Underwater robot propulsive force measuring device and propulsive force measuring method

Abstract

An underwater robot propulsive force measuring device belongs to the field of measuring instruments and comprises a force measuring frame, a force sensor assembly, a force transmission connecting rod assembly, a robot clamping device and a mooring rope, the force sensor assembly is mounted above the force measuring frame, one end of the force transmission connecting rod assembly is mounted above the force measuring frame, and the other end of the force transmission connecting rod assembly is mounted above the robot clamping device. The force sensor assembly is arranged on the base and located on 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 installed 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 and used for clamping an underwater robot, one end of the mooring rope is connected with the hook, and the other end of the mooring rope is connected with the force sensor assembly. When the underwater robot operates, the robot clamping device is stressed, the force sensor assembly is pulled through the cable on the hook at the upper end of the force transmission connecting rod, and non-contact measurement is achieved.

Description

Technical Field

[0001] This invention belongs to the field of measuring instrument technology, specifically a device for measuring the propulsion force of an underwater robot. Background Technology

[0002] With the continuous development of underwater robot technology, accurate measurement of its propulsion force has become a key aspect of evaluating robot performance and designing control systems. Traditional methods for measuring underwater robot propulsion force mostly rely on static testing and empirical data, which often makes it difficult to accurately measure propulsion force under dynamic working environments, resulting in significant errors in measurement results under different operating conditions.

[0003] Existing propulsion force measurement devices typically employ sensor-based force measurement systems and their fixed structures to perform static or dynamic measurements of propulsion force under specific conditions. However, these traditional devices are ill-suited to the measurement needs of different types of underwater robots operating in various environments, and they also cannot achieve high-precision, real-time force measurement and transmission.

[0004] To overcome the shortcomings of existing technologies, this invention proposes an underwater robot propulsion force measurement device, aiming to build a high-precision real-time measurement system that can be adapted to various underwater robot models and working conditions. This system can effectively solve the problem of insufficient measurement accuracy of existing devices, thereby providing accurate and reliable mechanical data for the performance testing of underwater robots under different working environments. Summary of the Invention

[0005] To address the above problems, this invention proposes an underwater robot propulsion force measurement device, which can measure the propulsion force of underwater robots of various sizes, structures, and experimental environments. It is highly adaptable and easy to operate.

[0006] To achieve the above objectives, the technical solution adopted by the present invention is as follows: The underwater robot propulsion force measuring device provided by this invention includes a force measuring frame, a force sensor assembly, a force transmission link assembly, a robot gripping device, and a cable. The force sensor assembly is mounted above the force measuring frame. One end of the force transmission link assembly is mounted above the force measuring frame and located to one side of the force sensor assembly. The force transmission link assembly includes a force transmission link and a hook. The hook is detachably mounted on the upper end of the force transmission link. The robot gripping device is connected to the lower end of the force transmission link and is used to grip the underwater robot. One end of the cable is connected to the hook, and the other end is connected to the force sensor assembly. When the underwater robot is running, the robot gripping device is subjected to force, and the force sensor assembly is pulled by the cable on the hook at the upper end of the force transmission link, thereby achieving non-contact measurement.

[0007] As a further improvement of the present invention, the device further includes a pulley assembly, which is mounted above the force measuring frame and located on the other side of the force sensor assembly. The force sensor assembly includes a force sensor hook, a force sensor, and a force sensor mounting base. The force sensor hook is disposed on the front end face of the force sensor. The force sensor is mounted above the force measuring frame through the force sensor mounting base. One end of the cable is connected to the hook, and the other end passes through the pulley assembly and is connected to the force sensor hook on the force sensor assembly.

[0008] As a further improvement of the present invention, the force measuring frame has a symmetrical structure, including two horizontal force measuring frame supports, four vertical force measuring frame supports, and two lower reinforcing supports. The upper ends of the four vertical force measuring frame supports are symmetrically connected to the two ends of the two horizontal force measuring frame supports in pairs, and are perpendicular to the horizontal force measuring frame supports, and are parallel to each other and equidistant from the two ends of the horizontal force measuring frame supports. The lower ends of the four vertical force measuring frame supports are connected and fixed in pairs by the lower reinforcing supports. The two horizontal force measuring frame supports are parallel and located in the same plane. The force sensor assembly also includes bolt holes and a position adjustment device. The force sensor is installed on the... The position adjustment device is mounted on the force sensor mounting base via bolt holes. Multiple sets of bolt holes are formed on the position adjustment device from top to bottom, allowing the position of the position adjustment device on the force sensor mounting base to be adjusted. The force transmission rod assembly includes a hook, a force transmission rod fixing support, a bearing, a force transmission rod, a force transmission rod connecting part, and a connecting hole. The pulley assembly includes a pulley and a pulley fixing support. The pulley is mounted above the pulley fixing support. The pulley fixing support, the force transmission rod fixing support, and the force sensor mounting base are all in a [missing information - likely referring to a specific configuration or structure]. The device has a shape, with each end mounted on one of the two horizontal supports of the force measuring frame. Multiple connecting holes are formed from top to bottom on the force transmission link. The hook is mounted on the force transmission link through the connecting holes, and its vertical position is adjustable. The middle part of the force transmission link connection is mounted on the fixed support of the force transmission link via the bearing, and the upper end is mounted on the force transmission link through the connecting hole and located below the hook. The upper end of the robot gripping device is detachably connected to the force transmission link. One end of the cable is connected to the hook, and the other end passes through a pulley and connects to the force sensor hook on the force sensor assembly.

[0009] As a further improvement of the present invention, the force measuring frame also includes a triangular support and two upper reinforcing supports of the force measuring frame. The upper reinforcing supports of the force measuring frame are installed between the two vertical supports of the force measuring frame located on both sides of the horizontal support of the force measuring frame, and are parallel to the lower reinforcing support of the force measuring frame. Triangular supports are installed at the intersections of the vertical support of the force measuring frame and the upper and lower reinforcing supports of the force measuring frame.

[0010] As a further improvement of the present invention, the device further includes a vibrator assembly and a water tank. The water tank is placed directly below the force measuring frame. The upper end of the vibrator assembly is mounted on two vertical supports of the force measuring frame on one side of the force measuring frame, and the lower end is equipped with a vibrator head, which is placed in the water in the water tank.

[0011] As a further improvement of the present invention, the vibrator assembly further includes a vibrator fixing part and a vibrator. The vibrator fixing part includes a front fixing part and a lower fixing part. The front fixing part is detachably fixed to the two vertical supports of the force measuring frame on one side of the force measuring frame. The upper end of the lower fixing part is detachably installed with the front fixing part, and the lower end is installed with the vibrator. The vibrator head is installed at the lower end of the vibrator and placed in the water of the water tank.

[0012] The present invention also provides a method for measuring thrust using the above-mentioned underwater robot thrust measuring device, the specific steps of which are as follows: Step 1: Stabilize and clamp the robot onto the robot gripper. Step 2: Fix the pulley fixed support, force sensor mounting base and force transmission rod fixed support on the force measuring frame (1); Step 3: Install the pulley on the pulley fixing support; Step 4: Install the force sensor on the position adjustment device, and then install the position adjustment device on the force sensor mounting base; Step 5: Install the hook on the force transmission link, install the force transmission link on the force transmission link fixed support, and install the robot gripping device on the force transmission link. Step 6: Let the underwater robot start moving in the water tank until the force sensor collects stable data and reads the propulsion force.

[0013] Step 7: Turn on the exciter head to push the nearby fluid, generating periodic velocity fluctuations. After the force sensor collects stable data, read the magnitude of the propulsion force.

[0014] Compared with the prior art, the beneficial effects of the present invention are as follows: 1) This invention achieves reliable clamping of the robot through a robot gripping device at the end of the force transmission link. The robot gripping device can also drive the force transmission during robot movement, thus enabling propulsion force measurement of underwater robots moving under different conditions. This provides direct and quantifiable propulsion force data support for thruster performance evaluation, parameter calibration, and comparative testing. The thrust travels from the thruster → hook (bearing initial force) → cable → pulley (force direction conversion) → force sensor hook → force sensor. 2) This invention utilizes an assembled force-measuring frame structure, allowing for adjustment of the frame width within a certain range. Simultaneously, the pulley fixing support, position adjustment device, force sensor mounting base, and force transmission link fixing support can all be flexibly adjusted on the force-measuring frame. Furthermore, the height of the hook and the force transmission link can be adjusted via connecting holes. Therefore, it can adapt to underwater robots of different sizes and installation configurations, improving the device's versatility and test reusability. 3) By setting a pulley assembly on the force measuring frame, the present invention ensures that the load applied to the force sensor is applied as close to the center and in the vertical direction as possible, thereby reducing the influence of off-center load and lateral component force on the output of the force sensor; at the same time, the force transmission link and bearing structure realize low friction rotation and stable force transmission, so that the propulsion force generated by the underwater robot is transmitted to the force sensor more effectively and stably, thereby improving the accuracy and repeatability of propulsion force measurement.

[0015] 4) During the movement of the underwater robot of the present invention, the exciter head can actively intervene in the water flow structure at any time through controllable mechanical disturbance, so as to conduct comparative experiments on the data collected under multiple water flow conditions.

[0016] In summary, this invention can measure the propulsion force of underwater robots of various sizes, structures, and experimental environments. It is highly adaptable, easy to operate, and has broad application prospects. Attached Figure Description

[0017] Figure 1 This is a three-dimensional structural schematic diagram of the underwater robot propulsion force measuring device of the present invention; Figure 2 yes Figure 1 A structural decomposition diagram; Figure 3 This is a schematic diagram of the underwater robot of the present invention after the vibrator assembly has been installed; Figure 4 yes Figure 3 A schematic diagram of the decomposition of local area A in the middle; The component names are as follows: 1. Force measuring frame; 1-1. Horizontal support for the force measuring frame; 1-4. Triangular support; 1-5. Upper reinforcement support for the force measuring frame; 1-2. Vertical support for the force measuring frame; 1-3. Lower reinforcement support for the force measuring frame; 2. Pulley assembly; 2-2. Pulley; 2-1. Pulley fixing support; 3. Force sensor assembly; 3-1. Force sensor hook; 3-2. Force sensor; 3-3. Position adjustment device; 3-4. Force sensor mounting base; 3-3-1. Bolt hole; 4. Force transmission link assembly; 4-4. Hook; 4-1. Force transmission link fixing support; 4-2. Bearing; 4-3. Force transmission link; 4-5. Force transmission link connecting part; 4-5-1. Connecting hole; 5. Robot gripping device; 6. Cable; 7. Water tank; 8. Vibrator assembly; 8-1. Vibrator fixing part; 8-1-1. Front fixing part; 8-1-2, Lower fixing part; 8-2, Vibrator; 8-3, Vibrator head. Detailed Implementation

[0018] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments: like Figure 1 and Figure 2 As shown, the underwater robot propulsion force measuring device provided by the present invention includes a force measuring frame 1, a force sensor assembly 3, a force transmission link assembly 4, a robot clamping device 5, and a cable 6. The force sensor assembly 3 is installed above the force measuring frame 1. One end of the force transmission link assembly 4 is installed above the force measuring frame 1 and located on one side of the force sensor assembly 3. The force transmission link assembly 4 includes a force transmission link 4-3 and a hook 4-4. The hook 4-4 is detachably installed on the upper end of the force transmission link 4-3. The robot clamping device 5 is connected to the lower end of the force transmission link 4-3 and is used to clamp the underwater robot. One end of the cable 6 is connected to the hook 4-4, and the other end is connected to the force sensor assembly 3. When the underwater robot is running, the robot clamping device 5 is subjected to force, and the cable 6 on the hook 4-4 at the upper end of the force transmission link 4-3 pulls the force sensor assembly 3 to achieve non-contact measurement.

[0019] The device further includes a pulley assembly 2, which is mounted above the force measuring frame 1 and located on the other side of the force sensor assembly 3. The force sensor assembly 3 includes a force sensor hook 3-1, a force sensor 3-2, and a force sensor mounting base 3-4. The force sensor hook 3-1 is disposed on the front end face of the force sensor 3-2. The force sensor 3-2 is mounted above the force measuring frame 1 through the force sensor mounting base 3-4. One end of the cable 6 is connected to the hook 4-4, and the other end passes through the pulley assembly 2 and is connected to the force sensor hook 3-1 on the force sensor assembly 3.

[0020] The force measuring frame 1 has a symmetrical structure, including two horizontal force measuring frame supports 1-1, four vertical force measuring frame supports 1-2, and two lower reinforcing supports 1-3. The upper ends of the four vertical force measuring frame supports 1-2 are symmetrically connected to the two ends of the two horizontal force measuring frame supports 1-1, and are perpendicular to the horizontal force measuring frame supports 1-1, and are parallel to each other and equidistant from the two ends of the horizontal force measuring frame supports 1-1. The lower ends of each support 1-2 are connected and fixed in pairs by the lower reinforcing supports 1-3. The two horizontal force measuring frame supports 1-1 are parallel and located in the same plane. The force sensor assembly 3 also includes bolt holes 3-3-1 and a position adjustment device 3-3. The force sensor 3-2 is mounted on the position adjustment device 3-3. -3 is installed on the force sensor mounting base 3-4 through the bolt holes 3-3-1. Multiple sets of bolt holes 3-3-1 are formed from top to bottom on the position adjustment device 3-3, allowing the position adjustment device 3-3 to be adjusted on the force sensor mounting base 3-4. The force transmission link assembly 4 includes a hook 4-4, a force transmission link fixing support 4-1, a bearing 4-2, a force transmission link 4-3, a force transmission link connecting part 4-5, and a connecting hole 4-5-1. The pulley assembly 2 includes a pulley 2-2 and a pulley fixing support 2-1. The pulley 2-2 is installed above the pulley fixing support 2-1. The pulley fixing support 2-1, the force transmission link fixing support 4-1, and the force sensor mounting base 3-4 are all in a [missing information - likely a specific configuration]. The shape is such that each of the two ends is installed on one of the two horizontal supports 1-1 of the force measuring frame. There are multiple connecting holes 4-5-1, which are opened from top to bottom on the force transmission link 4-3. The hook 4-4 is installed on the force transmission link 4-3 through the connecting holes 4-5-1, and its vertical position is adjustable. The middle part of the force transmission link connecting part 4-5 is installed on the force transmission link fixed support 4-1 through the bearing 4-2, and the upper end is installed on the force transmission link 4-3 through the connecting holes 4-5-1 and is located below the hook 4-4. The upper end of the robot clamping device 5 is detachably connected to the force transmission link 4-3. One end of the cable 6 is connected to the hook 4-4, and the other end passes through the pulley 2-2 and is connected to the force sensor hook 3-1 on the force sensor assembly 3.

[0021] The force measuring frame 1 also includes a triangular support 1-4 and two upper reinforcing supports 1-5. The upper reinforcing supports 1-5 are installed between the two vertical supports 1-2 of the force measuring frame located on both sides of the horizontal support 1-1 of the force measuring frame, and are parallel to the lower reinforcing support 1-3 of the force measuring frame. Triangular supports 1-4 are installed at the intersections of the vertical supports 1-2 of the force measuring frame, the upper reinforcing supports 1-5 of the force measuring frame, and the lower reinforcing supports 1-3 of the force measuring frame.

[0022] like Figure 3As shown, the device also includes a vibrator assembly 8 and a water tank 7. The water tank 7 is placed directly below the force measuring frame 1. The upper end of the vibrator assembly 8 is mounted on two vertical supports 1-2 of the force measuring frame on one side of the force measuring frame 1, and the lower end is equipped with a vibrator head 8-3. The vibrator head 8-3 is placed in the water in the water tank 7.

[0023] like Figure 4 As shown in the exploded view, the exciter assembly 8 further includes an exciter fixing part 8-1 and an exciter 8-2. The exciter fixing part 8-1 includes 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 to the two vertical supports 1-2 of the force measuring frame on one side of the force measuring frame 1. The upper end of the lower fixing part 8-1-2 is detachably installed with the front fixing part 8-1-1, and the lower end is installed with the exciter 8-2. The exciter head 8-3 is installed at the lower end of the exciter 8-2 and placed in the water in the water tank 7. The exciter head 8-3 is a spherical exciter head.

[0024] Propulsion force measurement method: Step 1: Stabilize and clamp the robot onto the robot clamping device 5; Step 2: Fix the pulley fixing support 2-1, the force sensor mounting base 3-4, and the force transmission connecting rod fixing support 4-1 onto the force measuring frame 1; Step 3: Install pulley 2-2 onto pulley fixing support 2-1; Step 4: Install the force sensor 3-2 on the position adjustment device 3-3, and install the position adjustment device 3-3 on the force sensor mounting base 3-4; Step 5: Install hook 4-4 on force transmission link 4-3, install force transmission link 4-3 on force transmission link fixed support 4-1, and install robot gripping device 5 on force transmission link 4-3. Step 6: Let the underwater robot start moving in the water tank 7 until the force sensor 3-2 collects stable data and reads the magnitude of the propulsion force.

[0025] Step 7: Turn on the exciter 8-2. The exciter head 8-3 pushes the nearby fluid, generating periodic velocity fluctuations. After the force sensor 3-2 collects stable data, it reads the magnitude of the propulsion force.

[0026] Some of the small, miscellaneous installation parts in the picture are common components and are not labeled, so they will not be described in detail.

[0027] Compared with the prior art, the beneficial effects of the present invention are as follows: 1) This invention achieves reliable clamping of the robot through the robot gripping device 5 at the end of the force transmission link 4-3. During robot movement, the robot gripping device 5 drives the force transmission, thus enabling propulsion force measurement of underwater robots moving under different conditions. This provides direct and quantifiable propulsion force data support for thruster performance evaluation, parameter calibration, and comparative testing. The thrust travels from the thruster → hook 4-4 (bearing initial force) → cable 6 → pulley (force direction conversion) → force sensor hook 3-1 → force sensor 3-2; 2) The force measuring frame 1 structure assembled in this invention allows for adjustment of the frame width within a certain range. Simultaneously, the pulley fixing support 2-1, position adjustment device 3-3, force sensor mounting base 3-4, and force transmission link fixing support 4-1 can all be flexibly adjusted on the force measuring frame 1. Furthermore, the heights of the hook 4-4 and the force transmission link 4-3 can be adjusted via the connecting hole 4-5-1. Therefore, it can adapt to underwater robots of different sizes and installation configurations, improving the device's versatility and test reusability. 3) By setting a pulley assembly 2 on the force measuring frame 1, the present invention ensures that the load acting on the force sensor 3-2 is applied as close to the center and in the vertical direction as possible, thereby reducing the influence of off-center load and lateral component force on the output of the force sensor 3-2; at the same time, the force transmission link 4-3 and the bearing 4-2 work together to achieve low friction rotation and stable force transmission, so that the propulsion force generated by the underwater robot is transmitted to the force sensor 3-2 more effectively and stably, thereby improving the accuracy and repeatability of propulsion force measurement.

[0028] 4) During the movement of the underwater robot of the present invention, the exciter head 8-3 can actively intervene in the water flow structure at any time through controllable mechanical disturbance, so as to conduct comparative experiments on the data collected under multiple water flow conditions.

[0029] In summary, this invention can measure the propulsion force of underwater robots of various sizes, structures, and experimental environments. It is highly adaptable, easy to operate, and has broad application prospects.

[0030] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention in any other way. Any modifications or equivalent changes made based on the technical essence of the present invention shall still fall within the scope of protection claimed by the present invention.

Claims

1. A device for measuring the propulsion force of an underwater robot, characterized in that... The device includes a force measuring frame (1), a force sensor assembly (3), a force transmission link assembly (4), a robot gripping device (5), and a cable (6). The force sensor assembly (3) is mounted above the force measuring frame (1). One end of the force transmission link assembly (4) is mounted above the force measuring frame (1) and located on one side of the force sensor assembly (3). The force transmission link assembly (4) includes a force transmission link (4-3) and a hook (4-4). The hook (4-4) is detachably mounted on the force transmission link assembly. At the upper end of the rod (4-3), the robot gripping device (5) is connected to the lower end of the force transmission link (4-3). The robot gripping device (5) is used to grip the underwater robot. One end of the cable (6) is connected to the hook (4-4), and the other end is connected to the force sensor assembly (3). When the underwater robot is running, the robot gripping device (5) is subjected to force, and the force sensor assembly (3) is pulled by the cable (6) on the hook (4-4) at the upper end of the force transmission link (4-3), so as to realize non-contact measurement.

2. The underwater robot propulsion force measuring device according to claim 1, characterized in that: The device also includes a pulley assembly (2), which is mounted above the force measuring frame (1) and located on the other side of the force sensor assembly (3). The force sensor assembly (3) includes a force sensor hook (3-1), a force sensor (3-2), and a force sensor mounting base (3-4). The force sensor hook (3-1) is located on the front end face of the force sensor (3-2). The force sensor (3-2) is mounted above the force measuring frame (1) through the force sensor mounting base (3-4). One end of the cable (6) is connected to the hook (4-4), and the other end passes through the pulley assembly (2) and is connected to the force sensor hook (3-1) on the force sensor assembly (3).

3. The underwater robot propulsion force measuring device according to claim 2, characterized in that: The force measuring frame (1) has a symmetrical structure, including two horizontal force measuring frame supports (1-1), four vertical force measuring frame supports (1-2), and two lower reinforcing supports (1-3). The upper ends of the four vertical force measuring frame supports (1-2) are symmetrically connected to the two ends of the two horizontal force measuring frame supports (1-1) and are perpendicular to the horizontal force measuring frame supports (1-1), and are parallel to each other and equidistant from the two ends of the horizontal force measuring frame supports (1-1). The lower ends are all connected and fixed in pairs by the lower reinforcing supports (1-3). The two horizontal force measuring frame supports (1-1) are parallel and located in the same plane. The force sensor assembly (3) also includes bolt holes (3-3-1) and a position adjustment device (3-3). The force sensor (3-2) is installed on the position adjustment device (3-3). The position adjustment device (3-3) is connected to the horizontal force measuring frame supports (1-1) by means of bolt holes (1-1), four vertical force measuring frame supports (1-2), and two lower reinforcing supports (1-3). The bolt holes (3-3-1) are installed on the force sensor mounting base (3-4). Multiple sets of bolt holes (3-3-1) are formed from top to bottom on the position adjustment device (3-3), allowing the position adjustment device (3-3) to be adjusted on the force sensor mounting base (3-4). The force transmission rod assembly (4) includes a hook (4-4), a force transmission rod fixing support (4-1), a bearing (4-2), a force transmission rod (4-3), a force transmission rod connecting part (4-5), and a connecting hole (4-5-1). The pulley assembly (2) includes a pulley (2-2) and a pulley fixing support (2-1). The pulley (2-2) is installed above the pulley fixing support (2-1). The pulley fixing support (2-1), the force transmission rod fixing support (4-1), and the force sensor mounting base (3-4) are all in a [missing information - likely a specific orientation]. The shape is such that each end is installed on one of the two horizontal supports (1-1) of the force measuring frame. There are multiple connecting holes (4-5-1) which are opened from top to bottom on the force transmission link (4-3). The hook (4-4) is installed on the force transmission link (4-3) through the connecting hole (4-5-1) and its vertical position is adjustable. The middle part of the force transmission link connecting part (4-5) is installed on the force transmission link fixed support (4-1) through the bearing (4-2), and the upper end is installed on the force transmission link (4-3) through the connecting hole (4-5-1) and located below the hook (4-4). The upper end of the robot clamping device (5) is detachably connected to the force transmission link (4-3). One end of the cable (6) is connected to the hook (4-4), and the other end is connected to the force sensor hook (3-1) on the force sensor assembly (3) after passing through the pulley (2-2).

4. The underwater robot propulsion force measuring device according to claim 3, characterized in that: The force measuring frame (1) also includes a triangular support (1-4) and two upper reinforcing supports (1-5). The upper reinforcing supports (1-5) are installed between the two vertical supports (1-2) of the force measuring frame located on both sides of the horizontal support (1-1) of the force measuring frame, and are parallel to the lower reinforcing support (1-3) of the force measuring frame. Triangular supports (1-4) are installed at the intersections of the vertical supports (1-2) of the force measuring frame, the upper reinforcing supports (1-5) of the force measuring frame, and the lower reinforcing supports (1-3) of the force measuring frame.

5. The underwater robot propulsion force measuring device according to any one of claims 1-4, characterized in that: The device also includes a vibrator assembly (8) and a water tank (7). The water tank (7) is placed directly below the force measuring frame (1). The upper end of the vibrator assembly (8) is mounted on two vertical supports (1-2) of the force measuring frame on one side of the force measuring frame (1), and the lower end is equipped with a vibrator head (8-3). The vibrator head (8-3) is placed in the water in the water tank (7).

6. The underwater robot propulsion force measuring device according to any one of claims 5, characterized in that: The vibrator assembly (8) further includes a vibrator fixing part (8-1) and a vibrator (8-2). The vibrator fixing part (8-1) includes 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 to the two vertical supports (1-2) of the force measuring frame on one side of the force measuring frame (1). The upper end of the lower fixing part (8-1-2) is detachably installed with the front fixing part (8-1-1), and the lower end is installed with the vibrator (8-2). The vibrator head (8-3) is installed at the lower end of the vibrator (8-2) and placed in the water of the water tank (7).

7. A method for measuring propulsion force using the underwater robot propulsion force measuring device according to any one of claims 5 to 6, characterized in that: Step 1: Stabilize and clamp the robot onto the robot clamping device (5); Step 2: Fix the pulley fixing support (2-1), the force sensor mounting base (3-4), and the force transmission connecting rod fixing support (4-1) onto the force measuring frame (1); Step 3: Install the pulley (2-2) on the pulley fixing support (2-1); Step 4: Install the force sensor (3-2) on the position adjustment device (3-3), and install the position adjustment device (3-3) on the force sensor mounting base (3-4); Step 5: Install the hook (4-4) on the force transmission link (4-3), install the force transmission link (4-3) on the force transmission link fixed support (4-1), and install the robot gripping device (5) on the force transmission link (4-3); Step 6: Let the underwater robot start moving in the water tank (7) until the force sensor (3-2) collects stable data and reads the magnitude of the propulsion force; Step 7: Turn on the exciter head (8-3) to push the nearby fluid and generate periodic velocity fluctuations. After the force sensor (3-2) collects stable data, read the magnitude of the propulsion force.

Images