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CN-122016120-A - Underwater robot propulsion force measuring device and propulsion force measuring method

CN122016120ACN 122016120 ACN122016120 ACN 122016120ACN-122016120-A

Abstract

The utility model provides an underwater robot propulsive force measuring device, belongs to the measuring instrument field, and this device includes dynamometry frame, force transducer subassembly, biography power connecting rod subassembly, robot clamping device and hawser, force transducer subassembly install in dynamometry frame top, biography power connecting rod subassembly one end install in dynamometry frame top, and be located force transducer subassembly one side, biography power connecting rod subassembly includes biography power connecting rod and couple, couple detachable install in biography power connecting rod upper end, robot clamping device connect in biography power connecting rod lower extreme, robot clamping device is used for the centre gripping underwater robot, hawser one end hookup the couple, the other end with the hookup of force transducer subassembly, when underwater robot operates, robot clamping device atress, the hawser on the couple of biography power connecting rod upper end pulls the force transducer subassembly, realizes non-contact measurement.

Inventors

  • WANG PANBING
  • LIU XINYU

Assignees

  • 东南大学

Dates

Publication Date
20260512
Application Date
20260210

Claims (7)

  1. 1. The device is characterized by comprising a force measuring frame (1), a force sensor assembly (3), a force transmission connecting rod assembly (4), a robot clamping device (5) and a cable (6), wherein the force sensor assembly (3) is arranged above the force measuring frame (1), one end of the force transmission connecting rod assembly (4) is arranged above the force measuring frame (1) and is positioned on one side of the force sensor assembly (3), the force transmission connecting rod assembly (4) comprises a force transmission connecting rod (4-3) and a hook (4-4), the hook (4-4) is detachably arranged at the upper end of the force transmission connecting rod (4-3), the robot clamping device (5) is connected to the lower end of the force transmission connecting rod (4-3), the robot clamping device (5) is used for clamping an underwater robot, one end of the cable (6) is connected with the hook (4-4), the other end of the cable is connected with the force sensor assembly (3), and when the robot clamping device (5) runs, the force transmission connecting rod (4-4) is detachably arranged at the upper end of the force transmission connecting rod (4-3), and the force sensor assembly (4-4) is pulled by the robot clamping device (4) to realize non-contact with the force sensor assembly (6).
  2. 2. The underwater robot propulsion measuring device of claim 1, wherein the device further comprises a pulley assembly (2), the pulley assembly (2) is installed above the force measuring frame (1) and located on the other side of the force sensor assembly (3), the force sensor assembly (3) comprises a force sensor hook (3-1), a force sensor (3-2) and a force sensor installation base (3-4), the force sensor hook (3-1) is arranged on the front end face of the force sensor (3-2), the force sensor (3-2) is installed above the force measuring frame (1) through the force sensor installation base (3-4), one end of a cable (6) is connected to the hook (4-4), and the other end of the cable is connected with the force sensor hook (3-1) on the force sensor assembly (3) after passing through the pulley assembly (2).
  3. 3. The underwater robot propulsion measuring device according to claim 2, wherein the force measuring frame (1) is of a symmetrical structure and comprises two force measuring frame horizontal supports (1-1), four force measuring frame vertical supports (1-2) and two force measuring frame lower reinforcing supports (1-3), the upper ends of the four force measuring frame vertical supports (1-2) are respectively and symmetrically connected to two ends of the two force measuring frame horizontal supports (1-1) and are perpendicular to the force measuring frame horizontal supports (1-1), the lower ends of the force measuring frame horizontal supports are respectively and equidistantly arranged at two ends of the force measuring frame horizontal supports (1-1) in a mutually parallel manner, the lower ends of the force measuring frame lower reinforcing supports (1-3) are respectively connected and fixed in a pair, the two force measuring frame horizontal supports (1-1) are parallel and are arranged on the same plane, the force sensor assembly (3) further comprises bolt holes (3-3-1) and position adjusting devices (3-3), the position adjusting devices (3-2) are arranged on the base (3-3) through the bolt holes (3-3) and are arranged on the base (3-3) in a plurality of groups, so that the position adjusting device (3-3) is arranged on the force sensor mounting base (3-4) and the position of the force transmission connecting rod assembly (4) can be adjusted, the force transmission connecting rod assembly (4) comprises a hook (4-4), a force transmission connecting rod fixed support (4-1), a bearing (4-2), a force transmission connecting rod (4-3), a force transmission connecting rod connecting part (4-5) and a connecting hole (4-5-1), the pulley assembly (2) comprises a pulley (2-2) and a pulley fixed support (2-1), the pulley (2-2) is arranged above the pulley fixed support (2-1), and the pulley fixed support (2-1), the force transmission connecting rod fixed support (4-1) and the force sensor mounting base (3-4) are all in the shape The shape, both sides end are installed respectively one by one on two force measurement frame horizontal support (1-1), and connecting hole (4-5-1) are a plurality of, from top to bottom opens and is located on force transmission connecting rod (4-3), couple (4-4) pass through connecting hole (4-5-1) install in on force transmission connecting rod (4-3), upper and lower position is adjustable, the middle part of force transmission connecting rod coupling portion (4-5) pass through bearing (4-2) install in force transmission connecting rod fixed bolster (4-1), the upper end pass through connecting hole (4-5-1) install in on force transmission connecting rod (4-3) and be located couple (4-4) below, robot clamping device (5) upper end detachably link in on force transmission connecting rod (4-3), cable (6) one end link in couple (4-4), one end link with couple (3-1) on force sensor assembly after pulley (2-2).
  4. 4. An underwater robot propulsion measuring apparatus as claimed in claim 3, wherein the force measuring frame (1) further comprises a triangular support (1-4) and two force measuring frame upper reinforcing supports (1-5), the force measuring frame upper reinforcing supports (1-5) are installed between two force measuring frame vertical supports (1-2) located on two sides of the force measuring frame horizontal support (1-1) and are parallel to the force measuring frame lower reinforcing supports (1-3), and the triangular supports (1-4) are installed at the installation intersections of the force measuring frame vertical supports (1-2) and the force measuring frame upper reinforcing supports (1-5) and the force measuring frame lower reinforcing supports (1-3).
  5. 5. The underwater robot propulsion measuring device of any one of claims 1 to 4, further comprising a vibration exciter assembly (8) and a water tank (7), wherein the water tank (7) is arranged under the force measuring frame (1), the upper end of the vibration exciter assembly (8) is arranged on two force measuring frame vertical supports (1-2) on one side of the force measuring frame (1), the lower end of the vibration exciter assembly is provided with a vibration exciter head (8-3), and the vibration exciter head (8-3) is arranged in water of the water tank (7).
  6. 6. The underwater robot propulsion measuring device of claim 5, wherein the vibration exciter assembly (8) further comprises a vibration exciter fixing part (8-1) and a vibration exciter (8-2), the vibration exciter fixing part (8-1) comprises a front fixing part (8-1-1) and a lower fixing part (8-1-2), the front fixing part (8-1-1) is detachably fixed on two vertical supports (1-2) of the force measuring frame (1) on one side, the upper end of the lower fixing part (8-1-2) and the front fixing part (8-1-1) are detachably installed, the lower end of the lower fixing part and the vibration exciter (8-2) are installed, and the vibration exciter head (8-3) is installed at the lower end part of the vibration exciter (8-2) and is placed in water of the water tank (7).
  7. 7. A method for measuring propulsion by using the underwater robot propulsion measuring apparatus of any one of claims 5 to 6, characterized in that: step 1, stabilizing and clamping a robot on a robot clamping device (5); Step 2, fixing a pulley fixed support (2-1), a force sensor mounting base (3-4) and a force transmission connecting rod fixed support (4-1) on a force measuring frame (1); Step 3, installing the pulley (2-2) on the pulley fixed support (2-1); Step 4, mounting the force sensor (3-2) on the position adjusting device (3-3), and mounting the position adjusting device (3-3) on the force sensor mounting base (3-4); step 5, installing the hook (4-4) on the force transmission connecting rod (4-3), installing the force transmission connecting rod (4-3) on the force transmission connecting rod fixed support (4-1), and installing the robot clamping device (5) on the force transmission connecting rod (4-3); Step6, enabling the underwater robot to start moving in the water tank (7) until the data collected by the force sensor (3-2) is stable, and reading the propelling force; and 7, starting the vibration exciter head (8-3) to push nearby fluid to generate periodic speed fluctuation, and reading the propelling force after the data collected by the force sensor (3-2) is stable.

Description

Underwater robot propulsion force measuring device and propulsion force measuring method Technical Field The invention belongs to the technical field of measuring instruments, and particularly relates to a propulsion measuring device of an underwater robot. Background With the continuous development of the underwater robot technology, the accurate measurement of the propulsion of the underwater robot is a key link for evaluating the performance of the robot and designing a control system. The traditional underwater robot propulsion force measuring method depends on static test and experience data, so that accurate measurement of propulsion force in a dynamic working environment is difficult to realize, and larger errors exist in measurement results under different working conditions. The propelling force measuring device commonly used in the prior art mostly adopts a force measuring system based on a sensor and a fixed structure thereof, and performs static or dynamic measurement on the propelling force under specific conditions. However, such conventional devices are difficult to adapt to the measurement requirements of underwater robots of different models and different working environments, and cannot realize high-precision and real-time force measurement and transmission. In order to make up the defects of the prior art, the invention provides an underwater robot propulsion measuring device, which aims to construct a high-precision real-time measuring system capable of adapting to various underwater robot models and working conditions, and can effectively solve the problem of insufficient measuring precision of the conventional device, thereby providing accurate and reliable mechanical data for performance test of the underwater robot under different working environments. Disclosure of Invention Aiming at the problems, the invention provides the underwater robot propulsion measuring device which can measure the propulsion of the underwater robot with various sizes, structures and experimental environments, has strong adaptability and is convenient to operate. In order to achieve the above purpose, the technical scheme adopted by the invention is as follows: The invention provides an underwater robot propulsion measuring device which comprises a force measuring frame, a force sensor assembly, a force transmission connecting rod assembly, a robot clamping device and a cable, wherein the force sensor assembly is arranged above the force measuring frame, one end of the force transmission connecting rod assembly is arranged above the force measuring frame and is positioned at one side of the force sensor assembly, the force transmission connecting rod assembly comprises a force transmission connecting rod and a hook, the hook is detachably arranged at the upper end of the force transmission connecting rod, the robot clamping device is connected to the lower end of the force transmission connecting rod, the robot clamping device is used for clamping an underwater robot, one end of the cable is connected with the hook, the other end of the cable is connected with the force sensor assembly, and when the underwater robot runs, the robot clamping device is stressed and pulls the force sensor assembly through the cable on the hook at the upper end of the force transmission connecting rod to realize non-contact measurement. As a further improvement of the invention, the device also comprises a pulley component, wherein the pulley component is arranged above the force measuring frame and is positioned at the other side of the force sensor component, the force sensor component comprises a force sensor hook, a force sensor and a force sensor mounting base, the force sensor hook is arranged on the front end surface of the force sensor, the force sensor is arranged above the force measuring frame through the force sensor mounting base, one end of the cable is connected with the hook, and the other end of the cable is connected with the force sensor hook on the force sensor component after passing through the pulley component. As a further improvement of the invention, the force measuring frame is of a symmetrical structure and comprises two force measuring frame horizontal supports, four force measuring frame vertical supports and two force measuring frame lower reinforcing supports, the upper ends of the four force measuring frame vertical supports are respectively and symmetrically connected to the two force measuring frame horizontal supports from top to bottom, the four force measuring frame vertical supports are perpendicular to the force measuring frame horizontal supports and are parallel and equidistant to each other and are positioned at the two ends of the force measuring frame horizontal supports, the lower ends of the four force measuring frame vertical supports are respectively and fixedly connected with the force measuring frame lower reinforcing supports from top to bottom, the two force measuring frame h