CN107499486B - Intelligent water moving platform for positioning and positioning method thereof - Google Patents
Intelligent water moving platform for positioning and positioning method thereof Download PDFInfo
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- CN107499486B CN107499486B CN201710630599.0A CN201710630599A CN107499486B CN 107499486 B CN107499486 B CN 107499486B CN 201710630599 A CN201710630599 A CN 201710630599A CN 107499486 B CN107499486 B CN 107499486B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H5/00—Arrangements on vessels of propulsion elements directly acting on water
- B63H5/07—Arrangements on vessels of propulsion elements directly acting on water of propellers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H23/00—Transmitting power from propulsion power plant to propulsive elements
- B63H23/32—Other parts
- B63H23/321—Bearings or seals specially adapted for propeller shafts
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H23/00—Transmitting power from propulsion power plant to propulsive elements
- B63H23/32—Other parts
- B63H23/321—Bearings or seals specially adapted for propeller shafts
- B63H2023/327—Sealings specially adapted for propeller shafts or stern tubes
Abstract
The invention discloses an intelligent water moving platform for positioning and a positioning method thereof, wherein the platform comprises a ship body, a first main driving mechanism and a second main driving mechanism which generate thrust to the front of the ship body are arranged at the tail part of the ship body, a first auxiliary driving mechanism and a second auxiliary driving mechanism are arranged in the ship body, the direction of the thrust generated by the first auxiliary driving mechanism faces the tail part of the ship body and forms an included angle with the direction of the thrust generated by the first main driving mechanism, and the direction of the thrust generated by the second auxiliary driving mechanism faces the tail part of the ship body and forms an included angle with the direction of the thrust generated by the second main driving mechanism. The invention adopts the structure and the method, and has the following advantages: 1. the ship body can be positioned with high precision under the condition that the water flow can influence the ship body in the water; 2. the invention can prevent water from penetrating into the ship body in the process of using the propeller.
Description
Technical Field
The invention relates to the technical field of water mobile platforms, in particular to an intelligent water mobile platform for positioning and a positioning method thereof.
Background
Currently, the existing technologies about water mobile platforms are: the disclosed literature 'detection and tracking research of the targets on the water based on the unmanned light vision boat' mainly researches the detection and tracking technology of the targets on the water based on the visible light vision sensor, and obtains effective information such as the water boundary line and the positions of the targets or obstacles on the water by processing the images on the water surface; the literature 'an autonomous linear path tracking system of an unmanned surface vessel driven by fixed double paddles' describes an autonomous linear path tracking system; the literature 'unmanned ship capable of automatically sailing without rudder' provides an unmanned ship capable of automatically sailing without rudder, which comprises a ship body, pontoons on two sides, a communication unit, a navigation and positioning unit and the like; the literature 'intelligent fishing unmanned ship' proposes an intelligent unmanned ship which is provided with a ship body, a power supply, a power device, a wireless remote control device and the like; the literature unmanned ship mapping system provides an underwater topography mapping system; the literature 'a multifunctional monitoring unmanned ship in a water area' provides a water environment detection ship, which comprises functions of a ship body, a ship body power part, a detection system, flank anti-interference measures and the like; the literature 'unmanned ship for river water quality monitoring and in-situ remediation' provides an unmanned ship for river water quality monitoring and in-situ remediation, and the unmanned ship comprises a ship body, a controller, propulsion and other functions.
The prior art is mainly focused on the application of unmanned ships in a specific field, and the high-precision positioning of the unmanned ships can be influenced by water flow and natural wind power in water, especially for small unmanned ships; although the literature "a multifunctional monitoring unmanned ship in water" mentions that motors are mounted on the flanks of the unmanned ship to compensate the position of the ship body, the literature does not mention how to compensate the ship body. Meanwhile, the above documents all refer to a power system, but as the power of the ship is mainly a propeller, the installation of the propeller in the hull inevitably causes a sealing problem, and none of the prior documents is mentioned.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides the intelligent water moving platform for positioning and the positioning method thereof, which can realize high-precision positioning of the ship body under the condition that the ship body is influenced by water flow;
further, the invention can prevent water from penetrating into the ship body in the process of using the propeller.
In order to solve the technical problems, the technical scheme of the invention is as follows: the utility model provides an intelligent water mobile platform for location, includes the hull, the afterbody of hull be equipped with first main actuating mechanism, the second main actuating mechanism that produces thrust to the hull place ahead, the hull on in be equipped with first auxiliary actuating mechanism, second auxiliary actuating mechanism, first auxiliary actuating mechanism produce the direction of thrust towards the hull afterbody and form the contained angle with the direction of first main actuating mechanism production thrust, second auxiliary actuating mechanism produce the direction of thrust towards the hull afterbody and form the contained angle with the direction of second main actuating mechanism production thrust, water mobile platform still include pressure prevention of seepage water mechanism.
The first main driving mechanism, the second main driving mechanism, the first auxiliary driving mechanism and the second auxiliary driving mechanism are all driving mechanisms, the driving mechanisms comprise motors, couplings, rotating shafts and propellers, the motors drive the rotating shafts to rotate through the couplings, and the rotating shafts drive the propellers to rotate to generate thrust;
the driving mechanism also comprises a bearing support body, a bearing and a bearing end cover, wherein an oil cavity is arranged in the bearing support body, and positioning grooves are respectively arranged at two ends of the bearing support body;
the two bearings are respectively arranged in the positioning grooves at the two ends of the bearing support body, the bearings are arranged on the rotating shaft, and the two sides of the bearings are respectively provided with a bearing retainer ring;
the two bearing end covers limit the two bearings respectively;
the bearing end cover is sleeved on the rotating shaft and comprises an end cover body, a limiting convex body extending into the positioning groove to prop against the bearing is extended out of the end cover body, and an annular sealing ring is arranged between the end cover body and the bearing support body;
and a felt is arranged between the bearing end cover and the rotating shaft.
The bearing support body is arranged on the hull wall, a limiting wall attached to the hull extends out of the bearing support body, and a sealing ring is arranged between the limiting wall and the hull;
one end of the rotating shaft is arranged in the ship body, and the other end of the rotating shaft extends out of the ship body and is connected with the propeller.
The pressure water seepage prevention mechanism comprises an oil supply mechanism and a pressurizing mechanism.
The bearing support body be equipped with the oilhole along radial, the oil pocket pass through the oilhole and be connected with oil feeding mechanism, booster mechanism include booster rod, flange, booster spring, booster cylinder body, hookup oil pipe, piston, booster cylinder body's inner wall upper portion be equipped with the internal thread, the lower extreme of booster rod be equipped with screw the piece, screw be equipped with on the lateral wall of piece with internal thread matched with external screw thread, screw the lower extreme of piece pass through booster spring and piston connection, piston lower terminal surface and booster cylinder body's inner diapire, inside wall between form the booster chamber, the booster chamber be linked together with the oil pocket through hookup oil pipe, oil pocket, booster chamber, oilhole, hookup oil pipe in all be equipped with grease.
The grease is conveyed by an oil supply mechanism.
The upper end of the pressurizing cylinder body is provided with a flange, and the pressurizing rod penetrates through the flange.
The two sides of the front part of the ship body are respectively provided with force sensors, the two sides of the middle part of the ship body are respectively provided with other force sensors, and the tail end of the ship body is provided with a force sensor;
the front end of the ship body is provided with a gyroscope;
displacement sensors are respectively arranged at two sides of the tail end of the ship body;
the force sensor, the gyroscope and the displacement sensor are respectively connected with the controller;
the controller is connected with the motors of the driving mechanisms.
A positioning method of an intelligent water mobile platform for positioning comprises the following steps:
a) The ship body is placed in water, the first main driving mechanism and the second main driving mechanism generate thrust to the front of the ship body, the thrust is a first forward force and a second forward force respectively, the direction of the thrust generated by the first auxiliary driving mechanism faces the tail of the ship body and forms an included angle with the direction of the thrust generated by the first main driving mechanism, and the thrust is decomposed into a first backward thrust opposite to the direction of the first forward force and a first side force perpendicular to the direction of the first backward thrust;
the direction of the thrust generated by the second auxiliary driving mechanism faces the tail of the ship body and forms an included angle with the direction of the thrust generated by the second main driving mechanism, and the thrust is decomposed into a second backward thrust opposite to the second forward thrust and a second lateral force perpendicular to the second backward thrust;
the second lateral force is opposite to the first lateral force;
b) The system judges the position state of the ship body through information collected by the force sensor, the displacement sensor and the gyroscope, and simultaneously judges the direction and the speed of water flow; the rotating speed of the propeller is controlled by controlling the motor, so that the first advancing force, the second advancing force, the first back thrust, the second back thrust, the first lateral force and the second lateral force are controlled;
when the first advancing force and the water flow resultant force and the second advancing force and the water flow resultant force are respectively larger than the first rear thrust and the water flow resultant force and the second rear thrust and the water flow resultant force, the ship body advances; when the resultant force of the first forward force and the water flow and the resultant force of the second forward force and the water flow are respectively smaller than the resultant force of the first rear thrust and the water flow and the resultant force of the second rear thrust and the water flow, the ship body retreats; when the first forward force and the resultant force of the water flow and the second forward force and the resultant force of the water flow are respectively equal to the first backward thrust and the resultant force of the water flow and the second backward thrust and the resultant force of the water flow, the ship body is not displaced in the front-back direction;
when the resultant force of the first lateral force and the water flow is larger than the resultant force of the second lateral force and the water flow, the ship body moves leftwards; when the resultant force of the first lateral force and the water flow is smaller than the resultant force of the second lateral force and the water flow, the ship body moves rightwards; when the resultant force of the first lateral force and the water flow is equal to the resultant force of the second lateral force and the water flow, the ship body does not displace in the left-right direction;
when the ship body has no displacement in the front-back direction and the left-right direction, the ship body is positioned in a static way.
A sealing method of an intelligent water mobile platform for positioning comprises the following steps:
two bearings are respectively arranged in positioning grooves at two ends of a bearing support body, two bearing retainer rings are respectively arranged at two sides of the bearings, a limiting convex body on a bearing end cover is propped against the bearings to limit, an annular sealing ring is arranged between the bearing end cover and the bearing support body, a felt is arranged between the bearing end cover and a rotating shaft, grease is arranged in an oil cavity, the pressure of the grease and the pressure of water outside a ship body form balance, and the annular sealing ring and the felt are matched to prevent the water outside the ship body from penetrating into the ship body to realize sealing.
The invention adopts the structure and the method, and has the following advantages: 1. the ship body can be positioned with high precision under the condition that the water flow can influence the ship body in the water; 2. the invention can prevent water from penetrating into the ship body in the process of using the propeller.
Drawings
The invention will be described in further detail with reference to the drawings and the detailed description;
FIG. 1 is a schematic diagram of the structure of the present invention;
FIG. 2 is an exploded view of the driving mechanism of the present invention;
FIG. 3 is a schematic cross-sectional view of a driving mechanism according to the present invention;
FIG. 4 is a schematic cross-sectional view of a driving mechanism according to the present invention;
FIG. 5 is a schematic cross-sectional view of a pressurizing mechanism according to the present invention;
in fig. 1 to 5, 1, a hull; 2. a first main drive mechanism; 3. a second main drive mechanism; 4. a first auxiliary drive mechanism; 5. a second auxiliary driving mechanism; 6. a pressure water seepage prevention mechanism; 7. a rotating shaft; 8. a bearing support; 9. a bearing; 10. a bearing end cap; 11. a bearing retainer ring; 12. an annular seal ring; 13. a linoleum; 15. a seal ring; 16. an oil hole; 17. an oil chamber; 18. a pressure increasing lever; 19. a flange; 20. a booster spring; 21. a pressurizing cylinder; 22. connecting an oil pipe; 23. a piston; 25. screwing the block; 26. a plenum chamber.
Detailed Description
As shown in fig. 1 to 5, the positioning intelligent water moving platform comprises a ship body 1, wherein a first main driving mechanism 2 and a second main driving mechanism 3 which generate thrust to the front of the ship body are arranged at the tail part of the ship body 1, a first auxiliary driving mechanism 4 and a second auxiliary driving mechanism 5 are arranged in the ship body 1, the direction of the thrust generated by the first auxiliary driving mechanism 4 faces the tail part of the ship body 1 and forms an included angle with the direction of the thrust generated by the first main driving mechanism 2, the direction of the thrust generated by the second auxiliary driving mechanism 5 faces the tail part of the ship body 1 and forms an included angle with the direction of the thrust generated by the second main driving mechanism 3, and the water moving platform further comprises a pressure water seepage prevention mechanism 6.
The first main driving mechanism 2, the second main driving mechanism 3, the first auxiliary driving mechanism 4 and the second auxiliary driving mechanism 5 are driving mechanisms, each driving mechanism comprises a motor, a shaft coupling, a rotating shaft 7 and a propeller, the motor drives the rotating shaft 7 to rotate through the shaft coupling, and the rotating shaft 7 drives the propeller to rotate to generate thrust;
the driving mechanism further comprises a bearing support body 8, a bearing 9 and a bearing end cover 10, wherein an oil cavity 17 is arranged in the bearing support body 8, and positioning grooves are respectively arranged at two ends of the bearing support body 8; the two bearings 9 are respectively arranged in the positioning grooves at the two ends of the bearing support body 8, the bearings 9 are arranged on the rotating shaft 7, and the two sides of the bearings 9 are respectively provided with a bearing retainer ring 11; the two bearing end covers 10 limit the two bearings 9 respectively; the bearing end cover 10 is sleeved on the rotating shaft 7, the bearing end cover 10 comprises an end cover body, a limiting convex body extending into the positioning groove to prop against the bearing 9 is extended out of the end cover body, and an annular sealing ring 12 is arranged between the end cover body and the bearing support body 8; a felt 13 is arranged between the bearing end cover 10 and the rotating shaft 7. The bearing support body 8 is arranged on the wall of the ship body 1, a limiting wall attached to the ship body 1 extends out of the bearing support body 8, and a sealing ring 15 is arranged between the limiting wall and the ship body 1; one end of a rotating shaft 7 is arranged in the ship body 1, and the other end of the rotating shaft 7 extends out of the ship body 1 and is connected with a propeller. The pressure water seepage prevention mechanism 6 comprises an oil supply mechanism and a pressurizing mechanism.
The bearing support body 8 is radially provided with an oil hole 16, the oil cavity 17 is connected with an oil supply mechanism through the oil hole 16, the oil cavity 17 comprises a pressure increasing rod 18, a flange 19, a pressure increasing spring 20, a pressure increasing cylinder body 21, a connecting oil pipe 22 and a piston 23, the upper part of the inner wall of the pressure increasing cylinder body 21 is provided with internal threads, the lower end of the pressure increasing rod 18 is provided with a screwing block 25, the side wall of the screwing block 25 is provided with external threads matched with the internal threads, the lower end of the screwing block 25 is connected with the piston 23 through the pressure increasing spring 20, a pressure increasing cavity 26 is formed between the lower end surface of the piston 23 and the inner bottom wall and the inner side wall of the pressure increasing cylinder body 21, the pressure increasing cavity 26 is communicated with the oil cavity 17 through the connecting oil pipe 22, and grease is arranged in the oil cavity 17, the pressure increasing cavity 26, the oil hole 16 and the connecting oil pipe 22. The grease is delivered by the oil supply mechanism. The upper end of the booster cylinder body 21 is provided with a flange 19, and the booster rod 18 passes through the flange 19. The compression rod 18 is rotated by the inner hexagon, and the expansion and contraction amount of the compression spring 20 is changed, so that the adjustment of the internal pressure of the compression cylinder 21, namely the adjustment of the sealing pressure of the sealing mechanism, is achieved.
The structure that the traditional driving part is connected with the ship body inevitably has relative movement between the static parts of the moving part, so that gaps exist between the inside and the outside of the ship body. Because the outside of the ship body is water, the inside is air, the outside pressure is higher than the inside pressure, and the outside water can permeate into the inside of the ship body. The sealing part is provided with the sealing oil groove for sealing, lubricating grease is injected from the oil filling port, and the outer end of the oil filling port is connected with the pressurizing mechanism, so that the oil can be filled at the moment, the sealing is ensured, and the water seepage is avoided. The sealing method comprises the following steps: two bearings 9 are respectively arranged in positioning grooves at two ends of a bearing support body 8, two bearing retainer rings 11 are respectively arranged at two sides of the bearings 9, a limiting convex body on a bearing end cover 10 is used for limiting the bearings 9, an annular sealing ring 12 is arranged between the bearing end cover 10 and the bearing support body 8, a felt 13 is arranged between the bearing end cover 10 and a rotating shaft 7, grease is arranged in an oil cavity 17, the grease pressure is balanced with the water pressure outside the ship body, and the annular sealing ring 12 and the felt 13 are matched to prevent water outside the ship body from penetrating into the ship body and realize sealing.
The two sides of the front part of the ship body 1 are respectively provided with force sensors, the two sides of the middle part of the ship body 1 are respectively provided with other force sensors, and the tail end of the ship body 1 is provided with a force sensor; the front end of the ship body 1 is provided with a gyroscope; displacement sensors are respectively arranged at two sides of the tail end of the ship body 1; the force sensor, the gyroscope and the displacement sensor are respectively connected with the controller; the controller can adopt an SMT32 singlechip, and is connected with motors of all driving mechanisms.
A positioning method of an intelligent water mobile platform for positioning comprises the following steps:
a) The ship body is placed in water, the first main driving mechanism and the second main driving mechanism generate thrust to the front of the ship body, the thrust is a first forward force and a second forward force respectively, the direction of the thrust generated by the first auxiliary driving mechanism faces the tail of the ship body and forms an included angle with the direction of the thrust generated by the first main driving mechanism, and the thrust is decomposed into a first backward thrust opposite to the direction of the first forward force and a first side force perpendicular to the direction of the first backward thrust;
the direction of the thrust generated by the second auxiliary driving mechanism faces the tail of the ship body and forms an included angle with the direction of the thrust generated by the second main driving mechanism, and the thrust is decomposed into a second backward thrust opposite to the second forward thrust and a second lateral force perpendicular to the second backward thrust;
the second lateral force is opposite to the first lateral force;
b) The system judges the position state of the ship body through information collected by the force sensor, the displacement sensor and the gyroscope, and simultaneously judges the direction and the speed of water flow; the rotating speed of the propeller is controlled by controlling the motor, so that the first advancing force, the second advancing force, the first back thrust, the second back thrust, the first lateral force and the second lateral force are controlled;
when the first advancing force and the water flow resultant force and the second advancing force and the water flow resultant force are respectively larger than the first rear thrust and the water flow resultant force and the second rear thrust and the water flow resultant force, the ship body advances; when the resultant force of the first forward force and the water flow and the resultant force of the second forward force and the water flow are respectively smaller than the resultant force of the first rear thrust and the water flow and the resultant force of the second rear thrust and the water flow, the ship body retreats; when the first forward force and the resultant force of the water flow and the second forward force and the resultant force of the water flow are respectively equal to the first backward thrust and the resultant force of the water flow and the second backward thrust and the resultant force of the water flow, the ship body is not displaced in the front-back direction;
when the resultant force of the first lateral force and the water flow is larger than the resultant force of the second lateral force and the water flow, the ship body moves leftwards; when the resultant force of the first lateral force and the water flow is smaller than the resultant force of the second lateral force and the water flow, the ship body moves rightwards; when the resultant force of the first lateral force and the water flow is equal to the resultant force of the second lateral force and the water flow, the ship body does not displace in the left-right direction;
when the ship body has no displacement in the front-back direction and the left-right direction, the ship body is positioned in a static way.
The invention can position the ship body with high precision under the condition that the ship body is influenced by water flow in water, and can prevent the water from penetrating into the ship body in the process of using the propeller.
The rotating speed of the propeller is controlled by controlling the motor, so that the first advancing force, the second advancing force, the first back thrust, the second back thrust, the first lateral force and the second lateral force are controlled; the principle is as follows:
the stress analysis shows that:
∑F x ＝(F 3 -F 4 )sinα+(f 4 -f 3 )L 2
∑F y ＝(F 1 +F 2 )+(f 1 -f 3 )L 4 -(F 4 +F 3 )cosα
wherein:
1、∑F x is the resultant force applied in the x direction
2、∑F y Is the resultant force applied in the y direction
3. Sigma M is the resultant moment, and the direction is clockwise the positive direction
4、F 1 ，F 2 ，F 3 ，F 4 Thrust of four screw propellers respectively
5、f 1 ，f 2 ，f 3 ，f 4 Respectively uniformly distributing loads in four directions;
6、L 4 the maximum width of the stressed part of the ship body;
7、L 2 the maximum length of the stressed part of the ship body;
8. the center of gravity of the O boat is located on the axis;
9. the remaining marks are shown in the figure.
The thrust F of the propeller is:
F＝K t PN 2 D 4
wherein:
K t is a thrust coefficient;
p is the pitch of the propeller;
n is the rotating speed of the propeller;
d is the diameter of the propeller;
the thrust formula of the propeller is brought into: sigma F x ，∑F y The sum M is as follows:
∑F x ＝(K t3 P 3 N 3 2 D 3 4 -K t4 P 4 N 4 2 D 4 4 )sinα+(f 4 -f 3 )L 2
∑F y ＝(K t1 P 1 N 1 2 D 1 4 +K t2 P 2 N 2 2 D 2 4 )+(f 1 -f 3 )L 4 -(K t4 P 4 N 4 2 D 4 4 +K t3 P 3 N 3 2 D 3 4 )cosα
from the following conclusion: by controlling the rotational speed N of the propeller 1 、N 2 、N 3 The thrust F and the torque M of the control propeller can be obtained, and further, the thrust F and the torque M of the control propeller can be obtainedThe state of the ship body moving.
While the invention has been described above with reference to the accompanying drawings, it will be apparent that the invention is not limited to the above embodiments, but is capable of modification in various ways, or direct application in other fields without modification, all falling within the scope of the invention.
Claims (7)
1. The utility model provides a location is with intelligent aquatic moving platform, includes hull, its characterized in that: the water moving platform comprises a ship body, a first auxiliary driving mechanism, a second auxiliary driving mechanism, a pressure water seepage prevention mechanism and a water moving platform, wherein the tail of the ship body is provided with the first main driving mechanism and the second main driving mechanism which generate thrust to the front of the ship body;
the first main driving mechanism, the second main driving mechanism, the first auxiliary driving mechanism and the second auxiliary driving mechanism are all driving mechanisms, the driving mechanisms comprise motors, couplings, rotating shafts and propellers, the motors drive the rotating shafts to rotate through the couplings, and the rotating shafts drive the propellers to rotate to generate thrust;
the driving mechanism also comprises a bearing support body, a bearing and a bearing end cover, wherein an oil cavity is arranged in the bearing support body, and positioning grooves are respectively arranged at two ends of the bearing support body;
the two bearings are respectively arranged in the positioning grooves at the two ends of the bearing support body, the bearings are arranged on the rotating shaft, and the two sides of the bearings are respectively provided with a bearing retainer ring;
the two bearing end covers limit the two bearings respectively;
the bearing support body is arranged on the hull wall, a limiting wall attached to the hull extends out of the bearing support body, and a sealing ring is arranged between the limiting wall and the hull;
one end of the rotating shaft is arranged in the ship body, and the other end of the rotating shaft extends out of the ship body and is connected with the propeller;
the pressure water seepage prevention mechanism comprises an oil supply mechanism and a pressurizing mechanism;
the bearing support body be equipped with the oilhole along radial, the oil pocket pass through the oilhole and be connected with oil feeding mechanism, booster mechanism include booster rod, flange, booster spring, booster cylinder body, hookup oil pipe, piston, booster cylinder body's inner wall upper portion be equipped with the internal thread, the lower extreme of booster rod be equipped with screw the piece, screw be equipped with on the lateral wall of piece with internal thread matched with external screw thread, screw the lower extreme of piece pass through booster spring and piston connection, piston lower terminal surface and booster cylinder body's interior diapire, inside wall between form the booster chamber, the booster chamber be linked together with the oil pocket through hookup oil pipe, oil pocket, booster chamber, oilhole, hookup oil pipe in all be equipped with grease.
2. The intelligent water mobile platform for positioning according to claim 1, wherein: the bearing end cover is sleeved on the rotating shaft, the bearing end cover comprises an end cover body, a limiting convex body extending into the positioning groove to prop against the bearing is extended out of the end cover body, and an annular sealing ring is arranged between the end cover body and the bearing support body;
and a felt is arranged between the bearing end cover and the rotating shaft.
3. The intelligent water mobile platform for positioning according to claim 1, wherein: the grease is conveyed by an oil supply mechanism.
4. The intelligent water mobile platform for positioning according to claim 1, wherein: the upper end of the pressurizing cylinder body is provided with a flange, and the pressurizing rod penetrates through the flange.
5. The intelligent water mobile platform for positioning according to claim 1, wherein: the two sides of the front part of the ship body are respectively provided with force sensors, the two sides of the middle part of the ship body are respectively provided with other force sensors, and the tail end of the ship body is provided with a force sensor;
the front end of the ship body is provided with a gyroscope;
displacement sensors are respectively arranged at two sides of the tail end of the ship body;
the force sensor, the gyroscope and the displacement sensor are respectively connected with the controller;
the controller is connected with the motors of the driving mechanisms.
6. A positioning method of an intelligent water mobile platform for positioning according to any one of claims 1 to 5, characterized in that: the method comprises the following steps:
a) The ship body is placed in water, the first main driving mechanism and the second main driving mechanism generate thrust to the front of the ship body, the thrust is a first forward force and a second forward force respectively, the direction of the thrust generated by the first auxiliary driving mechanism faces the tail of the ship body and forms an included angle with the direction of the thrust generated by the first main driving mechanism, and the thrust is decomposed into a first backward thrust opposite to the direction of the first forward force and a first side force perpendicular to the direction of the first backward thrust;
the direction of the thrust generated by the second auxiliary driving mechanism faces the tail of the ship body and forms an included angle with the direction of the thrust generated by the second main driving mechanism, and the thrust is decomposed into a second rear thrust opposite to the second forward force direction and a second lateral force perpendicular to the second rear thrust direction;
the second lateral force is opposite to the first lateral force;
b) The system judges the position state of the ship body through information collected by the force sensor, the displacement sensor and the gyroscope, and simultaneously judges the direction and the speed of water flow; the rotating speed of the propeller is controlled by controlling the motor, so that the first advancing force, the second advancing force, the first back thrust, the second back thrust, the first lateral force and the second lateral force are controlled;
when the first advancing force and the water flow resultant force and the second advancing force and the water flow resultant force are respectively larger than the first rear thrust and the water flow resultant force and the second rear thrust and the water flow resultant force, the ship body advances; when the first forward force and the water flow resultant force and the second forward force and the water flow resultant force are respectively smaller than the first backward thrust and the water flow resultant force and the second backward thrust and the water flow resultant force, the ship body retreats; when the first forward force and the resultant force of the water flow and the second forward force and the resultant force of the water flow are respectively equal to the first backward thrust and the resultant force of the water flow and the second backward thrust and the resultant force of the water flow, the ship body is not displaced in the front-back direction;
when the resultant force of the first lateral force and the water flow is larger than the resultant force of the second lateral force and the water flow, the ship body moves leftwards; when the resultant force of the first lateral force and the water flow is smaller than the resultant force of the second lateral force and the water flow, the ship body moves rightwards; when the resultant force of the first lateral force and the water flow is equal to the resultant force of the second lateral force and the water flow, the ship body does not displace in the left-right direction;
when the ship body has no displacement in the front-back direction and the left-right direction, the ship body is positioned in a static way.
7. A method of sealing a smart water mobile positioning platform according to claim 6, wherein: the method comprises the following steps:
two bearings are respectively arranged in positioning grooves at two ends of a bearing support body, two bearing retainer rings are respectively arranged at two sides of the bearing, a limiting convex body on a bearing end cover is propped against the bearing to limit, an annular sealing ring is arranged between the bearing end cover and the bearing support body, a felt is arranged between the bearing end cover and a rotating shaft, grease is arranged in an oil cavity, the pressure of the grease and the pressure of water outside a ship body form balance, and the annular sealing ring and the felt are matched to prevent the water outside the ship body from penetrating into the ship body to realize sealing.
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| CN109738605A (en) * | 2019-03-04 | 2019-05-10 | 宁波大学 | A kind of Portable unmanned water surface movable water monitoring device |
| CN115258064B (en) * | 2022-08-02 | 2023-03-21 | 上海科泽智慧环境科技有限公司 | Water quality detection device |
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