CN207985159U - Mobile platform on a kind of positioning intelligent water - Google Patents
Mobile platform on a kind of positioning intelligent water Download PDFInfo
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- CN207985159U CN207985159U CN201720930223.7U CN201720930223U CN207985159U CN 207985159 U CN207985159 U CN 207985159U CN 201720930223 U CN201720930223 U CN 201720930223U CN 207985159 U CN207985159 U CN 207985159U
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- hull
- bearing
- driving mechanism
- shaft
- thrust
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Abstract
The utility model discloses mobile platforms on a kind of positioning intelligent water, the platform includes hull, the tail portion of hull is equipped with the first main driving mechanism to generation thrust in front of hull, second main driving mechanism, the first auxiliary drive mechanism is equipped on hull, second auxiliary drive mechanism, first auxiliary drive mechanism generates the direction of thrust towards hull tail portion and forms angle with the direction of the first main driving mechanism generation thrust, second auxiliary drive mechanism generates the direction of thrust towards hull tail portion and forms angle with the direction of the second main driving mechanism generation thrust.The utility model using the above structure, has the following advantages：1, can make hull in water can by water currents in the case of high accuracy positioning；2, the utility model can make hull that water be avoided to penetrate into hull during using propeller.
Description
Technical field
The utility model is related to Waterborne movable platform technology field, more particularly to a kind of positioning is flat with intelligent Waterborne movable
Platform.
Background technology
Currently, the prior art about Waterborne movable platform is：The document having disclosed is " waterborne based on light vision unmanned boat
Object detecting and tracking is studied " the waterborne target detecting and tracking technology based on photopic vision sensor mainly is had studied, pass through
Surface Picture processing, obtains the position etc. of effective information such as hydrosphere line and waterborne target or barrier；" fixed double paddles drive document
The autonomous straight line path tracking system of dynamic unmanned water surface ship " describes a kind of autonomous straight line path tracking system；A kind of document " nothing
Rudder walks the unmanned boat of boat automatically " a kind of Rudderless unmanned ship capable of automatically sailing is provided, including hull, two side floats, communication unit, lead
Boat and positioning unit etc.；Document " intelligence fishing unmanned boat " proposes a kind of intelligent unmanned ship, has hull, power supply, power dress
It sets, wireless remote controller etc.；Document " unmanned boat mapping system " provides a kind of underwater topography mapping system；A kind of document " waters
A kind of water environment of multifunctional monitoring unmanned boat " proposing detects ship, including hull, hull power section, detecting system, flank are anti-dry
Disturb the functions such as measure；Document " unmanned boat for river water quality monitoring and in-situ immobilization " provides one kind and is monitored for river water quality
With the unmanned boat of in-situ immobilization, including hull, controller, propulsion etc. functions.
The prior art is principally dedicated to application of the unmanned boat in some specific area, since hull in water can be by flow
Influence with natural wind can influence its high accuracy positioning especially for miniature self-service ship；Although a kind of waters of document is multi-functional
Monitoring unmanned boat ", which is mentioned, compensates hull position in its flank installation motor, but it does not refer to how compensating.
Document above all mentions dynamical system simultaneously, but since the power of ship is exactly mainly propeller, peace of the propeller in hull
Dress will necessarily bring sealing problem, all not referred in existing literature.
Utility model content
Technical problem to be solved in the utility model is in view of the deficiencies of the prior art, to provide a kind of position intelligent water
Upper mobile platform, can make hull in water can by water currents in the case of high accuracy positioning；
Further, the utility model can make hull that water be avoided to penetrate into hull during using propeller.
In order to solve the above technical problems, the technical solution of the utility model is：Mobile platform on a kind of positioning intelligent water,
Including hull, the tail portion of the hull is equipped with the first main driving mechanism, the second main driving machine to generation thrust in front of hull
Structure, on the hull in be equipped with the first auxiliary drive mechanism, the second auxiliary drive mechanism, first auxiliary drive mechanism
The direction formation angle that the direction of thrust is generated towards hull tail portion and with the first main driving mechanism generation thrust, described second
Auxiliary drive mechanism generates the direction of thrust towards hull tail portion and is formed with the direction of the second main driving mechanism generation thrust and pressed from both sides
Angle, the Waterborne movable platform further include pressure water-impervious mechanism.
First main driving mechanism, the second main driving mechanism, the first auxiliary drive mechanism, the second auxiliary drive mechanism
It is driving mechanism, the driving mechanism includes motor, shaft coupling, shaft, propeller, and the motor passes through shaft coupling band
Turn shaft rotation is dynamic, and shaft drives propeller rotational to generate thrust；
The driving mechanism further includes bearing supporting body, bearing, bearing (ball) cover, and oil is equipped in the bearing support body
Chamber, bearing supporting body both ends are respectively equipped with locating slot；
The bearing is two, is separately positioned in the locating slot at bearing supporting body both ends, and bearing setting exists
In shaft, bearing both sides are respectively equipped with end ring；
The bearing (ball) cover is two, is limited respectively to two bearings；
The bearing (ball) cover is socketed in shaft, and bearing (ball) cover includes end cap ontology, is extended with and stretches on end cap ontology
Locating slot withstands the limit convex body of bearing, and ring type seal is equipped between the end cap ontology and bearing supporting body；
Malthoid is equipped between the bearing (ball) cover and shaft.
The bearing supporting body setting is extended with the limit being fitted on hull in hull wall, in bearing supporting body
Wall is equipped with sealing ring between the limited wall and hull；
Described shaft one end is placed in hull, and the shaft other end stretches out hull and connect with the propeller.
The pressure water-impervious mechanism includes oil supply mechanism, booster body.
The bearing supporting body is radially equipped with oilhole, and the oil pocket is connect by oilhole with oil supply mechanism, described
Booster body include booster rod, flange, pressurized spring, supercharging cylinder body, connection oil pipe, piston, the supercharging cylinder body it is interior
Wall top is equipped with internal thread, and the lower end of the booster rod, which is equipped with, screws block, the side wall for screwing block be equipped with it is described
The matched external screw thread of internal thread, the lower end for screwing block are connect by pressurized spring with piston, the piston
Booster cavity is formed between the inner bottom wall of face and supercharging cylinder body, madial wall, the booster cavity is connected by coupling oil pipe with oil pocket
Logical, the oil pocket, oilhole, is equipped with grease in connection oil pipe at booster cavity.
The grease is conveyed by oil supply mechanism.
The supercharging cylinder body upper end is equipped with flange, and the booster rod is arranged across flange.
The front part sides of the hull are respectively equipped with force snesor, and the on both sides of the middle of hull is respectively equipped with other power and passes
The tail end of sensor, hull is equipped with force snesor；
The front end of the hull is equipped with gyroscope；
The tail end both sides of the hull are respectively equipped with displacement sensor；
The force snesor, gyroscope, displacement sensor are connect with controller respectively；
The controller is connect with the motor of each driving mechanism.
The utility model using the above structure, has the following advantages：1, it can make hull in water can be by water currents
In the case of high accuracy positioning；2, the utility model can make hull that water be avoided to penetrate into hull during using propeller.
Description of the drawings
Utility model will be further described in detail below with reference to the attached drawings and specific embodiments；
Fig. 1 is the structural schematic diagram of the utility model；
Fig. 2 is the decomposition texture schematic diagram of driving mechanism in the utility model；
Fig. 3 is the cross-sectional view of driving mechanism in the utility model；
Fig. 4 is the cross section structure schematic diagram of driving mechanism in the utility model；
Fig. 5 is the cross-sectional view of booster body in the utility model.
In Fig. 1~Fig. 5,1, hull；2, the first main driving mechanism；3, the second main driving mechanism；4, the first auxiliary drive
Mechanism；5, the second auxiliary drive mechanism；6, pressure water-impervious mechanism；7, shaft；8, bearing supporting body；9, bearing；10, bearing end
Lid；11, end ring；12, ring type seal；13, malthoid；15, sealing ring；16, oilhole；17, oil pocket；18, booster rod；19、
Flange；20, pressurized spring；21, supercharging cylinder body；22, couple oil pipe；23, piston；25, block is screwed；26, booster cavity.
Specific implementation mode
Mobile platform on a kind of positioning intelligent water as shown in fig. 1~fig. 5, including hull 1, the tail portion of hull 1 be equipped with to
Generate the first main driving mechanism 2, the second main driving mechanism 3 of thrust in front of hull, on hull 1 in be equipped with the first auxiliary drive machine
Structure 4, the second auxiliary drive mechanism 5, the first auxiliary drive mechanism 4 generate the direction of thrust towards 1 tail portion of hull and are led with first
The direction that driving mechanism 2 generates thrust forms angle, and the second auxiliary drive mechanism 5 generates the direction of thrust towards 1 tail portion of hull
And the direction that thrust is generated with the second main driving mechanism 3 forms angle, Waterborne movable platform further includes pressure water-impervious mechanism 6.
First main driving mechanism 2, the second main driving mechanism 3, the first auxiliary drive mechanism 4, the second auxiliary drive mechanism 5 are
For driving mechanism, driving mechanism includes motor, shaft coupling, shaft 7, propeller, and motor drives shaft 7 to rotate by shaft coupling,
Shaft 7 drives propeller rotational to generate thrust；
Driving mechanism further includes bearing supporting body 8, bearing 9, bearing (ball) cover 10, and oil pocket 17, axis are equipped in bearing supporting body 8
It holds 8 both ends of supporter and is respectively equipped with locating slot；Bearing 9 is two, is separately positioned in the locating slot at 8 both ends of bearing supporting body,
Bearing 9 is arranged in shaft 7, and 9 both sides of bearing are respectively equipped with end ring 11；Bearing (ball) cover 10 is two, respectively to two axis
Hold 9 limits；Bearing (ball) cover 10 is socketed in shaft 7, and bearing (ball) cover 10 includes end cap ontology, is extended with to stretch on end cap ontology and be determined
Position groove top lives the limit convex body of bearing 9, and ring type seal 12 is equipped between end cap ontology and bearing supporting body 8；Bearing (ball) cover 10
Malthoid 13 is equipped between shaft 7.Bearing supporting body 8 is arranged on 1 wall of hull, is extended in bearing supporting body 8 and is fitted in ship
Limited wall on body 1 is equipped with sealing ring 15 between the limited wall and hull 1；7 one end of shaft is placed in hull 1, shaft 7
The other end stretches out hull 1 and is connect with propeller.Pressure water-impervious mechanism 6 includes oil supply mechanism, booster body.
Bearing supporting body 8 is radially equipped with oilhole 16, and oil pocket 17 is connect by oilhole 16 with oil supply mechanism, booster body packet
Booster rod 18, flange 19, pressurized spring 20, supercharging cylinder body 21, connection oil pipe 22, piston 23 are included, on the inner wall of supercharging cylinder body 21
Portion is equipped with internal thread, and the lower end of booster rod 18, which is equipped with, screws block 25, screws the side wall of block 25 equipped with matched with internal thread
External screw thread, the lower end for screwing block 25 are connect by pressurized spring 20 with piston 23, and 23 lower face of piston is interior with supercharging cylinder body 21
Booster cavity 26 is formed between bottom wall, madial wall, booster cavity 26 is connected by coupling oil pipe 22 with oil pocket 17, oil pocket 17, supercharging
Chamber 26, oilhole 16, connection oil pipe 22 in be equipped with grease.Grease is conveyed by oil supply mechanism.21 upper end of supercharging cylinder body is equipped with flange
19, booster rod 18 is arranged across flange 19.Booster rod 18 is rotated with interior hexagonal, changes the stroke of pressurized spring 20 to reach
Adjustment to 21 internal pressure of supercharging cylinder body, that is, adjust the sealed pressure of sealing mechanism.
The structure of traditional driving part connection hull, certainly exists relative motion between moving component stationary parts, makes
Obtaining inside and outside hull has gap.Due to being water outside hull, inside is air, and external pressure is higher than internal pressure, and external water is just
Hull interior can be penetrated into.And the utility model is provided with the sealing oil groove of sealing in seal member, from pouring orifice toward this
Middle injection lubricating grease, and booster body is terminated with outside pouring orifice, it is ensured that the moment is full of grease herein, ensures sealing, no
It can seep water.Encapsulating method is as follows：Two bearings 9 are separately positioned in the locating slot at 8 both ends of bearing supporting body, by two bearings
Baffle ring 11 is separately positioned on 9 both sides of bearing, and the limit convex body on bearing (ball) cover 10, which is withstood bearing 9, to be limited, by bearing (ball) cover 10
Ring type seal 12 is set between bearing supporting body 8, then malthoid 13, oil pocket 17 are set between bearing (ball) cover 10 and shaft 7
Interior to be equipped with grease, pressure of grease is formed with the water pressure outside hull and is balanced, and cooperation ring type seal 12, malthoid 13 prevent hull
Outer water penetration enters hull interior, realizes sealing.
The front part sides of hull 1 are respectively equipped with force snesor, and the on both sides of the middle of hull 1 is respectively equipped with other power sensing
The tail end of device, hull 1 is equipped with force snesor；The front end of hull 1 is equipped with gyroscope；The tail end both sides of hull 1 are respectively equipped with displacement
Sensor；Force snesor, gyroscope, displacement sensor are connect with controller respectively；SMT32 microcontrollers can be used in controller, control
Device processed is connect with the motor of each driving mechanism.
The localization method of mobile platform, method include the following steps on a kind of positioning intelligent water：
A) hull is placed in water, and the first main driving mechanism, the second main driving mechanism are to generation thrust in front of hull, respectively
First forward force, the second forward force, the first auxiliary drive mechanism generate thrust direction towards hull tail portion and with the first main drive
The direction that motivation structure generates thrust forms angle, which is decomposed into first back pressure opposite with the first advance force direction, hangs down
Directly in the first lateral force of the first pusher force direction；
Second auxiliary drive mechanism generates the direction of thrust towards hull tail portion and is produced with the second main driving mechanism
The direction of raw thrust forms angle, which is decomposed into second back pressure opposite with the second advance force direction, perpendicular to second
Second lateral force of pusher force direction；
Second lateral force is opposite with the first lateral force direction；
B) system judges hull location status by the information of force snesor, displacement sensor, gyroscope acquisition, sentences simultaneously
It cuts off the water supply the direction of stream, speed；Revolution speed of propeller is controlled by controlling motor, and then controls the first forward force, the second advance
The size of power, the first back pressure, the second back pressure, the first lateral force, the second lateral force；
When the first forward force and flow resultant force, the second forward force and flow resultant force is respectively greater than the first back pressure and flow is closed
When power, the second back pressure and flow resultant force, hull advances；When the first forward force and flow resultant force, the second forward force and flow are closed
When power is respectively smaller than the first back pressure with flow resultant force, the second back pressure and flow resultant force, hull retreats；When the first forward force with
Flow resultant force, the second forward force and flow resultant force are respectively equal to the first back pressure and flow resultant force, the second back pressure and flow is closed
When power, hull is in the longitudinal direction without displacement；
When the first lateral force and flow resultant force are more than the second lateral force with flow resultant force, hull moves to left；When first lateral
When power is less than the second lateral force with flow resultant force with flow resultant force, hull moves to right；When the first lateral force and flow resultant force are equal to the
When two lateral forces are with flow resultant force, hull is in the lateral direction without displacement；
When hull does not have displacement on front-rear direction, left and right directions, the static positioning of hull.
The utility model can make hull in water can by water currents in the case of high accuracy positioning, hull can be made
Water is avoided to penetrate into hull during using propeller.
Revolution speed of propeller is controlled by controlling motor, and then controls the first forward force, the second forward force, the first pusher
The size of power, the second back pressure, the first lateral force, the second lateral force；Its principle：
Known to force analysis：
∑Fx=(F3-F4)sinα+(f4-f3)L2
∑Fy=(F1+F2)+(f1-f3)L4-(F4+F3)cosα
Wherein：
1、∑FxFor resultant force suffered by the directions x
2、∑FyFor resultant force suffered by the directions y
3, ∑ M is resultant moment, and direction is with clockwise for positive direction
4、F1, F2, F3, F4The thrust of respectively four propellers
5、f1, f2, f3, f4Uniform load respectively on four direction；
6、L4For the maximum width of hull part of the force；
7、L2For hull part of the force maximum length；
8, axis where the center of gravity of O ships；
9, remaining label is by shown in figure.
The thrust F of propeller is：
F=KtPN2D4
Wherein：
KtFor thrust coefficient；
P is airscrew pitch；
N is revolution speed of propeller；
D is airscrew diameter；
The thrust formula of propeller is brought into：∑Fx, ∑ Fy, can obtain in ∑ M：
∑Fx=(Kt3P3N3 2D3 4-Kt4P4N4 2D4 4)sinα+(f4-f3)L2
∑Fy=(Kt1P1N1 2D1 4+Kt2P2N2 2D2 4)+(f1-f3)L4-(Kt4P4N4 2D4 4+Kt3P3N3 2D3 4)cosα
By conclusions：By the rotating speed N for controlling propeller1、N2、N3Can be obtained by control propeller thrust F and
Torque M may further obtain the state of ship motion.
The utility model is exemplarily described above in conjunction with attached drawing, it is clear that the utility model specific implementation not by
The limitation of aforesaid way as long as using the various improvement of the technical solution of the utility model progress, or not improved is directly answered
For other occasions, it both is within the protection scope of the present invention.
Claims (7)
1. mobile platform on a kind of positioning intelligent water, including hull, it is characterised in that：The tail portion of the hull is equipped with to ship
Generate the first main driving mechanism, the second main driving mechanism of thrust in front of body, on the hull in be equipped with the first auxiliary drive
Mechanism, the second auxiliary drive mechanism, first auxiliary drive mechanism generate the direction of thrust towards hull tail portion and with the
The direction that one main driving mechanism generates thrust forms angle, and second auxiliary drive mechanism generates the direction of thrust towards ship
Body tail portion and the direction that thrust is generated with the second main driving mechanism form angle, and the Waterborne movable platform further includes that pressure is anti-
Seep water mechanism；
First main driving mechanism, the second main driving mechanism, the first auxiliary drive mechanism, the second auxiliary drive mechanism are
Driving mechanism, the driving mechanism include motor, shaft coupling, shaft, propeller, and the motor passes through shaft coupling band turn
Shaft rotation is dynamic, and shaft drives propeller rotational to generate thrust；
The driving mechanism further includes bearing supporting body, bearing, bearing (ball) cover, and oil pocket is equipped in the bearing support body,
Bearing supporting body both ends are respectively equipped with locating slot；
The bearing is two, is separately positioned in the locating slot at bearing supporting body both ends, and the bearing is arranged in shaft
On, bearing both sides are respectively equipped with end ring；
The bearing (ball) cover is two, is limited respectively to two bearings.
2. mobile platform on a kind of positioning intelligent water according to claim 1, it is characterised in that：The bearing (ball) cover
It is socketed in shaft, bearing (ball) cover includes end cap ontology, is extended on end cap ontology and stretches into the limit convex that locating slot withstands bearing
Body is equipped with ring type seal between the end cap ontology and bearing supporting body；
Malthoid is equipped between the bearing (ball) cover and shaft.
3. mobile platform on a kind of positioning intelligent water according to claim 1, it is characterised in that：The bearing support
Body setting is extended with the limited wall being fitted on hull in hull wall, in bearing supporting body, the limited wall and hull it
Between be equipped with sealing ring；
Described shaft one end is placed in hull, and the shaft other end stretches out hull and connect with the propeller.
4. mobile platform on a kind of positioning intelligent water according to claim 1, it is characterised in that：The pressure antiseepage
Water dispenser structure includes oil supply mechanism, booster body；
The bearing supporting body is radially equipped with oilhole, and the oil pocket is connect by oilhole with oil supply mechanism, the increasing
Press mechanism includes booster rod, flange, pressurized spring, supercharging cylinder body, connection oil pipe, piston, on the inner wall of the supercharging cylinder body
Portion is equipped with internal thread, and the lower end of the booster rod, which is equipped with, screws block, and the side wall for screwing block is equipped with and the interior spiral shell
The matched external screw thread of line, the lower end for screwing block are connect by pressurized spring with piston, the piston lower surface with
Booster cavity is formed between the inner bottom wall of supercharging cylinder body, madial wall, the booster cavity is connected by coupling oil pipe with oil pocket, institute
The oil pocket stated, oilhole, is equipped with grease in connection oil pipe at booster cavity.
5. mobile platform on a kind of positioning intelligent water according to claim 4, it is characterised in that：The grease is by supplying
Oil machine structure conveys.
6. mobile platform on a kind of positioning intelligent water according to claim 4, it is characterised in that：The supercharging cylinder body
Upper end is equipped with flange, and the booster rod is arranged across flange.
7. mobile platform on a kind of positioning intelligent water according to claim 1, it is characterised in that：Before the hull
Portion both sides are respectively equipped with force snesor, and the on both sides of the middle of hull is respectively equipped with other force snesor, and the tail end of hull is equipped with power
Sensor；
The front end of the hull is equipped with gyroscope；
The tail end both sides of the hull are respectively equipped with displacement sensor；
The force snesor, gyroscope, displacement sensor are connect with controller respectively；
The controller is connect with the motor of each driving mechanism.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720930223.7U CN207985159U (en) | 2017-07-28 | 2017-07-28 | Mobile platform on a kind of positioning intelligent water |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720930223.7U CN207985159U (en) | 2017-07-28 | 2017-07-28 | Mobile platform on a kind of positioning intelligent water |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207985159U true CN207985159U (en) | 2018-10-19 |
Family
ID=63804302
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720930223.7U Expired - Fee Related CN207985159U (en) | 2017-07-28 | 2017-07-28 | Mobile platform on a kind of positioning intelligent water |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207985159U (en) |
-
2017
- 2017-07-28 CN CN201720930223.7U patent/CN207985159U/en not_active Expired - Fee Related
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| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20181019 Termination date: 20190728 |
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| CF01 | Termination of patent right due to non-payment of annual fee |