A convenient plug-in remote drive control platform for underwater multi-joint robots

Abstract

The present invention discloses a convenient plug-in type underwater multi-joint robot remote drive control platform, comprising a support box, a water tank, a fixed frame and a movable frame assembly. By arranging the movable frame assembly, a two-degree-of-freedom motion joint is arranged at the top of the inner part of the fixed frame of the movable frame assembly, and the top of the movable frame is rotated left and right and front and back through the two-degree-of-freedom motion joint. By arranging the movable frame, a remote drive unit assembly is arranged on the top of the cross bar of the movable frame, and the remote drive unit assembly is connected to the two sides of the joint of the multi-joint robot through a first pull rope and a second pull rope, so as to control the rotation of the joint of the multi-joint robot, so that the multi-joint robot can be tested for mechanical properties without installing a driving device, and for the multi-joint robot operating underwater, the mechanical properties test can be carried out without arranging waterproof equipment, which greatly increases the convenience of mechanical properties testing of the multi-joint robot during scientific research.

Description

Technical Field

[0001] The present invention relates to the field related to mechanical property measuring equipment of multi-joint robots, and in particular to a convenient plug-in type underwater multi-joint robot remote drive control platform. Background Art

[0002] A multi-joint robot, whose joints all move in rotation, is similar to a human arm. Multi-joint robots are one of the most common forms of industrial robots in today's industrial field. During the robot design process, their mechanical properties are often measured to assist in the design of their control systems, movement forms, mechanical structures, etc.

[0003] The existing platform requires a multi-joint robot with a drive device to undergo a mechanical properties test. If the multi-joint robot needs to be modified after the test, the drive device needs to be disassembled and modified, which is inconvenient for the scientific research and improvement of the multi-joint robot. In addition, for a multi-joint robot operating in water, it is necessary to immerse it in water. For example, the joints of a multi-joint robot need to be waterproofed on their surface, which increases the complexity and difficulty of the mechanical properties testing operation. Summary of the invention

[0004] Therefore, in order to solve the above-mentioned shortcomings, the present invention provides a convenient plug-in type underwater multi-joint robot remote drive control platform.

[0005] The present invention is achieved by constructing a convenient plug-in underwater multi-joint robot remote drive control platform, the device includes a support box and a movable frame assembly, the support box is provided with a water tank inside, a fixed frame is fixed on the top of the support box, the movable frame assembly is fixed to the middle of the top of the fixed frame, the movable frame assembly includes a fixed frame, a two-degree-of-freedom motion joint, a movable frame, a force sensor assembly and a support plate, a two-degree-of-freedom motion joint is installed on the top of the fixed frame, the bottom end of the two-degree-of-freedom motion joint is connected to the movable frame, a force sensor assembly is provided at the front end of the movable frame, and the bottom end of the force sensor assembly is fixedly connected to the support plate, the front side of the bottom end of the support plate is fixedly connected to the fixed frame, and the bottom end of the fixed frame and the fixed frame are welded to each other.

[0006] Preferably, the two-degree-of-freedom motion joint includes a rotating frame, a first support shaft, a first bearing, a second support shaft and a second bearing. The first support shaft is fixed at both front and rear ends of the rotating frame, and the end of the first support shaft is connected to the first bearing. Second bearings are fixed on both left and right sides of the rotating frame, and the interior of the second bearing is rotatably connected to the second support shaft. The first bearing is fixed to the inner walls at both front and rear ends of the top of the fixed frame, and the top of the movable frame rotates along the first support shaft.

[0007] Preferably, the movable frame includes a vertical rod, a horizontal rod, a remote drive unit assembly, a top rod and a multi-joint robot joint, horizontal rods are fixed on the left and right sides of the vertical rod, the remote drive unit assembly is fixed on the top of the horizontal rod, the top rod is fixed at the front end of the vertical rod, and the front end of the top rod is connected to the force sensor assembly, the bottom of the rear end of the vertical rod is connected to the multi-joint robot joint, and the top end of the vertical rod rotates along the outer wall of the first support shaft.

[0008] Preferably, the remote drive unit assembly includes a motor, a winding wheel, a limit block, a first pull rope, a second pull rope and an L-shaped limit tube, the output shaft at the top of the motor is connected to the center of the winding wheel, the first pull rope and the second pull rope are respectively fixed to the outside of the winding wheel, the limit block is fixed at the edge of the top of the motor, and the first pull rope and the second pull rope both pass through the limit block and extend out, the bottom of the first pull rope and the second pull rope respectively pass through the L-shaped limit tube and are connected to the joints of the multi-joint robot, the motor is fixed to the top of the cross bar, the L-shaped limit tube is fixed to the bottom of the side of the vertical bar, the output shaft of the motor is vertically arranged, and the output shaft of the motor is perpendicular to the plane formed by the first support shaft and the second support shaft.

[0009] Preferably, the multi-joint robot joint includes a connecting section, a first joint rotation axis, a middle section, a second joint rotation axis and a propulsion device, the rear end of the connecting section is rotationally connected to the middle section through the first joint rotation axis, the rear end of the middle section is rotationally connected to the propulsion device through the second joint rotation axis, and the front end of the connecting section is fixedly connected to the rear bottom end of the vertical rod.

[0010] Preferably, the first pull rope and the second pull rope have the same structure, the first pull rope comprises a steel wire, a nylon tube, an axial steel wire, a protective sheath and an end cap, the outer side of the steel wire is sequentially wrapped with a nylon tube, an axial steel wire and a protective sheath from the inside to the outside, an end cap passes through the end of the steel wire, one end of the steel wire passes through a limiting plate and is connected to a winding wheel, and the other end of the steel wire is connected to a middle section connected to the outer side of the first joint rotation shaft.

[0011] Preferably, two groups of the remote drive unit assemblies are provided, and the bottom ends of the first pull ropes and the second pull ropes of the two groups of the remote drive unit assemblies are respectively connected to the middle section and the left and right sides of the propulsion device.

[0012] Preferably, the L-shaped limiting tube is L-shaped when viewed from the right, the bending corner of the L-shaped limiting tube is arc-shaped, and the inner wall of the L-shaped limiting tube is fixed to the protective outer skin.

[0013] Preferably, the first joint rotation axis and the second joint rotation axis are both arranged vertically, and the outer walls of the first joint rotation axis and the second joint rotation axis are respectively in contact with the connecting section, the middle section and the propulsion device.

[0014] Preferably, the inner wall of the end cap is smooth and fits the steel wire.

[0015] The present invention has the following advantages: The present invention provides a convenient plug-in underwater multi-joint robot remote drive control platform through improvement, which has the following improvements compared with the same type of equipment:

[0016] Advantage 1: The convenient plug-in underwater multi-joint robot remote drive control platform described in the present invention is equipped with a movable frame assembly, a two-degree-of-freedom motion joint is arranged at the top of the fixed frame of the movable frame assembly, and the bottom of the two-degree-of-freedom motion joint is connected to a movable frame, so that the top of the movable frame can rotate left and right and forward and backward through the two-degree-of-freedom motion joint.

[0017] Advantage 2: The convenient plug-in underwater multi-joint robot remote drive control platform described in the present invention is connected to the multi-joint robot to be tested at the rear bottom of the movable frame by setting a movable frame, and a remote drive unit assembly is set on the top of the cross bar of the movable frame. The remote drive unit assembly is connected to both sides of the joints of the multi-joint robot through the first pull rope and the second pull rope, so as to control the rotation of the joints of the multi-joint robot, so that the mechanical properties of the multi-joint robot can be tested without installing the driving device, and for the multi-joint robot operating underwater, there is no need to set up waterproof equipment to carry out mechanical properties testing, which greatly increases the convenience of mechanical properties testing of the multi-joint robot in scientific research. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a schematic diagram of the structure of the present invention;

[0019] Figure 2 It is a structural schematic diagram of a movable frame assembly of the present invention;

[0020] Figure 3 It is a schematic diagram of the structure of the two-degree-of-freedom motion joint of the present invention;

[0021] Figure 4 It is a schematic diagram of the movable frame structure of the present invention;

[0022] Figure 5 is a schematic structural diagram of a remote drive unit assembly of the present invention;

[0023] Figure 6 It is a schematic diagram of the joint structure of the multi-joint robot of the present invention;

[0024] Figure 7 It is a left view of the joint structure of the multi-joint robot of the present invention;

[0025] Figure 8 is a schematic diagram of the first pull rope structure of the present invention;

[0026] Fig. 9It is a structural schematic diagram of the single-joint propulsion device of the present invention.

[0027] Among them: support box-1, water tank-2, fixed frame-3, movable frame assembly-4, fixed frame-41, two-degree-of-freedom motion joint-42, movable frame-43, force sensor assembly-44, support plate-45, rotating frame-421, first support shaft-422, first bearing-423, second support shaft-424, second bearing-425, vertical rod-431, horizontal rod-432, remote drive unit assembly-433, top rod-434, multi-joint robot joint-435, single-joint The propulsion device-436, the motor-4331, the winding wheel-4332, the limit block-4333, the first pull rope-4334, the second pull rope-4335, the L-shaped limit tube-4336, the connecting section-4351, the first joint rotation axis-4352, the middle section-4353, the second joint rotation axis-4354, the propulsion device-4355, the steel wire-43341, the nylon tube-43342, the axial steel wire-43343, the protective outer skin-43344, and the end cap-43345. DETAILED DESCRIPTION

[0028] The following will be combined with the attached Figure 1-9 The present invention is described in detail, and the technical solutions in the embodiments of the present invention are clearly and completely described. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0029] Embodiment 1:

[0030] See also Figure 1 A convenient plug-in underwater multi-joint robot remote drive control platform of the present invention comprises a support box 1 and a movable frame assembly 4, wherein a water tank 2 is arranged inside the support box 1, a fixed frame 3 is fixed on the top of the support box 1, and the movable frame assembly 4 is fixed to the middle of the top of the fixed frame 3,

[0031] See also Figure 2The present invention is a convenient plug-in underwater multi-joint robot remote drive control platform, the movable frame assembly 4 includes a fixed frame 41, a two-degree-of-freedom motion joint 42, a movable frame 43, a force sensor assembly 44 and a support plate 45, the two-degree-of-freedom motion joint 42 is installed at the top of the fixed frame 41, the bottom end of the two-degree-of-freedom motion joint 42 is connected to the movable frame 43, the front end of the movable frame 43 is provided with a force sensor assembly 44, and the bottom end of the force sensor assembly 44 is fixedly connected to the support plate 45, the front side of the bottom end of the support plate 45 is fixedly connected to the fixed frame 3, and the bottom end of the fixed frame 41 and the fixed frame 3 are welded to each other.

[0032] See also Figure 3 , a convenient plug-in underwater multi-joint robot remote drive control platform of the present invention, the two-degree-of-freedom motion joint 42 includes a rotating frame 421, a first support shaft 422, a first bearing 423, a second support shaft 424 and a second bearing 425, the rotating frame 421 is fixed with the first support shaft 422 at both ends, and the end of the first support shaft 422 is connected to the first bearing 423, the rotating frame 421 is fixed with the second bearing 425 on both sides, and the second bearing 425 is rotatably connected to the second support shaft 424, the first bearing 423 is fixed to the inner walls at the front and rear ends of the top of the fixed frame 41, and the top of the movable frame 43 rotates along the first support shaft 422.

[0033] See also Figure 4 The present invention is a convenient plug-in underwater multi-joint robot remote drive control platform, the movable frame 43 includes a vertical rod 431, a horizontal rod 432, a remote drive unit assembly 433, a top rod 434 and a multi-joint robot joint 435, the vertical rod 431 is fixed with a horizontal rod 432 on the left and right sides, the top of the horizontal rod 432 is fixed with a remote drive unit assembly 433, the front end of the vertical rod 431 is fixed with a top rod 434, and the front end of the top rod 434 is connected to the force sensor assembly 44, and the bottom of the rear end of the vertical rod 431 is connected to the multi-joint robot joint 435. The robot joints 435 are connected, the top of the vertical rod 431 rotates along the outer wall of the first support shaft 422, and the remote drive unit assembly 433 is provided with two groups, and the bottom ends of the first pull rope 4334 and the second pull rope 4335 of the two groups of remote drive unit assemblies 433 are respectively connected to the left and right sides of the middle section 4353 and the propulsion device 4355, and the rotation of the first joint rotation axis 4352 and the second joint rotation axis 4354 is controlled by the first pull rope 4334 and the second pull rope 4335 of the two groups of remote drive unit assemblies 433.

[0034] See also Figure 5A convenient plug-in underwater multi-joint robot remote drive control platform of the present invention, the remote drive unit component 433 includes a motor 4331, a winding wheel 4332, a limit block 4333, a first pull rope 4334, a second pull rope 4335 and an L-shaped limit tube 4336, the output shaft at the top of the motor 4331 is connected to the center of the winding wheel 4332, the first pull rope 4334 and the second pull rope 4335 are respectively fixed to the outside of the winding wheel 4332, the limit block 4333 is fixed at the top edge of the motor 4331, and the first pull rope 4334 and the second pull rope 4335 both penetrate the limit block 4333 and extend out, the first pull rope 4334 and the second pull rope 4335 are at the bottom The parts respectively pass through the L-shaped limiting tube 4336 and are connected to the multi-joint robot joint 435, the motor 4331 is fixed to the top of the cross bar 432, the L-shaped limiting tube 4336 is fixed to the bottom of the side of the vertical bar 431, the L-shaped limiting tube 4336 is L-shaped when viewed from the right, the corner of the L-shaped limiting tube 4336 is arc-shaped, and the inner wall of the L-shaped limiting tube 4336 is fixed to the protective outer skin 43344, so that when the winding wheel 4332 rotates to pull the steel wire 43341, the steel wire 43341 slides in the nylon tube 43342, and the output shaft of the motor 4331 is vertically arranged, and the output shaft of the motor 4331 is perpendicular to the plane formed by the first support shaft 422 and the second support shaft 424.

[0035] See also Figure 6-7 The present invention is a convenient plug-in underwater multi-joint robot remote drive control platform, the multi-joint robot joint 435 includes a connecting section 4351, a first joint rotation shaft 4352, a middle section 4353, a second joint rotation shaft 4354 and a propulsion device 4355, the rear end of the connecting section 4351 is rotatably connected to the first joint rotation shaft 4352 and the middle section 4353, the rear end of the middle section 4353 is rotatably connected to the propulsion device 4355 through the second joint rotation shaft 4354, The front end of the connecting section 4351 is fixedly connected to the rear bottom end of the vertical rod 431, the first joint rotation axis 4352 and the second joint rotation axis 4354 are both vertically arranged, and the outer walls of the first joint rotation axis 4352 and the second joint rotation axis 4354 are respectively fitted with the connecting section 4351, the middle section 4353 and the propulsion device 4355, so that the connecting section 4351, the middle section 4353 and the propulsion device 4355 rotate along the outer walls of the first joint rotation axis 4352 and the second joint rotation axis 4354 respectively.

[0036] See also Figure 8The present invention provides a convenient plug-in underwater multi-joint robot remote drive control platform. The first pull rope 4334 and the second pull rope 4335 have the same structure. The first pull rope 4334 includes a steel wire 43341, a nylon tube 43342, an axial steel wire 43343, a protective outer skin 43344 and an end cap 43345. The outer side of the steel wire 43341 is wrapped with a nylon tube 43342, an axial steel wire 43343 and a protective outer skin 43344 in sequence from the inside to the outside. The end of the steel wire 43341 is penetrated by an end cap 43345, one end of the steel wire 43341 passes through the limit plate 4333 and is connected to the winding wheel 4332, and the other end of the steel wire 43341 is connected to the middle section 4353 connected to the outside of the first joint rotation axis 4352, the inner wall of the end cap 43345 is smooth, and the inner wall of the end cap 43345 fits with the steel wire 43341, when the steel wire 43341 is pulled, the nylon tube 43342, the axial steel wire 43343 and the protective outer skin 43344 on the outside of the steel wire 43341 are supported by the end cap 43345.

[0037] Embodiment 2:

[0038] See also Fig. 9 The present invention provides a convenient plug-in underwater multi-joint robot remote drive control platform, wherein the multi-joint robot joint 435 can be set as a single-joint propulsion device 436. To set the single-joint propulsion device 436, only one set of remote drive unit components 433 is needed, and the remote drive unit components 433 can be added at will according to the number of motion joints of the mechanical equipment. The unbalanced mass can be balanced by a weight block, and the multi-joint robot joint 435 can be replaced by a complex mechanical equipment with multiple motion joints. The complex mechanical equipment with multiple motion joints can all be controlled by this remote drive control platform to perform relevant mechanical measurements. For the convenience of description, this article takes the mechanical measurement of the multi-joint robot joint 435 as an example to explain the remote drive control platform. In this way, the motor 4331 device does not need to be immersed in water, and thus does not require excessive waterproof design, thereby reducing the complexity of the experiment.

[0039] The present invention provides a convenient plug-in underwater multi-joint robot remote drive control platform through improvement, and its working principle is as follows;

[0040] First, before use, the support box 1 of the device is placed at a desired horizontal position, and then the power ports of the force sensor assembly 44 and the motor 4331 are electrically connected to an external control device with a power supply to supply power, control and transmit data to the force sensor assembly 44 and the motor 4331;

[0041] Second, when conducting a mechanical property test on the multi-joint robot joint 435, the multi-joint robot joint 435 or the multi-joint robot to be tested is installed to the rear bottom end of the vertical rod 431, and the number of remote drive unit assemblies 433 is installed according to the number of joints of the multi-joint robot. The unbalanced mass can be balanced by a weight block, and the bottom ends of the steel wire 43341 of the first pull rope 4334 and the second pull rope 4335 of the remote drive unit assembly 433 are connected to both sides of the joint of the multi-joint robot. The output shaft of the motor 4331 is used to rotate the winding wheel 4332, and the winding wheel 4332 rotates clockwise to pull the steel wire 43341 of the first pull rope 4334, and the winding wheel 4332 rotates counterclockwise to pull the steel wire 43341 of the second pull rope 4335. The steel wire 43341 of the rope 4334 and the second pull rope 4335 pulls the two sides of the joint of the multi-joint robot to control the rotation of the joint of the multi-joint robot. When the joint 435 of the multi-joint robot is tested, the steel wire 43341 of the first pull rope 4334 and the second pull rope 4335 pulls the middle section 4353 or the left and right sides of the propulsion device 4355 outside the first joint rotation axis 4352 or the second joint rotation axis 4354 to rotate the middle section 4353 or the propulsion device 4355, so that the multi-joint robot can be tested for mechanical properties without installing a driving device. For a multi-joint robot operating underwater, it is not necessary to set up waterproof equipment to test the mechanical properties, which greatly increases the convenience of mechanical property testing of the multi-joint robot during scientific research.

[0042] Third, when the multi-joint robot is tested, the vertical rod 431 rotates back and forth along the second support axis 424 of the two-degree-of-freedom motion joint 42, and the rotating frame 421 rotates left and right through the first support axis 422 and the first bearing 423, so that the vertical rod 421 can rotate back and forth and left and right. The vertical rod 421 is connected to the force sensor assembly 44 through the top rod 434, and the axial force (first direction) and lateral force (second direction) generated by the multi-joint robot equipment are transmitted to the force sensor assembly 44 for data collection.

[0043] The present invention provides a convenient plug-in underwater multi-joint robot remote drive control platform through improvement. A movable frame assembly 4 is provided, and a two-degree-of-freedom motion joint 42 is provided at the top of a fixed frame 41 of the movable frame assembly 4. A movable frame 43 is connected to the bottom of the two-degree-of-freedom motion joint 42, so that the top of the movable frame 43 can rotate left and right and front and back through the two-degree-of-freedom motion joint 42. The movable frame 43 is provided, and the rear bottom of the movable frame 43 is connected to the multi-joint robot to be tested. A remote drive unit assembly 433 is provided at the top of a cross bar 432 of the movable frame 43, and the remote drive unit assembly 433 is connected to both sides of the joint of the multi-joint robot through a first pull rope 4334 and a second pull rope 4335, so that the rotation of the joint of the multi-joint robot is controlled, so that the multi-joint robot can be tested for mechanical properties without installing a driving device, and for a multi-joint robot operating underwater, it is not necessary to set up waterproof equipment to perform mechanical properties testing, which greatly increases the convenience of mechanical properties testing of the multi-joint robot during scientific research.

[0044] The above shows and describes the basic principle, main features and advantages of the present invention, and the standard parts used in the present invention can be purchased from the market, and special-shaped parts can be customized according to the description and the drawings. The specific connection methods of each part adopt mature conventional means such as bolts, rivets, welding, etc. in the prior art. Machinery, parts and equipment all adopt conventional models in the prior art, and circuit connections adopt conventional connection methods in the prior art, which will not be described in detail here.

[0045] The above description of the disclosed embodiments enables one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to one skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A convenient plug-in underwater multi-joint robot remote drive control platform, comprising a support box (1), a water tank (2) is arranged inside the support box (1), and a fixed frame (3) is fixed on the top of the support box (1); Features: The movable frame assembly (4) is also included. The movable frame assembly (4) is fixed to the middle of the top of the fixed frame (3). The movable frame assembly (4) includes a fixed frame (41), a two-degree-of-freedom motion joint (42), a movable frame (43), a force sensor assembly (44) and a support plate (45). The top of the fixed frame (41) is provided with a two-degree-of-freedom motion joint (42). The bottom of the two-degree-of-freedom motion joint (42) is connected to the movable frame (43). The front end of the movable frame (43) is provided with a force sensor assembly (44). The bottom end of the force sensor assembly (44) is fixedly connected to the support plate (45). The front side of the bottom end of the support plate (45) is fixedly connected to the fixed frame (3). The bottom end of the fixed frame (41) and the fixed frame (3) are welded to each other. The two-degree-of-freedom motion joint (42) comprises a rotating frame (421), a first support shaft (422), a first bearing (423), a second support shaft (424) and a second bearing (425); the first support shaft (422) is fixed at both front and rear ends of the rotating frame (421), and the end of the first support shaft (422) is connected to the first bearing (423); the second bearing (425) is fixed at both left and right sides of the rotating frame (421), and the inside of the second bearing (425) is rotatably connected to the second support shaft (424); the first bearing (423) is fixed to the inner walls at both front and rear ends of the top of the fixed frame (41), and the top of the movable frame (43) rotates along the first support shaft (422); The movable frame (43) comprises a vertical rod (431), a horizontal rod (432), a remote drive unit assembly (433), a top rod (434) and a multi-joint robot joint (435); the vertical rod (431) is fixed with horizontal rods (432) on both sides; the remote drive unit assembly (433) is fixed to the top of the horizontal rod (432); the top rod (434) is fixed to the front end of the vertical rod (431); the front end of the top rod (434) is connected to the force sensor assembly (44); the bottom of the rear end of the vertical rod (431) is connected to the multi-joint robot joint (435); and the top end of the vertical rod (431) rotates along the outer wall of the first support shaft (422); The remote drive unit assembly (433) comprises a motor (4331), a winding wheel (4332), a limit block (4333), a first pull rope (4334), a second pull rope (4335) and an L-shaped limit tube (4336), wherein the output shaft at the top end of the motor (4331) is connected to the center of the winding wheel (4332), the first pull rope (4334) and the second pull rope (4335) are respectively fixed to the outside of the winding wheel (4332), the limit block (4333) is fixed at the edge of the top end of the motor (4331), and the first pull rope (4334) and the second pull rope (4335) are connected to the L-shaped limit tube (4336). The ropes (4335) all extend through the limit blocks (4333); the bottoms of the first pull rope (4334) and the second pull rope (4335) respectively pass through the L-shaped limit tube (4336) and are connected to the multi-joint robot joint (435); the motor (4331) is fixed to the top of the cross bar (432); the L-shaped limit tube (4336) is fixed to the bottom of the side of the vertical bar (431); the output shaft of the motor (4331) is vertically arranged, and the output shaft of the motor (4331) is oriented perpendicular to a plane formed by the first support shaft (422) and the second support shaft (424).

2. According to claim 1, a convenient plug-in underwater multi-joint robot remote drive control platform is characterized in that: The multi-joint robot joint (435) comprises a connecting section (4351), a first joint rotation axis (4352), a middle section (4353), a second joint rotation axis (4354) and a propulsion device (4355); the rear end of the connecting section (4351) is rotationally connected to the middle section (4353) via the first joint rotation axis (4352); the rear end of the middle section (4353) is rotationally connected to the propulsion device (4355) via the second joint rotation axis (4354); and the front end of the connecting section (4351) is fixedly connected to the rear bottom end of the vertical rod (431).

3. According to claim 1, a convenient plug-in underwater multi-joint robot remote drive control platform is characterized in that: The first pull rope (4334) and the second pull rope (4335) have the same structure. The first pull rope (4334) comprises a steel wire (43341), a nylon tube (43342), an axial steel wire (43343), a protective outer skin (43344) and an end cap (43345). The outer side of the steel wire (43341) is sequentially wrapped with the nylon tube (43342), the axial steel wire (43343) and the protective outer skin (43344) from the inside to the outside. The end of the steel wire (43341) is penetrated by the end cap (43345). One end of the steel wire (43341) penetrates the limit block (4333) and is connected to the winding wheel (4332), and the other end of the steel wire (43341) is connected to the middle section (4353) connected to the outer side of the first joint rotation shaft (4352).

4. According to claim 1, a convenient plug-in underwater multi-joint robot remote drive control platform is characterized in that: The remote drive unit assembly (433) is provided in two groups, and the bottom ends of the first pull rope (4334) and the second pull rope (4335) of the two groups of remote drive unit assemblies (433) are respectively connected to the middle section (4353) and the left and right sides of the propulsion device (4355).

5. According to claim 1, a convenient plug-in underwater multi-joint robot remote drive control platform is characterized in that: The L-shaped limiting tube (4336) is L-shaped when viewed from the right, the bending corner of the L-shaped limiting tube (4336) is arc-shaped, and the inner wall of the L-shaped limiting tube (4336) is fixed to the protective outer skin (43344).

6. According to claim 2, a convenient plug-in underwater multi-joint robot remote drive control platform is characterized in that: The first joint rotation axis (4352) and the second joint rotation axis (4354) are both arranged vertically, and the outer walls of the first joint rotation axis (4352) and the second joint rotation axis (4354) are respectively fitted with the connecting section (4351), the middle section (4353) and the propulsion device (4355).

7. According to claim 3, a convenient plug-in underwater multi-joint robot remote drive control platform is characterized in that: The inner wall of the end cap (43345) is smooth, and the inner wall of the end cap (43345) fits the steel wire (43341).

Images