ship bodies are connected with the horizontal rudders, one end of the tail fin is connected with the main ship body, and the other end of the tail fin is connected with the communication sub-ship body; the communication sub-ship body is in communication connection with the main ship body; the propelling sub-ship bodies and the communication sub-ship body are connected with propellers; and a ballast water tank is further arranged in the main ship body and used for adjusting water inflow and drainage in the ship body. In the invention, functions of overwaternavigation, semi-submersible navigation and full-submersible navigation can be realized, overwater and underwater operation requirements under high sea conditions are met, and stability is kept to the greatest extent.

The invention discloses a variable-configuration double-navigation-state long-voyage marine unmanned vehicle driven by natural environment fluid, which has a water surface navigation mode, a navigation switching mode and an underwater navigation mode, and comprises: a wind energy collection unit for receiving aerodynamic force applied by marine wind to drive the vehicle to navigate; a buoyancy adjusting unit which is used for adjusting the buoyancy of the aircraft in an underwater navigation mode and realizing heaving motion and horizontal advancing of the aircraft in combination with hydrodynamic force applied by head-on water flow when the aircraft moves; a wing keel; a linkage unit which is used for completing pose transformation of the sail and the wing keel during sailing mode switching; and a photovoltaic power generation unit which is used for collecting solar energy in a water surface navigation mode and providing electric energy supply for an aircraft power consumption device.According to the variable-configuration double-navigation-state long-voyage marine unmanned aircraft driven by the natural environment fluid, energy self-sufficiency is achieved through sea surface wind and air flow, underwater water flow and sunlight of the natural environment, and the variable-configuration double-navigation-state long-voyage marine unmanned aircraft has the long-distance navigation capacity under the water surface navigation state and the underwater navigation state.

The invention aims at providing an air cushion system of an amphibious aircraft. The air cushion system comprises an airframe and an air cushion, wherein an air passage and a pressurization chamber are arranged in the airframe, an air intake fan is arranged on the airframe, the air intake fan is arranged at the inlet of the air passage, the air passage is communicated with the pressurization chamber through air passage air injection holes, the lower end surface of the pressurization chamber is provided with a bottom plate, air vents are arranged in the bottom plate; the air cushion comprises an airbag, the airbag is arranged below the bottom plate and is located outside the air injection holes, a cabin hydraulic press is arranged in the pressurization chamber, gaskets are arranged in the airbag, the top of a shock absorber is connected with the cabin hydraulic press, the bottom of the shock absorber is connected with the air cushion through the gaskets, the outside of the lateral side of the air cushion is provided with a web, the rear side of the air cushion is provided with a tailboard, the web is connected with a web hydraulic press, and the tailboard is connected with a tailboard hydraulic press. The air cushion system of the amphibious aircraft is suitable for various operating environments and complex terrains, has good buffer performance, is capable of improving the navigation speed on a water surface, the stability in high sea conditions and the safety during takeoff and landing, shortening the take-off and landing time, and enhancing the maneuverability and stealth performance.

The invention provides a ship keel structure and a keel manufacturing method. Each keel segment comprises a top plate, a bottom plate, a partition plate, webs and base plates, wherein the top plate is located on the upper portion, the bottom plate is located at the bottom, and the partition plate, the webs and the base plate are located in the middle; and lead blocks are poured into storage boxes defined by the top plate, the bottom plate, the partition plate, the webs and the base plates, and then the storage boxes are sealed through a side plate. Molten lead is poured into the storage box in the middle of each keel segment, and prefabricated lead blocks are used for installation in the positions where the keel segments are combined. Through a keel of the structure and the keel manufacturing method, the keel manufacturing precision and the compactness of poured lead can be improved; meanwhile, the installation and combination precision of the keel segments in the front-back direction is guaranteed, and the straightness and precision of the whole ship keel are improved; and in addition, the effect that the weight center of gravity of the keel is calculated accurately in the subsequent stage is effectively guaranteed, and thus the sailing stability of a ship is improved.

The invention belongs to the field of underwater robots, and particularly relates to an emergency load rejection device for an underwater robot. The torque is transmitted to a load rejection horizontal shaft after a direct current motor is decelerated by a planetary gear reducer, the load rejection horizontal shaft transmits rotary motion to a load rejection vertical shaft through gear transmission, the load rejection vertical shaft transmits rotation to a lead block supporting piece through a rectangular notch, and a rectangular sliding groove is formed between the lead block supporting pieceand a load rejection tray. When the lead block supporting piece rotates to be parallel to the sliding groove of the load rejection tray, a load rejection lead block acts on the lead block supportingpiece through gravity and falls off from the sliding groove, so that the load rejection lead block is separated from a carrier. After the underwater robot discards a part of mass in emergency, the gravity of the underwater robot is smaller than the buoyancy, and therefore the underwater robot can safely float out of the water surface. The device has the advantages of being simple and compact in structure, high in efficiency, easy to control, low in cost, good in underwater sealing performance, capable of being repeatedly used, easy to install and the like.

The invention discloses a single-degree-of-freedom foldable sail. The single-degree-of-freedom foldable sail comprises a framework assembly, a flexible skin and a wire drive assembly, wherein the flexible skin is fixed onto the framework assembly, and the wire drive assembly is connected with the framework assembly; the framework assembly is composed of a driving framework, a follower framework and a fixed framework which are arranged in sequence from top to bottom; the follower framework is composed of a first aluminum alloy rod piece and a first carbon fiber rod piece; the driving frameworkcomprises a second aluminum alloy rod piece, a second carbon fiber rod piece, an expanding wire fixing shaft, a folding wire fixing shaft and a rotating disc; the fixed framework comprises a third carbon fiber rod piece, a first threaded rod, a connecting rod assembly and a second threaded rod. The single-degree-of-freedom foldable sail has the advantages that the area of the sail is changed by expanding different numbers of the frameworks to adapt to different wind speeds and wind directions on the sea surface, so that the sail has better thrust performance and a more stable sailing attitude,and all the frameworks are folded together to achieve a large folding rate so that a sailing device can be converted from a sail drive mode to a propeller propulsion mode or a dive navigation mode.

The invention relates to a small automatic cruise water quality monitoring ship, and belongs to the technical field of environmental monitoring. According to the invention, real-time positioning is realized through a GPS module; the surrounding environment of the ship body is detected in real time through an obstacle avoidance module; a chip I controls a motor and a steering engine to perform automatic cruise, water sampling is performed through a water quality acquisition system, the periphery of the ship body is detected in real time through a water quality detection module and an image transmission system, and finally detected water quality information, time information and image information are sent to an upper computer through the wireless communication module and the wireless communication module. The water quality monitoring system can monitor the water quality conditions of the riverway and the reservoir without monitoring personnel going to the site to take water, can be switched into a remote control mode when water quality monitoring is carried out on a temporary designated area on the water surface, and can quickly reach the temporary designated area on the water surface to monitor the water quality under the control of the remote controller. The size of the ship body is reduced, the design and use cost is reduced, automatic cruise positioning can be achieved, and the monitoring level and the working efficiency are improved.

The invention discloses a river and lake water quality inspection device and method. The device comprises a supporting top plate, an equipment sealing box, a water quality detection mechanism, a suspension water taking mechanism, a lifting driving mechanism and two strip-shaped ship bodies. The two strip-shaped ship bodies are installed on the lower side face of the supporting top plate. The lifting driving mechanism is installed in the equipment sealing box, the suspension water taking mechanism is suspended on the lifting driving mechanism, and the lifting driving mechanism drives the suspension water taking mechanism to descend to different depths to take water. According to the river and lake water quality inspection device, the controller is used for controlling the two impeller driving mechanisms according to the GPS module and the gyroscope, so that the inspection device sails to a specified detection coordinate position for water quality detection, the automatic inspection requirement of rivers and lakes is met, manual ship driving for manual inspection is not needed, and the detection efficiency is high; the lifting driving mechanism can be used for lifting and driving the suspended water taking mechanism, so that water quality detection on water samples at different depths is realized.

The invention discloses a ship with an open type novel dead wood structure, and aims to provide the ship with the open type novel dead wood structure, which is simple in structure, low in production cost, capable of reducing water flow resistance and good in sailing stability. The ship comprises a ship body (8) and a dead wood component (1), wherein a propeller (3) is arranged at the tail part ofthe ship body (8), the surface, close to the propeller (3), of the ship body (8) is an inclined surface (2), the dead wood component (1) is arranged on the inclined surface (2) and is positioned in front of the propeller (3), and the dead wood component (1) is of a hollow box-shaped structure. The invention is applied to the technical field of ship structures.

A dual-channel unmanned aerial vehicle with a two-stage transmission engine tandem capable of generating electricity and carrying loads, including a fuselage, a transmission assembly, a power generation assembly, a rotor assembly, a rudder surface assembly, and a flight control assembly. The engine is arranged longitudinally on the fuselage, and the rotors are arranged horizontally on both sides of the fuselage; the movement of the engine is transmitted to the rotor assembly on the one hand to generate the updraft required for flight, and on the other hand to the power generation assembly to generate electricity for the UAV. Other components are used; the steering gear adjusts the angle of the rudder surface, changes the airflow direction and then changes the flying direction and attitude of the UAV; The overall vibration frequency of the body reduces the weight, increases its endurance and flight time, and enhances the navigation stability of the UAV. At the same time, the upper part of the fuselage is used as a loading platform to carry various materials.

The invention provides an unmanned ship design measurement system. The unmanned ship design measurement system comprises two unmanned ships, a connecting frame and a carrying platform. The unmanned ships are distributed on the two sides of the carrying platform and connected through the connecting frame and are unmanned ships. The carrying platform carries a depth finder, an attitude determination system, multiple beams, a side-scan sonar, an ADCP flow velocity and flow meter and a water quality multi-parameter meter sensing device. The unmanned ship carries a pump spraying type double-power double-rudder module, and is driven by a direct-current brushless motor and propelled by water spraying. Wherein each pump spraying power module is provided with rudder direction control; the carrying platform communicates with the control terminal through the wireless transmission module; the data transmission of the wireless transmission module adopts the same link, and the data storage adopts double backups; and the control terminal remote controller can display voltage, speed, position, course, observation satellite and distance information in real time. The unmanned ship design measurement system further comprises a ground control base station. The unmanned ship design measurement system is stable in ship body operation, high in carrying capacity, high in power and convenient to control, and solves the problem of shallow water detection.

A design of a small unmanned boat for measuring vertical profile temperature, salinity and sound velocity includes the steps: designing a contour and hardware system architecture of the small unmannedboat with a required boat body structure suitable for carrying a CTD (conductivity temperature depth) device; manufacturing the small unmanned boat and building a profile temperature, salinity and sound velocity measuring experimental device based on the small unmanned boat; designing an experimental measurement scheme and placing a CTD probe under a waterline of the unmanned boat to perform temperature, salinity and sound velocity profile measurement on an area to be measured. The design of the contour and hardware system architecture of the small unmanned boat includes a propulsion and power system meeting offshore detection requirements, acoustic imaging system design, an unmanned boat data transmission system and the like meeting the requirements of carrying of the CTD device and practical measurement. Marine temperature, salinity and sound velocity parameters are measured based on the small unmanned boat, a boat body has anti-pitching, stabilizing and splashing prevention effects, and seawater temperature, salinity, depth and sound velocity parameters are more flexibly and accurately measured.

The invention provides a ship keel structure and a keel manufacturing method. Each keel segment comprises a top plate, a bottom plate, a partition plate, webs and base plates, wherein the top plate is located on the upper portion, the bottom plate is located at the bottom, and the partition plate, the webs and the base plate are located in the middle; and lead blocks are poured into storage boxes defined by the top plate, the bottom plate, the partition plate, the webs and the base plates, and then the storage boxes are sealed through a side plate. Molten lead is poured into the storage box in the middle of each keel segment, and prefabricated lead blocks are used for installation in the positions where the keel segments are combined. Through a keel of the structure and the keel manufacturing method, the keel manufacturing precision and the compactness of poured lead can be improved; meanwhile, the installation and combination precision of the keel segments in the front-back direction is guaranteed, and the straightness and precision of the whole ship keel are improved; and in addition, the effect that the weight center of gravity of the keel is calculated accurately in the subsequent stage is effectively guaranteed, and thus the sailing stability of a ship is improved.

The invention relates to a multi-rotor unmanned aerial vehicle based on a 5G communication module. Themulti-rotor unmanned aerial vehicle comprises an unmanned aerial vehicle body, a mounting disc isarranged on the lower side of the unmanned aerial vehicle body, two detection rods are fixedly arranged on the mounting disc and extend towards the side direction of the unmanned aerial vehicle body,and a signal monitor is fixedly arranged at the end, away from the unmanned aerial vehicle body, of each detection rod. Through arrangement of the detection rods and the signal monitor, the 5G communication signal intensity in each direction is continuously monitored around the unmanned aerial vehicle body, and when the signal monitor monitors that a 5G signal is weakened to a threshold value, thesignal monitor sends an instruction to enable the unmanned aerial vehicle to stop approaching the direction; and the possibility that the unmanned aerial vehicle is disconnected from the communication signal and loses response when moving to a weak 5G signal or a signal blind area is reduced.

The invention discloses an invisible energy-saving and emission-reducing ship, and belongs to the field of emission-reducing ships. The invisible energy-saving and emission-reducing ship comprises a main deck. Side plates are fixedly installed on the left side and the right side of the main deck, a groove-shaped bottom plate which is concave upwards is fixedly installed on the outer wall of the lower end of the main deck, and a flat wave-removing bottom plate is fixedly installed below the front of the groove-shaped bottom plate. A groove-shaped bottom inner wall plate is fixedly installed onthe inner wall of the upper end of the groove-shaped bottom plate, a prow lattice shed plate is arranged at the front end of the flat wave-removing bottom plate, a prow watertight compartment is fixedly installed in the middle of the upper side of the flat wave-removing bottom plate, propeller water supply passages are installed on the left and the right of the prow watertight compartment, and water passage isolation plates are installed in the propeller water supply passages. By installing the isolation structures, water resistance borne by a hull is converted into power, and the navigationalspeed and stability of the hull are improved.

The invention discloses a no-ballast-water speed increasing ship. The ship is composed of a ship body, a plurality of water pipes, sealing doors and fence nets. The water pipes are installed on the two sides of the lower hold of the ship body, the sealing doors are installed at the two ends of each water pipe and are opened or closed as needed, and the sealing doors can be partially opened or closed and can also be completely opened or closed at the same time; the fence nets are installed at the two ends of each water pipe and used for stopping foreign matter like fishes from entering the water pipes. The ship has the advantages that the structure is simple, the cost is low, the sailing stability of the ship is greatly improved, and the sailing speed of the ship is greatly increased.

The invention discloses a three-channel hydrofoil composite ultra-high-speed boat, which aims to provide a three-channel hydrofoil composite that can effectively balance speed, seakeeping and stability under certain sea conditions and achieve excellent comprehensive navigation performance. Super high-speed boat. The invention includes a hull. Viewed from the bow to the stern, the bottom of the hull is provided with a central channel (3) and symmetrically arranged left side shallow channels (4) and right side shallow channels (4a). ), a bow hydrofoil (9) and a tail hydrofoil (10) are provided in the central channel (3). The invention is applied in the technical fields of ship design and production.

The invention discloses a floating garbage collecting and automatic feeding intelligent robot for aquaculture. The floating garbage collecting and automatic feeding intelligent robot comprises a sealing cover; the buoy collecting cover is movably arranged on the outer side of the sealing cover in a sleeving manner; the top of the storage inner barrel is in sealed connection with a sealing cover, and the top of the outer collection barrel is in floating connection with a buoy collection cover to form a buoy collection bin; the discharging inner cylinder is fixedly arranged at the bottom of an inner cavity of the buoy collecting cylinder; the piston type float bowl is arranged between the discharging inner barrel and the material storage inner barrel, the piston type float bowl and the top of the piston type float bowl define a closed material storage bin with the variable size, and the piston type float bowl and the bottom of the piston type float bowl define a closed pressurized water bin with the variable size; the integrated discharging rod is used for downwards conveying the bait in the storage bin to the discharging cavity for feeding; and the four-direction propeller is used for driving the robot to move forwards, backwards, leftwards and rightwards. Automatic floating garbage collection and automatic bait casting are achieved, manpower is liberated, and meanwhile nutrition supply of aquatic organisms and water environment maintenance are greatly guaranteed.

The invention relates to a deep and far sea culture work ship based on wind energy-wave energy combined power generation and single-point mooring. The deep and far sea culture work ship comprises a bow, a stern and a plurality of culture net cages arranged between the bow and the stern. The stem is provided with an inner turret single-point mooring system, the inner turret single-point mooring system comprises a moon pool arranged on the stem and a buoy located in the moon pool, and the stem is rotationally connected with the buoy; a wind driven generator is installed above a deck of the stern, and a wave power generation device is installed below the deck. The wave energy power generation device is arranged at the stern, heaving motion response of the oscillating floaters is increased, power generation efficiency is improved, and meanwhile heaving and pitching motion response of the breeding work ship can be reduced through the damping effect of the oscillating floaters; the horizontal shaft fan is arranged at the stern, so that the gravity center of the ship body moves backwards, the single-point mooring weather vane effect of the whole ship can be enhanced, the seawater exchange rate can be increased, meanwhile, the good windward posture of the fan can be kept, high-power-generation-efficiency work can be conducted, and the intermittent defect of wave energy power generation is overcome.

The invention discloses an unmanned ship with a three-stage damping self-stabilizing system. The unmanned ship with the three-stage damping self-stabilizing system comprises double long buoys, dampingbases, cat-like connecting rod type leg damping structures, a six-degree-of-freedom hydraulic self-stabilizing device and a ship cabin, wherein the double long buoys are provided with the four damping bases, the bottom end of each cat-like connecting rod type leg damping structure is connected with the corresponding damping base, and the top end of each cat-like connecting rod type leg damping structure is connected with a connecting bridge; and the six-degree-of-freedom hydraulic self-stabilizing device is arranged on the connecting bridge, and the ship cabin is mounted on the six-degree-of-freedom hydraulic self-stabilizing device. The invention provides an unmanned ship design scheme with a three-stage damping system on the basis of the current situation of application and research ofthe unmanned ship. Through the design of a base damping structure, high-speed navigation under low-amplitude surge is realized; and through the design of the cat-like connecting rod type leg damping mechanisms, stable navigation under high-amplitude surge is realized. According to the unmanned ship with the three-stage damping self-stabilizing system, a bionic structure design is added, and the cat-like connecting rod type leg structures are used as four supports of the unmanned ship, so that the stability and the damping effect of a ship body are improved.

The invention discloses an amphibious vehicle and a floor compensation and trim adjustment device thereof. The device includes a guide rail, a plate unit recovery structure, a plate unit pull-out receiving, a trim adjustment structure and an integrated controller; a number one plate unit is connected between the guide rails. Shaft, No. 2 board unit connecting shaft, No. 3 board unit connecting shaft, No. 4 board unit connecting shaft, No. 5 board unit connecting shaft, No. 6 board unit connecting shaft, No. 7 board unit connecting shaft, set between adjacent connecting shafts The No. 1 compensation board unit, the No. 2 compensation board unit, the No. 3 compensation board unit, the No. 4 compensation board unit, the No. 5 compensation board unit, the No. 6 compensation board unit, the No. 7 board unit connecting shaft is connected to the No. 7 compensation board unit; The unit recovery structure includes a front-end side-mounted motor, a front-end electronically controlled coupling clutch, a reel, and a recovery frame; the plate unit pull-out structure includes a rear-end side-mounted motor, a rear-end electronically controlled coupling clutch, a driving sprocket, a transition sprocket, and a chain. , chain box; the trim adjustment structure is composed of electro-hydraulic push rod group.

The invention puts forwards a swimming-walking hybrid bionic blade leg and track combined walking underwater robot and a control method of the swimming-walking hybrid bionic blade leg and track combined walking underwater robot. The swimming-walking hybrid bionic blade leg and track combined walking underwater robot comprises a frame, a floating body module, a hanging bracket, a control sealed cabin, a motion component, a sensing detection component, a visual positioning device and an operation extension module; the floating body module, the hanging bracket, the control sealed cabin, the motion component, the sensing detection component, the visual positioning device and the operation extension module are all mounted on the frame, and the gravity center of the underwater operation robot is located right under the buoyancy center. By adopting the invention, the underwater operation robot can adapt to operation demands for working faces of different categories and different attitudes, and further can adapt to the demands on omnidirectional mobility and obstacle climbing abilities on the different working faces, thereby being capable of providing technical support to various underwater operation tasks completed by the underwater operation robot.

The present invention proposes a water surface multifunctional autonomous cruising ship system, including a shore control system, a hull, a power system, a sensor system and a water control system; the shore control system includes a central controller, a display system and a shore wireless transceiver; the power system is divided into Aerodynamic propulsion system and hydrodynamic propulsion system; the sensor system can detect the position and attitude of the hull, and the surrounding environment information of the hull; the water control system includes the water controller and the water wireless transceiver; the water controller receives the shore wireless transceiver through the water wireless transceiver The sent control commands are converted into driving commands to control related onboard components; the water control system sends the detected hull position, attitude, surrounding environment information of the hull, and the working status of the power system to the shore control system. The invention realizes remote wireless remote control and autonomous navigation, and adopts the combination of hydrodynamic propulsion and aerodynamic propulsion to overcome the influence of complex underwater environment on autonomous navigation.

The invention discloses a single-degree-of-freedom foldable and deployable wing sail, comprising a skeleton component, a flexible skin and a wire drive component; wherein, the flexible skin is fixed on the skeleton component, and the wire drive component is connected with the skeleton component; The driving frame, the follower frame and the fixed frame are arranged in sequence from top to bottom; the follower frame is composed of a first aluminum alloy rod and a first carbon fiber rod; the driving frame includes a second aluminum alloy rod and a second carbon fiber rod , an unfolding line fixing shaft, a folding line fixing shaft, and a rotating disk; the fixing frame includes a third carbon fiber rod, a first threaded rod, a connecting rod assembly and a second threaded rod. The invention changes the area of ​​the wing sail by unfolding different numbers of skeletons to adapt to different wind speeds and wind directions on the sea surface, so that the wing sail has a better thrust performance and a relatively stable sailing attitude, and in addition, all the skeletons are folded together to achieve a larger folding rate, so that the craft can be converted from sail drive mode to propeller propulsion or dive sailing motion mode.